apollo::localization::msf::LocalizationLidar Class Reference

#include <localization_lidar.h>

Collaboration diagram for apollo::localization::msf::LocalizationLidar:

Public Types
typedef apollo::localization::msf::pyramid_map::PyramidMap	PyramidMap
typedef apollo::localization::msf::pyramid_map::MapNodeIndex	MapNodeIndex
typedef apollo::localization::msf::pyramid_map::PyramidMapNode	PyramidMapNode
typedef apollo::localization::msf::pyramid_map::PyramidMapNodePool	PyramidMapNodePool
typedef apollo::localization::msf::pyramid_map::PyramidMapMatrix	PyramidMapMatrix
typedef apollo::localization::msf::pyramid_map::PyramidMapConfig	PyramidMapConfig
typedef apollo::localization::msf::pyramid_map::FloatMatrix	FloatMatrix
typedef apollo::localization::msf::pyramid_map::UIntMatrix	UIntMatrix

Public Member Functions
	LocalizationLidar ()
	The constructor. More...
	~LocalizationLidar ()
	The deconstructor. More...
bool	Init (const std::string &map_path, const unsigned int search_range_x, const unsigned int search_range_y, const int zone_id, const unsigned int resolution_id=0)
void	SetVelodyneExtrinsic (const Eigen::Affine3d &pose)
void	SetVehicleHeight (double height)
void	SetValidThreshold (float valid_threashold)
void	SetImageAlignMode (int mode)
void	SetLocalizationMode (int mode)
void	SetDeltaYawLimit (double limit)
void	SetDeltaPitchRollLimit (double limit)
int	Update (const unsigned int frame_idx, const Eigen::Affine3d &pose, const Eigen::Vector3d velocity, const LidarFrame &lidar_frame, bool use_avx=false)
void	GetResult (Eigen::Affine3d *location, Eigen::Matrix3d *covariance, double *location_score)
void	GetLocalizationDistribution (Eigen::MatrixXd *distribution)

Protected Member Functions
void	ComposeMapNode (const Eigen::Vector3d &trans)
void	RefineAltitudeFromMap (Eigen::Affine3d *pose)

Protected Attributes
LidarLocator *	lidar_locator_
int	search_range_x_ = 0
int	search_range_y_ = 0
int	node_size_x_ = 0
int	node_size_y_ = 0
double	resolution_ = 0.125
MapNodeData *	lidar_map_node_
PyramidMapConfig	config_
PyramidMap	map_
PyramidMapNodePool	map_node_pool_
Eigen::Vector2d	map_left_top_corner_
unsigned int	resolution_id_ = 0
int	zone_id_ = 50
bool	is_map_loaded_ = false
double	vehicle_lidar_height_ = 1.7
double	pre_vehicle_ground_height_ = 0.0
bool	is_pre_ground_height_valid_ = false
Eigen::Affine3d	velodyne_extrinsic_

Member Typedef Documentation

FloatMatrix

typedef apollo::localization::msf::pyramid_map::FloatMatrix apollo::localization::msf::LocalizationLidar::FloatMatrix

MapNodeIndex

typedef apollo::localization::msf::pyramid_map::MapNodeIndex apollo::localization::msf::LocalizationLidar::MapNodeIndex

PyramidMap

typedef apollo::localization::msf::pyramid_map::PyramidMap apollo::localization::msf::LocalizationLidar::PyramidMap

PyramidMapConfig

typedef apollo::localization::msf::pyramid_map::PyramidMapConfig apollo::localization::msf::LocalizationLidar::PyramidMapConfig

PyramidMapMatrix

typedef apollo::localization::msf::pyramid_map::PyramidMapMatrix apollo::localization::msf::LocalizationLidar::PyramidMapMatrix

PyramidMapNode

typedef apollo::localization::msf::pyramid_map::PyramidMapNode apollo::localization::msf::LocalizationLidar::PyramidMapNode

PyramidMapNodePool

typedef apollo::localization::msf::pyramid_map::PyramidMapNodePool apollo::localization::msf::LocalizationLidar::PyramidMapNodePool

UIntMatrix

typedef apollo::localization::msf::pyramid_map::UIntMatrix apollo::localization::msf::LocalizationLidar::UIntMatrix

Constructor & Destructor Documentation

LocalizationLidar()

apollo::localization::msf::LocalizationLidar::LocalizationLidar

(

)

The constructor.

