diff --git a/sim/contrib/examples/Configurations/AEB/VehicleModelsCatalog.xosc b/sim/contrib/examples/Configurations/AEB/VehicleModelsCatalog.xosc
index e35b29a301cf8e3295ed2a5a95651a5dc08480b0..01e51226d74a35c6c530d02fd15341203ea8b602 100644
--- a/sim/contrib/examples/Configurations/AEB/VehicleModelsCatalog.xosc
+++ b/sim/contrib/examples/Configurations/AEB/VehicleModelsCatalog.xosc
@@ -25,7 +25,7 @@
<Center x="1.25" y="0.0" z="0.84"/>
<Dimensions width="2.04" length="3.96" height="1.68"/>
</BoundingBox>
- <Performance maxSpeed="41.67" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="41.67" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5282" wheelDiameter="0.682" trackWidth="1.8" positionX="2.52" positionZ="0.341"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
@@ -61,7 +61,7 @@
<Center x="1.285" y="0.0" z="0.72"/>
<Dimensions width="1.96" length="4.63" height="1.44"/>
</BoundingBox>
- <Performance maxSpeed="69.44" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5012" wheelDiameter="0.634" trackWidth="1.8" positionX="2.81" positionZ="0.317"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.634" trackWidth="1.8" positionX="0.0" positionZ="0.317"/>
@@ -97,7 +97,7 @@
<Center x="1.46" y="0.0" z="0.755"/>
<Dimensions width="2.18" length="5.26" height="1.51"/>
</BoundingBox>
- <Performance maxSpeed="69.44" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5226" wheelDiameter="0.682" trackWidth="1.8" positionX="3.22" positionZ="0.341"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
@@ -133,7 +133,7 @@
<Center x="1.485" y="0.0" z="0.745"/>
<Dimensions width="2.16" length="5.27" height="1.49"/>
</BoundingBox>
- <Performance maxSpeed="69.44" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5279" wheelDiameter="0.682" trackWidth="1.8" positionX="3.25" positionZ="0.341"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
@@ -168,7 +168,7 @@
<Center x="1.35" y="0.0" z="0.71"/>
<Dimensions width="1.89" length="3.8" height="1.42"/>
</BoundingBox>
- <Performance maxSpeed="58.33" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="58.33" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.4766" wheelDiameter="0.59" trackWidth="1.8" positionX="2.48" positionZ="0.295"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.59" trackWidth="1.8" positionX="0.0" positionZ="0.295"/>
@@ -204,7 +204,7 @@
<Center x="2.815" y="0.0" z="1.92"/>
<Dimensions width="2.91" length="13.23" height="3.84"/>
</BoundingBox>
- <Performance maxSpeed="33.33" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="33.33" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.6972" wheelDiameter="0.808" trackWidth="1.8" positionX="6.64" positionZ="0.404"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.808" trackWidth="1.8" positionX="0.0" positionZ="0.404"/>
@@ -240,7 +240,7 @@
<Center x="2.685" y="0.0" z="1.74"/>
<Dimensions width="3.16" length="8.83" height="3.48"/>
</BoundingBox>
- <Performance maxSpeed="25.0" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="25.0" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.4352" wheelDiameter="0.808" trackWidth="1.8" positionX="4.36" positionZ="0.404"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.808" trackWidth="1.8" positionX="0.0" positionZ="0.404"/>
@@ -274,7 +274,7 @@
<Center x="0.175" y="0.0" z="0.9325"/>
<Dimensions width="0.5" length="1.89" height="1.865"/>
</BoundingBox>
- <Performance maxSpeed="10.0" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="10.0" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="1.5708" wheelDiameter="0.636" trackWidth="0.1" positionX="1.04" positionZ="0.318"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.636" trackWidth="0.1" positionX="0.0" positionZ="0.318"/>
diff --git a/sim/contrib/examples/Configurations/Pedestrian_AFDM/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/Pedestrian_AFDM/ProfilesCatalog.xml
deleted file mode 100644
index 321d38c1865882423011a159c7befabd502abde7..0000000000000000000000000000000000000000
--- a/sim/contrib/examples/Configurations/Pedestrian_AFDM/ProfilesCatalog.xml
+++ /dev/null
@@ -1,203 +0,0 @@
-<Profiles SchemaVersion="0.4.3">
- <AgentProfiles>
- <AgentProfile Name="LuxuryClassCarAgent" Type="Dynamic">
- <DriverProfiles>
- <DriverProfile Name="Regular" Probability="1.0"/>
- </DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 g12 2016" Probability="0.5"/>
- <VehicleProfile Name="BMW 7 f01 2010" Probability="0.5"/>
- </VehicleProfiles>
- </AgentProfile>
- <AgentProfile Name="MiddleClassCarAgent" Type="Dynamic">
- <DriverProfiles>
- <DriverProfile Name="Regular" Probability="1.0"/>
- </DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Mini Cooper f56 2015" Probability="0.4"/>
- <VehicleProfile Name="BMW i3 i01 2013" Probability="0.3"/>
- <VehicleProfile Name="BMW 3 f30 2015" Probability="0.3"/>
- </VehicleProfiles>
- </AgentProfile>
- <AgentProfile Name="TruckAgent" Type="Dynamic">
- <DriverProfiles>
- <DriverProfile Name="RegularTruck" Probability="1.0"/>
- </DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Truck Hyundai Xcient p540 4axle 2013" Probability="1.0"/>
- </VehicleProfiles>
- </AgentProfile>
- <AgentProfile Name="BusAgent" Type="Dynamic">
- <DriverProfiles>
- <DriverProfile Name="RegularBus" Probability="1.0"/>
- </DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Bus MAN Lions Coach c 2007" Probability="1.0"/>
- </VehicleProfiles>
- </AgentProfile>
- <AgentProfile Name="Pedestrian" Type="Dynamic">
- <DriverProfiles>
- <DriverProfile Name="Pedestrian" Probability="1.0"/>
- </DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Pedestrian" Probability="1.0"/>
- </VehicleProfiles>
- </AgentProfile>
- </AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 g12 2016">
- <Model Name="car_bmw_7_1"/>
- <Components/>
- <Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 7 f01 2010">
- <Model Name="car_bmw_7_2"/>
- <Components/>
- <Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Mini Cooper f56 2015">
- <Model Name="car_mini_cooper"/>
- <Components/>
- <Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW i3 i01 2013">
- <Model Name="car_bmw_i3"/>
- <Components/>
- <Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 3 f30 2015">
- <Model Name="car_bmw_3"/>
- <Components/>
- <Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Truck Hyundai Xcient p540 4axle 2013">
- <Model Name="truck"/>
- <Components/>
- <Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Bus MAN Lions Coach c 2007">
- <Model Name="bus"/>
- <Components/>
- <Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Pedestrian">
- <Model Name="pedestrian_adult"/>
- <Components/>
- <Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
- <ProfileGroup Type="Driver">
- <Profile Name="Pedestrian">
- <String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
- <String Key="AlgorithmLateralModule" Value="Algorithm_LateralAfdm"/>
- <String Key="AlgorithmLongitudinalModule" Value="Algorithm_LongitudinalAfdm"/>
- <Double Key="VelocityWish" Value="1.0"/>
- </Profile>
- <Profile Name="Regular">
- <String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
- <String Key="AlgorithmLateralModule" Value="Algorithm_LateralAfdm"/>
- <String Key="AlgorithmLongitudinalModule" Value="Algorithm_LongitudinalAfdm"/>
- <Double Key="VelocityWish" Value="36.11"/>
- <Double Key="Delta" Value="4.0"/>
- <Double Key="TGapWish" Value="1.5"/>
- <Double Key="MinDistance" Value="2.0"/>
- <Double Key="MaxAcceleration" Value="1.4"/>
- <Double Key="MaxDeceleration" Value="2.0"/>
- </Profile>
- <Profile Name="RegularBus">
- <String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
- <String Key="AlgorithmLateralModule" Value="Algorithm_LateralAfdm"/>
- <String Key="AlgorithmLongitudinalModule" Value="Algorithm_LongitudinalAfdm"/>
- <Double Key="VelocityWish" Value="24.24"/>
- <Double Key="Delta" Value="4.0"/>
- <Double Key="TGapWish" Value="1.5"/>
- <Double Key="MinDistance" Value="2.0"/>
- <Double Key="MaxAcceleration" Value="1.4"/>
- <Double Key="MaxDeceleration" Value="2.0"/>
- </Profile>
- <Profile Name="RegularTruck">
- <String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
- <String Key="AlgorithmLateralModule" Value="Algorithm_LateralAfdm"/>
- <String Key="AlgorithmLongitudinalModule" Value="Algorithm_LongitudinalAfdm"/>
- <Double Key="VelocityWish" Value="24.24"/>
- <Double Key="Delta" Value="4.0"/>
- <Double Key="TGapWish" Value="1.5"/>
- <Double Key="MinDistance" Value="2.0"/>
- <Double Key="MaxAcceleration" Value="1.4"/>
- <Double Key="MaxDeceleration" Value="2.0"/>
- </Profile>
- </ProfileGroup>
- <ProfileGroup Type="TrafficGroup">
- <Profile Name="LightVehicles">
- <List Name="AgentProfiles">
- <ListItem>
- <String Key="Name" Value="LuxuryClassCarAgent"/>
- <Double Key="Weight" Value="0.4"/>
- </ListItem>
- <ListItem>
- <String Key="Name" Value="MiddleClassCarAgent"/>
- <Double Key="Weight" Value="0.6"/>
- </ListItem>
- </List>
- <NormalDistribution Key="Velocity" Max="43.685" Mean="31.475" Min="19.265" SD="6.105"/>
- <LogNormalDistribution Key="TGap" Max="80" Min="0.5" Mu="1.5" Sigma="1.7"/>
- <DoubleVector Key="Homogeneity" Value="0.820, 1.0"/>
- </Profile>
- <Profile Name="HeavyVehicles">
- <List Name="AgentProfiles">
- <ListItem>
- <String Key="Name" Value="TruckAgent"/>
- <Double Key="Weight" Value="1.0"/>
- </ListItem>
- <ListItem>
- <String Key="Name" Value="BusAgent"/>
- <Double Key="Weight" Value="1.0"/>
- </ListItem>
- </List>
- <NormalDistribution Key="Velocity" Max="25" Mean="22.22" Min="19.44" SD="1.39"/>
- <LogNormalDistribution Key="TGap" Max="100" Min="0.5" Mu="1.94" Sigma="2.35"/>
- <Bool Key="RightLaneOnly" Value="true"/>
- </Profile>
- </ProfileGroup>
- <ProfileGroup Type="Spawner">
- <Profile Name="DefaultPreRunCommon">
- <List Name="SpawnPoints">
- <ListItem>
- <StringVector Key="Roads" Value="1"/>
- <IntVector Key="Lanes" Value="-1,-2,-3,-4,-5"/>
- <Double Key="SStart" Value="0.0"/>
- <Double Key="SEnd" Value="1000.0"/>
- </ListItem>
- </List>
- <List Name="TrafficGroups">
- <ListItem>
- <Double Key="Weight" Value="4"/>
- <Reference Type="TrafficGroup" Name="LightVehicles"/>
- </ListItem>
- <ListItem>
- <Double Key="Weight" Value="1"/>
- <Reference Type="TrafficGroup" Name="HeavyVehicles"/>
- </ListItem>
- </List>
- </Profile>
- <Profile Name="DefaultRuntimeCommon">
- <List Name="SpawnPoints">
- <ListItem>
- <StringVector Key="Roads" Value="1"/>
- <IntVector Key="Lanes" Value="-1,-2,-3,-4,-5"/>
- <Double Key="SCoordinate" Value="0.0"/>
- </ListItem>
- </List>
- <List Name="TrafficGroups">
- <ListItem>
- <Double Key="Weight" Value="4"/>
- <Reference Type="TrafficGroup" Name="LightVehicles"/>
- </ListItem>
- <ListItem>
- <Double Key="Weight" Value="1"/>
- <Reference Type="TrafficGroup" Name="HeavyVehicles"/>
- </ListItem>
- </List>
- </Profile>
- </ProfileGroup>
-</Profiles>
diff --git a/sim/contrib/examples/Configurations/Pedestrian_AFDM/Scenario.xosc b/sim/contrib/examples/Configurations/Pedestrian_AFDM/Scenario.xosc
deleted file mode 100644
index 8370fa1c27255b6ac1cd6195f12bde70b8758032..0000000000000000000000000000000000000000
--- a/sim/contrib/examples/Configurations/Pedestrian_AFDM/Scenario.xosc
+++ /dev/null
@@ -1,104 +0,0 @@
-<?xml version="1.0"?>
-<OpenSCENARIO>
- <FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="openPASS default scenario" author="in-tech GmbH"/>
- <ParameterDeclarations>
- <ParameterDeclaration name="OP_OSC_SchemaVersion" parameterType="string" value="0.4.0"/>
- </ParameterDeclarations>
- <CatalogLocations>
- <VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
- </VehicleCatalog>
- <PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
- </PedestrianCatalog>
- <ControllerCatalog>
- <Directory path=""/>
- </ControllerCatalog>
- <ManeuverCatalog>
- <Directory path=""/>
- </ManeuverCatalog>
- <MiscObjectCatalog>
- <Directory path=""/>
- </MiscObjectCatalog>
- <EnvironmentCatalog>
- <Directory path=""/>
- </EnvironmentCatalog>
- <TrajectoryCatalog>
- <Directory path=""/>
- </TrajectoryCatalog>
- <RouteCatalog>
- <Directory path=""/>
- </RouteCatalog>
- </CatalogLocations>
- <RoadNetwork>
- <LogicFile filepath="SceneryConfiguration.xodr"/>
- <SceneGraphFile filepath=""/>
- </RoadNetwork>
- <Entities>
- <ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="MiddleClassCarAgent"/>
- </ScenarioObject>
- <ScenarioObject name="Pedestrian">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="Pedestrian"/>
- </ScenarioObject>
- <EntitySelection name="ScenarioAgents">
- <Members>
- <EntityRef entityRef="Pedestrian"/>
- </Members>
- </EntitySelection>
- </Entities>
- <Storyboard>
- <Init>
- <Actions>
- <Private entityRef="Ego">
- <PrivateAction>
- <TeleportAction>
- <Position>
- <LanePosition roadId="1" laneId="-1" offset="0.0" s="0.0"/>
- </Position>
- </TeleportAction>
- </PrivateAction>
- <PrivateAction>
- <LongitudinalAction>
- <SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
- <SpeedActionTarget>
- <AbsoluteTargetSpeed value="43.5"/>
- </SpeedActionTarget>
- </SpeedAction>
- </LongitudinalAction>
- </PrivateAction>
- </Private>
- <Private entityRef="Pedestrian">
- <PrivateAction>
- <TeleportAction>
- <Position>
- <LanePosition roadId="1" laneId="-2" offset="0.0" s="100.0"/>
- </Position>
- </TeleportAction>
- </PrivateAction>
- <PrivateAction>
- <LongitudinalAction>
- <SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
- <SpeedActionTarget>
- <AbsoluteTargetSpeed value="1.0"/>
- </SpeedActionTarget>
- </SpeedAction>
- </LongitudinalAction>
- </PrivateAction>
- </Private>
- </Actions>
- </Init>
- <Story/>
- <StopTrigger>
- <ConditionGroup>
- <Condition name="EndTime" delay="0" conditionEdge="rising">
- <ByValueCondition>
- <SimulationTimeCondition value="30.0" rule="greaterThan"/>
- </ByValueCondition>
- </Condition>
- </ConditionGroup>
- </StopTrigger>
- </Storyboard>
-</OpenSCENARIO>
diff --git a/sim/contrib/examples/Configurations/Pedestrian_AFDM/SceneryConfiguration.xodr b/sim/contrib/examples/Configurations/Pedestrian_AFDM/SceneryConfiguration.xodr
deleted file mode 100644
index 0adf3590c2873077b12d245fb4864cfff9a64d9a..0000000000000000000000000000000000000000
--- a/sim/contrib/examples/Configurations/Pedestrian_AFDM/SceneryConfiguration.xodr
+++ /dev/null
@@ -1,64 +0,0 @@
-<OpenDRIVE>
- <header revMajor="1" revMinor="1" name="Testfile" version="1" date="Thu Feb 8 14:24:06 2007" north="2.0000000000000000e+003" south="-2.0000000000000000e+003" east="2.0000000000000000e+003" west="-2.0000000000000000e+003"/>
- <road name="" length="5139.7188686309819" id="1" junction="-1">
- <link/>
- <planView>
- <geometry s="0.0000000000000000e+000" x="0" y="7.5" hdg="0" length="4000">
- <line/>
- </geometry>
- <geometry s="4000" x="4000" y="7.5" hdg="0" length="285">
- <spiral curvStart="0.0000000000000000e+000" curvEnd="-0.0028500000000000066"/>
- </geometry>
- <geometry s="4285" x="4280.3350391612494" y="-30.629710830536482" hdg="-0.40612500000000096" length="183.7188686309816">
- <arc curvature="-0.0028500000000000066"/>
- </geometry>
- <geometry s="4468.7188686309819" x="4422.9323279193268" y="-143.12204699500415" hdg="-0.92972377559829977" length="571">
- <spiral curvStart="-0.0028500000000000066" curvEnd="0.0000000000000000e+000"/>
- </geometry>
- <geometry s="5039.7188686309819" x="4476.6651848689908" y="-694.88624436808436" hdg="-1.7453292519943295" length="100">
- <line/>
- </geometry>
- </planView>
- <elevationProfile/>
- <lateralProfile/>
- <lanes>
- <laneSection s="0.0000000000000000e+000">
- <left>
- <lane id="1" type="sidewalk" level="true">
- <link>
- <successor id="-2"/>
- </link>
- <width sOffset="0" a="1.5" b="0" c="0" d="0"/>
- <roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="none"/>
- </lane>
- </left>
- <center>
- <lane id="0" type="border" level="true">
- <link>
- <successor id="0"/>
- </link>
- <roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="none"/>
- </lane>
- </center>
- <right>
- <lane id="-1" type="driving" level="true">
- <link>
- <successor id="-1"/>
- </link>
- <width sOffset="0" a="3.75" b="0" c="0" d="0"/>
- <roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="none"/>
- </lane>
- <lane id="-2" type="sidewalk" level="true">
- <link>
- <successor id="-2"/>
- </link>
- <width sOffset="0" a="1.5" b="0" c="0" d="0"/>
- <roadMark weight="standard" sOffset="0" type="solid" color="standard" width="0.12" laneChange="none"/>
- </lane>
- </right>
- </laneSection>
- </lanes>
- <objects/>
- <signals/>
- </road>
-</OpenDRIVE>
diff --git a/sim/contrib/examples/Configurations/Pedestrian_Trajectory/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/Pedestrian_Trajectory/ProfilesCatalog.xml
index f31c1f6d0e8158974473f1759991e50be11db348..43ce2aa4f0bd57afa76521d2c69bc68b2cbd03ee 100644
--- a/sim/contrib/examples/Configurations/Pedestrian_Trajectory/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/Pedestrian_Trajectory/ProfilesCatalog.xml
@@ -35,13 +35,12 @@
<VehicleProfile Name="Bus MAN Lions Coach c 2007" Probability="1.0"/>
</VehicleProfiles>
</AgentProfile>
- <AgentProfile Name="Pedestrian" Type="Dynamic">
- <DriverProfiles>
- <DriverProfile Name="Pedestrian" Probability="1.0"/>
- </DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Pedestrian" Probability="1.0"/>
- </VehicleProfiles>
+ <AgentProfile Name="Pedestrian" Type="Static">
+ <System>
+ <File>systemConfigPedestrian.xml</File>
+ <Id>0</Id>
+ </System>
+ <VehicleModel>pedestrian_adult</VehicleModel>
</AgentProfile>
</AgentProfiles>
<VehicleProfiles>
@@ -80,25 +79,8 @@
<Components/>
<Sensors/>
</VehicleProfile>
- <VehicleProfile Name="Pedestrian">
- <Model Name="pedestrian_adult"/>
- <Components>
- <Component Type="Dynamics_TrajectoryFollower">
- <Profiles>
- <Profile Name="BasicTrajectoryFollower" Probability="1.0"/>
- </Profiles>
- </Component>
- </Components>
- <Sensors/>
- </VehicleProfile>
</VehicleProfiles>
<ProfileGroup Type="Driver">
- <Profile Name="Pedestrian">
- <String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
- <String Key="AlgorithmLateralModule" Value="Algorithm_LateralAfdm"/>
- <String Key="AlgorithmLongitudinalModule" Value="Algorithm_LongitudinalAfdm"/>
- <Double Key="VelocityWish" Value="1.0"/>
- </Profile>
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
<String Key="AlgorithmLateralModule" Value="Algorithm_LateralAfdm"/>
diff --git a/sim/contrib/examples/Configurations/Pedestrian_Trajectory/systemConfigPedestrian.xml b/sim/contrib/examples/Configurations/Pedestrian_Trajectory/systemConfigPedestrian.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bb0fe3828b3ec704e5aa00d638fc07a1c6154d60
--- /dev/null
+++ b/sim/contrib/examples/Configurations/Pedestrian_Trajectory/systemConfigPedestrian.xml
@@ -0,0 +1,146 @@
+<systems>
+ <system>
+ <id>0</id>
+ <priority>0</priority>
+ <components>
+ <component>
+ <id>OpenScenarioActions</id>
+ <schedule>
+ <priority>400</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>OpenScenarioActions</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>Dynamics_TrajectoryFollower</id>
+ <schedule>
+ <priority>50</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Dynamics_TrajectoryFollower</library>
+ <parameters>
+ <parameter>
+ <id>EnforceTrajectory</id>
+ <type>bool</type>
+ <unit/>
+ <value>true</value>
+ </parameter>
+ <parameter>
+ <id>AutomaticDeactivation</id>
+ <type>bool</type>
+ <unit/>
+ <value>true</value>
+ </parameter>
+ </parameters>
+ </component>
+ <component>
+ <id>Dynamics_Collision</id>
+ <schedule>
+ <priority>50</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Dynamics_Collision</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>PrioritizerDynamics</id>
+ <schedule>
+ <priority>25</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>SignalPrioritizer</library>
+ <parameters>
+ <parameter>
+ <id>1</id>
+ <type>int</type>
+ <unit/>
+ <value>2</value>
+ </parameter>
+ <parameter>
+ <id>2</id>
+ <type>int</type>
+ <unit/>
+ <value>1</value>
+ </parameter>
+ </parameters>
+ </component>
+ <component>
+ <id>AgentUpdater</id>
+ <schedule>
+ <priority>1</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>AgentUpdater</library>
+ <parameters/>
+ </component>
+ <component>
+ <id>Sensor_RecordState</id>
+ <schedule>
+ <priority>2</priority>
+ <offset>0</offset>
+ <cycle>100</cycle>
+ <response>0</response>
+ </schedule>
+ <library>Sensor_RecordState</library>
+ <parameters/>
+ </component>
+ </components>
+ <connections>
+ <connection>
+ <id>201</id>
+ <source>
+ <component>Dynamics_TrajectoryFollower</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>PrioritizerDynamics</component>
+ <input>2</input>
+ </target>
+ </connection>
+ <connection>
+ <id>401</id>
+ <source>
+ <component>Dynamics_Collision</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>PrioritizerDynamics</component>
+ <input>1</input>
+ </target>
+ </connection>
+ <connection>
+ <id>501</id>
+ <source>
+ <component>PrioritizerDynamics</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>AgentUpdater</component>
+ <input>0</input>
+ </target>
+ </connection>
+ <connection>
+ <id>8471</id>
+ <source>
+ <component>OpenScenarioActions</component>
+ <output>0</output>
+ </source>
+ <target>
+ <component>Dynamics_TrajectoryFollower</component>
+ <input>2</input>
+ </target>
+ </connection>
+ </connections>
+ </system>
+</systems>
diff --git a/sim/contrib/examples/Configurations/StaticAgentCollision/VehicleModelsCatalog.xosc b/sim/contrib/examples/Configurations/StaticAgentCollision/VehicleModelsCatalog.xosc
index 0ef23c58572488b9941274655cb890ea2b2cc82a..01e51226d74a35c6c530d02fd15341203ea8b602 100644
--- a/sim/contrib/examples/Configurations/StaticAgentCollision/VehicleModelsCatalog.xosc
+++ b/sim/contrib/examples/Configurations/StaticAgentCollision/VehicleModelsCatalog.xosc
@@ -7,7 +7,7 @@
<Property name="AirDragCoefficient" value="0.3"/>
<Property name="AxleRatio" value="1.0"/>
<Property name="DecelerationFromPowertrainDrag" value="0.5"/>
- <Property name="FrictionCoefficient" value="0.0"/>
+ <Property name="FrictionCoefficient" value="1.0"/>
<Property name="FrontSurface" value="2.38"/>
<Property name="GearRatio1" value="9.665"/>
<Property name="Mass" value="1320.0"/>
@@ -25,7 +25,7 @@
<Center x="1.25" y="0.0" z="0.84"/>
<Dimensions width="2.04" length="3.96" height="1.68"/>
</BoundingBox>
- <Performance maxSpeed="41.67" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="41.67" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5282" wheelDiameter="0.682" trackWidth="1.8" positionX="2.52" positionZ="0.341"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
@@ -36,7 +36,7 @@
<Property name="AirDragCoefficient" value="0.3"/>
<Property name="AxleRatio" value="2.813"/>
<Property name="DecelerationFromPowertrainDrag" value="0.5"/>
- <Property name="FrictionCoefficient" value="0.0"/>
+ <Property name="FrictionCoefficient" value="1.0"/>
<Property name="FrontSurface" value="2.2"/>
<Property name="GearRatio1" value="5.0"/>
<Property name="GearRatio2" value="3.2"/>
@@ -61,7 +61,7 @@
<Center x="1.285" y="0.0" z="0.72"/>
<Dimensions width="1.96" length="4.63" height="1.44"/>
</BoundingBox>
- <Performance maxSpeed="69.44" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5012" wheelDiameter="0.634" trackWidth="1.8" positionX="2.81" positionZ="0.317"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.634" trackWidth="1.8" positionX="0.0" positionZ="0.317"/>
@@ -72,7 +72,7 @@
<Property name="AirDragCoefficient" value="0.3"/>
<Property name="AxleRatio" value="3.077"/>
<Property name="DecelerationFromPowertrainDrag" value="0.5"/>
- <Property name="FrictionCoefficient" value="0.0"/>
+ <Property name="FrictionCoefficient" value="1.0"/>
<Property name="FrontSurface" value="2.42"/>
<Property name="GearRatio1" value="5.0"/>
<Property name="GearRatio2" value="3.2"/>
@@ -97,7 +97,7 @@
<Center x="1.46" y="0.0" z="0.755"/>
<Dimensions width="2.18" length="5.26" height="1.51"/>
</BoundingBox>
- <Performance maxSpeed="69.44" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5226" wheelDiameter="0.682" trackWidth="1.8" positionX="3.22" positionZ="0.341"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
@@ -108,7 +108,7 @@
<Property name="AirDragCoefficient" value="0.3"/>
<Property name="AxleRatio" value="3.077"/>
<Property name="DecelerationFromPowertrainDrag" value="0.5"/>
- <Property name="FrictionCoefficient" value="0.0"/>
+ <Property name="FrictionCoefficient" value="1.0"/>
<Property name="FrontSurface" value="2.42"/>
<Property name="GearRatio1" value="4.714"/>
<Property name="GearRatio2" value="3.143"/>
@@ -133,7 +133,7 @@
<Center x="1.485" y="0.0" z="0.745"/>
<Dimensions width="2.16" length="5.27" height="1.49"/>
</BoundingBox>
- <Performance maxSpeed="69.44" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5279" wheelDiameter="0.682" trackWidth="1.8" positionX="3.25" positionZ="0.341"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
@@ -144,7 +144,7 @@
<Property name="AirDragCoefficient" value="0.3"/>
<Property name="AxleRatio" value="3.789"/>
<Property name="DecelerationFromPowertrainDrag" value="0.5"/>
- <Property name="FrictionCoefficient" value="0.0"/>
+ <Property name="FrictionCoefficient" value="1.0"/>
<Property name="FrontSurface" value="2.07"/>
<Property name="GearRatio1" value="4.154"/>
<Property name="GearRatio2" value="2.45"/>
@@ -168,7 +168,7 @@
<Center x="1.35" y="0.0" z="0.71"/>
<Dimensions width="1.89" length="3.8" height="1.42"/>
</BoundingBox>
- <Performance maxSpeed="58.33" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="58.33" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.4766" wheelDiameter="0.59" trackWidth="1.8" positionX="2.48" positionZ="0.295"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.59" trackWidth="1.8" positionX="0.0" positionZ="0.295"/>
@@ -179,7 +179,7 @@
<Property name="AirDragCoefficient" value="0.8"/>
<Property name="AxleRatio" value="4.0"/>
<Property name="DecelerationFromPowertrainDrag" value="1.0"/>
- <Property name="FrictionCoefficient" value="0.0"/>
+ <Property name="FrictionCoefficient" value="1.0"/>
<Property name="FrontSurface" value="9.0"/>
<Property name="GearRatio1" value="6.316"/>
<Property name="GearRatio2" value="4.554"/>
@@ -204,7 +204,7 @@
<Center x="2.815" y="0.0" z="1.92"/>
<Dimensions width="2.91" length="13.23" height="3.84"/>
</BoundingBox>
- <Performance maxSpeed="33.33" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="33.33" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.6972" wheelDiameter="0.808" trackWidth="1.8" positionX="6.64" positionZ="0.404"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.808" trackWidth="1.8" positionX="0.0" positionZ="0.404"/>
@@ -215,7 +215,7 @@
<Property name="AirDragCoefficient" value="0.8"/>
<Property name="AxleRatio" value="4.0"/>
<Property name="DecelerationFromPowertrainDrag" value="1.0"/>
- <Property name="FrictionCoefficient" value="0.0"/>
+ <Property name="FrictionCoefficient" value="1.0"/>
<Property name="FrontSurface" value="9.0"/>
<Property name="GearRatio1" value="6.316"/>
<Property name="GearRatio2" value="4.554"/>
@@ -240,7 +240,7 @@
<Center x="2.685" y="0.0" z="1.74"/>
<Dimensions width="3.16" length="8.83" height="3.48"/>
</BoundingBox>
- <Performance maxSpeed="25.0" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="25.0" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.4352" wheelDiameter="0.808" trackWidth="1.8" positionX="4.36" positionZ="0.404"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.808" trackWidth="1.8" positionX="0.0" positionZ="0.404"/>
@@ -251,7 +251,7 @@
<Property name="AirDragCoefficient" value="0.3"/>
<Property name="AxleRatio" value="3.0"/>
<Property name="DecelerationFromPowertrainDrag" value="0.5"/>
- <Property name="FrictionCoefficient" value="0.0"/>
+ <Property name="FrictionCoefficient" value="1.0"/>
<Property name="FrontSurface" value="1.9"/>
<Property name="GearRatio1" value="4.350"/>
<Property name="GearRatio2" value="2.496"/>
@@ -274,7 +274,7 @@
<Center x="0.175" y="0.0" z="0.9325"/>
<Dimensions width="0.5" length="1.89" height="1.865"/>
</BoundingBox>
- <Performance maxSpeed="10.0" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="10.0" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="1.5708" wheelDiameter="0.636" trackWidth="0.1" positionX="1.04" positionZ="0.318"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.636" trackWidth="0.1" positionX="0.0" positionZ="0.318"/>
diff --git a/sim/contrib/examples/Configurations/StaticAgentProfiles/VehicleModelsCatalog.xosc b/sim/contrib/examples/Configurations/StaticAgentProfiles/VehicleModelsCatalog.xosc
index e35b29a301cf8e3295ed2a5a95651a5dc08480b0..01e51226d74a35c6c530d02fd15341203ea8b602 100644
--- a/sim/contrib/examples/Configurations/StaticAgentProfiles/VehicleModelsCatalog.xosc
+++ b/sim/contrib/examples/Configurations/StaticAgentProfiles/VehicleModelsCatalog.xosc
@@ -25,7 +25,7 @@
<Center x="1.25" y="0.0" z="0.84"/>
<Dimensions width="2.04" length="3.96" height="1.68"/>
</BoundingBox>
- <Performance maxSpeed="41.67" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="41.67" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5282" wheelDiameter="0.682" trackWidth="1.8" positionX="2.52" positionZ="0.341"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
@@ -61,7 +61,7 @@
<Center x="1.285" y="0.0" z="0.72"/>
<Dimensions width="1.96" length="4.63" height="1.44"/>
</BoundingBox>
- <Performance maxSpeed="69.44" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5012" wheelDiameter="0.634" trackWidth="1.8" positionX="2.81" positionZ="0.317"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.634" trackWidth="1.8" positionX="0.0" positionZ="0.317"/>
@@ -97,7 +97,7 @@
<Center x="1.46" y="0.0" z="0.755"/>
<Dimensions width="2.18" length="5.26" height="1.51"/>
</BoundingBox>
- <Performance maxSpeed="69.44" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5226" wheelDiameter="0.682" trackWidth="1.8" positionX="3.22" positionZ="0.341"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
@@ -133,7 +133,7 @@
<Center x="1.485" y="0.0" z="0.745"/>
<Dimensions width="2.16" length="5.27" height="1.49"/>
</BoundingBox>
- <Performance maxSpeed="69.44" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5279" wheelDiameter="0.682" trackWidth="1.8" positionX="3.25" positionZ="0.341"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
@@ -168,7 +168,7 @@
<Center x="1.35" y="0.0" z="0.71"/>
<Dimensions width="1.89" length="3.8" height="1.42"/>
</BoundingBox>
- <Performance maxSpeed="58.33" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="58.33" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.4766" wheelDiameter="0.59" trackWidth="1.8" positionX="2.48" positionZ="0.295"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.59" trackWidth="1.8" positionX="0.0" positionZ="0.295"/>
@@ -204,7 +204,7 @@
<Center x="2.815" y="0.0" z="1.92"/>
<Dimensions width="2.91" length="13.23" height="3.84"/>
</BoundingBox>
- <Performance maxSpeed="33.33" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="33.33" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.6972" wheelDiameter="0.808" trackWidth="1.8" positionX="6.64" positionZ="0.404"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.808" trackWidth="1.8" positionX="0.0" positionZ="0.404"/>
@@ -240,7 +240,7 @@
<Center x="2.685" y="0.0" z="1.74"/>
<Dimensions width="3.16" length="8.83" height="3.48"/>
</BoundingBox>
- <Performance maxSpeed="25.0" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="25.0" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.4352" wheelDiameter="0.808" trackWidth="1.8" positionX="4.36" positionZ="0.404"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.808" trackWidth="1.8" positionX="0.0" positionZ="0.404"/>
@@ -274,7 +274,7 @@
<Center x="0.175" y="0.0" z="0.9325"/>
<Dimensions width="0.5" length="1.89" height="1.865"/>
</BoundingBox>
- <Performance maxSpeed="10.0" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="10.0" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="1.5708" wheelDiameter="0.636" trackWidth="0.1" positionX="1.04" positionZ="0.318"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.636" trackWidth="0.1" positionX="0.0" positionZ="0.318"/>
diff --git a/sim/contrib/examples/DefaultConfigurations/PedestrianModelsCatalog.xosc b/sim/contrib/examples/DefaultConfigurations/PedestrianModelsCatalog.xosc
index 84c1ac67df3189c1fcb287113dcd8d2377ba784b..bbda0b044d1890917d13fe64da9e7e3c14ff176c 100644
--- a/sim/contrib/examples/DefaultConfigurations/PedestrianModelsCatalog.xosc
+++ b/sim/contrib/examples/DefaultConfigurations/PedestrianModelsCatalog.xosc
@@ -4,6 +4,9 @@
<Catalog name="PedestrianCatalog">
<Pedestrian model="pedestrian_child" mass="30.0" name="pedestrian_child" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
+ <Properties>
+ <Property name="Mass" value="40.0"/>
+ </Properties>
<BoundingBox>
<Center x="0.0645" y="0.0" z="0.577"/>
<Dimensions width="0.298" length="0.711" height="1.154"/>
@@ -12,6 +15,9 @@
</Pedestrian>
<Pedestrian model="pedestrian_adult" mass="80.0" name="pedestrian_adult" pedestrianCategory="pedestrian">
<ParameterDeclarations/>
+ <Properties>
+ <Property name="Mass" value="70.0"/>
+ </Properties>
<BoundingBox>
<Center x="0.1" y="0.0" z="0.9"/>
<Dimensions width="0.5" length="0.6" height="1.8"/>
diff --git a/sim/contrib/examples/DefaultConfigurations/VehicleModelsCatalog.xosc b/sim/contrib/examples/DefaultConfigurations/VehicleModelsCatalog.xosc
index e35b29a301cf8e3295ed2a5a95651a5dc08480b0..01e51226d74a35c6c530d02fd15341203ea8b602 100644
--- a/sim/contrib/examples/DefaultConfigurations/VehicleModelsCatalog.xosc
+++ b/sim/contrib/examples/DefaultConfigurations/VehicleModelsCatalog.xosc
@@ -25,7 +25,7 @@
<Center x="1.25" y="0.0" z="0.84"/>
<Dimensions width="2.04" length="3.96" height="1.68"/>
</BoundingBox>
- <Performance maxSpeed="41.67" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="41.67" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5282" wheelDiameter="0.682" trackWidth="1.8" positionX="2.52" positionZ="0.341"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
@@ -61,7 +61,7 @@
<Center x="1.285" y="0.0" z="0.72"/>
<Dimensions width="1.96" length="4.63" height="1.44"/>
</BoundingBox>
- <Performance maxSpeed="69.44" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5012" wheelDiameter="0.634" trackWidth="1.8" positionX="2.81" positionZ="0.317"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.634" trackWidth="1.8" positionX="0.0" positionZ="0.317"/>
@@ -97,7 +97,7 @@
<Center x="1.46" y="0.0" z="0.755"/>
<Dimensions width="2.18" length="5.26" height="1.51"/>
</BoundingBox>
- <Performance maxSpeed="69.44" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5226" wheelDiameter="0.682" trackWidth="1.8" positionX="3.22" positionZ="0.341"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
@@ -133,7 +133,7 @@
<Center x="1.485" y="0.0" z="0.745"/>
<Dimensions width="2.16" length="5.27" height="1.49"/>
</BoundingBox>
- <Performance maxSpeed="69.44" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="69.44" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.5279" wheelDiameter="0.682" trackWidth="1.8" positionX="3.25" positionZ="0.341"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.682" trackWidth="1.8" positionX="0.0" positionZ="0.341"/>
@@ -168,7 +168,7 @@
<Center x="1.35" y="0.0" z="0.71"/>
<Dimensions width="1.89" length="3.8" height="1.42"/>
</BoundingBox>
- <Performance maxSpeed="58.33" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="58.33" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.4766" wheelDiameter="0.59" trackWidth="1.8" positionX="2.48" positionZ="0.295"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.59" trackWidth="1.8" positionX="0.0" positionZ="0.295"/>
@@ -204,7 +204,7 @@
<Center x="2.815" y="0.0" z="1.92"/>
<Dimensions width="2.91" length="13.23" height="3.84"/>
</BoundingBox>
- <Performance maxSpeed="33.33" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="33.33" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.6972" wheelDiameter="0.808" trackWidth="1.8" positionX="6.64" positionZ="0.404"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.808" trackWidth="1.8" positionX="0.0" positionZ="0.404"/>
@@ -240,7 +240,7 @@
<Center x="2.685" y="0.0" z="1.74"/>
<Dimensions width="3.16" length="8.83" height="3.48"/>
</BoundingBox>
- <Performance maxSpeed="25.0" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="25.0" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="0.4352" wheelDiameter="0.808" trackWidth="1.8" positionX="4.36" positionZ="0.404"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.808" trackWidth="1.8" positionX="0.0" positionZ="0.404"/>
@@ -274,7 +274,7 @@
<Center x="0.175" y="0.0" z="0.9325"/>
<Dimensions width="0.5" length="1.89" height="1.865"/>
</BoundingBox>
- <Performance maxSpeed="10.0" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="10.0" maxAcceleration="9.80665" maxDeceleration="9.80665"/>
<Axles>
<FrontAxle maxSteering="1.5708" wheelDiameter="0.636" trackWidth="0.1" positionX="1.04" positionZ="0.318"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.636" trackWidth="0.1" positionX="0.0" positionZ="0.318"/>
diff --git a/sim/include/agentInterface.h b/sim/include/agentInterface.h
index 51b5f1cebfce1dc340f2dccef796b80df2176c84..52922e76a2c83d431e2de7e8221a7c045d358af2 100644
--- a/sim/include/agentInterface.h
+++ b/sim/include/agentInterface.h
@@ -227,6 +227,13 @@ public:
//-----------------------------------------------------------------------------
virtual void SetYaw(double value) = 0;
+ //-----------------------------------------------------------------------------
+ //! Sets roll angle of agent
+ //!
