Apollo 10.0
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apollo::dreamview::SimControlBase类 参考abstract

Interface of simulated control algorithm 更多...

#include <sim_control_base.h>

类 apollo::dreamview::SimControlBase 继承关系图:
apollo::dreamview::SimControlBase 的协作图:

Public 成员函数

virtual ~SimControlBase ()
 
virtual void RunOnce ()=0
 Main logic of the simulated control algorithm.
 
virtual void Init (bool set_start_point, nlohmann::json start_point_attr, bool use_start_point_position=false)=0
 Initialization.
 
virtual void Start ()=0
 Starts running the simulated control algorithm, e.g., publish simulated localization and chassis messages triggered by timer.
 
virtual void Start (double x, double y, double v=0.0, double a=0.0)=0
 Starts running the simulated control algorithm with position, e.g., publish simulated localization and chassis messages triggered by timer.
 
virtual void ReSetPoinstion (double x, double y, double heading)=0
 Set vehicle position.
 
virtual void Stop ()=0
 Stops the algorithm.
 
virtual void Reset ()=0
 Resets the internal state.
 

Protected 成员函数

void TransformToVRF (const apollo::common::Point3D &point_mrf, const apollo::common::Quaternion &orientation, apollo::common::Point3D *point_vrf)
 

Protected 属性

std::unique_ptr< cyber::Timersim_control_timer_
 
std::unique_ptr< cyber::Timersim_prediction_timer_
 
std::mutex mutex_
 
bool enabled_ = false
 
bool start_point_from_localization_ = false
 
double start_velocity_ = 0.0
 
double start_acceleration_ = 0.0
 
double start_heading_ = std::numeric_limits<double>::max()
 

详细描述

Interface of simulated control algorithm

在文件 sim_control_base.h49 行定义.

构造及析构函数说明

◆ ~SimControlBase()

virtual apollo::dreamview::SimControlBase::~SimControlBase ( )
inlinevirtual

在文件 sim_control_base.h51 行定义.

51{}

成员函数说明

◆ Init()

virtual void apollo::dreamview::SimControlBase::Init ( bool  set_start_point,
nlohmann::json  start_point_attr,
bool  use_start_point_position = false 
)
pure virtual

Initialization.

apollo::dreamview::SimPerfectControl 内被实现.

◆ Reset()

virtual void apollo::dreamview::SimControlBase::Reset ( )
pure virtual

Resets the internal state.

apollo::dreamview::SimControlWithModelBase , 以及 apollo::dreamview::SimPerfectControl 内被实现.

◆ ReSetPoinstion()

virtual void apollo::dreamview::SimControlBase::ReSetPoinstion ( double  x,
double  y,
double  heading 
)
pure virtual

Set vehicle position.

apollo::dreamview::SimControlWithModelBase , 以及 apollo::dreamview::SimPerfectControl 内被实现.

◆ RunOnce()

virtual void apollo::dreamview::SimControlBase::RunOnce ( )
pure virtual

Main logic of the simulated control algorithm.

apollo::dreamview::SimPerfectControl 内被实现.

◆ Start() [1/2]

virtual void apollo::dreamview::SimControlBase::Start ( )
pure virtual

Starts running the simulated control algorithm, e.g., publish simulated localization and chassis messages triggered by timer.

apollo::dreamview::SimControlWithModelBase , 以及 apollo::dreamview::SimPerfectControl 内被实现.

◆ Start() [2/2]

virtual void apollo::dreamview::SimControlBase::Start ( double  x,
double  y,
double  v = 0.0,
double  a = 0.0 
)
pure virtual

Starts running the simulated control algorithm with position, e.g., publish simulated localization and chassis messages triggered by timer.

apollo::dreamview::SimControlWithModelBase 内被实现.

◆ Stop()

virtual void apollo::dreamview::SimControlBase::Stop ( )
pure virtual

◆ TransformToVRF()

void apollo::dreamview::SimControlBase::TransformToVRF ( const apollo::common::Point3D point_mrf,
const apollo::common::Quaternion orientation,
apollo::common::Point3D point_vrf 
)
protected

在文件 sim_control_base.cc28 行定义.

30 {
31 Eigen::Vector3d v_mrf(point_mrf.x(), point_mrf.y(), point_mrf.z());
32 auto v_vrf = InverseQuaternionRotate(orientation, v_mrf);
33 point_vrf->set_x(v_vrf.x());
34 point_vrf->set_y(v_vrf.y());
35 point_vrf->set_z(v_vrf.z());
36}
Eigen::Vector3d InverseQuaternionRotate(const Quaternion &orientation, const Eigen::Vector3d &rotated)
Definition quaternion.h:110

类成员变量说明

◆ enabled_

bool apollo::dreamview::SimControlBase::enabled_ = false
protected

在文件 sim_control_base.h107 行定义.

◆ mutex_

std::mutex apollo::dreamview::SimControlBase::mutex_
protected

在文件 sim_control_base.h104 行定义.

◆ sim_control_timer_

std::unique_ptr<cyber::Timer> apollo::dreamview::SimControlBase::sim_control_timer_
protected

在文件 sim_control_base.h98 行定义.

◆ sim_prediction_timer_

std::unique_ptr<cyber::Timer> apollo::dreamview::SimControlBase::sim_prediction_timer_
protected

在文件 sim_control_base.h101 行定义.

◆ start_acceleration_

double apollo::dreamview::SimControlBase::start_acceleration_ = 0.0
protected

在文件 sim_control_base.h114 行定义.

◆ start_heading_

double apollo::dreamview::SimControlBase::start_heading_ = std::numeric_limits<double>::max()
protected

在文件 sim_control_base.h115 行定义.

◆ start_point_from_localization_

bool apollo::dreamview::SimControlBase::start_point_from_localization_ = false
protected

在文件 sim_control_base.h110 行定义.

◆ start_velocity_

double apollo::dreamview::SimControlBase::start_velocity_ = 0.0
protected

在文件 sim_control_base.h113 行定义.


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