control: renamed lqr+pid as lat+lon submodule

seekme-ai · Nov 7, 2019 · 57a940e · 57a940e
1 parent 4f54c38
commit 57a940e
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Showing 7 changed files with 63 additions and 13,292 deletions.
diff --git a/modules/control/common/control_gflags.cc b/modules/control/common/control_gflags.cc
@@ -28,13 +28,14 @@ DEFINE_string(mpc_controller_conf_file,
               "/apollo/modules/control/conf/mpc_controller_conf.pb.txt",
               "mpc controller conf data file");
 
-DEFINE_string(lqr_controller_conf_file,
-              "/apollo/modules/control/conf/lqr_controller_conf.pb.txt",
-              "lqr controller conf data file");
+DEFINE_string(lateral_controller_conf_file,
+              "/apollo/modules/control/conf/lateral_controller_conf.pb.txt",
+              "lateral controller conf data file");
 
-DEFINE_string(pid_controller_conf_file,
-              "/apollo/modules/control/conf/pid_controller_conf.pb.txt",
-              "pid controller conf data file");
+DEFINE_string(
+    longitudinal_controller_conf_file,
+    "/apollo/modules/control/conf/longitudinal_controller_conf_file.pb.txt",
+    "longitudinal controller conf data file");
 
 DEFINE_bool(enable_csv_debug, false, "True to write out csv debug file.");
 DEFINE_bool(enable_speed_station_preview, true, "enable speed/station preview");
@@ -44,8 +45,9 @@ DEFINE_string(control_node_name, "control", "The control node name in proto");
 DEFINE_string(mpc_controller_submodule_name, "MPC controller",
               "MPC controller node name in proto");
 
-DEFINE_string(pid_lqr_controller_submodule_name, "PID+LQR controller",
-              "PID+LQR controller node name in proto");
+DEFINE_string(lat_lon_controller_submodule_name,
+              "lateral+longitudinal controller",
+              "lateral+longitudinal controller node name in proto");
 
 DEFINE_string(preprocessor_submodule_name, "preprocessor submodule",
               "preprocessor submodule name in proto");

diff --git a/modules/control/common/control_gflags.h b/modules/control/common/control_gflags.h
@@ -24,10 +24,10 @@ DECLARE_string(control_conf_file);
 DECLARE_string(control_common_conf_file);
 // mpc controller conf file
 DECLARE_string(mpc_controller_conf_file);
-// LQR controller conf file
-DECLARE_string(lqr_controller_conf_file);
-// PID controller conf file
-DECLARE_string(pid_controller_conf_file);
+// lateral controller conf file
+DECLARE_string(lateral_controller_conf_file);
+// longitudinal controller conf file
+DECLARE_string(longitudinal_controller_conf_file);
 
 DECLARE_double(control_test_duration);
 
@@ -41,7 +41,7 @@ DECLARE_string(control_node_name);
 DECLARE_string(preprocessor_submodule_name);
 DECLARE_string(mpc_controller_submodule_name);
 DECLARE_string(postprocessor_submodule_name);
-DECLARE_string(pid_lqr_controller_submodule_name);
+DECLARE_string(lat_lon_controller_submodule_name);
 
 DECLARE_bool(is_control_test_mode);
 DECLARE_bool(use_preview_speed_for_table);