diff --git a/cmake/FindMantleAPI.cmake b/cmake/FindMantleAPI.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..e9b284ea3e9a2d12cde8989d336a62840b044103
--- /dev/null
+++ b/cmake/FindMantleAPI.cmake
@@ -0,0 +1,14 @@
+# - Find MANTLE
+# Find the MANTLE includes and library
+#
+# MANTLE_INCLUDE_DIR - Where to find MANTLE includes
+
+FIND_PATH(MANTLE_INCLUDE_DIR "MantleAPI/Execution/i_environment.h"
+ PATHS
+ ${PREFIX_PATH}
+ DOC "MANTLE - Headers"
+)
+
+set(MANTLE_TEST_INCLUDE_DIR ${MANTLE_INCLUDE_DIR}/../test CACHE PATH "MANTLE - Mocks for testing")
+
+message(STATUS "Found MantleAPI: ${MANTLE_INCLUDE_DIR}")
diff --git a/cmake/FindOpenScenarioEngine.cmake b/cmake/FindOpenScenarioEngine.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..7fe12f4b8cf44579c2683c9b147bb5173a142584
--- /dev/null
+++ b/cmake/FindOpenScenarioEngine.cmake
@@ -0,0 +1,19 @@
+# - Find OPENSCENARIOENGINE
+# Find the OPENSCENARIOENGINE includes and library
+#
+# OPENSCENARIOENGINE_INCLUDE_DIR - Where to find OPENSCENARIOENGINE includes
+
+FIND_PATH(OPENSCENARIOENGINE_INCLUDE_DIR "OpenScenarioEngine/OpenScenarioEngine.h"
+ PATHS
+ ${PREFIX_PATH}
+ DOC "OPENSCENARIOENGINE - Headers"
+)
+
+FIND_PATH(OPENSCENARIOENGINE_SRC_INCLUDE_DIR "EntityCreator.h"
+ PATHS
+ ${PREFIX_PATH}
+ DOC "OPENSCENARIOENGINE - SRC Headers"
+)
+
+message(STATUS "Found OSC Engine includes: ${OPENSCENARIOENGINE_INCLUDE_DIR}")
+message(STATUS "Found OSC Engine src includes: ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}")
diff --git a/cmake/FindOpenScenarioParser.cmake b/cmake/FindOpenScenarioParser.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..217b993e79566de2f3dea47c3e721589a986db9e
--- /dev/null
+++ b/cmake/FindOpenScenarioParser.cmake
@@ -0,0 +1,12 @@
+# - Find OPENSCENARIOPARSER
+# Find the OPENSCENARIOPARSER includes and library
+#
+# OPENSCENARIOPARSER_INCLUDE_DIR - Where to find OPENSCENARIOPARSER includes
+
+FIND_PATH(OPENSCENARIOPARSER_INCLUDE_DIR "openScenarioLib/generated/v1_1/api/ApiClassInterfacesV1_1.h"
+ PATHS
+ ${PREFIX_PATH}
+ DOC "OPENSCENARIOPARSER - Headers"
+)
+
+message(STATUS "Found OSC Parser: ${OPENSCENARIOPARSER_INCLUDE_DIR}")
diff --git a/cmake/FindUnits.cmake b/cmake/FindUnits.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..8d72a93d7ec77bdaf8ad0437d4ff1b4504655257
--- /dev/null
+++ b/cmake/FindUnits.cmake
@@ -0,0 +1,10 @@
+# - Find UNITS
+# Find the UNITS includes and library
+#
+# UNITS_INCLUDE_DIR - Where to find UNITS includes
+
+FIND_PATH(UNITS_INCLUDE_DIR "units.h"
+ PATHS
+ ${PREFIX_PATH}
+ DOC "UNITS - Headers"
+)
diff --git a/cmake/HelperMacros.cmake b/cmake/HelperMacros.cmake
index 586e53b537ac9a1405c669e6daabdc54da6e949d..3472de0e9c267f51db6ccef62e2f59f25857aa2f 100644
--- a/cmake/HelperMacros.cmake
+++ b/cmake/HelperMacros.cmake
@@ -232,7 +232,11 @@ function(add_openpass_target)
endif()
add_executable(${PARSED_ARG_NAME} EXCLUDE_FROM_ALL ${PARSED_ARG_HEADERS} ${PARSED_ARG_SOURCES} ${PARSED_ARG_UIS})
-
+
+ target_include_directories(${PARSED_ARG_NAME} PRIVATE
+ ${MANTLE_TEST_INCLUDE_DIR}
+ )
+
target_link_libraries(${PARSED_ARG_NAME}
GTest::gtest
GTest::gmock
diff --git a/cmake/global.cmake b/cmake/global.cmake
index aa9b4bc4ee4745c2af1168300ba8602a9a7b5dd8..19d384fc6e56aff34b12201f8c3ecf0774d39d5c 100644
--- a/cmake/global.cmake
+++ b/cmake/global.cmake
@@ -97,6 +97,13 @@ if(WITH_SIMCORE OR WITH_TESTS)
endif()
endif()
+include(FindMantleAPI)
+include(FindOpenScenarioEngine)
+include(FindOpenScenarioParser)
+include(FindUnits)
+
+include_directories(SYSTEM ${MANTLE_INCLUDE_DIR} ${UNITS_INCLUDE_DIR})
+
if(WITH_TESTS)
find_package(GTest REQUIRED CONFIG) # force config mode for better lookup consistency with newer gtest versions
message(STATUS "Found GTest: ${GTest_DIR}")
@@ -185,4 +192,3 @@ if(WITH_DOC)
endif()
###############################################################################
-
diff --git a/gui/common/pcm/PCM_Data/pcm_definitions.h b/gui/common/pcm/PCM_Data/pcm_definitions.h
index e0ad8a9bc6ccf4f7c2bfab97414b893963ae627a..073adfcdfd2f696fb1dd251b884c5c15e7665e92 100644
--- a/gui/common/pcm/PCM_Data/pcm_definitions.h
+++ b/gui/common/pcm/PCM_Data/pcm_definitions.h
@@ -47,7 +47,7 @@ inline AgentVehicleType GetAgentVehicleType(const std::string &strVehicleType)
{
if (0 == strVehicleType.compare("car"))
{
- return AgentVehicleType::Car;
+ return mantle_api::VehicleClass::kMedium_car;
}
else if (0 == strVehicleType.compare("pedestrian"))
{
@@ -63,7 +63,7 @@ inline AgentVehicleType GetAgentVehicleType(const std::string &strVehicleType)
}
else if (0 == strVehicleType.compare("truck"))
{
- return AgentVehicleType::Truck;
+ return mantle_api::VehicleClass::kHeavy_truck;
}
return AgentVehicleType::Undefined;
}
@@ -99,7 +99,7 @@ inline std::string GetAgentVehicleTypeStr(const int vehicleTypeCode)
resultString = GetAgentVehicleTypeStr(AgentVehicleType::Undefined);
break;
case 0:
- resultString = GetAgentVehicleTypeStr(AgentVehicleType::Car);
+ resultString = GetAgentVehicleTypeStr(mantle_api::VehicleClass::kMedium_car);
break;
case 1:
resultString = GetAgentVehicleTypeStr(AgentVehicleType::Pedestrian);
@@ -111,7 +111,7 @@ inline std::string GetAgentVehicleTypeStr(const int vehicleTypeCode)
resultString = GetAgentVehicleTypeStr(AgentVehicleType::Bicycle);
break;
case 4:
- resultString = GetAgentVehicleTypeStr(AgentVehicleType::Truck);
+ resultString = GetAgentVehicleTypeStr(mantle_api::VehicleClass::kHeavy_truck);
break;
default:
resultString = "unknown type";
diff --git a/gui/common/pcm/PCM_Importer/vehicleModelImporter.cpp b/gui/common/pcm/PCM_Importer/vehicleModelImporter.cpp
index 252d5bad9b161c87fb3c492a5ad6a3842a275f1d..7b27994799dad8bb6350f8f23fa251ce656d99e2 100644
--- a/gui/common/pcm/PCM_Importer/vehicleModelImporter.cpp
+++ b/gui/common/pcm/PCM_Importer/vehicleModelImporter.cpp
@@ -1,5 +1,6 @@
/********************************************************************************
* Copyright (c) 2021 ITK Engineering GmbH
+ * 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -67,9 +68,9 @@ bool VehicleModelImporter::ParseParticipants(int id, QDomNode vehicleNode,
AgentVehicleType agentVehicleType = GetAgentVehicleType(vehicleString);
int vehicleTypeId = static_cast<int>(agentVehicleType);
QString vehicleTypeIdString = QString::number(vehicleTypeId);
+ QString weight = vehicleNode.toElement().attribute("mass");
QString mue = "";
- QString weight = "";
QString ixx = "";
QString iyy = "";
QString izz = "";
@@ -84,8 +85,6 @@ bool VehicleModelImporter::ParseParticipants(int id, QDomNode vehicleNode,
if( name == "FrictionCoefficient"){
mue = value;
- }else if (name == "Mass") {
- weight = value;
}
else if (name == "MomentInertiaRoll")
{
diff --git a/gui/plugins/pcmSimulation/Models/ConfigurationGeneratorPcm/DataStructuresXml/XmlModelsConfig.cpp b/gui/plugins/pcmSimulation/Models/ConfigurationGeneratorPcm/DataStructuresXml/XmlModelsConfig.cpp
index 14d176817f0a0760477c529e7bba3f1f5dd4fa5e..ddb6e231890f8e7b6355564c8135fa9d3eaebbea 100644
--- a/gui/plugins/pcmSimulation/Models/ConfigurationGeneratorPcm/DataStructuresXml/XmlModelsConfig.cpp
+++ b/gui/plugins/pcmSimulation/Models/ConfigurationGeneratorPcm/DataStructuresXml/XmlModelsConfig.cpp
@@ -1,5 +1,6 @@
/********************************************************************************
* Copyright (c) 2017-2021 ITK Engineering GmbH
+ * 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -67,6 +68,7 @@ bool XmlModelsConfig::WriteToXml(QXmlStreamWriter *xmlWriter)
for (XmlAgent agent : agents)
{
xmlWriter->writeStartElement("Vehicle");
+ xmlWriter->writeAttribute("mass", agent.weight);
xmlWriter->writeAttribute("name","Agent_" + QString::number(agent.id));
xmlWriter->writeAttribute("vehicleCategory", "car"); // always "car"
xmlWriter->writeStartElement("Properties");
@@ -95,10 +97,6 @@ bool XmlModelsConfig::WriteToXml(QXmlStreamWriter *xmlWriter)
xmlWriter->writeAttribute("value","1.0");
xmlWriter->writeEndElement(); // Property
xmlWriter->writeStartElement("Property");
- xmlWriter->writeAttribute("name","Mass");
- xmlWriter->writeAttribute("value",agent.weight);
- xmlWriter->writeEndElement(); // Property
- xmlWriter->writeStartElement("Property");
xmlWriter->writeAttribute("name","MaximumEngineSpeed");
xmlWriter->writeAttribute("value","10000.0");
xmlWriter->writeEndElement(); // Property
diff --git a/sim/CMakeLists.txt b/sim/CMakeLists.txt
index e757142f04d232a79913c13912f59a541313c9aa..0ea93de68642b8ceb490eb8f6bf037b266776991 100644
--- a/sim/CMakeLists.txt
+++ b/sim/CMakeLists.txt
@@ -26,6 +26,7 @@ configure_file(
include_directories(
${CMAKE_CURRENT_LIST_DIR}
${CMAKE_CURRENT_LIST_DIR}/..
+ ${MANTLE_INCLUDE_DIR}
)
if(WITH_SIMCORE)
diff --git a/sim/contrib/examples/Common/ProfilesCatalog.xml b/sim/contrib/examples/Common/ProfilesCatalog.xml
index 50cbbd81c2951aa2a42583609b95b0ed751474c0..ec83791758193ab9460d6a71b6cdfb522098d96a 100644
--- a/sim/contrib/examples/Common/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Common/ProfilesCatalog.xml
@@ -1,78 +1,86 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
<AgentProfile Name="LuxuryClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1" Probability="0.5"/>
- <VehicleProfile Name="BMW 7 2" Probability="0.5"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1" Probability="0.5"/>
+ <SystemProfile Name="BMW 7 2" Probability="0.5"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="0.5"/>
+ <VehicleModel Name="car_bmw_7_2" Probability="0.5"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="MiddleClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Mini Cooper" Probability="0.4"/>
- <VehicleProfile Name="BMW i3" Probability="0.3"/>
- <VehicleProfile Name="BMW 3" Probability="0.3"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Mini Cooper" Probability="0.4"/>
+ <SystemProfile Name="BMW i3" Probability="0.3"/>
+ <SystemProfile Name="BMW 3" Probability="0.3"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_mini_cooper" Probability="0.4"/>
+ <VehicleModel Name="car_bmw_i3" Probability="0.3"/>
+ <VehicleModel Name="car_bmw_3" Probability="0.3"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="TruckAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularTruck" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Truck" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Truck" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="truck" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
- <AgentProfile Name="BusAgent" Type="Dynamic">
+ <AgentProfile Name="BusAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularBus" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Bus" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Bus" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="bus" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 7 2">
- <Model Name="car_bmw_7_2"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 7 2">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Mini Cooper">
- <Model Name="car_mini_cooper"/>
+ </SystemProfile>
+ <SystemProfile Name="Mini Cooper">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW i3">
- <Model Name="car_bmw_i3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW i3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 3">
- <Model Name="car_bmw_3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Truck">
- <Model Name="truck"/>
+ </SystemProfile>
+ <SystemProfile Name="Truck">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Bus">
- <Model Name="bus"/>
+ </SystemProfile>
+ <SystemProfile Name="Bus">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
diff --git a/sim/contrib/examples/Common/Scenario.xosc b/sim/contrib/examples/Common/Scenario.xosc
index 328696579c10725aa27877b015e029492e5c1669..09e8e2dbe20a626bf66a29cc675c5a3abc82602b 100644
--- a/sim/contrib/examples/Common/Scenario.xosc
+++ b/sim/contrib/examples/Common/Scenario.xosc
@@ -6,10 +6,10 @@
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -36,7 +36,14 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="MiddleClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="MiddleClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members/>
@@ -56,7 +63,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="43.5"/>
</SpeedActionTarget>
@@ -66,7 +73,11 @@
</Private>
</Actions>
</Init>
- <Story/>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1"/>
+ </Act>
+ </Story>
<StopTrigger>
<ConditionGroup>
<Condition name="EndTime" delay="0" conditionEdge="rising">
diff --git a/sim/contrib/examples/Common/VehicleModelsCatalog.xosc b/sim/contrib/examples/Common/VehicleModelsCatalog.xosc
deleted file mode 100644
index 01e51226d74a35c6c530d02fd15341203ea8b602..0000000000000000000000000000000000000000
--- a/sim/contrib/examples/Common/VehicleModelsCatalog.xosc
+++ /dev/null
@@ -1,284 +0,0 @@
-<?xml version="1.0"?>
-<OpenSCENARIO>
- <FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="openPASS vehicle models" author="in-tech GmbH"/>
- <Catalog name="VehicleCatalog">
- <Vehicle name="car_bmw_i3" vehicleCategory="car">
- <Properties>
- <Property name="AirDragCoefficient" value="0.3"/>
- <Property name="AxleRatio" value="1.0"/>
- <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
- <Property name="FrictionCoefficient" value="1.0"/>
- <Property name="FrontSurface" value="2.38"/>
- <Property name="GearRatio1" value="9.665"/>
- <Property name="Mass" value="1320.0"/>
- <Property name="MaximumEngineSpeed" value="6000.0"/>
- <Property name="MaximumEngineTorque" value="250.0"/>
- <Property name="MinimumEngineSpeed" value="900.0"/>
- <Property name="MinimumEngineTorque" value="-54.0"/>
- <Property name="MomentInertiaPitch" value="0.0"/>
- <Property name="MomentInertiaRoll" value="0.0"/>
- <Property name="MomentInertiaYaw" value="0.0"/>
- <Property name="NumberOfGears" value="1"/>
- <Property name="SteeringRatio" value="10.7"/>
- </Properties>
- <BoundingBox>
- <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" 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"/>
- </Axles>
- </Vehicle>
- <Vehicle name="car_bmw_3" vehicleCategory="car">
- <Properties>
- <Property name="AirDragCoefficient" value="0.3"/>
- <Property name="AxleRatio" value="2.813"/>
- <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
- <Property name="FrictionCoefficient" value="1.0"/>
- <Property name="FrontSurface" value="2.2"/>
- <Property name="GearRatio1" value="5.0"/>
- <Property name="GearRatio2" value="3.2"/>
- <Property name="GearRatio3" value="2.143"/>
- <Property name="GearRatio4" value="1.72"/>
- <Property name="GearRatio5" value="1.314"/>
- <Property name="GearRatio6" value="1.0"/>
- <Property name="GearRatio7" value="0.822"/>
- <Property name="GearRatio8" value="0.64"/>
- <Property name="Mass" value="1525.0"/>
- <Property name="MaximumEngineSpeed" value="6000.0"/>
- <Property name="MaximumEngineTorque" value="270.0"/>
- <Property name="MinimumEngineSpeed" value="900.0"/>
- <Property name="MinimumEngineTorque" value="-54.0"/>
- <Property name="MomentInertiaPitch" value="0.0"/>
- <Property name="MomentInertiaRoll" value="0.0"/>
- <Property name="MomentInertiaYaw" value="0.0"/>
- <Property name="NumberOfGears" value="8"/>
- <Property name="SteeringRatio" value="10.7"/>
- </Properties>
- <BoundingBox>
- <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" 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"/>
- </Axles>
- </Vehicle>
- <Vehicle name="car_bmw_7_1" vehicleCategory="car">
- <Properties>
- <Property name="AirDragCoefficient" value="0.3"/>
- <Property name="AxleRatio" value="3.077"/>
- <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
- <Property name="FrictionCoefficient" value="1.0"/>
- <Property name="FrontSurface" value="2.42"/>
- <Property name="GearRatio1" value="5.0"/>
- <Property name="GearRatio2" value="3.2"/>
- <Property name="GearRatio3" value="2.143"/>
- <Property name="GearRatio4" value="1.72"/>
- <Property name="GearRatio5" value="1.314"/>
- <Property name="GearRatio6" value="1.0"/>
- <Property name="GearRatio7" value="0.822"/>
- <Property name="GearRatio8" value="0.64"/>
- <Property name="Mass" value="1845.0"/>
- <Property name="MaximumEngineSpeed" value="6000.0"/>
- <Property name="MaximumEngineTorque" value="450.0"/>
- <Property name="MinimumEngineSpeed" value="900.0"/>
- <Property name="MinimumEngineTorque" value="-54.0"/>
- <Property name="MomentInertiaPitch" value="0.0"/>
- <Property name="MomentInertiaRoll" value="0.0"/>
- <Property name="MomentInertiaYaw" value="0.0"/>
- <Property name="NumberOfGears" value="8"/>
- <Property name="SteeringRatio" value="10.7"/>
- </Properties>
- <BoundingBox>
- <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" 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"/>
- </Axles>
- </Vehicle>
- <Vehicle name="car_bmw_7_2" vehicleCategory="car">
- <Properties>
- <Property name="AirDragCoefficient" value="0.3"/>
- <Property name="AxleRatio" value="3.077"/>
- <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
- <Property name="FrictionCoefficient" value="1.0"/>
- <Property name="FrontSurface" value="2.42"/>
- <Property name="GearRatio1" value="4.714"/>
- <Property name="GearRatio2" value="3.143"/>
- <Property name="GearRatio3" value="2.106"/>
- <Property name="GearRatio4" value="1.667"/>
- <Property name="GearRatio5" value="1.285"/>
- <Property name="GearRatio6" value="1.0"/>
- <Property name="GearRatio7" value="0.839"/>
- <Property name="GearRatio8" value="0.667"/>
- <Property name="Mass" value="1900.0"/>
- <Property name="MaximumEngineSpeed" value="6000.0"/>
- <Property name="MaximumEngineTorque" value="450.0"/>
- <Property name="MinimumEngineSpeed" value="900.0"/>
- <Property name="MinimumEngineTorque" value="-54.0"/>
- <Property name="MomentInertiaPitch" value="0.0"/>
- <Property name="MomentInertiaRoll" value="0.0"/>
- <Property name="MomentInertiaYaw" value="0.0"/>
- <Property name="NumberOfGears" value="8"/>
- <Property name="SteeringRatio" value="10.7"/>
- </Properties>
- <BoundingBox>
- <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" 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"/>
- </Axles>
- </Vehicle>
- <Vehicle name="car_mini_cooper" vehicleCategory="car">
- <Properties>
- <Property name="AirDragCoefficient" value="0.3"/>
- <Property name="AxleRatio" value="3.789"/>
- <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
- <Property name="FrictionCoefficient" value="1.0"/>
- <Property name="FrontSurface" value="2.07"/>
- <Property name="GearRatio1" value="4.154"/>
