#include <osi_omni_sensor.hpp>

Inheritance diagram for osii::OsiOmniSensor:

Public Member Functions
	OsiOmniSensor (std::unique_ptr< OsiTransceiver > &&osi_transceiver, uint64_t owner_id)

	OsiOmniSensor (OsiTransceiver *osi_transceiver, uint64_t owner_id)

virtual void	step (const cloe::Sync &s, const bool &restart, cloe::Duration &sim_time)

virtual void	process (const osi3::Timestamp &timestamp)

virtual void	process (osi3::SensorData *osi_sd, cloe::Duration &sim_time)

virtual void	process (const osi3::SensorView &osi_sv)

virtual void	process (const bool has_veh_data, const osi3::HostVehicleData &osi_hv, const osi3::MovingObject &osi_ego)

virtual void	process (const bool has_eh, const osi3::DetectedEntityHeader &osi_eh, const osi3::DetectedMovingObject &osi_mo)

void	mock_detected_lane_boundaries ()

void	from_osi_boundary_points (const osi3::LaneBoundary &osi_lb, cloe::LaneBoundary &lb)

virtual void	store_ego_object (std::shared_ptr< cloe::Object > ego_obj)=0

virtual void	store_object (std::shared_ptr< cloe::Object > obj)=0

virtual void	store_lane_boundary (const cloe::LaneBoundary &lb)=0

virtual void	store_sensor_meta_data (const Eigen::Vector3d &bbcenter_to_veh_origin, const Eigen::Vector3d &ego_dimensions)=0

cloe::Duration	osi_timestamp_to_simtime (const osi3::Timestamp &timestamp) const

virtual Eigen::Isometry3d	get_static_mounting_position (const Eigen::Vector3d &bbcenter_to_veh_origin, const Eigen::Vector3d &ego_dimensions)=0

virtual void	set_mock_conf (std::shared_ptr< const SensorMockConf > mock)=0

SensorMockLevel	get_mock_level (SensorMockTarget trg_type) const

Protected Attributes
std::unique_ptr< OsiTransceiver >	osi_comm_

std::unique_ptr< OsiGroundTruth >	ground_truth_
	Access to osi ground truth, e.g. for mock-ups.

uint64_t	owner_id_
	Id of the sensor's owner (ego).

Eigen::Isometry3d	osi_ego_pose_
	Store ego pose (reference point is rear axle center, not ground level).

Eigen::Isometry3d	osi_sensor_pose_
	Store sensor pose relative to the ego frame (rear axle center, not ground level).

cloe::Duration	init_time_ = cloe::Duration(-1)
	Initial simulation time.

std::shared_ptr< const SensorMockConf >	mock_ {nullptr}
	Use alternative source for required data or overwrite incoming data, if requested.

Friends
void	to_json (cloe::Json &j, const OsiOmniSensor &c)

Detailed Description

Configure sensor mock level. Base class for an OSI sensor which is connected via TCP.

Constructor & Destructor Documentation

◆ OsiOmniSensor() [1/2]

osii::OsiOmniSensor::OsiOmniSensor	(	std::unique_ptr< OsiTransceiver > &&	osi_transceiver,
		uint64_t	owner_id
	)

inline

Create a new instance of OsiOmniSensor with the given OsiTransceiver.

◆ OsiOmniSensor() [2/2]

osii::OsiOmniSensor::OsiOmniSensor	(	OsiTransceiver *	osi_transceiver,
		uint64_t	owner_id
	)

inline

Create a new instance of OsiOmniSensor with the given new OsiTransceiver.

WARNING: If you use this constructor, please realize that OsiOmniSensor takes ownership of the pointer you pass in.

Member Function Documentation

◆ get_static_mounting_position()

virtual Eigen::Isometry3d osii::OsiOmniSensor::get_static_mounting_position	(	const Eigen::Vector3d &	bbcenter_to_veh_origin,
		const Eigen::Vector3d &	ego_dimensions
	)

pure virtual

Get sensor pose in OSI vehicle reference frame, e.g. from simulator configuration.

Implemented in vtd::VtdOsiSensor.

◆ osi_timestamp_to_simtime()

cloe::Duration osii::OsiOmniSensor::osi_timestamp_to_simtime ( const osi3::Timestamp & timestamp ) const

Get the current simulation time (t-t0).

