apollo::common::VehicleConfigHelper Class Reference

#include <vehicle_config_helper.h>

Collaboration diagram for apollo::common::VehicleConfigHelper:

Static Public Member Functions
static void	Init ()
	Initialize vehicle configurations with default configuration file pointed by gflags FLAGS_vehicle_config_path. The code will crash if FLAGS_vehicle_config_path does not exist or it points to a file with invalid format. More...
static void	Init (const VehicleConfig &config)
	Initialize vehicle configurations with config. More...
static void	Init (const std::string &config_file)
	Initialize vehicle configurations with config_file. The code will crash if config_file does not exist or config_file has invalid format. More...
static const VehicleConfig &	GetConfig ()
	Get the current vehicle configuration. More...
static double	MinSafeTurnRadius ()
	Get the safe turning radius when the vehicle is turning with maximum steering angle. More...
static common::math::Box2d	GetBoundingBox (const common::PathPoint &path_point)
	Get the box (four corners: ABCD) of the vehicle. More...

Detailed Description

This is a helper class that can load vehicle configurations. The vehicle configurations are defined modules/common/configs/proto/vehicle_config.proto

Member Function Documentation

GetBoundingBox()

static common::math::Box2d apollo::common::VehicleConfigHelper::GetBoundingBox ( const common::PathPoint &  path_point )

static

Get the box (four corners: ABCD) of the vehicle.

Parameters

path_point

of a vehicle (which contains point X and heading).

Returns

a box2d which contains the ABCD points info.

GetConfig()

static const VehicleConfig& apollo::common::VehicleConfigHelper::GetConfig ( )

static

Get the current vehicle configuration.

Returns

the current VehicleConfig instance reference.

Init() [1/3]

static void apollo::common::VehicleConfigHelper::Init ( )

static

Initialize vehicle configurations with default configuration file pointed by gflags FLAGS_vehicle_config_path. The code will crash if FLAGS_vehicle_config_path does not exist or it points to a file with invalid format.

Init() [2/3]

static void apollo::common::VehicleConfigHelper::Init ( const VehicleConfig &  config )

static

Initialize vehicle configurations with config.

Parameters

config

A VehicleConfig class instance. The VehicleConfig class is defined by modules/common/configs/proto/vehicle_config.proto.

Init() [3/3]

static void apollo::common::VehicleConfigHelper::Init ( const std::string &  config_file )

static

Initialize vehicle configurations with config_file. The code will crash if config_file does not exist or config_file has invalid format.

Parameters

config_file

The configuration file path. The format of the file is defined by protobuf file modules/common/configs/proto/vehicle_config.proto.

MinSafeTurnRadius()

static double apollo::common::VehicleConfigHelper::MinSafeTurnRadius ( )

static

Get the safe turning radius when the vehicle is turning with maximum steering angle.

The calculation is described by the following figure.

   front of car
A +----------+ B
  |          |
  /          / turn with maximum steering angle
  |          |
  |          |
  |          |
  |    X     |                                       O
  |<-->.<----|-------------------------------------->* (turn center)
  |          |   VehicleParam.min_turn_radius()
  |          |
D +----------+ C
   back of car

In the above figure, The four corner points of the vehicle is A, B, C, and D. XO is VehicleParam.min_turn_radius(), X to AD is left_edge_to_center, X to AB is VehicleParam.front_edge_to_center(). Then AO = sqrt((XO + left_edge_to_center) ^2 + front_edge_to_center^2).

Returns

AO in the above figure, which is the minimum turn radius when the vehicle turns with maximum steering angle

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The documentation for this class was generated from the following file:

• modules/common/configs/vehicle_config_helper.h