Apollo
10.0
自动驾驶开放平台
sim_control_internal.proto
浏览该文件的文档.
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syntax
=
"proto2"
;
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package
apollo.sim_control;
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import
"
modules/common_msgs/basic_msgs/header.proto
";
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message
SimCarStatus
{
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optional
double
x = 1;
// pos x in meters.
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optional
double
y = 2;
// pos y in meters.
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optional
double
z = 3;
// pos z in meters.
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optional
double
s = 4;
// pos l in meters, reference to SL-coordinate
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optional
double
l = 5;
// pos s in meters, reference to SL-coordinate
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optional
double
speed = 6;
// speed, in m/s
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optional
double
acceleration_s = 7;
// acceleration in s direction
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optional
double
curvature = 8;
// curvature (k = 1/r), unit: (1/meters)
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optional
double
curvature_change_rate = 9;
// change of curvature in unit s (dk/ds)
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optional
double
relative_time = 10;
// in seconds relative time (relative_time = time_of_this_state - timestamp_in_header)
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optional
double
theta = 11;
// relative to absolute coordinate system
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optional
double
accumulated_s = 12;
// calculated from the first point in this trajectory
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optional
float
odometer = 13;
// current odometer
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optional
double
angular_speed = 14;
// relative to absolute coordinate system
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optional int32 gear_position = 15;
// gear position from control command, 1:forward, 0:neural, -1:backward
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}
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message
SimControlData
{
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optional
apollo
.
common
.
Header
header = 1;
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optional
SimCarStatus
sim_car_status = 2;
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}
header.proto
apollo::common
apollo::common
apollo
class register implement
Definition
arena_queue.h:37
syntax
syntax
Definition
sim_control_internal.proto:1
apollo::common::Header
Definition
header.proto:7
apollo::sim_control::SimCarStatus
Definition
sim_control_internal.proto:7
apollo::sim_control::SimControlData
Definition
sim_control_internal.proto:25
modules
dreamview
backend
common
sim_control_manager
proto
sim_control_internal.proto