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- #ifndef PARAMETER_STATUS_H
- #define PARAMETER_STATUS_H
- #include <boost.h>
- #include <cstdint>
- #include <boost/serialization/singleton.hpp>
- #include <common/vv7.h>
- namespace iv {
- namespace decition {
- class ParameterStatus : public boost::noncopyable
- {
- public:
-
- float speed_kp=0.5;
- float speed_kd=0.3;
- float speed_ki=0;
- float speed_kp_t=10;
- float speed_kd_t=0;
- float speed_ki_t=0;
- float speed_increase_limite_switch=1;
- float speed_decline_limite_switch=1;
- float speed_max_increase=5;
- float speed_max_decline=10;
-
- float ttc_emc=0.8;
- float ttc_urgent=1.6;
- float ttc_early=10;
- float brakeIntMax_emc=10;
- float brakeIntMax_urgent=5;
- float brakeIntMax_early=3;
-
- float wheel_p_eang=14;
- float wheel_p_epos=10;
- float wheel_d_eang=5;
- float wheel_d_epos=5;
- float wheel_i_eang=0;
- float wheel_i_epos=0;
- float wheel_previewDistance_coefficient=0.6;
- float wheel_previewDistance_min=5;
- float wheel_change_limit_switch=0;
- float wheel_max_change=10;
-
- float road_width = 3.5;
- int now_road_num = 0;
-
- double MAX_SPEED = 50.0 / 3.6;
- double MAX_ACCEL = 10;
- double MAX_CURVATURE = 10;
- double MIN_ROAD_OFFSET = -3.5;
- double MAX_ROAD_WIDTH = 3.5;
- double D_ROAD_W = 3.5;
- double DT = 0.2;
- double MAXT = 4.0;
- double MINT = 2.0;
- double D_POINT_T = 0.04;
- double TARGET_SPEED = 30.0 / 3.6;
- double D_T_S = 5.0 / 3.6;
- double N_S_SAMPLE = 1;
- double ROBOT_RADIUS = 2.0;
-
- double KJ = 0.1;
- double KT = 0.1;
- double KD = 1.0;
- double KLAT = 1.0;
- double KLON = 1.0;
- };
- typedef boost::serialization::singleton<iv::decition::ParameterStatus> ParameterStatusSingleton;
- }
- #define ServiceParameterStatus iv::decition::ParameterStatusSingleton::get_mutable_instance()
- }
- #endif
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