Apollo 10.0
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命名空间 | 类 | 类型定义 | 枚举 | 函数 | 变量
apollo::localization::msf 命名空间参考

apollo::localization::msf 更多...

命名空间

namespace  pyramid_map
 
namespace  velodyne
 

类

class  BaseMap
 The data structure of the base map. 更多...
 
class  BaseMapConfig
 The options of the reflectance map. 更多...
 
class  BaseMapMatrix
 The data structure of the map cells in a map node. 更多...
 
class  BaseMapNode
 The data structure of a Node in the map. 更多...
 
class  BaseMapNodePool
 The memory pool for the data structure of BaseMapNode. 更多...
 
class  CompressionStrategy
 
class  CyberRecordReader
 Read messages from cyber record. 更多...
 
struct  EphKey
 
class  FeatureXYPlane
 
class  FileUtility
 
class  FrameTransform
 
class  GnssMagTransfer
 
struct  ImuToAntOffset
 
class  IntepolationMessageBuffer
 
union  LeverArm
 
struct  LidarFrame
 
struct  LidarHeight
 
class  LidarMsgTransfer
 
struct  LidarVisFrame
 
class  LocalizationGnssProcess
 
class  LocalizationInteg
 interface of msf localization 更多...
 
class  LocalizationIntegImpl
 interface of msf localization 更多...
 
struct  LocalizationIntegParam
 
class  LocalizationIntegProcess
 process Imu msg for localization 更多...
 
struct  LocalizationIntegStatus
 
class  LocalizationLidar
 
class  LocalizationLidarProcess
 process lidar msg for localization 更多...
 
struct  LocalizationMsg
 
class  LocalizationResult
 
struct  LocalizatonInfo
 The data structure to store info of a localization 更多...
 
class  LocationExporter
 Export info about localziation in rosbag. 更多...
 
class  LosslessMap
 
struct  LosslessMapCell
 The multiple layers of the cell. 更多...
 
class  LosslessMapConfig
 The options of the reflectance map. 更多...
 
class  LosslessMapMatrix
 
class  LosslessMapNode
 
class  LosslessMapNodePool
 The memory pool for the data structure of BaseMapNode. 更多...
 
struct  LosslessMapSingleCell
 
class  LossyMap2D
 
struct  LossyMapCell2D
 
class  LossyMapConfig2D
 The options of the reflectance map. 更多...
 
class  LossyMapMatrix2D
 
class  LossyMapNode2D
 
class  LossyMapNodePool2D
 The memory pool for the data structure of BaseMapNode. 更多...
 
class  MapImageCache
 The cache to load map images. 更多...
 
struct  MapImageKey
 The key structure of a map image . 更多...
 
class  MapNodeCache
 The data structure of the LRUCache. 更多...
 
struct  MapNodeData
 
class  MapNodeIndex
 
struct  math
 
class  MeasureRepublishProcess
 process lidar msg for localization 更多...
 
class  MessageBuffer
 
class  NdtMap
 
class  NdtMapCells
 The data structure of ndt Map cell. 更多...
 
class  NdtMapConfig
 The options of the reflectance map. 更多...
 
class  NdtMapMatrix
 The data structure of ndt Map matrix. 更多...
 
class  NdtMapNode
 
class  NdtMapNodePool
 The memory pool for the data structure of BaseMapNode. 更多...
 
class  NdtMapSingleCell
 The data structure of a single ndt map cell. 更多...
 
class  OfflineLocalVisualizer
 Offline localization visualization tool. 更多...
 
class  OnlineLocalizationExpert
 
class  OnlineVisualizerComponent
 
class  PCDExporter
 Export pcd from rosbag. 更多...
 
class  PosesInterpolation
 
class  Rect2D
 
class  system
 
struct  UTMCoor
 the UTM coordinate struct including x and y. 更多...
 
struct  VehicleGnssAntExtrinsic
 
struct  VehicleToImuQuatern
 
class  VisualizationEngine
 The engine to draw all elements for visualization. 更多...
 
class  VisualizationManager
 
struct  VisualizationManagerParams
 
struct  VisualMapParam
 The data structure to store parameters of a map 更多...
 
class  VoxelGridCovariance
 
struct  WGS84Corr
 the WGS84 coordinate struct 更多...
 
