Apollo 10.0
自动驾驶开放平台
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@Brief This is a helper class that can load vehicle configurations. 更多...
#include <vehicle_config_helper.h>
静态 Public 成员函数 | |
static void | Init () |
Initialize vehicle configurations with default configuration file pointed by gflags FLAGS_vehicle_config_path. | |
static void | Init (const VehicleConfig &config) |
Initialize vehicle configurations with config | |
static void | Init (const std::string &config_file) |
Initialize vehicle configurations with config_file . | |
static const VehicleConfig & | GetConfig () |
Get the current vehicle configuration. | |
static double | MinSafeTurnRadius () |
Get the safe turning radius when the vehicle is turning with maximum steering angle. | |
static common::math::Box2d | GetBoundingBox (const common::PathPoint &path_point) |
Get the box (four corners: ABCD) of the vehicle. | |
@Brief This is a helper class that can load vehicle configurations.
The vehicle configurations are defined modules/common/configs/proto/vehicle_config.proto
在文件 vehicle_config_helper.h 第 45 行定义.
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Get the box (four corners: ABCD) of the vehicle.
path_point | of a vehicle (which contains point X and heading). |
在文件 vehicle_config_helper.cc 第 65 行定义.
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Get the current vehicle configuration.
在文件 vehicle_config_helper.cc 第 47 行定义.
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Initialize vehicle configurations with default configuration file pointed by gflags FLAGS_vehicle_config_path.
The code will crash if FLAGS_vehicle_config_path does not exist or it points to a file with invalid format.
在文件 vehicle_config_helper.cc 第 33 行定义.
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Initialize vehicle configurations with config_file
.
The code will crash if config_file
does not exist or config_file
has invalid format.
config_file | The configuration file path. The format of the file is defined by protobuf file modules/common/configs/proto/vehicle_config.proto. |
在文件 vehicle_config_helper.cc 第 35 行定义.
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Initialize vehicle configurations with config
config | A VehicleConfig class instance. The VehicleConfig class is defined by modules/common/configs/proto/vehicle_config.proto. |
在文件 vehicle_config_helper.cc 第 42 行定义.
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Get the safe turning radius when the vehicle is turning with maximum steering angle.
The calculation is described by the following figure.
front of car A +----------+ B | | / / turn with maximum steering angle | | | | | | | X | O |<-->.<----|-------------------------------------->* (turn center) | | VehicleParam.min_turn_radius() | | D +----------+ C back of car
In the above figure, The four corner points of the vehicle is A, B, C, and D. XO is VehicleParam.min_turn_radius(), X to AD is left_edge_to_center, X to AB is VehicleParam.front_edge_to_center(). Then AO = sqrt((XO + left_edge_to_center) ^2 + front_edge_to_center^2).
在文件 vehicle_config_helper.cc 第 54 行定义.