apollo::dreamview::SimPerfectControl类 参考

A module that simulates a 'perfect control' algorithm, which assumes an ideal world where the car can be perfectly placed wherever the planning asks it to be, with the expected speed, acceleration, etc. 更多...

#include <sim_perfect_control.h>

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

apollo::dreamview::SimPerfectControl 的协作图:

Public 成员函数
	SimPerfectControl (const MapService *map_service)
	Constructor of SimPerfectControl.
void	Init (bool set_start_point, nlohmann::json start_point_attr, bool use_start_point_position=false) override
	setup callbacks and timer
void	Start () override
	Starts the timer to publish simulated localization and chassis messages.
void	Stop () override
	Stops the timer.
void	ReSetPoinstion (double x, double y, double heading) override
	Set vehicle position.
void	Reset () override
	Resets the internal state.
void	RunOnce () override
	Main logic of the simulated control algorithm.
Public 成员函数 继承自 apollo::dreamview::SimControlBase
virtual	~SimControlBase ()

额外继承的成员函数
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 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()

详细描述

A module that simulates a 'perfect control' algorithm, which assumes an ideal world where the car can be perfectly placed wherever the planning asks it to be, with the expected speed, acceleration, etc.

在文件 sim_perfect_control.h 第 52 行定义.

构造及析构函数说明

SimPerfectControl()

apollo::dreamview::SimPerfectControl::SimPerfectControl ( const MapService *  map_service )

explicit

Constructor of SimPerfectControl.

参数

map_service

the pointer of MapService.

在文件 sim_perfect_control.cc 第 66 行定义.

    : SimControlBase(),
      map_service_(map_service),
      node_(cyber::CreateNode("sim_perfect_control")),
      current_trajectory_(std::make_shared<ADCTrajectory>()) {
  InitTimerAndIO();
}

成员函数说明

Init()

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

overridevirtual

setup callbacks and timer

参数

set_start_point

initialize localization.

实现了 apollo::dreamview::SimControlBase.

在文件 sim_perfect_control.cc 第 112 行定义.

                                                            {
  if (set_start_point && !FLAGS_use_navigation_mode) {
    InitStartPoint(start_point_attr["start_velocity"],
                   start_point_attr["start_acceleration"]);
  }
}

Reset()

void apollo::dreamview::SimPerfectControl::Reset ( )

overridevirtual

Resets the internal state.

实现了 apollo::dreamview::SimControlBase.

在文件 sim_perfect_control.cc 第 210 行定义.

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

ReSetPoinstion()

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

overridevirtual

Set vehicle position.

实现了 apollo::dreamview::SimControlBase.

在文件 sim_perfect_control.cc 第 140 行定义.

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

RunOnce()

void apollo::dreamview::SimPerfectControl::RunOnce ( )

overridevirtual

Main logic of the simulated control algorithm.

实现了 apollo::dreamview::SimControlBase.

在文件 sim_perfect_control.cc 第 363 行定义.

                                {
  std::lock_guard<std::mutex> lock(mutex_);
 
  TrajectoryPoint trajectory_point;
  Chassis::GearPosition gear_position;
  if (!PerfectControlModel(&trajectory_point, &gear_position)) {
    AERROR << "Failed to calculate next point with perfect control model";
    return;
  }
 
  PublishChassis(trajectory_point.v(), gear_position);
  PublishLocalization(trajectory_point);
}

Start()

void apollo::dreamview::SimPerfectControl::Start ( )

overridevirtual

Starts the timer to publish simulated localization and chassis messages.

实现了 apollo::dreamview::SimControlBase.

在文件 sim_perfect_control.cc 第 299 行定义.

                              {
  std::lock_guard<std::mutex> lock(mutex_);
 
  if (!enabled_) {
    // When there is no localization yet, Init(true) will use a
    // dummy point from the current map as an arbitrary start.
    // When localization is already available, we do not need to
    // reset/override the start point.
    localization_reader_->Observe();
    Json start_point_attr({});
    start_point_attr["start_velocity"] =
        next_point_.has_v() ? next_point_.v() : 0.0;
    start_point_attr["start_acceleration"] =
        next_point_.has_a() ? next_point_.a() : 0.0;
    Init(true, start_point_attr);
    InternalReset();
    {
      std::lock_guard<std::mutex> lock(timer_mutex_);
      sim_control_timer_->Start();
      sim_prediction_timer_->Start();
    }
    enabled_ = true;
  }
}

Stop()

void apollo::dreamview::SimPerfectControl::Stop ( )

overridevirtual

Stops the timer.

实现了 apollo::dreamview::SimControlBase.

在文件 sim_perfect_control.cc 第 215 行定义.

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

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该类的文档由以下文件生成:

• modules/dreamview/backend/common/sim_control_manager/dynamic_model/perfect_control/sim_perfect_control.h
• modules/dreamview/backend/common/sim_control_manager/dynamic_model/perfect_control/sim_perfect_control.cc