apollo::third_party_perception::ThirdPartyPerceptionSmartereye类 参考

#include <third_party_perception_smartereye.h>

类 apollo::third_party_perception::ThirdPartyPerceptionSmartereye 继承关系图:

apollo::third_party_perception::ThirdPartyPerceptionSmartereye 的协作图:

Public 成员函数
	ThirdPartyPerceptionSmartereye (apollo::cyber::Node *const node)
	ThirdPartyPerceptionSmartereye ()=default
	~ThirdPartyPerceptionSmartereye ()=default
void	OnSmartereye (const apollo::drivers::SmartereyeObstacles &message)
void	OnSmartereyeLanemark (const apollo::drivers::SmartereyeLanemark &)
bool	Process (apollo::perception::PerceptionObstacles *const response) override
Public 成员函数 继承自 apollo::third_party_perception::ThirdPartyPerception
	ThirdPartyPerception (apollo::cyber::Node *const node)
	ThirdPartyPerception ()=default
virtual	~ThirdPartyPerception ()=default
std::string	Name () const
apollo::common::Status	Init ()
apollo::common::Status	Start ()
void	Stop ()
void	OnLocalization (const apollo::localization::LocalizationEstimate &message)
void	OnChassis (const apollo::canbus::Chassis &message)

额外继承的成员函数
Protected 属性 继承自 apollo::third_party_perception::ThirdPartyPerception
std::mutex	third_party_perception_mutex_
apollo::localization::LocalizationEstimate	localization_
apollo::canbus::Chassis	chassis_
RadarObstacles	current_radar_obstacles_
RadarObstacles	last_radar_obstacles_
std::shared_ptr< apollo::cyber::Node >	node_ = nullptr
std::shared_ptr< apollo::cyber::Reader< apollo::localization::LocalizationEstimate > >	localization_reader_ = nullptr
std::shared_ptr< apollo::cyber::Reader< apollo::canbus::Chassis > >	chassis_reader_ = nullptr

详细描述

在文件 third_party_perception_smartereye.h 第 35 行定义.

构造及析构函数说明

ThirdPartyPerceptionSmartereye() [1/2]

apollo::third_party_perception::ThirdPartyPerceptionSmartereye::ThirdPartyPerceptionSmartereye ( apollo::cyber::Node *const  node )

explicit

在文件 third_party_perception_smartereye.cc 第 30 行定义.

                                       :ThirdPartyPerception(node) {
  smartereye_obstacles_reader_ =
      node_->CreateReader<apollo::drivers::SmartereyeObstacles>(
      FLAGS_smartereye_obstacles_topic,
      [this](const std::shared_ptr<
      apollo::drivers::SmartereyeObstacles> &message) {
        OnSmartereye(*message.get());
      });
  smartereye_lanemark_reader_ =
      node_->CreateReader<apollo::drivers::SmartereyeLanemark>(
      FLAGS_smartereye_lanemark_topic,
      [this](const std::shared_ptr<
      apollo::drivers::SmartereyeLanemark> &message) {
        OnSmartereyeLanemark(*message.get());
      });
}

ThirdPartyPerceptionSmartereye() [2/2]

apollo::third_party_perception::ThirdPartyPerceptionSmartereye::ThirdPartyPerceptionSmartereye ( )

default

~ThirdPartyPerceptionSmartereye()

apollo::third_party_perception::ThirdPartyPerceptionSmartereye::~ThirdPartyPerceptionSmartereye ( )

default

成员函数说明

OnSmartereye()

void apollo::third_party_perception::ThirdPartyPerceptionSmartereye::OnSmartereye

(

const apollo::drivers::SmartereyeObstacles &

message

)

在文件 third_party_perception_smartereye.cc 第 48 行定义.

                                                               {
  ADEBUG << "Received smartereye data: run smartereye callback.";
  std::lock_guard<std::mutex> lock(third_party_perception_mutex_);
  eye_obstacles_ = conversion_smartereye::SmartereyeToPerceptionObstacles(
      message, smartereye_lanemark_, localization_, chassis_);
}

OnSmartereyeLanemark()

void apollo::third_party_perception::ThirdPartyPerceptionSmartereye::OnSmartereyeLanemark

(

const apollo::drivers::SmartereyeLanemark &

message

)

在文件 third_party_perception_smartereye.cc 第 56 行定义.

                                                              {
  ADEBUG << "Received smartereye data: run smartereye callback.";
  std::lock_guard<std::mutex> lock(third_party_perception_mutex_);
  smartereye_lanemark_.CopyFrom(message);
}

Process()

bool apollo::third_party_perception::ThirdPartyPerceptionSmartereye::Process ( apollo::perception::PerceptionObstacles *const  response )

overridevirtual

重载 apollo::third_party_perception::ThirdPartyPerception .

在文件 third_party_perception_smartereye.cc 第 63 行定义.

                                                 {
  ADEBUG << "Timer is triggered: publish PerceptionObstacles";
  CHECK_NOTNULL(response);
 
  std::lock_guard<std::mutex> lock(third_party_perception_mutex_);
 
  *response = eye_obstacles_;
 
  common::util::FillHeader(FLAGS_third_party_perception_node_name, response);
 
  eye_obstacles_.Clear();
  return true;
}

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该类的文档由以下文件生成:

• modules/third_party_perception/third_party_perception_smartereye.h
• modules/third_party_perception/third_party_perception_smartereye.cc