This module contains code that is not specific to any module but is useful for the functioning of Apollo.
Topics are used by different modules to communicate with one another. A large number of topic names are defined in adapter_gflags.
The vehicle configuration is specified in configs/data
filters implements some filter classes including DigitalFilter and MeanFilter.
KVDB is a lightweight key-value database to store system-wide parameters.
LatencyRecorder can record the latency between two time points.
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.
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.).