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.).