- <Property name="GearRatio2" value="2.45"/>
- <Property name="GearRatio3" value="1.557"/>
- <Property name="GearRatio4" value="1.09"/>
- <Property name="GearRatio5" value="0.843"/>
- <Property name="GearRatio6" value="0.675"/>
- <Property name="GearRatio7" value="0.547"/>
- <Property name="Mass" value="1235.0"/>
- <Property name="MaximumEngineSpeed" value="6000.0"/>
- <Property name="MaximumEngineTorque" value="220.0"/>
- <Property name="MinimumEngineSpeed" value="900.0"/>
- <Property name="MinimumEngineTorque" value="-54.0"/>
- <Property name="MomentInertiaPitch" value="0.0"/>
- <Property name="MomentInertiaRoll" value="0.0"/>
- <Property name="MomentInertiaYaw" value="0.0"/>
- <Property name="NumberOfGears" value="7"/>
- <Property name="SteeringRatio" value="10.7"/>
- </Properties>
- <BoundingBox>
- <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" 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"/>
- </Axles>
- </Vehicle>
- <Vehicle name="bus" vehicleCategory="truck">
- <Properties>
- <Property name="AirDragCoefficient" value="0.8"/>
- <Property name="AxleRatio" value="4.0"/>
- <Property name="DecelerationFromPowertrainDrag" value="1.0"/>
- <Property name="FrictionCoefficient" value="1.0"/>
- <Property name="FrontSurface" value="9.0"/>
- <Property name="GearRatio1" value="6.316"/>
- <Property name="GearRatio2" value="4.554"/>
- <Property name="GearRatio3" value="3.269"/>
- <Property name="GearRatio4" value="2.352"/>
- <Property name="GearRatio5" value="1.692"/>
- <Property name="GearRatio6" value="1.217"/>
- <Property name="GearRatio7" value="0.876"/>
- <Property name="GearRatio8" value="0.630"/>
- <Property name="Mass" value="25000.0"/>
- <Property name="MaximumEngineSpeed" value="2500.0"/>
- <Property name="MaximumEngineTorque" value="1400.0"/>
- <Property name="MinimumEngineSpeed" value="600.0"/>
- <Property name="MinimumEngineTorque" value="-140.0"/>
- <Property name="MomentInertiaPitch" value="0.0"/>
- <Property name="MomentInertiaRoll" value="0.0"/>
- <Property name="MomentInertiaYaw" value="0.0"/>
- <Property name="NumberOfGears" value="8"/>
- <Property name="SteeringRatio" value="15.0"/>
- </Properties>
- <BoundingBox>
- <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" 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"/>
- </Axles>
- </Vehicle>
- <Vehicle name="truck" vehicleCategory="truck">
- <Properties>
- <Property name="AirDragCoefficient" value="0.8"/>
- <Property name="AxleRatio" value="4.0"/>
- <Property name="DecelerationFromPowertrainDrag" value="1.0"/>
- <Property name="FrictionCoefficient" value="1.0"/>
- <Property name="FrontSurface" value="9.0"/>
- <Property name="GearRatio1" value="6.316"/>
- <Property name="GearRatio2" value="4.554"/>
- <Property name="GearRatio3" value="3.269"/>
- <Property name="GearRatio4" value="2.352"/>
- <Property name="GearRatio5" value="1.692"/>
- <Property name="GearRatio6" value="1.217"/>
- <Property name="GearRatio7" value="0.876"/>
- <Property name="GearRatio8" value="0.630"/>
- <Property name="Mass" value="30000.0"/>
- <Property name="MaximumEngineSpeed" value="2500.0"/>
- <Property name="MaximumEngineTorque" value="1400.0"/>
- <Property name="MinimumEngineSpeed" value="600.0"/>
- <Property name="MinimumEngineTorque" value="-140.0"/>
- <Property name="MomentInertiaPitch" value="0.0"/>
- <Property name="MomentInertiaRoll" value="0.0"/>
- <Property name="MomentInertiaYaw" value="0.0"/>
- <Property name="NumberOfGears" value="8"/>
- <Property name="SteeringRatio" value="15.0"/>
- </Properties>
- <BoundingBox>
- <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" 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"/>
- </Axles>
- </Vehicle>
- <Vehicle name="bicycle" vehicleCategory="bicycle">
- <Properties>
- <Property name="AirDragCoefficient" value="0.3"/>
- <Property name="AxleRatio" value="3.0"/>
- <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
- <Property name="FrictionCoefficient" value="1.0"/>
- <Property name="FrontSurface" value="1.9"/>
- <Property name="GearRatio1" value="4.350"/>
- <Property name="GearRatio2" value="2.496"/>
- <Property name="GearRatio3" value="1.665"/>
- <Property name="GearRatio4" value="1.230"/>
- <Property name="GearRatio5" value="1.0"/>
- <Property name="GearRatio6" value="0.851"/>
- <Property name="Mass" value="90.0"/>
- <Property name="MaximumEngineSpeed" value="6000.0"/>
- <Property name="MaximumEngineTorque" value="540.0"/>
- <Property name="MinimumEngineSpeed" value="900.0"/>
- <Property name="MinimumEngineTorque" value="-54.0"/>
- <Property name="MomentInertiaPitch" value="0.0"/>
- <Property name="MomentInertiaRoll" value="0.0"/>
- <Property name="MomentInertiaYaw" value="0.0"/>
- <Property name="NumberOfGears" value="6"/>
- <Property name="SteeringRatio" value="10.7"/>
- </Properties>
- <BoundingBox>
- <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" 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"/>
- </Axles>
- </Vehicle>
- </Catalog>
-</OpenSCENARIO>
diff --git a/sim/contrib/examples/Common/PedestrianModelsCatalog.xosc b/sim/contrib/examples/Common/Vehicles/PedestrianModelsCatalog.xosc
similarity index 84%
rename from sim/contrib/examples/Common/PedestrianModelsCatalog.xosc
rename to sim/contrib/examples/Common/Vehicles/PedestrianModelsCatalog.xosc
index bbda0b044d1890917d13fe64da9e7e3c14ff176c..84c1ac67df3189c1fcb287113dcd8d2377ba784b 100644
--- a/sim/contrib/examples/Common/PedestrianModelsCatalog.xosc
+++ b/sim/contrib/examples/Common/Vehicles/PedestrianModelsCatalog.xosc
@@ -4,9 +4,6 @@
<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"/>
@@ -15,9 +12,6 @@
</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/Common/Vehicles/VehicleModelsCatalog.xosc b/sim/contrib/examples/Common/Vehicles/VehicleModelsCatalog.xosc
new file mode 100644
index 0000000000000000000000000000000000000000..5096e6b6c2e5a797d5d156df59d455f6e4805a90
--- /dev/null
+++ b/sim/contrib/examples/Common/Vehicles/VehicleModelsCatalog.xosc
@@ -0,0 +1,546 @@
+<?xml version="1.0"?>
+<OpenSCENARIO>
+ <FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="openPASS vehicle models" author="in-tech GmbH"/>
+ <Catalog name="VehicleCatalog">
+ <Vehicle mass="1320.0" name="car_bmw_i3" vehicleCategory="car">
+ <Properties>
+ <Property name="AirDragCoefficient" value="0.3"/>
+ <Property name="AxleRatio" value="1.0"/>
+ <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
+ <Property name="FrictionCoefficient" value="1.0"/>
+ <Property name="FrontSurface" value="2.38"/>
+ <Property name="GearRatio1" value="9.665"/>
+ <Property name="MaximumEngineSpeed" value="6000.0"/>
+ <Property name="MaximumEngineTorque" value="250.0"/>
+ <Property name="MinimumEngineSpeed" value="900.0"/>
+ <Property name="MinimumEngineTorque" value="-54.0"/>
+ <Property name="MomentInertiaPitch" value="0.0"/>
+ <Property name="MomentInertiaRoll" value="0.0"/>
+ <Property name="MomentInertiaYaw" value="0.0"/>
+ <Property name="NumberOfGears" value="1"/>
+ <Property name="SteeringRatio" value="10.7"/>
+ <Property name="SensorPosition/FrontWindow/Lateral" value="1.9"/>
+ <Property name="SensorPosition/FrontWindow/Longitudinal" value="0.0"/>
+ <Property name="SensorPosition/FrontWindow/Height" value="1.45"/>
+ <Property name="SensorPosition/FrontWindow/Pitch" value="0.0"/>
+ <Property name="SensorPosition/FrontWindow/Roll" value="0.0"/>
+ <Property name="SensorPosition/FrontWindow/Yaw" value="0.0"/>
+ <Property name="SensorPosition/RearWindow/Lateral" value="-0.21"/>
+ <Property name="SensorPosition/RearWindow/Longitudinal" value="0.0"/>
+ <Property name="SensorPosition/RearWindow/Height" value="1.39"/>
+ <Property name="SensorPosition/RearWindow/Pitch" value="3.141592"/>
+ <Property name="SensorPosition/RearWindow/Roll" value="0.0"/>
+ <Property name="SensorPosition/RearWindow/Yaw" value="0.0"/>
+ <Property name="SensorPosition/FrontCenter/Lateral" value="3.26"/>
+ <Property name="SensorPosition/FrontCenter/Longitudinal" value="0.0"/>
+ <Property name="SensorPosition/FrontCenter/Height" value="0.66"/>
+ <Property name="SensorPosition/FrontCenter/Pitch" value="0.0"/>
+ <Property name="SensorPosition/FrontCenter/Roll" value="0.0"/>
+ <Property name="SensorPosition/FrontCenter/Yaw" value="0.0"/>
+ <Property name="SensorPosition/FrontLeft/Lateral" value="2.98"/>
+ <Property name="SensorPosition/FrontLeft/Longitudinal" value="0.68"/>
+ <Property name="SensorPosition/FrontLeft/Height" value="0.82"/>
+ <Property name="SensorPosition/FrontLeft/Pitch" value="1.134464"/>
+ <Property name="SensorPosition/FrontLeft/Roll" value="0.0"/>
+ <Property name="SensorPosition/FrontLeft/Yaw" value="0.0"/>
+ <Property name="SensorPosition/FrontRight/Lateral" value="2.98"/>
+ <Property name="SensorPosition/FrontRight/Longitudinal" value="-0.68"/>
+ <Property name="SensorPosition/FrontRight/Height" value="0.82"/>
+ <Property name="SensorPosition/FrontRight/Pitch" value="-1.134464"/>
+ <Property name="SensorPosition/FrontRight/Roll" value="0.0"/>
+ <Property name="SensorPosition/FrontRight/Yaw" value="0.0"/>
+ <Property name="SensorPosition/SideLeft/Lateral" value="1.2"/>
+ <Property name="SensorPosition/SideLeft/Longitudinal" value="0.8"/>
+ <Property name="SensorPosition/SideLeft/Height" value="0.3"/>
+ <Property name="SensorPosition/SideLeft/Pitch" value="1.570796"/>
+ <Property name="SensorPosition/SideLeft/Roll" value="0.0"/>
+ <Property name="SensorPosition/SideLeft/Yaw" value="0.0"/>
+ <Property name="SensorPosition/SideRight/Lateral" value="1.2"/>
+ <Property name="SensorPosition/SideRight/Longitudinal" value="-0.8"/>
+ <Property name="SensorPosition/SideRight/Height" value="0.3"/>
+ <Property name="SensorPosition/SideRight/Pitch" value="-1.570796"/>
+ <Property name="SensorPosition/SideRight/Roll" value="0.0"/>
+ <Property name="SensorPosition/SideRight/Yaw" value="0.0"/>
+ <Property name="SensorPosition/RearLeft/Lateral" value="-0.49"/>
+ <Property name="SensorPosition/RearLeft/Longitudinal" value="0.64"/>
+ <Property name="SensorPosition/RearLeft/Height" value="0.64"/>
+ <Property name="SensorPosition/RearLeft/Pitch" value="2.146755"/>
+ <Property name="SensorPosition/RearLeft/Roll" value="0.0"/>
+ <Property name="SensorPosition/RearLeft/Yaw" value="0.0"/>
+ <Property name="SensorPosition/RearRight/Lateral" value="-0.49"/>
+ <Property name="SensorPosition/RearRight/Longitudinal" value="-0.64"/>
+ <Property name="SensorPosition/RearRight/Height" value="0.64"/>
+ <Property name="SensorPosition/RearRight/Pitch" value="-2.146755"/>
+ <Property name="SensorPosition/RearRight/Roll" value="0.0"/>
+ <Property name="SensorPosition/RearRight/Yaw" value="0.0"/>
+ </Properties>
+ <BoundingBox>
+ <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" 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"/>
+ </Axles>
+ </Vehicle>
+ <Vehicle mass="1525.0" name="car_bmw_3" vehicleCategory="car">
+ <Properties>
+ <Property name="AirDragCoefficient" value="0.3"/>
+ <Property name="AxleRatio" value="2.813"/>
+ <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
+ <Property name="FrictionCoefficient" value="1.0"/>
+ <Property name="FrontSurface" value="2.2"/>
+ <Property name="GearRatio1" value="5.0"/>
+ <Property name="GearRatio2" value="3.2"/>
+ <Property name="GearRatio3" value="2.143"/>
+ <Property name="GearRatio4" value="1.72"/>
+ <Property name="GearRatio5" value="1.314"/>
+ <Property name="GearRatio6" value="1.0"/>
+ <Property name="GearRatio7" value="0.822"/>
+ <Property name="GearRatio8" value="0.64"/>
+ <Property name="MaximumEngineSpeed" value="6000.0"/>
+ <Property name="MaximumEngineTorque" value="270.0"/>
+ <Property name="MinimumEngineSpeed" value="900.0"/>
+ <Property name="MinimumEngineTorque" value="-54.0"/>
+ <Property name="MomentInertiaPitch" value="0.0"/>
+ <Property name="MomentInertiaRoll" value="0.0"/>
+ <Property name="MomentInertiaYaw" value="0.0"/>
+ <Property name="NumberOfGears" value="8"/>
+ <Property name="SteeringRatio" value="10.7"/>
+ <Property name="SensorPosition/FrontWindow/Lateral" value="1.82"/>
+ <Property name="SensorPosition/FrontWindow/Longitudinal" value="0.0"/>
+ <Property name="SensorPosition/FrontWindow/Height" value="1.27"/>
+ <Property name="SensorPosition/FrontWindow/Pitch" value="0.0"/>
+ <Property name="SensorPosition/FrontWindow/Roll" value="0.0"/>
+ <Property name="SensorPosition/FrontWindow/Yaw" value="0.0"/>
+ <Property name="SensorPosition/RearWindow/Lateral" value="0.16"/>
+ <Property name="SensorPosition/RearWindow/Longitudinal" value="0.0"/>
+ <Property name="SensorPosition/RearWindow/Height" value="1.31"/>
+ <Property name="SensorPosition/RearWindow/Pitch" value="3.141592"/>
+ <Property name="SensorPosition/RearWindow/Roll" value="0.0"/>
+ <Property name="SensorPosition/RearWindow/Yaw" value="0.0"/>
+ <Property name="SensorPosition/FrontCenter/Lateral" value="3.71"/>
+ <Property name="SensorPosition/FrontCenter/Longitudinal" value="0.0"/>
+ <Property name="SensorPosition/FrontCenter/Height" value="0.56"/>
+ <Property name="SensorPosition/FrontCenter/Pitch" value="0.0"/>
+ <Property name="SensorPosition/FrontCenter/Roll" value="0.0"/>
+ <Property name="SensorPosition/FrontCenter/Yaw" value="0.0"/>
+ <Property name="SensorPosition/FrontLeft/Lateral" value="3.33"/>
+ <Property name="SensorPosition/FrontLeft/Longitudinal" value="0.78"/>
+ <Property name="SensorPosition/FrontLeft/Height" value="0.68"/>
+ <Property name="SensorPosition/FrontLeft/Pitch" value="1.134464"/>
+ <Property name="SensorPosition/FrontLeft/Roll" value="0.0"/>
+ <Property name="SensorPosition/FrontLeft/Yaw" value="0.0"/>
+ <Property name="SensorPosition/FrontRight/Lateral" value="3.33"/>
+ <Property name="SensorPosition/FrontRight/Longitudinal" value="-0.78"/>
+ <Property name="SensorPosition/FrontRight/Height" value="0.68"/>
+ <Property name="SensorPosition/FrontRight/Pitch" value="-1.134464"/>
+ <Property name="SensorPosition/FrontRight/Roll" value="0.0"/>
+ <Property name="SensorPosition/FrontRight/Yaw" value="0.0"/>
+ <Property name="SensorPosition/SideLeft/Lateral" value="1.21"/>
+ <Property name="SensorPosition/SideLeft/Longitudinal" value="0.81"/>
+ <Property name="SensorPosition/SideLeft/Height" value="0.21"/>
+ <Property name="SensorPosition/SideLeft/Pitch" value="1.570796"/>
+ <Property name="SensorPosition/SideLeft/Roll" value="0.0"/>
+ <Property name="SensorPosition/SideLeft/Yaw" value="0.0"/>
+ <Property name="SensorPosition/SideRight/Lateral" value="1.21"/>
+ <Property name="SensorPosition/SideRight/Longitudinal" value="-0.81"/>
+ <Property name="SensorPosition/SideRight/Height" value="0.21"/>
+ <Property name="SensorPosition/SideRight/Pitch" value="-1.570796"/>
+ <Property name="SensorPosition/SideRight/Roll" value="0.0"/>
+ <Property name="SensorPosition/SideRight/Yaw" value="0.0"/>
+ <Property name="SensorPosition/RearLeft/Lateral" value="-0.65"/>
+ <Property name="SensorPosition/RearLeft/Longitudinal" value="0.675"/>
+ <Property name="SensorPosition/RearLeft/Height" value="0.65"/>
+ <Property name="SensorPosition/RearLeft/Pitch" value="2.146755"/>
+ <Property name="SensorPosition/RearLeft/Roll" value="0.0"/>
+ <Property name="SensorPosition/RearLeft/Yaw" value="0.0"/>
+ <Property name="SensorPosition/RearRight/Lateral" value="-0.65"/>
+ <Property name="SensorPosition/RearRight/Longitudinal" value="-0.75"/>
+ <Property name="SensorPosition/RearRight/Height" value="0.65"/>
+ <Property name="SensorPosition/RearRight/Pitch" value="-2.146755"/>
+ <Property name="SensorPosition/RearRight/Roll" value="0.0"/>
+ <Property name="SensorPosition/RearRight/Yaw" value="0.0"/>
+ </Properties>
+ <BoundingBox>
+ <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" 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"/>
+ </Axles>
+ </Vehicle>
+ <Vehicle mass="1845.0" name="car_bmw_7_1" vehicleCategory="car">
+ <Properties>
+ <Property name="AirDragCoefficient" value="0.3"/>
+ <Property name="AxleRatio" value="3.077"/>
+ <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
+ <Property name="FrictionCoefficient" value="1.0"/>
+ <Property name="FrontSurface" value="2.42"/>
+ <Property name="GearRatio1" value="5.0"/>
+ <Property name="GearRatio2" value="3.2"/>
+ <Property name="GearRatio3" value="2.143"/>
+ <Property name="GearRatio4" value="1.72"/>
+ <Property name="GearRatio5" value="1.314"/>
+ <Property name="GearRatio6" value="1.0"/>
+ <Property name="GearRatio7" value="0.822"/>
+ <Property name="GearRatio8" value="0.64"/>
+ <Property name="MaximumEngineSpeed" value="6000.0"/>
+ <Property name="MaximumEngineTorque" value="450.0"/>
+ <Property name="MinimumEngineSpeed" value="900.0"/>
+ <Property name="MinimumEngineTorque" value="-54.0"/>
+ <Property name="MomentInertiaPitch" value="0.0"/>
+ <Property name="MomentInertiaRoll" value="0.0"/>
+ <Property name="MomentInertiaYaw" value="0.0"/>
+ <Property name="NumberOfGears" value="8"/>
+ <Property name="SteeringRatio" value="10.7"/>
+ <Property name="SensorPosition/FrontWindow/Lateral" value="2.05"/>
+ <Property name="SensorPosition/FrontWindow/Longitudinal" value="0.0"/>
+ <Property name="SensorPosition/FrontWindow/Height" value="1.36"/>
+ <Property name="SensorPosition/FrontWindow/Pitch" value="0.0"/>
+ <Property name="SensorPosition/FrontWindow/Roll" value="0.0"/>
+ <Property name="SensorPosition/FrontWindow/Yaw" value="0.0"/>
+ <Property name="SensorPosition/RearWindow/Lateral" value="0.26"/>
+ <Property name="SensorPosition/RearWindow/Longitudinal" value="0.0"/>
+ <Property name="SensorPosition/RearWindow/Height" value="1.41"/>
+ <Property name="SensorPosition/RearWindow/Pitch" value="3.141592"/>
+ <Property name="SensorPosition/RearWindow/Roll" value="0.0"/>
+ <Property name="SensorPosition/RearWindow/Yaw" value="0.0"/>
+ <Property name="SensorPosition/FrontCenter/Lateral" value="4.16"/>
+ <Property name="SensorPosition/FrontCenter/Longitudinal" value="0.0"/>
+ <Property name="SensorPosition/FrontCenter/Height" value="0.6"/>
+ <Property name="SensorPosition/FrontCenter/Pitch" value="0.0"/>
+ <Property name="SensorPosition/FrontCenter/Roll" value="0.0"/>
+ <Property name="SensorPosition/FrontCenter/Yaw" value="0.0"/>
+ <Property name="SensorPosition/FrontLeft/Lateral" value="3.75"/>
+ <Property name="SensorPosition/FrontLeft/Longitudinal" value="0.84"/>
+ <Property name="SensorPosition/FrontLeft/Height" value="0.77"/>
+ <Property name="SensorPosition/FrontLeft/Pitch" value="1.134464"/>
+ <Property name="SensorPosition/FrontLeft/Roll" value="0.0"/>
