/******************************************************************************* 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.*****************************************************************************/
/*** @file vehicle_state.h** @brief Declaration of the class VehicleStateProvider.*/
#ifndef MODULES_COMMON_VEHICLE_STATE_VEHICLE_STATE_PROVIDER_H_
#define MODULES_COMMON_VEHICLE_STATE_VEHICLE_STATE_PROVIDER_H_#include <memory>
#include <string>#include "modules/canbus/proto/chassis.pb.h"
#include "modules/common/vehicle_state/proto/vehicle_state.pb.h"
#include "modules/localization/proto/localization.pb.h"#include "modules/common/macro.h"
#include "modules/common/math/box2d.h"
#include "modules/common/math/vec2d.h"
#include "modules/common/status/status.h"/*** @namespace apollo::common* @brief apollo::common*/
namespace apollo {
namespace common {/*** @class VehicleStateProvider* @brief The class of vehicle state.*        It includes basic information and computation*        about the state of the vehicle.*/
class VehicleStateProvider {public:/*** @brief Constructor by information of localization and chassis.* @param localization Localization information of the vehicle.* @param chassis Chassis information of the vehicle.*/Status Update(const localization::LocalizationEstimate& localization,const canbus::Chassis& chassis);/*** @brief Update VehicleStateProvider instance by protobuf files.* @param localization_file the localization protobuf file.* @param chassis_file The chassis protobuf file*/void Update(const std::string& localization_file,const std::string& chassis_file);double timestamp() const;const localization::Pose& pose() const;const localization::Pose& original_pose() const;/*** @brief Default destructor.*/virtual ~VehicleStateProvider() = default;/*** @brief Get the x-coordinate of vehicle position.* @return The x-coordinate of vehicle position.*/double x() const;/*** @brief Get the y-coordinate of vehicle position.* @return The y-coordinate of vehicle position.*/double y() const;/*** @brief Get the z coordinate of vehicle position.* @return The z coordinate of vehicle position.*/double z() const;double kappa() const;/*** @brief Get the vehicle roll angle.* @return The euler roll angle.*/double roll() const;/*** @brief Get the vehicle pitch angle.* @return The euler pitch angle.*/double pitch() const;/*** @brief Get the vehicle yaw angle.*  As of now, use the heading instead of yaw angle.*  Heading angle with East as zero, yaw angle has North as zero* @return The euler yaw angle.*/double yaw() const;/*** @brief Get the heading of vehicle position, which is the angle*        between the vehicle's heading direction and the x-axis.* @return The angle between the vehicle's heading direction*         and the x-axis.*/double heading() const;/*** @brief Get the vehicle's linear velocity.* @return The vehicle's linear velocity.*/double linear_velocity() const;/*** @brief Get the vehicle's angular velocity.* @return The vehicle's angular velocity.*/double angular_velocity() const;/*** @brief Get the vehicle's linear acceleration.* @return The vehicle's linear acceleration.*/double linear_acceleration() const;/*** @brief Get the vehicle's gear position.* @return The vehicle's gear position.*/double gear() const;/*** @brief Set the vehicle's linear velocity.* @param linear_velocity The value to set the vehicle's linear velocity.*/void set_linear_velocity(const double linear_velocity);/*** @brief Estimate future position from current position and heading,*        along a period of time, by constant linear velocity,*        linear acceleration, angular velocity.* @param t The length of time period.* @return The estimated future position in time t.*/math::Vec2d EstimateFuturePosition(const double t) const;/*** @brief Compute the position of center of mass(COM) of the vehicle,*        given the distance from rear wheels to the center of mass.* @param rear_to_com_distance Distance from rear wheels to*        the vehicle's center of mass.* @return The position of the vehicle's center of mass.*/math::Vec2d ComputeCOMPosition(const double rear_to_com_distance) const;const VehicleState& vehicle_state() const;private:bool ConstructExceptLinearVelocity(const localization::LocalizationEstimate& localization);common::VehicleState vehicle_state_;localization::LocalizationEstimate original_localization_;DECLARE_SINGLETON(VehicleStateProvider);
};}  // namespace common
}  // namespace apollo#endif  // MODULES_COMMON_VEHICLE_STATE_VEHICLE_STATE_PROVIDER_H_

这个头文件给出了汽车状态的各个接口，为自动控制的反馈环节提供了数据支撑。