apollo::dreamview::SimControlWithModelBase类 参考

#include <sim_control_with_model_base.h>

类 apollo::dreamview::SimControlWithModelBase 继承关系图:

apollo::dreamview::SimControlWithModelBase 的协作图:

Public 成员函数
	SimControlWithModelBase (const std::string &node_name)
	Construct a new Sim Control With Model Base object
void	Start () override
	Starts the timer to publish simulated localization and chassis messages.
void	Start (double x, double y, double v=0.0, double a=0.0) override
	Starts running the simulated control algorithm with position, e.g., publish simulated localization and chassis messages triggered by timer.
void	ReSetPoinstion (double x, double y, double heading) override
	Set vehicle position.
void	Stop () override
	Stops the algorithm.
void	Reset () override
	Resets the internal state.
Public 成员函数 继承自 apollo::dreamview::SimControlBase
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.

Protected 成员函数
void	InitTimerAndIO ()
void	UpdateGearPosition ()
void	InitStartPoint (nlohmann::json start_point_attr, bool use_start_point_position=false)
void	InternalReset ()
void	OnControlCommand (const apollo::control::ControlCommand &control_command)
void	OnPlanningCommand (const std::shared_ptr< apollo::planning::PlanningCommand > &planning_command)
void	OnPredictionObstacles (const std::shared_ptr< apollo::prediction::PredictionObstacles > &obstacles)
virtual void	SetStartPoint (const ::apollo::sim_control::SimCarStatus &point)
void	PublishChassis (const std::string model_name)
	pubish chassis info
void	PublishLocalization (const std::string model_name)
void	PublishDummyPrediction ()
	publish prediction info
Protected 成员函数 继承自 apollo::dreamview::SimControlBase
void	TransformToVRF (const apollo::common::Point3D &point_mrf, const apollo::common::Quaternion &orientation, apollo::common::Point3D *point_vrf)

Protected 属性
bool	start_auto_ = false
bool	auto_car_is_moving_ = false
bool	planning_command_is_arrival_ = false
bool	control_command_is_arrival_ = false
std::unique_ptr< cyber::Node >	node_
std::shared_ptr< cyber::Reader< apollo::control::ControlCommand > >	control_command_reader_
std::shared_ptr< cyber::Reader< apollo::planning::PlanningCommand > >	planning_command_reader_
std::shared_ptr< cyber::Reader< apollo::localization::LocalizationEstimate > >	localization_reader_
std::shared_ptr< cyber::Reader< apollo::prediction::PredictionObstacles > >	prediction_reader_
std::shared_ptr< cyber::Writer< apollo::canbus::Chassis > >	chassis_writer_
std::shared_ptr< cyber::Writer< apollo::prediction::PredictionObstacles > >	prediction_writer_
std::shared_ptr< cyber::Writer< apollo::localization::LocalizationEstimate > >	localization_writer_
apollo::sim_control::SimCarStatus	previous_point_
apollo::sim_control::SimCarStatus	current_point_
apollo::control::ControlCommand	control_cmd_
apollo::control::ControlCommand	filtered_control_cmd_
apollo::common::Header	current_routing_header_
apollo::common::PathPoint	adc_position_
apollo::common::VehicleParam	vehicle_param_
int	gear_position_
double	dt_
bool	re_routing_triggered_ = false
bool	send_dummy_prediction_ = true
MapService *	map_service_
Protected 属性 继承自 apollo::dreamview::SimControlBase
std::unique_ptr< cyber::Timer >	sim_control_timer_
std::unique_ptr< cyber::Timer >	sim_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()

静态 Protected 属性
static constexpr double	kModelIntervalMs = 10
static constexpr double	kSimPredictionIntervalMs = 100

详细描述

在文件 sim_control_with_model_base.h 第 52 行定义.

构造及析构函数说明

SimControlWithModelBase()

apollo::dreamview::SimControlWithModelBase::SimControlWithModelBase ( const std::string &  node_name )

explicit

Construct a new Sim Control With Model Base object

Construct a new Sim Control With Model Base:: Sim Control With Model Base object

参数

node_name
node_name	depens on different dynamic model

在文件 sim_control_with_model_base.cc 第 45 行定义.

    : node_(cyber::CreateNode(node_name)),
      gear_position_(0),
      dt_(0.01),
      map_service_(new MapService()) {
  InitTimerAndIO();
}

成员函数说明

InitStartPoint()

void apollo::dreamview::SimControlWithModelBase::InitStartPoint ( nlohmann::json  start_point_attr, bool  use_start_point_position = false  )

protected

在文件 sim_control_with_model_base.cc 第 227 行定义.

