The data structure of the base map. More...

#include <base_map.h>

Inheritance diagram for apollo::localization::msf::BaseMap:

Collaboration diagram for apollo::localization::msf::BaseMap:

Public Member Functions
	BaseMap (BaseMapConfig *map_config)
	The constructor. More...

virtual	~BaseMap ()
	The destructor. More...

virtual void	InitMapNodeCaches (int cacheL1_size, int cahceL2_size)
	Init load threadpool and preload threadpool. More...

BaseMapNode *	GetMapNode (const MapNodeIndex &index)
	Get the map node, if it's not in the cache, return false. More...

BaseMapNode *	GetMapNodeSafe (const MapNodeIndex &index)
	Return the map node, if it's not in the cache, safely load it. More...

bool	IsMapNodeExist (const MapNodeIndex &index) const
	Check if the map node in the cache. More...

bool	SetMapFolderPath (const std::string folder_path)
	Set the directory of the map. More...

void	AddDataset (const std::string dataset_path)
	Add a dataset path to the map config. More...

virtual void	PreloadMapArea (const Eigen::Vector3d &location, const Eigen::Vector3d &trans_diff, unsigned int resolution_id, unsigned int zone_id)
	Preload map nodes for the next frame location calculation. It will forecasts the nodes by the direction of the car moving. Because the progress of loading will cost a long time (over 100ms), it must do this for a period of time in advance. After the index of nodes calculate finished, it will create loading tasks, but will not wait for the loading finished, eigen version. More...

virtual bool	LoadMapArea (const Eigen::Vector3d &seed_pt3d, unsigned int resolution_id, unsigned int zone_id, int filter_size_x, int filter_size_y)
	Load map nodes for the location calculate of this frame. If the forecasts are correct in last frame, these nodes will be all in cache, if not, then need to create loading tasks, and wait for the loading finish, in order to the nodes which the following calculate needed are all in the memory, eigen version. More...

void	AttachMapNodePool (BaseMapNodePool *p_map_node_pool)
	Attach map node pointer. More...

void	WriteBinary (FILE *file)
	Write all the map nodes to a single binary file stream. It's for binary streaming or packing. More...

void	LoadBinary (FILE *file, std::string map_folder_path="")
	Load all the map nodes from a single binary file stream. It's for binary streaming or packing. More...

const BaseMapConfig &	GetConfig () const
	Get the map config. More...

BaseMapConfig &	GetConfig ()
	Get the map config. More...

Protected Member Functions
void	LoadMapNodes (std::set< MapNodeIndex > *map_ids)
	Load map node by index. More...

void	PreloadMapNodes (std::set< MapNodeIndex > *map_ids)
	Load map node by index. More...

void	LoadMapNodeThreadSafety (MapNodeIndex index, bool is_reserved=false)
	Load map node by index, thread_safety. More...

Protected Attributes
BaseMapConfig *	map_config_
	The map settings. More...

std::list< MapNodeIndex >	map_nodes_disk_
	All the map nodes in the Map (in the disk). More...

MapNodeCache< MapNodeIndex, BaseMapNode >::DestroyFunc	destroy_func_lvl1_

MapNodeCache< MapNodeIndex, BaseMapNode >::DestroyFunc	destroy_func_lvl2_

MapNodeCache< MapNodeIndex, BaseMapNode > *	map_node_cache_lvl1_
	The cache for map node preload. More...

MapNodeCache< MapNodeIndex, BaseMapNode > *	map_node_cache_lvl2_

BaseMapNodePool *	map_node_pool_
	The map node memory pool pointer. More...

std::set< MapNodeIndex >	map_preloading_task_index_

boost::recursive_mutex	map_load_mutex_
	The mutex for preload map node. More...

Detailed Description

The data structure of the base map.

Constructor & Destructor Documentation

◆ BaseMap()

apollo::localization::msf::BaseMap::BaseMap ( BaseMapConfig * map_config )

explicit

The constructor.

◆ ~BaseMap()

virtual apollo::localization::msf::BaseMap::~BaseMap ( )

virtual

The destructor.

Member Function Documentation

◆ AddDataset()

void apollo::localization::msf::BaseMap::AddDataset ( const std::string dataset_path )

Add a dataset path to the map config.

◆ AttachMapNodePool()

void apollo::localization::msf::BaseMap::AttachMapNodePool ( BaseMapNodePool * p_map_node_pool )

Attach map node pointer.

◆ GetConfig() [1/2]

const BaseMapConfig& apollo::localization::msf::BaseMap::GetConfig ( ) const

inline

Get the map config.

◆ GetConfig() [2/2]

BaseMapConfig& apollo::localization::msf::BaseMap::GetConfig ( )

inline

Get the map config.

◆ GetMapNode()

BaseMapNode* apollo::localization::msf::BaseMap::GetMapNode ( const MapNodeIndex & index )

Get the map node, if it's not in the cache, return false.

◆ GetMapNodeSafe()

BaseMapNode* apollo::localization::msf::BaseMap::GetMapNodeSafe ( const MapNodeIndex & index )

Return the map node, if it's not in the cache, safely load it.

◆ InitMapNodeCaches()

virtual void apollo::localization::msf::BaseMap::InitMapNodeCaches	(	int	cacheL1_size,
		int	cahceL2_size
	)

virtual

Init load threadpool and preload threadpool.

◆ IsMapNodeExist()

bool apollo::localization::msf::BaseMap::IsMapNodeExist ( const MapNodeIndex & index ) const

Check if the map node in the cache.

