Apollo
10.0
自动驾驶开放平台
lidar_driver_component.h
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/******************************************************************************
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* Copyright 2020 The Apollo Authors. All Rights Reserved.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*****************************************************************************/
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#pragma once
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#include <memory>
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#include "modules/drivers/lidar/proto/config.pb.h"
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#include "
cyber/cyber.h
"
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#include "
modules/drivers/lidar/common/driver_factory/lidar_driver_factory.h
"
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namespace
apollo
{
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namespace
drivers {
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namespace
lidar {
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class
LidarDriverComponent
:
public
::apollo::cyber::Component
<> {
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public
:
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LidarDriverComponent
();
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~LidarDriverComponent
() {}
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bool
Init
()
override
;
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private
:
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std::shared_ptr<LidarDriverFactory> lidar_factory_;
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apollo::drivers::lidar::config
conf_;
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std::shared_ptr<::apollo::cyber::Node> node_;
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std::unique_ptr<LidarDriver> driver_;
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};
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CYBER_REGISTER_COMPONENT
(LidarDriverComponent)
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}
// namespace lidar
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}
// namespace drivers
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}
// namespace apollo
apollo::cyber::Component
Definition
component.h:60
apollo::drivers::lidar::LidarDriverComponent
Definition
lidar_driver_component.h:30
apollo::drivers::lidar::LidarDriverComponent::~LidarDriverComponent
~LidarDriverComponent()
Definition
lidar_driver_component.h:33
apollo::drivers::lidar::LidarDriverComponent::LidarDriverComponent
LidarDriverComponent()
Definition
lidar_driver_component.cc:24
apollo::drivers::lidar::LidarDriverComponent::Init
bool Init() override
Definition
lidar_driver_component.cc:25
CYBER_REGISTER_COMPONENT
#define CYBER_REGISTER_COMPONENT(name)
Definition
component.h:656
cyber.h
lidar_driver_factory.h
Defines the LidarFactory class.
apollo
class register implement
Definition
arena_queue.h:37
apollo::drivers::lidar::config
Definition
config.proto:9
modules
drivers
lidar
lidar_driver_component.h