                                                                            {
  AINFO << "Init start point with position!";
 
  start_velocity_ = start_point_attr["start_velocity"];
  start_acceleration_ = start_point_attr["start_acceleration"];
  start_heading_ = start_point_attr["start_heading"];
  SimCarStatus point;
  localization_reader_->Observe();
  start_point_from_localization_ = false;
  if (use_start_point_position) {
    // add start point position for dynamic model
    // new add feature to keep same with simcontrol
    point.set_x(start_point_attr["x"]);
    point.set_y(start_point_attr["y"]);
    // z use default 0
    point.set_z(0);
    double theta = 0.0;
    double s = 0.0;
    map_service_->GetPoseWithRegardToLane(start_point_attr["x"],
                                          start_point_attr["y"], &theta, &s);
    point.set_theta(theta);
    point.set_speed(start_velocity_);
    point.set_acceleration_s(start_acceleration_);
  } else {
    if (!localization_reader_->Empty()) {
      const auto& pose = localization_reader_->GetLatestObserved()->pose();
      auto x = pose.position().x();
      auto y = pose.position().y();
      auto z = pose.position().z();
      if (map_service_->PointIsValid(x, y)) {
        point.set_x(x);
        point.set_y(y);
        point.set_z(z);
        point.set_theta(pose.heading());
        point.set_speed(
            std::hypot(pose.linear_velocity().x(), pose.linear_velocity().y()));
        // Calculates the dot product of acceleration and velocity. The sign
        // of this projection indicates whether this is acceleration or
        // deceleration.
        double projection =
            pose.linear_acceleration().x() * pose.linear_velocity().x() +
            pose.linear_acceleration().y() * pose.linear_velocity().y();
 
        // Calculates the magnitude of the acceleration. Negate the value if
        // it is indeed a deceleration.
        double magnitude = std::hypot(pose.linear_acceleration().x(),
                                      pose.linear_acceleration().y());
        point.set_acceleration_s(std::signbit(projection) ? -magnitude
                                                          : magnitude);
        // Set init gear to neutral position
        point.set_gear_position(0);
        start_point_from_localization_ = true;
      }
    }
    if (!start_point_from_localization_) {
      apollo::common::PointENU start_point;
      if (!map_service_->GetStartPoint(&start_point)) {
        AWARN << "Failed to get a dummy start point from map!";
        return;
      }
      point.set_x(start_point.x());
      point.set_y(start_point.y());
      point.set_z(start_point.z());
      double theta = 0.0;
      double s = 0.0;
      map_service_->GetPoseWithRegardToLane(start_point.x(), start_point.y(),
                                            &theta, &s);
      point.set_theta(theta);
      point.set_speed(start_velocity_);
      point.set_acceleration_s(start_acceleration_);
      AINFO << "start point from map default point"
            << " x: " << start_point.x() << " y: " << start_point.y();
    }
  }
  SetStartPoint(point);
}

InitTimerAndIO()

void apollo::dreamview::SimControlWithModelBase::InitTimerAndIO ( )

protected

在文件 sim_control_with_model_base.cc 第 53 行定义.

                                             {
  // Setup  control result data callback.
  cyber::ReaderConfig control_cmd_reader_config;
  control_cmd_reader_config.channel_name = FLAGS_control_command_topic;
  control_cmd_reader_config.pending_queue_size =
      FLAGS_reader_pending_queue_size;
  prediction_reader_ = node_->CreateReader<PredictionObstacles>(
      FLAGS_prediction_topic,
      [this](const std::shared_ptr<PredictionObstacles>& obstacles) {
        this->OnPredictionObstacles(obstacles);
      });
  planning_command_reader_ = node_->CreateReader<PlanningCommand>(
      FLAGS_planning_command,
      [this](const std::shared_ptr<PlanningCommand>& planning_command) {
        this->OnPlanningCommand(planning_command);
      });
  control_command_reader_ = node_->CreateReader<ControlCommand>(
      control_cmd_reader_config,
      [this](const std::shared_ptr<ControlCommand>& cmd) {
        ADEBUG << "Received control data: run canbus callback.";
        OnControlCommand(*cmd);
      });
  // Setup localization callback.
  cyber::ReaderConfig localization_reader_config;
  localization_reader_config.channel_name = FLAGS_localization_topic;
  localization_reader_config.pending_queue_size =
      FLAGS_reader_pending_queue_size;
  localization_reader_ = node_->CreateReader<LocalizationEstimate>(
      localization_reader_config, nullptr);
 
  localization_writer_ =
      node_->CreateWriter<LocalizationEstimate>(FLAGS_localization_topic);
  chassis_writer_ = node_->CreateWriter<Chassis>(FLAGS_chassis_topic);
  prediction_writer_ =
      node_->CreateWriter<PredictionObstacles>(FLAGS_prediction_topic);
 