+ <Property name="SensorPosition/FrontLeft/Yaw" value="0.0"/>
+ <Property name="SensorPosition/FrontRight/Lateral" value="3.75"/>
+ <Property name="SensorPosition/FrontRight/Longitudinal" value="-0.84"/>
+ <Property name="SensorPosition/FrontRight/Height" value="0.77"/>
+ <Property name="SensorPosition/FrontRight/Pitch" value="-1.134464"/>
+ <Property name="SensorPosition/FrontRight/Roll" value="0.0"/>
+ <Property name="SensorPosition/FrontRight/Yaw" value="0.0"/>
+ <Property name="SensorPosition/SideLeft/Lateral" value="1.34"/>
+ <Property name="SensorPosition/SideLeft/Longitudinal" value="0.9"/>
+ <Property name="SensorPosition/SideLeft/Height" value="0.23"/>
+ <Property name="SensorPosition/SideLeft/Pitch" value="1.570796"/>
+ <Property name="SensorPosition/SideLeft/Roll" value="0.0"/>
+ <Property name="SensorPosition/SideLeft/Yaw" value="0.0"/>
+ <Property name="SensorPosition/SideRight/Lateral" value="1.34"/>
+ <Property name="SensorPosition/SideRight/Longitudinal" value="-0.9"/>
+ <Property name="SensorPosition/SideRight/Height" value="0.23"/>
+ <Property name="SensorPosition/SideRight/Pitch" value="-1.570796"/>
+ <Property name="SensorPosition/SideRight/Roll" value="0.0"/>
+ <Property name="SensorPosition/SideRight/Yaw" value="0.0"/>
+ <Property name="SensorPosition/RearLeft/Lateral" value="-0.75"/>
+ <Property name="SensorPosition/RearLeft/Longitudinal" value="0.84"/>
+ <Property name="SensorPosition/RearLeft/Height" value="0.73"/>
+ <Property name="SensorPosition/RearLeft/Pitch" value="2.146755"/>
+ <Property name="SensorPosition/RearLeft/Roll" value="0.0"/>
+ <Property name="SensorPosition/RearLeft/Yaw" value="0.0"/>
+ <Property name="SensorPosition/RearRight/Lateral" value="-0.475"/>
+ <Property name="SensorPosition/RearRight/Longitudinal" value="-0.84"/>
+ <Property name="SensorPosition/RearRight/Height" value="0.73"/>
+ <Property name="SensorPosition/RearRight/Pitch" value="-2.146755"/>
+ <Property name="SensorPosition/RearRight/Roll" value="0.0"/>
+ <Property name="SensorPosition/RearRight/Yaw" value="0.0"/>
+ </Properties>
+ <BoundingBox>
+ <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" 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"/>
+ </Axles>
+ </Vehicle>
+ <Vehicle mass="1900.0" name="car_bmw_7_2" vehicleCategory="car">
+ <Properties>
+ <Property name="AirDragCoefficient" value="0.3"/>
+ <Property name="AxleRatio" value="3.077"/>
+ <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
+ <Property name="FrictionCoefficient" value="1.0"/>
+ <Property name="FrontSurface" value="2.42"/>
+ <Property name="GearRatio1" value="4.714"/>
+ <Property name="GearRatio2" value="3.143"/>
+ <Property name="GearRatio3" value="2.106"/>
+ <Property name="GearRatio4" value="1.667"/>
+ <Property name="GearRatio5" value="1.285"/>
+ <Property name="GearRatio6" value="1.0"/>
+ <Property name="GearRatio7" value="0.839"/>
+ <Property name="GearRatio8" value="0.667"/>
+ <Property name="MaximumEngineSpeed" value="6000.0"/>
+ <Property name="MaximumEngineTorque" value="450.0"/>
+ <Property name="MinimumEngineSpeed" value="900.0"/>
+ <Property name="MinimumEngineTorque" value="-54.0"/>
+ <Property name="MomentInertiaPitch" value="0.0"/>
+ <Property name="MomentInertiaRoll" value="0.0"/>
+ <Property name="MomentInertiaYaw" value="0.0"/>
+ <Property name="NumberOfGears" value="8"/>
+ <Property name="SteeringRatio" value="10.7"/>
+ <Property name="SensorPosition/FrontWindow/Lateral" value="2.09"/>
+ <Property name="SensorPosition/FrontWindow/Longitudinal" value="0.0"/>
+ <Property name="SensorPosition/FrontWindow/Height" value="1.34"/>
+ <Property name="SensorPosition/FrontWindow/Pitch" value="0.0"/>
+ <Property name="SensorPosition/FrontWindow/Roll" value="0.0"/>
+ <Property name="SensorPosition/FrontWindow/Yaw" value="0.0"/>
+ <Property name="SensorPosition/RearWindow/Lateral" value="0.28"/>
+ <Property name="SensorPosition/RearWindow/Longitudinal" value="0.0"/>
+ <Property name="SensorPosition/RearWindow/Height" value="1.38"/>
+ <Property name="SensorPosition/RearWindow/Pitch" value="3.141592"/>
+ <Property name="SensorPosition/RearWindow/Roll" value="0.0"/>
+ <Property name="SensorPosition/RearWindow/Yaw" value="0.0"/>
+ <Property name="SensorPosition/FrontCenter/Lateral" value="4.2"/>
+ <Property name="SensorPosition/FrontCenter/Longitudinal" value="0.0"/>
+ <Property name="SensorPosition/FrontCenter/Height" value="0.55"/>
+ <Property name="SensorPosition/FrontCenter/Pitch" value="0.0"/>
+ <Property name="SensorPosition/FrontCenter/Roll" value="0.0"/>
+ <Property name="SensorPosition/FrontCenter/Yaw" value="0.0"/>
+ <Property name="SensorPosition/FrontLeft/Lateral" value="3.84"/>
+ <Property name="SensorPosition/FrontLeft/Longitudinal" value="0.86"/>
+ <Property name="SensorPosition/FrontLeft/Height" value="0.75"/>
+ <Property name="SensorPosition/FrontLeft/Pitch" value="1.134464"/>
+ <Property name="SensorPosition/FrontLeft/Roll" value="0.0"/>
+ <Property name="SensorPosition/FrontLeft/Yaw" value="0.0"/>
+ <Property name="SensorPosition/FrontRight/Lateral" value="3.84"/>
+ <Property name="SensorPosition/FrontRight/Longitudinal" value="-0.86"/>
+ <Property name="SensorPosition/FrontRight/Height" value="0.75"/>
+ <Property name="SensorPosition/FrontRight/Pitch" value="-1.134464"/>
+ <Property name="SensorPosition/FrontRight/Roll" value="0.0"/>
+ <Property name="SensorPosition/FrontRight/Yaw" value="0.0"/>
+ <Property name="SensorPosition/SideLeft/Lateral" value="1.46"/>
+ <Property name="SensorPosition/SideLeft/Longitudinal" value="0.91"/>
+ <Property name="SensorPosition/SideLeft/Height" value="0.24"/>
+ <Property name="SensorPosition/SideLeft/Pitch" value="1.570796"/>
+ <Property name="SensorPosition/SideLeft/Roll" value="0.0"/>
+ <Property name="SensorPosition/SideLeft/Yaw" value="0.0"/>
+ <Property name="SensorPosition/SideRight/Lateral" value="1.46"/>
+ <Property name="SensorPosition/SideRight/Longitudinal" value="-0.91"/>
+ <Property name="SensorPosition/SideRight/Height" value="0.24"/>
+ <Property name="SensorPosition/SideRight/Pitch" value="-1.570796"/>
+ <Property name="SensorPosition/SideRight/Roll" value="0.0"/>
+ <Property name="SensorPosition/SideRight/Yaw" value="0.0"/>
+ <Property name="SensorPosition/RearLeft/Lateral" value="-0.84"/>
+ <Property name="SensorPosition/RearLeft/Longitudinal" value="0.79"/>
+ <Property name="SensorPosition/RearLeft/Height" value="0.69"/>
+ <Property name="SensorPosition/RearLeft/Pitch" value="2.146755"/>
+ <Property name="SensorPosition/RearLeft/Roll" value="0.0"/>
+ <Property name="SensorPosition/RearLeft/Yaw" value="0.0"/>
+ <Property name="SensorPosition/RearRight/Lateral" value="-0.84"/>
+ <Property name="SensorPosition/RearRight/Longitudinal" value="-0.79"/>
+ <Property name="SensorPosition/RearRight/Height" value="0.69"/>
+ <Property name="SensorPosition/RearRight/Pitch" value="-2.146755"/>
+ <Property name="SensorPosition/RearRight/Roll" value="0.0"/>
+ <Property name="SensorPosition/RearRight/Yaw" value="0.0"/>
+ </Properties>
+ <BoundingBox>
+ <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" 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"/>
+ </Axles>
+ </Vehicle>
+ <Vehicle mass="1235.0" name="car_mini_cooper" vehicleCategory="car">
+ <Properties>
+ <Property name="AirDragCoefficient" value="0.3"/>
+ <Property name="AxleRatio" value="3.789"/>
+ <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
+ <Property name="FrictionCoefficient" value="1.0"/>
+ <Property name="FrontSurface" value="2.07"/>
+ <Property name="GearRatio1" value="4.154"/>
+ <Property name="GearRatio2" value="2.45"/>
+ <Property name="GearRatio3" value="1.557"/>
+ <Property name="GearRatio4" value="1.09"/>
+ <Property name="GearRatio5" value="0.843"/>
+ <Property name="GearRatio6" value="0.675"/>
+ <Property name="GearRatio7" value="0.547"/>
+ <Property name="MaximumEngineSpeed" value="6000.0"/>
+ <Property name="MaximumEngineTorque" value="220.0"/>
+ <Property name="MinimumEngineSpeed" value="900.0"/>
+ <Property name="MinimumEngineTorque" value="-54.0"/>
+ <Property name="MomentInertiaPitch" value="0.0"/>
+ <Property name="MomentInertiaRoll" value="0.0"/>
+ <Property name="MomentInertiaYaw" value="0.0"/>
+ <Property name="NumberOfGears" value="7"/>
+ <Property name="SteeringRatio" value="10.7"/>
+ <Property name="SensorPosition/FrontWindow/Lateral" value="1.83"/>
+ <Property name="SensorPosition/FrontWindow/Longitudinal" value="0.0"/>
+ <Property name="SensorPosition/FrontWindow/Height" value="1.28"/>
+ <Property name="SensorPosition/FrontWindow/Pitch" value="0.0"/>
+ <Property name="SensorPosition/FrontWindow/Roll" value="0.0"/>
+ <Property name="SensorPosition/FrontWindow/Yaw" value="0.0"/>
+ <Property name="SensorPosition/RearWindow/Lateral" value="-0.08"/>
+ <Property name="SensorPosition/RearWindow/Longitudinal" value="0.0"/>
+ <Property name="SensorPosition/RearWindow/Height" value="1.33"/>
+ <Property name="SensorPosition/RearWindow/Pitch" value="3.141592"/>
+ <Property name="SensorPosition/RearWindow/Roll" value="0.0"/>
+ <Property name="SensorPosition/RearWindow/Yaw" value="0.0"/>
+ <Property name="SensorPosition/FrontCenter/Lateral" value="3.22"/>
+ <Property name="SensorPosition/FrontCenter/Longitudinal" value="0.0"/>
+ <Property name="SensorPosition/FrontCenter/Height" value="0.57"/>
+ <Property name="SensorPosition/FrontCenter/Pitch" value="0.0"/>
+ <Property name="SensorPosition/FrontCenter/Roll" value="0.0"/>
+ <Property name="SensorPosition/FrontCenter/Yaw" value="0.0"/>
+ <Property name="SensorPosition/FrontLeft/Lateral" value="3.05"/>
+ <Property name="SensorPosition/FrontLeft/Longitudinal" value="0.65"/>
+ <Property name="SensorPosition/FrontLeft/Height" value="0.65"/>
+ <Property name="SensorPosition/FrontLeft/Pitch" value="1.134464"/>
+ <Property name="SensorPosition/FrontLeft/Roll" value="0.0"/>
+ <Property name="SensorPosition/FrontLeft/Yaw" value="0.0"/>
+ <Property name="SensorPosition/FrontRight/Lateral" value="3.05"/>
+ <Property name="SensorPosition/FrontRight/Longitudinal" value="-0.65"/>
+ <Property name="SensorPosition/FrontRight/Height" value="0.65"/>
+ <Property name="SensorPosition/FrontRight/Pitch" value="-1.134464"/>
+ <Property name="SensorPosition/FrontRight/Roll" value="0.0"/>
+ <Property name="SensorPosition/FrontRight/Yaw" value="0.0"/>
+ <Property name="SensorPosition/SideLeft/Lateral" value="1.06"/>
+ <Property name="SensorPosition/SideLeft/Longitudinal" value="0.81"/>
+ <Property name="SensorPosition/SideLeft/Height" value="0.26"/>
+ <Property name="SensorPosition/SideLeft/Pitch" value="1.570796"/>
+ <Property name="SensorPosition/SideLeft/Roll" value="0.0"/>
+ <Property name="SensorPosition/SideLeft/Yaw" value="0.0"/>
+ <Property name="SensorPosition/SideRight/Lateral" value="1.06"/>
+ <Property name="SensorPosition/SideRight/Longitudinal" value="-0.81"/>
+ <Property name="SensorPosition/SideRight/Height" value="0.26"/>
+ <Property name="SensorPosition/SideRight/Pitch" value="-1.570796"/>
+ <Property name="SensorPosition/SideRight/Roll" value="0.0"/>
+ <Property name="SensorPosition/SideRight/Yaw" value="0.0"/>
+ <Property name="SensorPosition/RearLeft/Lateral" value="-0.35"/>
+ <Property name="SensorPosition/RearLeft/Longitudinal" value="0.7"/>
+ <Property name="SensorPosition/RearLeft/Height" value="0.6"/>
+ <Property name="SensorPosition/RearLeft/Pitch" value="2.146755"/>
+ <Property name="SensorPosition/RearLeft/Roll" value="0.0"/>
+ <Property name="SensorPosition/RearLeft/Yaw" value="0.0"/>
+ <Property name="SensorPosition/RearRight/Lateral" value="-0.35"/>
+ <Property name="SensorPosition/RearRight/Longitudinal" value="-0.7"/>
+ <Property name="SensorPosition/RearRight/Height" value="0.6"/>
+ <Property name="SensorPosition/RearRight/Pitch" value="-2.146755"/>
+ <Property name="SensorPosition/RearRight/Roll" value="0.0"/>
+ <Property name="SensorPosition/RearRight/Yaw" value="0.0"/>
+ </Properties>
+ <BoundingBox>
+ <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" 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"/>
+ </Axles>
+ </Vehicle>
+ <Vehicle mass="25000.0" name="bus" vehicleCategory="truck">
+ <Properties>
+ <Property name="AirDragCoefficient" value="0.8"/>
+ <Property name="AxleRatio" value="4.0"/>
+ <Property name="DecelerationFromPowertrainDrag" value="1.0"/>
+ <Property name="FrictionCoefficient" value="1.0"/>
+ <Property name="FrontSurface" value="9.0"/>
+ <Property name="GearRatio1" value="6.316"/>
+ <Property name="GearRatio2" value="4.554"/>
+ <Property name="GearRatio3" value="3.269"/>
+ <Property name="GearRatio4" value="2.352"/>
+ <Property name="GearRatio5" value="1.692"/>
+ <Property name="GearRatio6" value="1.217"/>
+ <Property name="GearRatio7" value="0.876"/>
+ <Property name="GearRatio8" value="0.630"/>
+ <Property name="MaximumEngineSpeed" value="2500.0"/>
+ <Property name="MaximumEngineTorque" value="1400.0"/>
+ <Property name="MinimumEngineSpeed" value="600.0"/>
+ <Property name="MinimumEngineTorque" value="-140.0"/>
+ <Property name="MomentInertiaPitch" value="0.0"/>
+ <Property name="MomentInertiaRoll" value="0.0"/>
+ <Property name="MomentInertiaYaw" value="0.0"/>
+ <Property name="NumberOfGears" value="8"/>
+ <Property name="SteeringRatio" value="15.0"/>
+ </Properties>
+ <BoundingBox>
+ <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" 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"/>
+ </Axles>
+ </Vehicle>
+ <Vehicle mass="30000.0" name="truck" vehicleCategory="truck">
+ <Properties>
+ <Property name="AirDragCoefficient" value="0.8"/>
+ <Property name="AxleRatio" value="4.0"/>
+ <Property name="DecelerationFromPowertrainDrag" value="1.0"/>
+ <Property name="FrictionCoefficient" value="1.0"/>
+ <Property name="FrontSurface" value="9.0"/>
+ <Property name="GearRatio1" value="6.316"/>
+ <Property name="GearRatio2" value="4.554"/>
+ <Property name="GearRatio3" value="3.269"/>
+ <Property name="GearRatio4" value="2.352"/>
+ <Property name="GearRatio5" value="1.692"/>
+ <Property name="GearRatio6" value="1.217"/>
+ <Property name="GearRatio7" value="0.876"/>
+ <Property name="GearRatio8" value="0.630"/>
+ <Property name="MaximumEngineSpeed" value="2500.0"/>
+ <Property name="MaximumEngineTorque" value="1400.0"/>
+ <Property name="MinimumEngineSpeed" value="600.0"/>
+ <Property name="MinimumEngineTorque" value="-140.0"/>
+ <Property name="MomentInertiaPitch" value="0.0"/>
+ <Property name="MomentInertiaRoll" value="0.0"/>
+ <Property name="MomentInertiaYaw" value="0.0"/>
+ <Property name="NumberOfGears" value="8"/>
+ <Property name="SteeringRatio" value="15.0"/>
+ </Properties>
+ <BoundingBox>
+ <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" 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"/>
+ </Axles>
+ </Vehicle>
+ <Vehicle mass="90.0" name="bicycle" vehicleCategory="bicycle">
+ <Properties>
+ <Property name="AirDragCoefficient" value="0.3"/>
+ <Property name="AxleRatio" value="3.0"/>
+ <Property name="DecelerationFromPowertrainDrag" value="0.5"/>
+ <Property name="FrictionCoefficient" value="1.0"/>
+ <Property name="FrontSurface" value="1.9"/>
+ <Property name="GearRatio1" value="4.350"/>
+ <Property name="GearRatio2" value="2.496"/>
+ <Property name="GearRatio3" value="1.665"/>
+ <Property name="GearRatio4" value="1.230"/>
+ <Property name="GearRatio5" value="1.0"/>
+ <Property name="GearRatio6" value="0.851"/>
+ <Property name="MaximumEngineSpeed" value="6000.0"/>
+ <Property name="MaximumEngineTorque" value="540.0"/>
+ <Property name="MinimumEngineSpeed" value="900.0"/>
+ <Property name="MinimumEngineTorque" value="-54.0"/>
+ <Property name="MomentInertiaPitch" value="0.0"/>
+ <Property name="MomentInertiaRoll" value="0.0"/>
+ <Property name="MomentInertiaYaw" value="0.0"/>
+ <Property name="NumberOfGears" value="6"/>
+ <Property name="SteeringRatio" value="10.7"/>
+ </Properties>
+ <BoundingBox>
+ <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" 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"/>
+ </Axles>
+ </Vehicle>
+ </Catalog>
+</OpenSCENARIO>
diff --git a/sim/contrib/examples/Common/simulationConfig.xml b/sim/contrib/examples/Common/simulationConfig.xml
index 0a84bfef937297c6fb8cc2f1cdc9588f5ccee9ee..e231533a44c0d6bbe04545355951f57eddf5278e 100644
--- a/sim/contrib/examples/Common/simulationConfig.xml
+++ b/sim/contrib/examples/Common/simulationConfig.xml
@@ -60,11 +60,6 @@
</Observation>
</Observations>
<Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
<Spawner>
<Library>SpawnerPreRunCommon</Library>
<Type>PreRun</Type>
diff --git a/sim/contrib/examples/Configurations/ADAS_AEB_CutIn/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/ADAS_AEB_CutIn/ProfilesCatalog.xml
index 3d3a528011343574e63cd85e20f9618646996992..d42e2ffd578f38d5c9fb33d8afda31e104aff470 100644
--- a/sim/contrib/examples/Configurations/ADAS_AEB_CutIn/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/ADAS_AEB_CutIn/ProfilesCatalog.xml
@@ -1,53 +1,71 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
<AgentProfile Name="EgoAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="EgoDriver" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="EgoVehicle" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="EgoVehicle" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="TFAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="LuxuryClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1" Probability="0.5"/>
- <VehicleProfile Name="BMW 7 2" Probability="0.5"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1" Probability="0.5"/>
+ <SystemProfile Name="BMW 7 2" Probability="0.5"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="0.5"/>
+ <VehicleModel Name="car_bmw_7_2" Probability="0.5"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="MiddleClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Mini Cooper" Probability="0.4"/>
- <VehicleProfile Name="BMW i3" Probability="0.3"/>
- <VehicleProfile Name="BMW 3" Probability="0.3"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Mini Cooper" Probability="0.4"/>
+ <SystemProfile Name="BMW i3" Probability="0.3"/>
+ <SystemProfile Name="BMW 3" Probability="0.3"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_mini_cooper" Probability="0.4"/>
+ <VehicleModel Name="car_bmw_i3" Probability="0.3"/>
+ <VehicleModel Name="car_bmw_3" Probability="0.3"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="TruckAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Truck" Probability="0.5"/>
