Apollo 10.0
自动驾驶开放平台
sim_control_internal.proto
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1syntax = "proto2";
2
3package apollo.sim_control;
4
6
7message SimCarStatus {
8 optional double x = 1; // pos x in meters.
9 optional double y = 2; // pos y in meters.
10 optional double z = 3; // pos z in meters.
11 optional double s = 4; // pos l in meters, reference to SL-coordinate
12 optional double l = 5; // pos s in meters, reference to SL-coordinate
13 optional double speed = 6; // speed, in m/s
14 optional double acceleration_s = 7; // acceleration in s direction
15 optional double curvature = 8; // curvature (k = 1/r), unit: (1/meters)
16 optional double curvature_change_rate = 9; // change of curvature in unit s (dk/ds)
17 optional double relative_time = 10; // in seconds relative time (relative_time = time_of_this_state - timestamp_in_header)
18 optional double theta = 11; // relative to absolute coordinate system
19 optional double accumulated_s = 12; // calculated from the first point in this trajectory
20 optional float odometer = 13; // current odometer
21 optional double angular_speed = 14; // relative to absolute coordinate system
22 optional int32 gear_position = 15; // gear position from control command, 1:forward, 0:neural, -1:backward
23}
24
26 optional apollo.common.Header header = 1;
27 optional SimCarStatus sim_car_status = 2;
28}
apollo::common
class register implement
Definition arena_queue.h:37