lossless_map.h

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/******************************************************************************
 * Copyright 2018 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 <vector>
 
#include "modules/localization/msf/local_map/base_map/base_map.h"
#include "modules/localization/msf/local_map/lossless_map/lossless_map_config.h"
 
namespace apollo {
namespace localization {
namespace msf {
 
class LosslessMap : public BaseMap {
 public:
  explicit LosslessMap(LosslessMapConfig* config);
  ~LosslessMap();
 
 public:
  void SetValue(const Eigen::Vector3d& coordinate, int zone_id,
                unsigned char intensity);
  void SetValueLayer(const Eigen::Vector3d& coordinate, int zone_id,
                     unsigned char intensity);
  void GetValue(const Eigen::Vector3d& coordinate, int zone_id,
                unsigned int resolution_id, std::vector<unsigned char>* values);
  void GetValueSafe(const Eigen::Vector3d& coordinate, int zone_id,
                    unsigned int resolution_id,
                    std::vector<unsigned char>* values);
  void GetVar(const Eigen::Vector3d& coordinate, int zone_id,
              unsigned int resolution_id, std::vector<float>* vars);
  void GetVarSafe(const Eigen::Vector3d& coordinate, int zone_id,
                  unsigned int resolution_id, std::vector<float>* vars);
  void GetAlt(const Eigen::Vector3d& coordinate, int zone_id,
              unsigned int resolution_id, std::vector<float>* alts);
  void GetAltSafe(const Eigen::Vector3d& coordinate, int zone_id,
                  unsigned int resolution_id, std::vector<float>* alts);
  void GetAltVar(const Eigen::Vector3d& coordinate, int zone_id,
                 unsigned int resolution_id, std::vector<float>* alt_vars);
  void GetAltVarSafe(const Eigen::Vector3d& coordinate, int zone_id,
                     unsigned int resolution_id, std::vector<float>* alt_vars);
  void GetCount(const Eigen::Vector3d& coordinate, int zone_id,
                unsigned int resolution_id, std::vector<unsigned int>* counts);
  void GetCountSafe(const Eigen::Vector3d& coordinate, int zone_id,
                    unsigned int resolution_id,
                    std::vector<unsigned int>* counts);
  unsigned char GetValue(const Eigen::Vector3d& coordinate, int zone_id,
                         unsigned int resolution_id);
  unsigned char GetValueSafe(const Eigen::Vector3d& coordinate, int zone_id,
                             unsigned int resolution_id);
  float GetVar(const Eigen::Vector3d& coordinate, int zone_id,
               unsigned int resolution_id);
  float GetVarSafe(const Eigen::Vector3d& coordinate, int zone_id,
                   unsigned int resolution_id);
  float GetAlt(const Eigen::Vector3d& coordinate, int zone_id,
               unsigned int resolution_id);
  float GetAltSafe(const Eigen::Vector3d& coordinate, int zone_id,
                   unsigned int resolution_id);
  float GetAltVar(const Eigen::Vector3d& coordinate, int zone_id,
                  unsigned int resolution_id);
  float GetAltVarSafe(const Eigen::Vector3d& coordinate, int zone_id,
                      unsigned int resolution_id);
  unsigned int GetCount(const Eigen::Vector3d& coordinate, int zone_id,
                        unsigned int resolution_id);
  unsigned int GetCountSafe(const Eigen::Vector3d& coordinate, int zone_id,
                            unsigned int resolution_id);
  void SetGroundHeightOffset(double height_offset);
  virtual void PreloadMapArea(const Eigen::Vector3d& location,
                              const Eigen::Vector3d& trans_diff,
                              unsigned int resolution_id, unsigned int zone_id);
  virtual bool LoadMapArea(const Eigen::Vector3d& seed_pt3d,
                           unsigned int resolution_id, unsigned int zone_id,
                           int filter_size_x, int filter_size_y);
};
 
}  // namespace msf
}  // namespace localization
}  // namespace apollo