- <VehicleProfile Name="Bus" Probability="0.5"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Truck" Probability="0.5"/>
+ <SystemProfile Name="Bus" Probability="0.5"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="truck" Probability="0.5"/>
+ <VehicleModel Name="bus" Probability="0.5"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="EgoVehicle">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="EgoVehicle">
<Components>
<Component Type="AEB">
<Profiles>
@@ -60,18 +78,15 @@
</Component>
</Components>
<Sensors>
- <Sensor Id="0">
- <Position Name="Default" Longitudinal="3.7" Lateral="1.09" Height="0.5" Pitch="0.0" Yaw="0.0" Roll="0.0"/>
+ <Sensor Id="0" Position="FrontWindow">
<Profile Type="Geometric2D" Name="Standard"/>
</Sensor>
- <Sensor Id="1">
- <Position Name="Default" Longitudinal="3.7" Lateral="-1.09" Height="0.5" Pitch="0.0" Yaw="0.0" Roll="0.0"/>
+ <Sensor Id="1" Position="FrontWindow">
<Profile Type="Geometric2D" Name="Standard"/>
</Sensor>
</Sensors>
- </VehicleProfile>
- <VehicleProfile Name="TFVehicle">
- <Model Name="car_bmw_7_1"/>
+ </SystemProfile>
+ <SystemProfile Name="TFVehicle">
<Components>
<Component Type="Dynamics_TrajectoryFollower">
<Profiles>
@@ -80,43 +95,36 @@
</Component>
</Components>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 7 1">
- <Model Name="car_bmw_7_1"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 7 1">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 7 2">
- <Model Name="car_bmw_7_2"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 7 2">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Mini Cooper">
- <Model Name="car_mini_cooper"/>
+ </SystemProfile>
+ <SystemProfile Name="Mini Cooper">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW i3">
- <Model Name="car_bmw_i3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW i3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 3">
- <Model Name="car_bmw_3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Truck">
- <Model Name="truck"/>
+ </SystemProfile>
+ <SystemProfile Name="Truck">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Bus">
- <Model Name="bus"/>
+ </SystemProfile>
+ <SystemProfile Name="Bus">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="EgoDriver">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
diff --git a/sim/contrib/examples/Configurations/ADAS_AEB_CutIn/Scenario.xosc b/sim/contrib/examples/Configurations/ADAS_AEB_CutIn/Scenario.xosc
index 4081cb626765802a51cf8269803e65cf1db35baa..2366002750a345e8ccb5a8d8db74329455b5e22e 100644
--- a/sim/contrib/examples/Configurations/ADAS_AEB_CutIn/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/ADAS_AEB_CutIn/Scenario.xosc
@@ -6,10 +6,10 @@
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -36,19 +36,54 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="EgoAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="EgoAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<ScenarioObject name="TF">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="TFAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="TF">
+ <Properties>
+ <Property name="AgentProfile" value="TFAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<ScenarioObject name="S1">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="LuxuryClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="S1">
+ <Properties>
+ <Property name="AgentProfile" value="LuxuryClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<ScenarioObject name="S2">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="LuxuryClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="S2">
+ <Properties>
+ <Property name="AgentProfile" value="LuxuryClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<ScenarioObject name="S3">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="LuxuryClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="S3">
+ <Properties>
+ <Property name="AgentProfile" value="LuxuryClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members>
@@ -73,7 +108,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="40"/>
</SpeedActionTarget>
@@ -92,7 +127,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="40"/>
</SpeedActionTarget>
@@ -111,7 +146,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.5" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.5" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="10.0"/>
</SpeedActionTarget>
@@ -130,7 +165,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="40"/>
</SpeedActionTarget>
@@ -149,7 +184,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="40"/>
</SpeedActionTarget>
@@ -171,367 +206,369 @@
<PrivateAction>
<RoutingAction>
<FollowTrajectoryAction>
- <Trajectory name="LaneChange" closed="false">
- <Shape>
- <Polyline>
- <Vertex time="0">
- <Position>
- <WorldPosition x="76.17" y="5.625" z="0" h="0.0" p="0" r="0"/>
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+ <Vertex time="6.3">
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+ <Vertex time="6.5">
+ <Position>
+ <WorldPosition x="271.11450" y="1.89082" z="0" h="-0.00136" p="0" r="0"/>
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+ <Vertex time="6.6">
+ <Position>
+ <WorldPosition x="274.11450" y="1.88654" z="0" h="-0.00143" p="0" r="0"/>
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+ </Vertex>
+ <Vertex time="6.7">
+ <Position>
+ <WorldPosition x="277.11449" y="1.88316" z="0" h="-0.00113" p="0" r="0"/>
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+ <Vertex time="6.8">
+ <Position>
+ <WorldPosition x="280.11449" y="1.87918" z="0" h="-0.00133" p="0" r="0"/>
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+ <Vertex time="6.9">
+ <Position>
+ <WorldPosition x="283.11449" y="1.87619" z="0" h="-0.00099" p="0" r="0"/>
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+ </Vertex>
+ <Vertex time="7.0">
+ <Position>
+ <WorldPosition x="286.11449" y="1.87500" z="0" h="-0.00040" p="0" r="0"/>
+ </Position>
+ </Vertex>
+ </Polyline>
+ </Shape>
+ </Trajectory>
+ </TrajectoryRef>
<TimeReference>
<None/>
</TimeReference>
@@ -542,7 +579,7 @@
</Action>
<StartTrigger>
<ConditionGroup>
- <Condition name="Conditional">
+ <Condition name="Conditional" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="-1" rule="greaterThan"/>
</ByValueCondition>
diff --git a/sim/contrib/examples/Configurations/ADAS_AEB_CutIn/simulationConfig.xml b/sim/contrib/examples/Configurations/ADAS_AEB_CutIn/simulationConfig.xml
index f8f899ab4d11c3728334e0c797a8a7a8c023adf4..fac7cc98fbfffe93b8c748132e6941e4a8be2bbd 100644
--- a/sim/contrib/examples/Configurations/ADAS_AEB_CutIn/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/ADAS_AEB_CutIn/simulationConfig.xml
@@ -52,11 +52,6 @@
</Observation>
</Observations>
<Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
<Spawner>
<Library>SpawnerPreRunCommon</Library>
<Type>PreRun</Type>
diff --git a/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacle/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacle/ProfilesCatalog.xml
index 9e85ff16b9455a6afb3020cd754d37cd61db8e95..1588bd7109252c1cc40208f74fe563d14c2ccc9c 100644
--- a/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacle/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacle/ProfilesCatalog.xml
@@ -1,26 +1,31 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
<AgentProfile Name="MiddleClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="CantStop" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Mini Cooper" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Mini Cooper" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_mini_cooper" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="ScenarioAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="StandingStill" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 3" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 3" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_3" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Mini Cooper">
- <Model Name="car_mini_cooper"/>
- <Components>
+ <SystemProfiles>
+ <SystemProfile Name="Mini Cooper">
+ <Components>
<Component Type="AEB">
<Profiles>
<Profile Name="AEB1" Probability="1.0"/>
@@ -31,18 +36,16 @@
</Component>
</Components>
<Sensors>
- <Sensor Id="0">
- <Position Height="0.5" Lateral="0.0" Longitudinal="0.0" Name="Default" Pitch="0.0" Roll="0.0" Yaw="0.0"/>
+ <Sensor Id="0" Position="FrontWindow">
<Profile Name="Standard" Type="Geometric2D"/>
</Sensor>
</Sensors>
- </VehicleProfile>
- <VehicleProfile Name="BMW 3">
- <Model Name="car_bmw_3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 3">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="CantStop">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
diff --git a/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacle/Scenario.xosc b/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacle/Scenario.xosc
index 40e86a64f6834469e2926ae076b3889954f6c3ae..d6a55b36f9aedbe0ad793ef16fd1d03e1d6dd298 100644
--- a/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacle/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacle/Scenario.xosc
@@ -6,10 +6,10 @@
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -36,7 +36,14 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="MiddleClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="MiddleClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
</Entities>
<Storyboard>
@@ -53,7 +60,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="35.0"/>
</SpeedActionTarget>
@@ -63,6 +70,11 @@
</Private>
</Actions>
</Init>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1"/>
+ </Act>
+ </Story>
<StopTrigger>
<ConditionGroup>
<Condition name="EndTime" delay="0" conditionEdge="rising">
diff --git a/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacle/simulationConfig.xml b/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacle/simulationConfig.xml
index 7527cc3b0724c0f1ca61352d6b89cfeefa2f7d88..40bc42a797e5c62b10108256d32973bad4c61136 100644
--- a/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacle/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacle/simulationConfig.xml
@@ -42,11 +42,5 @@
</Parameters>
</Observation>
</Observations>
- <Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
- </Spawners>
+ <Spawners/>
</simulationConfig>
diff --git a/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacleInCurve/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacleInCurve/ProfilesCatalog.xml
index dc51f6540063f2c4ed071e6554f42a36f80fa11b..a28b7574b53fcab0b8d6a6c232dd7a7b24000916 100644
--- a/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacleInCurve/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacleInCurve/ProfilesCatalog.xml
@@ -1,17 +1,19 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
<AgentProfile Name="EgoAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="EgoDriver" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="EgoVehicle" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="EgoVehicle" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_2" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="EgoVehicle">
- <Model Name="car_bmw_7_2"/>
+ <SystemProfiles>
+ <SystemProfile Name="EgoVehicle">
<Components>
<Component Type="AEB">
<Profiles>
@@ -24,17 +26,15 @@
</Component>
</Components>
<Sensors>
- <Sensor Id="0">
- <Position Name="Default" Longitudinal="3.7" Lateral="1.09" Height="0.5" Pitch="0.0" Yaw="0.0" Roll="0.0"/>
+ <Sensor Id="0" Position="FrontWindow">
<Profile Type="Geometric2D" Name="Standard"/>
</Sensor>
- <Sensor Id="1">
- <Position Name="Default" Longitudinal="3.7" Lateral="-1.09" Height="0.5" Pitch="0.0" Yaw="0.0" Roll="0.0"/>
+ <Sensor Id="1" Position="FrontWindow">
<Profile Type="Geometric2D" Name="Standard"/>
</Sensor>
</Sensors>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="EgoDriver">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
diff --git a/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacleInCurve/Scenario.xosc b/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacleInCurve/Scenario.xosc
index 983544ebe152d64bc5826ec881184ea4e6305a73..954ce141a4bec7e6def45b9a157b6d81a6220e88 100644
--- a/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacleInCurve/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacleInCurve/Scenario.xosc
@@ -6,10 +6,10 @@
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -36,7 +36,14 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="EgoAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_2"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="EgoAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members/>
@@ -56,7 +63,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="40"/>
</SpeedActionTarget>
@@ -66,6 +73,11 @@
</Private>
</Actions>
</Init>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1"/>
+ </Act>
+ </Story>
<StopTrigger>
<ConditionGroup>
<Condition name="EndTime" delay="0" conditionEdge="rising">
diff --git a/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacleInCurve/simulationConfig.xml b/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacleInCurve/simulationConfig.xml
index 9faaba62e512ae8e5379f4da34654b6afd6124f7..ea95714c05253844d48b70b34b1823894b3228fc 100644
--- a/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacleInCurve/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/ADAS_AEB_PreventingCollisionWithObstacleInCurve/simulationConfig.xml
@@ -45,11 +45,5 @@
</Parameters>
</Observation>
</Observations>
- <Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
- </Spawners>
+ <Spawners/>
</simulationConfig>
diff --git a/sim/contrib/examples/Configurations/AFDM_TJunction/Scenario.xosc b/sim/contrib/examples/Configurations/AFDM_TJunction/Scenario.xosc
index 37b6624a5db12ef327d5ba4d1a51383be9571373..7c204f411a0f15a25da066e16eaa25e625b42c8e 100644
--- a/sim/contrib/examples/Configurations/AFDM_TJunction/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/AFDM_TJunction/Scenario.xosc
@@ -6,10 +6,10 @@
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -36,10 +36,24 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="MiddleClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="MiddleClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<ScenarioObject name="ScenarioAgent1">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="MiddleClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper"/>
+ <ObjectController>
+ <Controller name="ScenarioAgent1">
+ <Properties>
+ <Property name="AgentProfile" value="MiddleClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members/>
@@ -59,7 +73,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="8.0"/>
</SpeedActionTarget>
@@ -78,7 +92,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="8.0"/>
</SpeedActionTarget>
@@ -88,8 +102,12 @@
</Private>
</Actions>
</Init>
- <Story/>
- <StopTrigger>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1"/>
+ </Act>
+ </Story>
+ <StopTrigger>
<ConditionGroup>
<Condition name="EndTime" delay="0" conditionEdge="rising">
<ByValueCondition>
diff --git a/sim/contrib/examples/Configurations/AFDM_TJunction/simulationConfig.xml b/sim/contrib/examples/Configurations/AFDM_TJunction/simulationConfig.xml
index c8211a325864234c285091dc0954402c444cb89c..7ad1a66ad5ecce7e3f04f466b0e0142be9c7473b 100644
--- a/sim/contrib/examples/Configurations/AFDM_TJunction/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/AFDM_TJunction/simulationConfig.xml
@@ -42,11 +42,5 @@
</Parameters>
</Observation>
</Observations>
- <Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
- </Spawners>
+ <Spawners/>
</simulationConfig>
diff --git a/sim/contrib/examples/Configurations/ByEntityCondition_RelativeLane/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/ByEntityCondition_RelativeLane/ProfilesCatalog.xml
index 9ee0a84a3fd2411b73924d36ffa9f43ba027dcfe..6597074bfe6ea566b6432f1128ad009a49455bbb 100644
--- a/sim/contrib/examples/Configurations/ByEntityCondition_RelativeLane/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/ByEntityCondition_RelativeLane/ProfilesCatalog.xml
@@ -1,25 +1,30 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
- <AgentProfile Name="TFAgent" Type="Dynamic">
+ <AgentProfile Name="TFAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="StandingAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Standing" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="StandingVehicle" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="StandingVehicle" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_i3" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle">
<Components>
<Component Type="Dynamics_TrajectoryFollower">
<Profiles>
@@ -28,13 +33,12 @@
</Component>
</Components>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="StandingVehicle">
- <Model Name="car_bmw_i3"/>
+ </SystemProfile>
+ <SystemProfile Name="StandingVehicle">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
diff --git a/sim/contrib/examples/Configurations/ByEntityCondition_RelativeLane/Scenario.xosc b/sim/contrib/examples/Configurations/ByEntityCondition_RelativeLane/Scenario.xosc
old mode 100755
new mode 100644
index a96b9e9f4194057c1f60c0e4a11cb6df51c4602d..4ef4c22709f8e6385276369715ac8950f879a250
--- a/sim/contrib/examples/Configurations/ByEntityCondition_RelativeLane/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/ByEntityCondition_RelativeLane/Scenario.xosc
@@ -1,19 +1,15 @@
<?xml version="1.0"?>
<OpenSCENARIO>
- <FileHeader revMajor="1"
- revMinor="0"
- date="2020-06-26T00:17:00"
- description="openPASS ByEntityCondition_RelativeLane"
- author="BMW AG"/>
+ <FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="openPASS ByEntityCondition_RelativeLane" author="BMW AG"/>
<ParameterDeclarations>
<ParameterDeclaration name="OP_OSC_SchemaVersion" parameterType="string" value="0.4.0"/>
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -40,10 +36,24 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="TFAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="TFAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<ScenarioObject name="StandingAgent">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="StandingAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_i3"/>
+ <ObjectController>
+ <Controller name="StandingAgent">
+ <Properties>
+ <Property name="AgentProfile" value="StandingAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members/>
@@ -63,7 +73,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="35.0"/>
