apollo::control::ControlChecker类 参考

A proportional-integral-derivative controller for speed and steering using defualt integral hold 更多...

#include <control_checker.h>

apollo::control::ControlChecker 的协作图:

Public 成员函数
virtual	~ControlChecker ()=default
	initialize pid controller

静态 Public 成员函数
static ControlCheckStatus	check_lateral_error (const SafetyCheckConf &conf, double *lateral_error)
static ControlCheckStatus	check_heading_error (const SafetyCheckConf &conf, double *heading_error)
static ControlCheckStatus	check_station_error (const SafetyCheckConf &conf, double *station_error)
static ControlCheckStatus	check_speed_error (const SafetyCheckConf &conf, double *speed_error)

详细描述

A proportional-integral-derivative controller for speed and steering using defualt integral hold

在文件 control_checker.h 第 39 行定义.

构造及析构函数说明

~ControlChecker()

virtual apollo::control::ControlChecker::~ControlChecker ( )

virtualdefault

initialize pid controller

参数

pid_conf

configuration for pid controller

成员函数说明

check_heading_error()

ControlCheckStatus apollo::control::ControlChecker::check_heading_error ( const SafetyCheckConf &  conf, double *  heading_error  )

static

在文件 control_checker.cc 第 59 行定义.

                                                                                                         {
    // if (!ControlUtil::is_need_safety_check()) {
    //     return NONE;
    // }
    double max_heading_error_E = conf.check_threshold().max_heading_error_e();
    double max_heading_error_W = conf.check_threshold().max_heading_error_w();
    // heading error error check
    if (conf.use_heading_error_e_check()) {
        if (std::fabs(*heading_error) > max_heading_error_E) {
            ADEBUG << "[Error] heading error is not reliable due to: |" << *heading_error << "| > "
                   << max_heading_error_E;
            *heading_error = common::math::Clamp(*heading_error, -max_heading_error_E, max_heading_error_E);
            ADEBUG << "[Error] control heading e failed.";
            return ERROR;
        }
    } else {
        ADEBUG << "control heading error e check turn off.";
    }
    // heading error warning check
    if (conf.use_heading_error_w_check()) {
        if (std::fabs(*heading_error) > max_heading_error_W) {
            ADEBUG << "[Warning] heading error is not reliable due to: |" << *heading_error << "| > "
                   << max_heading_error_W;
            ADEBUG << "[Warning] control heading w failed.";
            return WARNING;
        }
    } else {
        ADEBUG << "control heading error w check turn off.";
    }
 
    return NONE;
}

check_lateral_error()

ControlCheckStatus apollo::control::ControlChecker::check_lateral_error ( const SafetyCheckConf &  conf, double *  lateral_error  )

static

在文件 control_checker.cc 第 26 行定义.

                                                                                                         {
    // if (!ControlUtil::is_need_safety_check()) {
    //     return NONE;
    // }
    double max_lateral_error_E = conf.check_threshold().max_lateral_error_e();
    double max_lateral_error_W = conf.check_threshold().max_lateral_error_w();
    // lateral error e check
    if (conf.use_lateral_error_e_check()) {
        if (std::fabs(*lateral_error) > max_lateral_error_E) {
            ADEBUG << "[Error] lateral error is not reliable due to: |" << *lateral_error << "| > "
                   << max_lateral_error_E;
            *lateral_error = common::math::Clamp(*lateral_error, -max_lateral_error_E, max_lateral_error_E);
            ADEBUG << "[Error] control lateral e failed.";
            return ERROR;
        }
    } else {
        ADEBUG << "control lateral error e check turn off.";
    }
    // lateral error warning check
    if (conf.use_lateral_error_w_check()) {
        if (std::fabs(*lateral_error) > max_lateral_error_W) {
            ADEBUG << "[Warning] lateral error is not reliable due to: |" << *lateral_error << "| > "
                   << max_lateral_error_W;
            ADEBUG << "[Warning] control lateral w failed.";
            return WARNING;
        }
    } else {
        ADEBUG << "control lateral error w check turn off.";
    }
 
    return NONE;
}

check_speed_error()

ControlCheckStatus apollo::control::ControlChecker::check_speed_error ( const SafetyCheckConf &  conf, double *  speed_error  )

static

在文件 control_checker.cc 第 125 行定义.

                                                                                                     {
    // if (!ControlUtil::is_need_safety_check()) {
    //     return NONE;
    // }
    double max_speed_error_E = conf.check_threshold().max_speed_error_e();
    double max_speed_error_W = conf.check_threshold().max_speed_error_w();
    // speed error error check
    if (conf.use_speed_error_e_check()) {
        if (fabs(*speed_error) > max_speed_error_E) {
            ADEBUG << "[Error] speed error is not reliable due to: |" << *speed_error << "| > " << max_speed_error_E;
            *speed_error = common::math::Clamp(*speed_error, -max_speed_error_E, max_speed_error_E);
            ADEBUG << "[Error] control speed e failed.";
            return ERROR;
        }
    } else {
        ADEBUG << "control speed error e check turn off.";
    }
    // speed error warning check
    if (conf.use_speed_error_w_check()) {
        if (fabs(*speed_error) > max_speed_error_W) {
            ADEBUG << "[Warning] speed error is not reliable due to: |" << *speed_error << "| > " << max_speed_error_W;
            ADEBUG << "[Warning] control speed w failed.";
            return WARNING;
        }
    } else {
        ADEBUG << "control speed error w check turn off.";
    }
 
    return NONE;
}

check_station_error()

ControlCheckStatus apollo::control::ControlChecker::check_station_error ( const SafetyCheckConf &  conf, double *  station_error  )

static

在文件 control_checker.cc 第 92 行定义.

                                                                                                         {
    // if (!ControlUtil::is_need_safety_check()) {
    //     return NONE;
    // }
    double max_station_error_E = conf.check_threshold().max_station_error_e();
    double max_station_error_W = conf.check_threshold().max_station_error_w();
    // station error error check
    if (conf.use_station_error_e_check()) {
        if (std::fabs(*station_error) > max_station_error_E) {
            ADEBUG << "[Error] station error is not reliable due to: |" << *station_error << "| > "
                   << max_station_error_E;
            *station_error = common::math::Clamp(*station_error, -max_station_error_E, max_station_error_E);
            ADEBUG << "[Error] control station e failed.";
            return ERROR;
        }
    } else {
        ADEBUG << "control station error e check turn off.";
    }
    // station error warning check
    if (conf.use_station_error_w_check()) {
        if (std::fabs(*station_error) > max_station_error_W) {
            ADEBUG << "[Warning] station error is not reliable due to: |" << *station_error << "| > "
                   << max_station_error_W;
            ADEBUG << "[Warning] control station w failed.";
            return WARNING;
        }
    } else {
        ADEBUG << "control station error w check turn off.";
    }
 
    return NONE;
}

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该类的文档由以下文件生成:

• modules/control/control_task_base_extend/common/control_checker.h
• modules/control/control_task_base_extend/common/control_checker.cc