The multiple layers of the cell. More...

#include <lossless_map_matrix.h>

Collaboration diagram for apollo::localization::msf::LosslessMapCell:

Public Member Functions
	LosslessMapCell ()
	The default constructor. More...

void	Reset ()
	Reset to default value. More...

void	SetValueLayer (double altitude, unsigned char intensity, double altitude_thres=10.0)
	Set the value of a layer that layer_id > 0. The target layer is found according to the altitude. More...

void	SetValue (double altitude, unsigned char intensity)
	Set the value. More...

unsigned int	LoadBinary (unsigned char *buf)
	Load the map cell from a binary chunk. More...

unsigned int	CreateBinary (unsigned char *buf, unsigned int buf_size) const
	Create the binary. Serialization of the object. More...

unsigned int	GetBinarySize () const
	Get the binary size of the object. More...

unsigned int	GetLayerId (double altitude) const
	Match a layer in the map cell given an altitude. More...

void	GetValue (std::vector< unsigned char > *values) const
	Load the map cell from a binary chunk. More...

void	GetVar (std::vector< float > *vars) const
	Get the variance of the intensity of all layers in the map cell. More...

void	GetAlt (std::vector< float > *alts) const
	Get the average altitude of all layers in the map cell. More...

void	GetAltVar (std::vector< float > *alt_vars) const
	Get the variance of the altitude of all layers in the map cell. More...

void	GetCount (std::vector< unsigned int > *counts) const
	Get the count of the samples of all layers in the map cell. More...

unsigned char	GetValue () const
	Get the average intensity of the map cell. More...

float	GetVar () const
	Get the variance of the intensity of the map cell. More...

float	GetAlt () const
	Get the average altitude of the map cell. More...

float	GetAltVar () const
	Get the variance of the altitude of the map cell. More...

unsigned int	GetCount () const
	Get the count of the samples in the map cell. More...

LosslessMapSingleCell &	GetLayer (unsigned int layer_id)
	Get a particular layer in the map cell. The layer 0 is the layer includes all the samples. More...

const LosslessMapSingleCell &	GetLayer (unsigned int layer_id) const
	Get a perticular layer in the map cell. The layer 0 is the layer includes all the samples. More...

Public Attributes
unsigned int	layer_num
	The layers of the cell. More...

LosslessMapSingleCell	map_cells [IDL_CAR_NUM_RESERVED_MAP_LAYER]
	The multiple layers of the cell. The first layer (layer 0) includes all the intensities from any layers. Other layers only include the samples from a layer. More...

Detailed Description

The multiple layers of the cell.

Constructor & Destructor Documentation

◆ LosslessMapCell()

apollo::localization::msf::LosslessMapCell::LosslessMapCell ( )

The default constructor.

Member Function Documentation

◆ CreateBinary()

unsigned int apollo::localization::msf::LosslessMapCell::CreateBinary	(	unsigned char *	buf,
		unsigned int	buf_size
	)		const

Create the binary. Serialization of the object.

Parameters

<buf,buf_size>	The buffer and its size.
<return>	The required or the used size of is returned.

◆ GetAlt() [1/2]

void apollo::localization::msf::LosslessMapCell::GetAlt ( std::vector< float > * alts ) const

Get the average altitude of all layers in the map cell.

◆ GetAlt() [2/2]

float apollo::localization::msf::LosslessMapCell::GetAlt ( ) const

inline

Get the average altitude of the map cell.

◆ GetAltVar() [1/2]

void apollo::localization::msf::LosslessMapCell::GetAltVar ( std::vector< float > * alt_vars ) const

Get the variance of the altitude of all layers in the map cell.

◆ GetAltVar() [2/2]

float apollo::localization::msf::LosslessMapCell::GetAltVar ( ) const

inline

Get the variance of the altitude of the map cell.

◆ GetBinarySize()

unsigned int apollo::localization::msf::LosslessMapCell::GetBinarySize ( ) const

Get the binary size of the object.