+ //! @param[in] yawAngle agent orientation
+ //-----------------------------------------------------------------------------
+ virtual void SetRoll(double value) = 0;
+
//-----------------------------------------------------------------------------
//! Sets the total traveled distance of agent
//!
diff --git a/sim/include/vehicleModelsInterface.h b/sim/include/vehicleModelsInterface.h
index 9543999784096e8505ce7e2f533f5229bdd7a056..3ebd5b012a12644afce5f93f1bcb0b0849cb746f 100644
--- a/sim/include/vehicleModelsInterface.h
+++ b/sim/include/vehicleModelsInterface.h
@@ -63,83 +63,91 @@ T GetAttribute(openScenario::ParameterizedAttribute<T> attribute, const openScen
}
}
-/*!
- * \brief Container for axle parameters in OpenSCENARIO vehicle model
- */
-struct VehicleAxle
-{
- openScenario::ParameterizedAttribute<double> maxSteering = -999.0; //!< Maximum steering angle
- openScenario::ParameterizedAttribute<double> wheelDiameter = -999.0; //!< Diameter of the wheels
- openScenario::ParameterizedAttribute<double> trackWidth = -999.0; //!< Trackwidth of the axle
- openScenario::ParameterizedAttribute<double> positionX = -999.0; //!< Longitudinal position offset (measured from reference point)
- openScenario::ParameterizedAttribute<double> positionZ = -999.0; //!< Vertical position offset (measured from reference point)
-};
-
//! Contains the VehicleModelParameters as defined in the VehicleModelCatalog.
//! Certain values may be parametrized and can be overwriten in the Scenario via ParameterAssignment
struct ParametrizedVehicleModelParameters
{
- AgentVehicleType vehicleType = AgentVehicleType::Undefined;
- openScenario::ParameterizedAttribute<double> width = -999.0;
- openScenario::ParameterizedAttribute<double> length = -999.0;
- openScenario::ParameterizedAttribute<double> height = -999.0;
- VehicleAxle frontAxle{};
- VehicleAxle rearAxle{};
- openScenario::ParameterizedAttribute<double> distanceReferencePointToLeadingEdge = -999.0;
- openScenario::ParameterizedAttribute<double> maxVelocity = -999.0;
- openScenario::ParameterizedAttribute<double> weight = -999.0;
- openScenario::ParameterizedAttribute<double> heightCOG = -999.0;
- openScenario::ParameterizedAttribute<double> momentInertiaRoll = -999.0;
- openScenario::ParameterizedAttribute<double> momentInertiaPitch = -999.0;
- openScenario::ParameterizedAttribute<double> momentInertiaYaw = -999.0;
- openScenario::ParameterizedAttribute<double> frontSurface = -999.0;
- openScenario::ParameterizedAttribute<double> airDragCoefficient = -999.0;
- openScenario::ParameterizedAttribute<double> minimumEngineSpeed = -999.0;
- openScenario::ParameterizedAttribute<double> maximumEngineSpeed = -999.0;
- openScenario::ParameterizedAttribute<double> minimumEngineTorque = -999.0;
- openScenario::ParameterizedAttribute<double> maximumEngineTorque = -999.0;
- openScenario::ParameterizedAttribute<int> numberOfGears = -999;
- std::vector<openScenario::ParameterizedAttribute<double>> gearRatios;
- openScenario::ParameterizedAttribute<double> axleRatio = -999.0;
- openScenario::ParameterizedAttribute<double> decelerationFromPowertrainDrag = -999.0;
- openScenario::ParameterizedAttribute<double> steeringRatio = -999.0;
- openScenario::ParameterizedAttribute<double> frictionCoeff = -999.0;
+ AgentVehicleType vehicleType;
- VehicleModelParameters Get(const openScenario::Parameters& assignedParameters) const
+ struct BoundingBoxCenter
{
- auto wheelbase = std::abs(frontAxle.positionX.defaultValue - rearAxle.positionX.defaultValue);
- std::vector<double> transformedGearRatios;
- std::transform(gearRatios.cbegin(), gearRatios.cend(), std::back_inserter(transformedGearRatios), [&](const auto& value){return GetAttribute(value, assignedParameters);});
- return VehicleModelParameters{
- vehicleType,
- GetAttribute(width, assignedParameters),
+ openScenario::ParameterizedAttribute<double> x;
+ openScenario::ParameterizedAttribute<double> y;
+ openScenario::ParameterizedAttribute<double> z;
+
+ VehicleModelParameters::BoundingBoxCenter Get(const openScenario::Parameters& assignedParameters) const
+ {
+ return {GetAttribute(x, assignedParameters),
+ GetAttribute(y, assignedParameters),
+ GetAttribute(z, assignedParameters)};
+ }
+ } boundingBoxCenter;
+
+ struct BoundingBoxDimensions
+ {
+ openScenario::ParameterizedAttribute<double> width;
+ openScenario::ParameterizedAttribute<double> length;
+ openScenario::ParameterizedAttribute<double> height;
+
+ VehicleModelParameters::BoundingBoxDimensions Get(const openScenario::Parameters& assignedParameters) const
+ {
+ return {GetAttribute(width, assignedParameters),
GetAttribute(length, assignedParameters),
- GetAttribute(height, assignedParameters),
- wheelbase,
- GetAttribute(rearAxle.trackWidth, assignedParameters),
- GetAttribute(distanceReferencePointToLeadingEdge, assignedParameters),
- GetAttribute(frontAxle.positionX, assignedParameters),
- GetAttribute(maxVelocity, assignedParameters),
- GetAttribute(weight, assignedParameters),
- GetAttribute(heightCOG, assignedParameters),
- GetAttribute(momentInertiaRoll, assignedParameters),
- GetAttribute(momentInertiaPitch, assignedParameters),
- GetAttribute(momentInertiaYaw, assignedParameters),
- GetAttribute(frontSurface, assignedParameters),
- GetAttribute(airDragCoefficient, assignedParameters),
- GetAttribute(minimumEngineSpeed, assignedParameters),
- GetAttribute(maximumEngineSpeed, assignedParameters),
- GetAttribute(minimumEngineTorque, assignedParameters),
- GetAttribute(maximumEngineTorque, assignedParameters),
- GetAttribute(numberOfGears, assignedParameters),
- transformedGearRatios,
- GetAttribute(axleRatio, assignedParameters),
- GetAttribute(decelerationFromPowertrainDrag, assignedParameters),
- GetAttribute(steeringRatio, assignedParameters),
- GetAttribute(frontAxle.maxSteering, assignedParameters) * GetAttribute(steeringRatio, assignedParameters),
- std::sin(GetAttribute(frontAxle.maxSteering, assignedParameters)) / wheelbase,
- rearAxle.wheelDiameter.defaultValue / 2.0,
- GetAttribute(frictionCoeff, assignedParameters)
+ GetAttribute(height, assignedParameters)};
+ }
+ } boundingBoxDimensions;
+
+ struct Performance
+ {
+ openScenario::ParameterizedAttribute<double> maxSpeed;
+ openScenario::ParameterizedAttribute<double> maxAcceleration;
+ openScenario::ParameterizedAttribute<double> maxDeceleration;
+
+ VehicleModelParameters::Performance Get(const openScenario::Parameters& assignedParameters) const
+ {
+ return {GetAttribute(maxSpeed, assignedParameters),
+ GetAttribute(maxAcceleration, assignedParameters),
+ GetAttribute(maxDeceleration, assignedParameters)};
+ }
+ } performance;
+
+ struct Axle
+ {
+ openScenario::ParameterizedAttribute<double> maxSteering;
+ openScenario::ParameterizedAttribute<double> wheelDiameter;
+ openScenario::ParameterizedAttribute<double> trackWidth;
+ openScenario::ParameterizedAttribute<double> positionX;
+ openScenario::ParameterizedAttribute<double> positionZ;
+
+ VehicleModelParameters::Axle Get(const openScenario::Parameters& assignedParameters) const
+ {
+ return {GetAttribute(maxSteering, assignedParameters),
+ GetAttribute(wheelDiameter, assignedParameters),
+ GetAttribute(trackWidth, assignedParameters),
+ GetAttribute(positionX, assignedParameters),
+ GetAttribute(positionZ, assignedParameters)};
+ }
+ };
+ Axle frontAxle;
+ Axle rearAxle;
+
+ std::map<std::string, openScenario::ParameterizedAttribute<double>> properties;
+
+ VehicleModelParameters Get(const openScenario::Parameters& assignedParameters) const
+ {
+ std::map<std::string, double> assignedProperties;
+ for (const auto[key, value] : properties)
+ {
+ assignedProperties.insert({key, GetAttribute(value, assignedParameters)});
+ }
+
+ return {vehicleType,
+ boundingBoxCenter.Get(assignedParameters),
+ boundingBoxDimensions.Get(assignedParameters),
+ performance.Get(assignedParameters),
+ frontAxle.Get(assignedParameters),
+ rearAxle.Get(assignedParameters),
+ assignedProperties
};
}
};
diff --git a/sim/include/worldObjectInterface.h b/sim/include/worldObjectInterface.h
index 270d9dde525ea391bdd2a2b05f3ddf7101a38c5f..f350648c1964f3b55ef852ac96e825cc74804ace 100644
--- a/sim/include/worldObjectInterface.h
+++ b/sim/include/worldObjectInterface.h
@@ -47,6 +47,10 @@ public:
/// \return yaw
virtual double GetYaw() const = 0;
+ /// \brief Retrieves roll angle
+ /// \return roll
+ virtual double GetRoll() const = 0;
+
/// \brief Get unique id of an object
/// \return id
virtual int GetId() const = 0;
diff --git a/sim/src/common/commonTools.h b/sim/src/common/commonTools.h
index 58f6c9c64da096475ebfe11ca87e1978d88251cd..c81c71cb6f2830d7badcfad4b5ce4cc31d8222ba 100644
--- a/sim/src/common/commonTools.h
+++ b/sim/src/common/commonTools.h
@@ -408,6 +408,18 @@ public:
return WillCrashDuringBrake(sFrontAtTtb - sEgoAtTtb, vEgo, assumedBrakeAccelerationEgo, vFrontAtTtb, aFrontAtTtb);
}
+
+ //! Calculate the width left of the reference point of a leaning object
+ static double GetWidthLeft(double width, double height, double roll)
+ {
+ return 0.5 * width * std::cos(roll) + (roll < 0 ? height * std::sin(-roll) : 0);
+ }
+
+ //! Calculate the width right of the reference point of a leaning object
+ static double GetWidthRight(double width, double height, double roll)
+ {
+ return 0.5 * width * std::cos(roll) + (roll > 0 ? height * std::sin(roll) : 0);
+ }
};
namespace helper::vector {
@@ -474,7 +486,8 @@ public:
//-----------------------------------------------------------------------------
struct TtcParameters{
double length;
- double width;
+ double widthLeft;
+ double widthRight;
double frontLength; // distance from reference point of object to leading edge of object
double backLength; // distance from reference point to back edge of object
point_t position;
@@ -549,7 +562,8 @@ private:
// Initial bounding box in local coordinate system
parameters.length = object->GetLength() + collisionDetectionLongitudinalBoundary;
- parameters.width = object->GetWidth() + collisionDetectionLateralBoundary;
+ parameters.widthLeft = TrafficHelperFunctions::GetWidthLeft(object->GetWidth(), object->GetHeight(), object->GetRoll()) + 0.5 * collisionDetectionLateralBoundary;
+ parameters.widthRight = TrafficHelperFunctions::GetWidthRight(object->GetWidth(), object->GetHeight(), object->GetRoll()) + 0.5 * collisionDetectionLateralBoundary;
parameters.frontLength = object->GetDistanceReferencePointToLeadingEdge() + 0.5 * collisionDetectionLongitudinalBoundary; //returns the distance from reference point of object to leading edge of object
parameters.backLength = parameters.length - parameters.frontLength; // distance from reference point to back edge of object
@@ -587,11 +601,11 @@ private:
// construct corner points from reference point position and current yaw angle
polygon_t box;
- bg::append(box, point_t{ parameters.position.get<0>() - std::cos(parameters.yaw) * parameters.backLength + std::sin(parameters.yaw) * 0.5 * parameters.width , parameters.position.get<1>() - std::sin(parameters.yaw) * parameters.backLength - std::cos(parameters.yaw) * 0.5 * parameters.width }); // back right corner
- bg::append(box, point_t{ parameters.position.get<0>() - std::cos(parameters.yaw) * parameters.backLength - std::sin(parameters.yaw) * 0.5 * parameters.width , parameters.position.get<1>() - std::sin(parameters.yaw) * parameters.backLength + std::cos(parameters.yaw) * 0.5 * parameters.width }); // back left corner
- bg::append(box, point_t{ parameters.position.get<0>() + std::cos(parameters.yaw) * parameters.frontLength - std::sin(parameters.yaw) * 0.5 * parameters.width , parameters.position.get<1>() + std::sin(parameters.yaw) * parameters.frontLength + std::cos(parameters.yaw) * 0.5 * parameters.width }); // front left corner
- bg::append(box, point_t{ parameters.position.get<0>() + std::cos(parameters.yaw) * parameters.frontLength + std::sin(parameters.yaw) * 0.5 * parameters.width , parameters.position.get<1>() + std::sin(parameters.yaw) * parameters.frontLength - std::cos(parameters.yaw) * 0.5 * parameters.width }); // front right corner
- bg::append(box, point_t{ parameters.position.get<0>() - std::cos(parameters.yaw) * parameters.backLength + std::sin(parameters.yaw) * 0.5 * parameters.width , parameters.position.get<1>() - std::sin(parameters.yaw) * parameters.backLength - std::cos(parameters.yaw) * 0.5 * parameters.width }); // back right corner
+ bg::append(box, point_t{ parameters.position.get<0>() - std::cos(parameters.yaw) * parameters.backLength + std::sin(parameters.yaw) * parameters.widthRight , parameters.position.get<1>() - std::sin(parameters.yaw) * parameters.backLength - std::cos(parameters.yaw) * parameters.widthRight }); // back right corner
+ bg::append(box, point_t{ parameters.position.get<0>() - std::cos(parameters.yaw) * parameters.backLength - std::sin(parameters.yaw) * parameters.widthLeft , parameters.position.get<1>() - std::sin(parameters.yaw) * parameters.backLength + std::cos(parameters.yaw) * parameters.widthLeft }); // back left corner
+ bg::append(box, point_t{ parameters.position.get<0>() + std::cos(parameters.yaw) * parameters.frontLength - std::sin(parameters.yaw) * parameters.widthLeft , parameters.position.get<1>() + std::sin(parameters.yaw) * parameters.frontLength + std::cos(parameters.yaw) * parameters.widthLeft }); // front left corner
+ bg::append(box, point_t{ parameters.position.get<0>() + std::cos(parameters.yaw) * parameters.frontLength + std::sin(parameters.yaw) * parameters.widthRight , parameters.position.get<1>() + std::sin(parameters.yaw) * parameters.frontLength - std::cos(parameters.yaw) * parameters.widthRight }); // front right corner
+ bg::append(box, point_t{ parameters.position.get<0>() - std::cos(parameters.yaw) * parameters.backLength + std::sin(parameters.yaw) * parameters.widthRight , parameters.position.get<1>() - std::sin(parameters.yaw) * parameters.backLength - std::cos(parameters.yaw) * parameters.widthRight }); // back right corner
return box;
}
//-----------------------------------------------------------------------------
diff --git a/sim/src/common/dynamicsSignal.h b/sim/src/common/dynamicsSignal.h
index e8d8d217597c4afd47bdd6f2c1f35a4f27a9f92a..72710581a880acbbdc43a7c0db58270bdbe6de24 100644
--- a/sim/src/common/dynamicsSignal.h
+++ b/sim/src/common/dynamicsSignal.h
@@ -39,6 +39,7 @@ public:
double positionY,
double yaw,
double yawRate,
+ double roll,
double steeringWheelAngle,
double centripetalAcceleration,
double travelDistance) :
@@ -49,6 +50,7 @@ public:
positionY(positionY),
yaw(yaw),
yawRate(yawRate),
+ roll(roll),
steeringWheelAngle(steeringWheelAngle),
centripetalAcceleration(centripetalAcceleration),
travelDistance(travelDistance)
@@ -76,6 +78,7 @@ public:
stream << "positionY: " << positionY << std::endl;
stream << "yaw: " << yaw << std::endl;
stream << "yawRate: " << yawRate << std::endl;
+ stream << "roll: " << roll << std::endl;
stream << "steeringWheelAngle: " << steeringWheelAngle << std::endl;
stream << "centripetalAcceleration: " << centripetalAcceleration << std::endl;
stream << "travelDistance: " << travelDistance << std::endl;
@@ -88,6 +91,7 @@ public:
double positionY = 0.0;
double yaw = 0.0;
double yawRate = 0.0;
+ double roll = 0.0;
double steeringWheelAngle = 0.0;
double centripetalAcceleration = 0.0;
double travelDistance = 0.0;
diff --git a/sim/src/common/globalDefinitions.h b/sim/src/common/globalDefinitions.h
index bdccfa88e4cfc9c9d8c1acb4a2c94fa2e4a3b8e6..d0351298555f537491b3da99473b185b5d008927 100644
--- a/sim/src/common/globalDefinitions.h
+++ b/sim/src/common/globalDefinitions.h
@@ -289,83 +289,41 @@ enum class Side
struct VehicleModelParameters
{
- // -----------------------------------------
- // full vehicle related parameters
- // -----------------------------------------
-
- // The type of the vehicle
- AgentVehicleType vehicleType = AgentVehicleType::Undefined;
- // The maximum width of the vehicle in m
- double width = -999.0;
- // The maximum length of the vehicle in m
- double length = -999.0;
- // The maximum height of the vehicle in m
- double height = -999.0;
- // The wheelbase of the vehicle in m
- double wheelbase = -999.0;
- // The trackwidth of the vehicle in m
- double trackwidth = -999.0;
- // The distance between the vehicle coordinate system's reference point (rear axle) and the front bumper in m
- double distanceReferencePointToLeadingEdge = -999.0;
- // The distance between the vehicle coordinate system's reference point (rear axle) and the front axle in m
- double distanceReferencePointToFrontAxle = -999.0;
- // The maximum velocity of the vehicle in m/s
- double maxVelocity = -999.0;
- // The overall mass of the vehicle in kg
- double weight = -999.0;
- // The height of the center of gravity above ground in m
- double heightCOG = -999.0;
- // The moment of inertia along the vehicle's longtudinal axes in kgm2
- double momentInertiaRoll = -999.0;
- // The moment of inertia along the vehicle's lateral axes in kgm2
- double momentInertiaPitch = -999.0;
- // The moment of inertia along the vehicle's vertical axes in kgm2
- double momentInertiaYaw = -999.0;
- // The projected front surface of the vehicle in m2
- double frontSurface = -999.0;
- // The air drag coefficient of the vehicle
- double airDragCoefficient = -999.0;
-
- // -----------------------------------------
- // power train related parameters
- // -----------------------------------------
-
- // The idle speed of the engine in 1/min
- double minimumEngineSpeed = -999.0;
- // The maximum engine speed in 1/min
- double maximumEngineSpeed = -999.0;
- // The drag torque of the engine in Nm
- double minimumEngineTorque = -999.0;
- // The maximum torque of the engine in Nm
- double maximumEngineTorque = -999.0;
- // The number of gears in the gearbox (no reverse gear)
- int numberOfGears = -999;
- // The ratios of all gears in the gearbox (no reverse gear)
- std::vector<double> gearRatios;
- // The ratio of the axle gear
- double axleRatio = -999.0;
- // The deceleration caused by the overall powertrain drag torque in m/s2
- double decelerationFromPowertrainDrag = -999.0;
-
- // -----------------------------------------
- // steering related parameters
- // -----------------------------------------
-
- // The ratio of the steering gear
- double steeringRatio = -999.0;
- // The maximum amplitude of the steering wheel angle in radian
- double maximumSteeringWheelAngleAmplitude = -999.0;
- // The maximum curavture the vehicle is able to drive in 1/m
- double maxCurvature = -999.0;
-
- // -----------------------------------------
- // wheel related parameters
- // -----------------------------------------
-
- // The static wheel radius in m
- double staticWheelRadius = -999.0;
- // The friction coefficient between road and the vehicles tires
- double frictionCoeff = -999.0;
+ AgentVehicleType vehicleType;
+
+ struct BoundingBoxCenter
+ {
+ double x;
+ double y;
+ double z;
+ } boundingBoxCenter;
+
+ struct BoundingBoxDimensions
+ {
+ double width;
+ double length;
+ double height;
+ } boundingBoxDimensions;
+
+ struct Performance
+ {
+ double maxSpeed;
+ double maxAcceleration;
+ double maxDeceleration;
+ } performance;
+
+ struct Axle
+ {
+ double maxSteering;
+ double wheelDiameter;
+ double trackWidth;
+ double positionX;
+ double positionZ;
+ };
+ Axle frontAxle;
+ Axle rearAxle;
+
+ std::map<std::string, double> properties;
};
enum class AdasType
diff --git a/sim/src/common/rollSignal.h b/sim/src/common/rollSignal.h
new file mode 100644
index 0000000000000000000000000000000000000000..1d6fdbd3acf87ec041e1f8ec9e201beb30680409
--- /dev/null
+++ b/sim/src/common/rollSignal.h
@@ -0,0 +1,68 @@
+/*******************************************************************************
+* Copyright (c) 2021 in-tech GmbH
+*
+* This program and the accompanying materials are made
+* available under the terms of the Eclipse Public License 2.0
+* which is available at https://www.eclipse.org/legal/epl-2.0/
+*
+* SPDX-License-Identifier: EPL-2.0
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+//! @file rollSignal.h
+//! @brief This file contains all functions for class
+//! RollSignal
+//!
+//! This class contains all functionality of the signal.
+//-----------------------------------------------------------------------------
+#pragma once
+
+#include "include/modelInterface.h"
+
+class RollSignal: public ComponentStateSignalInterface
+{
+public:
+ const std::string COMPONENTNAME = "RollSignal";
+
+ //-----------------------------------------------------------------------------
+ //! Constructor
+ //-----------------------------------------------------------------------------
+ RollSignal()
+ {
+ componentState = ComponentState::Disabled;
+ }
+
+ //-----------------------------------------------------------------------------
+ //! Constructor
+ //-----------------------------------------------------------------------------
+ RollSignal(
+ ComponentState componentState,
+ double rollAngle
+ ):
+ rollAngle(rollAngle)
+ {
+ this->componentState = componentState;
+ }
+
+ RollSignal(const RollSignal&) = default;
+ RollSignal(RollSignal&&) = default;
+ RollSignal& operator=(const RollSignal&) = default;
+ RollSignal& operator=(RollSignal&&) = default;
+
+ virtual ~RollSignal() = default;
+
+ //-----------------------------------------------------------------------------
+ //! Returns the content/payload of the signal as an std::string
+ //!
