ADORe
ADORe is a modular open source software library and toolkit for decision making, planning, control and simulation of automated vehicles
p_sensor_model.h
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1 /********************************************************************************
2  * Copyright (C) 2017-2020 German Aerospace Center (DLR).
3  * Eclipse ADORe, Automated Driving Open Research https://eclipse.org/adore
4  *
5  * This program and the accompanying materials are made available under the
6  * terms of the Eclipse Public License 2.0 which is available at
7  * http://www.eclipse.org/legal/epl-2.0.
8  *
9  * SPDX-License-Identifier: EPL-2.0
10  *
11  * Contributors:
12  * Daniel Heß - initial API and implementation
13  ********************************************************************************/
14 
15 #pragma once
16 
17 #include <ros/ros.h>
20 
21 namespace adore
22 {
23  namespace if_ROS
24  {
25  namespace params
26  {
28  {
29  public:
30  PSensorModel(ros::NodeHandle n,std::string prefix)
31  :ROSParam(n,prefix + "SensorModel/")//using SensorModel instead of Sensor to discriminate with real sensor parameters
32  {
33  }
35  virtual double get_objectDetectionRange()const override
36  {
37  double value = 1000.0;
38  static const std::string name = prefix_ + "objectDetectionRange";
39  get(name,value);
40  return value;
41  }
43  virtual double get_objectDiscardAge()const override
44  {
45  double value = 1.0;
46  static const std::string name = prefix_ + "objectDiscardAge";
47  get(name,value);
48  return value;
49  }
50  };
51  }
52  }
53 }
Definition: ros_com_patterns.h:179
std::string prefix_
Definition: ros_com_patterns.h:181
void get(const std::string &name, T &result) const
Definition: ros_com_patterns.h:186
Definition: p_sensor_model.h:28
PSensorModel(ros::NodeHandle n, std::string prefix)
Definition: p_sensor_model.h:30
virtual double get_objectDiscardAge() const override
time after which object detections are discarded
Definition: p_sensor_model.h:43
virtual double get_objectDetectionRange() const override
maximum sensor range for object detection in a generalized sensor setting
Definition: p_sensor_model.h:35
abstract class for vehicle sensor model parameters
Definition: ap_sensor_model.h:27
Definition: areaofeffectconverter.h:20