apollo::localization::msf::pyramid_map::NdtMapCells Class Reference

The data structure of ndt Map cell. More...

#include <ndt_map_matrix.h>

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

Public Member Functions
	NdtMapCells ()
	The default constructor. More...
void	Reset ()
	Reset to default value. More...
int	AddSample (const float intensity, const float altitude, const float resolution, const Eigen::Vector3f &centroid, bool is_road=false)
	Add an sample. More...
size_t	LoadBinary (const unsigned char *buf)
	Load the map cell from a binary chunk. More...
size_t	CreateBinary (unsigned char *buf, size_t buf_size) const
	Create the binary. Serialization of the object. More...
size_t	GetBinarySize () const
	Get the binary size of the object. More...

Static Public Member Functions
static int	CalAltitudeIndex (const float resolution, const float altitude)
	Calculate altitude index from altitude. More...
static float	CalAltitude (const float resolution, const int altitude_index)
	Calculate altitude from altitude index. More...
static void	Reduce (NdtMapCells *cell, const NdtMapCells &cell_new)
	Combine two MapCell instances (Reduce). More...

Public Attributes
std::unordered_map< int, NdtMapSingleCell >	cells_
	The multiple altitudes of the cell. More...
int	max_altitude_index_
	The index of biggest altitude. More...
int	min_altitude_index_
	The index of smallest altitude. More...
std::vector< int >	road_cell_indices_
	The indices of road surface. More...

Detailed Description

The data structure of ndt Map cell.

Constructor & Destructor Documentation

NdtMapCells()

apollo::localization::msf::pyramid_map::NdtMapCells::NdtMapCells

(

)

The default constructor.

Member Function Documentation

AddSample()

int apollo::localization::msf::pyramid_map::NdtMapCells::AddSample	(	const float	intensity,
		const float	altitude,
		const float	resolution,
		const Eigen::Vector3f &	centroid,
		bool	is_road = false
	)

Add an sample.

CalAltitude()

static float apollo::localization::msf::pyramid_map::NdtMapCells::CalAltitude ( const float  resolution, const int  altitude_index  )

static

Calculate altitude from altitude index.

CalAltitudeIndex()

static int apollo::localization::msf::pyramid_map::NdtMapCells::CalAltitudeIndex ( const float  resolution, const float  altitude  )

static

Calculate altitude index from altitude.

CreateBinary()

size_t apollo::localization::msf::pyramid_map::NdtMapCells::CreateBinary	(	unsigned char *	buf,
		size_t	buf_size
	)		const

Create the binary. Serialization of the object.

Parameters

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

GetBinarySize()

size_t apollo::localization::msf::pyramid_map::NdtMapCells::GetBinarySize

(

)

const

Get the binary size of the object.

LoadBinary()

size_t apollo::localization::msf::pyramid_map::NdtMapCells::LoadBinary

(

const unsigned char *

buf

)

Load the map cell from a binary chunk.

Parameters

<return>

The size read (the real size of object).

Reduce()

static void apollo::localization::msf::pyramid_map::NdtMapCells::Reduce ( NdtMapCells *  cell, const NdtMapCells &  cell_new  )

static

Combine two MapCell instances (Reduce).

Reset()

void apollo::localization::msf::pyramid_map::NdtMapCells::Reset

(

)

Reset to default value.

Member Data Documentation

cells_

std::unordered_map<int, NdtMapSingleCell> apollo::localization::msf::pyramid_map::NdtMapCells::cells_

The multiple altitudes of the cell.

max_altitude_index_

int apollo::localization::msf::pyramid_map::NdtMapCells::max_altitude_index_

The index of biggest altitude.

min_altitude_index_

int apollo::localization::msf::pyramid_map::NdtMapCells::min_altitude_index_

The index of smallest altitude.

road_cell_indices_

std::vector<int> apollo::localization::msf::pyramid_map::NdtMapCells::road_cell_indices_

The indices of road surface.

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

• modules/localization/msf/local_pyramid_map/ndt_map/ndt_map_matrix.h