The data structure of a Node in the map. More...

#include <base_map_node.h>

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

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

Public Member Functions
	BaseMapNode ()
	Construct a map node. More...

	BaseMapNode (BaseMapMatrix matrix, CompressionStrategy strategy)
	Construct a map node. More...

virtual	~BaseMapNode ()
	Destruct a map node. More...

virtual void	Init (const BaseMapConfig *map_config)=0
	Initialize the map node. Call this function first before use it! More...

virtual void	Init (const BaseMapConfig *map_config, const MapNodeIndex &index, bool create_map_cells=true)=0

virtual void	InitMapMatrix (const BaseMapConfig *map_config)
	Initialize the map matrix. More...

virtual void	Finalize ()
	call before deconstruction or reset. More...

virtual void	ResetMapNode ()
	Reset map cells data. More...

bool	Save ()
	Save the map node to the disk. More...

bool	SaveIntensityImage () const
	Save intensity image of node. More...

bool	SaveAltitudeImage () const
	Save altitude image of node. More...

bool	Load ()
	Load the map node from the disk. More...

bool	Load (const char *filename)

virtual bool	GetCoordinate (const Eigen::Vector2d &coordinate, unsigned int x, unsigned int y) const
	Given the global coordinate, get the local 2D coordinate of the map cell matrix. <return> If global coordinate (x, y) belongs to this map node. More...

virtual bool	GetCoordinate (const Eigen::Vector3d &coordinate, unsigned int x, unsigned int y) const

virtual Eigen::Vector2d	GetCoordinate (unsigned int x, unsigned int y) const
	Given the local 2D coordinate, return the global coordinate. More...

void	SetMapNodeIndex (const MapNodeIndex &index)
	Set the map node index. More...

bool	SaveIntensityImage (const std::string &path) const
	Save intensity image of node. More...

bool	SaveAltitudeImage (const std::string &path) const
	Save altitude image of node. More...

const BaseMapMatrix &	GetMapCellMatrix () const
	Get map cell matrix. More...

BaseMapMatrix &	GetMapCellMatrix ()

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

const BaseMapNodeConfig &	GetMapNodeConfig () const
	Get the map node config. More...

const MapNodeIndex &	GetMapNodeIndex () const
	Get the map node index. More...

void	SetIsReserved (bool is_reserved)
	Set if the map node is reserved. More...

bool	GetIsReserved () const
	Get if the map node is reserved. More...

bool	GetIsChanged () const
	Get if the map data has changed. More...

void	SetIsChanged (bool is)
	Set if the map node data has changed. More...

bool	GetIsReady () const
	Get if the map node data is ready. More...

const Eigen::Vector2d &	GetLeftTopCorner () const

void	SetLeftTopCorner (double x, double y)
	Set the left top corner of the map node. More...

float	GetMapResolution () const
	Get the resolution of this map nodex. More...

Static Public Member Functions
static Eigen::Vector2d	ComputeLeftTopCorner (const BaseMapConfig &config, const MapNodeIndex &index)

static Eigen::Vector2d	GetLeftTopCorner (const BaseMapConfig &option, const MapNodeIndex &index)

Protected Member Functions
bool	CreateMapDirectory (const std::string &path) const
	Try to create the map directory. More...

bool	CreateMapDirectoryRecursively (const std::vector< std::string > &paths) const
	Try to create the map directory recursively. More...

bool	CheckMapDirectoryRecursively (const std::vector< std::string > &paths) const
	Try to check the map directory recursively. More...

virtual bool	LoadBinary (FILE *file)
	Load the map cell from a binary chunk. More...

virtual bool	CreateBinary (FILE *file) const
	Create the binary. Serialization of the object. More...

virtual size_t	GetBinarySize () const
	Get the binary size of the object. More...

virtual size_t	LoadHeaderBinary (const unsigned char *buf)
	Load the map node header from a binary chunk. More...

virtual size_t	CreateHeaderBinary (unsigned char *buf, size_t buf_size) const
	Create the binary header. More...

virtual size_t	GetHeaderBinarySize () const
	Get the size of the header in bytes. More...

virtual size_t	LoadBodyBinary (std::vector< unsigned char > *buf)
	Load the map node body from a binary chunk. More...

virtual size_t	CreateBodyBinary (std::vector< unsigned char > *buf) const
	Create the binary body. More...

virtual size_t	GetBodyBinarySize () const
	Get the size of the body in bytes. More...

