Common - Module¶
This module contains code that is not specific to any module but is useful for the functioning of Apollo.
adapters¶
Topics are used by different modules to communicate with one another. A large number of topic names are defined in adapter_gflags.
configs/data¶
The vehicle configuration is specified in configs/data
filters¶
filters implements some filter classes including DigitalFilter and MeanFilter.
kv_db¶
KVDB is a lightweight key-value database to store system-wide parameters.
latency_recorder¶
LatencyRecorder can record the latency between two time points.
math¶
math implements a number of useful mathematical libraries.
monitor_log¶
Monitor defines a logging system.
proto¶
Proto defines a number of project-wide protocol buffers.
status¶
Status is used for determining whether certain functions were performed successfully or not. If not, status provides helpful error messages.
util¶
Util contains an implementation of a factory design pattern with registration, a few string parsing functions, and some utilities for parsing protocol buffers from files.
vehicle_state¶
The vehicle_state class specifies the current state of the vehicle (e.g. position, velocity, heading, etc.).