Interface of simulated control algorithm
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#include <sim_control_base.h>
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virtual | ~SimControlBase () |
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virtual void | RunOnce ()=0 |
| Main logic of the simulated control algorithm.
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virtual void | Init (bool set_start_point, nlohmann::json start_point_attr, bool use_start_point_position=false)=0 |
| Initialization.
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virtual void | Start ()=0 |
| Starts running the simulated control algorithm, e.g., publish simulated localization and chassis messages triggered by timer.
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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.
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virtual void | ReSetPoinstion (double x, double y, double heading)=0 |
| Set vehicle position.
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virtual void | Stop ()=0 |
| Stops the algorithm.
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virtual void | Reset ()=0 |
| Resets the internal state.
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Interface of simulated control algorithm
在文件 sim_control_base.h 第 49 行定义.
◆ ~SimControlBase()
virtual apollo::dreamview::SimControlBase::~SimControlBase |
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inlinevirtual |
◆ Init()
virtual void apollo::dreamview::SimControlBase::Init |
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bool |
set_start_point, |
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nlohmann::json |
start_point_attr, |
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bool |
use_start_point_position = false |
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pure virtual |
◆ Reset()
virtual void apollo::dreamview::SimControlBase::Reset |
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pure virtual |
◆ ReSetPoinstion()
virtual void apollo::dreamview::SimControlBase::ReSetPoinstion |
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double |
x, |
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double |
y, |
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double |
heading |
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pure virtual |
◆ RunOnce()
virtual void apollo::dreamview::SimControlBase::RunOnce |
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pure virtual |
◆ Start() [1/2]
virtual void apollo::dreamview::SimControlBase::Start |
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pure virtual |
◆ Start() [2/2]
virtual void apollo::dreamview::SimControlBase::Start |
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double |
x, |
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double |
y, |
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double |
v = 0.0 , |
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double |
a = 0.0 |
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pure virtual |
◆ Stop()
virtual void apollo::dreamview::SimControlBase::Stop |
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pure virtual |
◆ TransformToVRF()
在文件 sim_control_base.cc 第 28 行定义.
30 {
31 Eigen::Vector3d v_mrf(point_mrf.
x(), point_mrf.
y(), point_mrf.
z());
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)
◆ enabled_
bool apollo::dreamview::SimControlBase::enabled_ = false |
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◆ mutex_
std::mutex apollo::dreamview::SimControlBase::mutex_ |
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◆ sim_control_timer_
std::unique_ptr<cyber::Timer> apollo::dreamview::SimControlBase::sim_control_timer_ |
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◆ sim_prediction_timer_
std::unique_ptr<cyber::Timer> apollo::dreamview::SimControlBase::sim_prediction_timer_ |
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◆ start_acceleration_
double apollo::dreamview::SimControlBase::start_acceleration_ = 0.0 |
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◆ start_heading_
double apollo::dreamview::SimControlBase::start_heading_ = std::numeric_limits<double>::max() |
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◆ start_point_from_localization_
bool apollo::dreamview::SimControlBase::start_point_from_localization_ = false |
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◆ start_velocity_
double apollo::dreamview::SimControlBase::start_velocity_ = 0.0 |
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