~LocalizationLidar()

apollo::localization::msf::LocalizationLidar::~LocalizationLidar

(

)

The deconstructor.

Member Function Documentation

ComposeMapNode()

void apollo::localization::msf::LocalizationLidar::ComposeMapNode ( const Eigen::Vector3d &  trans )

protected

GetLocalizationDistribution()

void apollo::localization::msf::LocalizationLidar::GetLocalizationDistribution

(

Eigen::MatrixXd *

distribution

)

GetResult()

void apollo::localization::msf::LocalizationLidar::GetResult	(	Eigen::Affine3d *	location,
		Eigen::Matrix3d *	covariance,
		double *	location_score
	)

Init()

bool apollo::localization::msf::LocalizationLidar::Init	(	const std::string &	map_path,
		const unsigned int	search_range_x,
		const unsigned int	search_range_y,
		const int	zone_id,
		const unsigned int	resolution_id = 0
	)

RefineAltitudeFromMap()

void apollo::localization::msf::LocalizationLidar::RefineAltitudeFromMap ( Eigen::Affine3d *  pose )

protected

SetDeltaPitchRollLimit()

void apollo::localization::msf::LocalizationLidar::SetDeltaPitchRollLimit

(

double

limit

)

SetDeltaYawLimit()

void apollo::localization::msf::LocalizationLidar::SetDeltaYawLimit

(

double

limit

)

SetImageAlignMode()

void apollo::localization::msf::LocalizationLidar::SetImageAlignMode

(

int

mode

)

SetLocalizationMode()

void apollo::localization::msf::LocalizationLidar::SetLocalizationMode

(

int

mode

)

SetValidThreshold()

void apollo::localization::msf::LocalizationLidar::SetValidThreshold

(

float

valid_threashold

)

SetVehicleHeight()

void apollo::localization::msf::LocalizationLidar::SetVehicleHeight

(

double

height

)

SetVelodyneExtrinsic()

void apollo::localization::msf::LocalizationLidar::SetVelodyneExtrinsic

(

const Eigen::Affine3d &

pose

)

Update()

int apollo::localization::msf::LocalizationLidar::Update	(	const unsigned int	frame_idx,
		const Eigen::Affine3d &	pose,
		const Eigen::Vector3d	velocity,
		const LidarFrame &	lidar_frame,
		bool	use_avx = false
	)

Member Data Documentation

config_

PyramidMapConfig apollo::localization::msf::LocalizationLidar::config_

protected

is_map_loaded_

bool apollo::localization::msf::LocalizationLidar::is_map_loaded_ = false

protected

is_pre_ground_height_valid_

bool apollo::localization::msf::LocalizationLidar::is_pre_ground_height_valid_ = false

protected

lidar_locator_

LidarLocator* apollo::localization::msf::LocalizationLidar::lidar_locator_

protected

lidar_map_node_

MapNodeData* apollo::localization::msf::LocalizationLidar::lidar_map_node_

protected

map_

PyramidMap apollo::localization::msf::LocalizationLidar::map_

protected

map_left_top_corner_

Eigen::Vector2d apollo::localization::msf::LocalizationLidar::map_left_top_corner_

protected

map_node_pool_

PyramidMapNodePool apollo::localization::msf::LocalizationLidar::map_node_pool_

protected

node_size_x_

int apollo::localization::msf::LocalizationLidar::node_size_x_ = 0

protected

node_size_y_

int apollo::localization::msf::LocalizationLidar::node_size_y_ = 0

protected

pre_vehicle_ground_height_

double apollo::localization::msf::LocalizationLidar::pre_vehicle_ground_height_ = 0.0

protected

resolution_

double apollo::localization::msf::LocalizationLidar::resolution_ = 0.125

protected

resolution_id_

unsigned int apollo::localization::msf::LocalizationLidar::resolution_id_ = 0

protected

search_range_x_

int apollo::localization::msf::LocalizationLidar::search_range_x_ = 0

protected

search_range_y_

int apollo::localization::msf::LocalizationLidar::search_range_y_ = 0

protected

vehicle_lidar_height_

double apollo::localization::msf::LocalizationLidar::vehicle_lidar_height_ = 1.7

protected

velodyne_extrinsic_

Eigen::Affine3d apollo::localization::msf::LocalizationLidar::velodyne_extrinsic_

protected

zone_id_

int apollo::localization::msf::LocalizationLidar::zone_id_ = 50

protected

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

• modules/localization/msf/local_integ/localization_lidar.h