ego_sensor_canon.hpp File Reference

#include <math.h>
#include <memory>
#include <cloe/component/ego_sensor.hpp>

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Classes
class	cloe::utility::EgoSensorCanon

Functions
double	cloe::utility::distance_forward (const Object &o)
double	cloe::utility::distance_starboard (const Object &o)
bool	cloe::utility::is_object_fore (const Object &o)
bool	cloe::utility::is_object_aft (const Object &o)
bool	cloe::utility::is_same_lane (const Object &o)
std::shared_ptr< Object >	cloe::utility::closest_forward (const Objects objects)

Detailed Description

This file serves as a way of documenting how the objects are to be used that are passed around components in Cloe.

Function Documentation

closest_forward()

std::shared_ptr< Object > cloe::utility::closest_forward

(

const Objects

objects

)

Returns the closest object that is in front of the ego.

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distance_forward()

double cloe::utility::distance_forward ( const Object &  o )

inline

Return the distance the object is in front of the ego.

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distance_starboard()

double cloe::utility::distance_starboard ( const Object &  o )

inline

Return the distance the object is to the right of the ego.

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is_object_aft()

bool cloe::utility::is_object_aft ( const Object &  o )

inline

Return whether the object is behind the ego.

TODO(ben): There has got to be a better way to do this.

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is_object_fore()

bool cloe::utility::is_object_fore ( const Object &  o )

inline

Return whether the object is in front of the ego.

TODO(ben): There has got to be a better way to do this.

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is_same_lane()

bool cloe::utility::is_same_lane ( const Object &  o )

inline

Return whether the object is in the same "lane".

TODO(ben): There has got to be a better way to do this. The current logic runs a little like this:

If the center of the object is more than 2.5m away from our current position, then the vehicle is not in our lane. (Most personal automobiles are around 1.85m wide.)

This is unfortunately not correct for a wide variety of situations:

• What if the road is curved?
• What if we are changing the lane?
• What if the lane is wider?
• What if the lane is narrower?

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