+ //! @return Content/payload of the signal as an std::string
+ //-----------------------------------------------------------------------------
+ virtual operator std::string() const
+ {
+ std::ostringstream stream;
+ stream << COMPONENTNAME;
+ return stream.str();
+ }
+
+ double rollAngle {0.};
+
+};
diff --git a/sim/src/components/AgentUpdater/src/agentUpdaterImpl.cpp b/sim/src/components/AgentUpdater/src/agentUpdaterImpl.cpp
index 533ecf5019401896bdbc9af91208d18e35b40007..41f9ca9723d9194ca5ce8b0c58a2d7e27f035087 100644
--- a/sim/src/components/AgentUpdater/src/agentUpdaterImpl.cpp
+++ b/sim/src/components/AgentUpdater/src/agentUpdaterImpl.cpp
@@ -36,6 +36,7 @@ void AgentUpdaterImplementation::UpdateInput(int localLinkId, const std::shared_
positionY = signal->positionY;
yaw = signal->yaw;
yawRate = signal->yawRate;
+ roll = signal->roll;
steeringWheelAngle = signal->steeringWheelAngle;
centripetalAcceleration = signal->centripetalAcceleration;
travelDistance = signal->travelDistance;
@@ -64,6 +65,7 @@ void AgentUpdaterImplementation::Trigger([[maybe_unused]] int time)
agent->SetPositionY(positionY);
agent->SetYaw(yaw);
agent->SetYawRate(yawRate);
+ agent->SetRoll(roll);
agent->SetSteeringWheelAngle(steeringWheelAngle);
agent->SetCentripetalAcceleration(centripetalAcceleration);
agent->SetDistanceTraveled(agent->GetDistanceTraveled() + travelDistance);
diff --git a/sim/src/components/AgentUpdater/src/agentUpdaterImpl.h b/sim/src/components/AgentUpdater/src/agentUpdaterImpl.h
index df0d7f6e486f1261f5d8f82437bbad2ee71b3d48..b835231fdf787c8b6082c30d0ce433e5b4687f34 100644
--- a/sim/src/components/AgentUpdater/src/agentUpdaterImpl.h
+++ b/sim/src/components/AgentUpdater/src/agentUpdaterImpl.h
@@ -123,6 +123,7 @@ private:
double positionY {0.0};
double yaw {0.0};
double yawRate {0.0};
+ double roll {0.0};
double steeringWheelAngle {0.0};
double centripetalAcceleration {0.0};
double travelDistance {0.0};
diff --git a/sim/src/components/Algorithm_AEB/Algorithm_AEB.pro b/sim/src/components/Algorithm_AEB/Algorithm_AEB.pro
index 6dc279bf2feefc7cb1d5925be6fa07fc6944f55a..ed65ddc7279b9bbe92f238443a2c5a10c24d612b 100644
--- a/sim/src/components/Algorithm_AEB/Algorithm_AEB.pro
+++ b/sim/src/components/Algorithm_AEB/Algorithm_AEB.pro
@@ -29,13 +29,11 @@ INCLUDEPATH += \
SOURCES += \
algorithm_autonomousEmergencyBraking.cpp \
- src/autonomousEmergencyBraking.cpp \
- src/boundingBoxCalculation.cpp
+ src/autonomousEmergencyBraking.cpp
HEADERS += \
algorithm_autonomousEmergencyBraking.h \
- src/autonomousEmergencyBraking.h \
- src/boundingBoxCalculation.h
+ src/autonomousEmergencyBraking.h
LIBS += \
-lopen_simulation_interface \
diff --git a/sim/src/components/Algorithm_AEB/CMakeLists.txt b/sim/src/components/Algorithm_AEB/CMakeLists.txt
index 98235822d0a88982406788472bf2c53a2b4e0677..6ea800c0921afc492e45b85eff1e4c0d0345bf3f 100644
--- a/sim/src/components/Algorithm_AEB/CMakeLists.txt
+++ b/sim/src/components/Algorithm_AEB/CMakeLists.txt
@@ -8,12 +8,10 @@ add_openpass_target(
HEADERS
algorithm_autonomousEmergencyBraking.h
src/autonomousEmergencyBraking.h
- src/boundingBoxCalculation.h
SOURCES
algorithm_autonomousEmergencyBraking.cpp
src/autonomousEmergencyBraking.cpp
- src/boundingBoxCalculation.cpp
INCDIRS
${CMAKE_CURRENT_LIST_DIR}/core/slave/modules/World_OSI
diff --git a/sim/src/components/Algorithm_AEB/src/autonomousEmergencyBraking.cpp b/sim/src/components/Algorithm_AEB/src/autonomousEmergencyBraking.cpp
index 1d4a42053fd1a37bbfe9d820239e3447564dc655..309b0ad1f0c7a93252fd517d501f76e5a6a41388 100644
--- a/sim/src/components/Algorithm_AEB/src/autonomousEmergencyBraking.cpp
+++ b/sim/src/components/Algorithm_AEB/src/autonomousEmergencyBraking.cpp
@@ -20,7 +20,6 @@
#include "common/commonTools.h"
#include "common/eventTypes.h"
#include "common/sensorFusionQuery.h"
-#include "boundingBoxCalculation.h"
AlgorithmAutonomousEmergencyBrakingImplementation::AlgorithmAutonomousEmergencyBrakingImplementation(
std::string componentName,
@@ -175,22 +174,30 @@ bool AlgorithmAutonomousEmergencyBrakingImplementation::ShouldBeDeactivated(cons
double AlgorithmAutonomousEmergencyBrakingImplementation::CalculateObjectTTC(const osi3::BaseMoving &baseMoving)
{
- TtcCalculations::TtcParameters own;
- own.length = GetAgent()->GetLength() + collisionDetectionLongitudinalBoundary;
- own.width = GetAgent()->GetWidth() + collisionDetectionLateralBoundary;
- own.frontLength = GetAgent()->GetDistanceReferencePointToLeadingEdge() + 0.5 * collisionDetectionLongitudinalBoundary;
- own.backLength = own.length - own.frontLength;
- own.position = {0.0, 0.0};
- own.velocityX = 0.0;
- own.velocityY = 0.0;
- own.accelerationX = 0.0;
- own.accelerationY = 0.0;
- own.yaw = 0.0;
- own.yawRate = GetAgent()->GetYawRate();
- own.yawAcceleration = 0.0; // GetAgent()->GetYawAcceleration() not implemented yet
+ TtcCalculations::TtcParameters ego;
+ ego.length = GetAgent()->GetLength() + collisionDetectionLongitudinalBoundary;
+ double width = GetAgent()->GetWidth();
+ double height = GetAgent()->GetHeight();
+ double roll = GetAgent()->GetRoll();
+ ego.widthLeft = TrafficHelperFunctions::GetWidthLeft(width, height, roll) + 0.5 * collisionDetectionLateralBoundary;
+ ego.widthRight = TrafficHelperFunctions::GetWidthRight(width, height, roll) + 0.5 * collisionDetectionLateralBoundary;
+ ego.frontLength = GetAgent()->GetDistanceReferencePointToLeadingEdge() + 0.5 * collisionDetectionLongitudinalBoundary;
+ ego.backLength = ego.length - ego.frontLength;
+ ego.position = {0.0, 0.0};
+ ego.velocityX = 0.0;
+ ego.velocityY = 0.0;
+ ego.accelerationX = 0.0;
+ ego.accelerationY = 0.0;
+ ego.yaw = 0.0;
+ ego.yawRate = GetAgent()->GetYawRate();
+ ego.yawAcceleration = 0.0; // GetAgent()->GetYawAcceleration() not implemented yet
TtcCalculations::TtcParameters opponent;
opponent.length = baseMoving.dimension().length() + collisionDetectionLongitudinalBoundary;
- opponent.width = baseMoving.dimension().width() + collisionDetectionLateralBoundary;
+ width = baseMoving.dimension().width();
+ height = baseMoving.dimension().height();
+ roll = baseMoving.orientation().roll();
+ opponent.widthLeft = TrafficHelperFunctions::GetWidthLeft(width, height, roll) + 0.5 * collisionDetectionLateralBoundary;
+ opponent.widthRight = TrafficHelperFunctions::GetWidthRight(width, height, roll) + 0.5 * collisionDetectionLateralBoundary;
opponent.frontLength = 0.5 * opponent.length;
opponent.backLength = 0.5 * opponent.length;
opponent.position = {baseMoving.position().x(), baseMoving.position().y()};
@@ -201,28 +208,36 @@ double AlgorithmAutonomousEmergencyBrakingImplementation::CalculateObjectTTC(con
opponent.yaw = baseMoving.orientation().yaw();
opponent.yawRate = baseMoving.orientation_rate().yaw();
opponent.yawAcceleration = baseMoving.orientation_acceleration().yaw();
- return TtcCalculations::CalculateObjectTTC(own, opponent, ttcBrake * 1.5, GetCycleTime());
+ return TtcCalculations::CalculateObjectTTC(ego, opponent, ttcBrake * 1.5, GetCycleTime());
}
double AlgorithmAutonomousEmergencyBrakingImplementation::CalculateObjectTTC(const osi3::BaseStationary &baseStationary)
{
- TtcCalculations::TtcParameters own;
- own.length = GetAgent()->GetLength() + collisionDetectionLongitudinalBoundary;
- own.width = GetAgent()->GetWidth() + collisionDetectionLateralBoundary;
- own.frontLength = GetAgent()->GetDistanceReferencePointToLeadingEdge() + 0.5 * collisionDetectionLongitudinalBoundary;
- own.backLength = own.length - own.frontLength;
- own.position = {0.0, 0.0};
- own.velocityX = 0.0;
- own.velocityY = 0.0;
- own.accelerationX = 0.0;
- own.accelerationY = 0.0;
- own.yaw = 0.0;
- own.yawRate = GetAgent()->GetYawRate();
- own.yawAcceleration = 0.0; // GetAgent()->GetYawAcceleration() not implemented yet
+ TtcCalculations::TtcParameters ego;
+ ego.length = GetAgent()->GetLength() + collisionDetectionLongitudinalBoundary;
+ double width = GetAgent()->GetWidth();
+ double height = GetAgent()->GetHeight();
+ double roll = GetAgent()->GetRoll();
+ ego.widthLeft = TrafficHelperFunctions::GetWidthLeft(width, height, roll) + 0.5 * collisionDetectionLateralBoundary;
+ ego.widthRight = TrafficHelperFunctions::GetWidthRight(width, height, roll) + 0.5 * collisionDetectionLateralBoundary;
+ ego.frontLength = GetAgent()->GetDistanceReferencePointToLeadingEdge() + 0.5 * collisionDetectionLongitudinalBoundary;
+ ego.backLength = ego.length - ego.frontLength;
+ ego.position = {0.0, 0.0};
+ ego.velocityX = 0.0;
+ ego.velocityY = 0.0;
+ ego.accelerationX = 0.0;
+ ego.accelerationY = 0.0;
+ ego.yaw = 0.0;
+ ego.yawRate = GetAgent()->GetYawRate();
+ ego.yawAcceleration = 0.0; // GetAgent()->GetYawAcceleration() not implemented yet
TtcCalculations::TtcParameters opponent;
opponent.length = baseStationary.dimension().length() + collisionDetectionLongitudinalBoundary;
- opponent.width = baseStationary.dimension().width() + collisionDetectionLateralBoundary;
+ width = baseStationary.dimension().width();
+ height = baseStationary.dimension().height();
+ roll = baseStationary.orientation().roll();
+ opponent.widthLeft = TrafficHelperFunctions::GetWidthLeft(width, height, roll) + 0.5 * collisionDetectionLateralBoundary;
+ opponent.widthRight = TrafficHelperFunctions::GetWidthRight(width, height, roll) + 0.5 * collisionDetectionLateralBoundary;
opponent.frontLength = 0.5 * opponent.length;
opponent.backLength = 0.5 * opponent.length;
opponent.position = {baseStationary.position().x(), baseStationary.position().y()};
@@ -234,7 +249,7 @@ double AlgorithmAutonomousEmergencyBrakingImplementation::CalculateObjectTTC(con
opponent.yawRate = 0.0;
opponent.yawAcceleration = 0.0;
- return TtcCalculations::CalculateObjectTTC(own, opponent, ttcBrake * 1.5, GetCycleTime());
+ return TtcCalculations::CalculateObjectTTC(ego, opponent, ttcBrake * 1.5, GetCycleTime());
}
double AlgorithmAutonomousEmergencyBrakingImplementation::CalculateTTC()
diff --git a/sim/src/components/Algorithm_AEB/src/boundingBoxCalculation.cpp b/sim/src/components/Algorithm_AEB/src/boundingBoxCalculation.cpp
deleted file mode 100644
index 53c3e520b8daab9dd6223628106783ed15b11b1b..0000000000000000000000000000000000000000
--- a/sim/src/components/Algorithm_AEB/src/boundingBoxCalculation.cpp
+++ /dev/null
@@ -1,171 +0,0 @@
-/*******************************************************************************
-* Copyright (c) 2019 in-tech GmbH
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
-
-#include "boundingBoxCalculation.h"
-
-BoundingBoxCalculation::BoundingBoxCalculation(
- AgentInterface* agent,
- double collisionDetectionLongitudinalBoundary,
- double collisionDetectionLateralBoundary) :
- agent(agent),
- collisionDetectionLongitudinalBoundary(collisionDetectionLongitudinalBoundary),
- collisionDetectionLateralBoundary(collisionDetectionLateralBoundary)
-{
-}
-
-polygon_t BoundingBoxCalculation::CalculateBoundingBox(double timeStepInSeconds, const osi3::BaseMoving &baseMoving)
-{
- // Initial bounding box in locale coordinate system
- double lengthHalf = (baseMoving.dimension().length() + collisionDetectionLongitudinalBoundary) / 2.0;
- double widthHalf = (baseMoving.dimension().width() + collisionDetectionLateralBoundary) / 2.0;
-
- double boxPoints[][2]
- {
- { -lengthHalf, -widthHalf },
- { lengthHalf, -widthHalf },
- { lengthHalf, widthHalf },
- { -lengthHalf, widthHalf },
- { -lengthHalf, -widthHalf }
- };
-
- polygon_t box;
- bg::append(box, boxPoints);
-
- // inital object values at current position
- point_t initialPosition = { baseMoving.position().x(), baseMoving.position().y()};
- double initialVelocityX = baseMoving.velocity().x() + agent->GetVelocity(); //Velocity in BaseMoving is relative to own vehicle
- double initialVelocityY = baseMoving.velocity().y();
- double initialVelocity = std::hypot(initialVelocityX, initialVelocityY);
- double initialYaw = baseMoving.orientation().yaw();
- double yawRate = baseMoving.orientation_rate().yaw() + agent->GetYawRate();
- double accelerationX = baseMoving.acceleration().x() + agent->GetAcceleration(); //Acceleration in BaseMoving is relative to own vehicle
- double accelerationY = baseMoving.acceleration().y();
-// double acceleration = std::hypot(accelerationX, accelerationY);
- double traveledDistanceX = initialVelocityX * timeStepInSeconds + 0.5 * accelerationX * timeStepInSeconds * timeStepInSeconds;
- double traveledDistanceY = initialVelocityY * timeStepInSeconds + 0.5 * accelerationY * timeStepInSeconds * timeStepInSeconds;
- double traveledDistance = std::hypot(traveledDistanceX, traveledDistanceY);
-
- // delta from initial position (object's perspective)
- point_t deltaPosition = { 0.0, 0.0 };
- point_t rotatedDeltaPosition;
- double deltaYaw = 0.0;
-
- if (yawRate != 0.0)
- {
- // Radius of the circle the agent is moving on radius = arc length / angle (or their deriviates)
- double radius = initialVelocity / yawRate;
- deltaYaw = traveledDistance / radius;
- deltaPosition.x(radius * std::sin(deltaYaw));
- deltaPosition.y(radius * (1 - std::cos(deltaYaw)));
- }
- else
- {
- // Just driving in a straight line
- deltaPosition.x(traveledDistance);
- }
-
- // rotation in mathematical negative orientation (boost) -> invert to match
- bt::rotate_transformer<bg::radian, double, 2, 2> totalRotation(-initialYaw - deltaYaw);
- bt::rotate_transformer<bg::radian, double, 2, 2> initialRotation(-initialYaw);
- bg::transform(deltaPosition, rotatedDeltaPosition, initialRotation);
-
- bt::translate_transformer<double, 2, 2> totalTranslation(initialPosition.x() + rotatedDeltaPosition.x(),
- initialPosition.y() + rotatedDeltaPosition.y());
-
- // rotate, then translate
- polygon_t boxTemp;
- bg::transform(box, boxTemp, totalRotation);
- bg::transform(boxTemp, box, totalTranslation);
- return box;
-}
-
-polygon_t BoundingBoxCalculation::CalculateBoundingBox(const osi3::BaseStationary &baseStationary)
-{
- // Initial bounding box in locale coordinate system
- double lengthHalf = (baseStationary.dimension().length() + collisionDetectionLongitudinalBoundary) / 2.0;
- double widthHalf = (baseStationary.dimension().width() + collisionDetectionLateralBoundary) / 2.0;
- double yaw = baseStationary.orientation().yaw();
-
- double boxPoints[][2]
- {
- { -lengthHalf, -widthHalf },
- { lengthHalf, -widthHalf },
- { lengthHalf, widthHalf },
- { -lengthHalf, widthHalf },
- { -lengthHalf, -widthHalf }
- };
-
- polygon_t box;
- bg::append(box, boxPoints);
-
- bt::rotate_transformer<bg::radian, double, 2, 2> rotation(-yaw);
- bt::translate_transformer<double, 2, 2> translation(baseStationary.position().x(),
- baseStationary.position().y());
-
- // rotate, then translate
- polygon_t boxTemp;
- bg::transform(box, boxTemp, rotation);
- bg::transform(boxTemp, box, translation);
- return box;
-}
-
-polygon_t BoundingBoxCalculation::CalculateOwnBoundingBox(double timeStepInSeconds)
-{
- // Initial bounding box in locale coordinate system
- double frontLength = agent->GetDistanceReferencePointToLeadingEdge() + collisionDetectionLongitudinalBoundary / 2.0;
- double rearLength = agent->GetLength() - agent->GetDistanceReferencePointToLeadingEdge() + collisionDetectionLongitudinalBoundary / 2.0;
- double widthHalf = (agent->GetWidth() + collisionDetectionLateralBoundary) / 2.0;
-
- double boxPoints[][2]
- {
- { -rearLength, -widthHalf },
- { frontLength, -widthHalf },
- { frontLength, widthHalf },
- { -rearLength, widthHalf },
- { -rearLength, -widthHalf }
- };
-
- polygon_t box;
- bg::append(box, boxPoints);
-
- double initialVelocity = agent->GetVelocity();
- double yawRate = agent->GetYawRate();
- double acceleration = agent->GetAcceleration();
- double traveledDistance = initialVelocity * timeStepInSeconds + 0.5 * acceleration * timeStepInSeconds * timeStepInSeconds;
-
- point_t deltaPosition = { 0.0, 0.0 };
- double deltaYaw = 0.0;
-
- if (yawRate != 0.0)
- {
- // Radius of the circle the agent is moving on radius = arc length / angle (or their deriviates)
- double radius = initialVelocity / yawRate;
- deltaYaw = traveledDistance / radius;
- deltaPosition.x(radius * std::sin(deltaYaw));
- deltaPosition.y(radius * (1 - std::cos(deltaYaw)));
- }
- else
- {
- // Just driving in a straight line
- deltaPosition.x(traveledDistance);
- }
-
- // rotation in mathematical negative orientation (boost) -> invert to match
- bt::rotate_transformer<bg::radian, double, 2, 2> totalRotation(- deltaYaw);
-
- bt::translate_transformer<double, 2, 2> totalTranslation(deltaPosition.x(),
- deltaPosition.y());
-
- // rotate, then translate
- polygon_t boxTemp;
- bg::transform(box, boxTemp, totalRotation);
- bg::transform(boxTemp, box, totalTranslation);
- return box;
-}
diff --git a/sim/src/components/Algorithm_AEB/src/boundingBoxCalculation.h b/sim/src/components/Algorithm_AEB/src/boundingBoxCalculation.h
deleted file mode 100644
index bb3d17e5d881ea2272d3988f5569625cbf7784e9..0000000000000000000000000000000000000000
--- a/sim/src/components/Algorithm_AEB/src/boundingBoxCalculation.h
+++ /dev/null
@@ -1,53 +0,0 @@
-/*******************************************************************************
-* Copyright (c) 2019 in-tech GmbH
-* Copyright (c) 2020 HLRS, University of Stuttgart.
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
-
-#pragma once
-#include <boost/geometry/geometries/adapted/c_array.hpp>
-#include "common/boostGeometryCommon.h"
-#include "include/agentInterface.h"
-#include "osi3/osi_sensordata.pb.h"
-
-/** \addtogroup Algorithm_AEB
- * @{
- * \brief Utility class for AEB to predict the bounding box of objects in future timesteps
-* @} */
-class BoundingBoxCalculation
-{
-public:
- BoundingBoxCalculation(AgentInterface *agent, double collisionDetectionLongitudinalBoundary, double collisionDetectionLateralBoundary);
-
- /*!
- * \brief Predicts the bounding box of a moving object in local coordinates
- * \param timeStepInSeconds relative time since current timeStep
- * \param baseMoving object to predict
- * \return predicted bounding box
- */
- polygon_t CalculateBoundingBox(double timeStepInSeconds, const osi3::BaseMoving &baseMoving);
-
- /*!
- * \brief Calculates the bounding box of a stationary object in local coordinates
- * \param baseMoving object to calculate
- * \return calculated bounding box
- */
- polygon_t CalculateBoundingBox(const osi3::BaseStationary &baseStationary);
-
- /*!
- * \brief Predicts the bounding box of the own agent in local coordinates (coordinate system does not move along)
- * \param timeStepInSeconds relative time since current timeStep
- * \return predicted bounding box
- */
- polygon_t CalculateOwnBoundingBox(double timeStepInSeconds);
-
-private:
- AgentInterface* agent; ///!< The agent for which the boundingbox should be calculated
- double collisionDetectionLongitudinalBoundary; ///!< Additional length added to the vehicle boundary when checking for collision detection
- double collisionDetectionLateralBoundary; ///!< Additional width added to the vehicle boundary when checking for collision detection
-};
diff --git a/sim/src/components/Algorithm_FmuWrapper/src/OsmpFmuHandler.cpp b/sim/src/components/Algorithm_FmuWrapper/src/OsmpFmuHandler.cpp
index fcff3c5a158391346e16b5cc3e161cb5ccbd3de2..3d78b803d5113ba26c980c805c3671d69c55a5e5 100644
--- a/sim/src/components/Algorithm_FmuWrapper/src/OsmpFmuHandler.cpp
+++ b/sim/src/components/Algorithm_FmuWrapper/src/OsmpFmuHandler.cpp
@@ -252,6 +252,7 @@ void OsmpFmuHandler::UpdateOutput(int localLinkId, std::shared_ptr<SignalInterfa
double positionY{0.0};
double yaw{0.0};
double yawRate{0.0};
+ double roll{0.0};
double steeringWheelAngle{0.0};
double centripetalAcceleration{0.0};
double travelDistance{0.0};
@@ -279,6 +280,7 @@ void OsmpFmuHandler::UpdateOutput(int localLinkId, std::shared_ptr<SignalInterfa
const auto& baseMoving = trafficUpdate.mutable_update()->mutable_base();
velocity = std::sqrt(baseMoving->velocity().x() * baseMoving->velocity().x() + baseMoving->velocity().y() * baseMoving->velocity().y());
yaw = baseMoving->orientation().yaw();
+ roll = baseMoving->orientation().roll();
acceleration = baseMoving->acceleration().x() * std::cos(yaw) + baseMoving->acceleration().y() * std::sin(yaw);
centripetalAcceleration = -baseMoving->acceleration().x() * std::sin(yaw) + baseMoving->acceleration().y() * std::cos(yaw);
positionX = baseMoving->position().x();
@@ -309,6 +311,7 @@ void OsmpFmuHandler::UpdateOutput(int localLinkId, std::shared_ptr<SignalInterfa
positionY,
yaw,
yawRate,
+ roll,
steeringWheelAngle,
centripetalAcceleration,
travelDistance);
diff --git a/sim/src/components/Algorithm_Lateral/src/lateralImpl.cpp b/sim/src/components/Algorithm_Lateral/src/lateralImpl.cpp
index c2eaf73c802cd28070731c7472566c45bd18ac63..e8f5d164536ab598e59118019ea7ab8f25bd6d7d 100644
--- a/sim/src/components/Algorithm_Lateral/src/lateralImpl.cpp
+++ b/sim/src/components/Algorithm_Lateral/src/lateralImpl.cpp
@@ -22,6 +22,7 @@
#include "common/lateralSignal.h"
#include "common/commonTools.h"
#include "common/globalDefinitions.h"
+#include "components/common/vehicleProperties.h"
#include "components/Sensor_Driver/src/Signals/sensorDriverSignal.h"
void AlgorithmLateralImplementation::UpdateInput(int localLinkId, const std::shared_ptr<SignalInterface const> &data, int time)
@@ -60,10 +61,12 @@ void AlgorithmLateralImplementation::UpdateInput(int localLinkId, const std::sha
LOG(CbkLogLevel::Debug, msg);
throw std::runtime_error(msg);
}
+ const auto steeringRatio = helper::map::query(signal->vehicleParameters.properties, vehicle::properties::SteeringRatio);
+ THROWIFFALSE(steeringRatio.has_value(), "SteeringRatio was not defined in VehicleCatalog");
- steeringController.SetVehicleParameter(signal->vehicleParameters.steeringRatio,
- signal->vehicleParameters.maximumSteeringWheelAngleAmplitude,
- signal->vehicleParameters.wheelbase);
+ steeringController.SetVehicleParameter(steeringRatio.value(),
+ signal->vehicleParameters.frontAxle.maxSteering * steeringRatio.value(),
+ signal->vehicleParameters.frontAxle.positionX - signal->vehicleParameters.rearAxle.positionX);
}
else if (localLinkId == 101 || localLinkId == 102)
{
diff --git a/sim/src/components/Algorithm_Longitudinal/src/algo_longImpl.cpp b/sim/src/components/Algorithm_Longitudinal/src/algo_longImpl.cpp
index 7a90275b5dd10bc22e6482dca7300d82f3c19985..4d343640cd2f3c96c486b80479a709bd238ff453 100644
--- a/sim/src/components/Algorithm_Longitudinal/src/algo_longImpl.cpp
+++ b/sim/src/components/Algorithm_Longitudinal/src/algo_longImpl.cpp
@@ -145,7 +145,8 @@ void AlgorithmLongitudinalImplementation::CalculatePedalPositionAndGear()
{
AlgorithmLongitudinalCalculations calculations{currentVelocity,
accelerationWish,
- vehicleModelParameters};
+ vehicleModelParameters,
+ [&](auto logLevel, auto line, auto file, auto& message){Log(logLevel, line, file, message);}};
calculations.CalculateGearAndEngineSpeed();
calculations.CalculatePedalPositions();
diff --git a/sim/src/components/Algorithm_Longitudinal/src/longCalcs.cpp b/sim/src/components/Algorithm_Longitudinal/src/longCalcs.cpp
index 755ca9d5ac10b87624564a6fc747ddbf86a3b71e..39f52407f1a642bbeeeca68f92723d4ea2b61536 100644
--- a/sim/src/components/Algorithm_Longitudinal/src/longCalcs.cpp
+++ b/sim/src/components/Algorithm_Longitudinal/src/longCalcs.cpp
@@ -20,10 +20,14 @@
#include <map>
#include <iostream>
#include "longCalcs.h"
+#include "common/commonTools.h"
+#include "components/common/vehicleProperties.h"
AlgorithmLongitudinalCalculations::AlgorithmLongitudinalCalculations(double xVel,
double in_aVehicle,
- const VehicleModelParameters &vehicleModelParameters) :
+ const VehicleModelParameters &vehicleModelParameters,
+ std::function<void (CbkLogLevel, const char*, int, const std::string&)> Log) :
+ Log(Log),
velocity(xVel),
accelerationWish(in_aVehicle),
vehicleModelParameters(vehicleModelParameters)
@@ -57,20 +61,27 @@ double AlgorithmLongitudinalCalculations::GetEngineTorqueAtGear(int gear, double
return 0;
}
- if (gear > vehicleModelParameters.numberOfGears || gear < 0)
+ if (gear > GetVehicleProperty(vehicle::properties::NumberOfGears) || gear < 0)
{
throw std::runtime_error("Gear in AlgorithmLongitudinal is invalid");
}
- double wheelSetTorque = vehicleModelParameters.weight * vehicleModelParameters.staticWheelRadius * acceleration;
- double engineTorqueAtGear = wheelSetTorque / (vehicleModelParameters.axleRatio * vehicleModelParameters.gearRatios.at(gear));
+ double wheelSetTorque = GetVehicleProperty(vehicle::properties::Mass) * 0.5 * vehicleModelParameters.rearAxle.wheelDiameter * acceleration;
+ double engineTorqueAtGear = wheelSetTorque / (GetVehicleProperty(vehicle::properties::AxleRatio) * GetVehicleProperty(vehicle::properties::GearRatio+std::to_string(gear)));
return engineTorqueAtGear;
}
+double AlgorithmLongitudinalCalculations::GetVehicleProperty(const std::string& propertyName)
+{
+ const auto property = helper::map::query(vehicleModelParameters.properties, propertyName);
+ THROWIFFALSE(property.has_value(), "Vehicle property \"" + propertyName + "\" was not set in the VehicleCatalog");
+ return property.value();
+}
+
double AlgorithmLongitudinalCalculations::GetEngineSpeedByVelocity(double xVel, int gear)
{
- return (xVel * vehicleModelParameters.axleRatio * vehicleModelParameters.gearRatios.at(gear) * 60) / (vehicleModelParameters.staticWheelRadius * 2.0 * M_PI); // an dynamic wheel radius rDyn must actually be used here
+ return (xVel * GetVehicleProperty(vehicle::properties::AxleRatio) * GetVehicleProperty(vehicle::properties::GearRatio+std::to_string(gear)) * 60) / (vehicleModelParameters.rearAxle.wheelDiameter * M_PI); // an dynamic wheel radius rDyn must actually be used here
}
void AlgorithmLongitudinalCalculations::CalculateGearAndEngineSpeed()
@@ -78,7 +89,8 @@ void AlgorithmLongitudinalCalculations::CalculateGearAndEngineSpeed()
std::map<double, int> nEngineSet;
std::map<double, std::tuple<int, double, double>> minDeltaAccWheelBased;
- for (int gear = 1; gear <= vehicleModelParameters.numberOfGears; ++gear)
+ const auto numberOfGears = GetVehicleProperty(vehicle::properties::NumberOfGears);
+ for (int gear = 1; gear <= numberOfGears; ++gear)
{
double engineSpeed = GetEngineSpeedByVelocity(velocity, gear);
double limitWheelAcc;
@@ -160,35 +172,39 @@ bool AlgorithmLongitudinalCalculations::isTorqueWithinEngineLimits(double torque
inline bool AlgorithmLongitudinalCalculations::isEngineSpeedWithinEngineLimits(double engineSpeed)
{
- return (engineSpeed >= vehicleModelParameters.minimumEngineSpeed && engineSpeed <= vehicleModelParameters.maximumEngineSpeed);
+ return (engineSpeed >= GetVehicleProperty(vehicle::properties::MinimumEngineSpeed) && engineSpeed <= GetVehicleProperty(vehicle::properties::MaximumEngineSpeed));
}
double AlgorithmLongitudinalCalculations::GetEngineTorqueMax(double engineSpeed)
{
- double torqueMax = vehicleModelParameters.maximumEngineTorque; // initial value at max
+ const double maximumEngineTorque = GetVehicleProperty(vehicle::properties::MaximumEngineTorque);
+ const double maximumEngineSpeed = GetVehicleProperty(vehicle::properties::MaximumEngineSpeed);
+ const double minimumEngineSpeed = GetVehicleProperty(vehicle::properties::MinimumEngineSpeed);
+
+ double torqueMax = maximumEngineTorque; // initial value at max
double speed = engineSpeed;
- bool isLowerSection = engineSpeed < vehicleModelParameters.minimumEngineSpeed + 1000;
- bool isBeyondLowerSectionBorder = engineSpeed < vehicleModelParameters.minimumEngineSpeed;
- bool isUpperSection = engineSpeed > vehicleModelParameters.maximumEngineSpeed - 1000;
- bool isBeyondUpperSectionBorder = engineSpeed > vehicleModelParameters.maximumEngineSpeed;
+ bool isLowerSection = engineSpeed < minimumEngineSpeed + 1000;
+ bool isBeyondLowerSectionBorder = engineSpeed < minimumEngineSpeed;
+ bool isUpperSection = engineSpeed > maximumEngineSpeed - 1000;
+ bool isBeyondUpperSectionBorder = engineSpeed > maximumEngineSpeed;
if (isLowerSection)
{
if (isBeyondLowerSectionBorder) // not within limits
{
- speed = vehicleModelParameters.minimumEngineSpeed;
+ speed = minimumEngineSpeed;
}
- torqueMax = (1000 - (speed - vehicleModelParameters.minimumEngineSpeed)) * -0.1 + vehicleModelParameters.maximumEngineTorque;
+ torqueMax = (1000 - (speed - minimumEngineSpeed)) * -0.1 + maximumEngineTorque;
}
else if (isUpperSection)
{
if (isBeyondUpperSectionBorder)
{
- speed = vehicleModelParameters.maximumEngineSpeed;
+ speed = maximumEngineSpeed;
}
- torqueMax = (speed - vehicleModelParameters.maximumEngineSpeed + 1000) * -0.04 + vehicleModelParameters.maximumEngineTorque;
+ torqueMax = (speed - maximumEngineSpeed + 1000) * -0.04 + maximumEngineTorque;
}
return torqueMax;
@@ -201,9 +217,9 @@ double AlgorithmLongitudinalCalculations::GetEngineTorqueMin(double engineSpeed)
double AlgorithmLongitudinalCalculations::GetAccFromEngineTorque(double engineTorque, int chosenGear)
{
- double wheelSetTorque = engineTorque * (vehicleModelParameters.axleRatio * vehicleModelParameters.gearRatios.at(chosenGear));
- double wheelSetForce = wheelSetTorque / vehicleModelParameters.staticWheelRadius;
- return wheelSetForce / vehicleModelParameters.weight;
+ double wheelSetTorque = engineTorque * (GetVehicleProperty(vehicle::properties::AxleRatio) * GetVehicleProperty(vehicle::properties::GearRatio+std::to_string(chosenGear)));
+ double wheelSetForce = wheelSetTorque / (0.5 * vehicleModelParameters.rearAxle.wheelDiameter);
+ return wheelSetForce / GetVehicleProperty(vehicle::properties::Mass);
}
void AlgorithmLongitudinalCalculations::CalculatePedalPositions()
diff --git a/sim/src/components/Algorithm_Longitudinal/src/longCalcs.h b/sim/src/components/Algorithm_Longitudinal/src/longCalcs.h
index 7dae8058aa920598edb26ed411d18535070cf258..af19045232e1437859bc9734a80f81ad8c1dabce 100644
--- a/sim/src/components/Algorithm_Longitudinal/src/longCalcs.h
+++ b/sim/src/components/Algorithm_Longitudinal/src/longCalcs.h
@@ -22,8 +22,10 @@
#include "common/opMath.h"
#include <vector>
+#include <functional>
#include "common/globalDefinitions.h"
+#include "include/callbackInterface.h"
//! \brief This class does all the calculations in the Algorithm_Longitudinal module.