</SpeedActionTarget>
@@ -82,7 +92,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="0.0"/>
</SpeedActionTarget>
@@ -115,7 +125,7 @@
</Action>
<StartTrigger>
<ConditionGroup>
- <Condition name="RelativeLanePosition">
+ <Condition name="RelativeLanePosition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="Ego"/>
diff --git a/sim/contrib/examples/Configurations/ByEntityCondition_RelativeLane/simulationConfig.xml b/sim/contrib/examples/Configurations/ByEntityCondition_RelativeLane/simulationConfig.xml
index eaf68852e1152074fa5a4086093306c4af492cf7..0089fcf428c8b35c562eb3483baee76f2a0ee1e1 100644
--- a/sim/contrib/examples/Configurations/ByEntityCondition_RelativeLane/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/ByEntityCondition_RelativeLane/simulationConfig.xml
@@ -43,10 +43,5 @@
</Observation>
</Observations>
<Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
</Spawners>
</simulationConfig>
diff --git a/sim/contrib/examples/Configurations/ByEntityCondition_RelativeSpeed/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/ByEntityCondition_RelativeSpeed/ProfilesCatalog.xml
index 7278514e7737a7c21fe68e7431bc49c6aba6d543..ef0f4ebfa3ba7acc0f112fda555ee0e65147632e 100644
--- a/sim/contrib/examples/Configurations/ByEntityCondition_RelativeSpeed/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/ByEntityCondition_RelativeSpeed/ProfilesCatalog.xml
@@ -1,25 +1,30 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
- <AgentProfile Name="TFAgent" Type="Dynamic">
+ <AgentProfile Name="TFAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="StandingAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Standing" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="StandingVehicle" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="StandingVehicle" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_i3" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle">
<Components>
<Component Type="Dynamics_TrajectoryFollower">
<Profiles>
@@ -28,13 +33,12 @@
</Component>
</Components>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="StandingVehicle">
- <Model Name="car_bmw_i3"/>
+ </SystemProfile>
+ <SystemProfile Name="StandingVehicle">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
diff --git a/sim/contrib/examples/Configurations/ByEntityCondition_RelativeSpeed/Scenario.xosc b/sim/contrib/examples/Configurations/ByEntityCondition_RelativeSpeed/Scenario.xosc
old mode 100755
new mode 100644
index 2f4ebb20ccc00f7da7caf3488f10aa09195de5ee..894072b937f8efe96588b9b314fb7f35ab4942d3
--- a/sim/contrib/examples/Configurations/ByEntityCondition_RelativeSpeed/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/ByEntityCondition_RelativeSpeed/Scenario.xosc
@@ -1,19 +1,15 @@
<?xml version="1.0"?>
<OpenSCENARIO>
- <FileHeader revMajor="1"
- revMinor="0"
- date="2020-06-26T00:17:00"
- description="openPASS ByEntityCondition_RelativeSpeed"
- author="BMW AG"/>
+ <FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="openPASS ByEntityCondition_RelativeSpeed" author="BMW AG"/>
<ParameterDeclarations>
<ParameterDeclaration name="OP_OSC_SchemaVersion" parameterType="string" value="0.4.0"/>
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -40,10 +36,24 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="TFAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="TFAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<ScenarioObject name="StandingAgent">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="StandingAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_i3"/>
+ <ObjectController>
+ <Controller name="StandingAgent">
+ <Properties>
+ <Property name="AgentProfile" value="StandingAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members/>
@@ -63,7 +73,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="35.0"/>
</SpeedActionTarget>
@@ -82,7 +92,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="35.0"/>
</SpeedActionTarget>
@@ -115,7 +125,7 @@
</Action>
<StartTrigger>
<ConditionGroup>
- <Condition name="RelativeSpeed">
+ <Condition name="RelativeSpeed" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="Ego"/>
diff --git a/sim/contrib/examples/Configurations/ByEntityCondition_RelativeSpeed/simulationConfig.xml b/sim/contrib/examples/Configurations/ByEntityCondition_RelativeSpeed/simulationConfig.xml
index eaf68852e1152074fa5a4086093306c4af492cf7..0089fcf428c8b35c562eb3483baee76f2a0ee1e1 100644
--- a/sim/contrib/examples/Configurations/ByEntityCondition_RelativeSpeed/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/ByEntityCondition_RelativeSpeed/simulationConfig.xml
@@ -43,10 +43,5 @@
</Observation>
</Observations>
<Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
</Spawners>
</simulationConfig>
diff --git a/sim/contrib/examples/Configurations/ByEntityCondition_RoadPosition/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/ByEntityCondition_RoadPosition/ProfilesCatalog.xml
index 265c049a92eb03ddc0ada71bc845dc25369fcc1b..2f915fe814b50d5513616ef78e1b88c2ce31b6e9 100644
--- a/sim/contrib/examples/Configurations/ByEntityCondition_RoadPosition/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/ByEntityCondition_RoadPosition/ProfilesCatalog.xml
@@ -1,17 +1,19 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
- <AgentProfile Name="TFAgent" Type="Dynamic">
+ <AgentProfile Name="TFAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle">
<Components>
<Component Type="Dynamics_TrajectoryFollower">
<Profiles>
@@ -20,8 +22,12 @@
</Component>
</Components>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ <SystemProfile Name="StandingVehicle">
+ <Components/>
+ <Sensors/>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
@@ -31,8 +37,8 @@
<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"/>
+ <Double Key="MaxAcceleration" Value="0.0"/>
+ <Double Key="MaxDeceleration" Value="0.0"/>
</Profile>
</ProfileGroup>
<ProfileGroup Type="Dynamics_TrajectoryFollower">
diff --git a/sim/contrib/examples/Configurations/ByEntityCondition_RoadPosition/Scenario.xosc b/sim/contrib/examples/Configurations/ByEntityCondition_RoadPosition/Scenario.xosc
old mode 100755
new mode 100644
index e64983a76b1d444b71a5cfe60760055ed242ac60..32017d22d84343b53a87ed490f37a46a87eb3eda
--- a/sim/contrib/examples/Configurations/ByEntityCondition_RoadPosition/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/ByEntityCondition_RoadPosition/Scenario.xosc
@@ -1,19 +1,15 @@
<?xml version="1.0"?>
<OpenSCENARIO>
- <FileHeader revMajor="1"
- revMinor="0"
- date="2020-06-26T00:17:00"
- description="openPASS ByEntityCondition_RoadPosition"
- author="BMW AG"/>
+ <FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="openPASS ByEntityCondition_RoadPosition" author="BMW AG"/>
<ParameterDeclarations>
<ParameterDeclaration name="OP_OSC_SchemaVersion" parameterType="string" value="0.4.0"/>
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -40,7 +36,14 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="TFAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="TFAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members/>
@@ -60,7 +63,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="35.0"/>
</SpeedActionTarget>
@@ -92,7 +95,7 @@
</Action>
<StartTrigger>
<ConditionGroup>
- <Condition name="RoadPosition">
+ <Condition name="RoadPosition" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="Ego"/>
@@ -123,4 +126,4 @@
</ConditionGroup>
</StopTrigger>
</Storyboard>
-</OpenSCENARIO>
\ No newline at end of file
+</OpenSCENARIO>
diff --git a/sim/contrib/examples/Configurations/ByEntityCondition_RoadPosition/simulationConfig.xml b/sim/contrib/examples/Configurations/ByEntityCondition_RoadPosition/simulationConfig.xml
index eaf68852e1152074fa5a4086093306c4af492cf7..0089fcf428c8b35c562eb3483baee76f2a0ee1e1 100644
--- a/sim/contrib/examples/Configurations/ByEntityCondition_RoadPosition/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/ByEntityCondition_RoadPosition/simulationConfig.xml
@@ -43,10 +43,5 @@
</Observation>
</Observations>
<Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
</Spawners>
</simulationConfig>
diff --git a/sim/contrib/examples/Configurations/ByEntityCondition_TimeHeadway/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/ByEntityCondition_TimeHeadway/ProfilesCatalog.xml
index 9ee0a84a3fd2411b73924d36ffa9f43ba027dcfe..6597074bfe6ea566b6432f1128ad009a49455bbb 100644
--- a/sim/contrib/examples/Configurations/ByEntityCondition_TimeHeadway/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/ByEntityCondition_TimeHeadway/ProfilesCatalog.xml
@@ -1,25 +1,30 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
- <AgentProfile Name="TFAgent" Type="Dynamic">
+ <AgentProfile Name="TFAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="StandingAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Standing" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="StandingVehicle" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="StandingVehicle" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_i3" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle">
<Components>
<Component Type="Dynamics_TrajectoryFollower">
<Profiles>
@@ -28,13 +33,12 @@
</Component>
</Components>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="StandingVehicle">
- <Model Name="car_bmw_i3"/>
+ </SystemProfile>
+ <SystemProfile Name="StandingVehicle">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
diff --git a/sim/contrib/examples/Configurations/ByEntityCondition_TimeHeadway/Scenario.xosc b/sim/contrib/examples/Configurations/ByEntityCondition_TimeHeadway/Scenario.xosc
old mode 100755
new mode 100644
index 88b3478e49a135acd0bd85ea71b9c185387b6ad9..6960c432d8fa2790dcde5678b1e74d0c272ef5ba
--- a/sim/contrib/examples/Configurations/ByEntityCondition_TimeHeadway/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/ByEntityCondition_TimeHeadway/Scenario.xosc
@@ -1,19 +1,15 @@
<?xml version="1.0"?>
<OpenSCENARIO>
- <FileHeader revMajor="1"
- revMinor="0"
- date="2020-06-26T00:17:00"
- description="openPASS ByEntityCondition_TimeHeadway"
- author="BMW AG"/>
+ <FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="openPASS ByEntityCondition_TimeHeadway" author="BMW AG"/>
<ParameterDeclarations>
<ParameterDeclaration name="OP_OSC_SchemaVersion" parameterType="string" value="0.4.0"/>
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -40,10 +36,24 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="TFAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="TFAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<ScenarioObject name="StandingAgent">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="StandingAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_i3"/>
+ <ObjectController>
+ <Controller name="StandingAgent">
+ <Properties>
+ <Property name="AgentProfile" value="StandingAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members/>
@@ -63,7 +73,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="35.0"/>
</SpeedActionTarget>
@@ -82,7 +92,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="0.0"/>
</SpeedActionTarget>
@@ -115,17 +125,13 @@
</Action>
<StartTrigger>
<ConditionGroup>
- <Condition name="TimeHeadway">
+ <Condition name="TimeHeadway" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="Ego"/>
</TriggeringEntities>
<EntityCondition>
- <TimeHeadwayCondition value="3.0"
- rule="lessThan"
- entityRef="StandingAgent"
- freespace="true"
- alongRoute="true"/>
+ <TimeHeadwayCondition value="3.0" rule="lessThan" entityRef="StandingAgent" freespace="true" alongRoute="true"/>
</EntityCondition>
</ByEntityCondition>
</Condition>
diff --git a/sim/contrib/examples/Configurations/ByEntityCondition_TimeHeadway/simulationConfig.xml b/sim/contrib/examples/Configurations/ByEntityCondition_TimeHeadway/simulationConfig.xml
index eaf68852e1152074fa5a4086093306c4af492cf7..0089fcf428c8b35c562eb3483baee76f2a0ee1e1 100644
--- a/sim/contrib/examples/Configurations/ByEntityCondition_TimeHeadway/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/ByEntityCondition_TimeHeadway/simulationConfig.xml
@@ -43,10 +43,5 @@
</Observation>
</Observations>
<Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
</Spawners>
</simulationConfig>
diff --git a/sim/contrib/examples/Configurations/ByEntityCondition_TimeToCollision/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/ByEntityCondition_TimeToCollision/ProfilesCatalog.xml
index 9ee0a84a3fd2411b73924d36ffa9f43ba027dcfe..6597074bfe6ea566b6432f1128ad009a49455bbb 100644
--- a/sim/contrib/examples/Configurations/ByEntityCondition_TimeToCollision/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/ByEntityCondition_TimeToCollision/ProfilesCatalog.xml
@@ -1,25 +1,30 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
- <AgentProfile Name="TFAgent" Type="Dynamic">
+ <AgentProfile Name="TFAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="StandingAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Standing" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="StandingVehicle" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="StandingVehicle" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_i3" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle">
<Components>
<Component Type="Dynamics_TrajectoryFollower">
<Profiles>
@@ -28,13 +33,12 @@
</Component>
</Components>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="StandingVehicle">
- <Model Name="car_bmw_i3"/>
+ </SystemProfile>
+ <SystemProfile Name="StandingVehicle">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
diff --git a/sim/contrib/examples/Configurations/ByEntityCondition_TimeToCollision/Scenario.xosc b/sim/contrib/examples/Configurations/ByEntityCondition_TimeToCollision/Scenario.xosc
old mode 100755
new mode 100644
index e46709388e36e55958e8c825cc4b6b77f011d87a..60542fe497d95170eccff7848aeb5c9089a592ca
--- a/sim/contrib/examples/Configurations/ByEntityCondition_TimeToCollision/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/ByEntityCondition_TimeToCollision/Scenario.xosc
@@ -1,19 +1,15 @@
<?xml version="1.0"?>
<OpenSCENARIO>
- <FileHeader revMajor="1"
- revMinor="0"
- date="2020-06-26T00:17:00"
- description="openPASS ByEntityCondition_TimeToCollision"
- author="BMW AG"/>
+ <FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="openPASS ByEntityCondition_TimeToCollision" author="BMW AG"/>
<ParameterDeclarations>
<ParameterDeclaration name="OP_OSC_SchemaVersion" parameterType="string" value="0.4.0"/>
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -40,10 +36,24 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="TFAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="TFAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<ScenarioObject name="StandingAgent">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="StandingAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_i3"/>
+ <ObjectController>
+ <Controller name="StandingAgent">
+ <Properties>
+ <Property name="AgentProfile" value="StandingAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members/>
@@ -63,7 +73,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="35.0"/>
</SpeedActionTarget>
@@ -82,7 +92,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="0.0"/>
</SpeedActionTarget>
@@ -115,13 +125,13 @@
</Action>
<StartTrigger>
<ConditionGroup>
- <Condition name="TimeToCollision">
+ <Condition name="TimeToCollision" delay="0" conditionEdge="rising">
<ByEntityCondition>
<TriggeringEntities triggeringEntitiesRule="any">
<EntityRef entityRef="Ego"/>
</TriggeringEntities>
<EntityCondition>
- <TimeToCollisionCondition value="3.0" rule="lessThan">
+ <TimeToCollisionCondition value="3.0" rule="lessThan" freespace="true">
<TimeToCollisionConditionTarget>
<EntityRef entityRef="StandingAgent"/>
</TimeToCollisionConditionTarget>
@@ -140,7 +150,7 @@
<ConditionGroup>
<Condition name="EndTime" delay="0" conditionEdge="rising">
<ByValueCondition>
- <SimulationTimeCondition value="15.0" rule="greaterThan"/>
+ <SimulationTimeCondition value="11" rule="greaterThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
diff --git a/sim/contrib/examples/Configurations/ByEntityCondition_TimeToCollision/simulationConfig.xml b/sim/contrib/examples/Configurations/ByEntityCondition_TimeToCollision/simulationConfig.xml
index eaf68852e1152074fa5a4086093306c4af492cf7..0089fcf428c8b35c562eb3483baee76f2a0ee1e1 100644
--- a/sim/contrib/examples/Configurations/ByEntityCondition_TimeToCollision/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/ByEntityCondition_TimeToCollision/simulationConfig.xml
@@ -43,10 +43,5 @@
</Observation>
</Observations>
<Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
</Spawners>
</simulationConfig>
diff --git a/sim/contrib/examples/Configurations/LocalizationOnJunction/Scenario.xosc b/sim/contrib/examples/Configurations/LocalizationOnJunction/Scenario.xosc
index 91b3f99a7a36aaf959f219434c46b95c53dc9af3..ddc483f1105a8a400933dd9253e651657655e71f 100644
--- a/sim/contrib/examples/Configurations/LocalizationOnJunction/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/LocalizationOnJunction/Scenario.xosc
@@ -6,10 +6,10 @@
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -36,7 +36,14 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="MiddleClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="MiddleClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members/>
@@ -56,7 +63,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="43.5"/>
</SpeedActionTarget>
@@ -66,18 +73,18 @@
<PrivateAction>
<RoutingAction>
<AssignRouteAction>
- <Route>
- <Waypoint>
+ <Route closed="false" name="">
+ <Waypoint routeStrategy="shortest">
<Position>
<RoadPosition roadId="R1" s="0" t="-1.0"/>
</Position>
</Waypoint>
- <Waypoint>
+ <Waypoint routeStrategy="shortest">
<Position>
<RoadPosition roadId="R1_3" s="0" t="-1.0"/>
</Position>
</Waypoint>
- <Waypoint>
+ <Waypoint routeStrategy="shortest">
<Position>
<RoadPosition roadId="R3" s="0" t="1.0"/>
</Position>
@@ -89,12 +96,16 @@
</Private>
</Actions>
</Init>
- <Story/>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1"/>
+ </Act>
+ </Story>
<StopTrigger>
<ConditionGroup>
<Condition name="EndTime" delay="0" conditionEdge="rising">
<ByValueCondition>
- <SimulationTimeCondition value="30.0" rule="greaterThan"/>
+ <SimulationTimeCondition value="30" rule="greaterThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
diff --git a/sim/contrib/examples/Configurations/LocalizationOnJunction/simulationConfig.xml b/sim/contrib/examples/Configurations/LocalizationOnJunction/simulationConfig.xml
