control_gflags.cc 文件参考

#include "modules/control/control_component/common/control_gflags.h"

control_gflags.cc 的引用(Include)关系图:

浏览源代码.

函数
	DEFINE_string (pipeline_file, "modules/control/control_component/conf/pipeline.pb.txt", "default control conf data file")
	DEFINE_string (control_conf_file, "modules/control/conf/control_conf.pb.txt", "default control conf data file")
	DEFINE_string (mpc_controller_conf_file, "modules/control/conf/mpc_controller_conf.pb.txt", "mpc controller conf data file")
	DEFINE_string (lateral_controller_conf_file, "modules/control/conf/lateral_controller_conf.pb.txt", "lateral controller conf data file")
	DEFINE_string (longitudinal_controller_conf_file, "modules/control/conf/longitudinal_controller_conf.pb.txt", "longitudinal controller conf data file")
	DEFINE_string (calibration_table_file, "modules/control/control_component/conf/calibration_table.pb.txt", "calibration table file")
	DEFINE_double (control_test_duration, -1.0, "control test duration")
	DEFINE_bool (enable_csv_debug, false, "True to write out csv debug file.")
	DEFINE_string (preprocessor_submodule_name, "PreprocessorSubmodule", "preprocessor submodule name in proto")
	DEFINE_string (mpc_controller_submodule_name, "MPCControllerSubmodule", "MPC controller node name in proto")
	DEFINE_string (lat_lon_controller_submodule_name, "LatLonControllerSubmodule", "lateral+longitudinal controller node name in proto")
	DEFINE_string (postprocessor_submodule_name, "PostprocessorSubmodule", "postprocessor submodule name in proto")
	DEFINE_bool (is_control_test_mode, false, "True to run control in test mode")
	DEFINE_bool (use_preview_speed_for_table, false, "True to use preview speed for table lookup")
	DEFINE_double (steer_angle_rate, 100.0, "Steer angle change rate in percentage.")
	DEFINE_bool (enable_gain_scheduler, false, "Enable gain scheduler for higher vehicle speed")
	DEFINE_bool (set_steer_limit, false, "Set steer limit")
	DEFINE_int32 (chassis_pending_queue_size, 10, "Max chassis pending queue size")
	DEFINE_int32 (planning_pending_queue_size, 10, "Max planning pending queue size")
	DEFINE_int32 (planning_status_msg_pending_queue_size, 10, "Max planning status message pending queue size")
	DEFINE_int32 (localization_pending_queue_size, 10, "Max localization pending queue size")
	DEFINE_int32 (pad_msg_pending_queue_size, 10, "Max pad message pending queue size")
	DEFINE_bool (reverse_heading_control, false, "test vehicle reverse control")
	DEFINE_bool (query_forward_time_point_only, false, "only use the trajectory point in future")
	DEFINE_bool (enable_gear_drive_negative_speed_protection, false, "Enable estop to prevent following negative speed during gear drive")
	DEFINE_bool (use_control_submodules, false, "use control submodules instead of controller agent")
	DEFINE_bool (enable_input_timestamp_check, false, "enable input timestamp check")
	DEFINE_int32 (max_localization_miss_num, 20, "max localization miss num")
	DEFINE_int32 (max_chassis_miss_num, 20, "max chassis miss num")
	DEFINE_int32 (max_planning_miss_num, 20, "max planning miss num")
	DEFINE_double (max_acceleration_when_stopped, 0.01, "max acceleration when stopped.")
	DEFINE_double (max_path_remain_when_stopped, 0.3, "max path remain when stopped.")
	DEFINE_bool (enable_persistent_estop, true, "enable persistent estop")
	DEFINE_double (control_period, 0.01, "control period")
	DEFINE_double (soft_estop_brake, 50.0, "soft estop brake.")
	DEFINE_double (trajectory_period, 0.1, "trajectory period.")
	DEFINE_double (chassis_period, 0.01, "chassis period.")
	DEFINE_double (localization_period, 0.01, "localization period.")
	DEFINE_double (minimum_speed_resolution, 0.2, "minimum speed resolution.")
	DEFINE_double (minimum_speed_protection, 0.1, "minimum speed protection.")
	DEFINE_int32 (action, 1, "START = 1; RESET = 2; VIN_REQ = 3")
	DEFINE_bool (use_vehicle_epb, false, "enable epb brake for vehicle.")
	DEFINE_double (pitch_offset_deg, 0.0, "vehicle pitch offset when in horizon.")
	DEFINE_bool (is_control_ut_test_mode, false, "True to run control in ut test mode")
	DEFINE_bool (publish_control_debug_info, false, "True to run control in ut test mode")
	DEFINE_bool (query_forward_station_point_only, false, "only use the trajectory point in future")
	DEFINE_bool (use_speed_filter, false, "use speed smooth filter")
	DEFINE_bool (use_throttle_filter, false, "use throttle smooth filter")
	DEFINE_double (speed_smoothing_factor, 0.05, "speed smooth factor")
	DEFINE_double (throttle_smoothing_factor, 0.05, "speed smooth factor")
	DEFINE_bool (use_calibration_dimension_equal_check, false, "use calibration dimension equal check")