class  ZlibStrategy
 

类型定义

template<class Key , class Element >
using LRUCache = ::apollo::common::util::LRUCache< Key, Element * >
 
typedef Eigen::Vector3d Vector3d
 

枚举

enum class  IntegState { NOT_INIT = 0 , NOT_STABLE , OK , VALID }
 
enum class  ForecastState { NOT_VALID = 0 , INITIAL , INCREMENT }
 
enum class  LidarState { NOT_VALID = 0 , NOT_STABLE , OK }
 
enum class  PredictLocationState { NOT_VALID = 0 , INSPVA_ONLY , INSPVA_IMU , INSPVA_IMU_WHEEL }
 
enum class  LocalizationIntegState {
  OK = 0 , WARNNING , ERROR , CRITIAL_ERROR ,
  FATAL_ERROR
}
 
enum class  LocalizationMeasureState { NOT_VALID = 0 , NOT_STABLE , OK , VALID }
 
enum class  GnssMode { NOVATEL = 0 , SELF }
 

函数

template<class T , size_t N>
constexpr size_t ArraySize (T(&)[N])
 
template<typename T >
T UnixToGpsSeconds (T unix_seconds)
 
int64_t UnixToGpsMicroSeconds (int64_t unix_microseconds)
 
int64_t UnixToGpsNanoSeconds (int64_t unix_nanoseconds)
 
template<typename T >
T GpsToUnixSeconds (T gps_seconds)
 
int64_t GpsToUnixMicroSeconds (int64_t gps_microseconds)
 
int64_t GpsToUnixNanoSeconds (int64_t gps_nanoseconds)
 
std::ostream & operator<< (std::ostream &cerr, const MapNodeIndex &index)
 
 CYBER_REGISTER_COMPONENT (OnlineVisualizerComponent)
 
MapNodeIndex GetMapIndexFromMapFolder (const std::string &map_folder)
 
bool GetAllMapIndex (const std::string &src_map_folder, const std::string &dst_map_folder, std::list< MapNodeIndex > *buf)
 

变量

const size_t kBufferSize = 20480000
 
constexpr int32_t UNIX_GPS_DIFF = 315964800
 
constexpr int64_t ONE_MILLION = 1000000L
 
constexpr int64_t ONE_BILLION = 1000000000L
 
unsigned char color_table [3][3] = {{0, 0, 255}, {0, 255, 0}, {255, 0, 0}}
 
const char car_img_path [3][1024]
 

详细描述

apollo::localization::msf

类型定义说明

◆ LRUCache

template<class Key , class Element >
using apollo::localization::msf::LRUCache = typedef ::apollo::common::util::LRUCache<Key, Element*>

在文件 base_map_cache.h 第 29 行定义.

◆ Vector3d

typedef Eigen::Vector3d apollo::localization::msf::Vector3d

在文件 frame_transform.h 第 27 行定义.

枚举类型说明

◆ ForecastState

enum class apollo::localization::msf::ForecastState
strong
枚举值
NOT_VALID 
INITIAL 
INCREMENT 

在文件 localization_lidar_process.h 第 48 行定义.

48{ NOT_VALID = 0, INITIAL, INCREMENT };

◆ GnssMode

enum class apollo::localization::msf::GnssMode
strong
枚举值
NOVATEL 
SELF 

在文件 measure_republish_process.h 第 46 行定义.

46{ NOVATEL = 0, SELF };

◆ IntegState

enum class apollo::localization::msf::IntegState
strong
枚举值
NOT_INIT 
NOT_STABLE 
OK 
VALID 

在文件 localization_integ_process.h 第 39 行定义.

39{ NOT_INIT = 0, NOT_STABLE, OK, VALID };

◆ LidarState

enum class apollo::localization::msf::LidarState
strong
枚举值
NOT_VALID 
NOT_STABLE 
OK 

在文件 localization_lidar_process.h 第 50 行定义.

50{ NOT_VALID = 0, NOT_STABLE, OK };

◆ LocalizationIntegState

enum class apollo::localization::msf::LocalizationIntegState
strong
枚举值
OK 
WARNNING 
ERROR 
CRITIAL_ERROR 
FATAL_ERROR 

在文件 localization_params.h 第 117 行定义.

117 {
118 OK = 0,
119 WARNNING,
120 ERROR,
121 CRITIAL_ERROR,
122 FATAL_ERROR
123};

◆ LocalizationMeasureState

enum class apollo::localization::msf::LocalizationMeasureState
strong
枚举值
NOT_VALID 
NOT_STABLE 
OK 
VALID 

在文件 localization_params.h 第 129 行定义.

