apollo::control::DemoControlTask类 参考

DemoControlTask: Set the acceleration to 2 when the vehicle acceleration is less than 3. 更多...

#include <demo_control_task.h>

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

apollo::control::DemoControlTask 的协作图:

Public 成员函数
	DemoControlTask ()
	constructor
virtual	~DemoControlTask ()
	destructor
common::Status	Init (std::shared_ptr< DependencyInjector > injector) override
	initialize DemoControlTask
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 DemoControlTask
common::Status	Reset () override
	reset demo control task
std::string	Name () const override
	DemoControlTask name
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::ControlTask
template<typename T >
bool	LoadConfig (T *config)
bool	LoadCalibrationTable (calibration_table *calibration_table_conf)

详细描述

DemoControlTask: Set the acceleration to 2 when the vehicle acceleration is less than 3.

在文件 demo_control_task.h 第 47 行定义.

构造及析构函数说明

DemoControlTask()

apollo::control::DemoControlTask::DemoControlTask

(

)

constructor

在文件 demo_control_task.cc 第 31 行定义.

                                 : name_("demo control task") {
  AINFO << "Using " << name_;
}

~DemoControlTask()

apollo::control::DemoControlTask::~DemoControlTask ( )

virtual

destructor

在文件 demo_control_task.cc 第 35 行定义.

{}

成员函数说明

ComputeControlCommand()

Status apollo::control::DemoControlTask::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 demo_control_task.cc 第 55 行定义.

                         {
  auto debug = cmd->mutable_debug()->mutable_simple_lon_debug();
 
  double controller_calculate_acceleration = cmd->acceleration();
  double command_acceleration =
      abs(controller_calculate_acceleration) < low_bound_acceleration_
          ? controller_calculate_acceleration /
                abs(controller_calculate_acceleration) * low_bound_acceleration_
          : controller_calculate_acceleration;
 
  cmd->set_acceleration(command_acceleration);
  debug->set_acceleration_cmd(command_acceleration);
 
  return Status::OK();
}

Init()

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

overridevirtual

initialize DemoControlTask

返回

Status initialization status

实现了 apollo::control::ControlTask.

在文件 demo_control_task.cc 第 37 行定义.

                                                                       {
  if (!ControlTask::LoadConfig<DemoControlTaskConf>(&demo_control_task_conf_)) {
    AERROR << "failed to load control conf";
    return Status(ErrorCode::CONTROL_INIT_ERROR,
                  "failed to load lat control_conf");
  }
 
  injector_ = injector;
  low_bound_acceleration_ = demo_control_task_conf_.bound_acc();
  return Status::OK();
}

Name()

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

overridevirtual

DemoControlTask name

返回

string controller name in string

实现了 apollo::control::ControlTask.

在文件 demo_control_task.cc 第 53 行定义.

{ return name_; }

Reset()

Status apollo::control::DemoControlTask::Reset ( )

overridevirtual

reset demo control task

返回

Status reset status

实现了 apollo::control::ControlTask.

在文件 demo_control_task.cc 第 51 行定义.

{ return Status::OK(); }

Stop()

void apollo::control::DemoControlTask::Stop ( )

overridevirtual

stop DemoControlTask

实现了 apollo::control::ControlTask.

在文件 demo_control_task.cc 第 49 行定义.

{}

类成员变量说明

injector_

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

protected

在文件 demo_control_task.h 第 97 行定义.

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该类的文档由以下文件生成:

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