#include <omni_sensor_component.hpp>

Inheritance diagram for vtd::VtdOmniSensor:

Collaboration diagram for vtd::VtdOmniSensor:

Public Member Functions
	VtdOmniSensor (std::unique_ptr< RdbTransceiver > &&rdb_transceiver, uint64_t owner_id)

void	step (const cloe::Sync &s) override

void	process (RDB_START_OF_FRAME_t *) override

void	process (RDB_END_OF_FRAME_t *) override

void	process (RDB_WHEEL_t *rdb_w, bool) override

void	process (RDB_SENSOR_STATE_t *s) override

void	process (RDB_OBJECT_STATE_t *rdb_os, bool extended) override

void	process (RDB_ROADMARK_t *rdb_rm) override

const std::string &	get_name () const override

void	reset () override

virtual void	process (RDB_MSG_t *msg, bool &restart, cloe::Duration &sim_time)

virtual void	process (RDB_MSG_ENTRY_HDR_t *entry)

virtual void	process (RDB_START_OF_FRAME_t *)

virtual void	process (RDB_END_OF_FRAME_t *)

virtual void	process (RDB_COORD_SYSTEM_t *)

virtual void	process (RDB_COORD_t *)

virtual void	process (RDB_ROAD_POS_t *)

virtual void	process (RDB_LANE_INFO_t *)

virtual void	process (RDB_ROADMARK_t *)

virtual void	process (RDB_OBJECT_CFG_t *)

virtual void	process (RDB_OBJECT_STATE_t *, bool)

virtual void	process (RDB_VEHICLE_SYSTEMS_t *)

virtual void	process (RDB_VEHICLE_SETUP_t *)

virtual void	process (RDB_ENGINE_t *, bool)

virtual void	process (RDB_DRIVETRAIN_t *, bool)

virtual void	process (RDB_WHEEL_t *, bool)

virtual void	process (RDB_PED_ANIMATION_t *)

virtual void	process (RDB_SENSOR_STATE_t *)

virtual void	process (RDB_SENSOR_OBJECT_t *)

virtual void	process (RDB_CAMERA_t *)

virtual void	process (RDB_CONTACT_POINT_t *)

virtual void	process (RDB_TRAFFIC_SIGN_t *)

virtual void	process (RDB_ROAD_STATE_t *)

virtual void	process (RDB_IMAGE_t *)

virtual void	process (RDB_LIGHT_SOURCE_t *, bool)

virtual void	process (RDB_ENVIRONMENT_t *)

virtual void	process (RDB_TRIGGER_t *)

virtual void	process (RDB_DRIVER_CTRL_t *)

virtual void	process (RDB_TRAFFIC_LIGHT_t *, bool)

virtual void	process (RDB_SYNC_t *)

virtual void	process (RDB_DRIVER_PERCEPTION_t *)

virtual void	process (RDB_FUNCTION_t *)

virtual void	process (RDB_ROAD_QUERY_t *)

virtual void	process (RDB_TRAJECTORY_t *)

virtual void	process (RDB_DYN_2_STEER_t *)

virtual void	process (RDB_STEER_2_DYN_t *)

virtual void	process (RDB_PROXY_t *)

virtual void	process (RDB_MOTION_SYSTEM_t *)

virtual void	process (RDB_FREESPACE_t *)

virtual void	process (RDB_DYN_EL_SWITCH_t *)

virtual void	process (RDB_DYN_EL_DOF_t *)

virtual void	process (RDB_IG_FRAME_t *)

virtual void	process (RDB_RT_PERFORMANCE_t *)

virtual void	process (RDB_CUSTOM_SCORING_t *)

virtual void	process (RDB_CUSTOM_OBJECT_CTRL_TRACK_t *)

Public Member Functions inherited from vtd::RdbCodec
	RdbCodec (std::unique_ptr< RdbTransceiver > &&rdb_transceiver)

	RdbCodec (RdbTransceiver *rdb_transceiver)

virtual uint64_t	frame_number () const

virtual void	step (uint64_t frame_number, bool &restart, cloe::Duration &sim_time)

virtual void	process (RDB_MSG_t *msg, bool &restart, cloe::Duration &sim_time)

virtual void	process (RDB_MSG_ENTRY_HDR_t *entry)

virtual void	process (RDB_COORD_SYSTEM_t *)

virtual void	process (RDB_COORD_t *)

virtual void	process (RDB_ROAD_POS_t *)

virtual void	process (RDB_LANE_INFO_t *)

virtual void	process (RDB_OBJECT_CFG_t *)

virtual void	process (RDB_VEHICLE_SYSTEMS_t *)

virtual void	process (RDB_VEHICLE_SETUP_t *)

virtual void	process (RDB_ENGINE_t *, bool)

virtual void	process (RDB_DRIVETRAIN_t *, bool)

virtual void	process (RDB_PED_ANIMATION_t *)

virtual void	process (RDB_SENSOR_OBJECT_t *)

virtual void	process (RDB_CAMERA_t *)

virtual void	process (RDB_CONTACT_POINT_t *)

virtual void	process (RDB_TRAFFIC_SIGN_t *)

virtual void	process (RDB_ROAD_STATE_t *)

virtual void	process (RDB_IMAGE_t *)