  // Start timer to publish localization and chassis messages.
  sim_control_timer_.reset(
      new cyber::Timer(kModelIntervalMs, [this]() { this->RunOnce(); }, false));
  sim_prediction_timer_.reset(
      new cyber::Timer(kSimPredictionIntervalMs,
                       [this]() { this->PublishDummyPrediction(); }, false));
}

InternalReset()

void apollo::dreamview::SimControlWithModelBase::InternalReset ( )

protected

在文件 sim_control_with_model_base.cc 第 182 行定义.

                                            {
  re_routing_triggered_ = false;
  current_routing_header_.Clear();
  auto_car_is_moving_ = false;
  planning_command_is_arrival_ = false;
  start_auto_ = false;
  send_dummy_prediction_ = true;
}

OnControlCommand()

void apollo::dreamview::SimControlWithModelBase::OnControlCommand ( const apollo::control::ControlCommand &  control_command )

protected

在文件 sim_control_with_model_base.cc 第 191 行定义.

                                       {
  std::lock_guard<std::mutex> lock(mutex_);
  if (!enabled_) {
    return;
  }
  control_cmd_ = control_cmd;
  control_command_is_arrival_ =
      (control_cmd_.throttle() >= 0.01 || control_cmd.brake() >= 0.01);
  auto_car_is_moving_ =
      planning_command_is_arrival_ && control_command_is_arrival_;
}

OnPlanningCommand()

void apollo::dreamview::SimControlWithModelBase::OnPlanningCommand ( const std::shared_ptr< apollo::planning::PlanningCommand > &  planning_command )

protected

在文件 sim_control_with_model_base.cc 第 204 行定义.

                                                            {
  std::lock_guard<std::mutex> lock(mutex_);
  if (!enabled_) {
    return;
  }
  // Avoid not sending prediction messages to planning after playing packets
  // with obstacles
  start_auto_ = true;
  send_dummy_prediction_ = true;
  current_routing_header_ = planning_command->header();
  AINFO << "planning_command: " << planning_command->DebugString();
  planning_command_is_arrival_ = true;
  auto_car_is_moving_ =
      planning_command_is_arrival_ && control_command_is_arrival_;
}

OnPredictionObstacles()

void apollo::dreamview::SimControlWithModelBase::OnPredictionObstacles ( const std::shared_ptr< apollo::prediction::PredictionObstacles > &  obstacles )

protected

在文件 sim_control_with_model_base.cc 第 109 行定义.

                                                         {
  std::lock_guard<std::mutex> lock(mutex_);
  if (!enabled_) {
    return;
  }
  send_dummy_prediction_ =
      obstacles->header().module_name() == "SimDMPrediction";
}

PublishChassis()

void apollo::dreamview::SimControlWithModelBase::PublishChassis ( const std::string  model_name )

protected

pubish chassis info

参数

model_name

在文件 sim_control_with_model_base.cc 第 310 行定义.

                                                                       {
  auto chassis = std::make_shared<Chassis>();
  apollo::common::util::FillHeader(model_name, chassis.get());
 
  chassis->set_engine_started(true);
  chassis->set_speed_mps(current_point_.speed());
  chassis->set_odometer_m(current_point_.odometer());
 
  if (FLAGS_enable_steering_latency) {
    chassis->set_steering_percentage(filtered_control_cmd_.steering_target());
  } else {
    chassis->set_steering_percentage(control_cmd_.steering_target());
  }
  chassis->set_throttle_percentage(control_cmd_.throttle());
  chassis->set_brake_percentage(control_cmd_.brake());
  if (start_auto_) {
    chassis->set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);
  } else {
    chassis->set_driving_mode(Chassis::COMPLETE_MANUAL);
  }
  chassis->set_gear_location(control_cmd_.gear_location());
  chassis_writer_->Write(chassis);
}

PublishDummyPrediction()

void apollo::dreamview::SimControlWithModelBase::PublishDummyPrediction ( )

protected

publish prediction info

在文件 sim_control_with_model_base.cc 第 338 行定义.

