Apollo 10.0
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apollo::localization 命名空间参考

apollo::localization 更多...

命名空间

namespace  msf
 apollo::localization::msf
 
namespace  ndt
 
namespace  rtk_config
 

struct  CorrectedImu
 
struct  Gps
 
struct  IntegMeasure
 
struct  IntegSinsPva
 
struct  LocalizationConfig
 
struct  LocalizationEstimate
 
class  LocalizationGnssCompensator
 
class  LocalizationMsgPublisher
 
struct  LocalizationStatus
 
struct  MsfGnssMapOffset
 
struct  MsfInitDetails
 
class  MSFLocalization
 generate localization info based on MSF 更多...
 
class  MSFLocalizationComponent
 
struct  MsfSensorMsgStatus
 
struct  MsfStatus
 
struct  Pose
 
class  RTKLocalization
 
class  RTKLocalizationComponent
 
struct  Uncertainty
 

枚举

enum  MeasureState {
  OK = 0 , WARNNING = 1 , ERROR = 2 , CRITICAL_ERROR = 3 ,
  FATAL_ERROR = 4
}
 
enum  LocalLidarStatus {
  MSF_LOCAL_LIDAR_NORMAL = 0 , MSF_LOCAL_LIDAR_MAP_MISSING = 1 , MSF_LOCAL_LIDAR_EXTRINSICS_MISSING = 2 , MSF_LOCAL_LIDAR_MAP_LOADING_FAILED = 3 ,
  MSF_LOCAL_LIDAR_NO_OUTPUT = 4 , MSF_LOCAL_LIDAR_OUT_OF_MAP = 5 , MSF_LOCAL_LIDAR_NOT_GOOD = 6 , MSF_LOCAL_LIDAR_UNDEFINED_STATUS = 7
}
 
enum  LocalLidarQuality { MSF_LOCAL_LIDAR_VERY_GOOD = 0 , MSF_LOCAL_LIDAR_GOOD = 1 , MSF_LOCAL_LIDAR_NOT_BAD = 2 , MSF_LOCAL_LIDAR_BAD = 3 }
 
enum  LocalLidarConsistency { MSF_LOCAL_LIDAR_CONSISTENCY_00 = 0 , MSF_LOCAL_LIDAR_CONSISTENCY_01 = 1 , MSF_LOCAL_LIDAR_CONSISTENCY_02 = 2 , MSF_LOCAL_LIDAR_CONSISTENCY_03 = 3 }
 
enum  GnssConsistency { MSF_GNSS_CONSISTENCY_00 = 0 , MSF_GNSS_CONSISTENCY_01 = 1 , MSF_GNSS_CONSISTENCY_02 = 2 , MSF_GNSS_CONSISTENCY_03 = 3 }
 
enum  GnssPositionType {
  NONE = 0 , FIXEDPOS = 1 , FIXEDHEIGHT = 2 , FLOATCONV = 4 ,
  WIDELANE = 5 , NARROWLANE = 6 , DOPPLER_VELOCITY = 8 , SINGLE = 16 ,
  PSRDIFF = 17 , WAAS = 18 , PROPOGATED = 19 , OMNISTAR = 20 ,
  L1_FLOAT = 32 , IONOFREE_FLOAT = 33 , NARROW_FLOAT = 34 , L1_INT = 48 ,
  WIDE_INT = 49 , NARROW_INT = 50 , RTK_DIRECT_INS = 51 , INS_SBAS = 52 ,
  INS_PSRSP = 53 , INS_PSRDIFF = 54 , INS_RTKFLOAT = 55 , INS_RTKFIXED = 56 ,
  INS_OMNISTAR = 57 , INS_OMNISTAR_HP = 58 , INS_OMNISTAR_XP = 59 , OMNISTAR_HP = 64 ,
  OMNISTAR_XP = 65 , PPP_CONVERGING = 68 , PPP = 69 , INS_PPP_Converging = 73 ,
  INS_PPP = 74 , MSG_LOSS = 91
}
 
