apollo::control::ControlTaskAgent类 参考

manage all controllers declared in control config file. 更多...

#include <control_task_agent.h>

apollo::control::ControlTaskAgent 的协作图:

Public 成员函数
common::Status	Init (std::shared_ptr< DependencyInjector > injector, const ControlPipeline &control_pipeline)
	initialize ControlTaskAgent
common::Status	ComputeControlCommand (const localization::LocalizationEstimate *localization, const canbus::Chassis *chassis, const planning::ADCTrajectory *trajectory, control::ControlCommand *cmd)
	compute control command based on current vehicle status and target trajectory
common::Status	Reset ()
	reset ControlTaskAgent

详细描述

manage all controllers declared in control config file.

在文件 control_task_agent.h 第 48 行定义.

成员函数说明

ComputeControlCommand()

Status apollo::control::ControlTaskAgent::ComputeControlCommand	(	const localization::LocalizationEstimate *	localization,
		const canbus::Chassis *	chassis,
		const planning::ADCTrajectory *	trajectory,
		control::ControlCommand *	cmd
	)

compute control command based on current vehicle status and target trajectory

参数

localization	vehicle location
chassis	vehicle status e.g., speed, acceleration
trajectory	trajectory generated by planning
cmd	control command

返回

Status computation status

在文件 control_task_agent.cc 第 56 行定义.

                                {
  for (auto &controller : controller_list_) {
    ADEBUG << "controller:" << controller->Name() << " processing ...";
    double start_timestamp = Clock::NowInSeconds();
    Status controller_status = controller->ComputeControlCommand(
        localization, chassis, trajectory, cmd);
    double end_timestamp = Clock::NowInSeconds();
    const double time_diff_ms = (end_timestamp - start_timestamp) * 1000;
    ADEBUG << "controller: " << controller->Name()
           << " calculation time is: " << time_diff_ms << " ms.";
    cmd->mutable_latency_stats()->add_controller_time_ms(time_diff_ms);
    if (controller_status != Status::OK()) {
      return controller_status;
    }
  }
  return Status::OK();
}

Init()

Status apollo::control::ControlTaskAgent::Init	(	std::shared_ptr< DependencyInjector >	injector,
		const ControlPipeline &	control_pipeline
	)

initialize ControlTaskAgent

参数

control_conf

control configurations

返回

Status initialization status

在文件 control_task_agent.cc 第 33 行定义.

                                                                       {
  if (control_pipeline.controller_size() == 0) {
    AERROR << "control_pipeline is empty";
    return Status(ErrorCode::CONTROL_INIT_ERROR, "Empty control_pipeline");
  }
 
  injector_ = injector;
  for (int i = 0; i < control_pipeline.controller_size(); i++) {
    auto controller = PluginManager::Instance()->CreateInstance<ControlTask>(
        "apollo::control::" + control_pipeline.controller(i).type());
    if (!controller->Init(injector_).ok()) {
      AERROR << "Can not init controller " << controller->Name();
      return Status(
          ErrorCode::CONTROL_INIT_ERROR,
          "Failed to init Controller:" + control_pipeline.controller(i).name());
    }
    controller_list_.push_back(controller);
    AINFO << "Controller <" << controller->Name() << "> init done!";
  }
  return Status::OK();
}

Reset()

Status apollo::control::ControlTaskAgent::Reset

(

)

reset ControlTaskAgent

返回

Status reset status

在文件 control_task_agent.cc 第 77 行定义.

                               {
  for (auto &controller : controller_list_) {
    ADEBUG << "controller:" << controller->Name() << " reset...";
    controller->Reset();
  }
  return Status::OK();
}

---

该类的文档由以下文件生成:

• modules/control/control_component/controller_task_base/control_task_agent.h
• modules/control/control_component/controller_task_base/control_task_agent.cc