apollo::dreamview::SimControlManager类 参考

#include <sim_control_manager.h>

apollo::dreamview::SimControlManager 的协作图:

Public 成员函数
bool	IsEnabled () const
nlohmann::json	LoadDynamicModels ()
bool	AddDynamicModel (const std::string &dynamic_model_name)
bool	ChangeDynamicModel (const std::string &dynamic_model_name)
bool	DeleteDynamicModel (const std::string &dynamic_model_name)
void	ResetDynamicModel ()
void	Restart (double x, double y, double v=0.0, double a=0.0)
void	ReSetPoinstion (double x, double y, double heading)
void	Restart ()
void	Reset ()
virtual	~SimControlManager ()
std::string	Name () const
void	RunOnce ()
bool	Init (bool set_start_point, double start_velocity=0.0, double start_acceleration=0.0, double start_heading=std::numeric_limits< double >::max())
	module initialization function
void	Start ()
	module start function
void	Stop ()
	module stop function

详细描述

在文件 sim_control_manager.h 第 40 行定义.

构造及析构函数说明

~SimControlManager()

virtual apollo::dreamview::SimControlManager::~SimControlManager ( )

inlinevirtual

在文件 sim_control_manager.h 第 53 行定义.

{ Stop(); }

成员函数说明

AddDynamicModel()

bool apollo::dreamview::SimControlManager::AddDynamicModel

(

const std::string &

dynamic_model_name

)

在文件 sim_control_manager.cc 第 59 行定义.

                                                                           {
  if (IsEnabled()) {
    auto *model_factory = DynamicModelFactory::Instance();
    return model_factory->RegisterDynamicModel(dynamic_model_name);
  } else {
    AERROR << "Sim control manager is not enabled! Can not download dynamic "
              "model to local!";
    return false;
  }
}

ChangeDynamicModel()

bool apollo::dreamview::SimControlManager::ChangeDynamicModel

(

const std::string &

dynamic_model_name

)

在文件 sim_control_manager.cc 第 70 行定义.

                                         {
  auto *model_factory = DynamicModelFactory::Instance();
  auto next_model_ptr_ = model_factory->GetModelType(dynamic_model_name);
  if (!next_model_ptr_) {
    AERROR << "Can not get dynamic model to start.Use original dynamic model!";
    return false;
  }
  ResetDynamicModel();
  model_ptr_ = next_model_ptr_;
  next_model_ptr_ = nullptr;
  model_ptr_->Start();
  current_dynamic_model_ = dynamic_model_name;
  return true;
}

DeleteDynamicModel()

bool apollo::dreamview::SimControlManager::DeleteDynamicModel

(

const std::string &

dynamic_model_name

)

在文件 sim_control_manager.cc 第 86 行定义.

                                         {
  auto *model_factory = DynamicModelFactory::Instance();
  return model_factory->UnregisterDynamicModel(dynamic_model_name);
}

Init()

bool apollo::dreamview::SimControlManager::Init	(	bool	set_start_point,
		double	start_velocity = 0.0,
		double	start_acceleration = 0.0,
		double	start_heading = std::numeric_limits< double >::max()
	)

module initialization function

返回

initialization status

IsEnabled()

bool apollo::dreamview::SimControlManager::IsEnabled ( ) const

inline

在文件 sim_control_manager.h 第 42 行定义.

{ return enabled_; }

LoadDynamicModels()

Json apollo::dreamview::SimControlManager::LoadDynamicModels

(

)

在文件 sim_control_manager.cc 第 34 行定义.

                                          {
  auto *model_factory = DynamicModelFactory::Instance();
  Json result = model_factory->RegisterDynamicModels();
  return result;
}

Name()

std::string apollo::dreamview::SimControlManager::Name

(

)

const

在文件 sim_control_manager.cc 第 30 行定义.

                                        {
  return FLAGS_sim_control_module_name;
}

Reset()

void apollo::dreamview::SimControlManager::Reset

(

)

在文件 sim_control_manager.cc 第 40 行定义.

                              {
  if (IsEnabled() && model_ptr_) {
    model_ptr_->Reset();
  }
}

ResetDynamicModel()

void apollo::dreamview::SimControlManager::ResetDynamicModel

(

)

在文件 sim_control_manager.cc 第 46 行定义.

                                          {
  if (!current_dynamic_model_.empty()) {
    if (!model_ptr_) {
      auto *model_factory = DynamicModelFactory::Instance();
      model_ptr_ = model_factory->GetModelType(current_dynamic_model_);
    }
    if (model_ptr_) {
      model_ptr_->Stop();
    }
  }
  return;
}

ReSetPoinstion()

void apollo::dreamview::SimControlManager::ReSetPoinstion	(	double	x,
		double	y,
		double	heading
	)

在文件 sim_control_manager.cc 第 99 行定义.

                                                                         {
  if (!IsEnabled() || !model_ptr_) {
    AERROR << "Sim control is invalid,Failed to ReSetPoinstion!";
    return;
  }
  model_ptr_->ReSetPoinstion(x, y, heading);
  return;
}

Restart() [1/2]

void apollo::dreamview::SimControlManager::Restart

(

)

在文件 sim_control_manager.cc 第 119 行定义.

                                {
  // reset start point for dynamic model.
  if (!IsEnabled() || !model_ptr_) {
    AERROR << "Sim control is invalid,Failed to restart!";
    return;
  }
  model_ptr_->Stop();
  model_ptr_->Start();
  return;
}

Restart() [2/2]

void apollo::dreamview::SimControlManager::Restart	(	double	x,
		double	y,
		double	v = 0.0,
		double	a = 0.0
	)

在文件 sim_control_manager.cc 第 108 行定义.

                                                                      {
  // reset start point for dynamic model.
  if (!IsEnabled() || !model_ptr_) {
    AERROR << "Sim control is invalid,Failed to restart!";
    return;
  }
  model_ptr_->Stop();
  model_ptr_->Start(x, y, v, a);
  return;
}

RunOnce()

void apollo::dreamview::SimControlManager::RunOnce

(

)

在文件 sim_control_manager.cc 第 130 行定义.

{ model_ptr_->RunOnce(); }

Start()

void apollo::dreamview::SimControlManager::Start

(

)

module start function

在文件 sim_control_manager.cc 第 92 行定义.

                              {
  // enabled_ only performs switching function
  if (!enabled_) {
    enabled_ = true;
  }
}

Stop()

void apollo::dreamview::SimControlManager::Stop

(

)

module stop function

在文件 sim_control_manager.cc 第 132 行定义.

                             {
  if (enabled_) {
    enabled_ = false;
    ResetDynamicModel();
    std::system(FLAGS_sim_obstacle_stop_command.data());
    model_ptr_ = nullptr;
    current_dynamic_model_ = "";
  }
}

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该类的文档由以下文件生成:

• modules/dreamview/backend/common/sim_control_manager/sim_control_manager.h
• modules/dreamview/backend/common/sim_control_manager/sim_control_manager.cc