                                                     {
  auto prediction = std::make_shared<PredictionObstacles>();
  {
    std::lock_guard<std::mutex> lock(mutex_);
    if (!send_dummy_prediction_) {
      return;
    }
    FillHeader("SimDMPrediction", prediction.get());
  }
  prediction_writer_->Write(prediction);
}

PublishLocalization()

void apollo::dreamview::SimControlWithModelBase::PublishLocalization ( const std::string  model_name )

protected

在文件 sim_control_with_model_base.cc 第 350 行定义.

                                {
  auto localization = std::make_shared<LocalizationEstimate>();
  FillHeader(model_name, localization.get());
 
  auto* pose = localization->mutable_pose();
 
  // Set position
  pose->mutable_position()->set_x(current_point_.x());
  pose->mutable_position()->set_y(current_point_.y());
  pose->mutable_position()->set_z(0.0);
  // Set orientation and heading
  double cur_theta = current_point_.theta();
 
  Eigen::Quaternion<double> cur_orientation =
      HeadingToQuaternion<double>(cur_theta);
  ADEBUG << "cur_theta" << cur_theta;
  ADEBUG << "cur_orientation_w" << cur_orientation.w() << "cur_orientation_x"
         << cur_orientation.x() << "cur_orientation_y" << cur_orientation.y()
         << "cur_orientation_z" << cur_orientation.z();
  pose->mutable_orientation()->set_qw(cur_orientation.w());
  pose->mutable_orientation()->set_qx(cur_orientation.x());
  pose->mutable_orientation()->set_qy(cur_orientation.y());
  pose->mutable_orientation()->set_qz(cur_orientation.z());
  pose->set_heading(cur_theta);
 
  // Set linear_velocity
  if (control_cmd_.gear_location() == Chassis::GEAR_REVERSE) {
    pose->mutable_linear_velocity()->set_x(std::cos(cur_theta) * -1.0 *
                                           current_point_.speed());
    pose->mutable_linear_velocity()->set_y(std::sin(cur_theta) * -1.0 *
                                           current_point_.speed());
  } else {
    pose->mutable_linear_velocity()->set_x(std::cos(cur_theta) *
                                           current_point_.speed());
    pose->mutable_linear_velocity()->set_y(std::sin(cur_theta) *
                                           current_point_.speed());
  }
 
  pose->mutable_linear_velocity()->set_z(0);
 
  // Set angular_velocity in both map reference frame and vehicle reference
  // frame
  double cur_curvature = std::tan(control_cmd_.steering_target() *
                                  vehicle_param_.max_steer_angle() / 100.0 /
                                  vehicle_param_.steer_ratio()) /
                         vehicle_param_.wheel_base();
 
  pose->mutable_angular_velocity()->set_x(0);
  pose->mutable_angular_velocity()->set_y(0);
  pose->mutable_angular_velocity()->set_z(current_point_.speed() *
                                          cur_curvature);
 
  TransformToVRF(pose->angular_velocity(), pose->orientation(),
                 pose->mutable_angular_velocity_vrf());
 
  // Set linear_acceleration in both map reference frame and vehicle reference
  // frame
  auto* linear_acceleration = pose->mutable_linear_acceleration();
  linear_acceleration->set_x(std::cos(cur_theta) *
                             current_point_.acceleration_s());
  linear_acceleration->set_y(std::sin(cur_theta) *
                             current_point_.acceleration_s());
  linear_acceleration->set_z(0);
 
  TransformToVRF(pose->linear_acceleration(), pose->orientation(),
                 pose->mutable_linear_acceleration_vrf());
 
  localization_writer_->Write(localization);
 
  adc_position_.set_x(pose->position().x());
  adc_position_.set_y(pose->position().y());
  adc_position_.set_z(pose->position().z());
}

Reset()

void apollo::dreamview::SimControlWithModelBase::Reset ( )

overridevirtual

Resets the internal state.

实现了 apollo::dreamview::SimControlBase.

在文件 sim_control_with_model_base.cc 第 177 行定义.

                                    {
  std::lock_guard<std::mutex> lock(mutex_);
  InternalReset();
}

ReSetPoinstion()

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

overridevirtual

Set vehicle position.

实现了 apollo::dreamview::SimControlBase.

在文件 sim_control_with_model_base.cc 第 154 行定义.

