#include <osi_sensor_component.hpp>

Inheritance diagram for vtd::VtdOsiSensor:

Collaboration diagram for vtd::VtdOsiSensor:

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

void	configure (const VtdSensorConfig &cfg)

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

void	store_object (std::shared_ptr< cloe::Object > obj) override

void	store_lane_boundary (const cloe::LaneBoundary &lb) override

void	store_ego_object (std::shared_ptr< cloe::Object > ego_obj) override

void	store_sensor_meta_data (const Eigen::Vector3d &bbcenter_to_veh_origin, const Eigen::Vector3d &ego_dimensions) override

Eigen::Isometry3d	get_static_mounting_position (const Eigen::Vector3d &bbcenter_to_veh_origin, const Eigen::Vector3d &ego_dimensions) override

void	set_mock_conf (std::shared_ptr< const osii::SensorMockConf > mock) override

void	reset () override

Public Member Functions inherited from osii::OsiOmniSensor
	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)

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

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

SensorMockLevel	get_mock_level (SensorMockTarget trg_type) const

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
Eigen::Vector3d	vtd_mnt_pos_dxyz_
	Sensor mounting position obtained from config (in VTD vehicle coordinate frame).

Eigen::Vector3d	vtd_mnt_ori_drpy_

Protected Attributes inherited from osii::OsiOmniSensor
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.

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 VtdOsiSensor &s)

Detailed Description

VtdOsiSensor implements retrieval of all data sent by the simulator components.

The object sensor senses box-like objects. The objects are received via TCP and provided as an object list.

Member Function Documentation

◆ get_static_mounting_position()

Eigen::Isometry3d vtd::VtdOsiSensor::get_static_mounting_position	(	const Eigen::Vector3d &	bbcenter_to_veh_origin,
		const Eigen::Vector3d &	ego_dimensions
	)

inlineoverridevirtual

Return the sensor pose in the vehicle reference frame as defined by OSI (rear axle center, not street level as in VTD).

Implements osii::OsiOmniSensor.

◆ reset()

void vtd::VtdOsiSensor::reset ( )

inlineoverridevirtual

Reset the codec.

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

Implements vtd::VtdSensorData.

Here is the call graph for this function:

◆ set_mock_conf()

void vtd::VtdOsiSensor::set_mock_conf ( std::shared_ptr< const osii::SensorMockConf > mock )

inlineoverride

Set the mock level for different data types according to user request.

◆ step()

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

inlineoverridevirtual

Process the incoming data.

Implements vtd::VtdSensorData.

◆ store_ego_object()

void vtd::VtdOsiSensor::store_ego_object ( std::shared_ptr< cloe::Object > ego_obj )

inlineoverridevirtual

Store the ego object that should be passed to Cloe.

Parameters

ego_obj Ego object to be stored.

Implements osii::OsiOmniSensor.

◆ store_lane_boundary()

void vtd::VtdOsiSensor::store_lane_boundary ( const cloe::LaneBoundary & lb )

inlineoverridevirtual

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

Parameters

lb	Lane boundary to be stored.

Implements osii::OsiOmniSensor.

◆ store_object()

void vtd::VtdOsiSensor::store_object ( std::shared_ptr< cloe::Object > obj )

inlineoverridevirtual

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

Parameters

obj	Object to be stored.

Implements osii::OsiOmniSensor.

◆ store_sensor_meta_data()

void vtd::VtdOsiSensor::store_sensor_meta_data	(	const Eigen::Vector3d &	bbcenter_to_veh_origin,
		const Eigen::Vector3d &	ego_dimensions
	)

inlineoverridevirtual

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

Implements osii::OsiOmniSensor.

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

Public Member Functions

Protected Attributes

Friends

Detailed Description

Member Function Documentation

◆ get_static_mounting_position()

◆ reset()

◆ set_mock_conf()

◆ step()

◆ store_ego_object()

◆ store_lane_boundary()

◆ store_object()

◆ store_sensor_meta_data()