online_localization_expert.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 "localization_msf/sins_struct.h"
#include "modules/common_msgs/sensor_msgs/gnss_best_pose.pb.h"
#include "modules/localization/msf/local_integ/localization_params.h"
#include "modules/common_msgs/localization_msgs/localization.pb.h"
#include "modules/common_msgs/localization_msgs/localization_status.pb.h"
 
namespace apollo {
namespace localization {
namespace msf {
 
class OnlineLocalizationExpert {
 public:
  OnlineLocalizationExpert() = default;
  ~OnlineLocalizationExpert() = default;
 
  bool Init(const LocalizationIntegParam &param);
 
  void AddImu(const ImuData &data);
  void AddFusionLocalization(const LocalizationEstimate &data);
  void AddLidarLocalization(const LocalizationEstimate &data);
  void AddGnssBestPose(const drivers::gnss::GnssBestPose &msg,
                       const MeasureData &data);
 
  void GetFusionStatus(MsfStatus *msf_status, MsfSensorMsgStatus *sensor_status,
                       LocalizationIntegStatus *integstatus);
  void GetGnssStatus(MsfStatus *msf_status);
 
 private:
  void CheckImuDelayStatus(const double &cur_imu_time);
  void CheckImuMissingStatus(const double &cur_imu_time);
  void CheckGnssLidarMsfStatus(const double &cur_imu_time);
  void SetLocalizationStatus(const LocalizationEstimate &data);
 
 private:
  MsfStatus msf_status_;
  std::mutex msf_status_mutex_;
 
  MsfSensorMsgStatus sensor_status_;
 
  double latest_gnsspos_timestamp_ = 0.0;
  std::mutex latest_gnsspos_timestamp_mutex_;
 
  double latest_lidar_timestamp_ = 0.0;
  std::mutex latest_lidar_timestamp_mutex_;
 
  double imu_delay_time_threshold_1_ = 0.1;
  double imu_delay_time_threshold_2_ = 0.05;
  double imu_delay_time_threshold_3_ = 0.02;
 
  double imu_missing_time_threshold_1_ = 0.1;
  double imu_missing_time_threshold_2_ = 0.05;
  double imu_missing_time_threshold_3_ = 0.01;
 
  double bestgnsspose_loss_time_threshold_ = 2.0;
  double lidar_loss_time_threshold_ = 2.0;
 
  double localization_std_x_threshold_1_ = 0.15;
  double localization_std_y_threshold_1_ = 0.15;
 
  double localization_std_x_threshold_2_ = 0.3;
  double localization_std_y_threshold_2_ = 0.3;
 
  LocalizationIntegStatus integ_status_;
};
 
}  // namespace msf
}  // namespace localization
}  // namespace apollo