carla::traffic_manager::PID 命名空间参考

函数
ActuationSignal	RunStep (StateEntry present_state, StateEntry previous_state, const std::vector< float > &longitudinal_parameters, const std::vector< float > &lateral_parameters)
	This function calculates the actuation signals based on the resent state change of the vehicle to minimize PID error.

函数说明

RunStep()

ActuationSignal carla::traffic_manager::PID::RunStep ( StateEntry present_state, StateEntry previous_state, const std::vector< float > & longitudinal_parameters, const std::vector< float > & lateral_parameters )

inline

This function calculates the actuation signals based on the resent state change of the vehicle to minimize PID error.

在文件 PIDController.h 第 27 行定义.

引用了 carla::traffic_manager::StateEntry::angular_deviation, carla::traffic_manager::constants::PID::DT, carla::traffic_manager::constants::PID::INV_DT, carla::traffic_manager::constants::PID::MAX_BRAKE, carla::traffic_manager::constants::PID::MAX_STEERING, carla::traffic_manager::constants::PID::MAX_STEERING_DIFF, carla::traffic_manager::constants::PID::MAX_THROTTLE, carla::traffic_manager::StateEntry::steer , 以及 carla::traffic_manager::StateEntry::velocity_deviation.

被这些函数引用 carla::traffic_manager::MotionPlanStage::Update().

这是这个函数的调用关系图: