Apollo 10.0
自动驾驶开放平台
util.h
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1/******************************************************************************
2 * Copyright 2017 The Apollo Authors. All Rights Reserved.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *****************************************************************************/
16
17#pragma once
18
19#include <cmath>
20#include <fstream>
21#include <string>
22
23namespace apollo {
24namespace drivers {
25namespace velodyne {
26
27template <typename T>
28void dump_msg(const T& msg, const std::string& file_path) {
29 // std::ofstream ofs(file_path.c_str(),
30 // std::ofstream::out | std::ofstream::binary);
31 // uint32_t serial_size = ros::serialization::serializationLength(msg);
32 // boost::shared_array<uint8_t> obuffer(new uint8_t[serial_size]);
33 // ros::serialization::OStream ostream(obuffer.get(), serial_size);
34 // ros::serialization::serialize(ostream, msg);
35 // ofs.write((char*)obuffer.get(), serial_size);
36 // ofs.close();
37}
38
39template <class T>
40void load_msg(const std::string& file_path, T* msg) {
41 // std::ifstream ifs(file_path.c_str(),
42 // std::ifstream::in | std::ifstream::binary);
43 // ifs.seekg(0, std::ios::end);
44 // std::streampos end = ifs.tellg();
45 // ifs.seekg(0, std::ios::beg);
46 // std::streampos begin = ifs.tellg();
47 //
48 // uint32_t file_size = end - begin;
49 // boost::shared_array<uint8_t> ibuffer(new uint8_t[file_size]);
50 // ifs.read((char*)ibuffer.get(), file_size);
51 // ros::serialization::IStream istream(ibuffer.get(), file_size);
52 // ros::serialization::deserialize(istream, *msg);
53 // ifs.close();
54}
55
56void init_sin_cos_rot_table(float* sin_rot_table, float* cos_rot_table,
57 uint16_t rotation, float rotation_resolution);
58
59} // namespace velodyne
60} // namespace drivers
61} // namespace apollo
void dump_msg(const T &msg, const std::string &file_path)
Definition util.h:28
void init_sin_cos_rot_table(float *sin_rot_table, float *cos_rot_table, uint16_t rotation, float rotation_resolution)
Definition util.cc:23
void load_msg(const std::string &file_path, T *msg)
Definition util.h:40
class register implement
Definition arena_queue.h:37