Apollo 10.0
自动驾驶开放平台
compensator_component.h
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4 * Licensed under the Apache License, Version 2.0 (the "License");
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13 * See the License for the specific language governing permissions and
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16
17#pragma once
18
19#include <memory>
20#include <vector>
21
23#include "cyber/cyber.h"
24
26
27namespace apollo {
28namespace drivers {
29namespace velodyne {
30
36
37class CompensatorComponent : public Component<PointCloud> {
38 public:
39 bool Init() override;
40 bool Proc(const std::shared_ptr<PointCloud>& point_cloud) override;
41
42 private:
43 std::unique_ptr<Compensator> compensator_ = nullptr;
44 int pool_size_ = 8;
45 int seq_ = 0;
46 std::shared_ptr<Writer<PointCloud>> writer_ = nullptr;
47 std::shared_ptr<CCObjectPool<PointCloud>> compensator_pool_ = nullptr;
48};
49
51} // namespace velodyne
52} // namespace drivers
53} // namespace apollo
Reader subscribes a channel, it has two main functions:
Definition reader.h:69
bool Proc(const std::shared_ptr< PointCloud > &point_cloud) override
#define CYBER_REGISTER_COMPONENT(name)
Definition component.h:656
class register implement
Definition arena_queue.h:37