#include <objectdetectionmodel.h>
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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::TParticipantFeed * | participant_feed_ |
adore::sim::AFactory::TParticipantSetWriter * | participant_set_writer_ |
std::unordered_map< int, adore::env::traffic::Participant > | latest_data_ |
adore::mad::AReader< double > * | timer_ |
adore::params::APSensorModel * | psensor_model_ |
adore::env::AFactory::TVehicleMotionStateReader * | localization_state_reader_ |
adore::sim::AFactory::TVehicleMotionStateReader * | true_state_reader_ |
A simple model for sensor detection of traffic participants in the vehicle's vicinity
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Constructor
simulationID | id of vehicle in simulation, required to avoid detecting itself |
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publish updates on the detection of traffic participants
< range at which traffic is detected
< time after which observations are discarded
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< publishes list of traffic participant detections
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< ego location for range filtering
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< retrieve state updates from all vehicles
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< timer is used for discarding old updates
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< map contains latest updates on traffic participants, tracking id mapping to participant
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