leadlag_plus_controller.cc

浏览该文件的文档.

/******************************************************************************
 * Copyright 2019 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/control_task_base_extend/common/leadlag_plus_controller.h"
 
#include <cmath>
 
#include "cyber/common/log.h"
 
namespace apollo {
namespace control {
 
void LeadlagPlusController::InitLeadlag() {
    previous_output_ = 0.0;
    previous_innerstate_ = 0.0;
    innerstate_ = 0.0;
    innerstate_saturation_status_ = 0;
}
 
void LeadlagPlusController::SetLeadlagConf(const LeadlagConf &leadlag_conf) {
    innerstate_saturation_high_ = std::fabs(leadlag_conf.innerstate_saturation_level());
    innerstate_saturation_low_ = -std::fabs(leadlag_conf.innerstate_saturation_level());
    SetLeadlag(leadlag_conf);
}
 
}  // namespace control
}  // namespace apollo