virtual void	process (RDB_LIGHT_SOURCE_t *, bool)

virtual void	process (RDB_ENVIRONMENT_t *)

virtual void	process (RDB_TRIGGER_t *)

virtual void	process (RDB_DRIVER_CTRL_t *)

virtual void	process (RDB_TRAFFIC_LIGHT_t *, bool)

virtual void	process (RDB_SYNC_t *)

virtual void	process (RDB_DRIVER_PERCEPTION_t *)

virtual void	process (RDB_FUNCTION_t *)

virtual void	process (RDB_ROAD_QUERY_t *)

virtual void	process (RDB_TRAJECTORY_t *)

virtual void	process (RDB_DYN_2_STEER_t *)

virtual void	process (RDB_STEER_2_DYN_t *)

virtual void	process (RDB_PROXY_t *)

virtual void	process (RDB_MOTION_SYSTEM_t *)

virtual void	process (RDB_FREESPACE_t *)

virtual void	process (RDB_DYN_EL_SWITCH_t *)

virtual void	process (RDB_DYN_EL_DOF_t *)

virtual void	process (RDB_IG_FRAME_t *)

virtual void	process (RDB_RT_PERFORMANCE_t *)

virtual void	process (RDB_CUSTOM_SCORING_t *)

virtual void	process (RDB_CUSTOM_OBJECT_CTRL_TRACK_t *)

Public Member Functions inherited from vtd::VtdSensorData
	VtdSensorData (const std::string &name)

virtual cloe::Duration	simulation_time () const

virtual void	set_name (const std::string &name)

virtual void	set_reset_state ()

const cloe::Object &	get_ego_object () const

const cloe::Objects &	get_world_objects () const

double	get_ego_steering_angle () const

const cloe::Frustum &	get_frustum () const

const Eigen::Isometry3d &	get_mount_pose () const

const cloe::LaneBoundaries &	get_lane_boundaries ()

void	clear_cache ()

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

Protected Attributes inherited from vtd::RdbCodec
std::unique_ptr< RdbTransceiver >	rdb_

uint64_t	frame_number_ = 0
	Frame number from last processed RDB message.

bool	processing_frame_ = false
	Indicates whether in between a start of frame and an end of frame message.

Protected Attributes inherited from vtd::VtdSensorData
std::string	name_ = "default_sensor"
	Human readable name.

bool	restart_ = false
	Indicates whether reset has been requested.

cloe::Duration	simulation_time_ = cloe::Duration(0)
	Simulation time from last processed sensor message.

Eigen::Isometry3d	mount_
	Sensor mounting position and orientation.

cloe::Frustum	frustum_
	Sensor frustum information.

cloe::Objects	world_objects_
	World objects from last processed frame.

std::shared_ptr< cloe::Object >	ego_object_
	ego object information from last processed frame.

double	ego_steering_angle_ {0.0}
	Ego front left wheel steering angle from last processed frame.

cloe::LaneBoundaries	lanes_
	Lane id-to-boundary-map.

Friends
void	to_json (cloe::Json &j, const VtdOmniSensor &s)

Detailed Description

VtdOmniSensor implements retrieval of all data sent by the related VTD sensor.

This is currently object, ego, and lane boundary sensor data.

The object sensor senses box-like objects. The objects are received via RDB and provided as an object list. The ego sensor senses wheel and general ego information. The lane boundary sensor senses roadmarks.

In order to distinguish ego from non-ego objects OmniSensor uses the owner_id which is the VTD object id from the vehicle owning the related sensor.

Member Function Documentation

◆ get_name()

const std::string& vtd::VtdOmniSensor::get_name ( ) const

inlineoverridevirtual

Return the Codec's or Sensors' name. Will be overwritten by the name set in VtdSensorData.

Implements vtd::RdbCodec.

◆ process() [1/4]

void vtd::RdbCodec::process

Process each RDB message entry. This method is called in process(RDB_MSG_t) for each entry in a message.

Parameters

entry RDB message entry to be processed

◆ process() [2/4]

void vtd::RdbCodec::process

Process a RDB message. This method is called in process() for each RDB message.

Parameters

msg	message to be processed

◆ process() [3/4]

virtual void vtd::RdbCodec::process

inline

Process a start of frame.

Parameters

start_of_frame only used for dynamic binding; do not access.

◆ process() [4/4]

void vtd::VtdOmniSensor::process ( RDB_START_OF_FRAME_t * )

inlineoverridevirtual

Process a start of frame.

Parameters

start_of_frame only used for dynamic binding; do not access.

Reimplemented from vtd::RdbCodec.

◆ reset()

void vtd::VtdOmniSensor::reset ( )

inlineoverridevirtual

Reset the codec.

Discard received messages, clear data members, and implement sensor-specific reset steps.

Implements vtd::VtdSensorData.

Reimplemented in vtd::TaskControl.

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◆ step()

void vtd::VtdOmniSensor::step ( const cloe::Sync & s )

inlineoverridevirtual

Process the incoming data.

Implements vtd::VtdSensorData.

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

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

Public Member Functions

Protected Attributes

Friends

Detailed Description

Member Function Documentation

◆ get_name()

◆ process() [1/4]

◆ process() [2/4]

◆ process() [3/4]

◆ process() [4/4]

◆ reset()

◆ step()