apollo::control::ReplanControlTask类 参考

Publish the control debug msg. 更多...

#include <replan_control_task.h>

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

apollo::control::ReplanControlTask 的协作图:

Public 成员函数
	ReplanControlTask ()
	constructor
virtual	~ReplanControlTask ()=default
	destructor
common::Status	Init (std::shared_ptr< DependencyInjector > injector) override
	initialize ReplanControlTask
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 ReplanControlTask
common::Status	Reset () override
	reset demo control task
std::string	Name () const override
	ReplanControlTask 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 replan_control_task.h 第 51 行定义.

构造及析构函数说明

ReplanControlTask()

apollo::control::ReplanControlTask::ReplanControlTask

(

)

constructor

在文件 replan_control_task.cc 第 33 行定义.

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

~ReplanControlTask()

virtual apollo::control::ReplanControlTask::~ReplanControlTask ( )

virtualdefault

destructor

成员函数说明

ComputeControlCommand()

Status apollo::control::ReplanControlTask::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 replan_control_task.cc 第 62 行定义.

                             {
    auto replan_debug_info = injector_->mutable_control_debug_info()->mutable_replan_debug();
    replan_debug_info->set_control_task_name(name_);
    replan_debug_info->set_trajectory_replan(planning_published_trajectory->is_replan());
 
    bool replan_request = false;
    ReplanRequestReasonCode replan_req_reason_code;
    std::string replan_request_reason = "";
    if (safety_decision_reader_ != nullptr) {
        ADEBUG << "Received safety decision data.";
        // get safety decision
        safety_decision_reader_->Observe();
        const auto &safety_decision_msg = safety_decision_reader_->GetLatestObserved();
        if (safety_decision_msg == nullptr) {
            AERROR << "safety decision msg is not ready!";
        } else {
            ADEBUG << "safety_decision_msg is " << safety_decision_msg->ShortDebugString();
            OnSafetyDecision(safety_decision_msg);
        }
        if (decision_.has_safety_mode_trigger_time()) {
            ADEBUG << "Safety mode triggered, need to replan.";
            replan_request = true;
            replan_req_reason_code = ReplanRequestReasonCode::REPLAN_REQ_ALL_REPLAN;
            replan_request_reason = "Safety function mode triggered, need to replan.";
        }
    } else {
        AERROR << "safety decision reader is not ready!";
    }
 
    if (chassis->error_code() == Chassis::CMD_NOT_IN_PERIOD) {
        ADEBUG << "chassis safety triggered, need to replan.";
        replan_request = true;
        replan_req_reason_code = ReplanRequestReasonCode::REPLAN_REQ_ALL_REPLAN;
        replan_request_reason = "Chassis safety mode triggered, need to replan.";
    }
 
    auto control_interactive_info = injector_->mutable_control_interactive_info();
    control_interactive_info->set_replan_request(replan_request);
 
    if (replan_request) {
        control_interactive_info->set_replan_req_reason_code(replan_req_reason_code);
        control_interactive_info->set_replan_request_reason(replan_request_reason);
    } else {
        control_interactive_info->set_replan_req_reason_code(ReplanRequestReasonCode::NONE_REPLAN);
        control_interactive_info->set_replan_request_reason("No triggered, do not need to replan");
    }
 
    replan_debug_info->set_is_need_replan(replan_request);
 
    return Status::OK();
}

Init()

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

overridevirtual

initialize ReplanControlTask

返回

Status initialization status

实现了 apollo::control::ControlTask.

在文件 replan_control_task.cc 第 37 行定义.

                                                                         {
    // hook: Apollo License Verification: v_apollo_park
    injector_ = injector;
    node_ = ::apollo::cyber::CreateNode("replan_control");
 
    if (!ControlTask::LoadConfig<ReplanTaskConf>(&replan_task_conf_)) {
        AERROR << "Failed to replan control task config";
        return Status(ErrorCode::CONTROL_INIT_ERROR, "Failed to load replan control task conf");
    }
 
    cyber::ReaderConfig safety_decision_reader_config;
    safety_decision_reader_config.channel_name = replan_task_conf_.guardian_decision_topic();
    safety_decision_reader_config.pending_queue_size = replan_task_conf_.guardian_decision_msg_pending_queue_size();
 
    safety_decision_reader_ = node_->CreateReader<SafetyDecision>(safety_decision_reader_config, nullptr);
 
    return Status::OK();
}

Name()

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

overridevirtual

ReplanControlTask name

返回

string controller name in string

重载 apollo::control::ControlTaskExtend .

在文件 replan_control_task.cc 第 124 行定义.

                                        {
    return name_;
}

Reset()

Status apollo::control::ReplanControlTask::Reset ( )

overridevirtual

reset demo control task

返回

Status reset status

实现了 apollo::control::ControlTask.

在文件 replan_control_task.cc 第 120 行定义.

                                {
    return Status::OK();
}

Stop()

void apollo::control::ReplanControlTask::Stop ( )

overridevirtual

stop ReplanControlTask

实现了 apollo::control::ControlTask.

在文件 replan_control_task.cc 第 118 行定义.

{}

类成员变量说明

injector_

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

protected

在文件 replan_control_task.h 第 102 行定义.

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该类的文档由以下文件生成:

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