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

#include <base_map.h>

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

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

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

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

virtual void	InitMapNodeCaches (int cacheL1_size, int cahceL2_size)

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

BaseMapNode *	GetMapNode (const MapNodeIndex &index)
	Return 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)
	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	Release ()
	Release resources. 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	ComputeMd5ForAllMapNodes ()
	Compute md5 for all map node file in map. More...

bool	CheckMap ()
	Check if map is normal. More...

bool	CheckMapStrictly ()
	Check if map is normal(with map node checking). More...

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

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

const std::vector< std::string > &	GetAllMapNodePaths () const
	Get all map node paths. More...

const std::vector< std::string > &	GetAllMapNodeMd5s () const
	Get all map node md5s. More...

Protected Member Functions
void	GetAllMapIndexAndPath ()

MapNodeIndex	GetMapIndexFromMapPath (const std::string &map_path)

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

void	CheckAndUpdateCache (std::set< MapNodeIndex > *map_ids)
	Check map node in L2 Cache. More...

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

MapNodeCache< MapNodeIndex, BaseMapNode >::DestroyFunc	destroy_func_lvl1_

MapNodeCache< MapNodeIndex, BaseMapNode >::DestroyFunc	destroy_func_lvl2_

std::unique_ptr< MapNodeCache< MapNodeIndex, BaseMapNode > >	map_node_cache_lvl1_ = nullptr
	The cache for map node preload. More...

std::unique_ptr< MapNodeCache< MapNodeIndex, BaseMapNode > >	map_node_cache_lvl2_ = nullptr

BaseMapNodePool *	map_node_pool_ = nullptr
	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...

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

std::vector< std::string >	all_map_node_paths_

std::vector< std::string >	all_map_node_md5s_
	All the map nodes' md5 in the Map (in the disk). More...

Detailed Description

The data structure of the base map.

Constructor & Destructor Documentation

◆ BaseMap()

apollo::localization::msf::pyramid_map::BaseMap::BaseMap ( BaseMapConfig * config )

explicit

The constructor.

◆ ~BaseMap()

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

virtual

The destructor.

Member Function Documentation

◆ AddDataset()

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

Add a dataset path to the map config.

◆ AttachMapNodePool()

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

Attach map node pointer.

◆ CheckAndUpdateCache()

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

protected

Check map node in L2 Cache.

◆ CheckMap()

bool apollo::localization::msf::pyramid_map::BaseMap::CheckMap ( )

Check if map is normal.

◆ CheckMapStrictly()

bool apollo::localization::msf::pyramid_map::BaseMap::CheckMapStrictly ( )

Check if map is normal(with map node checking).

◆ ComputeMd5ForAllMapNodes()

void apollo::localization::msf::pyramid_map::BaseMap::ComputeMd5ForAllMapNodes ( )

Compute md5 for all map node file in map.

◆ GetAllMapIndexAndPath()

void apollo::localization::msf::pyramid_map::BaseMap::GetAllMapIndexAndPath ( )

protected

◆ GetAllMapNodeMd5s()

const std::vector<std::string>& apollo::localization::msf::pyramid_map::BaseMap::GetAllMapNodeMd5s ( ) const

inline

Get all map node md5s.

◆ GetAllMapNodePaths()

const std::vector<std::string>& apollo::localization::msf::pyramid_map::BaseMap::GetAllMapNodePaths ( ) const

inline

Get all map node paths.

◆ GetMapConfig() [1/2]

const BaseMapConfig& apollo::localization::msf::pyramid_map::BaseMap::GetMapConfig ( ) const

inline

Get the map config.

◆ GetMapConfig() [2/2]

BaseMapConfig& apollo::localization::msf::pyramid_map::BaseMap::GetMapConfig ( )

inline

Get the map config.

