Apollo 10.0
自动驾驶开放平台
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This is the interface class of vehicle controller. 更多...
#include <vehicle_controller.h>
Public 成员函数 | |
virtual | ~VehicleController ()=default |
virtual common::ErrorCode | Init (const VehicleParameter ¶ms, CanSender< SensorType > *const can_sender, MessageManager< SensorType > *const message_manager)=0 |
initialize the vehicle controller. | |
virtual bool | Start ()=0 |
start the vehicle controller. | |
virtual void | Stop ()=0 |
stop the vehicle controller. | |
virtual Chassis | chassis ()=0 |
calculate and return the chassis. | |
virtual common::ErrorCode | Update (const control::ControlCommand &command) |
update the vehicle controller. | |
virtual common::ErrorCode | Update (const external_command::ChassisCommand &command) |
virtual common::ErrorCode | SetDrivingMode (const Chassis::DrivingMode &driving_mode) |
set vehicle to appointed driving mode. | |
virtual bool | CheckChassisCommunicationError () |
virtual void | AddSendMessage () |
virtual SensorType | GetNewRecvChassisDetail () |
virtual SensorType | GetNewSenderChassisDetail () |
virtual Chassis::DrivingMode | driving_mode () |
Protected 成员函数 | |
virtual void | set_driving_mode (const Chassis::DrivingMode &driving_mode) |
Protected 属性 | |
common::VehicleSignal | last_chassis_command_ |
common::VehicleSignal | last_control_command_ |
canbus::VehicleParameter | params_ |
common::VehicleParam | vehicle_params_ |
CanSender< SensorType > * | can_sender_ = nullptr |
CanReceiver< SensorType > * | can_receiver_ = nullptr |
MessageManager< SensorType > * | message_manager_ = nullptr |
bool | is_initialized_ = false |
Chassis::DrivingMode | driving_mode_ = Chassis::COMPLETE_MANUAL |
bool | is_reset_ = false |
std::mutex | mode_mutex_ |
uint32_t | lost_chassis_reveive_detail_count_ = 0 |
bool | is_need_count_ = true |
size_t | sender_data_size_previous_ = 0.0 |
int64_t | start_time_ = 0 |
bool | is_chassis_communication_error_ = false |
This is the interface class of vehicle controller.
It defines pure virtual functions, and also some implemented common functions.
在文件 vehicle_controller.h 第 60 行定义.
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virtualdefault |
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pure virtual |
calculate and return the chassis.
在 apollo::canbus::ch::ChController, apollo::canbus::demo::DemoController, apollo::canbus::devkit::DevkitController, apollo::canbus::ge3::Ge3Controller, apollo::canbus::gem::GemController, apollo::canbus::lexus::LexusController, apollo::canbus::lincoln::LincolnController, apollo::canbus::neolix_edu::Neolix_eduController, apollo::canbus::transit::TransitController, apollo::canbus::wey::WeyController , 以及 apollo::canbus::zhongyun::ZhongyunController 内被实现.
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在文件 vehicle_controller.h 第 234 行定义.
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在文件 vehicle_controller.h 第 336 行定义.
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在文件 vehicle_controller.h 第 301 行定义.
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在文件 vehicle_controller.h 第 318 行定义.
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pure virtual |
initialize the vehicle controller.
can_sender | a pointer to canbus sender. |
message_manager | a pointer to the message_manager. |
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protectedvirtual |
在文件 vehicle_controller.h 第 342 行定义.
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set vehicle to appointed driving mode.
driving | mode to be appointed. |
在文件 vehicle_controller.h 第 349 行定义.
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pure virtual |
start the vehicle controller.
在 apollo::canbus::ch::ChController, apollo::canbus::demo::DemoController, apollo::canbus::devkit::DevkitController, apollo::canbus::ge3::Ge3Controller, apollo::canbus::gem::GemController, apollo::canbus::lexus::LexusController, apollo::canbus::lincoln::LincolnController, apollo::canbus::neolix_edu::Neolix_eduController, apollo::canbus::transit::TransitController, apollo::canbus::wey::WeyController , 以及 apollo::canbus::zhongyun::ZhongyunController 内被实现.
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pure virtual |
stop the vehicle controller.
在 apollo::canbus::ch::ChController, apollo::canbus::demo::DemoController, apollo::canbus::devkit::DevkitController, apollo::canbus::ge3::Ge3Controller, apollo::canbus::gem::GemController, apollo::canbus::lexus::LexusController, apollo::canbus::lincoln::LincolnController, apollo::canbus::neolix_edu::Neolix_eduController, apollo::canbus::transit::TransitController, apollo::canbus::wey::WeyController , 以及 apollo::canbus::zhongyun::ZhongyunController 内被实现.
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update the vehicle controller.
command | the control command |
在文件 vehicle_controller.h 第 406 行定义.
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在文件 vehicle_controller.h 第 495 行定义.
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在文件 vehicle_controller.h 第 216 行定义.
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在文件 vehicle_controller.h 第 215 行定义.
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在文件 vehicle_controller.h 第 219 行定义.
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在文件 vehicle_controller.h 第 226 行定义.
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在文件 vehicle_controller.h 第 218 行定义.
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在文件 vehicle_controller.h 第 223 行定义.
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在文件 vehicle_controller.h 第 220 行定义.
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在文件 vehicle_controller.h 第 211 行定义.
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在文件 vehicle_controller.h 第 212 行定义.
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在文件 vehicle_controller.h 第 222 行定义.
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在文件 vehicle_controller.h 第 217 行定义.
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在文件 vehicle_controller.h 第 221 行定义.
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在文件 vehicle_controller.h 第 213 行定义.
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在文件 vehicle_controller.h 第 224 行定义.
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在文件 vehicle_controller.h 第 225 行定义.
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在文件 vehicle_controller.h 第 214 行定义.