Apollo 10.0
自动驾驶开放平台
lat_lon_controller_submodule.h
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16
17#pragma once
18
19#include <memory>
20#include <string>
21
22#include "modules/common_msgs/chassis_msgs/chassis.pb.h"
23#include "modules/common_msgs/control_msgs/control_cmd.pb.h"
24#include "modules/common_msgs/control_msgs/pad_msg.pb.h"
25#include "modules/common_msgs/localization_msgs/localization.pb.h"
26#include "modules/common_msgs/planning_msgs/planning.pb.h"
27#include "modules/control/control_component/proto/preprocessor.pb.h"
28
35
36namespace apollo {
37namespace control {
38class LatLonControllerSubmodule final : public cyber::Component<Preprocessor> {
39 public:
49
54 std::string Name() const;
55
60 bool Init() override;
61
68 bool Proc(const std::shared_ptr<Preprocessor>& preprocessor_status) override;
69
70 private:
71 common::Status ProduceControlCoreCommand(
72 const LocalView& local_view, ControlCommand* control_core_command);
73
74 private:
75 bool estop_ = false;
76
77 common::monitor::MonitorLogBuffer monitor_logger_buffer_;
78
79 std::shared_ptr<ControlTask> lateral_controller_;
80 std::shared_ptr<ControlTask> longitudinal_controller_;
81
82 std::mutex mutex_;
83 // TODO(SHU): separate conf
84 std::shared_ptr<cyber::Writer<ControlCommand>> control_core_writer_;
85 std::shared_ptr<DependencyInjector> injector_;
86};
87
89
90} // namespace control
91} // namespace apollo
A general class to denote the return status of an API call.
Definition status.h:43
bool Proc(const std::shared_ptr< Preprocessor > &preprocessor_status) override
generate control command
std::string Name() const
Get name of the node
LatLonControllerSubmodule()
Construct a new PID+LQR ControllerSubmodule object
#define CYBER_REGISTER_COMPONENT(name)
Definition component.h:656
Defines the Controller base class.
Some util functions.
The class of MonitorLogBuffer
class register implement
Definition arena_queue.h:37
LocalView contains all necessary data as planning input