#include <localization_params.h>

Collaboration diagram for apollo::localization::msf::LocalizationIntegParam:

Public Attributes
bool	enable_lidar_localization = true

int	gnss_mode = 0

bool	is_ins_can_self_align = false

bool	is_sins_align_with_vel = true

bool	is_sins_state_check = false

double	sins_state_span_time = 60.0

double	sins_state_pos_std = 1.0

double	vel_threshold_get_yaw = 5.0

bool	is_trans_gpstime_to_utctime = true

bool	is_using_raw_gnsspos = true

bool	enable_ins_aid_rtk = false

ImuToAntOffset	imu_to_ant_offset

std::string	map_path = ""

std::string	lidar_extrinsic_file = ""

std::string	lidar_height_file = ""

double	lidar_height_default = 1.7

int	localization_mode = 2

int	lidar_yaw_align_mode = 2

int	lidar_filter_size = 17

double	map_coverage_theshold = 0.8

double	imu_lidar_max_delay_time = 0.4

int	utm_zone_id = 50

bool	is_lidar_unstable_reset = true

double	unstable_reset_threshold = 0.3

bool	if_use_avx = false

bool	is_using_novatel_heading = true

std::string	ant_imu_leverarm_file = ""

VehicleToImuQuatern	vehicle_to_imu_quatern

double	imu_delay_time_threshold_1 = 0.1

double	imu_delay_time_threshold_2 = 0.05

double	imu_delay_time_threshold_3 = 0.02

double	imu_missing_time_threshold_1 = 0.1

double	imu_missing_time_threshold_2 = 0.05

double	imu_missing_time_threshold_3 = 0.01

double	bestgnsspose_loss_time_threshold = 2.0

double	lidar_loss_time_threshold = 2.0

double	localization_std_x_threshold_1 = 0.15

double	localization_std_y_threshold_1 = 0.15

double	localization_std_x_threshold_2 = 0.3

double	localization_std_y_threshold_2 = 0.3

Member Data Documentation

◆ ant_imu_leverarm_file

std::string apollo::localization::msf::LocalizationIntegParam::ant_imu_leverarm_file = ""

◆ bestgnsspose_loss_time_threshold

double apollo::localization::msf::LocalizationIntegParam::bestgnsspose_loss_time_threshold = 2.0

◆ enable_ins_aid_rtk

bool apollo::localization::msf::LocalizationIntegParam::enable_ins_aid_rtk = false

◆ enable_lidar_localization

bool apollo::localization::msf::LocalizationIntegParam::enable_lidar_localization = true

◆ gnss_mode

int apollo::localization::msf::LocalizationIntegParam::gnss_mode = 0

◆ if_use_avx

bool apollo::localization::msf::LocalizationIntegParam::if_use_avx = false

◆ imu_delay_time_threshold_1

double apollo::localization::msf::LocalizationIntegParam::imu_delay_time_threshold_1 = 0.1

◆ imu_delay_time_threshold_2

double apollo::localization::msf::LocalizationIntegParam::imu_delay_time_threshold_2 = 0.05

◆ imu_delay_time_threshold_3

double apollo::localization::msf::LocalizationIntegParam::imu_delay_time_threshold_3 = 0.02

◆ imu_lidar_max_delay_time

double apollo::localization::msf::LocalizationIntegParam::imu_lidar_max_delay_time = 0.4

◆ imu_missing_time_threshold_1

double apollo::localization::msf::LocalizationIntegParam::imu_missing_time_threshold_1 = 0.1

◆ imu_missing_time_threshold_2

double apollo::localization::msf::LocalizationIntegParam::imu_missing_time_threshold_2 = 0.05

◆ imu_missing_time_threshold_3

double apollo::localization::msf::LocalizationIntegParam::imu_missing_time_threshold_3 = 0.01

◆ imu_to_ant_offset

ImuToAntOffset apollo::localization::msf::LocalizationIntegParam::imu_to_ant_offset

◆ is_ins_can_self_align

bool apollo::localization::msf::LocalizationIntegParam::is_ins_can_self_align = false

◆ is_lidar_unstable_reset

bool apollo::localization::msf::LocalizationIntegParam::is_lidar_unstable_reset = true

◆ is_sins_align_with_vel

bool apollo::localization::msf::LocalizationIntegParam::is_sins_align_with_vel = true

◆ is_sins_state_check

bool apollo::localization::msf::LocalizationIntegParam::is_sins_state_check = false

◆ is_trans_gpstime_to_utctime

bool apollo::localization::msf::LocalizationIntegParam::is_trans_gpstime_to_utctime = true

◆ is_using_novatel_heading

bool apollo::localization::msf::LocalizationIntegParam::is_using_novatel_heading = true

◆ is_using_raw_gnsspos

bool apollo::localization::msf::LocalizationIntegParam::is_using_raw_gnsspos = true

◆ lidar_extrinsic_file

std::string apollo::localization::msf::LocalizationIntegParam::lidar_extrinsic_file = ""

◆ lidar_filter_size

int apollo::localization::msf::LocalizationIntegParam::lidar_filter_size = 17

◆ lidar_height_default

double apollo::localization::msf::LocalizationIntegParam::lidar_height_default = 1.7

◆ lidar_height_file

std::string apollo::localization::msf::LocalizationIntegParam::lidar_height_file = ""

◆ lidar_loss_time_threshold

double apollo::localization::msf::LocalizationIntegParam::lidar_loss_time_threshold = 2.0

◆ lidar_yaw_align_mode

int apollo::localization::msf::LocalizationIntegParam::lidar_yaw_align_mode = 2

◆ localization_mode

int apollo::localization::msf::LocalizationIntegParam::localization_mode = 2

◆ localization_std_x_threshold_1

double apollo::localization::msf::LocalizationIntegParam::localization_std_x_threshold_1 = 0.15

◆ localization_std_x_threshold_2

double apollo::localization::msf::LocalizationIntegParam::localization_std_x_threshold_2 = 0.3

◆ localization_std_y_threshold_1

double apollo::localization::msf::LocalizationIntegParam::localization_std_y_threshold_1 = 0.15

◆ localization_std_y_threshold_2

double apollo::localization::msf::LocalizationIntegParam::localization_std_y_threshold_2 = 0.3

◆ map_coverage_theshold

double apollo::localization::msf::LocalizationIntegParam::map_coverage_theshold = 0.8

◆ map_path

std::string apollo::localization::msf::LocalizationIntegParam::map_path = ""

◆ sins_state_pos_std

double apollo::localization::msf::LocalizationIntegParam::sins_state_pos_std = 1.0

◆ sins_state_span_time

double apollo::localization::msf::LocalizationIntegParam::sins_state_span_time = 60.0

◆ unstable_reset_threshold

double apollo::localization::msf::LocalizationIntegParam::unstable_reset_threshold = 0.3

◆ utm_zone_id

int apollo::localization::msf::LocalizationIntegParam::utm_zone_id = 50

◆ vehicle_to_imu_quatern

VehicleToImuQuatern apollo::localization::msf::LocalizationIntegParam::vehicle_to_imu_quatern

◆ vel_threshold_get_yaw

double apollo::localization::msf::LocalizationIntegParam::vel_threshold_get_yaw = 5.0

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

modules/localization/msf/local_integ/localization_params.h

Public Attributes