This module contains code that is not specific to any module but is useful for the functioning of Apollo.
The apollo_app build target defines the abstract class ApolloApp,
which is implemented by all modules, as well as the macro APOLLO_MAIN,
used to launch each module.
The log build target wraps the Google Log system into project-specific macros, allowing for more refined control over the levels of logging.
The macro build target defines a few commonly used class-specific macros.
Adapters are used by the different modules to communicate with one another. The AdapterManager class hosts all the specific adapters and manages them.
Adapters need to be registered with the macro REGISTER_ADAPTER.
The Adapter class serves as a layer of abstraction between
Apollo modules and I/O mechanisms (e.g. ROS).
The vehicle configuration is specified in configs/data
math implements a number of useful mathematical libraries.
Monitor defines a logging system.
Proto defines a number of project-wide protocol buffers.
Status is used for determining whether certain functions were performed successfully or not. If not, status provides helpful error messages.
Time is a helper functions related to time.
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.
The vehicle_state class specifies the current state of the vehicle (e.g. position, velocity, heading, etc.).