omni_sensor_component.cpp File Reference

#include "omni_sensor_component.hpp"
#include <map>
#include <string>
#include <Eigen/Geometry>
#include <cloe/component/lane_boundary.hpp>
#include <cloe/component/object.hpp>
#include <cloe/utility/geometry.hpp>
#include "vtd_version.hpp"
#include <viRDBIcd.h>
#include "vtd_logger.hpp"

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Functions
Eigen::Vector3d	vtd::rdb_coord_xzy_to_vector3d (RDB_COORD_t vtd_coord)
Eigen::Vector3d	vtd::rdb_coord_rph_to_vector3d (RDB_COORD_t vtd_coord)
Eigen::Isometry3d	vtd::from_vtd_pose (const RDB_COORD_t &x)
void	vtd::from_vtd_object_state (const RDB_OBJECT_STATE_t *rdb_os, bool ext, cloe::Object &object)
void	vtd::from_vtd_roadmark (const RDB_ROADMARK_t *rm, cloe::LaneBoundary &lb)

Variables
const std::map< int, cloe::Object::Class >	vtd::vtd_object_class_map
const std::map< int, cloe::LaneBoundary::Type >	vtd::vtd_roadmark_type_map
const std::map< int, cloe::LaneBoundary::Color >	vtd::vtd_roadmark_color_map

Detailed Description

See also

omni_sensor_component.hpp

Function Documentation

from_vtd_object_state()

void vtd::from_vtd_object_state	(	const RDB_OBJECT_STATE_t *	rdb_os,
		bool	ext,
		cloe::Object &	obj
	)

Converts a RDB_OBJECT_STATE_t into an Object.

Parameters

rdb_object_state	pointer to the RDB object state
extended	indicates that rdb_object_state provides extended information
object	object where the converted state information is written in

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from_vtd_pose()

Eigen::Isometry3d vtd::from_vtd_pose

(

const RDB_COORD_t &

x

)

Converts a RDB_COORD_t into Eigen::Isometry3d.

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rdb_coord_rph_to_vector3d()

Eigen::Vector3d vtd::rdb_coord_rph_to_vector3d

(

RDB_COORD_t

vtd_coord

)

Converts a RDB_COORD_t (r, p, h) into Eigen::Vector3d.

Parameters

vtd_coord

to be converted

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rdb_coord_xzy_to_vector3d()

Eigen::Vector3d vtd::rdb_coord_xzy_to_vector3d

(

RDB_COORD_t

vtd_coord

)

Converts a RDB_COORD_t (x, y, z) into Eigen::Vector3d.

Parameters

vtd_coord

to be converted

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Variable Documentation

vtd_object_class_map

const std::map<int, cloe::Object::Class> vtd::vtd_object_class_map

Map to convert from VTD to Cloe object classification.

vtd_roadmark_color_map

const std::map<int, cloe::LaneBoundary::Color> vtd::vtd_roadmark_color_map

Initial value:

= {
    {RDB_ROADMARK_COLOR_NONE, cloe::LaneBoundary::Color::Unknown},
    {RDB_ROADMARK_COLOR_WHITE, cloe::LaneBoundary::Color::White},
    {RDB_ROADMARK_COLOR_RED, cloe::LaneBoundary::Color::Red},
    {RDB_ROADMARK_COLOR_YELLOW, cloe::LaneBoundary::Color::Yellow},
    {RDB_ROADMARK_COLOR_OTHER, cloe::LaneBoundary::Color::Unknown},
    {RDB_ROADMARK_COLOR_BLUE, cloe::LaneBoundary::Color::Blue},
    {RDB_ROADMARK_COLOR_GREEN, cloe::LaneBoundary::Color::Green},
}

Map to convert from VTD roadmark colors to Cloe lane boundary colors.

vtd_roadmark_type_map

const std::map<int, cloe::LaneBoundary::Type> vtd::vtd_roadmark_type_map

Initial value:

= {
    {RDB_ROADMARK_TYPE_NONE, cloe::LaneBoundary::Type::Unknown},
    {RDB_ROADMARK_TYPE_SOLID, cloe::LaneBoundary::Type::Solid},
    {RDB_ROADMARK_TYPE_BROKEN, cloe::LaneBoundary::Type::Dashed},
    {RDB_ROADMARK_TYPE_CURB, cloe::LaneBoundary::Type::Curb},
    {RDB_ROADMARK_TYPE_GRASS, cloe::LaneBoundary::Type::Grass},
    {RDB_ROADMARK_TYPE_BOTDOT, cloe::LaneBoundary::Type::Unknown},
    {RDB_ROADMARK_TYPE_OTHER, cloe::LaneBoundary::Type::Unknown},
    {RDB_ROADMARK_TYPE_SOLID_SOLID, cloe::LaneBoundary::Type::Unknown},
    {RDB_ROADMARK_TYPE_BROKEN_SOLID, cloe::LaneBoundary::Type::Unknown},
    {RDB_ROADMARK_TYPE_SOLID_BROKEN, cloe::LaneBoundary::Type::Unknown},
    {RDB_ROADMARK_TYPE_LANE_CENTER, cloe::LaneBoundary::Type::Unknown},
}

Map to convert from VTD roadmark types to Cloe lane boundary types.