apollo::localization::msf::LosslessMapSingleCell结构体 参考

#include <lossless_map_matrix.h>

apollo::localization::msf::LosslessMapSingleCell 的协作图:

Public 成员函数
	LosslessMapSingleCell ()
	The default constructor.
void	Reset ()
	Reset to default value.
void	AddSample (const float new_altitude, const float new_intensity)
	Add a sample.
LosslessMapSingleCell &	operator= (const LosslessMapSingleCell &ref)
	Overloading the assign operator.
unsigned int	LoadBinary (unsigned char *buf)
	Load the map cell from a binary chunk.
unsigned int	CreateBinary (unsigned char *buf, unsigned int buf_size) const
	Create the binary.
unsigned int	GetBinarySize () const
	Get the binary size of the object.

Public 属性
float	intensity
	The average intensity value.
float	intensity_var
	The variance intensity value.
float	altitude
	The average altitude of the cell.
float	altitude_var
	The variance altitude value of the cell.
unsigned int	count
	The number of samples in the cell.

详细描述

在文件 lossless_map_matrix.h 第 33 行定义.

构造及析构函数说明

LosslessMapSingleCell()

apollo::localization::msf::LosslessMapSingleCell::LosslessMapSingleCell

(

)

The default constructor.

在文件 lossless_map_matrix.cc 第 24 行定义.

    : intensity(0.0),
      intensity_var(0.0),
      altitude(0.0),
      altitude_var(0.0),
      count(0) {}

成员函数说明

AddSample()

void apollo::localization::msf::LosslessMapSingleCell::AddSample	(	const float	new_altitude,
		const float	new_intensity
	)

Add a sample.

在文件 lossless_map_matrix.cc 第 47 行定义.

                                                                 {
  ++count;
  float fcount = static_cast<float>(count);
  float v1 = new_intensity - intensity;
  float value = v1 / fcount;
  intensity += value;
  float v2 = new_intensity - intensity;
  intensity_var = (fcount - 1.0f) * intensity_var + v1 * v2 / fcount;
 
  v1 = new_altitude - altitude;
  value = v1 / fcount;
  altitude += value;
  v2 = new_altitude - altitude;
  altitude_var = ((fcount - 1) * altitude_var + v1 * v2) / fcount;
}

CreateBinary()

unsigned int apollo::localization::msf::LosslessMapSingleCell::CreateBinary	(	unsigned char *	buf,
		unsigned int	buf_size
	)		const

Create the binary.

Serialization of the object.

参数

<buf,buf_size>	The buffer and its size.
<return>	The required or the used size of is returned.

在文件 lossless_map_matrix.cc 第 80 行定义.

                                                                              {
  unsigned int target_size = GetBinarySize();
  if (buf_size >= target_size) {
    float* p = reinterpret_cast<float*>(buf);
    *p = intensity;
    ++p;
    *p = intensity_var;
    ++p;
    *p = altitude;
    ++p;
    *p = altitude_var;
    ++p;
    unsigned int* pp =
        reinterpret_cast<unsigned int*>(reinterpret_cast<void*>(p));
    *pp = count;
  }
  return target_size;
}

GetBinarySize()

unsigned int apollo::localization::msf::LosslessMapSingleCell::GetBinarySize

(

)

const

Get the binary size of the object.

在文件 lossless_map_matrix.cc 第 100 行定义.

                                                        {
  return static_cast<unsigned int>(sizeof(float) * 4 + sizeof(unsigned int));
}

LoadBinary()

unsigned int apollo::localization::msf::LosslessMapSingleCell::LoadBinary

(

unsigned char *

buf

)

Load the map cell from a binary chunk.

参数

<return>

The size read (the real size of object).

在文件 lossless_map_matrix.cc 第 64 行定义.

                                                                 {
  float* p = reinterpret_cast<float*>(buf);
  intensity = *p;
  ++p;
  intensity_var = *p;
  ++p;
  altitude = *p;
  ++p;
  altitude_var = *p;
  ++p;
  unsigned int* pp =
      reinterpret_cast<unsigned int*>(reinterpret_cast<void*>(p));
  count = *pp;
  return GetBinarySize();
}

operator=()

LosslessMapSingleCell & apollo::localization::msf::LosslessMapSingleCell::operator=

(

const LosslessMapSingleCell &

ref

)

Overloading the assign operator.

在文件 lossless_map_matrix.cc 第 38 行定义.

                                      {
  intensity = ref.intensity;
  intensity_var = ref.intensity_var;
  altitude = ref.altitude;
  count = ref.count;
  return *this;
}

Reset()

void apollo::localization::msf::LosslessMapSingleCell::Reset ( )

inline

Reset to default value.

在文件 lossless_map_matrix.cc 第 31 行定义.

                                  {
  intensity = 0.0;
  intensity_var = 0.0;
  altitude = 0.0;
  count = 0;
}

类成员变量说明

altitude

float apollo::localization::msf::LosslessMapSingleCell::altitude

The average altitude of the cell.

在文件 lossless_map_matrix.h 第 59 行定义.

altitude_var

float apollo::localization::msf::LosslessMapSingleCell::altitude_var

The variance altitude value of the cell.

在文件 lossless_map_matrix.h 第 61 行定义.

count

unsigned int apollo::localization::msf::LosslessMapSingleCell::count

The number of samples in the cell.

在文件 lossless_map_matrix.h 第 63 行定义.

intensity

float apollo::localization::msf::LosslessMapSingleCell::intensity

The average intensity value.

在文件 lossless_map_matrix.h 第 55 行定义.

intensity_var

float apollo::localization::msf::LosslessMapSingleCell::intensity_var

The variance intensity value.

在文件 lossless_map_matrix.h 第 57 行定义.

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该结构体的文档由以下文件生成:

• modules/localization/msf/local_map/lossless_map/lossless_map_matrix.h
• modules/localization/msf/local_map/lossless_map/lossless_map_matrix.cc