#include <lossy_map_2d.h>

Inheritance diagram for apollo::localization::msf::LossyMap2D:

Collaboration diagram for apollo::localization::msf::LossyMap2D:

Public Member Functions
	LossyMap2D (LossyMapConfig2D *config)

	~LossyMap2D ()

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...

Public Member Functions inherited from apollo::localization::msf::BaseMap
	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...

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...

Additional Inherited Members
Protected Member Functions inherited from apollo::localization::msf::BaseMap
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 inherited from apollo::localization::msf::BaseMap
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...

Constructor & Destructor Documentation

◆ LossyMap2D()

apollo::localization::msf::LossyMap2D::LossyMap2D ( LossyMapConfig2D * config )

explicit

◆ ~LossyMap2D()

apollo::localization::msf::LossyMap2D::~LossyMap2D ( )

Member Function Documentation

◆ LoadMapArea()

virtual bool apollo::localization::msf::LossyMap2D::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 from apollo::localization::msf::BaseMap.

◆ PreloadMapArea()

virtual void apollo::localization::msf::LossyMap2D::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.