apollo::perception::fusion::Track Class Reference

#include <track.h>

Collaboration diagram for apollo::perception::fusion::Track:

Public Member Functions
	Track ()
virtual	~Track ()=default
	Track (const Track &)=delete
Track &	operator= (const Track &)=delete
bool	Initialize (SensorObjectPtr obj, bool is_background=false)
void	Reset ()
SensorObjectConstPtr	GetSensorObject (const std::string &sensor_id) const
SensorObjectConstPtr	GetLatestLidarObject () const
SensorObjectConstPtr	GetLatestRadarObject () const
SensorObjectConstPtr	GetLatestCameraObject () const
FusedObjectPtr	GetFusedObject ()
SensorId2ObjectMap &	GetLidarObjects ()
const SensorId2ObjectMap &	GetLidarObjects () const
SensorId2ObjectMap &	GetRadarObjects ()
const SensorId2ObjectMap &	GetRadarObjects () const
SensorId2ObjectMap &	GetCameraObjects ()
const SensorId2ObjectMap &	GetCameraObjects () const
int	GetTrackId () const
double	GetTrackingPeriod () const
size_t	GetTrackedTimes () const
void	AddTrackedTimes ()
double	GetExistenceProb () const
void	SetExistenceProb (double prob)
double	GetToicProb () const
void	SetToicProb (double prob)
bool	IsBackground () const
bool	IsAlive () const
bool	IsVisible (const std::string &sensor_id) const
bool	IsLidarVisible () const
bool	IsRadarVisible () const
bool	IsCameraVisible () const
void	UpdateWithSensorObject (const SensorObjectPtr &obj)
void	UpdateWithoutSensorObject (const std::string &sensor_id, double measurement_timestamp)
std::string	DebugString () const

Static Public Member Functions
static void	SetMaxLidarInvisiblePeriod (double period)
static void	SetMaxRadarInvisiblePeriod (double period)
static void	SetMaxCameraInvisiblePeriod (double period)
static size_t	GenerateNewTrackId ()

Protected Member Functions
void	UpdateSupplementState (const SensorObjectPtr &src_object=nullptr)
void	UpdateUnfusedState (const SensorObjectPtr &src_object)
SensorObjectConstPtr	GetLatestSensorObject (const SensorId2ObjectMap &objects) const
void	UpdateSensorObject (SensorId2ObjectMap *objects, const SensorObjectPtr &obj)
void	UpdateSensorObjectWithoutMeasurement (SensorId2ObjectMap *objects, const std::string &sensor_id, double measurement_timestamp, double max_invisible_period)
void	UpdateSensorObjectWithMeasurement (SensorId2ObjectMap *objects, const std::string &sensor_id, double measurement_timestamp, double max_invisible_period)
void	UpdateWithSensorObjectForBackground (const SensorObjectPtr &obj)
void	UpdateWithoutSensorObjectForBackground (const std::string &sensor_id, double measurement_timestamp)

Protected Attributes
SensorId2ObjectMap	lidar_objects_
SensorId2ObjectMap	radar_objects_
SensorId2ObjectMap	camera_objects_
FusedObjectPtr	fused_object_ = nullptr
double	tracking_period_ = 0.0
double	existence_prob_ = 0.0
double	toic_prob_ = 0.0
bool	is_background_ = false
bool	is_alive_ = true
size_t	tracked_times_ = 0

Constructor & Destructor Documentation

Track() [1/2]

apollo::perception::fusion::Track::Track

(

)

~Track()

virtual apollo::perception::fusion::Track::~Track ( )

virtualdefault

Track() [2/2]

apollo::perception::fusion::Track::Track ( const Track &  )

delete

Member Function Documentation

AddTrackedTimes()

void apollo::perception::fusion::Track::AddTrackedTimes ( )

inline

DebugString()

std::string apollo::perception::fusion::Track::DebugString

(

)

const

GenerateNewTrackId()

static size_t apollo::perception::fusion::Track::GenerateNewTrackId ( )

static

GetCameraObjects() [1/2]

SensorId2ObjectMap& apollo::perception::fusion::Track::GetCameraObjects ( )

inline

GetCameraObjects() [2/2]

const SensorId2ObjectMap& apollo::perception::fusion::Track::GetCameraObjects ( ) const

inline

GetExistenceProb()

double apollo::perception::fusion::Track::GetExistenceProb ( ) const

inline

GetFusedObject()

FusedObjectPtr apollo::perception::fusion::Track::GetFusedObject ( )

inline

GetLatestCameraObject()

SensorObjectConstPtr apollo::perception::fusion::Track::GetLatestCameraObject

(

)

const

GetLatestLidarObject()

SensorObjectConstPtr apollo::perception::fusion::Track::GetLatestLidarObject

(

)

const

GetLatestRadarObject()

SensorObjectConstPtr apollo::perception::fusion::Track::GetLatestRadarObject

(

)

const

GetLatestSensorObject()

SensorObjectConstPtr apollo::perception::fusion::Track::GetLatestSensorObject ( const SensorId2ObjectMap &  objects ) const

protected

GetLidarObjects() [1/2]

SensorId2ObjectMap& apollo::perception::fusion::Track::GetLidarObjects ( )

inline

GetLidarObjects() [2/2]

const SensorId2ObjectMap& apollo::perception::fusion::Track::GetLidarObjects ( ) const

inline

GetRadarObjects() [1/2]