◆ LoadBinary()

void apollo::localization::msf::BaseMap::LoadBinary	(	FILE *	file,
		std::string	map_folder_path = `""`
	)

Load all the map nodes from a single binary file stream. It's for binary streaming or packing.

Parameters

<map_folder_path>	The new map folder path to save the map.
<return>	The size read (the real size of body).

◆ LoadMapArea()

virtual bool apollo::localization::msf::BaseMap::LoadMapArea	(	const Eigen::Vector3d &	seed_pt3d,
		unsigned int	resolution_id,
		unsigned int	zone_id,
		int	filter_size_x,
		int	filter_size_y
	)

virtual

Load map nodes for the location calculate of this frame. If the forecasts are correct in last frame, these nodes will be all in cache, if not, then need to create loading tasks, and wait for the loading finish, in order to the nodes which the following calculate needed are all in the memory, eigen version.

Reimplemented in apollo::localization::msf::LosslessMap, apollo::localization::msf::NdtMap, and apollo::localization::msf::LossyMap2D.

◆ LoadMapNodes()

void apollo::localization::msf::BaseMap::LoadMapNodes ( std::set< MapNodeIndex > * map_ids )

protected

Load map node by index.

◆ LoadMapNodeThreadSafety()

void apollo::localization::msf::BaseMap::LoadMapNodeThreadSafety	(	MapNodeIndex	index,
		bool	is_reserved = `false`
	)

protected

Load map node by index, thread_safety.

◆ PreloadMapArea()

virtual void apollo::localization::msf::BaseMap::PreloadMapArea	(	const Eigen::Vector3d &	location,
		const Eigen::Vector3d &	trans_diff,
		unsigned int	resolution_id,
		unsigned int	zone_id
	)

virtual

Preload map nodes for the next frame location calculation. It will forecasts the nodes by the direction of the car moving. Because the progress of loading will cost a long time (over 100ms), it must do this for a period of time in advance. After the index of nodes calculate finished, it will create loading tasks, but will not wait for the loading finished, eigen version.

Reimplemented in apollo::localization::msf::LosslessMap, apollo::localization::msf::NdtMap, and apollo::localization::msf::LossyMap2D.

◆ PreloadMapNodes()

void apollo::localization::msf::BaseMap::PreloadMapNodes ( std::set< MapNodeIndex > * map_ids )

protected

Load map node by index.

◆ SetMapFolderPath()

bool apollo::localization::msf::BaseMap::SetMapFolderPath ( const std::string folder_path )

Set the directory of the map.

◆ WriteBinary()

void apollo::localization::msf::BaseMap::WriteBinary ( FILE * file )

Write all the map nodes to a single binary file stream. It's for binary streaming or packing.

Parameters

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

Member Data Documentation

◆ destroy_func_lvl1_

MapNodeCache<MapNodeIndex, BaseMapNode>::DestroyFunc apollo::localization::msf::BaseMap::destroy_func_lvl1_

protected

◆ destroy_func_lvl2_

MapNodeCache<MapNodeIndex, BaseMapNode>::DestroyFunc apollo::localization::msf::BaseMap::destroy_func_lvl2_

protected

◆ map_config_

BaseMapConfig* apollo::localization::msf::BaseMap::map_config_

protected

The map settings.

◆ map_load_mutex_

boost::recursive_mutex apollo::localization::msf::BaseMap::map_load_mutex_

protected

The mutex for preload map node.

◆ map_node_cache_lvl1_

MapNodeCache<MapNodeIndex, BaseMapNode>* apollo::localization::msf::BaseMap::map_node_cache_lvl1_

protected

The cache for map node preload.

◆ map_node_cache_lvl2_

MapNodeCache<MapNodeIndex, BaseMapNode>* apollo::localization::msf::BaseMap::map_node_cache_lvl2_

protected

brief The dynamic map node preloading thread pool pointer.

◆ map_node_pool_

BaseMapNodePool* apollo::localization::msf::BaseMap::map_node_pool_

protected

The map node memory pool pointer.

◆ map_nodes_disk_

std::list<MapNodeIndex> apollo::localization::msf::BaseMap::map_nodes_disk_

protected

All the map nodes in the Map (in the disk).

◆ map_preloading_task_index_

std::set<MapNodeIndex> apollo::localization::msf::BaseMap::map_preloading_task_index_

protected

Keep the index of preloading nodes.

The documentation for this class was generated from the following file:

modules/localization/msf/local_map/base_map/base_map.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BaseMap()

◆ ~BaseMap()

Member Function Documentation

◆ AddDataset()

◆ AttachMapNodePool()

◆ GetConfig() [1/2]

◆ GetConfig() [2/2]

◆ GetMapNode()

◆ GetMapNodeSafe()

◆ InitMapNodeCaches()

◆ IsMapNodeExist()

◆ LoadBinary()

◆ LoadMapArea()

◆ LoadMapNodes()

◆ LoadMapNodeThreadSafety()

◆ PreloadMapArea()

◆ PreloadMapNodes()

◆ SetMapFolderPath()

◆ WriteBinary()

Member Data Documentation

◆ destroy_func_lvl1_

◆ destroy_func_lvl2_

◆ map_config_

◆ map_load_mutex_

◆ map_node_cache_lvl1_

◆ map_node_cache_lvl2_

◆ map_node_pool_

◆ map_nodes_disk_

◆ map_preloading_task_index_