Apollo学习笔记（10）横向控制代码详读

首先，看一下横向控制核心代码部分：

Status LatController::ComputeControlCommand(
    const localization::LocalizationEstimate *localization,
    const canbus::Chassis *chassis,
    const planning::ADCTrajectory *planning_published_trajectory,
    ControlCommand *cmd) 
{