车辆控制 Vehicle Control¶

SetPose ¶

bool SetPose(const char *mainVehicleId, SimOne_Data_Pose_Control *pPose)

设置主车位置
Set the main vehicle's pose.

Parameters:

名称	类型	说明
`mainVehicleId`	`const char *`	主车的ID Id of the main vehicle.
`pPose`	`SimOne_Data_Pose_Control *`	要设置的位置（输入） The pose to set (input).

Returns:

类型	说明
`bool`	如果设置成功，则返回true，否则返回false Returns true if the pose is successfully set, false otherwise.

bool SetDrive(const char *mainVehicleId, SimOne_Data_Control *pControl)

主车控制
Set vehicle drive control.

Parameters:

名称	类型	说明
`mainVehicleId`	`const char *`	主车的ID Id of the main vehicle.
`pControl`	`SimOne_Data_Control *`	车辆控制数据 Vehicle control data.

Returns:

类型	说明
`bool`	如果控制设置成功，则返回true，否则返回false Returns true if the control setting is successful, false otherwise.

bool SetDriveMode(const char *mainVehicleId, ESimOne_Drive_Mode driveMode)

主车控制模式
Set the driving mode of the vehicle dynamics.

Parameters:

名称	类型	说明
`mainVehicleId`	`const char *`	主车的ID Id of the main vehicle.
`driveMode`	`ESimOne_Drive_Mode`	车辆驾驶控制模式 Vehicle driving control mode.

Returns:

类型	说明
`bool`	如果模式设置成功，则返回true，否则返回false Returns true if the mode is successfully set, false otherwise.

bool SetTrajectory(const char *mainVehicleId, SimOne_Data_Trajectory *pTrajectory)

预测轨迹设置
Set vehicle waypoints.

Parameters:

名称	类型	说明
`mainVehicleId`	`const char *`	车辆索引，从场景编辑的配置顺序开始，从0开始 Vehicle index, configuration order from scenario editing, starting from 0.
`pTrajectory`	`SimOne_Data_Trajectory *`	车辆轨迹数据 Vehicle trajectory data.

Returns:

类型	说明
`bool`	如果轨迹设置成功，则返回true，否则返回false Returns true if the trajectory is successfully set, false otherwise.

bool SetDriveTrajectory(const char *mainVehicleId, SimOne_Data_Control_Trajectory *pControlTrajectory)

主车控制：通过规划轨迹进行控制
Set vehicle drive control by planning trajectory.

Parameters:

名称	类型	说明
`mainVehicleId`	`const char *`	主车的ID Id of the main vehicle.
`pControlTrajectory`	`SimOne_Data_Control_Trajectory *`	车辆规划轨迹 Vehicle planning trajectory.

Returns:

类型	说明
`bool`	如果设置成功，则返回true，否则返回false Returns true if the setting is successful, false otherwise.

bool SetVehicleToInitState(const char *mainVehicleId)

重置主车到初始状态
Reset the main vehicle state to the initial state.

Parameters:

名称	类型	说明
`mainVehicleId`	`const char *`	主车的ID Id of the main vehicle.

Returns:

类型	说明
`bool`	如果主车状态成功重置，则返回true，否则返回false Returns true if the main vehicle's state is successfully reset, false otherwise.

bool SetVehicleInitState(const char *mainVehicleId, SimOne_Vehicle_Init_State initState)

设置主车初始状态
Set the main vehicle initial state.

Parameters:

名称	类型	说明
`mainVehicleId`	`const char *`	主车的ID Id of the main vehicle.
`initState`	`SimOne_Vehicle_Init_State`	主车的初始状态 Initial state of the main vehicle.

Returns:

类型	说明
`bool`	如果主车初始状态设置成功，则返回true，否则返回false Returns true if the main vehicle's initial state is successfully set, false otherwise.

bool SetRoadCoefficient(const char *mainVehicleId, SimOne_Data_Road_Coefficient roadCoeff)

设置路面摩擦系数
Set the main vehicle initial state.

Parameters:

名称	类型	说明
`mainVehicleId`	`const char *`	主车的ID Id of the main vehicle.
`roadCoeff`	`SimOne_Data_Road_Coefficient`	—

Returns:

类型	说明
`bool`	如果路面摩擦系数设置成功，则返回true，否则返回false Returns true if the main vehicle's initial state is successfully set, false otherwise.