函数说明

DEFINE_bool() [1/18]

DEFINE_bool	(	enable_csv_debug	,
		false	,
		"True to write out csv debug file."
	)

DEFINE_bool() [2/18]

DEFINE_bool	(	enable_gain_scheduler	,
		false	,
		"Enable gain scheduler for higher vehicle speed"
	)

DEFINE_bool() [3/18]

DEFINE_bool	(	enable_gear_drive_negative_speed_protection	,
		false	,
		"Enable estop to prevent following negative speed during gear drive"
	)

DEFINE_bool() [4/18]

DEFINE_bool	(	enable_input_timestamp_check	,
		false	,
		"enable input timestamp check"
	)

DEFINE_bool() [5/18]

DEFINE_bool	(	enable_persistent_estop	,
		true	,
		"enable persistent estop"
	)

DEFINE_bool() [6/18]

DEFINE_bool	(	is_control_test_mode	,
		false	,
		"True to run control in test mode"
	)

DEFINE_bool() [7/18]

DEFINE_bool	(	is_control_ut_test_mode	,
		false	,
		"True to run control in ut test mode"
	)

DEFINE_bool() [8/18]

DEFINE_bool	(	publish_control_debug_info	,
		false	,
		"True to run control in ut test mode"
	)

DEFINE_bool() [9/18]

DEFINE_bool	(	query_forward_station_point_only	,
		false	,
		"only use the trajectory point in future"
	)

DEFINE_bool() [10/18]

DEFINE_bool	(	query_forward_time_point_only	,
		false	,
		"only use the trajectory point in future"
	)

DEFINE_bool() [11/18]

DEFINE_bool	(	reverse_heading_control	,
		false	,
		"test vehicle reverse control"
	)

DEFINE_bool() [12/18]

DEFINE_bool	(	set_steer_limit	,
		false	,
		"Set steer limit"
	)

DEFINE_bool() [13/18]

DEFINE_bool	(	use_calibration_dimension_equal_check	,
		false	,
		"use calibration dimension equal check"
	)

DEFINE_bool() [14/18]

DEFINE_bool	(	use_control_submodules	,
		false	,
		"use control submodules instead of controller agent"
	)

DEFINE_bool() [15/18]

DEFINE_bool	(	use_preview_speed_for_table	,
		false	,
		"True to use preview speed for table lookup"
	)

DEFINE_bool() [16/18]

DEFINE_bool	(	use_speed_filter	,
		false	,
		"use speed smooth filter"
	)

DEFINE_bool() [17/18]

DEFINE_bool	(	use_throttle_filter	,
		false	,
		"use throttle smooth filter"
	)

DEFINE_bool() [18/18]

DEFINE_bool	(	use_vehicle_epb	,
		false	,
		"enable epb brake for vehicle."
	)

DEFINE_double() [1/14]

DEFINE_double	(	chassis_period	,
		0.	01,
		"chassis period."
	)

DEFINE_double() [2/14]

DEFINE_double	(	control_period	,
		0.	01,
		"control period"
	)

DEFINE_double() [3/14]

DEFINE_double	(	control_test_duration	,
		-1.	0,
		"control test duration"
	)

DEFINE_double() [4/14]

DEFINE_double	(	localization_period	,
		0.	01,
		"localization period."
	)

DEFINE_double() [5/14]

DEFINE_double	(	max_acceleration_when_stopped	,
		0.	01,
		"max acceleration when stopped."
	)

DEFINE_double() [6/14]

DEFINE_double	(	max_path_remain_when_stopped	,
		0.	3,
		"max path remain when stopped."
	)

DEFINE_double() [7/14]