//!
@@ -43,7 +45,7 @@ public:
//! \param accelerationWish desired acceleration (can be negative)
//! \param vehicleModelParameters parameters of the vehicle model
//!
- AlgorithmLongitudinalCalculations(double velocity, double accelerationWish, const VehicleModelParameters &vehicleModelParameters);
+ AlgorithmLongitudinalCalculations(double velocity, double accelerationWish, const VehicleModelParameters &vehicleModelParameters, std::function<void (CbkLogLevel, const char*, int, const std::string &)> Log);
//!
//! \brief Calculates the necessary gear and engine to achieve the desired acceleration at the current velocity
@@ -109,6 +111,10 @@ public:
double GetEngineTorqueAtGear(int gear, double acceleration);
protected:
+ double GetVehicleProperty(const std::string& propertyName);
+
+ std::function<void (CbkLogLevel, const char*, int, const std::string &)> Log;
+
//Input
double velocity{0.0};
double accelerationWish{0.0};
diff --git a/sim/src/components/Dynamics_Collision/src/collisionImpl.cpp b/sim/src/components/Dynamics_Collision/src/collisionImpl.cpp
index 3d683271cab25f362d91de2c4f6597ca1d4a9639..c9f4d73c392df2ef7dce6e2edc8924d373932eb5 100644
--- a/sim/src/components/Dynamics_Collision/src/collisionImpl.cpp
+++ b/sim/src/components/Dynamics_Collision/src/collisionImpl.cpp
@@ -19,6 +19,7 @@
#include "collisionImpl.h"
#include "include/worldInterface.h"
+#include "components/common/vehicleProperties.h"
DynamicsCollisionImplementation::DynamicsCollisionImplementation(std::string componentName,
bool isInit,
@@ -93,10 +94,12 @@ void DynamicsCollisionImplementation::Trigger(int time)
bool collisionWithFixedObject = false;
//Calculate new velocity by inelastic collision
- const double &agentWeight = GetAgent()->GetVehicleModelParameters().weight;
- double sumOfWeights = agentWeight;
- double sumOfImpulsesX = GetAgent()->GetVelocity() * agentWeight * std::cos(GetAgent()->GetYaw());
- double sumOfImpulsesY = GetAgent()->GetVelocity() * agentWeight * std::sin(GetAgent()->GetYaw());
+ auto weight = helper::map::query(GetAgent()->GetVehicleModelParameters().properties, vehicle::properties::Mass);
+ THROWIFFALSE(weight.has_value(), "Mass was not defined in VehicleCatalog");
+
+ double sumOfWeights = weight.value();
+ double sumOfImpulsesX = GetAgent()->GetVelocity() * weight.value() * std::cos(GetAgent()->GetYaw());
+ double sumOfImpulsesY = GetAgent()->GetVelocity() * weight.value() * std::sin(GetAgent()->GetYaw());
auto collisionPartners = GetAgent()->GetCollisionPartners();
for (const auto &partner : collisionPartners)
@@ -109,11 +112,12 @@ void DynamicsCollisionImplementation::Trigger(int time)
const AgentInterface* partnerAgent = GetWorld()->GetAgent(partner.second);
if (partnerAgent != nullptr)
{
- const double &partnerAgentWeight = partnerAgent->GetVehicleModelParameters().weight;
+ weight = helper::map::query(partnerAgent->GetVehicleModelParameters().properties, vehicle::properties::Mass);
+ THROWIFFALSE(weight.has_value(), "Mass was not defined in VehicleCatalog");
- sumOfWeights += partnerAgentWeight;
- sumOfImpulsesX += partnerAgent->GetVelocity() * partnerAgentWeight * std::cos(partnerAgent->GetYaw());
- sumOfImpulsesY += partnerAgent->GetVelocity() * partnerAgentWeight * std::sin(partnerAgent->GetYaw());
+ sumOfWeights += weight.value();
+ sumOfImpulsesX += partnerAgent->GetVelocity() * weight.value() * std::cos(partnerAgent->GetYaw());
+ sumOfImpulsesY += partnerAgent->GetVelocity() * weight.value() * std::sin(partnerAgent->GetYaw());
}
}
diff --git a/sim/src/components/Dynamics_RegularDriving/src/regularDriving.cpp b/sim/src/components/Dynamics_RegularDriving/src/regularDriving.cpp
index 2ebd7de8ad54792f4f453a53665fb29356145459..be0feedc96eac7924868a4ffed30f9ded0109ed7 100644
--- a/sim/src/components/Dynamics_RegularDriving/src/regularDriving.cpp
+++ b/sim/src/components/Dynamics_RegularDriving/src/regularDriving.cpp
@@ -29,6 +29,8 @@
#include "common/opMath.h"
#include "common/parametersVehicleSignal.h"
#include "common/steeringSignal.h"
+#include "common/rollSignal.h"
+#include "components/common/vehicleProperties.h"
#include "include/worldInterface.h"
void DynamicsRegularDrivingImplementation::UpdateInput(int localLinkId, const std::shared_ptr<SignalInterface const> &data, int time)
@@ -69,6 +71,21 @@ void DynamicsRegularDrivingImplementation::UpdateInput(int localLinkId, const st
in_steeringWheelAngle = signal->steeringWheelAngle;
}
}
+ else if (localLinkId == 2)
+ {
+ const std::shared_ptr<ComponentStateSignalInterface const> stateSignal = std::dynamic_pointer_cast<ComponentStateSignalInterface const>(data);
+ if(stateSignal->componentState == ComponentState::Acting)
+ {
+ const std::shared_ptr<RollSignal const> signal = std::dynamic_pointer_cast<RollSignal const>(data);
+ if (!signal)
+ {
+ const std::string msg = COMPONENTNAME + " invalid signaltype";
+ LOG(CbkLogLevel::Debug, msg);
+ throw std::runtime_error(msg);
+ }
+ dynamicsSignal.roll = signal->rollAngle;
+ }
+ }
else if (localLinkId == 100)
{
// from ParametersAgent
@@ -116,7 +133,7 @@ void DynamicsRegularDrivingImplementation::UpdateOutput(int localLinkId, std::sh
void DynamicsRegularDrivingImplementation::ApplyGearLimit()
{
- in_gear = std::min(std::max(in_gear, 0), static_cast<int>(vehicleModelParameters.numberOfGears));
+ in_gear = std::min(std::max(in_gear, 1), static_cast<int>(GetVehicleProperty(vehicle::properties::NumberOfGears)));
}
void DynamicsRegularDrivingImplementation::ApplyPedalPositionLimits()
@@ -127,37 +144,41 @@ void DynamicsRegularDrivingImplementation::ApplyPedalPositionLimits()
double DynamicsRegularDrivingImplementation::GetEngineSpeedByVelocity(double xVel, int gear)
{
- return (xVel * vehicleModelParameters.axleRatio * vehicleModelParameters.gearRatios.at(gear) * 60.) /
- (vehicleModelParameters.staticWheelRadius * _twoPi); // an dynamic wheel radius rDyn must actually be used here
+ return (xVel * GetVehicleProperty(vehicle::properties::AxleRatio) * GetVehicleProperty(vehicle::properties::GearRatio+std::to_string(gear)) * 60.) /
+ (vehicleModelParameters.rearAxle.wheelDiameter * M_PI); // an dynamic wheel radius rDyn must actually be used here
}
double DynamicsRegularDrivingImplementation::GetEngineMomentMax(double engineSpeed)
{
- double torqueMax = vehicleModelParameters.maximumEngineTorque; // initial value at max
+ const double maximumEngineTorque = GetVehicleProperty(vehicle::properties::MaximumEngineTorque);
+ const double maximumEngineSpeed = GetVehicleProperty(vehicle::properties::MaximumEngineSpeed);
+ const double minimumEngineSpeed = GetVehicleProperty(vehicle::properties::MinimumEngineSpeed);
+
+ double torqueMax = maximumEngineTorque; // initial value at max
double speed = engineSpeed;
- bool isLowerSection = engineSpeed < vehicleModelParameters.minimumEngineSpeed + 1000.;
- bool isBeyondLowerSectionBorder = engineSpeed<vehicleModelParameters.minimumEngineSpeed;
- bool isUpperSection = engineSpeed>vehicleModelParameters.maximumEngineSpeed - 1000.;
- bool isBeyondUpperSectionBorder = engineSpeed>vehicleModelParameters.maximumEngineSpeed;
+ bool isLowerSection = engineSpeed < minimumEngineSpeed + 1000.;
+ bool isBeyondLowerSectionBorder = engineSpeed < minimumEngineSpeed;
+ bool isUpperSection = engineSpeed > maximumEngineSpeed - 1000.;
+ bool isBeyondUpperSectionBorder = engineSpeed > maximumEngineSpeed;
if (isLowerSection)
{
if (isBeyondLowerSectionBorder) // not within limits
{
- speed = vehicleModelParameters.minimumEngineSpeed;
+ speed = minimumEngineSpeed;
}
- torqueMax = (1000 - (speed - vehicleModelParameters.minimumEngineSpeed)) * -0.1 + vehicleModelParameters.maximumEngineTorque;
+ torqueMax = (1000 - (speed - minimumEngineSpeed)) * -0.1 + maximumEngineTorque;
}
else if (isUpperSection)
{
if (isBeyondUpperSectionBorder)
{
- speed = vehicleModelParameters.maximumEngineSpeed;
+ speed = maximumEngineSpeed;
}
- torqueMax = (speed - vehicleModelParameters.maximumEngineSpeed + 1000) * -0.04 + vehicleModelParameters.maximumEngineTorque;
+ torqueMax = (speed - maximumEngineSpeed + 1000) * -0.04 + maximumEngineTorque;
}
return torqueMax;
}
@@ -171,9 +192,9 @@ double DynamicsRegularDrivingImplementation::GetAccelerationFromRollingResistanc
double DynamicsRegularDrivingImplementation::GetAccelerationFromAirResistance(double velocity)
{
- double forceAirResistance = -.5 * _rho * vehicleModelParameters.airDragCoefficient *
- vehicleModelParameters.frontSurface * velocity * velocity;
- double accDueToAirResistance = forceAirResistance / vehicleModelParameters.weight;
+ double forceAirResistance = -.5 * _rho * GetVehicleProperty(vehicle::properties::AirDragCoefficient) *
+ GetVehicleProperty(vehicle::properties::FrontSurface) * velocity * velocity;
+ double accDueToAirResistance = forceAirResistance / GetVehicleProperty(vehicle::properties::Mass);
return accDueToAirResistance;
}
@@ -184,7 +205,14 @@ double DynamicsRegularDrivingImplementation::GetEngineMomentMin(double engineSpe
double DynamicsRegularDrivingImplementation::GetFrictionCoefficient()
{
- return GetWorld()->GetFriction() * vehicleModelParameters.frictionCoeff;
+ return GetWorld()->GetFriction() * GetVehicleProperty(vehicle::properties::FrictionCoefficient);
+}
+
+double DynamicsRegularDrivingImplementation::GetVehicleProperty(const std::string& propertyName)
+{
+ const auto property = helper::map::query(vehicleModelParameters.properties, propertyName);
+ THROWIFFALSE(property.has_value(), "Vehicle property \"" + propertyName + "\" was not set in the VehicleCatalog");
+ return property.value();
}
double DynamicsRegularDrivingImplementation::GetEngineMoment(double gasPedalPos, int gear)
@@ -210,11 +238,11 @@ double DynamicsRegularDrivingImplementation::GetAccFromEngineMoment(double xVel,
Q_UNUSED(xVel);
Q_UNUSED(cycleTime);
- double wheelSetMoment = engineMoment * (vehicleModelParameters.axleRatio * vehicleModelParameters.gearRatios.at(chosenGear));
- double wheelSetForce = wheelSetMoment / vehicleModelParameters.staticWheelRadius;
+ double wheelSetMoment = engineMoment * (GetVehicleProperty(vehicle::properties::AxleRatio) * GetVehicleProperty(vehicle::properties::GearRatio+std::to_string(chosenGear)));
+ double wheelSetForce = wheelSetMoment / (0.5 * vehicleModelParameters.rearAxle.wheelDiameter);
double vehicleSetForce = wheelSetForce;
- double acc = vehicleSetForce / (vehicleModelParameters.weight);
+ double acc = vehicleSetForce / GetVehicleProperty(vehicle::properties::Mass);
return acc;
}
@@ -295,15 +323,12 @@ void DynamicsRegularDrivingImplementation::Trigger(int time)
dynamicsSignal.travelDistance = ds;
// convert steering wheel angle to steering angle of front wheels [radian]
- const auto steeringWheelAngle = std::clamp(in_steeringWheelAngle,
- -vehicleModelParameters.maximumSteeringWheelAngleAmplitude,
- vehicleModelParameters.maximumSteeringWheelAngleAmplitude);
- dynamicsSignal.steeringWheelAngle = steeringWheelAngle;
-
- const auto steering_angle = steeringWheelAngle / vehicleModelParameters.steeringRatio;
+ const auto steering_angle = std::clamp(-vehicleModelParameters.frontAxle.maxSteering, in_steeringWheelAngle / GetVehicleProperty(vehicle::properties::SteeringRatio), vehicleModelParameters.frontAxle.maxSteering);
+ dynamicsSignal.steeringWheelAngle = steering_angle * GetVehicleProperty(vehicle::properties::SteeringRatio) ;
GetPublisher()->Publish("SteeringAngle", steering_angle);
+ const double wheelbase = vehicleModelParameters.frontAxle.positionX - vehicleModelParameters.rearAxle.positionX;
// calculate curvature (Ackermann model; reference point of yawing = rear axle!) [radian]
- double steeringCurvature = std::tan(steering_angle) / vehicleModelParameters.wheelbase;
+ double steeringCurvature = std::tan(steering_angle) / wheelbase;
// change of yaw angle due to ds and curvature [radian]
double dpsi = std::atan(steeringCurvature*ds);
dynamicsSignal.yawRate = dpsi / (GetCycleTime() * 0.001);
diff --git a/sim/src/components/Dynamics_RegularDriving/src/regularDriving.h b/sim/src/components/Dynamics_RegularDriving/src/regularDriving.h
index 728613bf42cea776f35c233b5f341f96c87dedf5..63f7e3ed88dfbe156f0baf0faefcc1fdd65ddf11 100644
--- a/sim/src/components/Dynamics_RegularDriving/src/regularDriving.h
+++ b/sim/src/components/Dynamics_RegularDriving/src/regularDriving.h
@@ -256,7 +256,9 @@ private:
//! @return friction coefficient (currently ALWAYS 1)
double GetFrictionCoefficient();
-
+ //! Returns the property with given name in the VehicleModelParameters
+ //! or throws an error if the property is missing
+ double GetVehicleProperty(const std::string& propertyName);
/** @name Private Variables
* @{
diff --git a/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_regularTwoTrackImpl.cpp b/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_regularTwoTrackImpl.cpp
index 6105881e0457e06e8771cfde8041a6bf339ea83f..aee24c6cd6358d3ce368bced8696a9da13c0ce92 100644
--- a/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_regularTwoTrackImpl.cpp
+++ b/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_regularTwoTrackImpl.cpp
@@ -51,6 +51,8 @@
#include "common/steeringSignal.h"
#include "common/parametersVehicleSignal.h"
#include "common/globalDefinitions.h"
+#include "common/commonTools.h"
+#include "components/common/vehicleProperties.h"
DynamicsRegularTwoTrackImplementation::~DynamicsRegularTwoTrackImplementation()
{
@@ -227,6 +229,18 @@ void DynamicsRegularTwoTrackImplementation::Trigger(int time)
NextStateSet();
}
+double DynamicsRegularTwoTrackImplementation::GetWheelbase() const
+{
+ return GetAgent()->GetVehicleModelParameters().frontAxle.positionX - GetAgent()->GetVehicleModelParameters().rearAxle.positionX;
+}
+
+double DynamicsRegularTwoTrackImplementation::GetWeight() const
+{
+ const auto weight = helper::map::query(GetAgent()->GetVehicleModelParameters().properties, vehicle::properties::Mass);
+ THROWIFFALSE(weight.has_value(), "Mass was not defined in VehicleCatalog");
+ return weight.value();
+}
+
void DynamicsRegularTwoTrackImplementation::Init()
{
std::map<std::string, double> parameterMapDoubleExternal = GetParameters()->GetParametersDouble();
@@ -248,7 +262,7 @@ void DynamicsRegularTwoTrackImplementation::Init()
* - power
* - maximum brake torque
*/
- vehicle->InitSetEngine(GetAgent()->GetVehicleModelParameters().weight, powerEngineMax.GetValue(), torqueBrakeMin.GetValue());
+ vehicle->InitSetEngine(GetWeight(), powerEngineMax.GetValue(), torqueBrakeMin.GetValue());
/** @addtogroup init_tt
* Define vehicle's geometry:
@@ -257,8 +271,8 @@ void DynamicsRegularTwoTrackImplementation::Init()
* - set the wheelbase
* - set the track width
*/
- vehicle->InitSetGeometry(GetAgent()->GetVehicleModelParameters().wheelbase, 0.0,
- GetAgent()->GetVehicleModelParameters().trackwidth, 0.0);
+ vehicle->InitSetGeometry(GetWheelbase(), 0.0,
+ GetAgent()->GetVehicleModelParameters().rearAxle.trackWidth, 0.0);
/** @addtogroup init_tt
* Define vehicle's tire properties:
@@ -269,9 +283,13 @@ void DynamicsRegularTwoTrackImplementation::Init()
* - set the radius of the tire
* - set the road/tire friction coefficient
*/
+
+ const auto frictionCoeff = helper::map::query(GetAgent()->GetVehicleModelParameters().properties, vehicle::properties::FrictionCoefficient);
+ THROWIFFALSE(frictionCoeff.has_value(), "FrictionCoefficient was not defined in VehicleCatalog");
+
vehicle->InitSetTire(GetAgent()->GetVelocity(VelocityScope::Longitudinal),
muTireMax.GetValue(), muTireSlide.GetValue(),
- slipTireMax.GetValue(), radiusTire.GetValue(), GetAgent()->GetVehicleModelParameters().frictionCoeff);
+ slipTireMax.GetValue(), radiusTire.GetValue(), frictionCoeff.value());
forceWheelVertical = {
vehicle->forceTireVerticalStatic[0],
@@ -292,8 +310,9 @@ void DynamicsRegularTwoTrackImplementation::ReadPreviousState()
double midRearAxleY = GetAgent()->GetPositionY(); // reference point (rear axle) in global CS
yawAngle = GetAgent()->GetYaw(); // global CS
- positionCar.x = midRearAxleX + std::cos(yawAngle) * GetAgent()->GetVehicleModelParameters().wheelbase / 2.0; // geometrical center of vehicle in global CS
- positionCar.y = midRearAxleY + std::sin(yawAngle) * GetAgent()->GetVehicleModelParameters().wheelbase / 2.0; // geometrical center of vehicle in global CS
+ const double wheelbase = GetWheelbase();
+ positionCar.x = midRearAxleX + std::cos(yawAngle) * wheelbase / 2.0; // geometrical center of vehicle in global CS
+ positionCar.y = midRearAxleY + std::sin(yawAngle) * wheelbase / 2.0; // geometrical center of vehicle in global CS
velocityCar.x = GetAgent()->GetVelocity(VelocityScope::Longitudinal); // car's CS
velocityCar.y = GetAgent()->GetVelocity(VelocityScope::Lateral); // car's CS
@@ -315,8 +334,9 @@ void DynamicsRegularTwoTrackImplementation::NextStateTranslation()
Common::Vector2d velocityCarNew = velocityCar + accelerationCar*timeStep;
// update acceleration
- if (GetAgent()->GetVehicleModelParameters().weight >= 1.0) {
- accelerationCar = vehicle->forceTotalXY * (1 / GetAgent()->GetVehicleModelParameters().weight);
+ const double weight = GetWeight();
+ if (weight >= 1.0) {
+ accelerationCar = vehicle->forceTotalXY * (1 / weight);
}
// correct velocity and acceleration for zero-crossing
@@ -355,7 +375,7 @@ void DynamicsRegularTwoTrackImplementation::NextStateRotation()
double yawVelocityNew = yawVelocity + yawAcceleration * timeStep;
// update acceleration
- double momentInertiaYaw = CommonHelper::CalculateMomentInertiaYaw(GetAgent()->GetVehicleModelParameters().weight,
+ double momentInertiaYaw = CommonHelper::CalculateMomentInertiaYaw(GetWeight(),
GetAgent()->GetLength(),
GetAgent()->GetWidth());
if (momentInertiaYaw >= 1.0) {
@@ -380,8 +400,9 @@ void DynamicsRegularTwoTrackImplementation::NextStateRotation()
void DynamicsRegularTwoTrackImplementation::NextStateSet()
{
- double midRearAxleX = positionCar.x - std::cos(yawAngle) * GetAgent()->GetVehicleModelParameters().wheelbase / 2.0; // reference point (rear axle) in global CS
- double midRearAxleY = positionCar.y - std::sin(yawAngle) * GetAgent()->GetVehicleModelParameters().wheelbase / 2.0; // reference point (rear axle) in global CS
+ const double wheelbase = GetWheelbase();
+ double midRearAxleX = positionCar.x - std::cos(yawAngle) * wheelbase / 2.0; // reference point (rear axle) in global CS
+ double midRearAxleY = positionCar.y - std::sin(yawAngle) * wheelbase / 2.0; // reference point (rear axle) in global CS
// update position (constant acceleration step)
dynamicsSignal.acceleration = accelerationCar.x;
diff --git a/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_regularTwoTrackImpl.h b/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_regularTwoTrackImpl.h
index 710e7ded1693ebb46ac704d71baa090c6941ac20..2afcb79e517a8f8fb4553802bfcf5fdc58881d7d 100644
--- a/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_regularTwoTrackImpl.h
+++ b/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_regularTwoTrackImpl.h
@@ -213,6 +213,12 @@ private:
/**
* @} */
+ //! Returns the wheelbase from the VehicleModelParameter
+ double GetWheelbase() const;
+
+ //! Returns the weight from the VehicleModelParameter
+ double GetWeight() const;
+
//! Update data on agent's actual position, velocity and acceleration
void ReadPreviousState();
diff --git a/sim/src/components/LimiterAccVehComp/src/limiterAccVehCompImpl.cpp b/sim/src/components/LimiterAccVehComp/src/limiterAccVehCompImpl.cpp
index 1d8926f038105e8499bdbd972f7d4659a081dc2f..13f55a09e93fc65cc024821b2782fc9418fee127 100644
--- a/sim/src/components/LimiterAccVehComp/src/limiterAccVehCompImpl.cpp
+++ b/sim/src/components/LimiterAccVehComp/src/limiterAccVehCompImpl.cpp
@@ -18,6 +18,7 @@
#include <qglobal.h>
#include "include/worldInterface.h"
+#include "components/common/vehicleProperties.h"
#include "limiterAccVehCompImpl.h"
@@ -99,6 +100,13 @@ void LimiterAccelerationVehicleComponentsImplementation::Trigger(int time)
outgoingAcceleration = std::max(std::min(incomingAcceleration, accelerationLimit), decelerationLimit);
}
+double LimiterAccelerationVehicleComponentsImplementation::GetVehicleProperty(const std::string& propertyName)
+{
+ const auto property = helper::map::query(vehicleModelParameters.properties, propertyName);
+ THROWIFFALSE(property.has_value(), "Vehicle property \"" + propertyName + "\" was not set in the VehicleCatalog");
+ return property.value();
+}
+
double LimiterAccelerationVehicleComponentsImplementation::InterpolateEngineTorqueBasedOnSpeed(const double &engineSpeed)
{
if(engineSpeedReferences.size() != engineTorqueReferences.size() || engineSpeedReferences.empty())
@@ -138,23 +146,23 @@ std::vector<double> LimiterAccelerationVehicleComponentsImplementation::PrepareE
{
std::vector<double> engineTorquesBasedOnGearRatios {};
- if(vehicleModelParameters.gearRatios.size() < 2)
+ if(GetVehicleProperty(vehicle::properties::NumberOfGears) < 1)
{
throw std::runtime_error("At least on gear is required!");
}
- for(size_t i = 1; i < vehicleModelParameters.gearRatios.size(); i++)
+ for(size_t i = 1; i <= GetVehicleProperty(vehicle::properties::NumberOfGears); i++)
{
const double engineSpeedBasedOnGear = CalculateEngineSpeedBasedOnGear(GetAgent()->GetVelocity(), i);
- if(engineSpeedBasedOnGear > vehicleModelParameters.maximumEngineSpeed || engineSpeedBasedOnGear < vehicleModelParameters.minimumEngineSpeed)
+ if(engineSpeedBasedOnGear > GetVehicleProperty(vehicle::properties::MaximumEngineSpeed) || engineSpeedBasedOnGear < GetVehicleProperty(vehicle::properties::MinimumEngineSpeed))
{
continue;
}
const double interpolatedEngineTorque = InterpolateEngineTorqueBasedOnSpeed(engineSpeedBasedOnGear);
- double engineTorqueBasedOnGearRatio = interpolatedEngineTorque * vehicleModelParameters.gearRatios.at(i);
+ double engineTorqueBasedOnGearRatio = interpolatedEngineTorque * GetVehicleProperty(vehicle::properties::GearRatio+std::to_string(i));
engineTorquesBasedOnGearRatios.push_back(engineTorqueBasedOnGearRatio);
}
@@ -163,15 +171,15 @@ std::vector<double> LimiterAccelerationVehicleComponentsImplementation::PrepareE
double LimiterAccelerationVehicleComponentsImplementation::CalculateEngineSpeedBasedOnGear(const double ¤tVelocity, const size_t &gear)
{
- const double engineSpeed = currentVelocity * vehicleModelParameters.axleRatio * vehicleModelParameters.gearRatios.at(gear) / (twoPI * vehicleModelParameters.staticWheelRadius) * 60.0;
+ const double engineSpeed = currentVelocity * GetVehicleProperty(vehicle::properties::AxleRatio) * GetVehicleProperty(vehicle::properties::GearRatio+std::to_string(gear)) / (M_PI * vehicleModelParameters.rearAxle.wheelDiameter) * 60.0;
return engineSpeed;
}
void LimiterAccelerationVehicleComponentsImplementation::PrepareReferences()
{
- const double& maxEngineTorque = vehicleModelParameters.maximumEngineTorque;
- const double& maxEngineSpeed = vehicleModelParameters.maximumEngineSpeed;
- const double& minEngineSpeed = vehicleModelParameters.minimumEngineSpeed;
+ const double& maxEngineTorque = GetVehicleProperty(vehicle::properties::MaximumEngineTorque);
+ const double& maxEngineSpeed = GetVehicleProperty(vehicle::properties::MaximumEngineSpeed);
+ const double& minEngineSpeed = GetVehicleProperty(vehicle::properties::MinimumEngineSpeed);
engineTorqueReferences = {0.5 * maxEngineTorque,
1.0 * maxEngineTorque,
@@ -199,18 +207,18 @@ double LimiterAccelerationVehicleComponentsImplementation::CalculateAcceleration
const double &engineTorqueBasedOnVelocity = *(std::max_element(engineTorquesBasedOnGearRatios.begin(), engineTorquesBasedOnGearRatios.end()));
- const double forceAtWheel = engineTorqueBasedOnVelocity * vehicleModelParameters.axleRatio / vehicleModelParameters.staticWheelRadius;
- const double forceRoll = vehicleModelParameters.weight * oneG * rollFrictionCoefficient;
- const double forceAir = (airResistance / 2) * vehicleModelParameters.frontSurface * vehicleModelParameters.airDragCoefficient * std::pow(currentVelocity, 2);
+ const double forceAtWheel = engineTorqueBasedOnVelocity * GetVehicleProperty(vehicle::properties::AxleRatio) / (0.5 * vehicleModelParameters.rearAxle.wheelDiameter);
+ const double forceRoll = GetVehicleProperty(vehicle::properties::Mass) * oneG * rollFrictionCoefficient;
+ const double forceAir = (airResistance / 2) * GetVehicleProperty(vehicle::properties::FrontSurface) * GetVehicleProperty(vehicle::properties::AirDragCoefficient) * std::pow(currentVelocity, 2);
- const double accelerationLimit = (forceAtWheel - forceRoll - forceAir) / vehicleModelParameters.weight;
+ const double accelerationLimit = (forceAtWheel - forceRoll - forceAir) / GetVehicleProperty(vehicle::properties::Mass);
return accelerationLimit;
}
double LimiterAccelerationVehicleComponentsImplementation::CalculateDecelerationLimit()
{
- const double decelerationLimit = GetWorld()->GetFriction() * vehicleModelParameters.frictionCoeff * (-oneG);
+ const double decelerationLimit = GetWorld()->GetFriction() * GetVehicleProperty(vehicle::properties::FrictionCoefficient) * (-oneG);
return decelerationLimit;
}
diff --git a/sim/src/components/LimiterAccVehComp/src/limiterAccVehCompImpl.h b/sim/src/components/LimiterAccVehComp/src/limiterAccVehCompImpl.h
index 84ca1eef89b7d26c8ae6d10b918533814b6c3d86..54130f6cf1d8d48e6ff144ecd97a0b01785bd061 100644
--- a/sim/src/components/LimiterAccVehComp/src/limiterAccVehCompImpl.h
+++ b/sim/src/components/LimiterAccVehComp/src/limiterAccVehCompImpl.h
@@ -104,6 +104,8 @@ public:
virtual void Trigger(int time);
private:
+ double GetVehicleProperty(const std::string& propertyName);
+
double InterpolateEngineTorqueBasedOnSpeed(const double &engineSpeed);
std::vector<double> PrepareEngineTorqueVectorBasedOnGearRatios();
diff --git a/sim/src/components/common/vehicleProperties.h b/sim/src/components/common/vehicleProperties.h
new file mode 100644
index 0000000000000000000000000000000000000000..9424670d23d6712a2496edaf4b05cb28a0151435
--- /dev/null
+++ b/sim/src/components/common/vehicleProperties.h
@@ -0,0 +1,27 @@
+/*******************************************************************************
+* Copyright (c) 2021 in-tech GmbH
+*
+* This program and the accompanying materials are made
+* available under the terms of the Eclipse Public License 2.0
+* which is available at https://www.eclipse.org/legal/epl-2.0/
+*
+* SPDX-License-Identifier: EPL-2.0
+*******************************************************************************/
+
+#pragma once
+
+namespace vehicle::properties
+{
+constexpr char AirDragCoefficient[] {"AirDragCoefficient"};
+constexpr char AxleRatio[] {"AxleRatio"};
+constexpr char DecelerationFromPowertrainDrag[] {"DecelerationFromPowertrainDrag"};
+constexpr char FrictionCoefficient[] {"FrictionCoefficient"};
+constexpr char FrontSurface[] {"FrontSurface"};
+constexpr char GearRatio[] {"GearRatio"};
+constexpr char NumberOfGears[] {"NumberOfGears"};
+constexpr char Mass[] {"Mass"};
+constexpr char MaximumEngineSpeed[] {"MaximumEngineSpeed"};
+constexpr char MaximumEngineTorque[] {"MaximumEngineTorque"};
+constexpr char MinimumEngineSpeed[] {"MinimumEngineSpeed"};
+constexpr char SteeringRatio[] {"SteeringRatio"};
+}
diff --git a/sim/src/core/slave/framework/agentFactory.cpp b/sim/src/core/slave/framework/agentFactory.cpp
index 1cf49c9d746ef935c9d447e567912e975e924bf4..13ea600358e530ed31699dbbba25d26cb4945de4 100644
--- a/sim/src/core/slave/framework/agentFactory.cpp
+++ b/sim/src/core/slave/framework/agentFactory.cpp
@@ -170,10 +170,10 @@ void AgentFactory::PublishProperties(const Agent& agent)
dataStore->PutStatic(keyPrefix + "AgentType", std::string(openpass::utils::to_cstr(adapter->GetVehicleModelParameters().vehicleType))); // std::string for compatibility with gcc-9 std::ariant
const auto& vehicleModelParameters = adapter->GetVehicleModelParameters();
- const double longitudinalPivotOffset = (vehicleModelParameters.length / 2.0) - vehicleModelParameters.distanceReferencePointToLeadingEdge;
- dataStore->PutStatic(keyPrefix + "Vehicle/Width", vehicleModelParameters.width);
- dataStore->PutStatic(keyPrefix + "Vehicle/Length", vehicleModelParameters.length);
- dataStore->PutStatic(keyPrefix + "Vehicle/Height", vehicleModelParameters.height);
+ const double longitudinalPivotOffset = vehicleModelParameters.boundingBoxCenter.x;
+ dataStore->PutStatic(keyPrefix + "Vehicle/Width", vehicleModelParameters.boundingBoxDimensions.width);
+ dataStore->PutStatic(keyPrefix + "Vehicle/Length", vehicleModelParameters.boundingBoxDimensions.length);
+ dataStore->PutStatic(keyPrefix + "Vehicle/Height", vehicleModelParameters.boundingBoxDimensions.height);
dataStore->PutStatic(keyPrefix + "Vehicle/LongitudinalPivotOffset", longitudinalPivotOffset);
for (const auto& sensor : adapter->GetSensorParameters())
diff --git a/sim/src/core/slave/importer/importerLoggingHelper.h b/sim/src/core/slave/importer/importerLoggingHelper.h
index 885fd0006cb6e36b1375ae7f399f21bf3db08e0e..4e2ad597583b08f110acab3609ec7ea3fdc9b3e5 100644
--- a/sim/src/core/slave/importer/importerLoggingHelper.h
+++ b/sim/src/core/slave/importer/importerLoggingHelper.h
@@ -494,11 +494,14 @@ namespace openpass::importer::xml::vehicleModelsImporter::attribute
constexpr char height[] {"height"};
constexpr char length[] {"length"};
constexpr char mass[] {"mass"};
+ constexpr char maxAcceleration[] {"maxAcceleration"};
+ constexpr char maxDeceleration[] {"maxDeceleration"};
constexpr char maxSpeed[] {"maxSpeed"};