index 9a55c36d4fe485353a026b306b808ab3eedcd6c4..a0b7937309a7affa95611df101aa154f8854b118 100644
--- a/sim/contrib/examples/Configurations/LocalizationOnJunction/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/LocalizationOnJunction/simulationConfig.xml
@@ -40,11 +40,5 @@
</Parameters>
</Observation>
</Observations>
- <Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
- </Spawners>
+ <Spawners/>
</simulationConfig>
diff --git a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Absolute/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Absolute/ProfilesCatalog.xml
index 265c049a92eb03ddc0ada71bc845dc25369fcc1b..2f915fe814b50d5513616ef78e1b88c2ce31b6e9 100644
--- a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Absolute/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Absolute/ProfilesCatalog.xml
@@ -1,17 +1,19 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
- <AgentProfile Name="TFAgent" Type="Dynamic">
+ <AgentProfile Name="TFAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle">
<Components>
<Component Type="Dynamics_TrajectoryFollower">
<Profiles>
@@ -20,8 +22,12 @@
</Component>
</Components>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ <SystemProfile Name="StandingVehicle">
+ <Components/>
+ <Sensors/>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
@@ -31,8 +37,8 @@
<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"/>
+ <Double Key="MaxAcceleration" Value="0.0"/>
+ <Double Key="MaxDeceleration" Value="0.0"/>
</Profile>
</ProfileGroup>
<ProfileGroup Type="Dynamics_TrajectoryFollower">
diff --git a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Absolute/Scenario.xosc b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Absolute/Scenario.xosc
old mode 100755
new mode 100644
index 50a82444f9c965b9e98280629d323ff076671ecb..e22917ac2be577fcb57c2dc08b93bae92a264a81
--- a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Absolute/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Absolute/Scenario.xosc
@@ -6,10 +6,10 @@
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -36,7 +36,14 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="TFAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="TFAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members/>
@@ -56,7 +63,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="35.0"/>
</SpeedActionTarget>
@@ -66,7 +73,7 @@
</Private>
</Actions>
</Init>
- <Story name="LaneChange">
+ <Story name="LaneChange">
<Act name="Act1">
<ManeuverGroup maximumExecutionCount="1" name="StateChangeSequenceA">
<Actors selectTriggeringEntities="false">
@@ -88,7 +95,7 @@
</Action>
<StartTrigger>
<ConditionGroup>
- <Condition name="Conditional">
+ <Condition name="Conditional" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="3.0" rule="greaterThan"/>
</ByValueCondition>
@@ -99,7 +106,7 @@
</Maneuver>
</ManeuverGroup>
</Act>
- </Story>
+ </Story>
<StopTrigger>
<ConditionGroup>
<Condition name="EndTime" delay="0" conditionEdge="rising">
diff --git a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Absolute/simulationConfig.xml b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Absolute/simulationConfig.xml
index eaf68852e1152074fa5a4086093306c4af492cf7..0089fcf428c8b35c562eb3483baee76f2a0ee1e1 100644
--- a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Absolute/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Absolute/simulationConfig.xml
@@ -43,10 +43,5 @@
</Observation>
</Observations>
<Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
</Spawners>
</simulationConfig>
diff --git a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Relative/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Relative/ProfilesCatalog.xml
index 265c049a92eb03ddc0ada71bc845dc25369fcc1b..2f915fe814b50d5513616ef78e1b88c2ce31b6e9 100644
--- a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Relative/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Relative/ProfilesCatalog.xml
@@ -1,17 +1,19 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
- <AgentProfile Name="TFAgent" Type="Dynamic">
+ <AgentProfile Name="TFAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle">
<Components>
<Component Type="Dynamics_TrajectoryFollower">
<Profiles>
@@ -20,8 +22,12 @@
</Component>
</Components>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ <SystemProfile Name="StandingVehicle">
+ <Components/>
+ <Sensors/>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
@@ -31,8 +37,8 @@
<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"/>
+ <Double Key="MaxAcceleration" Value="0.0"/>
+ <Double Key="MaxDeceleration" Value="0.0"/>
</Profile>
</ProfileGroup>
<ProfileGroup Type="Dynamics_TrajectoryFollower">
diff --git a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Relative/Scenario.xosc b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Relative/Scenario.xosc
old mode 100755
new mode 100644
index 384d4995b4d2048f32ea9e776cefa45cad23c996..5e1517cf801610d05567b6a7adaa73d6fc40112b
--- a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Relative/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Relative/Scenario.xosc
@@ -6,10 +6,10 @@
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -36,7 +36,14 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="TFAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="TFAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members/>
@@ -56,7 +63,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="35.0"/>
</SpeedActionTarget>
@@ -66,7 +73,7 @@
</Private>
</Actions>
</Init>
- <Story name="LaneChange">
+ <Story name="LaneChange">
<Act name="Act1">
<ManeuverGroup maximumExecutionCount="1" name="StateChangeSequenceA">
<Actors selectTriggeringEntities="false">
@@ -88,7 +95,7 @@
</Action>
<StartTrigger>
<ConditionGroup>
- <Condition name="Conditional">
+ <Condition name="Conditional" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="3.0" rule="greaterThan"/>
</ByValueCondition>
@@ -99,7 +106,7 @@
</Maneuver>
</ManeuverGroup>
</Act>
- </Story>
+ </Story>
<StopTrigger>
<ConditionGroup>
<Condition name="EndTime" delay="0" conditionEdge="rising">
diff --git a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Relative/simulationConfig.xml b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Relative/simulationConfig.xml
index eaf68852e1152074fa5a4086093306c4af492cf7..0089fcf428c8b35c562eb3483baee76f2a0ee1e1 100644
--- a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Relative/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeLeft_Relative/simulationConfig.xml
@@ -43,10 +43,5 @@
</Observation>
</Observations>
<Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
</Spawners>
</simulationConfig>
diff --git a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Absolute/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Absolute/ProfilesCatalog.xml
index 265c049a92eb03ddc0ada71bc845dc25369fcc1b..2f915fe814b50d5513616ef78e1b88c2ce31b6e9 100644
--- a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Absolute/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Absolute/ProfilesCatalog.xml
@@ -1,17 +1,19 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
- <AgentProfile Name="TFAgent" Type="Dynamic">
+ <AgentProfile Name="TFAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle">
<Components>
<Component Type="Dynamics_TrajectoryFollower">
<Profiles>
@@ -20,8 +22,12 @@
</Component>
</Components>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ <SystemProfile Name="StandingVehicle">
+ <Components/>
+ <Sensors/>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
@@ -31,8 +37,8 @@
<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"/>
+ <Double Key="MaxAcceleration" Value="0.0"/>
+ <Double Key="MaxDeceleration" Value="0.0"/>
</Profile>
</ProfileGroup>
<ProfileGroup Type="Dynamics_TrajectoryFollower">
diff --git a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Absolute/Scenario.xosc b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Absolute/Scenario.xosc
old mode 100755
new mode 100644
index b5b89514cdb4f02e494e1ba42895c530854ab572..58dcc5d339b27e4cc1f36b0edf26d50e1ae4c8b5
--- a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Absolute/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Absolute/Scenario.xosc
@@ -6,10 +6,10 @@
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -36,7 +36,14 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="TFAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="TFAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members/>
@@ -56,7 +63,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="35.0"/>
</SpeedActionTarget>
@@ -66,7 +73,7 @@
</Private>
</Actions>
</Init>
- <Story name="LaneChange">
+ <Story name="LaneChange">
<Act name="Act1">
<ManeuverGroup maximumExecutionCount="1" name="StateChangeSequenceA">
<Actors selectTriggeringEntities="false">
@@ -88,7 +95,7 @@
</Action>
<StartTrigger>
<ConditionGroup>
- <Condition name="Conditional">
+ <Condition name="Conditional" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="3.0" rule="greaterThan"/>
</ByValueCondition>
@@ -99,7 +106,7 @@
</Maneuver>
</ManeuverGroup>
</Act>
- </Story>
+ </Story>
<StopTrigger>
<ConditionGroup>
<Condition name="EndTime" delay="0" conditionEdge="rising">
diff --git a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Absolute/simulationConfig.xml b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Absolute/simulationConfig.xml
index eaf68852e1152074fa5a4086093306c4af492cf7..0089fcf428c8b35c562eb3483baee76f2a0ee1e1 100644
--- a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Absolute/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Absolute/simulationConfig.xml
@@ -43,10 +43,5 @@
</Observation>
</Observations>
<Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
</Spawners>
</simulationConfig>
diff --git a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Relative/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Relative/ProfilesCatalog.xml
index 265c049a92eb03ddc0ada71bc845dc25369fcc1b..2f915fe814b50d5513616ef78e1b88c2ce31b6e9 100644
--- a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Relative/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Relative/ProfilesCatalog.xml
@@ -1,17 +1,19 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
- <AgentProfile Name="TFAgent" Type="Dynamic">
+ <AgentProfile Name="TFAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle">
<Components>
<Component Type="Dynamics_TrajectoryFollower">
<Profiles>
@@ -20,8 +22,12 @@
</Component>
</Components>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ <SystemProfile Name="StandingVehicle">
+ <Components/>
+ <Sensors/>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
@@ -31,8 +37,8 @@
<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"/>
+ <Double Key="MaxAcceleration" Value="0.0"/>
+ <Double Key="MaxDeceleration" Value="0.0"/>
</Profile>
</ProfileGroup>
<ProfileGroup Type="Dynamics_TrajectoryFollower">
diff --git a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Relative/Scenario.xosc b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Relative/Scenario.xosc
old mode 100755
new mode 100644
index e9cdc3d341c9c3f9cef7545f56e0f7688f495b0b..b39c79bbe83055c5168ffe5deae3324751e45e57
--- a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Relative/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Relative/Scenario.xosc
@@ -6,10 +6,10 @@
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -36,7 +36,14 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="TFAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="TFAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members/>
@@ -56,7 +63,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="35.0"/>
</SpeedActionTarget>
@@ -66,7 +73,7 @@
</Private>
</Actions>
</Init>
- <Story name="LaneChange">
+ <Story name="LaneChange">
<Act name="Act1">
<ManeuverGroup maximumExecutionCount="1" name="StateChangeSequenceA">
<Actors selectTriggeringEntities="false">
@@ -88,7 +95,7 @@
</Action>
<StartTrigger>
<ConditionGroup>
- <Condition name="Conditional">
+ <Condition name="Conditional" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="3.0" rule="greaterThan"/>
</ByValueCondition>
@@ -99,7 +106,7 @@
</Maneuver>
</ManeuverGroup>
</Act>
- </Story>
+ </Story>
<StopTrigger>
<ConditionGroup>
<Condition name="EndTime" delay="0" conditionEdge="rising">
diff --git a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Relative/simulationConfig.xml b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Relative/simulationConfig.xml
index eaf68852e1152074fa5a4086093306c4af492cf7..0089fcf428c8b35c562eb3483baee76f2a0ee1e1 100644
--- a/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Relative/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/OSCAction_DoubleSinusoidalLaneChangeRight_Relative/simulationConfig.xml
@@ -43,10 +43,5 @@
</Observation>
</Observations>
<Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
</Spawners>
</simulationConfig>
diff --git a/sim/contrib/examples/Configurations/OSCAction_FollowRouteAction/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/OSCAction_FollowRouteAction/ProfilesCatalog.xml
index a4b4bd4b3a4643cb38aed5947cb8f82e0b7447ce..a8a623be8f45dd4cb7fbb00c01dace756da5f033 100644
--- a/sim/contrib/examples/Configurations/OSCAction_FollowRouteAction/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/OSCAction_FollowRouteAction/ProfilesCatalog.xml
@@ -1,78 +1,86 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
<AgentProfile Name="LuxuryClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1" Probability="0.5"/>
- <VehicleProfile Name="BMW 7 2" Probability="0.5"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1" Probability="0.5"/>
+ <SystemProfile Name="BMW 7 2" Probability="0.5"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="0.5"/>
+ <VehicleModel Name="car_bmw_7_2" Probability="0.5"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="MiddleClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Mini Cooper" Probability="0.4"/>
- <VehicleProfile Name="BMW i3" Probability="0.3"/>
- <VehicleProfile Name="BMW 3" Probability="0.3"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Mini Cooper" Probability="0.4"/>
+ <SystemProfile Name="BMW i3" Probability="0.3"/>
+ <SystemProfile Name="BMW 3" Probability="0.3"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_mini_cooper" Probability="0.4"/>
+ <VehicleModel Name="car_bmw_i3" Probability="0.3"/>
+ <VehicleModel Name="car_bmw_3" Probability="0.3"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="TruckAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularTruck" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Truck" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Truck" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="truck" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
- <AgentProfile Name="BusAgent" Type="Dynamic">
+ <AgentProfile Name="BusAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularBus" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Bus" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Bus" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="bus" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 7 2">
- <Model Name="car_bmw_7_2"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 7 2">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Mini Cooper">
- <Model Name="car_mini_cooper"/>
+ </SystemProfile>
+ <SystemProfile Name="Mini Cooper">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW i3">
- <Model Name="car_bmw_i3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW i3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 3">
- <Model Name="car_bmw_3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Truck">
- <Model Name="truck"/>
+ </SystemProfile>
+ <SystemProfile Name="Truck">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Bus">
- <Model Name="bus"/>
+ </SystemProfile>
+ <SystemProfile Name="Bus">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
diff --git a/sim/contrib/examples/Configurations/OSCAction_FollowRouteAction/Scenario.xosc b/sim/contrib/examples/Configurations/OSCAction_FollowRouteAction/Scenario.xosc
index 3073d0eb93de162b5cb9c6a09d78df6b59b2588d..e2959ebddad860d350bccf84215eeca9c143d462 100644
--- a/sim/contrib/examples/Configurations/OSCAction_FollowRouteAction/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/OSCAction_FollowRouteAction/Scenario.xosc
@@ -6,10 +6,10 @@
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -36,7 +36,14 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="MiddleClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="MiddleClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members/>
@@ -56,21 +63,21 @@
<PrivateAction>
<RoutingAction>
<AssignRouteAction>
- <Route>
- <Waypoint>
- <Position>
- <RoadPosition roadId="1472558076" t="-1.0" s="230"/>
- </Position>
+ <Route closed="true" name="">
+ <Waypoint routeStrategy="shortest">
+ <Position>
+ <RoadPosition roadId="1472558076" t="-1.0" s="230"/>
+ </Position>
</Waypoint>
- <Waypoint>
- <Position>
- <RoadPosition roadId="3083973" t="0" s="8.5"/>
- </Position>
+ <Waypoint routeStrategy="shortest">
+ <Position>
+ <RoadPosition roadId="3083973" t="0" s="8.5"/>
+ </Position>
</Waypoint>
- <Waypoint>
- <Position>
- <RoadPosition roadId="2015840166" t="-0.2" s="100"/>
- </Position>
+ <Waypoint routeStrategy="shortest">
+ <Position>
+ <RoadPosition roadId="2015840166" t="-0.2" s="100"/>
+ </Position>
</Waypoint>
</Route>
</AssignRouteAction>
@@ -79,12 +86,16 @@
</Private>
</Actions>
</Init>
- <Story/>
- <StopTrigger>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1"/>
+ </Act>
+ </Story>
+ <StopTrigger>
<ConditionGroup>
<Condition name="EndTime" delay="0" conditionEdge="rising">
<ByValueCondition>
- <SimulationTimeCondition value="33.0" rule="greaterThan"/>
+ <SimulationTimeCondition value="33" rule="greaterThan"/>
</ByValueCondition>
</Condition>
</ConditionGroup>
diff --git a/sim/contrib/examples/Configurations/OSCAction_FullSetParameterVariation/Scenario.xosc b/sim/contrib/examples/Configurations/OSCAction_FullSetParameterVariation/Scenario.xosc
index 53b78ae1897c629917df86178c6543c68d343507..c0cbc0ae8ecae7e7acad6da8c8c02dfb222ea913 100644
--- a/sim/contrib/examples/Configurations/OSCAction_FullSetParameterVariation/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/OSCAction_FullSetParameterVariation/Scenario.xosc
