apollo::relative_map::NavigationLane Class Reference

NavigationLane generates a real-time relative map based on navagation lines. More...

#include <navigation_lane.h>

Collaboration diagram for apollo::relative_map::NavigationLane:

Public Member Functions
	NavigationLane ()=default
	NavigationLane (const NavigationLaneConfig &config)
	~NavigationLane ()=default
void	SetConfig (const NavigationLaneConfig &config)
	Set the configuration information required by the NavigationLane. More...
void	SetVehicleStateProvider (common::VehicleStateProvider *vehicle_state_provider)
void	UpdateNavigationInfo (const NavigationInfo &navigation_info)
	Update navigation line information. More...
void	SetDefaultWidth (const double left_width, const double right_width)
	Set the default width of a lane. More...
bool	GeneratePath ()
	Generate a suitable path (i.e. a navigation line segment). More...
void	UpdatePerception (const perception::PerceptionObstacles &perception_obstacles)
	Update perceived lane line information. More...
NavigationPath	Path () const
	Get the generated lane segment where the vehicle is currently located. More...
bool	CreateMap (const MapGenerationParam &map_config, MapMsg *const map_msg) const
	Generate a real-time relative map of approximately 250 m in length based on several navigation line segments and map generation configuration information. More...

Detailed Description

NavigationLane generates a real-time relative map based on navagation lines.

First, several navigation lines are received from the NavigationInfo object;

Second, several navigation line segments with the length of about 250 m are cut from the whole navigation lines and the UTM coordinates are converted into local coordinates with the current position of the vehicle as the origin;

Third, the navigation line segment of the vehicle's current lane is merged with the perceived lane centerline.

Fourth, a real-time relative map is dynamically created based on navigation line segments and perceived lane width;

Fifth, the relative map is output as a MapMsg object pointer.

Constructor & Destructor Documentation

NavigationLane() [1/2]

apollo::relative_map::NavigationLane::NavigationLane ( )

default

NavigationLane() [2/2]

apollo::relative_map::NavigationLane::NavigationLane ( const NavigationLaneConfig &  config )

explicit

~NavigationLane()

apollo::relative_map::NavigationLane::~NavigationLane ( )

default

Member Function Documentation

CreateMap()

bool apollo::relative_map::NavigationLane::CreateMap	(	const MapGenerationParam &	map_config,
		MapMsg *const	map_msg
	)		const

Generate a real-time relative map of approximately 250 m in length based on several navigation line segments and map generation configuration information.

Parameters

map_config	Map generation configuration information.
map_msg	A pointer which outputs the real-time relative map.

Returns

True if the real-time relative map is created; false otherwise.

GeneratePath()

bool apollo::relative_map::NavigationLane::GeneratePath

(

)

Generate a suitable path (i.e. a navigation line segment).

Parameters

Path()

NavigationPath apollo::relative_map::NavigationLane::Path ( ) const

inline

Get the generated lane segment where the vehicle is currently located.

Parameters

SetConfig()

void apollo::relative_map::NavigationLane::SetConfig

(

const NavigationLaneConfig &

config

)

Set the configuration information required by the NavigationLane.

Parameters

config

Configuration object.

Returns

None.

SetDefaultWidth()

void apollo::relative_map::NavigationLane::SetDefaultWidth ( const double  left_width, const double  right_width  )

inline

Set the default width of a lane.

Parameters

left_width	Left half width of a lane.
right_width	Right half width of a lane.

Returns

None.

SetVehicleStateProvider()

void apollo::relative_map::NavigationLane::SetVehicleStateProvider

(

common::VehicleStateProvider *

vehicle_state_provider

)

UpdateNavigationInfo()

void apollo::relative_map::NavigationLane::UpdateNavigationInfo

(

const NavigationInfo &

navigation_info

)

Update navigation line information.

Parameters

navigation_info

Navigation line information to be updated.

Returns

None.

UpdatePerception()

void apollo::relative_map::NavigationLane::UpdatePerception ( const perception::PerceptionObstacles &  perception_obstacles )

inline

Update perceived lane line information.

Parameters

perception_obstacles

Perceived lane line information to be updated.

Returns

None.

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

• modules/map/relative_map/navigation_lane.h