129{ NOT_VALID = 0, NOT_STABLE, OK, VALID };

◆ PredictLocationState

enum class apollo::localization::msf::PredictLocationState
strong
枚举值
NOT_VALID 
INSPVA_ONLY 
INSPVA_IMU 
INSPVA_IMU_WHEEL 

在文件 localization_lidar_process.h 第 52 行定义.

52 {
53 NOT_VALID = 0,
54 INSPVA_ONLY,
55 INSPVA_IMU,
56 INSPVA_IMU_WHEEL
57};

函数说明

◆ ArraySize()

template<class T , size_t N>
constexpr size_t apollo::localization::msf::ArraySize ( T(&)  [N])
constexpr

在文件 time_conversion.h 第 24 行定义.

24 {
25 return N;
26}

◆ CYBER_REGISTER_COMPONENT()

apollo::localization::msf::CYBER_REGISTER_COMPONENT ( OnlineVisualizerComponent  )

◆ GetAllMapIndex()

bool apollo::localization::msf::GetAllMapIndex ( const std::string &  src_map_folder,
const std::string &  dst_map_folder,
std::list< MapNodeIndex > *  buf 
)

在文件 lossless_map_to_lossy_map.cc 第 49 行定义.

51 {
52 std::string src_map_path = src_map_folder + "/map";
53 std::string dst_map_path = dst_map_folder + "/map";
54 boost::filesystem::path src_map_path_boost(src_map_path);
55 boost::filesystem::path dst_map_path_boost(dst_map_path);
56
57 if (!boost::filesystem::exists(dst_map_path)) {
58 boost::filesystem::create_directory(dst_map_path_boost);
59 }
60
61 // push path of map's index to list
62 buf->clear();
63 // std::deque<std::string> map_bin_path;
64 boost::filesystem::recursive_directory_iterator end_iter;
65 boost::filesystem::recursive_directory_iterator iter(src_map_path_boost);
66 for (; iter != end_iter; ++iter) {
67 if (!boost::filesystem::is_directory(*iter)) {
68 if (iter->path().extension() == "") {
69 // map_bin_path.push_back(iter->path().string());
70 std::string tmp = iter->path().string();
71 tmp = tmp.substr(src_map_path.length(), tmp.length());
72 buf->push_back(GetMapIndexFromMapFolder(tmp));
73 }
74 } else {
75 std::string tmp = iter->path().string();
76 tmp = tmp.substr(src_map_path.length(), tmp.length());
77 tmp = dst_map_path + tmp;
78 boost::filesystem::path p(tmp);
79 if (!boost::filesystem::exists(p)) {
80 boost::filesystem::create_directory(p);
81 }
82 }
83 }
84
85 return true;
86}

◆ GetMapIndexFromMapFolder()

MapNodeIndex apollo::localization::msf::GetMapIndexFromMapFolder ( const std::string &  map_folder)

在文件 lossless_map_to_lossy_map.cc 第 36 行定义.

36 {
37 MapNodeIndex index;
38 char buf[100];
39 sscanf(map_folder.c_str(), "/%03u/%05s/%02d/%08u/%08u", &index.resolution_id_,
40 buf, &index.zone_id_, &index.m_, &index.n_);
41 std::string zone = buf;
42 if (zone == "south") {
43 index.zone_id_ = -index.zone_id_;
44 }
45 ADEBUG << index;
46 return index;
47}
apollo::localization::msf::MapNodeIndex::m_
unsigned int m_
The map node ID at the northing direction.
Definition base_map_node_index.h:84
apollo::localization::msf::MapNodeIndex::n_
unsigned int n_
The map node ID at the easting direction.
Definition base_map_node_index.h:86
apollo::localization::msf::MapNodeIndex::resolution_id_
unsigned int resolution_id_
The ID of the resolution.
Definition base_map_node_index.h:79
ADEBUG
#define ADEBUG
Definition log.h:41

◆ GpsToUnixMicroSeconds()

int64_t apollo::localization::msf::GpsToUnixMicroSeconds ( int64_t  gps_microseconds)
inline

在文件 time_conversion.h 第 93 行定义.

