21#include "absl/strings/str_cat.h"
22#include "modules/common_msgs/map_msgs/map_id.pb.h"
23#include "modules/common_msgs/planning_msgs/navigation.pb.h"
57 if (FLAGS_use_navigation_mode) {
58 return absl::StrCat(FLAGS_navigation_mode_end_way_point_file);
60 return absl::StrCat(FLAGS_map_dir,
"/", FLAGS_end_way_point_filename);
69 return absl::StrCat(FLAGS_map_dir,
"_", FLAGS_default_routing_filename);
77 return absl::StrCat(FLAGS_map_dir,
"_", FLAGS_park_go_routing_filename);
91std::unique_ptr<HDMap>
CreateMap(
const std::string& map_file_path);
117 static std::unique_ptr<HDMap> base_map_;
118 static uint64_t base_map_seq_;
119 static std::mutex base_map_mutex_;
121 static std::unique_ptr<HDMap> sim_map_;
122 static std::mutex sim_map_mutex_;
static const HDMap * BaseMapPtr()
static const HDMap & BaseMap()
static const HDMap & SimMap()
static bool ReloadBaseMap()
static const HDMap * SimMapPtr()
High-precision map loader interface.
std::unique_ptr< HDMap > CreateMap(const std::string &map_file_path)
std::string DefaultRoutingFile()
get default routing file path from flags.
std::string EndWayPointFile()
get end way point file path from flags.
apollo::hdmap::Id MakeMapId(const std::string &id)
create a Map ID given a string.
std::string SimMapFile()
get simulation map file path from flags.
std::string RoutingMapFile()
get routing map file path from flags.
std::string ParkGoRoutingFile()
get park and go routings file path from flags.
std::string BaseMapFile()
get base map file path from flags.