Apollo 10.0
自动驾驶开放平台
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manage all controllers declared in control config file. 更多...
#include <control_task_agent.h>
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 | |
manage all controllers declared in control config file.
在文件 control_task_agent.h 第 48 行定义.
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
localization | vehicle location |
chassis | vehicle status e.g., speed, acceleration |
trajectory | trajectory generated by planning |
cmd | control command |
在文件 control_task_agent.cc 第 56 行定义.
Status apollo::control::ControlTaskAgent::Init | ( | std::shared_ptr< DependencyInjector > | injector, |
const ControlPipeline & | control_pipeline | ||
) |
initialize ControlTaskAgent
control_conf | control configurations |
在文件 control_task_agent.cc 第 33 行定义.
Status apollo::control::ControlTaskAgent::Reset | ( | ) |
reset ControlTaskAgent
在文件 control_task_agent.cc 第 77 行定义.