constexpr char maxSteering[] {"maxSteering"};
constexpr char name[] {"name"};
constexpr char pedestrianCategory[] {"pedestrianCategory"};
constexpr char positionX[] {"positionX"};
+ constexpr char positionZ[] {"positionZ"};
constexpr char trackWidth[] {"trackWidth"};
constexpr char value[] {"value"};
constexpr char wheelDiameter[] {"wheelDiameter"};
diff --git a/sim/src/core/slave/importer/vehicleModelsImporter.cpp b/sim/src/core/slave/importer/vehicleModelsImporter.cpp
index a4e39927d9341d38506934f94e06094701fd78be..823e195a1fbf4d0b08f0d6661b461449c0330bd2 100644
--- a/sim/src/core/slave/importer/vehicleModelsImporter.cpp
+++ b/sim/src/core/slave/importer/vehicleModelsImporter.cpp
@@ -104,15 +104,11 @@ void VehicleModelsImporter::ImportCatalog(const std::string& catalogPath, QDomEl
void VehicleModelsImporter::CheckModelParameters(const ParametrizedVehicleModelParameters& model)
{
- //TODO Replace assert with ErrorMessage
- assert(model.length.defaultValue > 0);
- assert(model.width.defaultValue > 0);
- assert(model.height.defaultValue > 0);
- assert(model.rearAxle.trackWidth.defaultValue > 0);
-// assert(model.wheelbase.defaultValue > 0);
- assert(model.maxVelocity.defaultValue > 0);
-// assert(model.maxCurvature.defaultValue > 0);
- assert(model.vehicleType != AgentVehicleType::Undefined);
+ ThrowIfFalse(model.boundingBoxDimensions.length.defaultValue > 0, "Length must be positive");
+ ThrowIfFalse(model.boundingBoxDimensions.width.defaultValue > 0, "Width must be positive");
+ ThrowIfFalse(model.boundingBoxDimensions.height.defaultValue > 0, "Height must be positive");
+ ThrowIfFalse(model.performance.maxSpeed.defaultValue > 0, "MaxSpeed must be positive");
+ ThrowIfFalse(model.vehicleType != AgentVehicleType::Undefined, "Unknown vehicle type");
}
void VehicleModelsImporter::ImportVehicleModelAxles(QDomElement& vehicleElement,
@@ -136,22 +132,17 @@ void VehicleModelsImporter::ImportVehicleModelAxles(QDomElement& vehicleElement,
ValidateAxles(modelParameters.frontAxle, modelParameters.rearAxle);
}
-void VehicleModelsImporter::ImportVehicleModelAxle(QDomElement& axleElement, VehicleAxle& axleParameters, openScenario::Parameters& parameters)
+void VehicleModelsImporter::ImportVehicleModelAxle(QDomElement& axleElement, ParametrizedVehicleModelParameters::Axle& axleParameters, openScenario::Parameters& parameters)
{
axleParameters.wheelDiameter = ParseParametrizedAttribute<double>(axleElement, ATTRIBUTE::wheelDiameter, parameters);
axleParameters.positionX = ParseParametrizedAttribute<double>(axleElement, ATTRIBUTE::positionX, parameters);
+ axleParameters.positionZ = ParseParametrizedAttribute<double>(axleElement, ATTRIBUTE::positionZ, parameters);
axleParameters.trackWidth = ParseParametrizedAttribute<double>(axleElement, ATTRIBUTE::trackWidth, parameters);
axleParameters.maxSteering = ParseParametrizedAttribute<double>(axleElement, ATTRIBUTE::maxSteering, parameters);
}
-void VehicleModelsImporter::ValidateAxles(const VehicleAxle& frontAxle, const VehicleAxle& rearAxle)
+void VehicleModelsImporter::ValidateAxles(const ParametrizedVehicleModelParameters::Axle& frontAxle, const ParametrizedVehicleModelParameters::Axle& rearAxle)
{
- if (std::abs(frontAxle.wheelDiameter.defaultValue - rearAxle.wheelDiameter.defaultValue) > 1e-6)
- {
- LOG_INTERN(LogLevel::Warning) <<
- "Different wheel diameters for front and rear axle not supported. Using rear axle value.";
- }
-
ThrowIfFalse(rearAxle.positionX.defaultValue == 0.0, "Reference point not on rear axle.");
if (rearAxle.positionX.defaultValue > frontAxle.positionX.defaultValue)
@@ -181,24 +172,22 @@ void VehicleModelsImporter::ImportModelBoundingBox(QDomElement& modelElement, Pa
ThrowIfFalse(SimulationCommon::GetFirstChildElement(boundingBoxElement, TAG::dimensions, boundingBoxDimensionElement),
boundingBoxElement, "Tag " + std::string(TAG::dimensions) + " is missing.");
- auto bbCenterX = ParseParametrizedAttribute<double>(boundingBoxCenterElement, ATTRIBUTE::x, parameters);
- auto bbCenterY = ParseParametrizedAttribute<double>(boundingBoxCenterElement, ATTRIBUTE::y, parameters);
- auto bbCenterZ = ParseParametrizedAttribute<double>(boundingBoxCenterElement, ATTRIBUTE::z, parameters);
- modelParameters.width = ParseParametrizedAttribute<double>(boundingBoxDimensionElement, ATTRIBUTE::width, parameters);
- modelParameters.length = ParseParametrizedAttribute<double>(boundingBoxDimensionElement, ATTRIBUTE::length, parameters);
- modelParameters.height = ParseParametrizedAttribute<double>(boundingBoxDimensionElement, ATTRIBUTE::height, parameters);
+ modelParameters.boundingBoxCenter.x = ParseParametrizedAttribute<double>(boundingBoxCenterElement, ATTRIBUTE::x, parameters);
+ modelParameters.boundingBoxCenter.y = ParseParametrizedAttribute<double>(boundingBoxCenterElement, ATTRIBUTE::y, parameters);
+ modelParameters.boundingBoxCenter.z = ParseParametrizedAttribute<double>(boundingBoxCenterElement, ATTRIBUTE::z, parameters);
+ modelParameters.boundingBoxDimensions.width = ParseParametrizedAttribute<double>(boundingBoxDimensionElement, ATTRIBUTE::width, parameters);
+ modelParameters.boundingBoxDimensions.length = ParseParametrizedAttribute<double>(boundingBoxDimensionElement, ATTRIBUTE::length, parameters);
+ modelParameters.boundingBoxDimensions.height = ParseParametrizedAttribute<double>(boundingBoxDimensionElement, ATTRIBUTE::height, parameters);
- if (bbCenterY.defaultValue != 0.0)
+ if (modelParameters.boundingBoxCenter.y.defaultValue != 0.0)
{
LOG_INTERN(LogLevel::Warning) << "Model bounding box center y-coordinate != 0.0";
}
- if (std::abs(bbCenterZ.defaultValue - modelParameters.height.defaultValue / 2.0) > 1e-6)
+ if (std::abs(modelParameters.boundingBoxCenter.z.defaultValue - modelParameters.boundingBoxDimensions.height.defaultValue / 2.0) > 1e-6)
{
LOG_INTERN(LogLevel::Warning) << "Model bounding box center z-coordinate is not half height";
}
-
- modelParameters.distanceReferencePointToLeadingEdge = bbCenterX.defaultValue + modelParameters.length.defaultValue / 2.0;
}
void VehicleModelsImporter::ImportVehicleModelPerformance(QDomElement& vehicleElement,
@@ -209,23 +198,9 @@ void VehicleModelsImporter::ImportVehicleModelPerformance(QDomElement& vehicleEl
ThrowIfFalse(SimulationCommon::GetFirstChildElement(vehicleElement, TAG::performance, performanceElement),
vehicleElement, "Tag " + std::string(TAG::performance) + " is missing.");
- modelParameters.maxVelocity = ParseParametrizedAttribute<double>(performanceElement, ATTRIBUTE::maxSpeed, parameters);
-}
-
-void VehicleModelsImporter::ImportVehicleModelGears(ParametrizedVehicleModelParameters& modelParameters,
- const Properties& properties)
-{
- openScenario::ParameterizedAttribute<double> gearRatio;
-
- modelParameters.gearRatios.push_back(0.0);
-
- AssignProperty("NumberOfGears", modelParameters.numberOfGears, properties);
-
- for (int currentGear = 1; currentGear <= modelParameters.numberOfGears.defaultValue; ++currentGear)
- {
- AssignProperty("GearRatio" + std::to_string(currentGear), gearRatio, properties);
- modelParameters.gearRatios.push_back(gearRatio);
- }
+ modelParameters.performance.maxSpeed = ParseParametrizedAttribute<double>(performanceElement, ATTRIBUTE::maxSpeed, parameters);
+ modelParameters.performance.maxAcceleration = ParseParametrizedAttribute<double>(performanceElement, ATTRIBUTE::maxAcceleration, parameters);
+ modelParameters.performance.maxDeceleration = ParseParametrizedAttribute<double>(performanceElement, ATTRIBUTE::maxDeceleration, parameters);
}
void VehicleModelsImporter::ImportVehicleModel(QDomElement& vehicleElement, VehicleModelMap& vehicleModelsMap)
@@ -255,32 +230,11 @@ void VehicleModelsImporter::ImportVehicleModel(QDomElement& vehicleElement, Vehi
modelParameters.vehicleType == AgentVehicleType::Bicycle),
vehicleElement, "VehicleModelCatagory '" + vehicleModelCategory.defaultValue + "' currently not supported");
- const auto &properties = ImportProperties(vehicleElement);
-
- AssignProperty("SteeringRatio", modelParameters.steeringRatio, properties, 1.0);
-
- AssignProperty("MomentInertiaRoll", modelParameters.momentInertiaRoll, properties, 0.0);
- AssignProperty("MomentInertiaPitch", modelParameters.momentInertiaPitch, properties, 0.0);
- AssignProperty("MomentInertiaYaw", modelParameters.momentInertiaYaw, properties, 0.0);
-
- AssignProperty("MinimumEngineSpeed", modelParameters.minimumEngineSpeed, properties, 0.0);
- AssignProperty("MaximumEngineSpeed", modelParameters.maximumEngineSpeed, properties, 0.0);
- AssignProperty("MaximumEngineTorque", modelParameters.maximumEngineTorque, properties, 0.0);
- AssignProperty("MinimumEngineTorque", modelParameters.minimumEngineTorque, properties, 0.0);
-
- AssignProperty("AirDragCoefficient", modelParameters.airDragCoefficient, properties, 0.0);
- AssignProperty("AxleRatio", modelParameters.axleRatio, properties, 1.0);
- AssignProperty("DecelerationFromPowertrainDrag", modelParameters.decelerationFromPowertrainDrag, properties, 0.0);
- AssignProperty("FrictionCoefficient", modelParameters.frictionCoeff, properties, 1.0);
- AssignProperty("FrontSurface", modelParameters.frontSurface, properties, 0.0);
- AssignProperty("Mass", modelParameters.weight, properties, 1000.0);
+ modelParameters.properties = ImportProperties(vehicleElement);
ImportModelBoundingBox(vehicleElement, modelParameters, parameters);
ImportVehicleModelAxles(vehicleElement, modelParameters, parameters);
ImportVehicleModelPerformance(vehicleElement, modelParameters, parameters);
- ImportVehicleModelGears(modelParameters, properties);
-
- modelParameters.heightCOG = 0.0; // currently not supported
CheckModelParameters(modelParameters);
@@ -301,24 +255,15 @@ void VehicleModelsImporter::ImportPedestrianModel(QDomElement& pedestrianElement
ThrowIfFalse(vehicleModelsMap.find(pedestrianModelName.defaultValue) == vehicleModelsMap.end(),
pedestrianElement, "pedestrian model '" + pedestrianModelName.defaultValue + "' already exists");
-
+ modelParameters.properties = ImportProperties(pedestrianElement);
ImportModelBoundingBox(pedestrianElement, modelParameters, parameters);
// Currently, AgentAdapter and Dynamics cannot handle pedestrians properly
// setting some required defaults here for now for compatibility with cars
modelParameters.vehicleType = AgentVehicleType::Car;
- modelParameters.gearRatios.push_back(0.0);
- modelParameters.gearRatios.push_back(1.0);
- modelParameters.numberOfGears = 1;
- modelParameters.maximumEngineTorque = 200;
- modelParameters.maximumEngineSpeed = 1e5;
- modelParameters.minimumEngineSpeed = 1;
modelParameters.rearAxle.wheelDiameter = 1;
modelParameters.rearAxle.positionX = 0;
modelParameters.frontAxle.positionX = 1;
- modelParameters.axleRatio = 1;
- modelParameters.airDragCoefficient = 0;
- modelParameters.weight = ParseParametrizedAttribute<double>(pedestrianElement, ATTRIBUTE::mass, parameters);
vehicleModelsMap[pedestrianModelName.defaultValue] = modelParameters;
}
@@ -343,7 +288,7 @@ Properties VehicleModelsImporter::ImportProperties(QDomElement& root)
ThrowIfFalse(SimulationCommon::ParseAttribute(propertyElement, ATTRIBUTE::value, value),
propertyElement, "Attribute " + std::string(ATTRIBUTE::value) + " is missing.");
- properties[name] = value;
+ properties[name] = std::stod(value);
propertyElement = propertyElement.nextSiblingElement(TAG::property);
}
diff --git a/sim/src/core/slave/importer/vehicleModelsImporter.h b/sim/src/core/slave/importer/vehicleModelsImporter.h
index c32a3625c273a713ff562c0c4ef9e0b6b9743dc7..0976899ed1fffc73efec8c51f03ca2667c5a8605 100644
--- a/sim/src/core/slave/importer/vehicleModelsImporter.h
+++ b/sim/src/core/slave/importer/vehicleModelsImporter.h
@@ -30,7 +30,7 @@ const std::unordered_map<std::string, AgentVehicleType> vehicleTypeConversionMap
{"motorbike", AgentVehicleType::Motorbike},
{"bicycle", AgentVehicleType::Bicycle}};
-using Properties = std::map<std::string, std::string>;
+using Properties = std::map<std::string, openScenario::ParameterizedAttribute<double>>;
/*!
* \brief Provides methods for importing vehicle models from OpenSCENARIO catalog files
@@ -178,7 +178,7 @@ private:
* \throw std::runtime_error On missing `Axles`, `Front` or `Rear` tag, reference point not being on rear axle or
* steering defined for rear axle
*/
- static void ImportVehicleModelAxle(QDomElement& axleElement, VehicleAxle& axleParameters, openScenario::Parameters& parameters);
+ static void ImportVehicleModelAxle(QDomElement& axleElement, ParametrizedVehicleModelParameters::Axle& axleParameters, openScenario::Parameters& parameters);
/*!
* \brief Validates the axle parameters
@@ -188,7 +188,7 @@ private:
*
* \throw std::runtime_error When reference point not on rear axle or rear axle steering != 0.0
*/
- static void ValidateAxles(const VehicleAxle& frontAxle, const VehicleAxle& rearAxle);
+ static void ValidateAxles(const ParametrizedVehicleModelParameters::Axle& frontAxle, const ParametrizedVehicleModelParameters::Axle& rearAxle);
/*!
* \brief Imports the models' performance tag from OpenSCENARIO DOM
@@ -205,18 +205,6 @@ private:
*/
static void ImportVehicleModelPerformance(QDomElement& vehicleElement, ParametrizedVehicleModelParameters& modelParameters, openScenario::Parameters& parameters);
- /*!
- * \brief Imports the models' gears from its `ParameterDeclaration` in OpenSCENARIO DOM
- *
- * The paramters `NumberOfGears` has to specifiy the number of gears in a model. The first entry in ParametrizedVehicleModelParameters
- * `gearRatios` will always be 0.0. For every gear, a `Parameter` tag `GearRatioN` has to exist, where N represents the
- * number of a gear. Ratios are imported in ascending order of the gear number.
- *
- * \param[out] modelParameters Storage for the imported values
- * \param[in] properties openScenario properties
- */
- static void ImportVehicleModelGears(ParametrizedVehicleModelParameters& modelParameters, const Properties& properties);
-
/*!
* \brief Helper for template type deduction with std::optional parameters
*
@@ -228,48 +216,6 @@ private:
template<typename T>
struct TypeHelper { typedef T type; };
- /*!
- * \brief Assigns the value of a property to a attribute
- *
- * \param[in] propertyName Name of the parameter to import
- * \param[out] attribtue Reference to the attribute
- * \param[in] properties Properties
- * \param[in] defaultValue An optional default value to use if it cannot be imported
- *
- * \throw std::runtime_error On missing model `Parameter` tag or invalid `name` or `value` attribute.
- */
- template<typename T>
- static void AssignProperty(const std::string& propertyName,
- openScenario::ParameterizedAttribute<T>& attribute,
- const Properties& properties,
- std::optional<typename TypeHelper<T>::type> defaultValue = std::nullopt)
- {
- auto propertyIt = properties.find(propertyName);
- if (propertyIt != properties.cend())
- {
- if(std::is_same<T, double>::value)
- {
- attribute = {propertyName, std::stod(properties.at(propertyName))};
- }
- else if (std::is_same<T, int>::value)
- {
- attribute = {propertyName, std::stoi(properties.at(propertyName))};
- }
- else
- {
- throw std::runtime_error("Property data type not supported.");
- }
- }
- else if (defaultValue)
- {
- attribute = {propertyName, defaultValue.value()};
- }
- else
- {
- LogErrorAndThrow("Missing parameter " + propertyName);
- }
- }
-
/*!
* \brief Imports the properties of an element
*
diff --git a/sim/src/core/slave/modules/Manipulator/srcCollisionPostCrash/collisionDetection_Impact_implementation.cpp b/sim/src/core/slave/modules/Manipulator/srcCollisionPostCrash/collisionDetection_Impact_implementation.cpp
index 27020684b01c07e64072d659c55ecaf0768ba660..31c850c38f505c2b4a5034c7a3bb2891b7a33316 100644
--- a/sim/src/core/slave/modules/Manipulator/srcCollisionPostCrash/collisionDetection_Impact_implementation.cpp
+++ b/sim/src/core/slave/modules/Manipulator/srcCollisionPostCrash/collisionDetection_Impact_implementation.cpp
@@ -13,6 +13,7 @@
#include <array>
#include "collisionDetection_Impact_implementation.h"
+#include "components/common/vehicleProperties.h"
namespace {
@@ -36,8 +37,9 @@ std::vector<Common::Vector2d> CollisionDetectionPostCrash::GetAgentCorners(
{
Common::Vector2d agentPosition(agent->GetPositionX(), agent->GetPositionY()); // reference point (rear axle) in glabal CS
double agentAngle = agent->GetYaw();
- agentPosition.x = agentPosition.x + std::cos(agentAngle) * agent->GetVehicleModelParameters().wheelbase / 2.0; // geometrical center of vehicle in global CS
- agentPosition.y = agentPosition.y + std::sin(agentAngle) * agent->GetVehicleModelParameters().wheelbase / 2.0; // geometrical center of vehicle in global CS
+ const double wheelbase = agent->GetVehicleModelParameters().frontAxle.positionX - agent->GetVehicleModelParameters().rearAxle.positionX;
+ agentPosition.x = agentPosition.x + std::cos(agentAngle) * wheelbase / 2.0; // geometrical center of vehicle in global CS
+ agentPosition.y = agentPosition.y + std::sin(agentAngle) * wheelbase / 2.0; // geometrical center of vehicle in global CS
double agentLength = agent->GetLength();
double agentWidthHalf = agent->GetWidth() / 2;
@@ -206,10 +208,12 @@ bool CollisionDetectionPostCrash::CalculatePostCrashDynamic(Common::Vector2d cog
double velY1 = agent1->GetVelocity(VelocityScope::Lateral); // y-velocity in the local coordinate system of the agent
double vel1 = sqrt( velX1 * velX1 + velY1 * velY1 ); // absolute velocity of first vehicle [m/s]
double velDir1 = yaw1; // velocity direction of first vehicle [rad]
- double mass1 = agent1->GetVehicleModelParameters().weight; // mass of first vehicle [kg]
+ const auto mass1 = helper::map::query(agent1->GetVehicleModelParameters().properties, vehicle::properties::Mass); // mass of first vehicle [kg]
+ THROWIFFALSE(mass1.has_value(), "Mass was not defined in VehicleCatalog");
+
double length1 = agent1->GetLength();
double width1 = agent1->GetWidth();
- double momentIntertiaYaw1 = CommonHelper::CalculateMomentInertiaYaw(mass1, length1, width1); // moment of inertia 1st vehicle [kg*m^2]
+ double momentIntertiaYaw1 = CommonHelper::CalculateMomentInertiaYaw(mass1.value(), length1, width1); // moment of inertia 1st vehicle [kg*m^2]
// input parameters of agent 2
double yaw2 = agent2->GetYaw(); // yaw angle [rad]
@@ -218,10 +222,11 @@ bool CollisionDetectionPostCrash::CalculatePostCrashDynamic(Common::Vector2d cog
double velY2 = agent2->GetVelocity(VelocityScope::Lateral); // y-velocity in the local coordinate system of the agent
double vel2 = sqrt( velX2 * velX2 + velY2 * velY2 ); // absolute velocity of 2nd vehicle [m/s]
double velDir2 = yaw2; // velocity direction of 2nd vehicle [rad]
- double mass2 = agent2->GetVehicleModelParameters().weight; // mass of 2nd vehicle [kg]
+ const auto mass2 = helper::map::query(agent2->GetVehicleModelParameters().properties, vehicle::properties::Mass); // mass of 2nd vehicle [kg]
+ THROWIFFALSE(mass2.has_value(), "Mass was not defined in VehicleCatalog");
double length2 = agent2->GetLength();
double width2 = agent2->GetWidth();
- double momentIntertiaYaw2 = CommonHelper::CalculateMomentInertiaYaw(mass2, length2, width2); // moment of inertia 2nd vehicle [kg*m^2]
+ double momentIntertiaYaw2 = CommonHelper::CalculateMomentInertiaYaw(mass2.value(), length2, width2); // moment of inertia 2nd vehicle [kg*m^2]
// new coordinate system axis: tangent and normal to contact plane
Common::Vector2d tang = Common::Vector2d( cos(phi), sin(phi) );
@@ -255,8 +260,8 @@ bool CollisionDetectionPostCrash::CalculatePostCrashDynamic(Common::Vector2d cog
double vrel_pre_tang = v1tang - v2tang;
// auxiliary parameters
- double c1 = 1 / mass1 + 1 / mass2 + n1 * n1 / momentIntertiaYaw1 + n2 * n2 / momentIntertiaYaw2;
- double c2 = 1 / mass1 + 1 / mass2 + t1 * t1 / momentIntertiaYaw1 + t2 * t2 / momentIntertiaYaw2;
+ double c1 = 1 / mass1.value() + 1 / mass2.value() + n1 * n1 / momentIntertiaYaw1 + n2 * n2 / momentIntertiaYaw2;
+ double c2 = 1 / mass1.value() + 1 / mass2.value() + t1 * t1 / momentIntertiaYaw1 + t2 * t2 / momentIntertiaYaw2;
double c3 = t1 * n1 / momentIntertiaYaw1 + t2 * n2 / momentIntertiaYaw2;
// compute pulse vector in compression phase
double Tc = ( c3 * vrel_pre_norm + c2 * vrel_pre_tang ) / ( c3 * c3 - c1 * c2 );
@@ -290,10 +295,10 @@ bool CollisionDetectionPostCrash::CalculatePostCrashDynamic(Common::Vector2d cog
}
// compute post crash velocities in COG with momentum balance equations
- double v1tang_post_cog = T / mass1 + v1tang_cog;
- double v1norm_post_cog = N / mass1 + v1norm_cog;
- double v2tang_post_cog = -T / mass2 + v2tang_cog;
- double v2norm_post_cog = -N / mass2 + v2norm_cog;
+ double v1tang_post_cog = T / mass1.value() + v1tang_cog;
+ double v1norm_post_cog = N / mass1.value() + v1norm_cog;
+ double v2tang_post_cog = -T / mass2.value() + v2tang_cog;
+ double v2norm_post_cog = -N / mass2.value() + v2norm_cog;
// matrix for coordinate transformation between global and local
// POI-coordinates
diff --git a/sim/src/core/slave/modules/Spawners/PreRunCommon/SpawnPointPreRunCommon.cpp b/sim/src/core/slave/modules/Spawners/PreRunCommon/SpawnPointPreRunCommon.cpp
index b7b44cc1495b50cf5964afa7eaea3d3411311f2a..887847fba7620ea0e8582898ffcb8055189dda61 100644
--- a/sim/src/core/slave/modules/Spawners/PreRunCommon/SpawnPointPreRunCommon.cpp
+++ b/sim/src/core/slave/modules/Spawners/PreRunCommon/SpawnPointPreRunCommon.cpp
@@ -78,8 +78,8 @@ SpawnPointInterface::Agents SpawnPointPreRunCommon::GenerateAgentsForRange(const
agentBlueprint.SetAgentProfileName(agentProfile.name);
agentBlueprint.SetAgentCategory(AgentCategory::Common);
- const auto agentLength = agentBlueprint.GetVehicleModelParameters().length;
- const auto agentFrontLength = agentBlueprint.GetVehicleModelParameters().distanceReferencePointToLeadingEdge;
+ const auto agentLength = agentBlueprint.GetVehicleModelParameters().boundingBoxDimensions.length;
+ const auto agentFrontLength = agentLength * 0.5 + agentBlueprint.GetVehicleModelParameters().boundingBoxCenter.x;
const auto agentRearLength = agentLength - agentFrontLength;
auto velocity = Sampler::RollForStochasticAttribute(agentProfile.velocity, dependencies.stochastics);
diff --git a/sim/src/core/slave/modules/Spawners/RuntimeCommon/SpawnPointRuntimeCommon.cpp b/sim/src/core/slave/modules/Spawners/RuntimeCommon/SpawnPointRuntimeCommon.cpp
index 8e4a087f518d6cbaa2d86e41004180caea47d7e8..526f9afd83181308b103d67450551864bc29c31a 100644
--- a/sim/src/core/slave/modules/Spawners/RuntimeCommon/SpawnPointRuntimeCommon.cpp
+++ b/sim/src/core/slave/modules/Spawners/RuntimeCommon/SpawnPointRuntimeCommon.cpp
@@ -88,8 +88,8 @@ SpawnDetails SpawnPointRuntimeCommon::GenerateSpawnDetailsForLane(const SpawnPos
void SpawnPointRuntimeCommon::AdjustVelocityForCrash(SpawnDetails& spawnDetails,
const SpawnPosition& sceneryInformation) const
{
- const auto agentFrontLength = spawnDetails.agentBlueprint.GetVehicleModelParameters().distanceReferencePointToLeadingEdge;
- const auto agentRearLength = spawnDetails.agentBlueprint.GetVehicleModelParameters().length - spawnDetails.agentBlueprint.GetVehicleModelParameters().distanceReferencePointToLeadingEdge;
+ const double agentFrontLength = spawnDetails.agentBlueprint.GetVehicleModelParameters().boundingBoxDimensions.length * 0.5 + spawnDetails.agentBlueprint.GetVehicleModelParameters().boundingBoxCenter.x;
+ const double agentRearLength = spawnDetails.agentBlueprint.GetVehicleModelParameters().boundingBoxDimensions.length * 0.5 - spawnDetails.agentBlueprint.GetVehicleModelParameters().boundingBoxCenter.x;
const auto intendedVelocity = spawnDetails.agentBlueprint.GetSpawnParameter().velocity;
spawnDetails.agentBlueprint.GetSpawnParameter().velocity = worldAnalyzer.CalculateSpawnVelocityToPreventCrashing(sceneryInformation.roadId,
diff --git a/sim/src/core/slave/modules/Spawners/Scenario/SpawnPointScenario.cpp b/sim/src/core/slave/modules/Spawners/Scenario/SpawnPointScenario.cpp
index e2701f6828c3c75865eb32c069fd1a4a37484a20..f14c7e6b14f0d0720ea953163ba965752d7d9c96 100644
--- a/sim/src/core/slave/modules/Spawners/Scenario/SpawnPointScenario.cpp
+++ b/sim/src/core/slave/modules/Spawners/Scenario/SpawnPointScenario.cpp
@@ -84,9 +84,9 @@ bool SpawnPointScenario::ValidateOverlappingAgents(const STCoordinates &stCoordi
if (GetWorld()->IntersectsWithAgent(position.xPos,
position.yPos,
position.yawAngle,
- vehicleModelParameters.length,
- vehicleModelParameters.width,
- vehicleModelParameters.distanceReferencePointToLeadingEdge))
+ vehicleModelParameters.boundingBoxDimensions.length,
+ vehicleModelParameters.boundingBoxDimensions.width,
+ vehicleModelParameters.boundingBoxDimensions.length * 0.5 + vehicleModelParameters.boundingBoxCenter.x))
{
return false;
}
@@ -180,7 +180,7 @@ STCoordinates SpawnPointScenario::GetSTCoordinates(const openScenario::LanePosit
vehicleModelParameters)
&& ValidateSTCoordinatesOnLane(stCoordinates,
lanePosition,
- vehicleModelParameters.width))
+ vehicleModelParameters.boundingBoxDimensions.width))
{
return stCoordinates;
}
diff --git a/sim/src/core/slave/modules/Spawners/common/WorldAnalyzer.cpp b/sim/src/core/slave/modules/Spawners/common/WorldAnalyzer.cpp
index 683fce31bd520d6830b9cf5b8f0b4d2f6a67640f..e39d127a4c085b5fcbe38a1c81978d2e99d0a8ff 100644
--- a/sim/src/core/slave/modules/Spawners/common/WorldAnalyzer.cpp
+++ b/sim/src/core/slave/modules/Spawners/common/WorldAnalyzer.cpp
@@ -260,14 +260,15 @@ bool WorldAnalyzer::ValidMinimumSpawningDistanceToObjectInFront(const LaneId lan
const Route &route,
const VehicleModelParameters& vehicleModelParameters) const
{
- const double rearLength = vehicleModelParameters.length - vehicleModelParameters.distanceReferencePointToFrontAxle;
+ const double distanceReferencePointToFrontAxle = vehicleModelParameters.boundingBoxDimensions.length * 0.5 + vehicleModelParameters.boundingBoxCenter.x;
+ const double rearLength = vehicleModelParameters.boundingBoxDimensions.length * 0.5 - vehicleModelParameters.boundingBoxCenter.x;
const auto agentsInRangeResult = world->GetAgentsInRange(route.roadGraph,
route.root,
laneId,
sPosition,
rearLength,
- vehicleModelParameters.distanceReferencePointToFrontAxle + MINIMUM_SEPARATION_BUFFER);
+ distanceReferencePointToFrontAxle + MINIMUM_SEPARATION_BUFFER);
if(!agentsInRangeResult.at(route.target).empty())
{
@@ -297,7 +298,7 @@ bool WorldAnalyzer::AreSpawningCoordinatesValid(const RoadId& roadId,
return false;
}
- if (!IsOffsetValidForLane(roadId, laneId, sPosition, offset, vehicleModelParameters.width))
+ if (!IsOffsetValidForLane(roadId, laneId, sPosition, offset, vehicleModelParameters.boundingBoxDimensions.width))
{
loggingCallback("Offset is not valid for vehicle on lane: " + std::to_string(laneId) + ". Invalid offset: " + std::to_string(
offset));
@@ -415,12 +416,13 @@ bool WorldAnalyzer::NewAgentIntersectsWithExistingAgent(const RoadId& roadId,
{
Position pos = world->LaneCoord2WorldCoord(sPosition, offset, roadId, laneId);
+ const double distanceReferencePointToLeadingEdge = vehicleModelParameters.boundingBoxDimensions.length * 0.5 + vehicleModelParameters.boundingBoxCenter.x;
return world->IntersectsWithAgent(pos.xPos,
pos.yPos,
pos.yawAngle,
- vehicleModelParameters.length,
- vehicleModelParameters.width,
- vehicleModelParameters.distanceReferencePointToLeadingEdge);
+ vehicleModelParameters.boundingBoxDimensions.length,
+ vehicleModelParameters.boundingBoxDimensions.width,
+ distanceReferencePointToLeadingEdge);
}
bool WorldAnalyzer::SpawnWillCauseCrash(const RoadId& roadId,
diff --git a/sim/src/core/slave/modules/World_OSI/AgentAdapter.h b/sim/src/core/slave/modules/World_OSI/AgentAdapter.h
index 15ce9ba5c200047225237d136b5de2bcf2da3625..8e91aeeff5bc359b72b58f1ba9de6062ecaecc7d 100644
--- a/sim/src/core/slave/modules/World_OSI/AgentAdapter.h
+++ b/sim/src/core/slave/modules/World_OSI/AgentAdapter.h
@@ -218,6 +218,14 @@ public:
});
}
+ void SetRoll(double value) override
+ {
+ world->QueueAgentUpdate([this, value]()
+ {
+ UpdateRoll(value);
+ });
+ }
+
void SetYawRate(double value) override
{
world->QueueAgentUpdate([this, value]()
@@ -901,15 +909,15 @@ private:
void UpdateVehicleModelParameter(const VehicleModelParameters& parameter)
{
- OWL::Primitive::Dimension dimension = baseTrafficObject.GetDimension();
- dimension.width = parameter.width;
- dimension.length = parameter.length;
- dimension.height = parameter.height;
+ OWL::Primitive::Dimension dimension;
+ dimension.width = parameter.boundingBoxDimensions.width;
+ dimension.length = parameter.boundingBoxDimensions.length;
+ dimension.height = parameter.boundingBoxDimensions.height;
GetBaseTrafficObject().SetDimension(dimension);
- GetBaseTrafficObject().SetDistanceReferencPointToLeadingEdge(parameter.distanceReferencePointToLeadingEdge);
+ GetBaseTrafficObject().SetBoundingBoxCenterToRear(-parameter.boundingBoxCenter.x);
GetBaseTrafficObject().SetType(parameter.vehicleType);
-
+
vehicleModelParameters = parameter;
}
@@ -920,6 +928,13 @@ private:
GetBaseTrafficObject().SetAbsOrientation(orientation);
}
+ void UpdateRoll(double rollAngle)
+ {
+ OWL::Primitive::AbsOrientation orientation = baseTrafficObject.GetAbsOrientation();
+ orientation.roll = rollAngle;
+ GetBaseTrafficObject().SetAbsOrientation(orientation);
+ }
+
//-----------------------------------------------------------------------------
//! Initialize the ego vehicle object inside the drivingView.