93 {
94 return GpsToUnixSeconds(gps_microseconds / ONE_MILLION) * ONE_MILLION +
95 gps_microseconds % ONE_MILLION;
96}

◆ GpsToUnixNanoSeconds()

int64_t apollo::localization::msf::GpsToUnixNanoSeconds ( int64_t  gps_nanoseconds)
inline

在文件 time_conversion.h 第 98 行定义.

98 {
99 return GpsToUnixSeconds(gps_nanoseconds / ONE_BILLION) * ONE_BILLION +
100 gps_nanoseconds % ONE_BILLION;
101}

◆ GpsToUnixSeconds()

template<typename T >
T apollo::localization::msf::GpsToUnixSeconds ( T  gps_seconds)

在文件 time_conversion.h 第 83 行定义.

83 {
84 for (size_t i = 0; i < ArraySize(LEAP_SECONDS); ++i) {
85 T result = gps_seconds + (UNIX_GPS_DIFF - LEAP_SECONDS[i][1]);
86 if (result >= LEAP_SECONDS[i][0]) {
87 return result;
88 }
89 }
90 return static_cast<T>(0);
91}
apollo::localization::msf::ArraySize
constexpr size_t ArraySize(T(&)[N])
Definition time_conversion.h:24

◆ operator<<()

std::ostream & apollo::localization::msf::operator<< ( std::ostream &  cerr,
const MapNodeIndex &  index 
)

在文件 base_map_node_index.cc 第 100 行定义.

100 {
101 cerr << index.ToString();
102 return cerr;
103}

◆ UnixToGpsMicroSeconds()

int64_t apollo::localization::msf::UnixToGpsMicroSeconds ( int64_t  unix_microseconds)
inline

在文件 time_conversion.h 第 72 行定义.

72 {
73 return UnixToGpsSeconds(unix_microseconds / ONE_MILLION) * ONE_MILLION +
74 unix_microseconds % ONE_MILLION;
75}

◆ UnixToGpsNanoSeconds()

int64_t apollo::localization::msf::UnixToGpsNanoSeconds ( int64_t  unix_nanoseconds)
inline

在文件 time_conversion.h 第 77 行定义.

77 {
78 return UnixToGpsSeconds(unix_nanoseconds / ONE_BILLION) * ONE_BILLION +
79 unix_nanoseconds % ONE_BILLION;
80}

◆ UnixToGpsSeconds()

template<typename T >
T apollo::localization::msf::UnixToGpsSeconds ( T  unix_seconds)

在文件 time_conversion.h 第 63 行定义.

63 {
64 for (size_t i = 0; i < ArraySize(LEAP_SECONDS); ++i) {
65 if (unix_seconds >= LEAP_SECONDS[i][0]) {
66 return unix_seconds - (UNIX_GPS_DIFF - LEAP_SECONDS[i][1]);
67 }
68 }
69 return static_cast<T>(0);
70}

变量说明

◆ car_img_path

const char apollo::localization::msf::car_img_path[3][1024]
初始值:
= {
"modules/localization/msf/local_tool/local_visualization/img/red_car.png",
"modules/localization/msf/local_tool/local_visualization/img/green_car.png",
"modules/localization/msf/local_tool/local_visualization/img/blue_car.png"}

在文件 visualization_engine.cc 第 37 行定义.

37 {
38 "modules/localization/msf/local_tool/local_visualization/img/red_car.png",
39 "modules/localization/msf/local_tool/local_visualization/img/green_car.png",
40 "modules/localization/msf/local_tool/local_visualization/img/blue_car.png"};

◆ color_table

unsigned char apollo::localization::msf::color_table[3][3] = {{0, 0, 255}, {0, 255, 0}, {255, 0, 0}}

在文件 visualization_engine.cc 第 35 行定义.

35{{0, 0, 255}, {0, 255, 0}, {255, 0, 0}};

◆ kBufferSize

const size_t apollo::localization::msf::kBufferSize = 20480000

在文件 file_utility.cc 第 36 行定义.

◆ ONE_BILLION

constexpr int64_t apollo::localization::msf::ONE_BILLION = 1000000000L
constexpr

在文件 time_conversion.h 第 60 行定义.

◆ ONE_MILLION

constexpr int64_t apollo::localization::msf::ONE_MILLION = 1000000L
constexpr

在文件 time_conversion.h 第 58 行定义.

◆ UNIX_GPS_DIFF

constexpr int32_t apollo::localization::msf::UNIX_GPS_DIFF = 315964800
constexpr

在文件 time_conversion.h 第 56 行定义.