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

MapNodeIndex	index_
	The index of this node. More...

Eigen::Vector2d	left_top_corner_
	The left top corner of the map node in the global coordinate system. More...

std::shared_ptr< BaseMapNodeConfig >	map_node_config_ = nullptr
	The map node config. More...

std::shared_ptr< BaseMapMatrix >	map_matrix_ = nullptr
	The data structure of the map datas, which is a matrix. More...

std::shared_ptr< BaseMapMatrixHandler >	map_matrix_handler_ = nullptr
	The class to load and create map matrix binary. More...

bool	is_reserved_ = false
	If the node is reserved in map. More...

bool	is_changed_ = false
	Has the map node been changed. More...

bool	data_is_ready_ = false

size_t	file_body_binary_size_ = 0
	The body binary size in file. More...

size_t	uncompressed_file_body_size_ = 0

std::shared_ptr< CompressionStrategy >	compression_strategy_ = nullptr

Detailed Description

The data structure of a Node in the map.

Constructor & Destructor Documentation

◆ BaseMapNode() [1/2]

apollo::localization::msf::pyramid_map::BaseMapNode::BaseMapNode ( )

Construct a map node.

◆ BaseMapNode() [2/2]

apollo::localization::msf::pyramid_map::BaseMapNode::BaseMapNode	(	BaseMapMatrix *	matrix,
		CompressionStrategy *	strategy
	)

Construct a map node.

◆ ~BaseMapNode()

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

virtual

Destruct a map node.

Member Function Documentation

◆ CheckMapDirectoryRecursively()

bool apollo::localization::msf::pyramid_map::BaseMapNode::CheckMapDirectoryRecursively ( const std::vector< std::string > & paths ) const

protected

Try to check the map directory recursively.

◆ ComputeLeftTopCorner()

static Eigen::Vector2d apollo::localization::msf::pyramid_map::BaseMapNode::ComputeLeftTopCorner	(	const BaseMapConfig &	config,
		const MapNodeIndex &	index
	)

static

◆ CreateBinary()

virtual bool apollo::localization::msf::pyramid_map::BaseMapNode::CreateBinary ( FILE * file ) const

protectedvirtual

Create the binary. Serialization of the object.

◆ CreateBodyBinary()

virtual size_t apollo::localization::msf::pyramid_map::BaseMapNode::CreateBodyBinary ( std::vector< unsigned char > * buf ) const

protectedvirtual

Create the binary body.

Parameters

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

◆ CreateHeaderBinary()

virtual size_t apollo::localization::msf::pyramid_map::BaseMapNode::CreateHeaderBinary	(	unsigned char *	buf,
		size_t	buf_size
	)		const

protectedvirtual

Create the binary header.

Parameters

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

◆ CreateMapDirectory()

bool apollo::localization::msf::pyramid_map::BaseMapNode::CreateMapDirectory ( const std::string & path ) const

protected

Try to create the map directory.

◆ CreateMapDirectoryRecursively()

bool apollo::localization::msf::pyramid_map::BaseMapNode::CreateMapDirectoryRecursively ( const std::vector< std::string > & paths ) const

protected

Try to create the map directory recursively.

◆ Finalize()

virtual void apollo::localization::msf::pyramid_map::BaseMapNode::Finalize ( )

virtual

call before deconstruction or reset.

◆ GetBinarySize()

virtual size_t apollo::localization::msf::pyramid_map::BaseMapNode::GetBinarySize ( ) const

protectedvirtual

Get the binary size of the object.

