noisy_lane_sensor.cpp File Reference

#include <Eigen/Geometry>
#include <memory>
#include <random>
#include <string>
#include <utility>
#include <cloe/component.hpp>
#include <cloe/component/frustum.hpp>
#include <cloe/component/lane_boundary.hpp>
#include <cloe/component/lane_sensor.hpp>
#include <cloe/conf/action.hpp>
#include <cloe/plugin.hpp>
#include <cloe/registrar.hpp>
#include <cloe/sync.hpp>
#include <cloe/trigger/set_action.hpp>
#include "noise_data.hpp"

Include dependency graph for noisy_lane_sensor.cpp:

Enumerations
enum class	LaneBoundaryField {   DyStart , DxStart , HeadingStart , CurvhorStart ,   CurvhorChange , DxEnd }

Functions
	cloe::ENUM_SERIALIZATION (LaneBoundaryField,({ {LaneBoundaryField::DyStart, "dy_start"}, {LaneBoundaryField::DxStart, "dx_start"}, {LaneBoundaryField::HeadingStart, "heading_start"}, {LaneBoundaryField::CurvhorStart, "curv_hor_start"}, {LaneBoundaryField::CurvhorChange, "curv_hor_change"}, {LaneBoundaryField::DxEnd, "dx_end"}, })) namespace component

Function Documentation

ENUM_SERIALIZATION()

cloe::ENUM_SERIALIZATION	(	LaneBoundaryField	,
		({ {LaneBoundaryField::DyStart, "dy_start"}, {LaneBoundaryField::DxStart, "dx_start"}, {LaneBoundaryField::HeadingStart, "heading_start"}, {LaneBoundaryField::CurvhorStart, "curv_hor_start"}, {LaneBoundaryField::CurvhorChange, "curv_hor_change"}, {LaneBoundaryField::DxEnd, "dx_end"},})
	)

Add noise to target parameter.

Set the appropriate target function.

List of noisy lane boundary parameters.

Process the underlying sensor and clear the cache.

We could process and create the filtered list of objects now, but we can also delay it (lazy computation) and only do it when absolutely necessary. This comes at the minor cost of checking whether cached_ is true every time sensed_objects() is called.