Apollo 10.0
自动驾驶开放平台
vehicle_config_helper.h
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4 * Licensed under the Apache License, Version 2.0 (the "License");
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16
21#pragma once
22
23#include <string>
24
25#include "modules/common_msgs/config_msgs/vehicle_config.pb.h"
26#include "modules/common_msgs/basic_msgs/pnc_point.pb.h"
27
28#include "cyber/common/macros.h"
30
35namespace apollo {
36namespace common {
37
46 public:
53 static void Init();
54
60 static void Init(const VehicleConfig &config);
61
70 static void Init(const std::string &config_file);
71
76 static const VehicleConfig &GetConfig();
77
110 static double MinSafeTurnRadius();
111
118 const common::PathPoint &path_point);
119
120 private:
121 static VehicleConfig vehicle_config_;
122 static bool is_init_;
124};
125
126} // namespace common
127} // namespace apollo
The class of Box2d.
@Brief This is a helper class that can load vehicle configurations.
static double MinSafeTurnRadius()
Get the safe turning radius when the vehicle is turning with maximum steering angle.
static void Init()
Initialize vehicle configurations with default configuration file pointed by gflags FLAGS_vehicle_con...
static common::math::Box2d GetBoundingBox(const common::PathPoint &path_point)
Get the box (four corners: ABCD) of the vehicle.
static const VehicleConfig & GetConfig()
Get the current vehicle configuration.
Rectangular (undirected) bounding box in 2-D.
Definition box2d.h:52
#define DECLARE_SINGLETON(classname)
Definition macros.h:52
class register implement
Definition arena_queue.h:37