DEFINE_double	(	minimum_speed_protection	,
		0.	1,
		"minimum speed protection."
	)

DEFINE_double() [8/14]

DEFINE_double	(	minimum_speed_resolution	,
		0.	2,
		"minimum speed resolution."
	)

DEFINE_double() [9/14]

DEFINE_double	(	pitch_offset_deg	,
		0.	0,
		"vehicle pitch offset when in horizon."
	)

DEFINE_double() [10/14]

DEFINE_double	(	soft_estop_brake	,
		50.	0,
		"soft estop brake."
	)

DEFINE_double() [11/14]

DEFINE_double	(	speed_smoothing_factor	,
		0.	05,
		"speed smooth factor"
	)

DEFINE_double() [12/14]

DEFINE_double	(	steer_angle_rate	,
		100.	0,
		"Steer angle change rate in percentage."
	)

DEFINE_double() [13/14]

DEFINE_double	(	throttle_smoothing_factor	,
		0.	05,
		"speed smooth factor"
	)

DEFINE_double() [14/14]

DEFINE_double	(	trajectory_period	,
		0.	1,
		"trajectory period."
	)

DEFINE_int32() [1/9]

DEFINE_int32	(	action	,
		1
	)

DEFINE_int32() [2/9]

DEFINE_int32	(	chassis_pending_queue_size	,
		10	,
		"Max chassis pending queue size"
	)

DEFINE_int32() [3/9]

DEFINE_int32	(	localization_pending_queue_size	,
		10	,
		"Max localization pending queue size"
	)

DEFINE_int32() [4/9]

DEFINE_int32	(	max_chassis_miss_num	,
		20	,
		"max chassis miss num"
	)

DEFINE_int32() [5/9]

DEFINE_int32	(	max_localization_miss_num	,
		20	,
		"max localization miss num"
	)

DEFINE_int32() [6/9]

DEFINE_int32	(	max_planning_miss_num	,
		20	,
		"max planning miss num"
	)

DEFINE_int32() [7/9]

DEFINE_int32	(	pad_msg_pending_queue_size	,
		10	,
		"Max pad message pending queue size"
	)

DEFINE_int32() [8/9]

DEFINE_int32	(	planning_pending_queue_size	,
		10	,
		"Max planning pending queue size"
	)

DEFINE_int32() [9/9]

DEFINE_int32	(	planning_status_msg_pending_queue_size	,
		10	,
		"Max planning status message pending queue size"
	)

DEFINE_string() [1/10]

DEFINE_string	(	calibration_table_file	,
		"modules/control/control_component/conf/calibration_table.pb.txt"	,
		"calibration table file"
	)

DEFINE_string() [2/10]

DEFINE_string	(	control_conf_file	,
		"modules/control/conf/control_conf.pb.txt"	,
		"default control conf data file"
	)

DEFINE_string() [3/10]

DEFINE_string	(	lat_lon_controller_submodule_name	,
		"LatLonControllerSubmodule"	,
		"lateral+longitudinal controller node name in proto"
	)

DEFINE_string() [4/10]

DEFINE_string	(	lateral_controller_conf_file	,
		"modules/control/conf/lateral_controller_conf.pb.txt"	,
		"lateral controller conf data file"
	)

DEFINE_string() [5/10]

DEFINE_string	(	longitudinal_controller_conf_file	,
		"modules/control/conf/longitudinal_controller_conf.pb.txt"	,
		"longitudinal controller conf data file"
	)

DEFINE_string() [6/10]

DEFINE_string	(	mpc_controller_conf_file	,
		"modules/control/conf/mpc_controller_conf.pb.txt"	,
		"mpc controller conf data file"
	)

DEFINE_string() [7/10]

DEFINE_string	(	mpc_controller_submodule_name	,
		"MPCControllerSubmodule"	,
		"MPC controller node name in proto"
	)

DEFINE_string() [8/10]

DEFINE_string	(	pipeline_file	,
		"modules/control/control_component/conf/pipeline.pb.txt"	,
		"default control conf data file"
	)

DEFINE_string() [9/10]

DEFINE_string	(	postprocessor_submodule_name	,
		"PostprocessorSubmodule"	,
		"postprocessor submodule name in proto"
	)

DEFINE_string() [10/10]

DEFINE_string	(	preprocessor_submodule_name	,
		"PreprocessorSubmodule"	,
		"preprocessor submodule name in proto"
	)