SensorId2ObjectMap& apollo::perception::fusion::Track::GetRadarObjects ( )

inline

GetRadarObjects() [2/2]

const SensorId2ObjectMap& apollo::perception::fusion::Track::GetRadarObjects ( ) const

inline

GetSensorObject()

SensorObjectConstPtr apollo::perception::fusion::Track::GetSensorObject

(

const std::string &

sensor_id

)

const

GetToicProb()

double apollo::perception::fusion::Track::GetToicProb ( ) const

inline

GetTrackedTimes()

size_t apollo::perception::fusion::Track::GetTrackedTimes ( ) const

inline

GetTrackId()

int apollo::perception::fusion::Track::GetTrackId ( ) const

inline

GetTrackingPeriod()

double apollo::perception::fusion::Track::GetTrackingPeriod ( ) const

inline

Initialize()

bool apollo::perception::fusion::Track::Initialize	(	SensorObjectPtr	obj,
		bool	is_background = false
	)

IsAlive()

bool apollo::perception::fusion::Track::IsAlive ( ) const

inline

IsBackground()

bool apollo::perception::fusion::Track::IsBackground ( ) const

inline

IsCameraVisible()

bool apollo::perception::fusion::Track::IsCameraVisible

(

)

const

IsLidarVisible()

bool apollo::perception::fusion::Track::IsLidarVisible

(

)

const

IsRadarVisible()

bool apollo::perception::fusion::Track::IsRadarVisible

(

)

const

IsVisible()

bool apollo::perception::fusion::Track::IsVisible

(

const std::string &

sensor_id

)

const

operator=()

Track& apollo::perception::fusion::Track::operator= ( const Track &  )

delete

Reset()

void apollo::perception::fusion::Track::Reset

(

)

SetExistenceProb()

void apollo::perception::fusion::Track::SetExistenceProb ( double  prob )

inline

SetMaxCameraInvisiblePeriod()

static void apollo::perception::fusion::Track::SetMaxCameraInvisiblePeriod ( double  period )

inlinestatic

SetMaxLidarInvisiblePeriod()

static void apollo::perception::fusion::Track::SetMaxLidarInvisiblePeriod ( double  period )

inlinestatic

SetMaxRadarInvisiblePeriod()

static void apollo::perception::fusion::Track::SetMaxRadarInvisiblePeriod ( double  period )

inlinestatic

SetToicProb()

void apollo::perception::fusion::Track::SetToicProb ( double  prob )

inline

UpdateSensorObject()

void apollo::perception::fusion::Track::UpdateSensorObject ( SensorId2ObjectMap *  objects, const SensorObjectPtr &  obj  )

protected

UpdateSensorObjectWithMeasurement()

void apollo::perception::fusion::Track::UpdateSensorObjectWithMeasurement ( SensorId2ObjectMap *  objects, const std::string &  sensor_id, double  measurement_timestamp, double  max_invisible_period  )

protected

UpdateSensorObjectWithoutMeasurement()

void apollo::perception::fusion::Track::UpdateSensorObjectWithoutMeasurement ( SensorId2ObjectMap *  objects, const std::string &  sensor_id, double  measurement_timestamp, double  max_invisible_period  )

protected

UpdateSupplementState()

void apollo::perception::fusion::Track::UpdateSupplementState ( const SensorObjectPtr &  src_object = nullptr )

protected

UpdateUnfusedState()

void apollo::perception::fusion::Track::UpdateUnfusedState ( const SensorObjectPtr &  src_object )

protected

UpdateWithoutSensorObject()

void apollo::perception::fusion::Track::UpdateWithoutSensorObject	(	const std::string &	sensor_id,
		double	measurement_timestamp
	)

UpdateWithoutSensorObjectForBackground()

void apollo::perception::fusion::Track::UpdateWithoutSensorObjectForBackground ( const std::string &  sensor_id, double  measurement_timestamp  )

protected

UpdateWithSensorObject()

void apollo::perception::fusion::Track::UpdateWithSensorObject

(

const SensorObjectPtr &

obj

)

UpdateWithSensorObjectForBackground()

void apollo::perception::fusion::Track::UpdateWithSensorObjectForBackground ( const SensorObjectPtr &  obj )

protected

Member Data Documentation

camera_objects_

SensorId2ObjectMap apollo::perception::fusion::Track::camera_objects_

protected

existence_prob_

double apollo::perception::fusion::Track::existence_prob_ = 0.0

protected

fused_object_

FusedObjectPtr apollo::perception::fusion::Track::fused_object_ = nullptr

protected

is_alive_

bool apollo::perception::fusion::Track::is_alive_ = true

protected

is_background_

bool apollo::perception::fusion::Track::is_background_ = false

protected

lidar_objects_

SensorId2ObjectMap apollo::perception::fusion::Track::lidar_objects_

protected

radar_objects_

SensorId2ObjectMap apollo::perception::fusion::Track::radar_objects_

protected

toic_prob_

double apollo::perception::fusion::Track::toic_prob_ = 0.0

protected

tracked_times_

size_t apollo::perception::fusion::Track::tracked_times_ = 0

protected

tracking_period_

double apollo::perception::fusion::Track::tracking_period_ = 0.0

protected

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

• modules/perception/fusion/base/track.h