apollo::control::ControllerAgent Class Reference

manage all controllers declared in control config file. More...

#include <controller_agent.h>

Collaboration diagram for apollo::control::ControllerAgent:

Public Member Functions
common::Status	Init (std::shared_ptr< DependencyInjector > injector, const ControlConf *control_conf)
	initialize ControllerAgent More...
common::Status	ComputeControlCommand (const localization::LocalizationEstimate *localization, const canbus::Chassis *chassis, const planning::ADCTrajectory *trajectory, control::ControlCommand *cmd)
	compute control command based on current vehicle status and target trajectory More...
common::Status	Reset ()
	reset ControllerAgent More...

Detailed Description

manage all controllers declared in control config file.

Member Function Documentation

ComputeControlCommand()

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

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

Init()

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

initialize ControllerAgent

Parameters

control_conf

control configurations

Returns

Status initialization status

Reset()

common::Status apollo::control::ControllerAgent::Reset

(

)

reset ControllerAgent

Returns

Status reset status

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

• modules/control/controller/controller_agent.h