                                                             {
  std::lock_guard<std::mutex> lock(mutex_);
  SimCarStatus point;
  point.set_x(x);
  point.set_y(y);
  // z use default 0
  point.set_z(0);
  point.set_theta(heading);
  SetStartPoint(point);
  InternalReset();
}

SetStartPoint()

void apollo::dreamview::SimControlWithModelBase::SetStartPoint ( const ::apollo::sim_control::SimCarStatus &  point )

protectedvirtual

在文件 sim_control_with_model_base.cc 第 221 行定义.

                                                                     {
  previous_point_ = point;
  auto_car_is_moving_ = false;
  planning_command_is_arrival_ = false;
}

Start() [1/2]

void apollo::dreamview::SimControlWithModelBase::Start ( )

overridevirtual

Starts the timer to publish simulated localization and chassis messages.

实现了 apollo::dreamview::SimControlBase.

在文件 sim_control_with_model_base.cc 第 119 行定义.

                                    {
  std::lock_guard<std::mutex> lock(mutex_);
  if (!enabled_) {
    InternalReset();
    // todo: Compatible with scenario conf and default value
    Json start_point_attr({});
    // start_point_attr:from scenario conf json or default value.here dm is
    // divided from scenario use default value
    start_point_attr["start_velocity"] = 0.0;
    start_point_attr["start_acceleration"] = 0.0;
    start_point_attr["start_heading"] = std::numeric_limits<double>::max();
    Init(true, start_point_attr);
    sim_control_timer_->Start();
    sim_prediction_timer_->Start();
    enabled_ = true;
  }
}

Start() [2/2]

void apollo::dreamview::SimControlWithModelBase::Start ( double  x, double  y, double  v = 0.0, double  a = 0.0  )

overridevirtual

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

实现了 apollo::dreamview::SimControlBase.

在文件 sim_control_with_model_base.cc 第 137 行定义.

                                                                          {
  std::lock_guard<std::mutex> lock(mutex_);
  if (!enabled_) {
    InternalReset();
    Json start_point_attr({});
    start_point_attr["start_velocity"] = v;
    start_point_attr["start_acceleration"] = a;
    start_point_attr["start_heading"] = std::numeric_limits<double>::max();
    start_point_attr["x"] = x;
    start_point_attr["y"] = y;
    Init(true, start_point_attr, true);
    sim_control_timer_->Start();
    sim_prediction_timer_->Start();
    enabled_ = true;
  }
}

Stop()

void apollo::dreamview::SimControlWithModelBase::Stop ( )

overridevirtual

Stops the algorithm.

实现了 apollo::dreamview::SimControlBase.

在文件 sim_control_with_model_base.cc 第 167 行定义.

                                   {
  std::lock_guard<std::mutex> lock(mutex_);
 
  if (enabled_) {
    sim_control_timer_->Stop();
    sim_prediction_timer_->Stop();
    enabled_ = false;
  }
}

UpdateGearPosition()

void apollo::dreamview::SimControlWithModelBase::UpdateGearPosition ( )

protected

在文件 sim_control_with_model_base.cc 第 97 行定义.

                                                 {
  // update gear location, 1 drive, -1 reverse, 0 for other states
  if (control_cmd_.gear_location() == Chassis::GEAR_DRIVE) {
    gear_position_ = 1;
  } else if (control_cmd_.gear_location() == Chassis::GEAR_REVERSE) {
    gear_position_ = -1;
  } else {
    gear_position_ = 0;
  }
  current_point_.set_gear_position(gear_position_);
}

类成员变量说明

adc_position_

apollo::common::PathPoint apollo::dreamview::SimControlWithModelBase::adc_position_

protected

在文件 sim_control_with_model_base.h 第 136 行定义.

auto_car_is_moving_

bool apollo::dreamview::SimControlWithModelBase::auto_car_is_moving_ = false

protected

在文件 sim_control_with_model_base.h 第 104 行定义.

chassis_writer_

std::shared_ptr<cyber::Writer<apollo::canbus::Chassis> > apollo::dreamview::SimControlWithModelBase::chassis_writer_

protected

在文件 sim_control_with_model_base.h 第 119 行定义.

control_cmd_

apollo::control::ControlCommand apollo::dreamview::SimControlWithModelBase::control_cmd_

protected

在文件 sim_control_with_model_base.h 第 128 行定义.