enum  ImuMsgDelayStatus {
  IMU_DELAY_NORMAL = 0 , IMU_DELAY_1 = 1 , IMU_DELAY_2 = 2 , IMU_DELAY_3 = 3 ,
  IMU_DELAY_ABNORMAL = 4
}
 
enum  ImuMsgMissingStatus {
  IMU_MISSING_NORMAL = 0 , IMU_MISSING_1 = 1 , IMU_MISSING_2 = 2 , IMU_MISSING_3 = 3 ,
  IMU_MISSING_4 = 4 , IMU_MISSING_5 = 5 , IMU_MISSING_ABNORMAL = 6
}
 
enum  ImuMsgDataStatus { IMU_DATA_NORMAL = 0 , IMU_DATA_ABNORMAL = 1 , IMU_DATA_OTHER = 2 }
 
enum  MsfRunningStatus {
  MSF_SOL_LIDAR_GNSS = 0 , MSF_SOL_X_GNSS = 1 , MSF_SOL_LIDAR_X = 2 , MSF_SOL_LIDAR_XX = 3 ,
  MSF_SOL_LIDAR_XXX = 4 , MSF_SOL_X_X = 5 , MSF_SOL_X_XX = 6 , MSF_SOL_X_XXX = 7 ,
  MSF_SSOL_LIDAR_GNSS = 8 , MSF_SSOL_X_GNSS = 9 , MSF_SSOL_LIDAR_X = 10 , MSF_SSOL_LIDAR_XX = 11 ,
  MSF_SSOL_LIDAR_XXX = 12 , MSF_SSOL_X_X = 13 , MSF_SSOL_X_XX = 14 , MSF_SSOL_X_XXX = 15 ,
  MSF_NOSOL_LIDAR_GNSS = 16 , MSF_NOSOL_X_GNSS = 17 , MSF_NOSOL_LIDAR_X = 18 , MSF_NOSOL_LIDAR_XX = 19 ,
  MSF_NOSOL_LIDAR_XXX = 20 , MSF_NOSOL_X_X = 21 , MSF_NOSOL_X_XX = 22 , MSF_NOSOL_X_XXX = 23 ,
  MSF_RUNNING_INIT = 24 , MSF_REINIT_ABNORMALLY = 25
}
 
enum  MsfInitPoseSource {
  UNKNOWN_SOURCE = 0 , GNSS_HEADING = 1 , LOCAL_SEARCH_FROM_INTEGPVA = 2 , LOCAL_SEARCH_FROM_FILE = 3 ,
  LOCAL_UPDATE_FROM_FILE = 4 , USER_INTERACTION = 5 , INSPVA_RECORD = 6 , GNSS_VELOCITY = 7 ,
  GLOBAL_LIDAR = 8
}
 
enum  MsfGnssMapOffsetStatus { MSF_LOCAL_GNSS_MAP_OFFSET_NORMAL = 0 , MSF_LOCAL_GNSS_MAP_OFFSET_ABNORMAL = 1 }
 
enum  MsfInitPoseStatus {
  INIT_WAITING = 0 , INIT_DOING = 1 , INIT_SUCCESSFUL = 2 , INIT_FAILED = 3 ,
  INIT_TERMINATED = 4
}
 
enum  MSFInitStatus {
  MSF_INIT = 0 , MSF_ALIGNING = 1 , MSF_ALIGNED_INIT = 2 , MSF_ALIGNED_CONVERGED = 3 ,
  MSF_ALIGNED_CONVERGING = 4 , MSF_ALIGNED_GOOD = 5 , MSF_ALIGNED_VALID = 6
}
 

函数

 CYBER_REGISTER_COMPONENT (MSFLocalizationComponent)
 
 CYBER_REGISTER_COMPONENT (RTKLocalizationComponent)
 

详细描述

枚举类型说明

◆ GnssConsistency

枚举值
MSF_GNSS_CONSISTENCY_00 
MSF_GNSS_CONSISTENCY_01 
MSF_GNSS_CONSISTENCY_02 
MSF_GNSS_CONSISTENCY_03 

在文件 localization_status.proto51 行定义.

