apollo::control::ControlTaskExtend类 参考

#include <control_task_extend.h>

类 apollo::control::ControlTaskExtend 继承关系图:

apollo::control::ControlTaskExtend 的协作图:

Public 成员函数
	ControlTaskExtend ()
	constructor
virtual	~ControlTaskExtend ()
	destructor
std::string	Name () const
	reset ControlTaskAgent
Public 成员函数 继承自 apollo::control::ControlTask
	ControlTask ()=default
	constructor
virtual	~ControlTask ()=default
	destructor
virtual common::Status	Init (std::shared_ptr< DependencyInjector > injector)=0
	initialize Controller
virtual common::Status	ComputeControlCommand (const localization::LocalizationEstimate *localization, const canbus::Chassis *chassis, const planning::ADCTrajectory *trajectory, control::ControlCommand *cmd)=0
	compute control command based on current vehicle status and target trajectory
virtual common::Status	Reset ()=0
	reset Controller
virtual void	Stop ()=0
	stop controller

Protected 成员函数
template<typename T >
bool	LoadParamsPipelineConfig (T *pipeline_config)
bool	LoadCalibrationTable (const std::string &calibration_table_path, calibration_table *calibration_table_conf)
bool	VehicleStatusIdentificationUpdate (const localization::LocalizationEstimate *localization, const canbus::Chassis *chassis, const planning::ADCTrajectory *trajectory)
bool	IsForwardModel ()
bool	IsEdgeFollow ()
bool	CheckInPit (double pit_replan_check_time, double pit_replan_check_count, double vehicle_speed, bool replan)
bool	IsLargeCurvature (const double ref_curvature, const double min_large_ref_curvature, bool *is_in_large_curvature)
bool	IsLeftCurvature (const double ref_curvature)
double	GetVehicleSpeed (std::shared_ptr< DependencyInjector > injector, const bool &use_filter, const double &filter_coeff)
double	ThrottleCmdFilter (const bool &use_filter, const double &filter_coeff, const double &throttle)
Protected 成员函数 继承自 apollo::control::ControlTask
template<typename T >
bool	LoadConfig (T *config)
bool	LoadCalibrationTable (calibration_table *calibration_table_conf)

详细描述

在文件 control_task_extend.h 第 51 行定义.

构造及析构函数说明

ControlTaskExtend()

apollo::control::ControlTaskExtend::ControlTaskExtend

(

)

constructor

在文件 control_task_extend.cc 第 46 行定义.

                                     : name_("Control Task Base Extend") {
    AINFO << "Using " << name_ << ".";
}

~ControlTaskExtend()

virtual apollo::control::ControlTaskExtend::~ControlTaskExtend ( )

inlinevirtual

destructor

在文件 control_task_extend.h 第 61 行定义.

{}

成员函数说明

CheckInPit()

bool apollo::control::ControlTaskExtend::CheckInPit ( double  pit_replan_check_time, double  pit_replan_check_count, double  vehicle_speed, bool  replan  )

protected

在文件 control_task_extend.cc 第 106 行定义.

                     {
    static std::pair<double, int> replan_count(0, 0);
 
    double now = apollo::cyber::Clock::NowInSeconds();
 
    if (now - replan_count.first > pit_replan_check_time) {
        replan_count.first = 0;
        replan_count.second = 0;
    }
 
    if (replan) {
        if (now - replan_count.first > pit_replan_check_time) {
            replan_count.first = now;
            replan_count.second = 1;
        } else {
            replan_count.first = now;
            replan_count.second++;
        }
    }
 
    const auto &vehicle_param = common::VehicleConfigHelper::GetConfig().vehicle_param();
    if (replan_count.second >= pit_replan_check_count
        && abs(vehicle_speed) < vehicle_param.max_abs_speed_when_stopped()) {
        return true;
    } else {
        return false;
    }
}

GetVehicleSpeed()

double apollo::control::ControlTaskExtend::GetVehicleSpeed ( std::shared_ptr< DependencyInjector >  injector, const bool &  use_filter, const double &  filter_coeff  )

protected

在文件 control_task_extend.cc 第 170 行定义.

                                    {
    double vehicle_speed = injector->vehicle_state()->linear_velocity();
    if (use_filter) {
        // vehicle move direction changed, then reset filter
        if (vehicle_speed * vehicle_speed_last_ < 0) {
            vehicle_speed_last_ = 0.0;
        }
        vehicle_speed = ExponentialSmoothing::exponential_smoothing(vehicle_speed, vehicle_speed_last_, filter_coeff);
    }
    vehicle_speed_last_ = vehicle_speed;
    return vehicle_speed;
}

IsEdgeFollow()

bool apollo::control::ControlTaskExtend::IsEdgeFollow ( )

protected

在文件 control_task_extend.cc 第 98 行定义.

                                     {
    bool is_in_edge_follow = false;
    if (trajectory_message_->trajectory_type() == ADCTrajectory::EDGE_FOLLOW) {
        is_in_edge_follow = true;
    }
    return is_in_edge_follow;
}

IsForwardModel()

bool apollo::control::ControlTaskExtend::IsForwardModel ( )

protected

在文件 control_task_extend.cc 第 80 行定义.

