From ffede64f3a3592f12c53a3a2d62977172bc171ef Mon Sep 17 00:00:00 2001
From: Christoph Kochendoerfer <christoph.kochendoerfer@in-tech.com>
Date: Fri, 23 Jul 2021 07:41:17 +0200
Subject: [PATCH] Extended VehicleProperties
---
.../MantleAPI/Traffic/entity_properties.h | 56 ++++++++++++++++---
1 file changed, 48 insertions(+), 8 deletions(-)
diff --git a/MantleAPI/include/MantleAPI/Traffic/entity_properties.h b/MantleAPI/include/MantleAPI/Traffic/entity_properties.h
index 8d9002ab..3e02d0b6 100644
--- a/MantleAPI/include/MantleAPI/Traffic/entity_properties.h
+++ b/MantleAPI/include/MantleAPI/Traffic/entity_properties.h
@@ -20,6 +20,7 @@
#include <MantleAPI/Common/vector.h>
#include <string>
+#include <map>
namespace mantle_api
{
@@ -43,6 +44,7 @@ struct EntityProperties
BoundingBox bounding_box{Vec3d{}, Dimension3d{}};
EntityType type{EntityType::kOther};
std::string model{};
+ std::map<std::string, std::string> properties;
};
inline bool operator==(const EntityProperties& lhs, const EntityProperties& rhs) noexcept
@@ -114,13 +116,52 @@ enum class ExternalControlState
kLongitudinalOnly = 3
};
+struct Performance
+{
+ // in m/s
+ double max_speed;
+ // in m/s²
+ double max_acceleration;
+ // in m/s²
+ double max_deceleration;
+};
+
+inline bool operator==(const Performance& lhs, const Performance& rhs) noexcept
+{
+ return IsEqual(lhs.max_speed, rhs.max_speed) &&
+ IsEqual(lhs.max_acceleration, rhs.max_acceleration) &&
+ IsEqual(lhs.max_deceleration, rhs.max_deceleration);
+}
+
+struct Axle
+{
+ // in radian
+ double max_steering;
+ // in m
+ double wheel_diameter;
+ // in m
+ double track_width;
+ // in m
+ Vec3d bb_center_to_axle_center;
+};
+
+inline bool operator==(const Axle& lhs, const Axle& rhs) noexcept
+{
+ return IsEqual(lhs.max_steering, rhs.max_steering) &&
+ IsEqual(lhs.wheel_diameter, rhs.wheel_diameter) &&
+ IsEqual(lhs.track_width, rhs.track_width) &&
+ lhs.bb_center_to_axle_center == rhs.bb_center_to_axle_center;
+}
+
struct VehicleProperties : public EntityProperties
{
VehicleClass classification{VehicleClass::kOther};
- Vec3d bb_center_to_front{};
- Vec3d bb_center_to_rear{};
- double front_wheel_diameter{0.0};
- double rear_wheel_diameter{0.0};
+
+ Performance performance;
+
+ Axle front_axle;
+ Axle rear_axle;
+
bool is_host{false};
// TODO: remove, once external control for traffic is implemented through controllers
bool is_controlled_externally{false};
@@ -129,10 +170,9 @@ struct VehicleProperties : public EntityProperties
inline bool operator==(const VehicleProperties& lhs, const VehicleProperties& rhs) noexcept
{
return lhs.bounding_box == rhs.bounding_box && lhs.type == rhs.type && lhs.model == rhs.model &&
- lhs.classification == rhs.classification && lhs.bb_center_to_front == rhs.bb_center_to_front &&
- lhs.bb_center_to_rear == rhs.bb_center_to_rear &&
- IsEqual(lhs.front_wheel_diameter, rhs.front_wheel_diameter) &&
- IsEqual(lhs.rear_wheel_diameter, rhs.rear_wheel_diameter) && lhs.is_host == rhs.is_host;
+ lhs.classification == rhs.classification && lhs.performance == rhs.performance &&
+ lhs.front_axle == rhs.front_axle && lhs.rear_axle == rhs.rear_axle &&
+ lhs.is_host == rhs.is_host;
}
struct PedestrianProperties : public EntityProperties
--
GitLab