56 {

◆ GnssPositionType

枚举值
NONE 
FIXEDPOS 
FIXEDHEIGHT 
FLOATCONV 
WIDELANE 
NARROWLANE 
DOPPLER_VELOCITY 
SINGLE 
PSRDIFF 
WAAS 
PROPOGATED 
OMNISTAR 
L1_FLOAT 
IONOFREE_FLOAT 
NARROW_FLOAT 
L1_INT 
WIDE_INT 
NARROW_INT 
RTK_DIRECT_INS 
INS_SBAS 
INS_PSRSP 
INS_PSRDIFF 
INS_RTKFLOAT 
INS_RTKFIXED 
INS_OMNISTAR 
INS_OMNISTAR_HP 
INS_OMNISTAR_XP 
OMNISTAR_HP 
OMNISTAR_XP 
PPP_CONVERGING 
PPP 
INS_PPP_Converging 
INS_PPP 
MSG_LOSS 

在文件 localization_status.proto58 行定义.

64 {
65 NONE = 0; // No solution
66 FIXEDPOS = 1; // Position has been fixed by the FIX POSITION command or by
67 // position averaging
68 FIXEDHEIGHT = 2; // Position has been fixed by the FIX HEIGHT, or FIX AUTO,
69 // command or by position averaging
70 FLOATCONV = 4; // Solution from floating point carrier phase anbiguities
71 WIDELANE = 5; // Solution from wide-lane ambiguities
72 NARROWLANE = 6; // Solution from narrow-lane ambiguities
73 DOPPLER_VELOCITY = 8; // Velocity computed using instantaneous Doppler
74 SINGLE = 16; // Single point position
75 PSRDIFF = 17; // Pseudorange differential solution
76 WAAS = 18; // Solution calculated using corrections from an SBAS
77 PROPOGATED = 19; // Propagated by a Kalman filter without new observations
78 OMNISTAR = 20; // OmniSTAR VBS position
79 L1_FLOAT = 32; // Floating L1 albiguity solution
80 IONOFREE_FLOAT = 33; // Floating ionospheric free ambiguity solution
81 NARROW_FLOAT = 34; // Floating narrow-lane anbiguity solution
82 L1_INT = 48; // Integer L1 ambiguity solution
83 WIDE_INT = 49; // Integer wide-lane ambiguity solution
84 NARROW_INT = 50; // Integer narrow-lane ambiguity solution
85 RTK_DIRECT_INS = 51; // RTK status where RTK filter is directly initialized
86 // from the INS filter
87 INS_SBAS = 52; // INS calculated position corrected for the antenna
88 INS_PSRSP =
89 53; // INS pseudorange single point solution - no DGPS corrections
90 INS_PSRDIFF = 54; // INS pseudorange differential solution
91 INS_RTKFLOAT = 55; // INS RTK float point ambiguities solution
92 INS_RTKFIXED = 56; // INS RTK fixed ambiguities solution
93 INS_OMNISTAR = 57; // INS OmniSTAR VBS solution
94 INS_OMNISTAR_HP = 58; // INS OmniSTAR high precision solution
95 INS_OMNISTAR_XP = 59; // INS OmniSTAR extra precision solution
96 OMNISTAR_HP = 64; // OmniSTAR high precision
97 OMNISTAR_XP = 65; // OmniSTAR extra precision

◆ ImuMsgDataStatus

枚举值
IMU_DATA_NORMAL 
IMU_DATA_ABNORMAL 
IMU_DATA_OTHER 

在文件 localization_status.proto118 行定义.