                                       {
    bool is_forward = false;
    if (chassis_->gear_location() != trajectory_message_->gear()) {
        if (chassis_->gear_location() != canbus::Chassis::GEAR_REVERSE) {
            is_forward = true;
        } else {
            is_forward = false;
        }
    } else {
        if (trajectory_message_->gear() != canbus::Chassis::GEAR_REVERSE) {
            is_forward = true;
        } else {
            is_forward = false;
        }
    }
    return is_forward;
}

IsLargeCurvature()

bool apollo::control::ControlTaskExtend::IsLargeCurvature ( const double  ref_curvature, const double  min_large_ref_curvature, bool *  is_in_large_curvature  )

protected

在文件 control_task_extend.cc 第 143 行定义.

                                     {
    ADEBUG << "Into IsLargeCurvature. " << "ref_curvature is " << ref_curvature << ", min_large_ref_curvature is "
           << min_large_ref_curvature;
    bool is_in_large_cur = false;
    if (ref_curvature > min_large_ref_curvature) {
        ADEBUG << "ref_curvature is " << ref_curvature << ", in large curvature.";
        is_in_large_cur = true;
        *is_in_large_curvature = is_in_large_cur;
        return true;
    } else {
        is_in_large_cur = false;
        *is_in_large_curvature = is_in_large_cur;
        return false;
    }
}

IsLeftCurvature()

bool apollo::control::ControlTaskExtend::IsLeftCurvature ( const double  ref_curvature )

protected

在文件 control_task_extend.cc 第 162 行定义.

                                                                  {
    bool is_left_cur = false;
    if (ref_curvature > 0) {
        is_left_cur = true;
    }
    return is_left_cur;
}

LoadCalibrationTable()

bool apollo::control::ControlTaskExtend::LoadCalibrationTable ( const std::string &  calibration_table_path, calibration_table *  calibration_table_conf  )

protected

在文件 control_task_extend.cc 第 50 行定义.

                                                   {
    std::string calibration_table_path_absolute
            = absl::StrCat("/apollo/modules/control/control_component/conf/", calibration_table_path);
    if (!apollo::cyber::common::GetProtoFromFile(calibration_table_path_absolute, calibration_table_conf)) {
        AERROR << "Load calibration table failed!";
        return false;
    }
    AINFO << "Load the calibraiton table file successfully, file path: " << calibration_table_path_absolute;
    return true;
}

LoadParamsPipelineConfig()

template<typename T >

bool apollo::control::ControlTaskExtend::LoadParamsPipelineConfig ( T *  pipeline_config )

protected

在文件 control_task_extend.h 第 106 行定义.

                                                                   {
    int status;
    std::string class_name = abi::__cxa_demangle(typeid(*this).name(), 0, 0, &status);
    AINFO << "class_name is " << class_name;
    // Generate the default task config path from PluginManager.
    std::string pipeline_config_path
            = apollo::cyber::plugin_manager::PluginManager::Instance()->GetPluginConfPath<ControlTask>(
                    class_name, "conf/params_pipeline.pb.txt");
    AINFO << "pipeline_config_path is " << pipeline_config_path;
 
    if (!apollo::cyber::common::GetProtoFromFile(pipeline_config_path, pipeline_config)) {
        AERROR << "Load config of " << class_name << " failed!";
        return false;
    }
    AINFO << "Load the [" << class_name << "] params pipeline file successfully, file path: " << pipeline_config_path;
    return true;
}

Name()

std::string apollo::control::ControlTaskExtend::Name ( ) const

virtual

reset ControlTaskAgent

返回

Status reset status

controller name

返回

string controller name in string

实现了 apollo::control::ControlTask.

被 apollo::control::DebugInfoControlTask, apollo::control::LatPlusController, apollo::control::LonPlusController , 以及 apollo::control::ReplanControlTask 重载.

在文件 control_task_extend.cc 第 139 行定义.

                                        {
    return name_;
}

ThrottleCmdFilter()

double apollo::control::ControlTaskExtend::ThrottleCmdFilter ( const bool &  use_filter, const double &  filter_coeff, const double &  throttle  )

protected

在文件 control_task_extend.cc 第 186 行定义.

                                {
    double throttle_filtered = throttle;
    if (use_filter) {
        throttle_filtered = ExponentialSmoothing::exponential_smoothing(throttle, throttle_last_, filter_coeff);
        throttle_last_ = throttle_filtered;
    }
 
    return throttle_filtered;
}

VehicleStatusIdentificationUpdate()

bool apollo::control::ControlTaskExtend::VehicleStatusIdentificationUpdate ( const localization::LocalizationEstimate *  localization, const canbus::Chassis *  chassis, const planning::ADCTrajectory *  trajectory  )

protected

在文件 control_task_extend.cc 第 63 行定义.

                                                 {
    localization_ = localization;
    chassis_ = chassis;
    trajectory_message_ = trajectory;
    ACHECK(localization_ != nullptr) << "Fail to get localization msg!";
    ACHECK(chassis_ != nullptr) << "Fail to get chassis msg!";
    ACHECK(trajectory_message_ != nullptr) << "Fail to get trajectory msg!";
 
    IsForwardModel();
    IsEdgeFollow();
 
    return true;
}

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该类的文档由以下文件生成:

• modules/control/control_task_base_extend/control_task_extend.h
• modules/control/control_task_base_extend/control_task_extend.cc