//-----------------------------------------------------------------------------
diff --git a/sim/src/core/slave/modules/World_OSI/AgentNetwork.cpp b/sim/src/core/slave/modules/World_OSI/AgentNetwork.cpp
index c3b3a17c1b01597caf5ea2f0cb7dfd554cbb8070..cc5613827dba73c41fb3a4b9c52c20019812f224 100644
--- a/sim/src/core/slave/modules/World_OSI/AgentNetwork.cpp
+++ b/sim/src/core/slave/modules/World_OSI/AgentNetwork.cpp
@@ -118,6 +118,7 @@ void AgentNetwork::PublishGlobalData(Publisher publish)
publish(agentId, "VelocityEgo", agent->GetVelocity());
publish(agentId, "AccelerationEgo", agent->GetAcceleration());
publish(agentId, "YawAngle", agent->GetYaw());
+ publish(agentId, "RollAngle", agent->GetRoll());
publish(agentId, "YawRate", agent->GetYawRate());
publish(agentId, "SteeringAngle", agent->GetSteeringWheelAngle());
publish(agentId, "TotalDistanceTraveled", agent->GetDistanceTraveled());
diff --git a/sim/src/core/slave/modules/World_OSI/OWL/DataTypes.cpp b/sim/src/core/slave/modules/World_OSI/OWL/DataTypes.cpp
index a933d62c42a17cb30cc41b426e21ae52fa10f1fc..c53b7df48255b059ced522d5d0d7d5ca1f21331e 100644
--- a/sim/src/core/slave/modules/World_OSI/OWL/DataTypes.cpp
+++ b/sim/src/core/slave/modules/World_OSI/OWL/DataTypes.cpp
@@ -873,9 +873,9 @@ void MovingObject::SetHeight(const double newHeight)
osiDimension->set_height(newHeight);
}
-void MovingObject::SetDistanceReferencPointToLeadingEdge(const double distance)
+void MovingObject::SetBoundingBoxCenterToRear(const double distance)
{
- osiObject->mutable_vehicle_attributes()->mutable_bbcenter_to_rear()->set_x(osiObject->base().dimension().length() * 0.5 - distance);
+ osiObject->mutable_vehicle_attributes()->mutable_bbcenter_to_rear()->set_x(distance);
}
Primitive::AbsPosition MovingObject::GetReferencePointPosition() const
diff --git a/sim/src/core/slave/modules/World_OSI/OWL/DataTypes.h b/sim/src/core/slave/modules/World_OSI/OWL/DataTypes.h
index 36792d704347f6912f9631b6207a0293e99e2cd1..d3652f45a1c6a290692c6ac43d534b96f003c7c4 100644
--- a/sim/src/core/slave/modules/World_OSI/OWL/DataTypes.h
+++ b/sim/src/core/slave/modules/World_OSI/OWL/DataTypes.h
@@ -600,7 +600,7 @@ public:
virtual void SetLength(const double newLength) = 0;
virtual void SetWidth(const double newWidth) = 0;
virtual void SetHeight(const double newHeight) = 0;
- virtual void SetDistanceReferencPointToLeadingEdge(const double distance) = 0;
+ virtual void SetBoundingBoxCenterToRear(const double distance) = 0;
virtual double GetDistanceReferencePointToLeadingEdge() const = 0;
virtual void SetReferencePointPosition(const Primitive::AbsPosition& newPosition) = 0;
@@ -1164,7 +1164,7 @@ public:
virtual void SetLength(const double newLength) override;
virtual void SetWidth(const double newWidth) override;
virtual void SetHeight(const double newHeight) override;
- virtual void SetDistanceReferencPointToLeadingEdge(const double distance) override;
+ virtual void SetBoundingBoxCenterToRear(const double distance) override;
virtual void SetReferencePointPosition(const Primitive::AbsPosition& newPosition) override;
virtual void SetX(const double newX) override;
diff --git a/sim/src/core/slave/modules/World_OSI/OWL/fakes/fakeMovingObject.h b/sim/src/core/slave/modules/World_OSI/OWL/fakes/fakeMovingObject.h
index df8a30d108031822513d17863064d64bf2271862..39490414fb620e51fba0e6b88e1de4fe3cee00e2 100644
--- a/sim/src/core/slave/modules/World_OSI/OWL/fakes/fakeMovingObject.h
+++ b/sim/src/core/slave/modules/World_OSI/OWL/fakes/fakeMovingObject.h
@@ -84,7 +84,7 @@ public:
MOCK_METHOD1(SetLength, void(const double newLength));
MOCK_METHOD1(SetWidth, void(const double newWidth));
MOCK_METHOD1(SetHeight, void(const double newHeight));
- MOCK_METHOD1(SetDistanceReferencPointToLeadingEdge, void(const double distance));
+ MOCK_METHOD1(SetBoundingBoxCenterToRear, void(const double distance));
MOCK_METHOD1(SetReferencePointPosition, void(const OWL::Primitive::AbsPosition& newPosition));
MOCK_METHOD1(SetX, void(const double newX));
diff --git a/sim/src/core/slave/modules/World_OSI/WorldObjectAdapter.cpp b/sim/src/core/slave/modules/World_OSI/WorldObjectAdapter.cpp
index 818edf53dd9ddf3a373976c05ff7fc04a895a435..5368b30d626d6b4bf1f364e93c7c018be862d3b4 100644
--- a/sim/src/core/slave/modules/World_OSI/WorldObjectAdapter.cpp
+++ b/sim/src/core/slave/modules/World_OSI/WorldObjectAdapter.cpp
@@ -66,6 +66,11 @@ double WorldObjectAdapter::GetYaw() const
{
return baseTrafficObject.GetAbsOrientation().yaw;
}
+
+double WorldObjectAdapter::GetRoll() const
+{
+ return baseTrafficObject.GetAbsOrientation().roll;
+}
double WorldObjectAdapter::GetAcceleration() const
{
@@ -79,24 +84,28 @@ const OWL::Interfaces::WorldObject& WorldObjectAdapter::GetBaseTrafficObject() c
const polygon_t WorldObjectAdapter::CalculateBoundingBox() const
{
- double length = GetLength();
- double width = GetWidth();
- double rotation = GetYaw();
+ const double length = GetLength();
+ const double width = GetWidth();
+ const double height = GetHeight();
+ const double rotation = GetYaw();
+ const double roll = GetRoll();
- double x = GetPositionX();
- double y = GetPositionY();
+ const double x = GetPositionX();
+ const double y = GetPositionY();
- double center = GetDistanceReferencePointToLeadingEdge();
+ const double center = GetDistanceReferencePointToLeadingEdge();
- double halfWidth = width / 2.0;
+ const double halfWidth = width / 2.0;
+ const double widthLeft = halfWidth * std::cos(roll) + (roll < 0 ? height * std::sin(-roll) : 0);
+ const double widthRight = halfWidth * std::cos(roll) + (roll > 0 ? height * std::sin(roll) : 0);
point_t boxPoints[]
{
- {center - length, -halfWidth},
- {center - length, halfWidth},
- {center, halfWidth},
- {center, -halfWidth},
- {center - length, -halfWidth}
+ {center - length, -widthRight},
+ {center - length, widthLeft},
+ {center, widthLeft},
+ {center, -widthRight},
+ {center - length, -widthRight}
};
polygon_t box;
diff --git a/sim/src/core/slave/modules/World_OSI/WorldObjectAdapter.h b/sim/src/core/slave/modules/World_OSI/WorldObjectAdapter.h
index 942f78ebb6022a1ad14b34b1c93190d8fdbd5702..77d4f9f8ef88854f2634e9771141bfb7c59f8b22 100644
--- a/sim/src/core/slave/modules/World_OSI/WorldObjectAdapter.h
+++ b/sim/src/core/slave/modules/World_OSI/WorldObjectAdapter.h
@@ -25,6 +25,7 @@ public:
double GetPositionLateral() const;
double GetWidth() const;
double GetYaw() const;
+ double GetRoll() const;
double GetDistanceReferencePointToLeadingEdge() const;
double GetAcceleration() const;
const OWL::Interfaces::WorldObject& GetBaseTrafficObject() const;
diff --git a/sim/tests/endToEndTests/end_to_end.json b/sim/tests/endToEndTests/end_to_end.json
index 08b3a6a27c5bff2a3041cc40135a816292794883..15062ee9b8e802bed743b1e394687c3b04628c58 100644
--- a/sim/tests/endToEndTests/end_to_end.json
+++ b/sim/tests/endToEndTests/end_to_end.json
@@ -26,7 +26,6 @@
"OSCAction_DoubleSinusoidalLaneChangeRight_Absolute",
"OSCAction_DoubleSinusoidalLaneChangeLeft_Relative",
"OSCAction_DoubleSinusoidalLaneChangeRight_Relative",
- "Pedestrian_AFDM",
"Pedestrian_Trajectory",
"Sensor_Latency",
"StaticAgentProfiles",
diff --git a/sim/tests/fakes/gmock/fakeAgent.h b/sim/tests/fakes/gmock/fakeAgent.h
index e233b928e4860e9acecac0a1e3fb7c3edcd871fd..7e09c0c8cad6c0b4d02e2eb3cb5f54e355d447f1 100644
--- a/sim/tests/fakes/gmock/fakeAgent.h
+++ b/sim/tests/fakes/gmock/fakeAgent.h
@@ -47,6 +47,7 @@ class FakeAgent : public FakeWorldObject, public AgentInterface
MOCK_METHOD1(SetVelocity, void(double value));
MOCK_METHOD1(SetAcceleration, void(double value));
MOCK_METHOD1(SetYaw, void(double value));
+ MOCK_METHOD1(SetRoll, void(double value));
MOCK_METHOD1(SetDistanceTraveled, void(double distanceTraveled));
MOCK_CONST_METHOD0(GetDistanceTraveled, double());
MOCK_METHOD1(SetGear, void(int gear));
diff --git a/sim/tests/fakes/gmock/fakeWorldObject.h b/sim/tests/fakes/gmock/fakeWorldObject.h
index ae91b1423b43c32f0a9669e65cfaa54bc6b82697..ba4d13ed9233a29cb94d74fc03f850f922e5c79c 100644
--- a/sim/tests/fakes/gmock/fakeWorldObject.h
+++ b/sim/tests/fakes/gmock/fakeWorldObject.h
@@ -23,6 +23,7 @@ public:
MOCK_CONST_METHOD0(GetLength, double());
MOCK_CONST_METHOD0(GetHeight, double());
MOCK_CONST_METHOD0(GetYaw, double());
+ MOCK_CONST_METHOD0(GetRoll, double());
MOCK_CONST_METHOD0(GetId, int());
MOCK_CONST_METHOD0(GetBoundingBox2D, const polygon_t& ());
MOCK_CONST_METHOD2(GetDistanceToStartOfRoad, double(MeasurementPoint, std::string));
diff --git a/sim/tests/integrationTests/OpenPassSlave_IntegrationTests/Resources/ImporterTest/VehicleModelsCatalog.xosc b/sim/tests/integrationTests/OpenPassSlave_IntegrationTests/Resources/ImporterTest/VehicleModelsCatalog.xosc
index 0b5ca5dd3e273cd910b5c20950f25c35e29ce0a7..05da35c2c227d54f0e984f6abf9192f02d2ce956 100644
--- a/sim/tests/integrationTests/OpenPassSlave_IntegrationTests/Resources/ImporterTest/VehicleModelsCatalog.xosc
+++ b/sim/tests/integrationTests/OpenPassSlave_IntegrationTests/Resources/ImporterTest/VehicleModelsCatalog.xosc
@@ -25,7 +25,7 @@
<Center x="1.0" y="0.0" z="1.1"/>
<Dimensions width="1.0" length="4.0" height="2.2"/>
</BoundingBox>
- <Performance maxSpeed="10.0" maxDeceleration="9.80665"/>
+ <Performance maxSpeed="10.0" maxAcceleration="10.0" maxDeceleration="9.8"/>
<Axles>
<FrontAxle maxSteering="0.707" wheelDiameter="0.5" trackWidth="1.0" positionX="2.0" positionZ="0.25"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.5" trackWidth="1.0" positionX="0.0" positionZ="0.25"/>
@@ -55,7 +55,7 @@
<Center x="2.0" y="0.0" z="2.2"/>
<Dimensions width="1.5" length="3.0" height="4.4"/>
</BoundingBox>
- <Performance maxSpeed="11.0" maxDeceleration="4.5"/>
+ <Performance maxSpeed="11.0" maxAcceleration="10.0" maxDeceleration="4.5"/>
<Axles>
<FrontAxle maxSteering="0.5" wheelDiameter="0.4" trackWidth="1.1" positionX="2.5" positionZ="0.2"/>
<RearAxle maxSteering="0.0" wheelDiameter="0.4" trackWidth="1.1" positionX="0.0" positionZ="0.2"/>
diff --git a/sim/tests/integrationTests/OpenPassSlave_IntegrationTests/SceneryImporter_IntegrationTests.cpp b/sim/tests/integrationTests/OpenPassSlave_IntegrationTests/SceneryImporter_IntegrationTests.cpp
index a3ab9c380e86d5edf3d5cb20a9376b67b8557e41..8264a5b9be65896422515b87a6d761d4ea81957f 100644
--- a/sim/tests/integrationTests/OpenPassSlave_IntegrationTests/SceneryImporter_IntegrationTests.cpp
+++ b/sim/tests/integrationTests/OpenPassSlave_IntegrationTests/SceneryImporter_IntegrationTests.cpp
@@ -971,9 +971,9 @@ TEST(SceneryImporter_IntegrationTests, MultipleRoadsWithIntersectingJunctions_Ju
{
VehicleModelParameters vehicleParameter;
vehicleParameter.vehicleType = AgentVehicleType::Car;
- vehicleParameter.width = width;
- vehicleParameter.length = length;
- vehicleParameter.distanceReferencePointToLeadingEdge = length / 2.0;
+ vehicleParameter.boundingBoxDimensions.width = width;
+ vehicleParameter.boundingBoxDimensions.length = length;
+ vehicleParameter.boundingBoxCenter.x = 0.0;
SpawnParameter spawnParameter;
spawnParameter.positionX = x;
diff --git a/sim/tests/integrationTests/OpenPassSlave_IntegrationTests/VehicleModelsImporter_IntegrationTests.cpp b/sim/tests/integrationTests/OpenPassSlave_IntegrationTests/VehicleModelsImporter_IntegrationTests.cpp
index d7b513f1236537e7a0a96652aff0b91d54757287..6a541baecb1cf3b37e074ca90b28dab0b2f5b05d 100644
--- a/sim/tests/integrationTests/OpenPassSlave_IntegrationTests/VehicleModelsImporter_IntegrationTests.cpp
+++ b/sim/tests/integrationTests/OpenPassSlave_IntegrationTests/VehicleModelsImporter_IntegrationTests.cpp
@@ -33,82 +33,97 @@ TEST(VehicleModelImporter, GivenVehicleAndPedestrianCatalogs_ImportsAllModels)
auto vehicleModel1 = vehicleModels.GetVehicleModel("car_one");
EXPECT_THAT(vehicleModel1.vehicleType, Eq(AgentVehicleType::Car));
- EXPECT_THAT(vehicleModel1.airDragCoefficient, DoubleEq(1.1));
- EXPECT_THAT(vehicleModel1.axleRatio, DoubleEq(2.2));
- EXPECT_THAT(vehicleModel1.decelerationFromPowertrainDrag, DoubleEq(3.3));
- EXPECT_THAT(vehicleModel1.distanceReferencePointToFrontAxle, DoubleEq(2.0));
- EXPECT_THAT(vehicleModel1.distanceReferencePointToLeadingEdge, DoubleEq(3.0));
- EXPECT_THAT(vehicleModel1.frictionCoeff, DoubleEq(4.4));
- EXPECT_THAT(vehicleModel1.frontSurface, DoubleEq(5.5));
- EXPECT_THAT(vehicleModel1.gearRatios, ElementsAre(0.0, 6.6));
- EXPECT_THAT(vehicleModel1.height, DoubleEq(2.2));
- EXPECT_THAT(vehicleModel1.heightCOG, DoubleEq(0.0)); // unsupported parameter, fixed to 0.0
- EXPECT_THAT(vehicleModel1.length, DoubleEq(4.0));
- EXPECT_THAT(vehicleModel1.maxCurvature, DoubleEq(std::sin(0.707) / 2.0)); // sin(maxSteering fron wheel) / wheelbase
- EXPECT_THAT(vehicleModel1.maxVelocity, DoubleEq(10.0));
- EXPECT_THAT(vehicleModel1.maximumEngineSpeed, DoubleEq(6000.0));
- EXPECT_THAT(vehicleModel1.maximumEngineTorque, DoubleEq(250.0));
- EXPECT_THAT(vehicleModel1.maximumSteeringWheelAngleAmplitude, DoubleEq(0.707 * 7.7)); // maxSteering front wheel * SteeringRatio
- EXPECT_THAT(vehicleModel1.minimumEngineSpeed, DoubleEq(900.0));
- EXPECT_THAT(vehicleModel1.minimumEngineTorque, DoubleEq(-54.0));
- EXPECT_THAT(vehicleModel1.momentInertiaPitch, DoubleEq(0.0));
- EXPECT_THAT(vehicleModel1.momentInertiaRoll, DoubleEq(0.0));
- EXPECT_THAT(vehicleModel1.momentInertiaYaw, DoubleEq(0.0));
- EXPECT_THAT(vehicleModel1.numberOfGears, 1);
- EXPECT_THAT(vehicleModel1.staticWheelRadius, DoubleEq(0.25));
- EXPECT_THAT(vehicleModel1.steeringRatio, DoubleEq(7.7));
- EXPECT_THAT(vehicleModel1.trackwidth, DoubleEq(1.0));
- EXPECT_THAT(vehicleModel1.weight, DoubleEq(1000.0));
- EXPECT_THAT(vehicleModel1.wheelbase, DoubleEq(2.0));
- EXPECT_THAT(vehicleModel1.width, DoubleEq(1.0));
+ EXPECT_THAT(vehicleModel1.boundingBoxCenter.x, DoubleEq(1.0));
+ EXPECT_THAT(vehicleModel1.boundingBoxCenter.y, DoubleEq(0));
+ EXPECT_THAT(vehicleModel1.boundingBoxCenter.z, DoubleEq(1.1));
+ EXPECT_THAT(vehicleModel1.boundingBoxDimensions.width, DoubleEq(1.0));
+ EXPECT_THAT(vehicleModel1.boundingBoxDimensions.length, DoubleEq(4.0));
+ EXPECT_THAT(vehicleModel1.boundingBoxDimensions.height, DoubleEq(2.2));
+ EXPECT_THAT(vehicleModel1.performance.maxSpeed, DoubleEq(10.0));
+ EXPECT_THAT(vehicleModel1.performance.maxAcceleration, DoubleEq(10.0));
+ EXPECT_THAT(vehicleModel1.performance.maxDeceleration, DoubleEq(9.8));
+ EXPECT_THAT(vehicleModel1.frontAxle.maxSteering, DoubleEq(0.707));
+ EXPECT_THAT(vehicleModel1.frontAxle.wheelDiameter, DoubleEq(0.5));
+ EXPECT_THAT(vehicleModel1.frontAxle.trackWidth, DoubleEq(1.0));
+ EXPECT_THAT(vehicleModel1.frontAxle.positionX, DoubleEq(2.0));
+ EXPECT_THAT(vehicleModel1.frontAxle.positionZ, DoubleEq(0.25));
+ EXPECT_THAT(vehicleModel1.rearAxle.maxSteering, DoubleEq(0.0));
+ EXPECT_THAT(vehicleModel1.rearAxle.wheelDiameter, DoubleEq(0.5));
+ EXPECT_THAT(vehicleModel1.rearAxle.trackWidth, DoubleEq(1.0));
+ EXPECT_THAT(vehicleModel1.rearAxle.positionX, DoubleEq(0.0));
+ EXPECT_THAT(vehicleModel1.rearAxle.positionZ, DoubleEq(0.25));
+ EXPECT_THAT(vehicleModel1.properties, ElementsAre(
+ std::make_pair("AirDragCoefficient", 1.1),
+ std::make_pair("AxleRatio", 2.2),
+ std::make_pair("DecelerationFromPowertrainDrag", 3.3),
+ std::make_pair("FrictionCoefficient", 4.4),
+ std::make_pair("FrontSurface", 5.5),
+ std::make_pair("GearRatio1", 6.6),
+ std::make_pair("Mass", 1000.0),
+ std::make_pair("MaximumEngineSpeed", 6000.),
+ std::make_pair("MaximumEngineTorque", 250.),
+ std::make_pair("MinimumEngineSpeed", 900.),
+ std::make_pair("MinimumEngineTorque", -54.),
+ std::make_pair("MomentInertiaPitch", 0.0),
+ std::make_pair("MomentInertiaRoll", 0.0),
+ std::make_pair("MomentInertiaYaw", 0.0),
+ std::make_pair("NumberOfGears", 1.),
+ std::make_pair("SteeringRatio", 7.7)));
auto vehicleModel2 = vehicleModels.GetVehicleModel("car_two");
EXPECT_THAT(vehicleModel2.vehicleType, Eq(AgentVehicleType::Car));
- EXPECT_THAT(vehicleModel2.airDragCoefficient, DoubleEq(2.2));
- EXPECT_THAT(vehicleModel2.axleRatio, DoubleEq(3.3));
- EXPECT_THAT(vehicleModel2.decelerationFromPowertrainDrag, DoubleEq(4.4));
- EXPECT_THAT(vehicleModel2.distanceReferencePointToFrontAxle, DoubleEq(2.5));
- EXPECT_THAT(vehicleModel2.distanceReferencePointToLeadingEdge, DoubleEq(3.5));
- EXPECT_THAT(vehicleModel2.frictionCoeff, DoubleEq(5.5));
- EXPECT_THAT(vehicleModel2.frontSurface, DoubleEq(6.6));
- EXPECT_THAT(vehicleModel2.gearRatios, ElementsAre(0.0, 7.7, 8.8));
- EXPECT_THAT(vehicleModel2.height, DoubleEq(4.4));
- EXPECT_THAT(vehicleModel2.heightCOG, DoubleEq(0.0)); // unsupported parameter, fixed to 0.0
- EXPECT_THAT(vehicleModel2.length, DoubleEq(3.0));
- EXPECT_THAT(vehicleModel2.maxCurvature, DoubleEq(std::sin(0.5) / 2.5)); // sin(maxSteering fron wheel) / wheelbase
- EXPECT_THAT(vehicleModel2.maxVelocity, DoubleEq(11.0));
- EXPECT_THAT(vehicleModel2.maximumEngineSpeed, DoubleEq(6000.0));
- EXPECT_THAT(vehicleModel2.maximumEngineTorque, DoubleEq(250.0));
- EXPECT_THAT(vehicleModel2.maximumSteeringWheelAngleAmplitude, DoubleEq(0.5 * 9.9)); // maxSteering front wheel * SteeringRatio
- EXPECT_THAT(vehicleModel2.minimumEngineSpeed, DoubleEq(900.0));
- EXPECT_THAT(vehicleModel2.minimumEngineTorque, DoubleEq(-54.0));
- EXPECT_THAT(vehicleModel2.momentInertiaPitch, DoubleEq(0.0));
- EXPECT_THAT(vehicleModel2.momentInertiaRoll, DoubleEq(0.0));
- EXPECT_THAT(vehicleModel2.momentInertiaYaw, DoubleEq(0.0));
- EXPECT_THAT(vehicleModel2.numberOfGears, 2);
- EXPECT_THAT(vehicleModel2.staticWheelRadius, DoubleEq(0.2));
- EXPECT_THAT(vehicleModel2.steeringRatio, DoubleEq(9.9));
- EXPECT_THAT(vehicleModel2.trackwidth, DoubleEq(1.1));
- EXPECT_THAT(vehicleModel2.weight, DoubleEq(999.9));
- EXPECT_THAT(vehicleModel2.wheelbase, DoubleEq(2.5));
- EXPECT_THAT(vehicleModel2.width, DoubleEq(1.5));
+ EXPECT_THAT(vehicleModel2.boundingBoxCenter.x, DoubleEq(2.0));
+ EXPECT_THAT(vehicleModel2.boundingBoxCenter.y, DoubleEq(0));
+ EXPECT_THAT(vehicleModel2.boundingBoxCenter.z, DoubleEq(2.2));
+ EXPECT_THAT(vehicleModel2.boundingBoxDimensions.width, DoubleEq(1.5));
+ EXPECT_THAT(vehicleModel2.boundingBoxDimensions.length, DoubleEq(3.0));
+ EXPECT_THAT(vehicleModel2.boundingBoxDimensions.height, DoubleEq(4.4));
+ EXPECT_THAT(vehicleModel2.performance.maxSpeed, DoubleEq(11.0));
+ EXPECT_THAT(vehicleModel2.performance.maxAcceleration, DoubleEq(10.0));
+ EXPECT_THAT(vehicleModel2.performance.maxDeceleration, DoubleEq(4.5));
+ EXPECT_THAT(vehicleModel2.frontAxle.maxSteering, DoubleEq(0.5));
+ EXPECT_THAT(vehicleModel2.frontAxle.wheelDiameter, DoubleEq(0.4));
+ EXPECT_THAT(vehicleModel2.frontAxle.trackWidth, DoubleEq(1.1));
+ EXPECT_THAT(vehicleModel2.frontAxle.positionX, DoubleEq(2.5));
+ EXPECT_THAT(vehicleModel2.frontAxle.positionZ, DoubleEq(0.2));
+ EXPECT_THAT(vehicleModel2.rearAxle.maxSteering, DoubleEq(0.0));
+ EXPECT_THAT(vehicleModel2.rearAxle.wheelDiameter, DoubleEq(0.4));
+ EXPECT_THAT(vehicleModel2.rearAxle.trackWidth, DoubleEq(1.1));
+ EXPECT_THAT(vehicleModel2.rearAxle.positionX, DoubleEq(0.0));
+ EXPECT_THAT(vehicleModel2.rearAxle.positionZ, DoubleEq(0.2));
+ EXPECT_THAT(vehicleModel2.properties, ElementsAre(
+ std::make_pair("AirDragCoefficient", 2.2),
+ std::make_pair("AxleRatio", 3.3),
+ std::make_pair("DecelerationFromPowertrainDrag", 4.4),
+ std::make_pair("FrictionCoefficient", 5.5),
+ std::make_pair("FrontSurface", 6.6),
+ std::make_pair("GearRatio1", 7.7),
+ std::make_pair("GearRatio2", 8.8),
+ std::make_pair("Mass", 999.9),
+ std::make_pair("MaximumEngineSpeed", 6000.),
+ std::make_pair("MaximumEngineTorque", 250.),
+ std::make_pair("MinimumEngineSpeed", 900.),
+ std::make_pair("MinimumEngineTorque", -54.),
+ std::make_pair("MomentInertiaPitch", 0.0),
+ std::make_pair("MomentInertiaRoll", 0.0),
+ std::make_pair("MomentInertiaYaw", 0.0),
+ std::make_pair("NumberOfGears", 2.),
+ std::make_pair("SteeringRatio", 9.9)));
auto pedestrianModel1 = vehicleModels.GetVehicleModel("pedestrian_one");
// workaround for ground truth not being able to handle pedestrians
//EXPECT_THAT(pedestrianModel1.vehicleType, Eq(AgentVehicleType::Pedestrian));
EXPECT_THAT(pedestrianModel1.vehicleType, Eq(AgentVehicleType::Car));
- EXPECT_THAT(pedestrianModel1.length, DoubleEq(5.5));
- EXPECT_THAT(pedestrianModel1.width, DoubleEq(4.4));
- EXPECT_THAT(pedestrianModel1.height, DoubleEq(6.6));
- EXPECT_THAT(pedestrianModel1.weight, DoubleEq(100.0));
+ EXPECT_THAT(pedestrianModel1.boundingBoxDimensions.length, DoubleEq(5.5));
+ EXPECT_THAT(pedestrianModel1.boundingBoxDimensions.width, DoubleEq(4.4));
+ EXPECT_THAT(pedestrianModel1.boundingBoxDimensions.height, DoubleEq(6.6));
auto pedestrianModel2 = vehicleModels.GetVehicleModel("pedestrian_two");
// workaround for ground truth not being able to handle pedestrians
//EXPECT_THAT(pedestrianModel1.vehicleType, Eq(AgentVehicleType::Pedestrian));
EXPECT_THAT(pedestrianModel1.vehicleType, Eq(AgentVehicleType::Car));
- EXPECT_THAT(pedestrianModel2.length, DoubleEq(2.2));
- EXPECT_THAT(pedestrianModel2.width, DoubleEq(3.3));
- EXPECT_THAT(pedestrianModel2.height, DoubleEq(1.1));
- EXPECT_THAT(pedestrianModel2.weight, DoubleEq(111.1));
+ EXPECT_THAT(pedestrianModel2.boundingBoxDimensions.length, DoubleEq(2.2));
+ EXPECT_THAT(pedestrianModel2.boundingBoxDimensions.width, DoubleEq(3.3));
+ EXPECT_THAT(pedestrianModel2.boundingBoxDimensions.height, DoubleEq(1.1));
}
diff --git a/sim/tests/integrationTests/Spawner_IntegrationTests/Spawner_IntegrationTests.cpp b/sim/tests/integrationTests/Spawner_IntegrationTests/Spawner_IntegrationTests.cpp
index eab2411fd73932f58ab44bc7e2ad3147a3e8a98b..fdd4557499817669fc25b85a3ce6b2197e5a4a15 100644
--- a/sim/tests/integrationTests/Spawner_IntegrationTests/Spawner_IntegrationTests.cpp
+++ b/sim/tests/integrationTests/Spawner_IntegrationTests/Spawner_IntegrationTests.cpp
@@ -112,8 +112,9 @@ public:
AgentBlueprint agentBlueprint;
VehicleModelParameters vehicleModelParameters;
- vehicleModelParameters.length = 5.0;
- vehicleModelParameters.distanceReferencePointToLeadingEdge = 3.0;
+ vehicleModelParameters.vehicleType = AgentVehicleType::Car;
+ vehicleModelParameters.boundingBoxDimensions.length = 5.0;
+ vehicleModelParameters.boundingBoxCenter.x = 0.5;
agentBlueprint.SetVehicleModelParameters(vehicleModelParameters);
ON_CALL(agentBlueprintProvider, SampleAgent(_,_)).WillByDefault(Return(agentBlueprint));
}
diff --git a/sim/tests/unitTests/common/ttcCalculation_Tests.cpp b/sim/tests/unitTests/common/ttcCalculation_Tests.cpp
index ed54544a9d91edb36ed53b9fad83401ffd731a04..dfb5096d369e2b80190d8d57f4bcda3407a719e9 100644
--- a/sim/tests/unitTests/common/ttcCalculation_Tests.cpp
+++ b/sim/tests/unitTests/common/ttcCalculation_Tests.cpp
@@ -66,6 +66,7 @@ TEST_P(TtcCalcualtionTest, CalculateObjectTTC_ReturnsCorrectTtc)
ON_CALL(ego, GetPositionX()).WillByDefault(Return(data.egoX));
ON_CALL(ego, GetPositionY()).WillByDefault(Return(data.egoY));
ON_CALL(ego, GetYaw()).WillByDefault(Return(data.egoYaw));
+ ON_CALL(ego, GetRoll()).WillByDefault(Return(0.0));
ON_CALL(ego, GetYawRate()).WillByDefault(Return(data.egoYawRate));
ON_CALL(ego, GetYawAcceleration()).WillByDefault(Return(data.egoYawAcceleration));
ON_CALL(ego, GetVelocity(VelocityScope::DirectionX)).WillByDefault(Return(data.egoVelocityX));
