map_manager.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 <string>
 
// #include "gtest/gtest_prod.h"
 
#include "modules/perception/pointcloud_map_based_roi/map_manager/proto/map_manager_config.pb.h"
 
#include "modules/perception/common/base/hdmap_struct.h"
#include "modules/perception/common/hdmap/hdmap_input.h"
#include "modules/perception/common/lidar/common/lidar_frame.h"
#include "modules/perception/common/lib/interface/base_init_options.h"
 
namespace apollo {
namespace perception {
namespace lidar {
 
using apollo::perception::BaseInitOptions;
 
struct MapManagerInitOptions : public BaseInitOptions {
};
 
struct MapManagerOptions {};
 
class MapManager {
 public:
  MapManager() = default;
 
  ~MapManager() = default;
 
  bool Init(const MapManagerInitOptions& options = MapManagerInitOptions());
 
  bool Update(const MapManagerOptions& options, LidarFrame* frame);
 
  bool QueryPose(Eigen::Affine3d* sensor2world_pose) const;
 
  std::string Name() const { return "MapManager"; }
 
 private:
  LidarFrame* cached_frame_ = nullptr;
  map::HDMapInput* hdmap_input_ = nullptr;
  // params
  bool update_pose_ = false;
  double roi_search_distance_ = 80.0;
};  // class MapManager
 
}  // namespace lidar
}  // namespace perception
}  // namespace apollo