◆ GetMapIndexFromMapPath()

MapNodeIndex apollo::localization::msf::pyramid_map::BaseMap::GetMapIndexFromMapPath ( const std::string & map_path )

protected

◆ GetMapNode()

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

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

◆ GetMapNodeSafe()

BaseMapNode* apollo::localization::msf::pyramid_map::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::pyramid_map::BaseMap::InitMapNodeCaches	(	int	cacheL1_size,
		int	cahceL2_size
	)

virtual

◆ IsMapNodeExist()

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

Check if the map node in the cache.

◆ LoadMapArea()

virtual bool apollo::localization::msf::pyramid_map::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.

◆ LoadMapNodes()

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

protected

Load map node by index.

◆ LoadMapNodeThreadSafety()

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

protected

Load map node by index, thread_safety.

◆ PreloadMapArea()

virtual void apollo::localization::msf::pyramid_map::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.

◆ PreloadMapNodes()

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

protected

Load map node by index.

◆ Release()

void apollo::localization::msf::pyramid_map::BaseMap::Release ( )

Release resources.

◆ SetMapFolderPath()

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

Set the directory of the map.

Member Data Documentation

◆ all_map_node_indices_

std::vector<MapNodeIndex> apollo::localization::msf::pyramid_map::BaseMap::all_map_node_indices_

protected

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

◆ all_map_node_md5s_

std::vector<std::string> apollo::localization::msf::pyramid_map::BaseMap::all_map_node_md5s_

protected

All the map nodes' md5 in the Map (in the disk).

◆ all_map_node_paths_

std::vector<std::string> apollo::localization::msf::pyramid_map::BaseMap::all_map_node_paths_

protected

◆ destroy_func_lvl1_

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

protected

◆ destroy_func_lvl2_

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

protected

◆ map_config_

BaseMapConfig* apollo::localization::msf::pyramid_map::BaseMap::map_config_ = nullptr

protected

The map settings.

◆ map_load_mutex_

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

protected

The mutex for preload map node.

◆ map_node_cache_lvl1_

std::unique_ptr<MapNodeCache<MapNodeIndex, BaseMapNode> > apollo::localization::msf::pyramid_map::BaseMap::map_node_cache_lvl1_ = nullptr

protected

The cache for map node preload.

◆ map_node_cache_lvl2_

std::unique_ptr<MapNodeCache<MapNodeIndex, BaseMapNode> > apollo::localization::msf::pyramid_map::BaseMap::map_node_cache_lvl2_ = nullptr

protected

brief The dynamic map node preloading thread pool pointer.

◆ map_node_pool_

BaseMapNodePool* apollo::localization::msf::pyramid_map::BaseMap::map_node_pool_ = nullptr

protected

The map node memory pool pointer.

◆ map_preloading_task_index_

std::set<MapNodeIndex> apollo::localization::msf::pyramid_map::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_pyramid_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()

◆ CheckAndUpdateCache()

◆ CheckMap()

◆ CheckMapStrictly()

◆ ComputeMd5ForAllMapNodes()

◆ GetAllMapIndexAndPath()

◆ GetAllMapNodeMd5s()

◆ GetAllMapNodePaths()

◆ GetMapConfig() [1/2]

◆ GetMapConfig() [2/2]

◆ GetMapIndexFromMapPath()

◆ GetMapNode()

◆ GetMapNodeSafe()

◆ InitMapNodeCaches()

◆ IsMapNodeExist()

◆ LoadMapArea()

◆ LoadMapNodes()

◆ LoadMapNodeThreadSafety()

◆ PreloadMapArea()

◆ PreloadMapNodes()

◆ Release()

◆ SetMapFolderPath()

Member Data Documentation

◆ all_map_node_indices_

◆ all_map_node_md5s_

◆ all_map_node_paths_

◆ destroy_func_lvl1_

◆ destroy_func_lvl2_

◆ map_config_

◆ map_load_mutex_

◆ map_node_cache_lvl1_

◆ map_node_cache_lvl2_

◆ map_node_pool_

◆ map_preloading_task_index_