◆ GetBodyBinarySize()

virtual size_t apollo::localization::msf::pyramid_map::BaseMapNode::GetBodyBinarySize ( ) const

protectedvirtual

Get the size of the body in bytes.

◆ GetCoordinate() [1/3]

virtual bool apollo::localization::msf::pyramid_map::BaseMapNode::GetCoordinate	(	const Eigen::Vector2d &	coordinate,
		unsigned int *	x,
		unsigned int *	y
	)		const

virtual

Given the global coordinate, get the local 2D coordinate of the map cell matrix. <return> If global coordinate (x, y) belongs to this map node.

Reimplemented in apollo::localization::msf::pyramid_map::PyramidMapNode.

◆ GetCoordinate() [2/3]

virtual bool apollo::localization::msf::pyramid_map::BaseMapNode::GetCoordinate	(	const Eigen::Vector3d &	coordinate,
		unsigned int *	x,
		unsigned int *	y
	)		const

virtual

Reimplemented in apollo::localization::msf::pyramid_map::PyramidMapNode.

◆ GetCoordinate() [3/3]

virtual Eigen::Vector2d apollo::localization::msf::pyramid_map::BaseMapNode::GetCoordinate	(	unsigned int	x,
		unsigned int	y
	)		const

virtual

Given the local 2D coordinate, return the global coordinate.

Reimplemented in apollo::localization::msf::pyramid_map::PyramidMapNode.

◆ GetHeaderBinarySize()

virtual size_t apollo::localization::msf::pyramid_map::BaseMapNode::GetHeaderBinarySize ( ) const

protectedvirtual

Get the size of the header in bytes.

◆ GetIsChanged()

bool apollo::localization::msf::pyramid_map::BaseMapNode::GetIsChanged ( ) const

inline

Get if the map data has changed.

◆ GetIsReady()

bool apollo::localization::msf::pyramid_map::BaseMapNode::GetIsReady ( ) const

inline

Get if the map node data is ready.

◆ GetIsReserved()

bool apollo::localization::msf::pyramid_map::BaseMapNode::GetIsReserved ( ) const

inline

Get if the map node is reserved.

◆ GetLeftTopCorner() [1/2]

const Eigen::Vector2d& apollo::localization::msf::pyramid_map::BaseMapNode::GetLeftTopCorner ( ) const

inline

◆ GetLeftTopCorner() [2/2]

static Eigen::Vector2d apollo::localization::msf::pyramid_map::BaseMapNode::GetLeftTopCorner	(	const BaseMapConfig &	option,
		const MapNodeIndex &	index
	)

static

◆ GetMapCellMatrix() [1/2]

const BaseMapMatrix& apollo::localization::msf::pyramid_map::BaseMapNode::GetMapCellMatrix ( ) const

inline

Get map cell matrix.

◆ GetMapCellMatrix() [2/2]

BaseMapMatrix& apollo::localization::msf::pyramid_map::BaseMapNode::GetMapCellMatrix ( )

inline

◆ GetMapConfig()

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

inline

Get the map settings.

◆ GetMapNodeConfig()

const BaseMapNodeConfig& apollo::localization::msf::pyramid_map::BaseMapNode::GetMapNodeConfig ( ) const

inline

Get the map node config.

◆ GetMapNodeIndex()

const MapNodeIndex& apollo::localization::msf::pyramid_map::BaseMapNode::GetMapNodeIndex ( ) const

inline

Get the map node index.

◆ GetMapResolution()

float apollo::localization::msf::pyramid_map::BaseMapNode::GetMapResolution ( ) const

inline

Get the resolution of this map nodex.

◆ Init() [1/2]

virtual void apollo::localization::msf::pyramid_map::BaseMapNode::Init ( const BaseMapConfig * map_config )

pure virtual

Initialize the map node. Call this function first before use it!

