apollo::control::Controller Class Reference

base class for all controllers. More...

#include <controller.h>

Inheritance diagram for apollo::control::Controller:

Collaboration diagram for apollo::control::Controller:

Public Member Functions
	Controller ()=default
	constructor More...
virtual	~Controller ()=default
	destructor More...
virtual common::Status	Init (std::shared_ptr< DependencyInjector > injector, const ControlConf *control_conf)=0
	initialize Controller More...
virtual common::Status	ComputeControlCommand (const localization::LocalizationEstimate *localization, const canbus::Chassis *chassis, const planning::ADCTrajectory *trajectory, control::ControlCommand *cmd)=0
	compute control command based on current vehicle status and target trajectory More...
virtual common::Status	Reset ()=0
	reset Controller More...
virtual std::string	Name () const =0
	controller name More...
virtual void	Stop ()=0
	stop controller More...

Detailed Description

base class for all controllers.

Constructor & Destructor Documentation

Controller()

apollo::control::Controller::Controller ( )

default

constructor

~Controller()

virtual apollo::control::Controller::~Controller ( )

virtualdefault

destructor

Member Function Documentation

ComputeControlCommand()

virtual common::Status apollo::control::Controller::ComputeControlCommand ( const localization::LocalizationEstimate *  localization, const canbus::Chassis *  chassis, const planning::ADCTrajectory *  trajectory, control::ControlCommand *  cmd  )

pure virtual

compute control command based on current vehicle status and target trajectory

Parameters

localization	vehicle location
chassis	vehicle status e.g., speed, acceleration
trajectory	trajectory generated by planning
cmd	control command

Returns

Status computation status

Implemented in apollo::control::LonController.

Init()

virtual common::Status apollo::control::Controller::Init ( std::shared_ptr< DependencyInjector >  injector, const ControlConf *  control_conf  )

pure virtual

initialize Controller

Parameters

control_conf

control configurations

Returns

Status initialization status

Implemented in apollo::control::LatController, apollo::control::MPCController, and apollo::control::LonController.

Name()

virtual std::string apollo::control::Controller::Name ( ) const

pure virtual

controller name

Returns

string controller name in string

Implemented in apollo::control::LatController, apollo::control::MPCController, and apollo::control::LonController.

Reset()

virtual common::Status apollo::control::Controller::Reset ( )

pure virtual

reset Controller

Returns

Status reset status

Implemented in apollo::control::LatController, apollo::control::MPCController, and apollo::control::LonController.

Stop()

virtual void apollo::control::Controller::Stop ( )

pure virtual

stop controller

Implemented in apollo::control::LatController, apollo::control::MPCController, and apollo::control::LonController.

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

• modules/control/controller/controller.h