ADORe
ADORe is a modular open source software library and toolkit for decision making, planning, control and simulation of automated vehicles
adore::apps::ObjectDetectionModel Class Reference

#include <objectdetectionmodel.h>

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Public Member Functions

 ObjectDetectionModel (int simulationID)
 
virtual void run ()
 publish updates on the detection of traffic participants More...
 

Private Attributes

int simulationID_
 
adoreMatrix< double, 3, 1 > ego_location_
 
adore::sim::AFactory::TParticipantFeedparticipant_feed_
 
adore::sim::AFactory::TParticipantSetWriterparticipant_set_writer_
 
std::unordered_map< int, adore::env::traffic::Participantlatest_data_
 
adore::mad::AReader< double > * timer_
 
adore::params::APSensorModelpsensor_model_
 
adore::env::AFactory::TVehicleMotionStateReaderlocalization_state_reader_
 
adore::sim::AFactory::TVehicleMotionStateReadertrue_state_reader_
 

Detailed Description

A simple model for sensor detection of traffic participants in the vehicle's vicinity

Constructor & Destructor Documentation

◆ ObjectDetectionModel()

adore::apps::ObjectDetectionModel::ObjectDetectionModel ( int  simulationID)
inline

Constructor

Parameters
simulationIDid of vehicle in simulation, required to avoid detecting itself
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Member Function Documentation

◆ run()

virtual void adore::apps::ObjectDetectionModel::run ( )
inlinevirtual

publish updates on the detection of traffic participants

< range at which traffic is detected

< time after which observations are discarded

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Member Data Documentation

◆ ego_location_

adoreMatrix<double,3,1> adore::apps::ObjectDetectionModel::ego_location_
private

◆ latest_data_

std::unordered_map<int,adore::env::traffic::Participant> adore::apps::ObjectDetectionModel::latest_data_
private

< publishes list of traffic participant detections

◆ localization_state_reader_

adore::env::AFactory::TVehicleMotionStateReader* adore::apps::ObjectDetectionModel::localization_state_reader_
private

◆ participant_feed_

adore::sim::AFactory::TParticipantFeed* adore::apps::ObjectDetectionModel::participant_feed_
private

< ego location for range filtering

◆ participant_set_writer_

adore::sim::AFactory::TParticipantSetWriter* adore::apps::ObjectDetectionModel::participant_set_writer_
private

< retrieve state updates from all vehicles

◆ psensor_model_

adore::params::APSensorModel* adore::apps::ObjectDetectionModel::psensor_model_
private

< timer is used for discarding old updates

◆ simulationID_

int adore::apps::ObjectDetectionModel::simulationID_
private

◆ timer_

adore::mad::AReader<double>* adore::apps::ObjectDetectionModel::timer_
private

< map contains latest updates on traffic participants, tracking id mapping to participant

◆ true_state_reader_

adore::sim::AFactory::TVehicleMotionStateReader* adore::apps::ObjectDetectionModel::true_state_reader_
private

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