Implemented in apollo::localization::msf::pyramid_map::NdtMapNode, and apollo::localization::msf::pyramid_map::PyramidMapNode.

◆ Init() [2/2]

virtual void apollo::localization::msf::pyramid_map::BaseMapNode::Init	(	const BaseMapConfig *	map_config,
		const MapNodeIndex &	index,
		bool	create_map_cells = `true`
	)

pure virtual

Implemented in apollo::localization::msf::pyramid_map::NdtMapNode, and apollo::localization::msf::pyramid_map::PyramidMapNode.

◆ InitMapMatrix()

virtual void apollo::localization::msf::pyramid_map::BaseMapNode::InitMapMatrix ( const BaseMapConfig * map_config )

virtual

Initialize the map matrix.

◆ Load() [1/2]

bool apollo::localization::msf::pyramid_map::BaseMapNode::Load ( )

Load the map node from the disk.

◆ Load() [2/2]

bool apollo::localization::msf::pyramid_map::BaseMapNode::Load ( const char * filename )

◆ LoadBinary()

virtual bool apollo::localization::msf::pyramid_map::BaseMapNode::LoadBinary ( FILE * file )

protectedvirtual

Load the map cell from a binary chunk.

◆ LoadBodyBinary()

virtual size_t apollo::localization::msf::pyramid_map::BaseMapNode::LoadBodyBinary ( std::vector< unsigned char > * buf )

protectedvirtual

Load the map node body from a binary chunk.

Parameters

<return> The size read (the real size of body).

◆ LoadHeaderBinary()

virtual size_t apollo::localization::msf::pyramid_map::BaseMapNode::LoadHeaderBinary ( const unsigned char * buf )

protectedvirtual

Load the map node header from a binary chunk.

Parameters

<return> The size read (the real size of header).

◆ ResetMapNode()

virtual void apollo::localization::msf::pyramid_map::BaseMapNode::ResetMapNode ( )

virtual

Reset map cells data.

◆ Save()

bool apollo::localization::msf::pyramid_map::BaseMapNode::Save ( )

Save the map node to the disk.

◆ SaveAltitudeImage() [1/2]

bool apollo::localization::msf::pyramid_map::BaseMapNode::SaveAltitudeImage ( ) const

Save altitude image of node.

◆ SaveAltitudeImage() [2/2]

bool apollo::localization::msf::pyramid_map::BaseMapNode::SaveAltitudeImage ( const std::string & path ) const

Save altitude image of node.

◆ SaveIntensityImage() [1/2]

bool apollo::localization::msf::pyramid_map::BaseMapNode::SaveIntensityImage ( ) const

Save intensity image of node.

◆ SaveIntensityImage() [2/2]

bool apollo::localization::msf::pyramid_map::BaseMapNode::SaveIntensityImage ( const std::string & path ) const

Save intensity image of node.

◆ SetIsChanged()

void apollo::localization::msf::pyramid_map::BaseMapNode::SetIsChanged ( bool is )

inline

Set if the map node data has changed.

◆ SetIsReserved()

void apollo::localization::msf::pyramid_map::BaseMapNode::SetIsReserved ( bool is_reserved )

inline

Set if the map node is reserved.

◆ SetLeftTopCorner()

void apollo::localization::msf::pyramid_map::BaseMapNode::SetLeftTopCorner	(	double	x,
		double	y
	)

inline

Set the left top corner of the map node.

◆ SetMapNodeIndex()

void apollo::localization::msf::pyramid_map::BaseMapNode::SetMapNodeIndex ( const MapNodeIndex & index )

Set the map node index.

Member Data Documentation

◆ compression_strategy_

std::shared_ptr<CompressionStrategy> apollo::localization::msf::pyramid_map::BaseMapNode::compression_strategy_ = nullptr

protected

The compression strategy.

