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体验新版 GitCode,发现更多精彩内容 >>
提交
4dc5f0da
编写于
11月 04, 2017
作者:
Q
Qi Luo
提交者:
GitHub
11月 04, 2017
浏览文件
操作
浏览文件
下载
电子邮件补丁
差异文件
Control: Add more smooth and script (#1055)
上级
2af05c4e
变更
3
隐藏空白更改
内联
并排
Showing
3 changed file
with
62 addition
and
2 deletion
+62
-2
modules/control/controller/lat_controller.cc
modules/control/controller/lat_controller.cc
+9
-2
modules/control/controller/lat_controller.h
modules/control/controller/lat_controller.h
+1
-0
scripts/planning_lite.sh
scripts/planning_lite.sh
+52
-0
未找到文件。
modules/control/controller/lat_controller.cc
浏览文件 @
4dc5f0da
...
...
@@ -168,6 +168,8 @@ void LatController::InitializeFilters(const ControlConf *control_conf) {
**/
lateral_error_filter_
=
MeanFilter
(
control_conf
->
lat_controller_conf
().
mean_filter_window_size
());
heading_error_filter_
=
MeanFilter
(
control_conf
->
lat_controller_conf
().
mean_filter_window_size
());
}
Status
LatController
::
Init
(
const
ControlConf
*
control_conf
)
{
...
...
@@ -521,10 +523,15 @@ void LatController::ComputeLateralErrors(
common
::
math
::
NormalizeAngle
(
theta
-
target_point
.
path_point
().
theta
());
double
sin_delta_theta
=
std
::
sin
(
delta_theta
);
// d_error_dot = linear_v * sin_delta_theta;
// theta_error = delta_theta
// TODO(QiL): Code reformat after test
debug
->
set_lateral_error_rate
(
linear_v
*
sin_delta_theta
);
if
(
FLAGS_use_relative_position
)
{
debug
->
set_heading_error
(
heading_error_filter_
.
Update
(
delta_theta
));
}
else
{
debug
->
set_heading_error
(
delta_theta
);
}
// theta_error = delta_theta;
debug
->
set_heading_error
(
delta_theta
);
// theta_error_dot = angular_v - target_point.path_point().kappa() *
// target_point.v();
debug
->
set_heading_error_rate
(
angular_v
-
target_point
.
path_point
().
kappa
()
*
...
...
modules/control/controller/lat_controller.h
浏览文件 @
4dc5f0da
...
...
@@ -220,6 +220,7 @@ class LatController : public Controller {
// MeanFilter heading_rate_filter_;
MeanFilter
lateral_error_filter_
;
MeanFilter
heading_error_filter_
;
// for logging purpose
std
::
ofstream
steer_log_file_
;
...
...
scripts/planning_lite.sh
0 → 100755
浏览文件 @
4dc5f0da
#!/usr/bin/env bash
###############################################################################
# Copyright 2017 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
DIR
=
"
$(
cd
"
$(
dirname
"
${
BASH_SOURCE
[0]
}
"
)
"
&&
pwd
)
"
source
"
${
DIR
}
/apollo_base.sh"
# run function from apollo_base.sh
# run command_name module_name
function
start
()
{
echo
"start"
python modules/tools/planning_lite/planning_lite.py &
python modules/tools/mobileye_viewer/plot_mobileye.py
}
function
stop
()
{
echo
"stop"
pkill
-f
planning_lite.py
pkill
-f
plot_mobileye.py
}
case
$1
in
start
)
start
;;
help
)
echo
"
$0
start|stop|help"
;;
stop
)
stop
;;
*
)
stop
start
;;
esac
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