@@ -79,6 +80,7 @@ TEST_P(TtcCalcualtionTest, CalculateObjectTTC_ReturnsCorrectTtc)
ON_CALL(opponent, GetPositionX()).WillByDefault(Return(data.opponentX));
ON_CALL(opponent, GetPositionY()).WillByDefault(Return(data.opponentY));
ON_CALL(opponent, GetYaw()).WillByDefault(Return(data.opponentYaw));
+ ON_CALL(opponent, GetRoll()).WillByDefault(Return(0.0));
ON_CALL(opponent, GetYawRate()).WillByDefault(Return(data.opponentYawRate));
ON_CALL(opponent, GetYawAcceleration()).WillByDefault(Return(data.opponentYawAcceleration));
ON_CALL(opponent, GetVelocity(VelocityScope::DirectionX)).WillByDefault(Return(data.opponentVelocityX));
diff --git a/sim/tests/unitTests/components/AlgorithmAEB/BoundingBoxCalculation_Tests.cpp b/sim/tests/unitTests/components/AlgorithmAEB/BoundingBoxCalculation_Tests.cpp
deleted file mode 100644
index eddd4cefbe33606f7f552d74c88ae1959b09d6b1..0000000000000000000000000000000000000000
--- a/sim/tests/unitTests/components/AlgorithmAEB/BoundingBoxCalculation_Tests.cpp
+++ /dev/null
@@ -1,368 +0,0 @@
-/*******************************************************************************
-* Copyright (c) 2019 in-tech GmbH
-*
-* This program and the accompanying materials are made
-* available under the terms of the Eclipse Public License 2.0
-* which is available at https://www.eclipse.org/legal/epl-2.0/
-*
-* SPDX-License-Identifier: EPL-2.0
-*******************************************************************************/
-
-#include "osi3/osi_detectedobject.pb.h"
-
-#include "gtest/gtest.h"
-#include "gmock/gmock.h"
-
-#include "fakeAgent.h"
-
-#include "boundingBoxCalculation.h"
-
-
-using ::testing::Return;
-using ::testing::Lt;
-using ::testing::NiceMock;
-
-class BoundingBoxCalculation_Tests : public ::testing::Test
-{
-public:
- BoundingBoxCalculation_Tests()
- {
- ON_CALL(fakeEgoAgent, GetLength()).WillByDefault(Return(2.0));
- ON_CALL(fakeEgoAgent, GetWidth()).WillByDefault(Return(1.0));
- ON_CALL(fakeEgoAgent, GetDistanceReferencePointToLeadingEdge()).WillByDefault(Return(1.0));
- }
-
- void SetEgoValues (double velocity, double acceleration, double yawRate)
- {
- ON_CALL(fakeEgoAgent, GetVelocity()).WillByDefault(Return(velocity));
- ON_CALL(fakeEgoAgent, GetAcceleration()).WillByDefault(Return(acceleration));
- ON_CALL(fakeEgoAgent, GetYawRate()).WillByDefault(Return(yawRate));
- }
-
- NiceMock<FakeAgent> fakeEgoAgent;
-};
-
-TEST_F(BoundingBoxCalculation_Tests, MovingObjectAtTimestampZero)
-{
- SetEgoValues(0.0, 0.0, 0.0);
- osi3::BaseMoving baseMoving;
- baseMoving.mutable_dimension()->set_length(3.0);
- baseMoving.mutable_dimension()->set_width(3.5);
- baseMoving.mutable_position()->set_x(-20.0);
- baseMoving.mutable_position()->set_y(35.0);
- baseMoving.mutable_orientation()->set_yaw(M_PI * 0.5);
- BoundingBoxCalculation bbCalculation(&fakeEgoAgent, 1.0, 1.5);
-
- double boxPoints[][2]
- {
- { -22.5, 33 },
- { -22.5, 37 },
- { -17.5, 37 },
- { -17.5, 33 },
- { -22.5, 33 }
- };
-
- polygon_t expectedBox;
- bg::append(expectedBox, boxPoints);
- bg::correct(expectedBox);
-
- polygon_t result = bbCalculation.CalculateBoundingBox(0.0, baseMoving);
- bg::correct(result);
-
- multi_polygon_t differenceMissing;
- bg::difference(expectedBox, result, differenceMissing);
- multi_polygon_t differenceOverhanging;
- bg::difference(result, expectedBox, differenceOverhanging);
-
- EXPECT_THAT(bg::area(differenceMissing), Lt(0.1));
- EXPECT_THAT(bg::area(differenceOverhanging), Lt(0.1));
-}
-
-TEST_F(BoundingBoxCalculation_Tests, MovingObjectMovingInStraightLine)
-{
- SetEgoValues(0.0, 0.0, 0.0);
- osi3::BaseMoving baseMoving;
- baseMoving.mutable_dimension()->set_length(3.0);
- baseMoving.mutable_dimension()->set_width(3.5);
- baseMoving.mutable_position()->set_x(-20.0);
- baseMoving.mutable_position()->set_y(35.0);
- baseMoving.mutable_orientation()->set_yaw(M_PI * 0.5);
- baseMoving.mutable_velocity()->set_y(10.0);
- baseMoving.mutable_acceleration()->set_y(-2.0);
- BoundingBoxCalculation bbCalculation(&fakeEgoAgent, 1.0, 1.5);
-
- double boxPoints[][2]
- {
- { -22.5, 49 },
- { -22.5, 53 },
- { -17.5, 53 },
- { -17.5, 49 },
- { -22.5, 49 }
- };
-
- polygon_t expectedBox;
- bg::append(expectedBox, boxPoints);
- bg::correct(expectedBox);
-
- polygon_t result = bbCalculation.CalculateBoundingBox(2.0, baseMoving);
- bg::correct(result);
-
- multi_polygon_t differenceMissing;
- bg::difference(expectedBox, result, differenceMissing);
- multi_polygon_t differenceOverhanging;
- bg::difference(result, expectedBox, differenceOverhanging);
-
- EXPECT_THAT(bg::area(differenceMissing), Lt(0.1));
- EXPECT_THAT(bg::area(differenceOverhanging), Lt(0.1));
-}
-
-TEST_F(BoundingBoxCalculation_Tests, MovingObjectMovingInCircleLeft)
-{
- SetEgoValues(0.0, 0.0, 0.0);
- osi3::BaseMoving baseMoving;
- baseMoving.mutable_dimension()->set_length(3.0);
- baseMoving.mutable_dimension()->set_width(3.5);
- baseMoving.mutable_position()->set_x(-20.0);
- baseMoving.mutable_position()->set_y(35.0);
- baseMoving.mutable_orientation()->set_yaw(M_PI * 0.5);
- baseMoving.mutable_orientation_rate()->set_yaw(M_PI * 0.25);
- baseMoving.mutable_velocity()->set_y(M_PI * 2.5);
- baseMoving.mutable_acceleration()->set_y(0.0);
- BoundingBoxCalculation bbCalculation(&fakeEgoAgent, 1.0, 1.5);
-
- double boxPoints[][2]
- {
- { -32, 42.5 },
- { -32, 47.5 },
- { -28, 47.5 },
- { -28, 42.5 },
- { -32, 42.5 }
- };
-
- polygon_t expectedBox;
- bg::append(expectedBox, boxPoints);
- bg::correct(expectedBox);
-
- polygon_t result = bbCalculation.CalculateBoundingBox(2.0, baseMoving);
- bg::correct(result);
-
- multi_polygon_t differenceMissing;
- bg::difference(expectedBox, result, differenceMissing);
- multi_polygon_t differenceOverhanging;
- bg::difference(result, expectedBox, differenceOverhanging);
-
- EXPECT_THAT(bg::area(differenceMissing), Lt(0.1));
- EXPECT_THAT(bg::area(differenceOverhanging), Lt(0.1));
-}
-
-TEST_F(BoundingBoxCalculation_Tests, MovingObjectMovingInCircleRight)
-{
- SetEgoValues(0.0, 0.0, 0.0);
- osi3::BaseMoving baseMoving;
- baseMoving.mutable_dimension()->set_length(3.0);
- baseMoving.mutable_dimension()->set_width(3.5);
- baseMoving.mutable_position()->set_x(-20.0);
- baseMoving.mutable_position()->set_y(35.0);
- baseMoving.mutable_orientation()->set_yaw(M_PI * 0.5);
- baseMoving.mutable_orientation_rate()->set_yaw(-M_PI * 0.25);
- baseMoving.mutable_velocity()->set_y(M_PI * 2.5);
- baseMoving.mutable_acceleration()->set_y(0.0);
- BoundingBoxCalculation bbCalculation(&fakeEgoAgent, 1.0, 1.5);
-
- double boxPoints[][2]
- {
- { -12, 42.5 },
- { -12, 47.5 },
- { -8, 47.5 },
- { -8, 42.5 },
- { -12, 42.5 }
- };
-
- polygon_t expectedBox;
- bg::append(expectedBox, boxPoints);
- bg::correct(expectedBox);
-
- polygon_t result = bbCalculation.CalculateBoundingBox(2.0, baseMoving);
- bg::correct(result);
-
- multi_polygon_t differenceMissing;
- bg::difference(expectedBox, result, differenceMissing);
- multi_polygon_t differenceOverhanging;
- bg::difference(result, expectedBox, differenceOverhanging);
-
- EXPECT_THAT(bg::area(differenceMissing), Lt(0.1));
- EXPECT_THAT(bg::area(differenceOverhanging), Lt(0.1));
-}
-
-TEST_F(BoundingBoxCalculation_Tests, MovingObjectOwnAgentMovesInStraightLine)
-{
- SetEgoValues(10.0, 2.0, 0.0);
- osi3::BaseMoving baseMoving;
- baseMoving.mutable_dimension()->set_length(3.0);
- baseMoving.mutable_dimension()->set_width(3.5);
- baseMoving.mutable_position()->set_x(-20.0);
- baseMoving.mutable_position()->set_y(35.0);
- baseMoving.mutable_orientation()->set_yaw(-M_PI * 0.5);
- baseMoving.mutable_velocity()->set_x(-10.0);
- baseMoving.mutable_velocity()->set_y(-10.0);
- baseMoving.mutable_acceleration()->set_y(1.0);
- baseMoving.mutable_acceleration()->set_x(-2.0);
- BoundingBoxCalculation bbCalculation(&fakeEgoAgent, 1.0, 1.5);
-
- double boxPoints[][2]
- {
- { -22.5, 15 },
- { -22.5, 19 },
- { -17.5, 19 },
- { -17.5, 15 },
- { -22.5, 15 }
- };
-
- polygon_t expectedBox;
- bg::append(expectedBox, boxPoints);
- bg::correct(expectedBox);
-
- polygon_t result = bbCalculation.CalculateBoundingBox(2.0, baseMoving);
- bg::correct(result);
-
- multi_polygon_t differenceMissing;
- bg::difference(expectedBox, result, differenceMissing);
- multi_polygon_t differenceOverhanging;
- bg::difference(result, expectedBox, differenceOverhanging);
-
- EXPECT_THAT(bg::area(differenceMissing), Lt(0.1));
- EXPECT_THAT(bg::area(differenceOverhanging), Lt(0.1));
-}
-
-TEST_F(BoundingBoxCalculation_Tests, MovingObjectBothAgentsMovingInCircle)
-{
- SetEgoValues(M_PI * 2.5, 0.0, M_PI * 0.25);
- osi3::BaseMoving baseMoving;
- baseMoving.mutable_dimension()->set_length(3.0);
- baseMoving.mutable_dimension()->set_width(3.5);
- baseMoving.mutable_position()->set_x(-20.0);
- baseMoving.mutable_position()->set_y(35.0);
- baseMoving.mutable_orientation()->set_yaw(0.0);
- baseMoving.mutable_orientation_rate()->set_yaw(-M_PI * 0.5);
- BoundingBoxCalculation bbCalculation(&fakeEgoAgent, 1.0, 1.5);
-
- double boxPoints[][2]
- {
- { -12.5, 23 },
- { -12.5, 27 },
- { -7.5, 27 },
- { -7.5, 23 },
- { -12.5, 23 }
- };
-
- polygon_t expectedBox;
- bg::append(expectedBox, boxPoints);
- bg::correct(expectedBox);
-
- polygon_t result = bbCalculation.CalculateBoundingBox(2.0, baseMoving);
- bg::correct(result);
-
- multi_polygon_t differenceMissing;
- bg::difference(expectedBox, result, differenceMissing);
- multi_polygon_t differenceOverhanging;
- bg::difference(result, expectedBox, differenceOverhanging);
-
- EXPECT_THAT(bg::area(differenceMissing), Lt(0.1));
- EXPECT_THAT(bg::area(differenceOverhanging), Lt(0.1));
-}
-
-TEST_F(BoundingBoxCalculation_Tests, OwnAgentMovingInStraightLine)
-{
- SetEgoValues(10.0, 2.0, 0.0);
- BoundingBoxCalculation bbCalculation(&fakeEgoAgent, 1.0, 1.0);
-
- double boxPoints[][2]
- {
- { 22.5, -1 },
- { 22.5, 1 },
- { 25.5, 1 },
- { 25.5, -1 },
- { 22.5, -1 }
- };
-
- polygon_t expectedBox;
- bg::append(expectedBox, boxPoints);
- bg::correct(expectedBox);
-
- polygon_t result = bbCalculation.CalculateOwnBoundingBox(2.0);
- bg::correct(result);
-
- multi_polygon_t differenceMissing;
- bg::difference(expectedBox, result, differenceMissing);
- multi_polygon_t differenceOverhanging;
- bg::difference(result, expectedBox, differenceOverhanging);
-
- EXPECT_THAT(bg::area(differenceMissing), Lt(0.1));
- EXPECT_THAT(bg::area(differenceOverhanging), Lt(0.1));
-}
-
-TEST_F(BoundingBoxCalculation_Tests, OwnAgentMovingInCircle)
-{
- SetEgoValues(M_PI * 2.5, 0.0, M_PI * 0.25);
- BoundingBoxCalculation bbCalculation(&fakeEgoAgent, 1.0, 1.0);
-
- double boxPoints[][2]
- {
- { 9, 8.5 },
- { 9, 11.5 },
- { 11, 11.5 },
- { 11, 8.5 },
- { 9, 8.5 }
- };
-
- polygon_t expectedBox;
- bg::append(expectedBox, boxPoints);
- bg::correct(expectedBox);
-
- polygon_t result = bbCalculation.CalculateOwnBoundingBox(2.0);
- bg::correct(result);
-
- multi_polygon_t differenceMissing;
- bg::difference(expectedBox, result, differenceMissing);
- multi_polygon_t differenceOverhanging;
- bg::difference(result, expectedBox, differenceOverhanging);
-
- EXPECT_THAT(bg::area(differenceMissing), Lt(0.1));
- EXPECT_THAT(bg::area(differenceOverhanging), Lt(0.1));
-}
-
-TEST_F(BoundingBoxCalculation_Tests, StationaryObject)
-{
- osi3::BaseStationary baseStationary;
- baseStationary.mutable_dimension()->set_length(3.0);
- baseStationary.mutable_dimension()->set_width(4.0);
- baseStationary.mutable_position()->set_x(20.0);
- baseStationary.mutable_position()->set_y(-10.0);
- baseStationary.mutable_orientation()->set_yaw(-M_PI * 0.5);
-
- BoundingBoxCalculation bbCalculation(&fakeEgoAgent, 1.0, 2.0);
-
- double boxPoints[][2]
- {
- { 17, -12 },
- { 17, -8 },
- { 23, -8 },
- { 23, -12 },
- { 17, -12 }
- };
-
- polygon_t expectedBox;
- bg::append(expectedBox, boxPoints);
- bg::correct(expectedBox);
-
- polygon_t result = bbCalculation.CalculateBoundingBox(baseStationary);
- bg::correct(result);
-
- multi_polygon_t differenceMissing;
- bg::difference(expectedBox, result, differenceMissing);
- multi_polygon_t differenceOverhanging;
- bg::difference(result, expectedBox, differenceOverhanging);
-
- EXPECT_THAT(bg::area(differenceMissing), Lt(0.1));
- EXPECT_THAT(bg::area(differenceOverhanging), Lt(0.1));
-}
diff --git a/sim/tests/unitTests/components/AlgorithmAEB/CMakeLists.txt b/sim/tests/unitTests/components/AlgorithmAEB/CMakeLists.txt
index 404eb5cf0f73096db10e4ce1ee0c84f582549866..d83a5294d8600dc1ecc2baf23c4c2f06be50be2a 100644
--- a/sim/tests/unitTests/components/AlgorithmAEB/CMakeLists.txt
+++ b/sim/tests/unitTests/components/AlgorithmAEB/CMakeLists.txt
@@ -8,14 +8,11 @@ add_openpass_target(
SOURCES
AlgorithmAeb_Tests.cpp
- BoundingBoxCalculation_Tests.cpp
${COMPONENT_SOURCE_DIR}/autonomousEmergencyBraking.cpp
- ${COMPONENT_SOURCE_DIR}/boundingBoxCalculation.cpp
HEADERS
AlgorithmAebOSIUnitTests.h
${COMPONENT_SOURCE_DIR}/autonomousEmergencyBraking.h
- ${COMPONENT_SOURCE_DIR}/boundingBoxCalculation.h
INCDIRS
${COMPONENT_SOURCE_DIR}
diff --git a/sim/tests/unitTests/components/AlgorithmAEB/algorithmAEB_Tests.pro b/sim/tests/unitTests/components/AlgorithmAEB/algorithmAEB_Tests.pro
index cd181d8c56bd20e153e74cbabfdea2ca76de569c..9b120f80215b0f4c2f9e88d774c0c2de8450efc4 100644
--- a/sim/tests/unitTests/components/AlgorithmAEB/algorithmAEB_Tests.pro
+++ b/sim/tests/unitTests/components/AlgorithmAEB/algorithmAEB_Tests.pro
@@ -24,14 +24,11 @@ HEADERS += \
AlgorithmAebOSIUnitTests.h \
$$relative_path($$OPEN_SRC)/common/boostGeometryCommon.h \
$$relative_path($$OPEN_SRC)/common/vector2d.h \
- $$relative_path($$OPEN_SRC)/components/Algorithm_AEB/src/autonomousEmergencyBraking.h \
- $$relative_path($$OPEN_SRC)/components/Algorithm_AEB/src/boundingBoxCalculation.h
+ $$relative_path($$OPEN_SRC)/components/Algorithm_AEB/src/autonomousEmergencyBraking.h
SOURCES += \
AlgorithmAeb_Tests.cpp \
- BoundingBoxCalculation_Tests.cpp \
- $$relative_path($$OPEN_SRC)/components/Algorithm_AEB/src/autonomousEmergencyBraking.cpp \
- $$relative_path($$OPEN_SRC)/components/Algorithm_AEB/src/boundingBoxCalculation.cpp
+ $$relative_path($$OPEN_SRC)/components/Algorithm_AEB/src/autonomousEmergencyBraking.cpp
LIBS += \
-lopen_simulation_interface \
diff --git a/sim/tests/unitTests/components/Algorithm_Longitudinal/algorithmLongitudinal_Tests.cpp b/sim/tests/unitTests/components/Algorithm_Longitudinal/algorithmLongitudinal_Tests.cpp
index b4d64943cdb6f0f79ddff7e717c156b1add381e3..81e203b3153c9a0555d7885becfa2a95d1a53b53 100644
--- a/sim/tests/unitTests/components/Algorithm_Longitudinal/algorithmLongitudinal_Tests.cpp
+++ b/sim/tests/unitTests/components/Algorithm_Longitudinal/algorithmLongitudinal_Tests.cpp
@@ -52,11 +52,12 @@ TEST_P(AlgorithmLongitudinalCalculationsGetEngineTorqueMax, AlgorithmLongitudina
// Set up test
VehicleModelParameters vehicleParameters;
- vehicleParameters.maximumEngineTorque = 270.;
- vehicleParameters.minimumEngineSpeed = 800.;
- vehicleParameters.maximumEngineSpeed = 4000.;
+ vehicleParameters.properties = {{"MaximumEngineTorque", 270.},
+ {"MinimumEngineSpeed", 800.},
+ {"MaximumEngineSpeed", 4000.}};
- AlgorithmLongitudinalCalculations calculation{0.0, 0.0, vehicleParameters};
+ std::function<void (CbkLogLevel, const char*, int, const std::string&)> Log;
+ AlgorithmLongitudinalCalculations calculation{0.0, 0.0, vehicleParameters, Log};
// Call test
double result = calculation.GetEngineTorqueMax(data.input_EngineSpeed);
@@ -114,12 +115,13 @@ TEST_P(AlgorithmLongitudinalCalculationsGetEngineTorqueMin, AlgorithmLongitudina
// Set up test
VehicleModelParameters vehicleParameters;
- vehicleParameters.maximumEngineTorque = 270.;
- vehicleParameters.minimumEngineTorque = 30.;
- vehicleParameters.minimumEngineSpeed = 800.;
- vehicleParameters.maximumEngineSpeed = 4000.;
+ vehicleParameters.properties = {{"MaximumEngineTorque", 270.},
+ {"MinimumEngineTorque", 30.},
+ {"MinimumEngineSpeed", 800.},
+ {"MaximumEngineSpeed", 4000.}};
- AlgorithmLongitudinalCalculations calculation{0.0, 0.0, vehicleParameters};
+ std::function<void (CbkLogLevel, const char*, int, const std::string&)> Log;
+ AlgorithmLongitudinalCalculations calculation{0.0, 0.0, vehicleParameters, Log};
// Call test
double result = calculation.GetEngineTorqueMin(data.input_EngineSpeed);
@@ -177,13 +179,19 @@ TEST_P(AlgorithmLongitudinalCalculationsGetAccFromEngineTorque, AlgorithmLongitu
// Set up test
VehicleModelParameters vehicleParameters;
- vehicleParameters.axleRatio = 2.8;
- std::vector<double> gRatios = {0., 4.1, 2.5, 1.4, 1., .9, .7};
- vehicleParameters.gearRatios = gRatios;
- vehicleParameters.staticWheelRadius = .35;
- vehicleParameters.weight = 800.;
-
- AlgorithmLongitudinalCalculations calculation{0.0, 0.0, vehicleParameters};
+ vehicleParameters.properties = {{"AxleRatio", 2.8},
+ {"GearRatio0", 0},
+ {"GearRatio1", 4.1},
+ {"GearRatio2", 2.5},
+ {"GearRatio3", 1.4},
+ {"GearRatio4", 1.},
+ {"GearRatio5", .9},
+ {"GearRatio6", .7},
+ {"Mass", 800}};
+ vehicleParameters.rearAxle.wheelDiameter = 0.7;
+
+ std::function<void (CbkLogLevel, const char*, int, const std::string&)> Log;
+ AlgorithmLongitudinalCalculations calculation{0.0, 0.0, vehicleParameters, Log};
// Call test
double result = calculation.GetAccFromEngineTorque(data.input_EngineTorque, data.input_ChosenGear);
@@ -240,12 +248,18 @@ TEST_P(AlgorithmLongitudinalCalculationsGetEngineSpeedByVelocity, AlgorithmLongi
// Set up tests
VehicleModelParameters vehicleParameters;
- vehicleParameters.axleRatio = 1.;
- std::vector<double> gRatios = {0., 4.1, 2.5, 1.4, 1., .9, .7};
- vehicleParameters.gearRatios = gRatios;
- vehicleParameters.staticWheelRadius = .25;
-
- AlgorithmLongitudinalCalculations calculation{0.0, 0.0, vehicleParameters};
+ vehicleParameters.properties = {{"AxleRatio", 1},
+ {"GearRatio1", 4.1},
+ {"GearRatio2", 2.5},
+ {"GearRatio3", 1.4},
+ {"GearRatio4", 1.},
+ {"GearRatio5", .9},
+ {"GearRatio6", .7},
+ {"Mass", 800}};
+ vehicleParameters.rearAxle.wheelDiameter = 0.5;
+
+ std::function<void (CbkLogLevel, const char*, int, const std::string&)> Log;
+ AlgorithmLongitudinalCalculations calculation{0.0, 0.0, vehicleParameters, Log};
// Call test
double result = calculation.GetEngineSpeedByVelocity(data.input_Velocity, 4) * 2 * M_PI;
@@ -302,14 +316,19 @@ TEST_P(AlgorithmLongitudinalCalculationsGetEngineTorqueAtGear, AlgorithmLongitud
// Set up tests
VehicleModelParameters vehicleParameters;
- vehicleParameters.weight = 500.;
- vehicleParameters.staticWheelRadius = .25;
- vehicleParameters.numberOfGears = 6;
- vehicleParameters.axleRatio = 1.;
- std::vector<double> gRatios = {0., 4.1, 2.5, 1.4, 1., .9, .7};
- vehicleParameters.gearRatios = gRatios;
-
- AlgorithmLongitudinalCalculations calculation{0.0, 0.0, vehicleParameters};
+ vehicleParameters.properties = {{"AxleRatio", 1.},
+ {"GearRatio1", 4.1},
+ {"GearRatio2", 2.5},
+ {"GearRatio3", 1.4},
+ {"GearRatio4", 1.},
+ {"GearRatio5", .9},
+ {"GearRatio6", .7},
+ {"NumberOfGears", 6},
+ {"Mass", 500}};
+ vehicleParameters.rearAxle.wheelDiameter = 0.5;
+
+ std::function<void (CbkLogLevel, const char*, int, const std::string&)> Log;
+ AlgorithmLongitudinalCalculations calculation{0.0, 0.0, vehicleParameters, Log};
// Call test
double result = calculation.GetEngineTorqueAtGear(data.input_Gear, data.input_Acceleration);
@@ -370,16 +389,17 @@ TEST_P(AlgorithmLongitudinalCalculationsPedalPosition, AlgorithmLongitudinalCalc
// Set up test
VehicleModelParameters vehicleParameters;
- vehicleParameters.maximumEngineTorque = data.engineTorqueMax;
- vehicleParameters.numberOfGears = 1;
- vehicleParameters.gearRatios = {1.0, 1.0};
- vehicleParameters.axleRatio = 1.0;
- vehicleParameters.staticWheelRadius = 1.0;
- vehicleParameters.weight = 1000.0;
- vehicleParameters.minimumEngineSpeed = -10000;
- vehicleParameters.maximumEngineSpeed = 10000;
-
- AlgorithmLongitudinalCalculations calculation{0.0, data.input_Acceleration, vehicleParameters};
+ vehicleParameters.properties = {{"AxleRatio", 1},
+ {"GearRatio1", 1},
+ {"NumberOfGears", 1},
+ {"MaximumEngineTorque", data.engineTorqueMax},
+ {"MinimumEngineSpeed", -10000},
+ {"MaximumEngineSpeed", 10000},
+ {"Mass", 1000}};
+ vehicleParameters.rearAxle.wheelDiameter = 2.;
+
+ std::function<void (CbkLogLevel, const char*, int, const std::string&)> Log;
+ AlgorithmLongitudinalCalculations calculation{0.0, data.input_Acceleration, vehicleParameters, Log};
// Call test
calculation.CalculatePedalPositions();
diff --git a/sim/tests/unitTests/components/Dynamics_Collision/dynamicsCollision_Tests.cpp b/sim/tests/unitTests/components/Dynamics_Collision/dynamicsCollision_Tests.cpp
index 444834b2820179ac80a257f3d08b72b450c7f5bf..05a530fbe618a2436ce2cefc1ca0881034a117bb 100644
--- a/sim/tests/unitTests/components/Dynamics_Collision/dynamicsCollision_Tests.cpp
+++ b/sim/tests/unitTests/components/Dynamics_Collision/dynamicsCollision_Tests.cpp
@@ -19,14 +19,15 @@
using ::testing::Return;
using ::testing::ReturnPointee;
using ::testing::NiceMock;
+using ::testing::DoubleNear;
class DynamicsCollision_Test : public ::testing::Test
{
public:
DynamicsCollision_Test()
{
- heavyVehicle.weight = 2000.0;
- lightVehicle.weight = 1000.0;
+ heavyVehicle.properties = {{"Mass", 2000.0}};
+ lightVehicle.properties = {{"Mass", 1000.0}};
}
protected:
@@ -73,8 +74,8 @@ TEST_F(DynamicsCollision_Test, CollisionOfTwoAgentsOnlyInXDirection)
dynamicsCollision.Trigger(0);
- ASSERT_DOUBLE_EQ(dynamicsCollision.GetVelocity(), 30.0);
- ASSERT_DOUBLE_EQ(dynamicsCollision.GetMovingDirection(), 0.0);
+ ASSERT_THAT(dynamicsCollision.GetVelocity(), DoubleNear(30.0, 1e-3));
+ ASSERT_THAT(dynamicsCollision.GetMovingDirection(), DoubleNear(0.0, 1e-3));
}
TEST_F(DynamicsCollision_Test, CollisionOfTwoAgentsOrthogonal)
@@ -117,8 +118,8 @@ TEST_F(DynamicsCollision_Test, CollisionOfTwoAgentsOrthogonal)
dynamicsCollision.Trigger(0);
double expectedVelocity = 20.0 * std::sqrt(2);
- ASSERT_DOUBLE_EQ(dynamicsCollision.GetVelocity(), expectedVelocity);
- ASSERT_DOUBLE_EQ(dynamicsCollision.GetMovingDirection(), 0.25 * M_PI);
+ ASSERT_THAT(dynamicsCollision.GetVelocity(), DoubleNear(expectedVelocity, 1e-3));
+ ASSERT_THAT(dynamicsCollision.GetMovingDirection(), DoubleNear(0.25 * M_PI, 1e-3));
}
TEST_F(DynamicsCollision_Test, CollisionOfTwoAgentsOpposingDirections)
@@ -211,8 +212,8 @@ TEST_F(DynamicsCollision_Test, CollisionOfThreeAgentsOnlyInXDirection)
dynamicsCollision.Trigger(0);
- ASSERT_DOUBLE_EQ(dynamicsCollision.GetVelocity(), 25.0);
- ASSERT_DOUBLE_EQ(dynamicsCollision.GetMovingDirection(), 0.0);
+ ASSERT_THAT(dynamicsCollision.GetVelocity(), DoubleNear(25.0, 1e-3));
+ ASSERT_THAT(dynamicsCollision.GetMovingDirection(), DoubleNear(0.0, 1e-3));
}
TEST_F(DynamicsCollision_Test, CollisionOfThreeAgentsInDifferentDirections)
@@ -264,8 +265,8 @@ TEST_F(DynamicsCollision_Test, CollisionOfThreeAgentsInDifferentDirections)
dynamicsCollision.Trigger(0);
double expectedVelocity = 20.0 * std::sqrt(2);
- ASSERT_DOUBLE_EQ(dynamicsCollision.GetVelocity(), expectedVelocity);
- ASSERT_DOUBLE_EQ(dynamicsCollision.GetMovingDirection(), -0.25 * M_PI);
+ ASSERT_THAT(dynamicsCollision.GetVelocity(), DoubleNear(expectedVelocity, 1e-3));
