lossless_map_node.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

#pragma once

#include <vector>

#include "modules/localization/msf/local_map/base_map/base_map_node.h"
#include "modules/localization/msf/local_map/lossless_map/lossless_map_matrix.h"

namespace apollo {
namespace localization {
namespace msf {

class LosslessMapNode : public BaseMapNode {
 public:
  LosslessMapNode();
  ~LosslessMapNode();

  void SetValue(const Eigen::Vector3d& coordinate, unsigned char intensity);
  bool SetValueIfInBound(const Eigen::Vector3d& coordinate,
                         unsigned char intensity);
  void SetValueLayer(const Eigen::Vector3d& coordinate,
                     unsigned char intensity);
  void GetValue(const Eigen::Vector3d& coordinate,
                std::vector<unsigned char>* values) const;
  void GetVar(const Eigen::Vector3d& coordinate,
              std::vector<float>* vars) const;
  void GetAlt(const Eigen::Vector3d& coordinate,
              std::vector<float>* alts) const;
  void GetAltVar(const Eigen::Vector3d& coordinate,
                 std::vector<float>* alt_vars) const;
  void GetCount(const Eigen::Vector3d& coordinate,
                std::vector<unsigned int>* counts) const;
  unsigned char GetValue(const Eigen::Vector3d& coordinate) const;
  float GetVar(const Eigen::Vector3d& coordinate) const;
  float GetAlt(const Eigen::Vector3d& coordinate) const;
  float GetAltVar(const Eigen::Vector3d& coordinate) const;
  unsigned int GetCount(const Eigen::Vector3d& coordinate) const;
  unsigned char GetValue(unsigned int row, unsigned int col) const {
    return static_cast<LosslessMapMatrix*>(map_matrix_)
        ->GetMapCell(row, col)
        .GetValue();
  }
  float GetVar(unsigned int row, unsigned int col) const {
    return static_cast<LosslessMapMatrix*>(map_matrix_)
        ->GetMapCell(row, col)
        .GetVar();
  }
  float GetAlt(unsigned int row, unsigned int col) const {
    return static_cast<LosslessMapMatrix*>(map_matrix_)
        ->GetMapCell(row, col)
        .GetAlt();
  }
  float GetAltVar(unsigned int row, unsigned int col) const {
    return static_cast<LosslessMapMatrix*>(map_matrix_)
        ->GetMapCell(row, col)
        .GetAltVar();
  }
  unsigned int GetCount(unsigned int row, unsigned int col) const {
    return static_cast<LosslessMapMatrix*>(map_matrix_)
        ->GetMapCell(row, col)
        .GetCount();
  }
  inline const LosslessMapSingleCell& GetFirstMapCell(unsigned int row,
                                                      unsigned int col) const {
    return static_cast<LosslessMapMatrix*>(map_matrix_)
        ->GetMapCell(row, col)
        .map_cells[0];
  }
  inline LosslessMapSingleCell& GetFirstMapCell(unsigned int row,
                                                unsigned int col) {
    return static_cast<LosslessMapMatrix*>(map_matrix_)
        ->GetMapCell(row, col)
        .map_cells[0];
  }

  inline float GetMinAltitude() const { return min_altitude_; }
  inline void SetMinAltitude(float altitude) { min_altitude_ = altitude; }

 protected:
  float min_altitude_;
};

}  // namespace msf
}  // namespace localization
}  // namespace apollo