Apollo 10.0
自动驾驶开放平台
apollo::common::VehicleModel类 参考

#include <vehicle_model.h>

apollo::common::VehicleModel 的协作图:

Public 成员函数

 VehicleModel ()=delete
 

静态 Public 成员函数

static VehicleState Predict (const double predicted_time_horizon, const VehicleState &cur_vehicle_state)
 

详细描述

在文件 vehicle_model.h26 行定义.

构造及析构函数说明

◆ VehicleModel()

apollo::common::VehicleModel::VehicleModel ( )
delete

成员函数说明

◆ Predict()

VehicleState apollo::common::VehicleModel::Predict ( const double  predicted_time_horizon,
const VehicleState cur_vehicle_state 
)
static

在文件 vehicle_model.cc83 行定义.

84 {
85 VehicleModelConfig vehicle_model_config;
86
87 ACHECK(cyber::common::GetProtoFromFile(FLAGS_vehicle_model_config_filename,
88 &vehicle_model_config))
89 << "Failed to load vehicle model config file "
90 << FLAGS_vehicle_model_config_filename;
91
92 // Some models not supported for now
93 ACHECK(vehicle_model_config.model_type() !=
95 ACHECK(vehicle_model_config.model_type() != VehicleModelConfig::MLP_MODEL);
96
97 VehicleState predicted_vehicle_state;
98 if (vehicle_model_config.model_type() ==
100 RearCenteredKinematicBicycleModel(vehicle_model_config,
101 predicted_time_horizon, cur_vehicle_state,
102 &predicted_vehicle_state);
103 }
104
105 return predicted_vehicle_state;
106}
#define ACHECK(cond)
Definition log.h:80
bool GetProtoFromFile(const std::string &file_name, google::protobuf::Message *message)
Parses the content of the file specified by the file_name as a representation of protobufs,...
Definition file.cc:132

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