◆ ImuMsgDelayStatus

枚举值
IMU_DELAY_NORMAL 
IMU_DELAY_1 
IMU_DELAY_2 
IMU_DELAY_3 
IMU_DELAY_ABNORMAL 

在文件 localization_status.proto100 行定义.

◆ ImuMsgMissingStatus

枚举值
IMU_MISSING_NORMAL 
IMU_MISSING_1 
IMU_MISSING_2 
IMU_MISSING_3 
IMU_MISSING_4 
IMU_MISSING_5 
IMU_MISSING_ABNORMAL 

在文件 localization_status.proto108 行定义.

◆ LocalLidarConsistency

枚举值
MSF_LOCAL_LIDAR_CONSISTENCY_00 
MSF_LOCAL_LIDAR_CONSISTENCY_01 
MSF_LOCAL_LIDAR_CONSISTENCY_02 
MSF_LOCAL_LIDAR_CONSISTENCY_03 

在文件 localization_status.proto42 行定义.

44 {
46 0; // The difference is less than threshold 1

◆ LocalLidarQuality

枚举值
MSF_LOCAL_LIDAR_VERY_GOOD 
MSF_LOCAL_LIDAR_GOOD 
MSF_LOCAL_LIDAR_NOT_BAD 
MSF_LOCAL_LIDAR_BAD 

在文件 localization_status.proto33 行定义.

◆ LocalLidarStatus

枚举值
MSF_LOCAL_LIDAR_NORMAL 
MSF_LOCAL_LIDAR_MAP_MISSING 
MSF_LOCAL_LIDAR_EXTRINSICS_MISSING 
MSF_LOCAL_LIDAR_MAP_LOADING_FAILED 
MSF_LOCAL_LIDAR_NO_OUTPUT 
MSF_LOCAL_LIDAR_OUT_OF_MAP 
MSF_LOCAL_LIDAR_NOT_GOOD 
MSF_LOCAL_LIDAR_UNDEFINED_STATUS 

在文件 localization_status.proto22 行定义.

22 {
23 MSF_LOCAL_LIDAR_NORMAL = 0; // Localization result satisfy threshold
24 MSF_LOCAL_LIDAR_MAP_MISSING = 1; // Can't find localization map (config.xml)
25 MSF_LOCAL_LIDAR_EXTRINSICS_MISSING = 2; // Missing extrinsic parameters
26 MSF_LOCAL_LIDAR_MAP_LOADING_FAILED = 3; // Fail to load localization map
28 4; // No output (comparing to timestamp of imu msg)
30 5; // Coverage of online pointcloud and map is lower than threshold
31 MSF_LOCAL_LIDAR_NOT_GOOD = 6; // Localization result do not meet threshold

◆ MeasureState

枚举值
OK 
WARNNING 
ERROR 
CRITICAL_ERROR 
FATAL_ERROR 

在文件 localization.proto65 行定义.

65 {
66 OK = 0;
67 WARNNING = 1;
68 ERROR = 2;
70 FATAL_ERROR = 4;
71}

◆ MsfGnssMapOffsetStatus

枚举值
MSF_LOCAL_GNSS_MAP_OFFSET_NORMAL 
MSF_LOCAL_GNSS_MAP_OFFSET_ABNORMAL 

在文件 localization_status.proto175 行定义.

◆ MsfInitPoseSource

枚举值
UNKNOWN_SOURCE 
GNSS_HEADING 
LOCAL_SEARCH_FROM_INTEGPVA 
LOCAL_SEARCH_FROM_FILE 
LOCAL_UPDATE_FROM_FILE 
USER_INTERACTION 
INSPVA_RECORD 
GNSS_VELOCITY 
GLOBAL_LIDAR 

在文件 localization_status.proto162 行定义.