@@ -6,10 +6,10 @@
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -36,7 +36,14 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="MiddleClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="MiddleClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members/>
@@ -60,7 +67,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.5" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.5" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="25.0"/>
</SpeedActionTarget>
@@ -72,6 +79,11 @@
</Private>
</Actions>
</Init>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1"/>
+ </Act>
+ </Story>
<StopTrigger>
<ConditionGroup>
<Condition name="EndTime" delay="0" conditionEdge="rising">
diff --git a/sim/contrib/examples/Configurations/OSCAction_RemoveAgent/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/OSCAction_RemoveAgent/ProfilesCatalog.xml
index 37c68a519fcdec593c2786bdd722236545391a08..4837af243fecc26aba4450b5da11a8f14025b899 100644
--- a/sim/contrib/examples/Configurations/OSCAction_RemoveAgent/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/OSCAction_RemoveAgent/ProfilesCatalog.xml
@@ -1,21 +1,23 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
<AgentProfile Name="LuxuryClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="AgentFollowingDriver" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 g12 2016" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 g12 2016" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 g12 2016">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 g12 2016">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="AgentFollowingDriver">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
diff --git a/sim/contrib/examples/Configurations/OSCAction_RemoveAgent/Scenario.xosc b/sim/contrib/examples/Configurations/OSCAction_RemoveAgent/Scenario.xosc
index 107ec6f75c3f3bec6a09129c602049ff920966f2..2b4d01c84c751ffae5a806b5467ddf230af9ca7e 100644
--- a/sim/contrib/examples/Configurations/OSCAction_RemoveAgent/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/OSCAction_RemoveAgent/Scenario.xosc
@@ -1,19 +1,15 @@
<?xml version="1.0"?>
<OpenSCENARIO>
- <FileHeader revMajor="1"
- revMinor="0"
- date="2020-06-26T00:17:00"
- description="OSCAction_RemoveAgent"
- author="in-tech GmbH"/>
+ <FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="OSCAction_RemoveAgent" author="in-tech GmbH"/>
<ParameterDeclarations>
<ParameterDeclaration name="OP_OSC_SchemaVersion" parameterType="string" value="0.4.0"/>
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -40,7 +36,14 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="LuxuryClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="LuxuryClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
</Entities>
<Storyboard>
@@ -57,7 +60,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="43.5"/>
</SpeedActionTarget>
@@ -84,7 +87,7 @@
</Action>
<StartTrigger>
<ConditionGroup>
- <Condition name="TimeTrigger">
+ <Condition name="TimeTrigger" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value=".999" rule="greaterThan"/>
</ByValueCondition>
@@ -106,4 +109,4 @@
</ConditionGroup>
</StopTrigger>
</Storyboard>
-</OpenSCENARIO>
\ No newline at end of file
+</OpenSCENARIO>
diff --git a/sim/contrib/examples/Configurations/OSCAction_RemoveAgent/simulationConfig.xml b/sim/contrib/examples/Configurations/OSCAction_RemoveAgent/simulationConfig.xml
index eaf68852e1152074fa5a4086093306c4af492cf7..0089fcf428c8b35c562eb3483baee76f2a0ee1e1 100644
--- a/sim/contrib/examples/Configurations/OSCAction_RemoveAgent/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/OSCAction_RemoveAgent/simulationConfig.xml
@@ -43,10 +43,5 @@
</Observation>
</Observations>
<Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
</Spawners>
</simulationConfig>
diff --git a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Absolute/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Absolute/ProfilesCatalog.xml
index 265c049a92eb03ddc0ada71bc845dc25369fcc1b..2f915fe814b50d5513616ef78e1b88c2ce31b6e9 100644
--- a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Absolute/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Absolute/ProfilesCatalog.xml
@@ -1,17 +1,19 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
- <AgentProfile Name="TFAgent" Type="Dynamic">
+ <AgentProfile Name="TFAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle">
<Components>
<Component Type="Dynamics_TrajectoryFollower">
<Profiles>
@@ -20,8 +22,12 @@
</Component>
</Components>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ <SystemProfile Name="StandingVehicle">
+ <Components/>
+ <Sensors/>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
@@ -31,8 +37,8 @@
<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"/>
+ <Double Key="MaxAcceleration" Value="0.0"/>
+ <Double Key="MaxDeceleration" Value="0.0"/>
</Profile>
</ProfileGroup>
<ProfileGroup Type="Dynamics_TrajectoryFollower">
diff --git a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Absolute/Scenario.xosc b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Absolute/Scenario.xosc
old mode 100755
new mode 100644
index 5134bce6650ca50b9a79f66f75ed022f14a1cb82..822f019650a7a00921117dd754d7317fa4494a11
--- a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Absolute/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Absolute/Scenario.xosc
@@ -1,19 +1,15 @@
<?xml version="1.0"?>
<OpenSCENARIO>
- <FileHeader revMajor="1"
- revMinor="0"
- date="2020-06-26T00:17:00"
- description="OSCAction_SinusoidalLaneChangeLeft_Absolute"
- author="BMW AG"/>
+ <FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="OSCAction_SinusoidalLaneChangeLeft_Absolute" author="BMW AG"/>
<ParameterDeclarations>
<ParameterDeclaration name="OP_OSC_SchemaVersion" parameterType="string" value="0.4.0"/>
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -40,7 +36,14 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="TFAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="TFAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members/>
@@ -60,7 +63,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="35.0"/>
</SpeedActionTarget>
@@ -92,7 +95,7 @@
</Action>
<StartTrigger>
<ConditionGroup>
- <Condition name="Conditional">
+ <Condition name="Conditional" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="3.0" rule="greaterThan"/>
</ByValueCondition>
diff --git a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Absolute/simulationConfig.xml b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Absolute/simulationConfig.xml
index eaf68852e1152074fa5a4086093306c4af492cf7..0089fcf428c8b35c562eb3483baee76f2a0ee1e1 100644
--- a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Absolute/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Absolute/simulationConfig.xml
@@ -43,10 +43,5 @@
</Observation>
</Observations>
<Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
</Spawners>
</simulationConfig>
diff --git a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Relative/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Relative/ProfilesCatalog.xml
index 265c049a92eb03ddc0ada71bc845dc25369fcc1b..2f915fe814b50d5513616ef78e1b88c2ce31b6e9 100644
--- a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Relative/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Relative/ProfilesCatalog.xml
@@ -1,17 +1,19 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
- <AgentProfile Name="TFAgent" Type="Dynamic">
+ <AgentProfile Name="TFAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle">
<Components>
<Component Type="Dynamics_TrajectoryFollower">
<Profiles>
@@ -20,8 +22,12 @@
</Component>
</Components>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ <SystemProfile Name="StandingVehicle">
+ <Components/>
+ <Sensors/>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
@@ -31,8 +37,8 @@
<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"/>
+ <Double Key="MaxAcceleration" Value="0.0"/>
+ <Double Key="MaxDeceleration" Value="0.0"/>
</Profile>
</ProfileGroup>
<ProfileGroup Type="Dynamics_TrajectoryFollower">
diff --git a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Relative/Scenario.xosc b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Relative/Scenario.xosc
old mode 100755
new mode 100644
index c9c7bcd28fb30abe3e01285a1529a1f0d5c98a21..f546bce4174e91bd039ca94f9845c38c19e91694
--- a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Relative/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Relative/Scenario.xosc
@@ -1,19 +1,15 @@
<?xml version="1.0"?>
<OpenSCENARIO>
- <FileHeader revMajor="1"
- revMinor="0"
- date="2020-06-26T00:17:00"
- description="OSCAction_SinusoidalLaneChangeLeft_Relative"
- author="BMW AG"/>
+ <FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="OSCAction_SinusoidalLaneChangeLeft_Relative" author="BMW AG"/>
<ParameterDeclarations>
<ParameterDeclaration name="OP_OSC_SchemaVersion" parameterType="string" value="0.4.0"/>
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -40,7 +36,14 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="TFAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="TFAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members/>
@@ -60,7 +63,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="35.0"/>
</SpeedActionTarget>
@@ -92,7 +95,7 @@
</Action>
<StartTrigger>
<ConditionGroup>
- <Condition name="Conditional">
+ <Condition name="Conditional" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="3.0" rule="greaterThan"/>
</ByValueCondition>
diff --git a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Relative/simulationConfig.xml b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Relative/simulationConfig.xml
index eaf68852e1152074fa5a4086093306c4af492cf7..0089fcf428c8b35c562eb3483baee76f2a0ee1e1 100644
--- a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Relative/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeLeft_Relative/simulationConfig.xml
@@ -43,10 +43,5 @@
</Observation>
</Observations>
<Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
</Spawners>
</simulationConfig>
diff --git a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Absolute/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Absolute/ProfilesCatalog.xml
index 265c049a92eb03ddc0ada71bc845dc25369fcc1b..2f915fe814b50d5513616ef78e1b88c2ce31b6e9 100644
--- a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Absolute/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Absolute/ProfilesCatalog.xml
@@ -1,17 +1,19 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
- <AgentProfile Name="TFAgent" Type="Dynamic">
+ <AgentProfile Name="TFAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle">
<Components>
<Component Type="Dynamics_TrajectoryFollower">
<Profiles>
@@ -20,8 +22,12 @@
</Component>
</Components>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ <SystemProfile Name="StandingVehicle">
+ <Components/>
+ <Sensors/>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
@@ -31,8 +37,8 @@
<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"/>
+ <Double Key="MaxAcceleration" Value="0.0"/>
+ <Double Key="MaxDeceleration" Value="0.0"/>
</Profile>
</ProfileGroup>
<ProfileGroup Type="Dynamics_TrajectoryFollower">
diff --git a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Absolute/Scenario.xosc b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Absolute/Scenario.xosc
old mode 100755
new mode 100644
index 00086195f9563680dcf7717d53a051fbc80b1876..7f5850035aaa55504390744c74b3ee6dfa1d25de
--- a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Absolute/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Absolute/Scenario.xosc
@@ -1,19 +1,15 @@
<?xml version="1.0"?>
<OpenSCENARIO>
- <FileHeader revMajor="1"
- revMinor="0"
- date="2020-06-26T00:17:00"
- description="OSCAction_SinusoidalLaneChangeRight_Absolute"
- author="BMW AG"/>
+ <FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="OSCAction_SinusoidalLaneChangeRight_Absolute" author="BMW AG"/>
<ParameterDeclarations>
<ParameterDeclaration name="OP_OSC_SchemaVersion" parameterType="string" value="0.4.0"/>
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -40,7 +36,14 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="TFAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="TFAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members/>
@@ -60,7 +63,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="35.0"/>
</SpeedActionTarget>
@@ -92,7 +95,7 @@
</Action>
<StartTrigger>
<ConditionGroup>
- <Condition name="Conditional">
+ <Condition name="Conditional" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="3.0" rule="greaterThan"/>
</ByValueCondition>
diff --git a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Absolute/simulationConfig.xml b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Absolute/simulationConfig.xml
index eaf68852e1152074fa5a4086093306c4af492cf7..0089fcf428c8b35c562eb3483baee76f2a0ee1e1 100644
--- a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Absolute/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Absolute/simulationConfig.xml
@@ -43,10 +43,5 @@
</Observation>
</Observations>
<Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
</Spawners>
</simulationConfig>
diff --git a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Relative/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Relative/ProfilesCatalog.xml
index 265c049a92eb03ddc0ada71bc845dc25369fcc1b..2f915fe814b50d5513616ef78e1b88c2ce31b6e9 100644
--- a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Relative/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Relative/ProfilesCatalog.xml
@@ -1,17 +1,19 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
- <AgentProfile Name="TFAgent" Type="Dynamic">
+ <AgentProfile Name="TFAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle">
<Components>
<Component Type="Dynamics_TrajectoryFollower">
<Profiles>
@@ -20,8 +22,12 @@
</Component>
</Components>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ <SystemProfile Name="StandingVehicle">
+ <Components/>
+ <Sensors/>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
@@ -31,8 +37,8 @@
<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"/>
+ <Double Key="MaxAcceleration" Value="0.0"/>
+ <Double Key="MaxDeceleration" Value="0.0"/>
</Profile>
</ProfileGroup>
<ProfileGroup Type="Dynamics_TrajectoryFollower">
diff --git a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Relative/Scenario.xosc b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Relative/Scenario.xosc
old mode 100755
new mode 100644
index 9920a2f3133ba46b932dc9461ccdf299c38b6a0a..f5ea111fe1dcdc591e76eff052382f109308425f
--- a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Relative/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Relative/Scenario.xosc
@@ -1,19 +1,15 @@
<?xml version="1.0"?>
<OpenSCENARIO>
- <FileHeader revMajor="1"
- revMinor="0"
- date="2020-06-26T00:17:00"
- description="OSCAction_SinusoidalLaneChangeRight_Relative"
- author="BMW AG"/>
+ <FileHeader revMajor="1" revMinor="0" date="2020-06-26T00:17:00" description="OSCAction_SinusoidalLaneChangeRight_Relative" author="BMW AG"/>
<ParameterDeclarations>
<ParameterDeclaration name="OP_OSC_SchemaVersion" parameterType="string" value="0.4.0"/>
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -40,7 +36,14 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="TFAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="TFAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members/>
@@ -60,7 +63,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="35.0"/>
</SpeedActionTarget>
@@ -92,7 +95,7 @@
</Action>
<StartTrigger>
<ConditionGroup>
- <Condition name="Conditional">
+ <Condition name="Conditional" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="3.0" rule="greaterThan"/>
</ByValueCondition>
diff --git a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Relative/simulationConfig.xml b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Relative/simulationConfig.xml
index eaf68852e1152074fa5a4086093306c4af492cf7..0089fcf428c8b35c562eb3483baee76f2a0ee1e1 100644
--- a/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Relative/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/OSCAction_SinusoidalLaneChangeRight_Relative/simulationConfig.xml
@@ -43,10 +43,5 @@
</Observation>
</Observations>
<Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
</Spawners>
</simulationConfig>
diff --git a/sim/contrib/examples/Configurations/ObjectAboveRoad/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/ObjectAboveRoad/ProfilesCatalog.xml
index 265c049a92eb03ddc0ada71bc845dc25369fcc1b..2f915fe814b50d5513616ef78e1b88c2ce31b6e9 100644
--- a/sim/contrib/examples/Configurations/ObjectAboveRoad/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/ObjectAboveRoad/ProfilesCatalog.xml
@@ -1,17 +1,19 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
- <AgentProfile Name="TFAgent" Type="Dynamic">
+ <AgentProfile Name="TFAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle">
<Components>
<Component Type="Dynamics_TrajectoryFollower">
<Profiles>
@@ -20,8 +22,12 @@
</Component>
</Components>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ <SystemProfile Name="StandingVehicle">
+ <Components/>
+ <Sensors/>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
@@ -31,8 +37,8 @@
<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"/>
+ <Double Key="MaxAcceleration" Value="0.0"/>
+ <Double Key="MaxDeceleration" Value="0.0"/>
</Profile>
</ProfileGroup>
<ProfileGroup Type="Dynamics_TrajectoryFollower">
diff --git a/sim/contrib/examples/Configurations/ObjectAboveRoad/Scenario.xosc b/sim/contrib/examples/Configurations/ObjectAboveRoad/Scenario.xosc
old mode 100755
new mode 100644
index 8e3c4847cc993c4910d500cb906a72cd0215086d..3d4723b9d16911aff3d2f892a3cf9a43625bcab3
--- a/sim/contrib/examples/Configurations/ObjectAboveRoad/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/ObjectAboveRoad/Scenario.xosc
@@ -6,10 +6,10 @@
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -36,7 +36,14 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="TFAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="TFAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members/>
@@ -56,7 +63,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="35.0"/>
</SpeedActionTarget>
@@ -66,7 +73,7 @@
</Private>
</Actions>
</Init>
- <Story name="Trajectory">
+ <Story name="Trajectory">
<Act name="Act1">
