apollo::common::util Namespace Reference

apollo::common::util More...

Classes
struct	DebugStringFormatter
class	Factory
	Implements a Factory design pattern with Register and Create methods. More...
class	JsonUtil
class	LRUCache
struct	Node
struct	PairHash
class	PointFactory
class	Timer
class	TimerWrapper
class	TimeUtil

Functions
template<typename T , typename std::enable_if< std::is_base_of< google::protobuf::Message, T >::value, int >::type = 0>
bool	DumpMessage (const std::shared_ptr< T > &msg, const std::string &dump_dir="/tmp")
size_t	MessageFingerprint (const google::protobuf::Message &message)
std::string	function_signature (const std::string &func_name, const std::string &indicator="")
template<typename Points >
double	GetPathAngle (const Points &points, const size_t start, const size_t end)
	Calculate the angle between the directions of two points on the path. More...
template<typename Points >
std::vector< size_t >	DownsampleByAngle (const Points &points, const double angle_threshold)
	Downsample the points on the path according to the angle. More...
template<typename Points >
std::vector< size_t >	DownsampleByDistance (const Points &points, int downsampleDistance, int steepTurnDownsampleDistance)
	Downsample the points on the path based on distance. More...
std::string	EncodeBase64 (std::string_view in)
template<typename ProtoA , typename ProtoB >
bool	IsProtoEqual (const ProtoA &a, const ProtoB &b)
template<typename T >
bool	WithinBound (T start, T end, T value)
PointENU	operator+ (const PointENU enu, const math::Vec2d &xy)
template<typename T >
void	uniform_slice (const T start, const T end, uint32_t num, std::vector< T > *sliced)
template<typename U , typename V >
double	DistanceXY (const U &u, const V &v)
template<typename U , typename V >
bool	SamePointXY (const U &u, const V &v)
PathPoint	GetWeightedAverageOfTwoPathPoints (const PathPoint &p1, const PathPoint &p2, const double w1, const double w2)
template<typename T >
std::enable_if<!std::numeric_limits< T >::is_integer, bool >::type	IsFloatEqual (T x, T y, int ulp=2)

Detailed Description

apollo::common::util

Function Documentation

DistanceXY()

template<typename U , typename V >

double apollo::common::util::DistanceXY	(	const U &	u,
		const V &	v
	)

calculate the distance beteween Point u and Point v, which are all have member function x() and y() in XY dimension.

Parameters

u	one point that has member function x() and y().
b	one point that has member function x() and y().

Returns

sqrt((u.x-v.x)^2 + (u.y-v.y)^2), i.e., the Euclid distance on XY dimension.

DownsampleByAngle()

template<typename Points >

std::vector<size_t> apollo::common::util::DownsampleByAngle	(	const Points &	points,
		const double	angle_threshold
	)

Downsample the points on the path according to the angle.

Parameters

points	Points on the path.
angle_threshold	Points are sampled when the accumulated direction change exceeds the threshold.

Returns

sampled_indices Indices of all sampled points, or empty when fail.

DownsampleByDistance()

template<typename Points >

std::vector<size_t> apollo::common::util::DownsampleByDistance	(	const Points &	points,
		int	downsampleDistance,
		int	steepTurnDownsampleDistance
	)

Downsample the points on the path based on distance.

Parameters

points	Points on the path.
downsampleDistance	downsample rate for a normal path
steepTurnDownsampleDistance	downsample rate for a steep turn path

Returns

sampled_indices Indices of all sampled points, or empty when fail.

DumpMessage()

template<typename T , typename std::enable_if< std::is_base_of< google::protobuf::Message, T >::value, int >::type = 0>

bool apollo::common::util::DumpMessage	(	const std::shared_ptr< T > &	msg,
		const std::string &	dump_dir = "/tmp"
	)

EncodeBase64()

std::string apollo::common::util::EncodeBase64

(

std::string_view

in

)

function_signature()

std::string apollo::common::util::function_signature	(	const std::string &	func_name,
		const std::string &	indicator = ""
	)

GetPathAngle()

template<typename Points >

double apollo::common::util::GetPathAngle	(	const Points &	points,
		const size_t	start,
		const size_t	end
	)

Calculate the angle between the directions of two points on the path.

Parameters

points	Points on the path.
start	The index of the first point on the path.
end	The index of the second point on the path.

Returns

The angle between the directions of the start point and the end point.

GetWeightedAverageOfTwoPathPoints()

PathPoint apollo::common::util::GetWeightedAverageOfTwoPathPoints	(	const PathPoint &	p1,
		const PathPoint &	p2,
		const double	w1,
		const double	w2
	)

IsFloatEqual()

template<typename T >

std::enable_if<!std::numeric_limits<T>::is_integer, bool>::type apollo::common::util::IsFloatEqual	(	T	x,
		T	y,
		int	ulp = 2
	)

IsProtoEqual()

template<typename ProtoA , typename ProtoB >

bool apollo::common::util::IsProtoEqual	(	const ProtoA &	a,
		const ProtoB &	b
	)

MessageFingerprint()

size_t apollo::common::util::MessageFingerprint ( const google::protobuf::Message &  message )

inline

operator+()

PointENU apollo::common::util::operator+	(	const PointENU	enu,
		const math::Vec2d &	xy
	)

SamePointXY()

template<typename U , typename V >

bool apollo::common::util::SamePointXY	(	const U &	u,
		const V &	v
	)

Check if two points u and v are the same point on XY dimension.

Parameters

u	one point that has member function x() and y().
v	one point that has member function x() and y().

Returns

sqrt((u.x-v.x)^2 + (u.y-v.y)^2) < epsilon, i.e., the Euclid distance on XY dimension.

uniform_slice()

template<typename T >

void apollo::common::util::uniform_slice	(	const T	start,
		const T	end,
		uint32_t	num,
		std::vector< T > *	sliced
	)

uniformly slice a segment [start, end] to num + 1 pieces the result sliced will contain the n + 1 points that slices the provided segment. start and end will be the first and last element in sliced.

WithinBound()

template<typename T >

bool apollo::common::util::WithinBound	(	T	start,
		T	end,
		T	value
	)