apollo::control::LonController Class Reference

Longitudinal controller, to compute brake / throttle values. More...

#include <lon_controller.h>

Inheritance diagram for apollo::control::LonController:

Collaboration diagram for apollo::control::LonController:

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

Protected Member Functions
void	ComputeLongitudinalErrors (const TrajectoryAnalyzer *trajectory, const double preview_time, const double ts, SimpleLongitudinalDebug *debug)
void	GetPathRemain (SimpleLongitudinalDebug *debug)

Detailed Description

Longitudinal controller, to compute brake / throttle values.

Constructor & Destructor Documentation

LonController()

apollo::control::LonController::LonController

(

)

constructor

~LonController()

virtual apollo::control::LonController::~LonController ( )

virtual

destructor

Member Function Documentation

ComputeControlCommand()

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

overridevirtual

compute brake / throttle values 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

Implements apollo::control::Controller.

ComputeLongitudinalErrors()

void apollo::control::LonController::ComputeLongitudinalErrors ( const TrajectoryAnalyzer *  trajectory, const double  preview_time, const double  ts, SimpleLongitudinalDebug *  debug  )

protected

GetPathRemain()

void apollo::control::LonController::GetPathRemain ( SimpleLongitudinalDebug *  debug )

protected

Init()

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

overridevirtual

initialize Longitudinal Controller

Parameters

control_conf

control configurations

Returns

Status initialization status

Implements apollo::control::Controller.

Name()

std::string apollo::control::LonController::Name ( ) const

overridevirtual

longitudinal controller name

Returns

string controller name in string

Implements apollo::control::Controller.

Reset()

common::Status apollo::control::LonController::Reset ( )

overridevirtual

reset longitudinal controller

Returns

Status reset status

Implements apollo::control::Controller.

Stop()

void apollo::control::LonController::Stop ( )

overridevirtual

stop longitudinal controller

Implements apollo::control::Controller.

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

• modules/control/controller/lon_controller.h