The class of vehicle state. It includes basic information and computation about the state of the vehicle. More...

#include <vehicle_state_provider.h>

Collaboration diagram for apollo::common::VehicleStateProvider:

Public Member Functions
Status	Update (const localization::LocalizationEstimate &localization, const canbus::Chassis &chassis)
	Constructor by information of localization and chassis. More...

void	Update (const std::string &localization_file, const std::string &chassis_file)
	Update VehicleStateProvider instance by protobuf files. More...

double	timestamp () const

const localization::Pose &	pose () const

const localization::Pose &	original_pose () const

virtual	~VehicleStateProvider ()=default
	Default destructor. More...

double	x () const
	Get the x-coordinate of vehicle position. More...

double	y () const
	Get the y-coordinate of vehicle position. More...

double	z () const
	Get the z coordinate of vehicle position. More...

double	kappa () const
	Get the kappa of vehicle position. the positive or negative sign is decided by the vehicle heading vector along the path. More...

double	roll () const
	Get the vehicle roll angle. More...

double	pitch () const
	Get the vehicle pitch angle. More...

double	yaw () const
	Get the vehicle yaw angle. As of now, use the heading instead of yaw angle. Heading angle with East as zero, yaw angle has North as zero. More...

double	heading () const
	Get the heading of vehicle position, which is the angle between the vehicle's heading direction and the x-axis. More...

double	linear_velocity () const
	Get the vehicle's linear velocity. More...

double	angular_velocity () const
	Get the vehicle's angular velocity. More...

double	linear_acceleration () const
	Get the vehicle's linear acceleration. More...

double	gear () const
	Get the vehicle's gear position. More...

double	steering_percentage () const
	Get the vehicle's steering angle. More...

void	set_linear_velocity (const double linear_velocity)
	Set the vehicle's linear velocity. More...

math::Vec2d	EstimateFuturePosition (const double t) const
	Estimate future position from current position and heading, along a period of time, by constant linear velocity, linear acceleration, angular velocity. More...

math::Vec2d	ComputeCOMPosition (const double rear_to_com_distance) const
	Compute the position of center of mass(COM) of the vehicle, given the distance from rear wheels to the center of mass. More...

const VehicleState &	vehicle_state () const

Detailed Description

The class of vehicle state. It includes basic information and computation about the state of the vehicle.

Constructor & Destructor Documentation

◆ ~VehicleStateProvider()

virtual apollo::common::VehicleStateProvider::~VehicleStateProvider ( )

virtualdefault

Default destructor.

Member Function Documentation

◆ angular_velocity()

double apollo::common::VehicleStateProvider::angular_velocity ( ) const

Get the vehicle's angular velocity.

Returns: The vehicle's angular velocity.

◆ ComputeCOMPosition()

math::Vec2d apollo::common::VehicleStateProvider::ComputeCOMPosition ( const double rear_to_com_distance ) const

Compute the position of center of mass(COM) of the vehicle, given the distance from rear wheels to the center of mass.

Parameters

rear_to_com_distance Distance from rear wheels to the vehicle's center of mass.

Returns: The position of the vehicle's center of mass.

◆ EstimateFuturePosition()

math::Vec2d apollo::common::VehicleStateProvider::EstimateFuturePosition ( const double t ) const

Estimate future position from current position and heading, along a period of time, by constant linear velocity, linear acceleration, angular velocity.

Parameters

t	The length of time period.

Returns: The estimated future position in time t.

◆ gear()

double apollo::common::VehicleStateProvider::gear ( ) const

Get the vehicle's gear position.

Returns: The vehicle's gear position.

◆ heading()

double apollo::common::VehicleStateProvider::heading ( ) const

Get the heading of vehicle position, which is the angle between the vehicle's heading direction and the x-axis.

Returns: The angle between the vehicle's heading direction and the x-axis.

◆ kappa()

double apollo::common::VehicleStateProvider::kappa ( ) const

Get the kappa of vehicle position. the positive or negative sign is decided by the vehicle heading vector along the path.

Returns: The kappa of vehicle position.

◆ linear_acceleration()

double apollo::common::VehicleStateProvider::linear_acceleration ( ) const

Get the vehicle's linear acceleration.

Returns: The vehicle's linear acceleration.

◆ linear_velocity()

double apollo::common::VehicleStateProvider::linear_velocity ( ) const

Get the vehicle's linear velocity.

Returns: The vehicle's linear velocity.

◆ original_pose()

const localization::Pose& apollo::common::VehicleStateProvider::original_pose ( ) const

◆ pitch()

double apollo::common::VehicleStateProvider::pitch ( ) const

Get the vehicle pitch angle.

Returns: The euler pitch angle.

◆ pose()

const localization::Pose& apollo::common::VehicleStateProvider::pose ( ) const

◆ roll()

double apollo::common::VehicleStateProvider::roll ( ) const

Get the vehicle roll angle.

Returns: The euler roll angle.

◆ set_linear_velocity()

void apollo::common::VehicleStateProvider::set_linear_velocity ( const double linear_velocity )

Set the vehicle's linear velocity.

Parameters

linear_velocity The value to set the vehicle's linear velocity.

◆ steering_percentage()

double apollo::common::VehicleStateProvider::steering_percentage ( ) const

Get the vehicle's steering angle.

Returns: double

◆ timestamp()

double apollo::common::VehicleStateProvider::timestamp ( ) const

◆ Update() [1/2]

Status apollo::common::VehicleStateProvider::Update	(	const localization::LocalizationEstimate &	localization,
		const canbus::Chassis &	chassis
	)

Constructor by information of localization and chassis.

Parameters

localization	Localization information of the vehicle.
chassis	Chassis information of the vehicle.

◆ Update() [2/2]

void apollo::common::VehicleStateProvider::Update	(	const std::string &	localization_file,
		const std::string &	chassis_file
	)

Update VehicleStateProvider instance by protobuf files.

Parameters

localization_file	the localization protobuf file.
chassis_file	The chassis protobuf file

◆ vehicle_state()

const VehicleState& apollo::common::VehicleStateProvider::vehicle_state ( ) const

◆ x()

double apollo::common::VehicleStateProvider::x ( ) const

Get the x-coordinate of vehicle position.

Returns: The x-coordinate of vehicle position.

◆ y()

double apollo::common::VehicleStateProvider::y ( ) const

Get the y-coordinate of vehicle position.

Returns: The y-coordinate of vehicle position.

◆ yaw()

double apollo::common::VehicleStateProvider::yaw ( ) const

Get the vehicle yaw angle. As of now, use the heading instead of yaw angle. Heading angle with East as zero, yaw angle has North as zero.

Returns: The euler yaw angle.

◆ z()

double apollo::common::VehicleStateProvider::z ( ) const

Get the z coordinate of vehicle position.

Returns: The z coordinate of vehicle position.

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

modules/common/vehicle_state/vehicle_state_provider.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~VehicleStateProvider()

Member Function Documentation

◆ angular_velocity()

◆ ComputeCOMPosition()

◆ EstimateFuturePosition()

◆ gear()

◆ heading()

◆ kappa()

◆ linear_acceleration()

◆ linear_velocity()

◆ original_pose()

◆ pitch()

◆ pose()

◆ roll()

◆ set_linear_velocity()

◆ steering_percentage()

◆ timestamp()

◆ Update() [1/2]

◆ Update() [2/2]

◆ vehicle_state()

◆ x()

◆ y()

◆ yaw()

◆ z()