Struct for representing a participant in traffic. More...
#include <participant.h>
Public Types | |
enum | EClassification : int { UNCLASSIFIED =0 , UNKNOWN_SMALL =1 , UNKNOWN_BIG =2 , UNDER_DRIVABLE =3 , OVER_DRIVABLE =4 , PEDESTRIAN =5 , BIKE =6 , BICYCLE =7 , MOPED =8 , MOTORCYCLE =9 , CAR =10 , VAN =11 , BUS =12 , TRUCK =13 , LIGHT_TRUCK =14 , HEAVY_TRUCK =15 , TRAM =16 , TRAILER =17 , SPECIAL_VEHICLE =18 , PEDESTRIAN_GROUP =19 , TRAIN =20 , HORSE_RIDER =21 , ANIMAL_SMALL =22 , ANIMAL_BIG =23 } |
typedef int | TTrackingID |
typedef long long int | TV2XStationID |
typedef adoreMatrix< double, 7, 7 > | TCovariance |
Public Member Functions | |
TTrackingID | getTrackingID () const |
TV2XStationID | getStationID () const |
double | getExistanceCertainty () const |
double | getObservationTime () const |
bool | getLeftIndicatorOn () const |
double | getLeftIndicatorCertainty () const |
bool | getRightIndicatorOn () const |
double | getRightIndicatorCertainty () const |
bool | getLowBeamOn () const |
double | getLowBeamCertainty () const |
bool | getHighBeamOn () const |
double | getHighBeamCertainty () const |
unsigned int | getDetectionBySensor () const |
EClassification | getClassification () const |
double | getClassificationCertainty () const |
const adoreMatrix< double, 3, 1 > & | getCenter () const |
adoreMatrix< double, 3, 1 > | getFrontLeftCorner () const |
adoreMatrix< double, 3, 1 > | getFrontRightCorner () const |
adoreMatrix< double, 3, 1 > | getRearLeftCorner () const |
adoreMatrix< double, 3, 1 > | getRearRightCorner () const |
double | getYaw () const |
double | getLength () const |
double | getWidth () const |
double | getVx () const |
double | getVy () const |
double | getYawRate () const |
double | getAx () const |
const TCovariance & | getCovariance () const |
Public Attributes | |
TTrackingID | trackingID_ |
TV2XStationID | v2xStationID_ |
double | existance_certainty_ |
double | observation_time_ |
bool | leftIndicatorOn_ |
double | leftIndicator_certainty_ |
bool | rightIndicatorOn_ |
double | rightIndicator_certainty_ |
bool | brakeLightsOn_ |
double | brakeLight_certainty_ |
bool | lowBeamOn_ |
double | lowBeamCertainty_ |
bool | highBeamOn_ |
double | highBeamCertainty_ |
unsigned int | detection_by_sensor_ |
EClassification | classification_ |
double | classification_certainty_ |
adoreMatrix< double, 3, 1 > | center_ |
double | yaw_ |
double | length_ |
double | width_ |
double | height_ |
double | vx_ |
double | vy_ |
double | yawrate_ |
double | acceleration_x_ |
TCovariance | covariance_ |
Static Public Attributes | |
static const unsigned int | UNDEFINED = 1 |
static const unsigned int | RADAR = 2 |
static const unsigned int | LIDAR = 4 |
static const unsigned int | MONO_VIDEO = 8 |
static const unsigned int | STEREO_VISION = 16 |
static const unsigned int | SPERICAL_CAMERA = 32 |
static const unsigned int | NIGHT_VISION = 64 |
static const unsigned int | ULTRASONIC = 128 |
static const unsigned int | INDUCTIONLOOP = 256 |
static const unsigned int | PMD = 512 |
static const unsigned int | V2X_CAM = 1024 |
static const unsigned int | V2X_CPM = 2048 |
static const unsigned int | V2X_MCM = 4096 |
static const unsigned int | SPECULATIVE = 2147483648 |
Struct for representing a participant in traffic.
typedef adoreMatrix<double,7,7> adore::env::traffic::Participant::TCovariance |
typedef int adore::env::traffic::Participant::TTrackingID |
typedef long long int adore::env::traffic::Participant::TV2XStationID |
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double adore::env::traffic::Participant::acceleration_x_ |
acceleration in yaw direction
double adore::env::traffic::Participant::brakeLight_certainty_ |
confidence about brake light state 0..100
bool adore::env::traffic::Participant::brakeLightsOn_ |
state of the brake lights
adoreMatrix<double,3,1> adore::env::traffic::Participant::center_ |
EClassification adore::env::traffic::Participant::classification_ |
type of traffic participant -> classification values
double adore::env::traffic::Participant::classification_certainty_ |
confidence of classification 0..100
TCovariance adore::env::traffic::Participant::covariance_ |
[X,Y,Z,yaw,vx,vy,yawrate]^2
unsigned int adore::env::traffic::Participant::detection_by_sensor_ |
bit array -> sensor type values
double adore::env::traffic::Participant::existance_certainty_ |
confidence that traffic participant exists 0..100
double adore::env::traffic::Participant::height_ |
extend of box projected on up vector
double adore::env::traffic::Participant::highBeamCertainty_ |
confidence about head light state 0..100
bool adore::env::traffic::Participant::highBeamOn_ |
state of the head lights
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double adore::env::traffic::Participant::leftIndicator_certainty_ |
confidence of detection of left indicator state 0..100
bool adore::env::traffic::Participant::leftIndicatorOn_ |
indicator in yaw direction on the left side
double adore::env::traffic::Participant::length_ |
extend of box projected to yaw direction vector
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double adore::env::traffic::Participant::lowBeamCertainty_ |
confidence about head light state 0..100
bool adore::env::traffic::Participant::lowBeamOn_ |
state of the head lights
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double adore::env::traffic::Participant::observation_time_ |
time corresponding to state
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double adore::env::traffic::Participant::rightIndicator_certainty_ |
bool adore::env::traffic::Participant::rightIndicatorOn_ |
indicator in yaw direction on the right side
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2^31, not observed by any sensor but rather speculated to exist in occlusion area
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TTrackingID adore::env::traffic::Participant::trackingID_ |
internal tracking id, providing highest possible continuity
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TV2XStationID adore::env::traffic::Participant::v2xStationID_ |
etsi vehicle to x id
double adore::env::traffic::Participant::vx_ |
speed in yaw direction
double adore::env::traffic::Participant::vy_ |
speed perpendicular to yaw direction
double adore::env::traffic::Participant::width_ |
xtend of box perpendicular to yaw and up
double adore::env::traffic::Participant::yaw_ |
orientation of the box: straight east is 0, straight north is pi/2
double adore::env::traffic::Participant::yawrate_ |
d/dt yaw