162 {
163 optional ImuMsgDelayStatus imu_delay_status = 1;
164 optional ImuMsgMissingStatus imu_missing_status = 2;
165 optional ImuMsgDataStatus imu_data_status = 3;
166}
167
168// The init pose source
169enum MsfInitPoseSource {
170 UNKNOWN_SOURCE = 0;
171 GNSS_HEADING = 1;
172 LOCAL_SEARCH_FROM_INTEGPVA = 2;

◆ MsfInitPoseStatus

枚举值
INIT_WAITING 
INIT_DOING 
INIT_SUCCESSFUL 
INIT_FAILED 
INIT_TERMINATED 

在文件 localization_status.proto188 行定义.

188 {
189 optional MsfGnssMapOffsetStatus status = 1;
190 optional double offsetx = 2;
191 optional double offsety = 3;
192}
193
194// The init pose status

◆ MSFInitStatus

枚举值
MSF_INIT 
MSF_ALIGNING 
MSF_ALIGNED_INIT 
MSF_ALIGNED_CONVERGED 
MSF_ALIGNED_CONVERGING 
MSF_ALIGNED_GOOD 
MSF_ALIGNED_VALID 

在文件 localization_status.proto208 行定义.

◆ MsfRunningStatus

枚举值
MSF_SOL_LIDAR_GNSS 
MSF_SOL_X_GNSS 
MSF_SOL_LIDAR_X 
MSF_SOL_LIDAR_XX 
MSF_SOL_LIDAR_XXX 
MSF_SOL_X_X 
MSF_SOL_X_XX 
MSF_SOL_X_XXX 
MSF_SSOL_LIDAR_GNSS 
MSF_SSOL_X_GNSS 
MSF_SSOL_LIDAR_X 
MSF_SSOL_LIDAR_XX 
MSF_SSOL_LIDAR_XXX 
MSF_SSOL_X_X 
MSF_SSOL_X_XX 
MSF_SSOL_X_XXX 
MSF_NOSOL_LIDAR_GNSS 
MSF_NOSOL_X_GNSS 
MSF_NOSOL_LIDAR_X 
MSF_NOSOL_LIDAR_XX 
MSF_NOSOL_LIDAR_XXX 
MSF_NOSOL_X_X 
MSF_NOSOL_X_XX 
MSF_NOSOL_X_XXX 
MSF_RUNNING_INIT 
MSF_REINIT_ABNORMALLY 

在文件 localization_status.proto125 行定义.

125 {
126 IMU_DATA_NORMAL = 0;
128 IMU_DATA_OTHER = 2;
129}
130
131// The running status of localization module
132enum MsfRunningStatus {
133 MSF_SOL_LIDAR_GNSS = 0;
134 MSF_SOL_X_GNSS = 1;
135 MSF_SOL_LIDAR_X = 2;
136 MSF_SOL_LIDAR_XX = 3;
137 MSF_SOL_LIDAR_XXX = 4;
138 MSF_SOL_X_X = 5;
139 MSF_SOL_X_XX = 6;
140 MSF_SOL_X_XXX = 7;
141 MSF_SSOL_LIDAR_GNSS = 8;
142 MSF_SSOL_X_GNSS = 9;
143 MSF_SSOL_LIDAR_X = 10;
144 MSF_SSOL_LIDAR_XX = 11;
145 MSF_SSOL_LIDAR_XXX = 12;
146 MSF_SSOL_X_X = 13;
147 MSF_SSOL_X_XX = 14;
148 MSF_SSOL_X_XXX = 15;
149 MSF_NOSOL_LIDAR_GNSS = 16;
150 MSF_NOSOL_X_GNSS = 17;
151 MSF_NOSOL_LIDAR_X = 18;
152 MSF_NOSOL_LIDAR_XX = 19;

函数说明

◆ CYBER_REGISTER_COMPONENT() [1/2]

apollo::localization::CYBER_REGISTER_COMPONENT ( MSFLocalizationComponent  )

◆ CYBER_REGISTER_COMPONENT() [2/2]

apollo::localization::CYBER_REGISTER_COMPONENT ( RTKLocalizationComponent  )