{"id":259,"date":"2026-11-10T14:05:54","date_gmt":"2026-11-10T06:05:54","guid":{"rendered":"https:\/\/xiaoxiaoxiaoyu.com\/?p=259"},"modified":"2026-11-10T14:05:54","modified_gmt":"2026-11-10T06:05:54","slug":"apollo%e6%8e%a7%e5%88%b6%e6%a8%a1%e5%9d%97%e6%bb%a4%e6%b3%a2%e5%99%a8-%e6%bb%9e%e7%8e%af%e6%bb%a4%e6%b3%a2%e5%99%a8","status":"publish","type":"post","link":"https:\/\/xiaoxiaoxiaoyu.com\/?p=259","title":{"rendered":"Apollo\u63a7\u5236\u6a21\u5757\u6ee4\u6ce2\u5668&#8211;\u6ede\u73af\u6ee4\u6ce2\u5668"},"content":{"rendered":"\n<pre class=\"wp-block-code\"><code>hysteresisFilter.h\nnamespace apollo {\n\nnamespace control {\n\nclass HysteresisFilter {\n\npublic:\n\nHysteresisFilter() = default;\n\nvoid filter(const double input_value, const double threshold,\n\nconst double hysteresis_upper, const double hysteresis_lower,\n\nint *state, double *output_value);\n\nprivate:\n\nint previous_state_ = 0;\n\n};\n\n} \/\/ namespace control\n\n} \/\/ namespace apollo\n\n#include \"modules\/control\/control_component\/controller_task_base\/common\/hysteresis_filter.h\"\n\nnamespace apollo {\n\nnamespace control {\n\nvoid HysteresisFilter::filter(const double input_value, const double threshold,\n\nconst double hysteresis_upper,\n\nconst double hysteresis_lower, int *state,\n\ndouble *output_value) {\n\n\/\/ Use integer to represent mode as of now, for instance,\n\n\/\/ 1 is throttle, 0 is brake, then threshold is speed error\n\nif (input_value > threshold + hysteresis_upper) {\n\n*state = 1;\n\nprevious_state_ = *state;\n\n*output_value = threshold + hysteresis_upper;\n\n} else if (input_value &lt; threshold - hysteresis_lower) {\n\n*state = 0;\n\nprevious_state_ = *state;\n\n*output_value = threshold - hysteresis_lower;\n\n} else {\n\n*state = previous_state_;\n\n*output_value = input_value;\n\n}\n\n}\n\n} \/\/ namespace control\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">Apollo\u63a7\u5236\u6a21\u5757\u6ede\u73af\u6ee4\u6ce2\u5668\u5b9e\u73b0\uff0c\u6682\u65f6\u65e0\u6a21\u5757\u8c03\u7528;\u4e3b\u8981\u7528\u4e8e\u6297\u6296\u632f\uff0c\u5229\u7528\u72b6\u6001\u8bb0\u5fc6\u548c\u6b7b\u533a\u673a\u5236\u6291\u5236\u4fe1\u53f7\u5728\u9608\u503c\u9644\u8fd1\u7684\u9ad8\u9891\u6296\u632f;<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8bbe\u7f6e\u4e0d\u5bf9\u79f0\u7684\u4e0a\u5347\u548c\u4e0b\u964d\u89e6\u53d1\u9608\u503c\uff0c\u786e\u4fdd\u72b6\u6001\u53ea\u6709\u5728\u8f93\u5165\u4fe1\u53f7\u660e\u786e\u5730\u3001\u5927\u5e45\u5ea6\u5730\u53cd\u5411\u7a7f\u8d8a\u6b7b\u533a\u540e\u624d\u4f1a\u6539\u53d8;\u6570\u503c\u5927\u4e8e\u4e0a\u9650threshold + hysteresis_upper\u6216\u5c0f\u4e8e\u4e0b\u9650threshold &#8211; hysteresis_lower\uff0c\u8f93\u51fa\u7ed3\u679c\u4e0e\u72b6\u6001\u6539\u53d8\uff0c\u9608\u503c\u6b7b\u533a\u8303\u56f4\u5185\uff0c\u8f93\u51fa\u7ed3\u679c\u4e0e\u72b6\u6001\u7ef4\u6301\u4e0d\u53d8;<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n","protected":false},"excerpt":{"rendered":"<p class=\"text-justify\">Apollo\u63a7\u5236\u6a21\u5757\u6ede\u73af\u6ee4\u6ce2\u5668\u5b9e\u73b0\uff0c\u6682\u65f6\u65e0\u6a21\u5757\u8c03\u7528;\u4e3b\u8981\u7528\u4e8e\u6297\u6296\u632f\uff0c\u5229 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[16],"tags":[],"class_list":["post-259","post","type-post","status-publish","format-standard","hentry","category-apollo"],"_links":{"self":[{"href":"https:\/\/xiaoxiaoxiaoyu.com\/index.php?rest_route=\/wp\/v2\/posts\/259","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/xiaoxiaoxiaoyu.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/xiaoxiaoxiaoyu.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/xiaoxiaoxiaoyu.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/xiaoxiaoxiaoyu.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=259"}],"version-history":[{"count":1,"href":"https:\/\/xiaoxiaoxiaoyu.com\/index.php?rest_route=\/wp\/v2\/posts\/259\/revisions"}],"predecessor-version":[{"id":260,"href":"https:\/\/xiaoxiaoxiaoyu.com\/index.php?rest_route=\/wp\/v2\/posts\/259\/revisions\/260"}],"wp:attachment":[{"href":"https:\/\/xiaoxiaoxiaoyu.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=259"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/xiaoxiaoxiaoyu.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=259"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/xiaoxiaoxiaoyu.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=259"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}