+ ASSERT_THAT(dynamicsCollision.GetMovingDirection(), DoubleNear(-0.25 * M_PI, 1e-3));
}
TEST_F(DynamicsCollision_Test, CollisionOfAgentWithFixedObject)
@@ -298,7 +299,7 @@ TEST_F(DynamicsCollision_Test, CollisionOfAgentWithFixedObject)
dynamicsCollision.Trigger(0);
- ASSERT_DOUBLE_EQ(dynamicsCollision.GetVelocity(), 0.0);
+ ASSERT_THAT(dynamicsCollision.GetVelocity(), DoubleNear(0.0, 1e-3));
}
diff --git a/sim/tests/unitTests/components/LimiterAccVehComp/limiterAccVehComp_Tests.cpp b/sim/tests/unitTests/components/LimiterAccVehComp/limiterAccVehComp_Tests.cpp
index cfc4c0428bea4885a77320e765f061217c96d9cf..a44ed28d3888ac3ebb02738a5a4631a782411add 100644
--- a/sim/tests/unitTests/components/LimiterAccVehComp/limiterAccVehComp_Tests.cpp
+++ b/sim/tests/unitTests/components/LimiterAccVehComp/limiterAccVehComp_Tests.cpp
@@ -95,16 +95,20 @@ TEST_P(MaximumLimit,
const auto accelerationInputSignal = std::make_shared<AccelerationSignal const>(ComponentState::Acting, INFINITY);
VehicleModelParameters fakeVehicleParameters;
- fakeVehicleParameters.weight = testInput.weight;
- fakeVehicleParameters.frontSurface = testInput.frontSurface;
- fakeVehicleParameters.airDragCoefficient = testInput.airDragCoefficient;
- fakeVehicleParameters.maximumEngineTorque = testInput.maximumEngineTorque;
- fakeVehicleParameters.maximumEngineSpeed = testInput.maximumEngineSpeed;
- fakeVehicleParameters.minimumEngineSpeed = testInput.minimumEngineSpeed;
- fakeVehicleParameters.gearRatios = testInput.gearRatios;
- fakeVehicleParameters.axleRatio = testInput.axleRatio;
- fakeVehicleParameters.staticWheelRadius = testInput.staticWheelRadius;
- fakeVehicleParameters.frictionCoeff = 1.0;
+ fakeVehicleParameters.properties = {{"Mass", testInput.weight},
+ {"FrontSurface", testInput.frontSurface},
+ {"AirDragCoefficient", testInput.airDragCoefficient},
+ {"MaximumEngineTorque", testInput.maximumEngineTorque},
+ {"MinimumEngineSpeed", testInput.minimumEngineSpeed},
+ {"MaximumEngineSpeed", testInput.maximumEngineSpeed},
+ {"AxleRatio", testInput.axleRatio},
+ {"FrictionCoefficient", 1.0},
+ {"NumberOfGears", testInput.gearRatios.size()}};
+ for (size_t i = 0; i < testInput.gearRatios.size(); i++)
+ {
+ fakeVehicleParameters.properties.insert({"GearRatio"+std::to_string(i+1), testInput.gearRatios[i]});
+ }
+ fakeVehicleParameters.rearAxle.wheelDiameter = 2 * testInput.staticWheelRadius;
const auto vehicleParameterInputSignal = std::make_shared<ParametersVehicleSignal const>(fakeVehicleParameters);
diff --git a/sim/tests/unitTests/core/slave/agentSampler_Tests.cpp b/sim/tests/unitTests/core/slave/agentSampler_Tests.cpp
index caa4ca982094eae1ed1f60de1c3597c5648eff47..e20aac8150d9ce354ace1ca6fa2783b029d900e3 100644
--- a/sim/tests/unitTests/core/slave/agentSampler_Tests.cpp
+++ b/sim/tests/unitTests/core/slave/agentSampler_Tests.cpp
@@ -350,8 +350,8 @@ TEST(DynamicAgentTypeGenerator, SetVehicleModelParameters)
ON_CALL(profiles, GetVehicleProfiles()).WillByDefault(ReturnRef(vehicleProfiles));
VehicleModelParameters vehicleModelParameters;
- vehicleModelParameters.length = 5.0;
- vehicleModelParameters.width = 2.0;
+ vehicleModelParameters.boundingBoxDimensions.length = 5.0;
+ vehicleModelParameters.boundingBoxDimensions.width = 2.0;
ON_CALL(vehicleModels, GetVehicleModel("SomeVehicleModel", _)).WillByDefault(Return(vehicleModelParameters));
openScenario::Parameters assignedParameters;
@@ -360,8 +360,8 @@ TEST(DynamicAgentTypeGenerator, SetVehicleModelParameters)
.SetVehicleModelParameters(assignedParameters);
ASSERT_THAT(agentBuildInformation.vehicleModelName, Eq("SomeVehicleModel"));
- ASSERT_THAT(agentBuildInformation.vehicleModelParameters.length, Eq(5.0));
- ASSERT_THAT(agentBuildInformation.vehicleModelParameters.width, Eq(2.0));
+ ASSERT_THAT(agentBuildInformation.vehicleModelParameters.boundingBoxDimensions.length, Eq(5.0));
+ ASSERT_THAT(agentBuildInformation.vehicleModelParameters.boundingBoxDimensions.width, Eq(2.0));
}
TEST(DynamicParametersSampler, SampleSensorLatencies)
diff --git a/sim/tests/unitTests/core/slave/modules/SpawnPointScenario/spawnPointScenario_Tests.cpp b/sim/tests/unitTests/core/slave/modules/SpawnPointScenario/spawnPointScenario_Tests.cpp
index 29a3b10b7696bf139a5742a3d718fc874ff150cb..f882d6b856548c63f19e845b1ed42cb04129593d 100644
--- a/sim/tests/unitTests/core/slave/modules/SpawnPointScenario/spawnPointScenario_Tests.cpp
+++ b/sim/tests/unitTests/core/slave/modules/SpawnPointScenario/spawnPointScenario_Tests.cpp
@@ -41,7 +41,9 @@ MATCHER_P(MatchesAgentBlueprint, referenceAgentBlueprint, "matches blueprint")
}
const auto actualVehicleModelParameters = arg->GetVehicleModelParameters();
const auto expectedVehicleModelParameters = referenceAgentBlueprint.GetVehicleModelParameters();
- if (!(actualVehicleModelParameters.length == expectedVehicleModelParameters.length && actualVehicleModelParameters.width == expectedVehicleModelParameters.width && actualVehicleModelParameters.distanceReferencePointToLeadingEdge == expectedVehicleModelParameters.distanceReferencePointToLeadingEdge))
+ if (!(actualVehicleModelParameters.boundingBoxDimensions.length == expectedVehicleModelParameters.boundingBoxDimensions.length
+ && actualVehicleModelParameters.boundingBoxDimensions.width == expectedVehicleModelParameters.boundingBoxDimensions.width
+ && actualVehicleModelParameters.boundingBoxCenter.x == expectedVehicleModelParameters.boundingBoxCenter.x))
{
return false;
}
@@ -80,9 +82,9 @@ TEST(SpawnPointScenario, Trigger_SpawnsEgoAgentAccordingToScenarioWorldPosition)
std::optional<AgentBlueprint> actualAgentBlueprintOptional;
AgentBlueprint actualAgentBlueprint;
VehicleModelParameters vehicleModelParameters;
- vehicleModelParameters.length = 1;
- vehicleModelParameters.width = 0.5;
- vehicleModelParameters.distanceReferencePointToLeadingEdge = 0.5;
+ vehicleModelParameters.boundingBoxDimensions.length = 1;
+ vehicleModelParameters.boundingBoxDimensions.width = 0.5;
+ vehicleModelParameters.boundingBoxCenter.x = 0.;
actualAgentBlueprint.SetVehicleModelParameters(vehicleModelParameters);
actualAgentBlueprintOptional = actualAgentBlueprint;
@@ -159,9 +161,9 @@ TEST(SpawnPointScenario, Trigger_SpawnsEgoAgentAccordingToScenarioLanePosition)
std::optional<AgentBlueprint> actualAgentBlueprintOptional;
AgentBlueprint actualAgentBlueprint;
VehicleModelParameters vehicleModelParameters;
- vehicleModelParameters.length = 1;
- vehicleModelParameters.width = 0.5;
- vehicleModelParameters.distanceReferencePointToLeadingEdge = 0.5;
+ vehicleModelParameters.boundingBoxDimensions.length = 1;
+ vehicleModelParameters.boundingBoxDimensions.width = 0.5;
+ vehicleModelParameters.boundingBoxCenter.x = 0.;
actualAgentBlueprint.SetVehicleModelParameters(vehicleModelParameters);
actualAgentBlueprintOptional = actualAgentBlueprint;
@@ -245,9 +247,9 @@ TEST(SpawnPointScenario, Trigger_SpawnsScenarioAgentAccordingToScenarioWorldPosi
std::optional<AgentBlueprint> actualAgentBlueprintOptional;
AgentBlueprint actualAgentBlueprint;
VehicleModelParameters vehicleModelParameters;
- vehicleModelParameters.length = 1;
- vehicleModelParameters.width = 0.5;
- vehicleModelParameters.distanceReferencePointToLeadingEdge = 0.5;
+ vehicleModelParameters.boundingBoxDimensions.length = 1;
+ vehicleModelParameters.boundingBoxDimensions.width = 0.5;
+ vehicleModelParameters.boundingBoxCenter.x = 0.;
actualAgentBlueprint.SetVehicleModelParameters(vehicleModelParameters);
actualAgentBlueprintOptional = actualAgentBlueprint;
@@ -324,9 +326,9 @@ TEST(SpawnPointScenario, Trigger_SpawnsScenarioAgentAccordingToScenarioLanePosit
std::optional<AgentBlueprint> actualAgentBlueprintOptional;
AgentBlueprint actualAgentBlueprint;
VehicleModelParameters vehicleModelParameters;
- vehicleModelParameters.length = 1;
- vehicleModelParameters.width = 0.5;
- vehicleModelParameters.distanceReferencePointToLeadingEdge = 0.5;
+ vehicleModelParameters.boundingBoxDimensions.length = 1;
+ vehicleModelParameters.boundingBoxDimensions.width = 0.5;
+ vehicleModelParameters.boundingBoxCenter.x = 0.;
actualAgentBlueprint.SetVehicleModelParameters(vehicleModelParameters);
actualAgentBlueprintOptional = actualAgentBlueprint;
diff --git a/sim/tests/unitTests/core/slave/modules/World_OSI/agentAdapter_Tests.cpp b/sim/tests/unitTests/core/slave/modules/World_OSI/agentAdapter_Tests.cpp
index 3770bd4c0576a15c368df819787a2bd51d4e9859..a6686b30fee566d88aeb144a3f426cff9f84d1b4 100644
--- a/sim/tests/unitTests/core/slave/modules/World_OSI/agentAdapter_Tests.cpp
+++ b/sim/tests/unitTests/core/slave/modules/World_OSI/agentAdapter_Tests.cpp
@@ -12,6 +12,7 @@
#include "gmock/gmock.h"
#include "AgentAdapter.h"
+#include "fakeMovingObject.h"
using ::testing::Return;
using ::testing::ReturnRef;
@@ -23,6 +24,7 @@ using ::testing::Le;
using ::testing::Lt;
using ::testing::AllOf;
using ::testing::DoubleEq;
+using ::testing::ElementsAreArray;
TEST(MovingObject_Tests, SetAndGetReferencePointPosition_ReturnsCorrectPosition)
{
@@ -33,7 +35,7 @@ TEST(MovingObject_Tests, SetAndGetReferencePointPosition_ReturnsCorrectPosition)
osi3::MovingObject osiObject;
OWL::Implementation::MovingObject movingObject(&osiObject, nullptr);
movingObject.SetLength(8.0);
- movingObject.SetDistanceReferencPointToLeadingEdge(7.0);
+ movingObject.SetBoundingBoxCenterToRear(7.0);
movingObject.SetYaw(0.5);
movingObject.SetReferencePointPosition(position);
OWL::Primitive::AbsPosition resultPosition = movingObject.GetReferencePointPosition();
@@ -51,7 +53,7 @@ TEST(MovingObject_Tests, SetAndGetReferencePointPositionWithYawChangeInBetween_R
osi3::MovingObject osiObject;
OWL::Implementation::MovingObject movingObject(&osiObject, nullptr);
movingObject.SetLength(8.0);
- movingObject.SetDistanceReferencPointToLeadingEdge(7.0);
+ movingObject.SetBoundingBoxCenterToRear(7.0);
movingObject.SetYaw(0.5);
movingObject.SetReferencePointPosition(position);
movingObject.SetYaw(0.7);
@@ -70,7 +72,7 @@ TEST(MovingObject_Tests, SetReferencePointPosition_SetsCorrectPositionOnOSIObjec
osi3::MovingObject osiObject;
OWL::Implementation::MovingObject movingObject(&osiObject, nullptr);
movingObject.SetLength(8.0);
- movingObject.SetDistanceReferencPointToLeadingEdge(6.0);
+ movingObject.SetBoundingBoxCenterToRear(-2.0);
movingObject.SetYaw(M_PI * 0.25);
movingObject.SetReferencePointPosition(position);
auto resultPosition = osiObject.base().position();
@@ -100,4 +102,66 @@ TEST(MovingObject_Tests, SetAgentType_MapsCorrectOSIType)
movingObject.SetType(AgentVehicleType::Pedestrian);
ASSERT_THAT(osiObject.type(), osi3::MovingObject_Type::MovingObject_Type_TYPE_PEDESTRIAN);
-}
\ No newline at end of file
+}
+
+struct CalculateBoundingBoxData
+{
+ double yaw;
+ double roll;
+ std::vector<std::pair<double,double>> expectedResult;
+};
+
+class CalculateBoundingBox_Tests : public testing::Test,
+ public ::testing::WithParamInterface<CalculateBoundingBoxData>
+{
+};
+
+class TestWorldObject : public WorldObjectAdapter
+{
+public:
+ TestWorldObject (OWL::Interfaces::WorldObject& baseTrafficObject) :
+ WorldObjectAdapter(baseTrafficObject)
+ {}
+
+ virtual double GetLaneRemainder(const std::string& roadId, Side) const{};
+ virtual ObjectTypeOSI GetType() const {}
+ virtual const ObjectPosition& GetObjectPosition() const {}
+ virtual double GetDistanceToStartOfRoad(MeasurementPoint mp, std::string roadId) const {return 0;}
+ virtual double GetVelocity(VelocityScope velocityScope) const {return 0;}
+ virtual bool Locate() {return false;}
+ virtual void Unlocate() {};
+};
+
+TEST_P(CalculateBoundingBox_Tests, CalculateBoundingBox_ReturnCorrectPoints)
+{
+ const auto& data = GetParam();
+ OWL::Fakes::MovingObject movingObject;
+ OWL::Primitive::AbsPosition position{10, 20, 0};
+ ON_CALL(movingObject, GetReferencePointPosition()).WillByDefault(Return(position));
+ OWL::Primitive::Dimension dimension{6.0, 2.0, 1.6};
+ ON_CALL(movingObject, GetDimension()).WillByDefault(Return(dimension));
+ OWL::Primitive::AbsOrientation orientation{data.yaw, 0, data.roll};
+ ON_CALL(movingObject, GetAbsOrientation()).WillByDefault(Return(orientation));
+
+ TestWorldObject object(movingObject);
+
+ auto result = object.GetBoundingBox2D();
+
+ std::vector<std::pair<double,double>> resultPoints;
+ for (const point_t point : result.outer())
+ {
+ resultPoints.emplace_back(bg::get<0>(point), bg::get<1>(point));
+ }
+ resultPoints.pop_back(); //in boost the last point is equal to the first
+
+ ASSERT_THAT(resultPoints, ElementsAreArray(data.expectedResult));
+}
+
+INSTANTIATE_TEST_SUITE_P(BoundingBoxTest, CalculateBoundingBox_Tests,
+ testing::Values(
+//! yaw roll expectedResult
+CalculateBoundingBoxData{0.0, 0.0, {{7.0, 19.0},{7.0, 21.0}, {13.0, 21.0}, {13.0, 19.0}}},
+CalculateBoundingBoxData{M_PI_2, 0.0, {{11.0, 17.0},{9.0, 17.0}, {9.0, 23.0}, {11.0, 23.0}}},
+CalculateBoundingBoxData{0.0, M_PI_4, {{7.0, 20 - 2.6*M_SQRT1_2},{7.0, 20.0 + M_SQRT1_2}, {13.0, 20.0 + M_SQRT1_2}, {13.0, 20.0 - 2.6*M_SQRT1_2}}},
+CalculateBoundingBoxData{0.0, -M_PI_4, {{7.0, 20 - M_SQRT1_2},{7.0, 20.0 + 2.6*M_SQRT1_2}, {13.0, 20.0 + 2.6*M_SQRT1_2}, {13.0, 20.0 - M_SQRT1_2}}}
+));
diff --git a/sim/tests/unitTests/core/slave/vehicleModelsImporter_Tests.cpp b/sim/tests/unitTests/core/slave/vehicleModelsImporter_Tests.cpp
index ffd8522bfe76a013389b6161c9c124499ba712b0..36280a2e19293714e538e33d835f4e86d5965dfa 100644
--- a/sim/tests/unitTests/core/slave/vehicleModelsImporter_Tests.cpp
+++ b/sim/tests/unitTests/core/slave/vehicleModelsImporter_Tests.cpp
@@ -49,7 +49,7 @@ const std::string validVehicleString{
"<Center x=\"1.6\" y=\"1.7\" z=\"1.8\"/>"
"<Dimensions width=\"1.9\" length=\"2.0\" height=\"2.1\"/>"
"</BoundingBox>"
- "<Performance maxSpeed=\"22.0\" maxDeceleration=\"23.0\"/>"
+ "<Performance maxSpeed=\"22.0\" maxAcceleration=\"10.0\" maxDeceleration=\"23.0\"/>"
"<Axles>"
"<FrontAxle maxSteering=\"1.1\" wheelDiameter=\"26.0\" trackWidth=\"27.0\" positionX=\"28.0\" positionZ=\"29.0\"/>"
"<RearAxle maxSteering=\"0.0\" wheelDiameter=\"31.0\" trackWidth=\"32.0\" positionX=\"0.0\" positionZ=\"34.0\"/>"
@@ -93,7 +93,7 @@ const std::string parametrizedVehicleString{
"<Center x=\"$CustomX\" y=\"1.7\" z=\"1.8\"/>"
"<Dimensions width=\"1.9\" length=\"$CustomLength\" height=\"2.1\"/>"
"</BoundingBox>"
- "<Performance maxSpeed=\"$CustomSpeed\" maxDeceleration=\"23.0\"/>"
+ "<Performance maxSpeed=\"$CustomSpeed\" maxAcceleration=\"10.0\" maxDeceleration=\"23.0\"/>"
"<Axles>"
"<FrontAxle maxSteering=\"1.1\" wheelDiameter=\"26.0\" trackWidth=\"$CustomFrontTrackWidth\" positionX=\"28.0\" positionZ=\"29.0\"/>"
"<RearAxle maxSteering=\"0.0\" wheelDiameter=\"31.0\" trackWidth=\"32.0\" positionX=\"0.0\" positionZ=\"34.0\"/>"
@@ -134,15 +134,24 @@ TEST(VehicleModelsImporter, GivenValidVehicle_ImportsCorrectGeometry)
ASSERT_NO_THROW(VehicleModelsImporter::ImportVehicleModel(fakeVehicleRoot, vehicleModelMap));
ASSERT_NO_THROW(vehicleModelParameters = vehicleModelMap.at("validCar").Get(EMPTY_PARAMETERS));
- EXPECT_THAT(vehicleModelParameters.length, DoubleEq(2.0));
- EXPECT_THAT(vehicleModelParameters.width, DoubleEq(1.9));
- EXPECT_THAT(vehicleModelParameters.height, DoubleEq(2.1));
- EXPECT_THAT(vehicleModelParameters.trackwidth, DoubleEq(32.0));
- EXPECT_THAT(vehicleModelParameters.wheelbase, DoubleEq(28.0));
- EXPECT_THAT(vehicleModelParameters.heightCOG, DoubleEq(0.0));
- EXPECT_THAT(vehicleModelParameters.distanceReferencePointToFrontAxle, DoubleEq(28.0));
- EXPECT_THAT(vehicleModelParameters.distanceReferencePointToLeadingEdge, DoubleEq(2.6)); // BB center x + length / 2
- EXPECT_THAT(vehicleModelParameters.staticWheelRadius, DoubleEq(15.5));
+ EXPECT_THAT(vehicleModelParameters.boundingBoxDimensions.length, DoubleEq(2.0));
+ EXPECT_THAT(vehicleModelParameters.boundingBoxDimensions.width, DoubleEq(1.9));
+ EXPECT_THAT(vehicleModelParameters.boundingBoxDimensions.height, DoubleEq(2.1));
+ EXPECT_THAT(vehicleModelParameters.boundingBoxCenter.x, DoubleEq(1.6));
+ EXPECT_THAT(vehicleModelParameters.boundingBoxCenter.y, DoubleEq(1.7));
+ EXPECT_THAT(vehicleModelParameters.boundingBoxCenter.z, DoubleEq(1.8));
+ EXPECT_THAT(vehicleModelParameters.performance.maxSpeed, DoubleEq(22.0));
+ EXPECT_THAT(vehicleModelParameters.performance.maxDeceleration, DoubleEq(23.0));
+ EXPECT_THAT(vehicleModelParameters.frontAxle.maxSteering, DoubleEq(1.1));
+ EXPECT_THAT(vehicleModelParameters.frontAxle.wheelDiameter, DoubleEq(26.0));
+ EXPECT_THAT(vehicleModelParameters.frontAxle.trackWidth, DoubleEq(27.));
+ EXPECT_THAT(vehicleModelParameters.frontAxle.positionX, DoubleEq(28.));
+ EXPECT_THAT(vehicleModelParameters.frontAxle.positionZ, DoubleEq(29.));
+ EXPECT_THAT(vehicleModelParameters.rearAxle.maxSteering, DoubleEq(0.0));
+ EXPECT_THAT(vehicleModelParameters.rearAxle.wheelDiameter, DoubleEq(31.0));
+ EXPECT_THAT(vehicleModelParameters.rearAxle.trackWidth, DoubleEq(32.));
+ EXPECT_THAT(vehicleModelParameters.rearAxle.positionX, DoubleEq(0.));
+ EXPECT_THAT(vehicleModelParameters.rearAxle.positionZ, DoubleEq(34.));
}
TEST(VehicleModelsImporter, GivenValidVehicle_ImportsCorrectEngineParameters)
@@ -155,11 +164,11 @@ TEST(VehicleModelsImporter, GivenValidVehicle_ImportsCorrectEngineParameters)
ASSERT_NO_THROW(VehicleModelsImporter::ImportVehicleModel(fakeVehicleRoot, vehicleModelMap));
ASSERT_NO_THROW(vehicleModelParameters = vehicleModelMap.at("validCar").Get(EMPTY_PARAMETERS));
- EXPECT_THAT(vehicleModelParameters.decelerationFromPowertrainDrag, DoubleEq(3.0));
- EXPECT_THAT(vehicleModelParameters.minimumEngineTorque, DoubleEq(7.0));
- EXPECT_THAT(vehicleModelParameters.maximumEngineTorque, DoubleEq(8.0));
- EXPECT_THAT(vehicleModelParameters.minimumEngineSpeed, DoubleEq(9.0));
- EXPECT_THAT(vehicleModelParameters.maximumEngineSpeed, DoubleEq(10.0));
+ EXPECT_THAT(vehicleModelParameters.properties.at("DecelerationFromPowertrainDrag"), DoubleEq(3.0));
+ EXPECT_THAT(vehicleModelParameters.properties.at("MinimumEngineTorque"), DoubleEq(7.0));
+ EXPECT_THAT(vehicleModelParameters.properties.at("MaximumEngineTorque"), DoubleEq(8.0));
+ EXPECT_THAT(vehicleModelParameters.properties.at("MinimumEngineSpeed"), DoubleEq(9.0));
+ EXPECT_THAT(vehicleModelParameters.properties.at("MaximumEngineSpeed"), DoubleEq(10.0));
}
TEST(VehicleModelsImporter, GivenValidGeometry_ImportsCorrectDynamics)
@@ -172,18 +181,15 @@ TEST(VehicleModelsImporter, GivenValidGeometry_ImportsCorrectDynamics)
ASSERT_NO_THROW(VehicleModelsImporter::ImportVehicleModel(fakeVehicleRoot, vehicleModelMap));
ASSERT_NO_THROW(vehicleModelParameters = vehicleModelMap.at("validCar").Get(EMPTY_PARAMETERS));
- EXPECT_THAT(vehicleModelParameters.steeringRatio, DoubleEq(15.0));
- EXPECT_THAT(vehicleModelParameters.axleRatio, DoubleEq(2.0));
- EXPECT_THAT(vehicleModelParameters.airDragCoefficient, DoubleEq(1.0));
- EXPECT_THAT(vehicleModelParameters.frictionCoeff, DoubleEq(4.0));
- EXPECT_THAT(vehicleModelParameters.frontSurface, DoubleEq(5.0));
- EXPECT_THAT(vehicleModelParameters.weight, DoubleEq(24.0));
- EXPECT_THAT(vehicleModelParameters.maxVelocity, DoubleEq(22.0));
- EXPECT_THAT(vehicleModelParameters.maximumSteeringWheelAngleAmplitude, DoubleEq(1.1 * 15.0)); // maxSteering front wheel * SteeringRatio
- EXPECT_THAT(vehicleModelParameters.maxCurvature, DoubleEq(std::sin(1.1) / 28.0)); // sin(maxSteering fron wheel) / wheelbase
- EXPECT_THAT(vehicleModelParameters.momentInertiaRoll, DoubleEq(11.0));
- EXPECT_THAT(vehicleModelParameters.momentInertiaPitch, DoubleEq(12.0));
- EXPECT_THAT(vehicleModelParameters.momentInertiaYaw, DoubleEq(13.0));
+ EXPECT_THAT(vehicleModelParameters.properties.at("SteeringRatio"), DoubleEq(15.0));
+ EXPECT_THAT(vehicleModelParameters.properties.at("AxleRatio"), DoubleEq(2.0));
+ EXPECT_THAT(vehicleModelParameters.properties.at("AirDragCoefficient"), DoubleEq(1.0));
+ EXPECT_THAT(vehicleModelParameters.properties.at("FrictionCoefficient"), DoubleEq(4.0));
+ EXPECT_THAT(vehicleModelParameters.properties.at("FrontSurface"), DoubleEq(5.0));
+ EXPECT_THAT(vehicleModelParameters.properties.at("Mass"), DoubleEq(24.0));
+ EXPECT_THAT(vehicleModelParameters.properties.at("MomentInertiaRoll"), DoubleEq(11.0));
+ EXPECT_THAT(vehicleModelParameters.properties.at("MomentInertiaPitch"), DoubleEq(12.0));
+ EXPECT_THAT(vehicleModelParameters.properties.at("MomentInertiaYaw"), DoubleEq(13.0));
}
TEST(VehicleModelsImporter, GivenValidVehicle_ImportsCorrectGearing)
@@ -196,8 +202,10 @@ TEST(VehicleModelsImporter, GivenValidVehicle_ImportsCorrectGearing)
ASSERT_NO_THROW(VehicleModelsImporter::ImportVehicleModel(fakeVehicleRoot, vehicleModelMap));
ASSERT_NO_THROW(vehicleModelParameters = vehicleModelMap.at("validCar").Get(EMPTY_PARAMETERS));
- EXPECT_THAT(vehicleModelParameters.numberOfGears, Eq(3));
- EXPECT_THAT(vehicleModelParameters.gearRatios, ElementsAre(0.0, 6.0, 6.1, 6.2));
+ EXPECT_THAT(vehicleModelParameters.properties.at("NumberOfGears"), DoubleEq(3));
+ EXPECT_THAT(vehicleModelParameters.properties.at("GearRatio1"), DoubleEq(6));
+ EXPECT_THAT(vehicleModelParameters.properties.at("GearRatio2"), DoubleEq(6.1));
+ EXPECT_THAT(vehicleModelParameters.properties.at("GearRatio3"), DoubleEq(6.2));
}
TEST(VehicleModelsImporter, GivenParametrizedVehicle_ImportsCorrectParameters)
@@ -210,10 +218,10 @@ TEST(VehicleModelsImporter, GivenParametrizedVehicle_ImportsCorrectParameters)
ASSERT_NO_THROW(VehicleModelsImporter::ImportVehicleModel(fakeVehicleRoot, vehicleModelMap));
ASSERT_NO_THROW(vehicleModelParameters = vehicleModelMap.at("validCar"));
- EXPECT_THAT(vehicleModelParameters.length.name, Eq("CustomLength"));
- EXPECT_THAT(vehicleModelParameters.length.defaultValue, DoubleEq(3.0));
- EXPECT_THAT(vehicleModelParameters.maxVelocity.name, Eq("CustomSpeed"));
- EXPECT_THAT(vehicleModelParameters.maxVelocity.defaultValue, DoubleEq(30.0));
+ EXPECT_THAT(vehicleModelParameters.boundingBoxDimensions.length.name, Eq("CustomLength"));
+ EXPECT_THAT(vehicleModelParameters.boundingBoxDimensions.length.defaultValue, DoubleEq(3.0));
+ EXPECT_THAT(vehicleModelParameters.performance.maxSpeed.name, Eq("CustomSpeed"));
+ EXPECT_THAT(vehicleModelParameters.performance.maxSpeed.defaultValue, DoubleEq(30.0));
EXPECT_THAT(vehicleModelParameters.frontAxle.trackWidth.name, Eq("CustomFrontTrackWidth"));
EXPECT_THAT(vehicleModelParameters.frontAxle.trackWidth.defaultValue, DoubleEq(1.9));
}
@@ -253,8 +261,7 @@ TEST(VehicleModelsImporter, GivenValidPedestrian_ImportsCorrectValues)
// workaround for ground truth not being able to handle pedestrians
//EXPECT_THAT(vehicleModelParameters.vehicleType, Eq(AgentVehicleType::Pedestrian));
EXPECT_THAT(vehicleModelParameters.vehicleType, Eq(AgentVehicleType::Car));
- EXPECT_THAT(vehicleModelParameters.width, DoubleEq(4.0));
- EXPECT_THAT(vehicleModelParameters.length, DoubleEq(5.0));
- EXPECT_THAT(vehicleModelParameters.height, DoubleEq(6.0));
- EXPECT_THAT(vehicleModelParameters.weight, DoubleEq(7.0));
+ EXPECT_THAT(vehicleModelParameters.boundingBoxDimensions.width, DoubleEq(4.0));
+ EXPECT_THAT(vehicleModelParameters.boundingBoxDimensions.length, DoubleEq(5.0));
+ EXPECT_THAT(vehicleModelParameters.boundingBoxDimensions.height, DoubleEq(6.0));
}