apollo leadlag_controller模块代码分析

leadlag_controller.h

创建基类LeadlagController, 是使用默认积分保持的速度和转向的超前/滞后控制器，怎么理解？
成员函数：
public:
void Init(const LeadlagConf &leadlag_conf, const double dt); //leadlag_conf:超前滞后控制器配置，dt:采样时间间隔
void SetLeadlag(const LeadlagConf &leadlag_conf);
void TransformC2d(const double dt); //使用双线性变换（梯形积分）方法将超前/滞后控制器系数转换为离散时间形式？
void Reset(); //重置超前/滞后控制器变量
virtual double Control(const double error, const double dt); //根据误差计算控制值，error：期望值和测量值之间的差异。
int InnerstateSaturationStatus() const;
protected:
// 连续时域中的控制系数
double alpha_;
double beta_;
double tau_;
double Ts_; //默认情况下，控制采样时间为0.01s。
//离散时域中的控制系数
double kn1_;
double kn0_;
double kd1_;
double kd0_;
//直接形式2的离散时域中的内部（中间）状态
double previous_output_;
double previous_innerstate_;
double innerstate_;
double innerstate_saturation_high_;
double innerstate_saturation_low_;
int innerstate_saturation_status_;
bool transformc2d_enabled_;

其中核心用到了双线性变换法
，但是我也暂时搞不明白，有什么用。

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/**
 * @file lead/lag controller.h
 * @brief Defines the LeadlagController class.
 */

#pragma once

#include "modules/control/proto/leadlag_conf.pb.h"

/**
 * @namespace apollo::control
 * @brief apollo::control
 */
namespace apollo {
namespace control {

/**
* @class LeadlagController
* @brief A lead/lag controller for speed and steering
using defualt integral hold
*/
class LeadlagController {
 public:
  /**
   * @brief initialize lead/lag controller
   * @param leadlag_conf configuration for leadlag controller
   * @param dt sampling time interval
   */
  void Init(const LeadlagConf &leadlag_conf, const double dt);

  /**
   * alpha, beta and tau
   * @param leadlag_conf configuration for leadlag controller
   */
  void SetLeadlag(const LeadlagConf &leadlag_conf);

  /**
   * @brief transfer lead/lag controller coefficients to the discrete-time form,
   with the bilinear transform (trapezoidal integration) method
   * @param dt sampling time interval
   */
  void TransformC2d(const double dt);

  /**
   * @brief reset variables for lead/leg controller
   */
  void Reset();

  /**
   * @brief compute control value based on the error
   * @param error error value, the difference between
   * a desired value and a measured value
   * @param dt sampling time interval
   * @return control value based on Lead/Lag terms
   */
  virtual double Control(const double error, const double dt);

  /**
   * @brief get saturation status
   * @return saturation status
   */
  int InnerstateSaturationStatus() const;

 protected:
  // Control coefficients in contiouous-time domain
  double alpha_ = 0.0;
  double beta_ = 0.0;
  double tau_ = 0.0;
  double Ts_ = 0.01;  // By default, control sampling time is 0.01 sec
  // Control coefficients in discrete-time domain
  double kn1_ = 0.0;
  double kn0_ = 0.0;
  double kd1_ = 0.0;
  double kd0_ = 0.0;
  // Inner (intermedia) state in discrete-time domain at Direct Form II
  double previous_output_ = 0.0;
  double previous_innerstate_ = 0.0;
  double innerstate_ = 0.0;
  double innerstate_saturation_high_ = 0.0;
  double innerstate_saturation_low_ = 0.0;
  int innerstate_saturation_status_ = 0;
  bool transfromc2d_enabled_ = false;
};

}  // namespace control
}  // namespace apollo