pyramid_map_config.h

Go to the documentation of this file.

/******************************************************************************
 * Copyright 2019 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 <string>
#include "modules/localization/msf/local_pyramid_map/base_map/base_map_config.h"

namespace apollo {
namespace localization {
namespace msf {
namespace pyramid_map {

class PyramidMapConfig : public BaseMapConfig {
 public:
  explicit PyramidMapConfig(const std::string& map_version);
  ~PyramidMapConfig();

  bool has_intensity_ = true;
  bool has_intensity_var_ = true;
  bool has_altitude_ = true;
  bool has_altitude_var_ = true;
  bool has_ground_altitude_ = true;
  bool has_count_ = true;
  bool has_ground_count_ = true;
  unsigned int resolution_num_ = 1;
  unsigned int resolution_ratio_ = 2;
  std::string coordinate_type_ = "";
  float max_intensity_value_ = 0.0;

  float max_intensity_var_value_ = 0.0;

 protected:
  virtual bool CreateXml(boost::property_tree::ptree* config) const;
  virtual bool LoadXml(const boost::property_tree::ptree& config);
};

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