apollo::common::VehicleConfigHelper类 参考

@Brief This is a helper class that can load vehicle configurations. 更多...

#include <vehicle_config_helper.h>

apollo::common::VehicleConfigHelper 的协作图:

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.

详细描述

@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.

成员函数说明

GetBoundingBox()

common::math::Box2d apollo::common::VehicleConfigHelper::GetBoundingBox ( const common::PathPoint &  path_point )

static

Get the box (four corners: ABCD) of the vehicle.

参数

path_point

of a vehicle (which contains point X and heading).

返回

a box2d which contains the ABCD points info.

在文件 vehicle_config_helper.cc 第 65 行定义.

                                       {
  const auto &vehicle_param = vehicle_config_.vehicle_param();
  math::Vec2d point(path_point.x(), path_point.y());
  return common::math::Box2d(
      point, path_point.theta(), vehicle_param.front_edge_to_center(),
      vehicle_param.back_edge_to_center(), vehicle_param.width());
}

GetConfig()

const VehicleConfig & apollo::common::VehicleConfigHelper::GetConfig ( )

static

Get the current vehicle configuration.

返回

the current VehicleConfig instance reference.

在文件 vehicle_config_helper.cc 第 47 行定义.

                                                    {
  if (!is_init_) {
    Init();
  }
  return vehicle_config_;
}

Init() [1/3]

void apollo::common::VehicleConfigHelper::Init ( )

static

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.

{ Init(FLAGS_vehicle_config_path); }

Init() [2/3]

void apollo::common::VehicleConfigHelper::Init ( const std::string &  config_file )

static

Initialize vehicle configurations with config_file.

The code will crash if config_file does not exist or config_file has invalid format.

参数

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.

                                                           {
  VehicleConfig params;
  ACHECK(cyber::common::GetProtoFromFile(config_file, &params))
      << "Unable to parse vehicle config file " << config_file;
  Init(params);
}

Init() [3/3]

void apollo::common::VehicleConfigHelper::Init ( const VehicleConfig &  config )

static

Initialize vehicle configurations with config

参数

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.

                                                                  {
  vehicle_config_ = vehicle_params;
  is_init_ = true;
}

MinSafeTurnRadius()

double apollo::common::VehicleConfigHelper::MinSafeTurnRadius ( )

static

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).

返回

AO in the above figure, which is the minimum turn radius when the vehicle turns with maximum steering angle

在文件 vehicle_config_helper.cc 第 54 行定义.

                                              {
  const auto &param = vehicle_config_.vehicle_param();
  double lat_edge_to_center =
      std::max(param.left_edge_to_center(), param.right_edge_to_center());
  double lon_edge_to_center =
      std::max(param.front_edge_to_center(), param.back_edge_to_center());
  return std::sqrt((lat_edge_to_center + param.min_turn_radius()) *
                       (lat_edge_to_center + param.min_turn_radius()) +
                   lon_edge_to_center * lon_edge_to_center);
}

---

该类的文档由以下文件生成:

• modules/common/configs/vehicle_config_helper.h
• modules/common/configs/vehicle_config_helper.cc