◆ GetCount() [1/2]

void apollo::localization::msf::LosslessMapCell::GetCount ( std::vector< unsigned int > * counts ) const

Get the count of the samples of all layers in the map cell.

◆ GetCount() [2/2]

unsigned int apollo::localization::msf::LosslessMapCell::GetCount ( ) const

inline

Get the count of the samples in the map cell.

◆ GetLayer() [1/2]

LosslessMapSingleCell& apollo::localization::msf::LosslessMapCell::GetLayer ( unsigned int layer_id )

inline

Get a particular layer in the map cell. The layer 0 is the layer includes all the samples.

◆ GetLayer() [2/2]

const LosslessMapSingleCell& apollo::localization::msf::LosslessMapCell::GetLayer ( unsigned int layer_id ) const

inline

Get a perticular layer in the map cell. The layer 0 is the layer includes all the samples.

◆ GetLayerId()

unsigned int apollo::localization::msf::LosslessMapCell::GetLayerId ( double altitude ) const

Match a layer in the map cell given an altitude.

Returns: The valid layer ID is 1 ~ N (The layer 0 is the layer includes all the samples). If there is no existing layer, return 0.

◆ GetValue() [1/2]

void apollo::localization::msf::LosslessMapCell::GetValue ( std::vector< unsigned char > * values ) const

Load the map cell from a binary chunk.

Parameters

<return> The size read (the real size of object).Get the average intensity of all layers in the map cell.

◆ GetValue() [2/2]

unsigned char apollo::localization::msf::LosslessMapCell::GetValue ( ) const

inline

Get the average intensity of the map cell.

◆ GetVar() [1/2]

void apollo::localization::msf::LosslessMapCell::GetVar ( std::vector< float > * vars ) const

Get the variance of the intensity of all layers in the map cell.

◆ GetVar() [2/2]

float apollo::localization::msf::LosslessMapCell::GetVar ( ) const

inline

Get the variance of the intensity of the map cell.

◆ LoadBinary()

unsigned int apollo::localization::msf::LosslessMapCell::LoadBinary ( unsigned char * buf )

Load the map cell from a binary chunk.

Parameters

<return> The size read (the real size of object).

◆ Reset()

void apollo::localization::msf::LosslessMapCell::Reset ( )

Reset to default value.

◆ SetValue()

void apollo::localization::msf::LosslessMapCell::SetValue	(	double	altitude,
		unsigned char	intensity
	)

Set the value.

Parameters

<altitude>	The altitude of the cell.
<intensity>	The reflectance intensity.

◆ SetValueLayer()

void apollo::localization::msf::LosslessMapCell::SetValueLayer	(	double	altitude,
		unsigned char	intensity,
		double	altitude_thres = `10.0`
	)

Set the value of a layer that layer_id > 0. The target layer is found according to the altitude.

Member Data Documentation

◆ layer_num

unsigned int apollo::localization::msf::LosslessMapCell::layer_num

The layers of the cell.

◆ map_cells

LosslessMapSingleCell apollo::localization::msf::LosslessMapCell::map_cells[IDL_CAR_NUM_RESERVED_MAP_LAYER]

The multiple layers of the cell. The first layer (layer 0) includes all the intensities from any layers. Other layers only include the samples from a layer.

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

modules/localization/msf/local_map/lossless_map/lossless_map_matrix.h

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LosslessMapCell()

Member Function Documentation

◆ CreateBinary()

◆ GetAlt() [1/2]

◆ GetAlt() [2/2]

◆ GetAltVar() [1/2]

◆ GetAltVar() [2/2]

◆ GetBinarySize()

◆ GetCount() [1/2]

◆ GetCount() [2/2]

◆ GetLayer() [1/2]

◆ GetLayer() [2/2]

◆ GetLayerId()

◆ GetValue() [1/2]

◆ GetValue() [2/2]

◆ GetVar() [1/2]

◆ GetVar() [2/2]

◆ LoadBinary()

◆ Reset()

◆ SetValue()

◆ SetValueLayer()

Member Data Documentation

◆ layer_num

◆ map_cells