localization_estimate.h

浏览该文件的文档.

/******************************************************************************
 * Copyright 2023 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <algorithm>
#include <cstring>
#include <memory>
#include <string>
 
#include "cyber/ros_bridge/converter_base/converter_interface.h"
 
#include "cyber/proto/simple.pb.h"
#include "modules/common_msgs/localization_msgs/localization.pb.h"
#include "modules/common_msgs/transform_msgs/transform.pb.h"
#include "cyber/cyber.h"
#include "cyber/plugin_manager/plugin_manager.h"
 
#if __has_include("nav_msgs/msg/odometry.hpp")
#include "nav_msgs/msg/odometry.hpp"
#define ENABLE_ROS_MSG
#endif
 
#ifdef ENABLE_ROS_MSG
using InputMsg = nav_msgs::msg::Odometry;
#else
using InputMsg = apollo::cyber::proto::SimpleMessage;
#endif
 
using LocalizationMsg = apollo::localization::LocalizationEstimate;
using TransformMsg = apollo::transform::TransformStampeds;
 
using LocalizationMsgPtr = std::shared_ptr<LocalizationMsg>;
using TransformMsgPtr = std::shared_ptr<TransformMsg>;
using InputMsgPtr = std::shared_ptr<InputMsg>;
 
namespace apollo {
namespace cyber {
 
class LocalizationEstimate
    : public apollo::cyber::RosApolloMessageConverter<
          InputTypes<InputMsgPtr>,
          OutputTypes<LocalizationMsgPtr, TransformMsgPtr>> {
 public:
  LocalizationEstimate() {}
  ~LocalizationEstimate() {}
 
  virtual bool ConvertMsg(InputTypes<InputMsgPtr>&,
                          OutputTypes<LocalizationMsgPtr, TransformMsgPtr>&);
};
 
CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::cyber::LocalizationEstimate,
                                     apollo::cyber::MessageConverter)
 
}  // namespace cyber
}  // namespace apollo