demo_control_task.cc

浏览该文件的文档.

/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#include "modules/control/controllers/demo_control_task/demo_control_task.h"
 
#include <algorithm>
#include <iomanip>
#include <utility>
 
namespace apollo {
namespace control {
 
using apollo::common::ErrorCode;
using apollo::common::Status;
using apollo::common::TrajectoryPoint;
using apollo::common::VehicleStateProvider;
 
DemoControlTask::DemoControlTask() : name_("demo control task") {
  AINFO << "Using " << name_;
}
 
DemoControlTask::~DemoControlTask() {}
 
Status DemoControlTask::Init(std::shared_ptr<DependencyInjector> injector) {
  if (!ControlTask::LoadConfig<DemoControlTaskConf>(&demo_control_task_conf_)) {
    AERROR << "failed to load control conf";
    return Status(ErrorCode::CONTROL_INIT_ERROR,
                  "failed to load lat control_conf");
  }
 
  injector_ = injector;
  low_bound_acceleration_ = demo_control_task_conf_.bound_acc();
  return Status::OK();
}
 
void DemoControlTask::Stop() {}
 
Status DemoControlTask::Reset() { return Status::OK(); }
 
std::string DemoControlTask::Name() const { return name_; }
 
Status DemoControlTask::ComputeControlCommand(
    const localization::LocalizationEstimate *localization,
    const canbus::Chassis *chassis,
    const planning::ADCTrajectory *planning_published_trajectory,
    ControlCommand *cmd) {
  auto debug = cmd->mutable_debug()->mutable_simple_lon_debug();
 
  double controller_calculate_acceleration = cmd->acceleration();
  double command_acceleration =
      abs(controller_calculate_acceleration) < low_bound_acceleration_
          ? controller_calculate_acceleration /
                abs(controller_calculate_acceleration) * low_bound_acceleration_
          : controller_calculate_acceleration;
 
  cmd->set_acceleration(command_acceleration);
  debug->set_acceleration_cmd(command_acceleration);
 
  return Status::OK();
}
 
}  // namespace control
}  // namespace apollo