apollo::localization::ndt::LidarLocatorNdt Class Reference

#include <lidar_locator_ndt.h>

Collaboration diagram for apollo::localization::ndt::LidarLocatorNdt:

Public Member Functions
	LidarLocatorNdt ()
	The constructor. More...
	~LidarLocatorNdt ()
	The destructor. More...
void	LoadMap (const Eigen::Affine3d &init_location, unsigned int resolution_id, int zone_id)
	Load map data. More...
void	Init (const Eigen::Affine3d &init_location, unsigned int resolution_id, int zone_id)
	Initialize the locator. More...
void	SetMapFolderPath (const std::string folder_path)
	Set the map folder. More...
void	SetVelodyneExtrinsic (const Eigen::Affine3d &extrinsic)
	Set the extrinsic calibration. More...
void	SetLidarHeight (double height)
	Set the lidar height. More...
void	ComposeMapCells (const Eigen::Vector2d &left_top_coord2d, int zone_id, unsigned int resolution_id, float map_pixel_resolution, const Eigen::Affine3d &inverse_transform)
	Compose candidate map area. More...
void	SetOnlineCloudResolution (const float &online_resolution)
	Set online cloud resolution. More...
int	Update (unsigned int frame_idx, const Eigen::Affine3d &pose, const LidarFrame &lidar_frame)
	Update the histogram filter. param <pose> The localization from the GPS. param <pt3ds> The local 3D points from Velodyne. More...
Eigen::Affine3d	GetPose () const
	Get the current optimal pose result. More...
Eigen::Vector3d	GetPredictLocation () const
Eigen::Matrix3d	GetLocationCovariance () const
	Get the covariance of estimated location. More...
bool	IsInitialized () const
	Is the locator initialized. More...
bool	IsMaploaded () const
	Is the map data loaded. More...
const NdtMap &	GetMap () const
	Get the locator map. More...
double	GetFitnessScore () const
	Get ndt matching score. More...

Constructor & Destructor Documentation

LidarLocatorNdt()

apollo::localization::ndt::LidarLocatorNdt::LidarLocatorNdt

(

)

The constructor.

~LidarLocatorNdt()

apollo::localization::ndt::LidarLocatorNdt::~LidarLocatorNdt

(

)

The destructor.

Member Function Documentation

ComposeMapCells()

void apollo::localization::ndt::LidarLocatorNdt::ComposeMapCells	(	const Eigen::Vector2d &	left_top_coord2d,
		int	zone_id,
		unsigned int	resolution_id,
		float	map_pixel_resolution,
		const Eigen::Affine3d &	inverse_transform
	)

Compose candidate map area.

GetFitnessScore()

double apollo::localization::ndt::LidarLocatorNdt::GetFitnessScore ( ) const

inline

Get ndt matching score.

GetLocationCovariance()

Eigen::Matrix3d apollo::localization::ndt::LidarLocatorNdt::GetLocationCovariance

(

)

const

Get the covariance of estimated location.

GetMap()

const NdtMap& apollo::localization::ndt::LidarLocatorNdt::GetMap ( ) const

inline

Get the locator map.

GetPose()

Eigen::Affine3d apollo::localization::ndt::LidarLocatorNdt::GetPose

(

)

const

Get the current optimal pose result.

GetPredictLocation()

Eigen::Vector3d apollo::localization::ndt::LidarLocatorNdt::GetPredictLocation

(

)

const

Init()

void apollo::localization::ndt::LidarLocatorNdt::Init	(	const Eigen::Affine3d &	init_location,
		unsigned int	resolution_id,
		int	zone_id
	)

Initialize the locator.

IsInitialized()

bool apollo::localization::ndt::LidarLocatorNdt::IsInitialized ( ) const

inline

Is the locator initialized.

IsMaploaded()

bool apollo::localization::ndt::LidarLocatorNdt::IsMaploaded ( ) const

inline

Is the map data loaded.

LoadMap()

void apollo::localization::ndt::LidarLocatorNdt::LoadMap	(	const Eigen::Affine3d &	init_location,
		unsigned int	resolution_id,
		int	zone_id
	)

Load map data.

SetLidarHeight()

void apollo::localization::ndt::LidarLocatorNdt::SetLidarHeight

(

double

height

)

Set the lidar height.

SetMapFolderPath()

void apollo::localization::ndt::LidarLocatorNdt::SetMapFolderPath

(

const std::string

folder_path

)

Set the map folder.

SetOnlineCloudResolution()

void apollo::localization::ndt::LidarLocatorNdt::SetOnlineCloudResolution

(

const float &

online_resolution

)

Set online cloud resolution.

SetVelodyneExtrinsic()

void apollo::localization::ndt::LidarLocatorNdt::SetVelodyneExtrinsic

(

const Eigen::Affine3d &

extrinsic

)

Set the extrinsic calibration.

Update()

int apollo::localization::ndt::LidarLocatorNdt::Update	(	unsigned int	frame_idx,
		const Eigen::Affine3d &	pose,
		const LidarFrame &	lidar_frame
	)

Update the histogram filter. param <pose> The localization from the GPS. param <pt3ds> The local 3D points from Velodyne.

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

• modules/localization/ndt/ndt_locator/lidar_locator_ndt.h