apollo::control::DebugInfoControlTask类 参考

Publish the control debug msg. 更多...

#include <debug_info_control_task.h>

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

apollo::control::DebugInfoControlTask 的协作图:

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

Protected 属性
std::shared_ptr< DependencyInjector >	injector_

额外继承的成员函数
Protected 成员函数 继承自 apollo::control::ControlTaskExtend
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

Publish the control debug msg.

在文件 debug_info_control_task.h 第 49 行定义.

构造及析构函数说明

DebugInfoControlTask()

apollo::control::DebugInfoControlTask::DebugInfoControlTask

(

)

constructor

在文件 debug_info_control_task.cc 第 31 行定义.

                                           : name_("Debug Info Control Task") {
    AINFO << "Using " << name_;
}

~DebugInfoControlTask()

virtual apollo::control::DebugInfoControlTask::~DebugInfoControlTask ( )

virtualdefault

destructor

成员函数说明

ComputeControlCommand()

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

overridevirtual

compute brake / throttle values 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

实现了 apollo::control::ControlTask.

在文件 debug_info_control_task.cc 第 45 行定义.

                             {
    control_debug_info_msg_.Clear();
    if (injector_->control_process() && FLAGS_publish_control_debug_info) {
        control_debug_info_msg_.CopyFrom(injector_->control_debug_info());
        common::util::FillHeader(node_->Name(), &control_debug_info_msg_);
        if (FLAGS_sim_by_record) {
            control_debug_info_msg_.mutable_header()->set_timestamp_sec(chassis->header().timestamp_sec());
        }
        ADEBUG << "control debug msg is: " << control_debug_info_msg_.ShortDebugString();
        control_debug_info_writer_->Write(control_debug_info_msg_);
    }
    return Status::OK();
}

Init()

Status apollo::control::DebugInfoControlTask::Init ( std::shared_ptr< DependencyInjector >  injector )

overridevirtual

initialize DebugInfoControlTask

返回

Status initialization status

实现了 apollo::control::ControlTask.

在文件 debug_info_control_task.cc 第 35 行定义.

                                                                            {
    // hook: Apollo License Verification: v_apollo_park
    injector_ = injector;
    node_ = ::apollo::cyber::CreateNode("control_debug");
    control_debug_info_writer_
            = node_->CreateWriter<::apollo::control::ControlDebugInfo>(FLAGS_control_debug_info_topic);
    ACHECK(control_debug_info_writer_ != nullptr);
    return Status::OK();
}

Name()

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

overridevirtual

DebugInfoControlTask name

返回

string controller name in string

重载 apollo::control::ControlTaskExtend .

在文件 debug_info_control_task.cc 第 70 行定义.

                                           {
    return name_;
}

Reset()

Status apollo::control::DebugInfoControlTask::Reset ( )

overridevirtual

reset demo control task

返回

Status reset status

实现了 apollo::control::ControlTask.

在文件 debug_info_control_task.cc 第 65 行定义.

                                   {
    control_debug_info_msg_.Clear();
    return Status::OK();
}

Stop()

void apollo::control::DebugInfoControlTask::Stop ( )

overridevirtual

stop DebugInfoControlTask

实现了 apollo::control::ControlTask.

在文件 debug_info_control_task.cc 第 63 行定义.

{}

类成员变量说明

injector_

std::shared_ptr<DependencyInjector> apollo::control::DebugInfoControlTask::injector_

protected

在文件 debug_info_control_task.h 第 100 行定义.

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该类的文档由以下文件生成:

• modules/control/controllers/debug_info_control_task/debug_info_control_task.h
• modules/control/controllers/debug_info_control_task/debug_info_control_task.cc