#include <mlf_track_data.h>

Inheritance diagram for apollo::perception::lidar::MlfTrackData:

Collaboration diagram for apollo::perception::lidar::MlfTrackData:

Public Types
typedef std::map< double, TrackedObjectPtr >	TimedObjects

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	MlfTrackData ()=default

	~MlfTrackData ()=default

void	Reset () override

void	Reset (TrackedObjectPtr obj, int track_id)

void	PushTrackedObjectToTrack (TrackedObjectPtr obj)

void	PushTrackedObjectToCache (TrackedObjectPtr obj)

bool	ToObject (const Eigen::Vector3d &local_to_global_offset, double timestamp, base::ObjectPtr object) const

void	RemoveStaleHistory (double timestamp)

void	PredictState (double timestamp) const

void	GetAndCleanCachedObjectsInTimeInterval (std::vector< TrackedObjectPtr > *objects)

std::pair< double, TrackedObjectPtr >	GetLatestSensorObject (const std::string &sensor_name)

std::pair< double, TrackedObjectConstPtr >	GetLatestSensorObject (const std::string &sensor_name) const

Public Member Functions inherited from apollo::perception::lidar::TrackData
	TrackData ()

	TrackData (TrackedObjectPtr obj, int track_id)

virtual	~TrackData ()

std::pair< double, TrackedObjectPtr >	GetLatestObject ()

std::pair< double, TrackedObjectConstPtr >	GetLatestObject () const

std::pair< double, TrackedObjectPtr >	GetOldestObject ()

std::pair< double, TrackedObjectConstPtr >	GetOldestObject () const

std::pair< double, TrackedObjectPtr >	GetHistoryObject (int idx)

std::pair< double, TrackedObjectConstPtr >	GetHistoryObject (int idx) const

virtual void	Reset (TrackedObjectPtr obj, double time, int track_id)

virtual void	PushTrackedObjectToTrack (TrackedObjectPtr obj, double time)

Public Attributes
std::map< std::string, TimedObjects >	sensor_history_objects_

TimedObjects	cached_objects_

MlfPredict	predict_

double	duration_ = 0.0

double	consecutive_invisible_time_ = 0.0

double	latest_visible_time_ = 0.0

double	latest_cached_time_ = 0.0

double	first_tracked_time_ = 0.0

bool	is_current_state_predicted_ = true

Public Attributes inherited from apollo::perception::lidar::TrackData
int	track_id_ = -1

int	age_ = 0

int	consecutive_invisible_count_ = 0

int	total_visible_count_ = 0

std::map< double, TrackedObjectPtr >	history_objects_

int	max_history_size_ = 40

MotionState	motion_state_ = MotionState::STATIC

size_t	continuous_motion_frames_ = 0

size_t	continuous_static_frames_ = 0

size_t	pub_remain_frames_ = 0

bool	should_check_velocity_consistency_ = true

std::deque< double >	history_norm_variance_

std::deque< double >	history_theta_variance_

Static Public Attributes
static const double	kMaxHistoryTime

Static Public Attributes inherited from apollo::perception::lidar::TrackData
static const int	kMaxHistorySize

Member Typedef Documentation

◆ TimedObjects

typedef std::map<double, TrackedObjectPtr> apollo::perception::lidar::MlfTrackData::TimedObjects

Constructor & Destructor Documentation

◆ MlfTrackData()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW apollo::perception::lidar::MlfTrackData::MlfTrackData ( )

default

◆ ~MlfTrackData()

apollo::perception::lidar::MlfTrackData::~MlfTrackData ( )

default

Member Function Documentation

◆ GetAndCleanCachedObjectsInTimeInterval()

void apollo::perception::lidar::MlfTrackData::GetAndCleanCachedObjectsInTimeInterval ( std::vector< TrackedObjectPtr > * objects )

◆ GetLatestSensorObject() [1/2]

std::pair<double, TrackedObjectPtr> apollo::perception::lidar::MlfTrackData::GetLatestSensorObject ( const std::string & sensor_name )

inline

◆ GetLatestSensorObject() [2/2]

std::pair<double, TrackedObjectConstPtr> apollo::perception::lidar::MlfTrackData::GetLatestSensorObject ( const std::string & sensor_name ) const

inline

◆ PredictState()

void apollo::perception::lidar::MlfTrackData::PredictState ( double timestamp ) const

◆ PushTrackedObjectToCache()

void apollo::perception::lidar::MlfTrackData::PushTrackedObjectToCache ( TrackedObjectPtr obj )

◆ PushTrackedObjectToTrack()

void apollo::perception::lidar::MlfTrackData::PushTrackedObjectToTrack ( TrackedObjectPtr obj )

◆ RemoveStaleHistory()

void apollo::perception::lidar::MlfTrackData::RemoveStaleHistory ( double timestamp )

◆ Reset() [1/2]

void apollo::perception::lidar::MlfTrackData::Reset ( )

overridevirtual

Reimplemented from apollo::perception::lidar::TrackData.

◆ Reset() [2/2]

void apollo::perception::lidar::MlfTrackData::Reset	(	TrackedObjectPtr	obj,
		int	track_id
	)

◆ ToObject()

bool apollo::perception::lidar::MlfTrackData::ToObject	(	const Eigen::Vector3d &	local_to_global_offset,
		double	timestamp,
		base::ObjectPtr	object
	)		const

Member Data Documentation

◆ cached_objects_

TimedObjects apollo::perception::lidar::MlfTrackData::cached_objects_

◆ consecutive_invisible_time_

double apollo::perception::lidar::MlfTrackData::consecutive_invisible_time_ = 0.0

◆ duration_

double apollo::perception::lidar::MlfTrackData::duration_ = 0.0

◆ first_tracked_time_

double apollo::perception::lidar::MlfTrackData::first_tracked_time_ = 0.0

◆ is_current_state_predicted_

bool apollo::perception::lidar::MlfTrackData::is_current_state_predicted_ = true

◆ kMaxHistoryTime

const double apollo::perception::lidar::MlfTrackData::kMaxHistoryTime

static

◆ latest_cached_time_

double apollo::perception::lidar::MlfTrackData::latest_cached_time_ = 0.0

◆ latest_visible_time_

double apollo::perception::lidar::MlfTrackData::latest_visible_time_ = 0.0

◆ predict_

MlfPredict apollo::perception::lidar::MlfTrackData::predict_

mutable

◆ sensor_history_objects_

std::map<std::string, TimedObjects> apollo::perception::lidar::MlfTrackData::sensor_history_objects_

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

modules/perception/lidar/lib/tracker/common/mlf_track_data.h

Public Types

Public Member Functions

Public Attributes

Static Public Attributes