apollo::control::HysteresisFilter类 参考

#include <hysteresis_filter.h>

apollo::control::HysteresisFilter 的协作图:

Public 成员函数
	HysteresisFilter ()=default
void	filter (const double input_value, const double threshold, const double hysteresis_upper, const double hysteresis_lower, int *state, double *output_value)

详细描述

在文件 hysteresis_filter.h 第 31 行定义.

构造及析构函数说明

HysteresisFilter()

apollo::control::HysteresisFilter::HysteresisFilter ( )

default

成员函数说明

filter()

void apollo::control::HysteresisFilter::filter	(	const double	input_value,
		const double	threshold,
		const double	hysteresis_upper,
		const double	hysteresis_lower,
		int *	state,
		double *	output_value
	)

在文件 hysteresis_filter.cc 第 22 行定义.

                                                    {
  // Use integer to represent mode as of now, for instance,
  // 1 is throttle, 0 is brake, then threshold is speed error
  if (input_value > threshold + hysteresis_upper) {
    *state = 1;
    previous_state_ = *state;
    *output_value = threshold + hysteresis_upper;
  } else if (input_value < threshold - hysteresis_lower) {
    *state = 0;
    previous_state_ = *state;
    *output_value = threshold - hysteresis_lower;
  } else {
    *state = previous_state_;
    *output_value = input_value;
  }
}

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该类的文档由以下文件生成:

• modules/control/control_component/controller_task_base/common/hysteresis_filter.h
• modules/control/control_component/controller_task_base/common/hysteresis_filter.cc