control_command_is_arrival_

bool apollo::dreamview::SimControlWithModelBase::control_command_is_arrival_ = false

protected

在文件 sim_control_with_model_base.h 第 106 行定义.

control_command_reader_

std::shared_ptr<cyber::Reader<apollo::control::ControlCommand> > apollo::dreamview::SimControlWithModelBase::control_command_reader_

protected

在文件 sim_control_with_model_base.h 第 111 行定义.

current_point_

apollo::sim_control::SimCarStatus apollo::dreamview::SimControlWithModelBase::current_point_

protected

在文件 sim_control_with_model_base.h 第 126 行定义.

current_routing_header_

apollo::common::Header apollo::dreamview::SimControlWithModelBase::current_routing_header_

protected

在文件 sim_control_with_model_base.h 第 134 行定义.

dt_

double apollo::dreamview::SimControlWithModelBase::dt_

protected

在文件 sim_control_with_model_base.h 第 142 行定义.

filtered_control_cmd_

apollo::control::ControlCommand apollo::dreamview::SimControlWithModelBase::filtered_control_cmd_

protected

在文件 sim_control_with_model_base.h 第 131 行定义.

gear_position_

int apollo::dreamview::SimControlWithModelBase::gear_position_

protected

在文件 sim_control_with_model_base.h 第 141 行定义.

kModelIntervalMs

constexpr double apollo::dreamview::SimControlWithModelBase::kModelIntervalMs = 10

staticconstexprprotected

在文件 sim_control_with_model_base.h 第 145 行定义.

kSimPredictionIntervalMs

constexpr double apollo::dreamview::SimControlWithModelBase::kSimPredictionIntervalMs = 100

staticconstexprprotected

在文件 sim_control_with_model_base.h 第 146 行定义.

localization_reader_

std::shared_ptr<cyber::Reader<apollo::localization::LocalizationEstimate> > apollo::dreamview::SimControlWithModelBase::localization_reader_

protected

在文件 sim_control_with_model_base.h 第 115 行定义.

localization_writer_

std::shared_ptr<cyber::Writer<apollo::localization::LocalizationEstimate> > apollo::dreamview::SimControlWithModelBase::localization_writer_

protected

在文件 sim_control_with_model_base.h 第 123 行定义.

map_service_

MapService* apollo::dreamview::SimControlWithModelBase::map_service_

protected

在文件 sim_control_with_model_base.h 第 153 行定义.

node_

std::unique_ptr<cyber::Node> apollo::dreamview::SimControlWithModelBase::node_

protected

在文件 sim_control_with_model_base.h 第 108 行定义.

planning_command_is_arrival_

bool apollo::dreamview::SimControlWithModelBase::planning_command_is_arrival_ = false

protected

在文件 sim_control_with_model_base.h 第 105 行定义.

planning_command_reader_

std::shared_ptr<cyber::Reader<apollo::planning::PlanningCommand> > apollo::dreamview::SimControlWithModelBase::planning_command_reader_

protected

在文件 sim_control_with_model_base.h 第 113 行定义.

prediction_reader_

std::shared_ptr<cyber::Reader<apollo::prediction::PredictionObstacles> > apollo::dreamview::SimControlWithModelBase::prediction_reader_

protected

在文件 sim_control_with_model_base.h 第 117 行定义.

prediction_writer_

std::shared_ptr<cyber::Writer<apollo::prediction::PredictionObstacles> > apollo::dreamview::SimControlWithModelBase::prediction_writer_

protected

在文件 sim_control_with_model_base.h 第 121 行定义.

previous_point_

apollo::sim_control::SimCarStatus apollo::dreamview::SimControlWithModelBase::previous_point_

protected

在文件 sim_control_with_model_base.h 第 125 行定义.

re_routing_triggered_

bool apollo::dreamview::SimControlWithModelBase::re_routing_triggered_ = false

protected

在文件 sim_control_with_model_base.h 第 149 行定义.

send_dummy_prediction_

bool apollo::dreamview::SimControlWithModelBase::send_dummy_prediction_ = true

protected

在文件 sim_control_with_model_base.h 第 152 行定义.

start_auto_

bool apollo::dreamview::SimControlWithModelBase::start_auto_ = false

protected

在文件 sim_control_with_model_base.h 第 103 行定义.

vehicle_param_

apollo::common::VehicleParam apollo::dreamview::SimControlWithModelBase::vehicle_param_

protected

在文件 sim_control_with_model_base.h 第 139 行定义.

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该类的文档由以下文件生成:

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