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◆ process() [1/5]

void osii::OsiOmniSensor::process	(	const bool	has_eh,
		const osi3::DetectedEntityHeader &	osi_eh,
		const osi3::DetectedMovingObject &	osi_mo
	)

virtual

Translate OSI detected moving object information to Cloe data objects.

Parameters

osi_eh	DetectedEntityHeader message to be processed (if available).
osi_mo	DetectedMovingObject message to be processed.

◆ process() [2/5]

void osii::OsiOmniSensor::process	(	const bool	has_veh_data,
		const osi3::HostVehicleData &	osi_hv,
		const osi3::MovingObject &	osi_ego
	)

virtual

Translate OSI ego base information made available to the sensor model from other components, or use ground truth.

Parameters

osi_hv	HostVehicleData message to be processed (if available).
osi_mo	MovingObject (ground truth) used as fallback.

◆ process() [3/5]

void osii::OsiOmniSensor::process ( const osi3::SensorView & osi_sv )

virtual

Translate OSI SensorView to Cloe data objects.

Parameters

osi_sv SensorView message to be processed, including ground truth.

◆ process() [4/5]

void osii::OsiOmniSensor::process ( const osi3::Timestamp & timestamp )

virtual

Store the initial timestamp. Note that the osi time does not necessarily start at zero.

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◆ process() [5/5]

void osii::OsiOmniSensor::process	(	osi3::SensorData *	osi_sd,
		cloe::Duration &	sim_time
	)

virtual

Translate OSI SensorData to Cloe data objects.

Parameters

osi_sd	SensorData message to be processed.
sim_time	Simulation time to be set.

◆ step()

void osii::OsiOmniSensor::step	(	const cloe::Sync &	s,
		const bool &	restart,
		cloe::Duration &	sim_time
	)

virtual

Receive and process the incoming messages.

◆ store_ego_object()

virtual void osii::OsiOmniSensor::store_ego_object ( std::shared_ptr< cloe::Object > ego_obj )

pure virtual

Store the ego object that should be passed to Cloe.

Parameters

ego_obj Ego object to be stored.

Implemented in vtd::VtdOsiSensor.

◆ store_lane_boundary()

virtual void osii::OsiOmniSensor::store_lane_boundary ( const cloe::LaneBoundary & lb )

pure virtual

Store a detected lane boundary in a map of Cloe data objects.

Parameters

lb	Lane boundary to be stored.

Implemented in vtd::VtdOsiSensor.

◆ store_object()

virtual void osii::OsiOmniSensor::store_object ( std::shared_ptr< cloe::Object > obj )

pure virtual

Store a detected object in a list of Cloe data objects.

Parameters

obj	Object to be stored.

Implemented in vtd::VtdOsiSensor.

◆ store_sensor_meta_data()

virtual void osii::OsiOmniSensor::store_sensor_meta_data	(	const Eigen::Vector3d &	bbcenter_to_veh_origin,
		const Eigen::Vector3d &	ego_dimensions
	)

pure virtual

Store the sensor pose etc. in the corresponding Cloe sensor component.

Implemented in vtd::VtdOsiSensor.

Member Data Documentation

◆ osi_comm_

std::unique_ptr<OsiTransceiver> osii::OsiOmniSensor::osi_comm_

protected

Connection via TCP to simulator. Should always be valid.

The documentation for this class was generated from the following files:

/home/docs/checkouts/readthedocs.org/user_builds/cloe/checkouts/develop/optional/vtd/src/osi_omni_sensor.hpp
/home/docs/checkouts/readthedocs.org/user_builds/cloe/checkouts/develop/optional/vtd/src/osi_omni_sensor.cpp

Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ OsiOmniSensor() [1/2]

◆ OsiOmniSensor() [2/2]

Member Function Documentation

◆ get_static_mounting_position()

◆ osi_timestamp_to_simtime()

◆ process() [1/5]

◆ process() [2/5]

◆ process() [3/5]

◆ process() [4/5]

◆ process() [5/5]

◆ step()

◆ store_ego_object()

◆ store_lane_boundary()

◆ store_object()

◆ store_sensor_meta_data()

Member Data Documentation

◆ osi_comm_