19 #include <unordered_map>
35 std::unordered_map<int,adore::env::traffic::Participant>
latest_data_;
79 adoreMatrix<double, 3, 1> position;
81 position(0, 0) =
x.getX();
82 position(1, 0) =
x.getY();
103 const double X_e = ct*X_l-st*Y_l + x_localization.
getX();
104 const double Y_e = st*X_l+ct*Y_l + x_localization.
getY();
105 const double Z_e = Z_l + x_localization.
getZ();
111 const double cy_l = ct * cy + st * sy;
112 const double sy_l =-st * cy + ct * sy;
113 const double cy_e = ce * cy_l - se * sy_l;
114 const double sy_e = se * cy_l + ce * sy_l;
126 auto& p = pair.second;
128 if( t_now - p.getObservationTime() < discard_age )
Definition: objectdetectionmodel.h:29
adore::mad::AReader< double > * timer_
Definition: objectdetectionmodel.h:36
virtual void run()
publish updates on the detection of traffic participants
Definition: objectdetectionmodel.h:61
adoreMatrix< double, 3, 1 > ego_location_
Definition: objectdetectionmodel.h:32
adore::params::APSensorModel * psensor_model_
Definition: objectdetectionmodel.h:37
ObjectDetectionModel(int simulationID)
Definition: objectdetectionmodel.h:47
adore::env::AFactory::TVehicleMotionStateReader * localization_state_reader_
Definition: objectdetectionmodel.h:38
std::unordered_map< int, adore::env::traffic::Participant > latest_data_
Definition: objectdetectionmodel.h:35
adore::sim::AFactory::TParticipantSetWriter * participant_set_writer_
Definition: objectdetectionmodel.h:34
adore::sim::AFactory::TParticipantFeed * participant_feed_
Definition: objectdetectionmodel.h:33
int simulationID_
Definition: objectdetectionmodel.h:31
adore::sim::AFactory::TVehicleMotionStateReader * true_state_reader_
Definition: objectdetectionmodel.h:39
virtual TVehicleMotionStateReader * getVehicleMotionStateReader()=0
static adore::env::AFactory * get()
Definition: afactory.h:236
virtual void getNext(T &value)=0
virtual bool hasNext() const =0
virtual void getData(T &value)=0
virtual bool hasData() const =0
Definition: com_patterns.h:97
virtual void write(const T &value)=0
virtual APSensorModel * getSensorModel() const =0
abstract class for vehicle sensor model parameters
Definition: ap_sensor_model.h:27
virtual double get_objectDetectionRange() const =0
maximum sensor range for object detection in a generalized sensor setting
virtual double get_objectDiscardAge() const =0
time after which object detections are discarded
static adore::params::AFactory * get()
Definition: afactory.h:103
virtual TVehicleMotionStateReader * getVehicleMotionStateReader()=0
read updates on the true vehicle motion state
virtual TParticipantFeed * getParticipantFeed()=0
get state updates from all vehicles
virtual TParticipantSetWriter * getParticipantSetWriter()=0
send simulated sensor data
virtual TSimulationTimeReader * getSimulationTimeReader()=0
read the simulation time
static adore::sim::AFactory * get()
Definition: afactory.h:145
std::vector< Participant > TParticipantSet
Definition: participant.h:164
interval< T > atan2(interval< T > y, interval< T > x)
Definition: intervalarithmetic.h:234
T norm2(const adoreMatrix< T, N, 1 > &x)
Definition: adoremath.h:186
interval< T > cos(interval< T > x)
Definition: intervalarithmetic.h:225
interval< T > sin(interval< T > x)
Definition: intervalarithmetic.h:204
x
Definition: adore_set_goal.py:30
Definition: areaofeffectconverter.h:20
This struct holds the motion state of the vehicle in 9d.
Definition: vehiclemotionstate9d.h:39
double getX() const
Get the x-coordinate.
Definition: vehiclemotionstate9d.h:54
double getY() const
Get the y-coordinate.
Definition: vehiclemotionstate9d.h:60
double getPSI() const
Get the heading.
Definition: vehiclemotionstate9d.h:72
double getZ() const
Get the z-coordinate.
Definition: vehiclemotionstate9d.h:66
Struct for representing a participant in traffic.
Definition: participant.h:30
TTrackingID getTrackingID() const
Definition: participant.h:109
double yaw_
Definition: participant.h:99
adoreMatrix< double, 3, 1 > center_
Definition: participant.h:98
const adoreMatrix< double, 3, 1 > & getCenter() const
Definition: participant.h:124
double getYaw() const
Definition: participant.h:154
double existance_certainty_
Definition: participant.h:80