◆ data_is_ready_

bool apollo::localization::msf::pyramid_map::BaseMapNode::data_is_ready_ = false

protected

◆ file_body_binary_size_

size_t apollo::localization::msf::pyramid_map::BaseMapNode::file_body_binary_size_ = 0

mutableprotected

The body binary size in file.

◆ index_

MapNodeIndex apollo::localization::msf::pyramid_map::BaseMapNode::index_

protected

The index of this node.

◆ is_changed_

bool apollo::localization::msf::pyramid_map::BaseMapNode::is_changed_ = false

protected

Has the map node been changed.

◆ is_reserved_

bool apollo::localization::msf::pyramid_map::BaseMapNode::is_reserved_ = false

protected

If the node is reserved in map.

◆ left_top_corner_

Eigen::Vector2d apollo::localization::msf::pyramid_map::BaseMapNode::left_top_corner_

protected

The left top corner of the map node in the global coordinate system.

◆ map_config_

const BaseMapConfig* apollo::localization::msf::pyramid_map::BaseMapNode::map_config_ = nullptr

protected

The map settings.

◆ map_matrix_

std::shared_ptr<BaseMapMatrix> apollo::localization::msf::pyramid_map::BaseMapNode::map_matrix_ = nullptr

protected

The data structure of the map datas, which is a matrix.

◆ map_matrix_handler_

std::shared_ptr<BaseMapMatrixHandler> apollo::localization::msf::pyramid_map::BaseMapNode::map_matrix_handler_ = nullptr

protected

The class to load and create map matrix binary.

◆ map_node_config_

std::shared_ptr<BaseMapNodeConfig> apollo::localization::msf::pyramid_map::BaseMapNode::map_node_config_ = nullptr

protected

The map node config.

◆ uncompressed_file_body_size_

size_t apollo::localization::msf::pyramid_map::BaseMapNode::uncompressed_file_body_size_ = 0

mutableprotected

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

modules/localization/msf/local_pyramid_map/base_map/base_map_node.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BaseMapNode() [1/2]

◆ BaseMapNode() [2/2]

◆ ~BaseMapNode()

Member Function Documentation

◆ CheckMapDirectoryRecursively()

◆ ComputeLeftTopCorner()

◆ CreateBinary()

◆ CreateBodyBinary()

◆ CreateHeaderBinary()

◆ CreateMapDirectory()

◆ CreateMapDirectoryRecursively()

◆ Finalize()

◆ GetBinarySize()

◆ GetBodyBinarySize()

◆ GetCoordinate() [1/3]

◆ GetCoordinate() [2/3]

◆ GetCoordinate() [3/3]

◆ GetHeaderBinarySize()

◆ GetIsChanged()

◆ GetIsReady()

◆ GetIsReserved()

◆ GetLeftTopCorner() [1/2]

◆ GetLeftTopCorner() [2/2]

◆ GetMapCellMatrix() [1/2]

◆ GetMapCellMatrix() [2/2]

◆ GetMapConfig()

◆ GetMapNodeConfig()

◆ GetMapNodeIndex()

◆ GetMapResolution()

◆ Init() [1/2]

◆ Init() [2/2]

◆ InitMapMatrix()

◆ Load() [1/2]

◆ Load() [2/2]

◆ LoadBinary()

◆ LoadBodyBinary()

◆ LoadHeaderBinary()

◆ ResetMapNode()

◆ Save()

◆ SaveAltitudeImage() [1/2]

◆ SaveAltitudeImage() [2/2]

◆ SaveIntensityImage() [1/2]

◆ SaveIntensityImage() [2/2]

◆ SetIsChanged()

◆ SetIsReserved()

◆ SetLeftTopCorner()

◆ SetMapNodeIndex()

Member Data Documentation

◆ compression_strategy_

◆ data_is_ready_

◆ file_body_binary_size_

◆ index_

◆ is_changed_

◆ is_reserved_

◆ left_top_corner_

◆ map_config_

◆ map_matrix_

◆ map_matrix_handler_

◆ map_node_config_

◆ uncompressed_file_body_size_