demo_control_task.h

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/******************************************************************************
 * 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.
 *****************************************************************************/
 
#pragma once
 
#include <memory>
#include <string>
#include <vector>
 
#include "modules/common_msgs/config_msgs/vehicle_config.pb.h"
#include "modules/control/controllers/demo_control_task/proto/demo_control_task_conf.pb.h"
 
#include "cyber/plugin_manager/plugin_manager.h"
#include "modules/control/control_component/controller_task_base/control_task.h"
 
namespace apollo {
namespace control {
 
class DemoControlTask : public ControlTask {
 public:
  DemoControlTask();
 
  virtual ~DemoControlTask();
 
  common::Status Init(std::shared_ptr<DependencyInjector> injector) override;
 
  common::Status ComputeControlCommand(
      const localization::LocalizationEstimate *localization,
      const canbus::Chassis *chassis, const planning::ADCTrajectory *trajectory,
      control::ControlCommand *cmd) override;
 
  void Stop() override;
 
  common::Status Reset() override;
 
  std::string Name() const override;
 
 protected:
  std::shared_ptr<DependencyInjector> injector_;
 
 private:
  std::string name_;
  double low_bound_acceleration_ = 0.0;
  DemoControlTaskConf demo_control_task_conf_;
};
 
// 1.2 当前类声明为插件
CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::control::DemoControlTask,
                                     ControlTask)
 
}  // namespace control
}  // namespace apollo