<ManeuverGroup maximumExecutionCount="1" name="StateChangeSequenceA">
<Actors selectTriggeringEntities="false">
@@ -78,29 +85,35 @@
<PrivateAction>
<RoutingAction>
<FollowTrajectoryAction>
- <Trajectory name="" closed="false">
- <Shape>
- <Polyline>
- <Vertex time="0.0">
- <Position>
- <WorldPosition x="0.0" y="1.875" h="0.0"/>
- </Position>
- </Vertex>
- <Vertex time="5.0">
- <Position>
- <WorldPosition x="40.0" y="1.875" h="0.0"/>
- </Position>
- </Vertex>
- </Polyline>
- </Shape>
- </Trajectory>
+ <TrajectoryRef>
+ <Trajectory name="" closed="false">
+ <Shape>
+ <Polyline>
+ <Vertex time="0.0">
+ <Position>
+ <WorldPosition x="0.0" y="1.875" h="0.0"/>
+ </Position>
+ </Vertex>
+ <Vertex time="5.0">
+ <Position>
+ <WorldPosition x="40.0" y="1.875" h="0.0"/>
+ </Position>
+ </Vertex>
+ </Polyline>
+ </Shape>
+ </Trajectory>
+ </TrajectoryRef>
+ <TimeReference>
+ <None/>
+ </TimeReference>
+ <TrajectoryFollowingMode followingMode="position"/>
</FollowTrajectoryAction>
</RoutingAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
- <Condition name="Conditional">
+ <Condition name="Conditional" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="-1.0" rule="greaterThan"/>
</ByValueCondition>
@@ -111,7 +124,7 @@
</Maneuver>
</ManeuverGroup>
</Act>
- </Story>
+ </Story>
<StopTrigger>
<ConditionGroup>
<Condition name="EndTime" delay="0" conditionEdge="rising">
diff --git a/sim/contrib/examples/Configurations/ObjectAboveRoad/simulationConfig.xml b/sim/contrib/examples/Configurations/ObjectAboveRoad/simulationConfig.xml
index 962d3f3cea917273fa66fbf2012dc4bc3b59159f..a5e4b4722c0556b08c4a045544d867953eade54b 100644
--- a/sim/contrib/examples/Configurations/ObjectAboveRoad/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/ObjectAboveRoad/simulationConfig.xml
@@ -59,11 +59,5 @@
</Parameters>
</Observation>
</Observations>
- <Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
- </Spawners>
+ <Spawners/>
</simulationConfig>
diff --git a/sim/contrib/examples/Configurations/ObjectOfTypeRoadMark/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/ObjectOfTypeRoadMark/ProfilesCatalog.xml
index 265c049a92eb03ddc0ada71bc845dc25369fcc1b..2f915fe814b50d5513616ef78e1b88c2ce31b6e9 100644
--- a/sim/contrib/examples/Configurations/ObjectOfTypeRoadMark/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/ObjectOfTypeRoadMark/ProfilesCatalog.xml
@@ -1,17 +1,19 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
- <AgentProfile Name="TFAgent" Type="Dynamic">
+ <AgentProfile Name="TFAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="TFVehicle">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="TFVehicle">
<Components>
<Component Type="Dynamics_TrajectoryFollower">
<Profiles>
@@ -20,8 +22,12 @@
</Component>
</Components>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ <SystemProfile Name="StandingVehicle">
+ <Components/>
+ <Sensors/>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
@@ -31,8 +37,8 @@
<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"/>
+ <Double Key="MaxAcceleration" Value="0.0"/>
+ <Double Key="MaxDeceleration" Value="0.0"/>
</Profile>
</ProfileGroup>
<ProfileGroup Type="Dynamics_TrajectoryFollower">
diff --git a/sim/contrib/examples/Configurations/ObjectOfTypeRoadMark/Scenario.xosc b/sim/contrib/examples/Configurations/ObjectOfTypeRoadMark/Scenario.xosc
old mode 100755
new mode 100644
index a9889a003c4b83f9a037e386411128c72ac5374b..88ef09cd71fffe2c67925f7c4683e8d52f5f1ece
--- a/sim/contrib/examples/Configurations/ObjectOfTypeRoadMark/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/ObjectOfTypeRoadMark/Scenario.xosc
@@ -6,10 +6,10 @@
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -36,7 +36,14 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="TFAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="TFAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members/>
@@ -56,7 +63,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="35.0"/>
</SpeedActionTarget>
@@ -66,7 +73,7 @@
</Private>
</Actions>
</Init>
- <Story name="Trajectory">
+ <Story name="Trajectory">
<Act name="Act1">
<ManeuverGroup maximumExecutionCount="1" name="StateChangeSequenceA">
<Actors selectTriggeringEntities="false">
@@ -78,29 +85,35 @@
<PrivateAction>
<RoutingAction>
<FollowTrajectoryAction>
- <Trajectory name="" closed="false">
- <Shape>
- <Polyline>
- <Vertex time="0.0">
- <Position>
- <WorldPosition x="0.0" y="1.875" h="0.0"/>
- </Position>
- </Vertex>
- <Vertex time="5.0">
- <Position>
- <WorldPosition x="40.0" y="1.875" h="0.0"/>
- </Position>
- </Vertex>
- </Polyline>
- </Shape>
- </Trajectory>
+ <TrajectoryRef>
+ <Trajectory name="" closed="false">
+ <Shape>
+ <Polyline>
+ <Vertex time="0.0">
+ <Position>
+ <WorldPosition x="0.0" y="1.875" h="0.0"/>
+ </Position>
+ </Vertex>
+ <Vertex time="5.0">
+ <Position>
+ <WorldPosition x="40.0" y="1.875" h="0.0"/>
+ </Position>
+ </Vertex>
+ </Polyline>
+ </Shape>
+ </Trajectory>
+ </TrajectoryRef>
+ <TimeReference>
+ <None/>
+ </TimeReference>
+ <TrajectoryFollowingMode followingMode="position"/>
</FollowTrajectoryAction>
</RoutingAction>
</PrivateAction>
</Action>
<StartTrigger>
<ConditionGroup>
- <Condition name="Conditional">
+ <Condition name="Conditional" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="-1.0" rule="greaterThan"/>
</ByValueCondition>
@@ -111,7 +124,7 @@
</Maneuver>
</ManeuverGroup>
</Act>
- </Story>
+ </Story>
<StopTrigger>
<ConditionGroup>
<Condition name="EndTime" delay="0" conditionEdge="rising">
diff --git a/sim/contrib/examples/Configurations/ObjectOfTypeRoadMark/simulationConfig.xml b/sim/contrib/examples/Configurations/ObjectOfTypeRoadMark/simulationConfig.xml
index 962d3f3cea917273fa66fbf2012dc4bc3b59159f..a5e4b4722c0556b08c4a045544d867953eade54b 100644
--- a/sim/contrib/examples/Configurations/ObjectOfTypeRoadMark/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/ObjectOfTypeRoadMark/simulationConfig.xml
@@ -59,11 +59,5 @@
</Parameters>
</Observation>
</Observations>
- <Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
- </Spawners>
+ <Spawners/>
</simulationConfig>
diff --git a/sim/contrib/examples/Configurations/PCM/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/PCM/ProfilesCatalog.xml
index 2a4a12b8c0696290aae9c773725534fd7a832fab..9f634559bf98d171d52204cd912e3834802c4fab 100644
--- a/sim/contrib/examples/Configurations/PCM/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/PCM/ProfilesCatalog.xml
@@ -1,25 +1,23 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Profiles SchemaVersion="0.4.8">
- <AgentProfiles>
- <AgentProfile Name="Agent_0" Type="Static">
+<Profiles SchemaVersion="0.5">
+ <AgentProfiles>
+ <AgentProfile Name="Agent_0" Type="Static">
<System>
<File>SystemConfig.xml</File>
<Id>0</Id>
</System>
<VehicleModel>Agent_0</VehicleModel>
</AgentProfile>
- <AgentProfile Name="Agent_1" Type="Static">
+ <AgentProfile Name="Agent_1" Type="Static">
<System>
<File>SystemConfig.xml</File>
<Id>1</Id>
</System>
<VehicleModel>Agent_1</VehicleModel>
</AgentProfile>
- </AgentProfiles>
- <VehicleProfiles>
- </VehicleProfiles>
- <ProfileGroup Type="Driver"/>
- <ProfileGroup Type="TrafficRules">
+ </AgentProfiles>
+ <SystemProfiles/>
+ <ProfileGroup Type="Driver"/>
+ <ProfileGroup Type="TrafficRules">
<Profile Name="Germany">
<Double Key="OpenSpeedLimit" Value="INF"/>
<Double Key="OpenSpeedLimitTrucks" Value="22.2222222"/>
diff --git a/sim/contrib/examples/Configurations/PCM/Scenario.xosc b/sim/contrib/examples/Configurations/PCM/Scenario.xosc
index 6e78a8611f1d545abb09e478e5d6bbbac4b2da17..7c6b0a259a604bca3f055a1ac1f6f060945b6f84 100644
--- a/sim/contrib/examples/Configurations/PCM/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/PCM/Scenario.xosc
@@ -1,49 +1,63 @@
-<?xml version="1.0" encoding="UTF-8"?>
+<?xml version="1.0"?>
<OpenSCENARIO>
- <FileHeader revMajor="1" revMinor="0" date="2020-01-01T00:00:00" description="openPASS default scenario" author="openPASS"/>
- <ParameterDeclarations>
+ <FileHeader revMajor="1" revMinor="0" date="2020-01-01T00:00:00" description="openPASS default scenario" author="openPASS"/>
+ <ParameterDeclarations>
<ParameterDeclaration name="OP_OSC_SchemaVersion" parameterType="string" value="0.4.0"/>
</ParameterDeclarations>
- <CatalogLocations>
- <VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
- </VehicleCatalog>
- <PedestrianCatalog>
- <Directory path=""/>
- </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>
+ <CatalogLocations>
+ <VehicleCatalog>
+ <Directory path="Vehicles"/>
+ </VehicleCatalog>
+ <PedestrianCatalog>
+ <Directory path="Vehicles"/>
+ </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="Agent_0">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="Agent_0"/>
- </ScenarioObject>
- <ScenarioObject name="Agent_1">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="Agent_1"/>
- </ScenarioObject>
- </Entities>
- <Storyboard>
- <Init>
+ <Entities>
+ <ScenarioObject name="Agent_0">
+ <CatalogReference catalogName="VehicleCatalog" entryName=""/>
+ <ObjectController>
+ <Controller name="Agent_0">
+ <Properties>
+ <Property name="AgentProfile" value="Agent_0"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
+ </ScenarioObject>
+ <ScenarioObject name="Agent_1">
+ <CatalogReference catalogName="VehicleCatalog" entryName=""/>
+ <ObjectController>
+ <Controller name="Agent_1">
+ <Properties>
+ <Property name="AgentProfile" value="Agent_1"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
+ </ScenarioObject>
+ </Entities>
+ <Storyboard>
+ <Init>
<Actions>
<Private entityRef="Agent_0">
<PrivateAction>
@@ -56,7 +70,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="8.33"/>
</SpeedActionTarget>
@@ -75,7 +89,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
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+ </Vertex>
+ <Vertex time="4.94">
+ <Position>
+ <WorldPosition x="6.449800096" y="1.991719442" z="0" h="3.16" p="0" r="0"/>
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+ </Vertex>
+ <Vertex time="4.95">
+ <Position>
+ <WorldPosition x="6.259800096" y="1.991719442" z="0" h="3.16" p="0" r="0"/>
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+ </Vertex>
+ <Vertex time="4.96">
+ <Position>
+ <WorldPosition x="6.069800096" y="1.981719442" z="0" h="3.16" p="0" r="0"/>
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+ </Vertex>
+ <Vertex time="4.97">
+ <Position>
+ <WorldPosition x="5.869800096" y="1.981719442" z="0" h="3.16" p="0" r="0"/>
+ </Position>
+ </Vertex>
+ <Vertex time="4.98">
+ <Position>
+ <WorldPosition x="5.679800096" y="1.971719442" z="0" h="3.16" p="0" r="0"/>
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+ </Vertex>
+ <Vertex time="4.99">
+ <Position>
+ <WorldPosition x="5.489800096" y="1.971719442" z="0" h="3.16" p="0" r="0"/>
+ </Position>
+ </Vertex>
+ <Vertex time="5">
+ <Position>
+ <WorldPosition x="5.299800096" y="1.961719442" z="0" h="3.16" p="0" r="0"/>
+ </Position>
+ </Vertex>
+ <Vertex time="5.01">
+ <Position>
+ <WorldPosition x="5.099800096" y="1.961719442" z="0" h="3.16" p="0" r="0"/>
+ </Position>
+ </Vertex>
+ <Vertex time="5.02">
+ <Position>
+ <WorldPosition x="4.909800096" y="1.951719442" z="0" h="3.16" p="0" r="0"/>
+ </Position>
+ </Vertex>
+ <Vertex time="5.03">
+ <Position>
+ <WorldPosition x="4.719800096" y="1.951719442" z="0" h="3.16" p="0" r="0"/>
+ </Position>
+ </Vertex>
+ </Polyline>
+ </Shape>
+ </Trajectory>
+ </TrajectoryRef>
<TimeReference>
<None/>
</TimeReference>
@@ -5191,7 +5209,7 @@
</Action>
<StartTrigger>
<ConditionGroup>
- <Condition name="Conditional">
+ <Condition name="Conditional" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="-1" rule="greaterThan"/>
</ByValueCondition>
@@ -5203,7 +5221,7 @@
</ManeuverGroup>
</Act>
</Story>
- <StopTrigger>
+ <StopTrigger>
<ConditionGroup>
<Condition name="EndTime" delay="0" conditionEdge="rising">
<ByValueCondition>
@@ -5212,5 +5230,5 @@
</Condition>
</ConditionGroup>
</StopTrigger>
- </Storyboard>
+ </Storyboard>
</OpenSCENARIO>
diff --git a/sim/contrib/examples/Configurations/PCM/VehicleModelsCatalog.xosc b/sim/contrib/examples/Configurations/PCM/VehicleModelsCatalog.xosc
index 7a014e58a775817c1cd10dfaad1f71933d161928..51cbe4bd15da1146b854badb0f8f3407f0fc1fe0 100644
--- a/sim/contrib/examples/Configurations/PCM/VehicleModelsCatalog.xosc
+++ b/sim/contrib/examples/Configurations/PCM/VehicleModelsCatalog.xosc
@@ -2,7 +2,7 @@
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-01-01T00:00:00" description="openPASS vehicle models" author="openPASS"/>
<Catalog name="VehicleCatalog">
- <Vehicle name="Agent_0" vehicleCategory="car">
+ <Vehicle mass="1920" name="Agent_0" vehicleCategory="car">
<Properties>
<Property name="AirDragCoefficient" value="0.3"/>
<Property name="AxleRatio" value="1.0"/>
@@ -10,7 +10,6 @@
<Property name="FrictionCoefficient" value="0.76"/>
<Property name="FrontSurface" value="1.0"/>
<Property name="GearRatio1" value="1.0"/>
- <Property name="Mass" value="1920"/>
<Property name="MaximumEngineSpeed" value="10000.0"/>
<Property name="MaximumEngineTorque" value="500.0"/>
<Property name="MinimumEngineSpeed" value="1.0"/>
@@ -31,7 +30,7 @@
<RearAxle maxSteering="0" wheelDiameter="0.6" trackWidth="1.55" positionX="0" positionZ="0.3"/>
</Axles>
</Vehicle>
- <Vehicle name="Agent_1" vehicleCategory="car">
+ <Vehicle mass="1200" name="Agent_1" vehicleCategory="car">
<Properties>
<Property name="AirDragCoefficient" value="0.3"/>
<Property name="AxleRatio" value="1.0"/>
@@ -39,7 +38,6 @@
<Property name="FrictionCoefficient" value="0.76"/>
<Property name="FrontSurface" value="1.0"/>
<Property name="GearRatio1" value="1.0"/>
- <Property name="Mass" value="1200"/>
<Property name="MaximumEngineSpeed" value="10000.0"/>
<Property name="MaximumEngineTorque" value="500.0"/>
<Property name="MinimumEngineSpeed" value="1.0"/>
diff --git a/sim/contrib/examples/Configurations/PCM/simulationConfig.xml b/sim/contrib/examples/Configurations/PCM/simulationConfig.xml
index 90d9b957b8e604aefd29243c8dcf7f9a9b71e02f..1d6840532dcd5c0335d17c854bd71ced86b885cc 100644
--- a/sim/contrib/examples/Configurations/PCM/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/PCM/simulationConfig.xml
@@ -1,7 +1,6 @@
-<?xml version="1.0" encoding="UTF-8"?>
<simulationConfig SchemaVersion="0.8.2">
- <ProfilesCatalog>ProfilesCatalog.xml</ProfilesCatalog>
- <Experiment>
+ <ProfilesCatalog>ProfilesCatalog.xml</ProfilesCatalog>
+ <Experiment>
<ExperimentID>0</ExperimentID>
<NumberOfInvocations>1</NumberOfInvocations>
<RandomSeed>1000232</RandomSeed>
@@ -9,10 +8,10 @@
<WorldLibrary>World_OSI</WorldLibrary>
</Libraries>
</Experiment>
- <Scenario>
+ <Scenario>
<OpenScenarioFile>Scenario.xosc</OpenScenarioFile>
</Scenario>
- <Environment>
+ <Environment>
<TimeOfDays>
<TimeOfDay Probability="1" Value="15"/>
</TimeOfDays>
@@ -27,7 +26,7 @@
</Weathers>
<TrafficRules>Germany</TrafficRules>
</Environment>
- <Observations>
+ <Observations>
<Observation>
<Library>Observation_Log</Library>
<Parameters>
@@ -43,11 +42,5 @@
</Parameters>
</Observation>
</Observations>
- <Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
- </Spawners>
+ <Spawners/>
</simulationConfig>
diff --git a/sim/contrib/examples/Configurations/Pedestrian_Trajectory/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/Pedestrian_Trajectory/ProfilesCatalog.xml
index ab42baaf9a9b57aa77b0526f821e06b80575a1a7..83035779791c76353b907f0215b9aecc2e9219e6 100644
--- a/sim/contrib/examples/Configurations/Pedestrian_Trajectory/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/Pedestrian_Trajectory/ProfilesCatalog.xml
@@ -1,39 +1,54 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<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>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 g12 2016" Probability="0.5"/>
+ <SystemProfile Name="BMW 7 f01 2010" Probability="0.5"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="0.5"/>
+ <VehicleModel Name="car_bmw_7_2" Probability="0.5"/>
+ </VehicleModels>
</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>
+ <SystemProfiles>
+ <SystemProfile Name="Mini Cooper f56 2015" Probability="0.4"/>
+ <SystemProfile Name="BMW i3 i01 2013" Probability="0.3"/>
+ <SystemProfile Name="BMW 3 f30 2015" Probability="0.3"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_mini_cooper" Probability="0.4"/>
+ <VehicleModel Name="car_bmw_i3" Probability="0.3"/>
+ <VehicleModel Name="car_bmw_3" Probability="0.3"/>
+ </VehicleModels>
</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>
+ <SystemProfiles>
+ <SystemProfile Name="Truck Hyundai Xcient p540 4axle 2013" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="truck" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
- <AgentProfile Name="BusAgent" Type="Dynamic">
+ <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>
+ <SystemProfiles>
+ <SystemProfile Name="Bus MAN Lions Coach c 2007" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="bus" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="Pedestrian" Type="Static">
<System>
@@ -43,43 +58,36 @@
<VehicleModel>pedestrian_adult</VehicleModel>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 g12 2016">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 g12 2016">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 7 f01 2010">
- <Model Name="car_bmw_7_2"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 7 f01 2010">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Mini Cooper f56 2015">
- <Model Name="car_mini_cooper"/>
+ </SystemProfile>
+ <SystemProfile Name="Mini Cooper f56 2015">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW i3 i01 2013">
- <Model Name="car_bmw_i3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW i3 i01 2013">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 3 f30 2015">
- <Model Name="car_bmw_3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 3 f30 2015">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Truck Hyundai Xcient p540 4axle 2013">
- <Model Name="truck"/>
+ </SystemProfile>
+ <SystemProfile Name="Truck Hyundai Xcient p540 4axle 2013">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Bus MAN Lions Coach c 2007">
- <Model Name="bus"/>
+ </SystemProfile>
+ <SystemProfile Name="Bus MAN Lions Coach c 2007">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
diff --git a/sim/contrib/examples/Configurations/Pedestrian_Trajectory/Scenario.xosc b/sim/contrib/examples/Configurations/Pedestrian_Trajectory/Scenario.xosc
index 0f6df77d4297e3e60ac64fbac8fcd8893bd7e316..ed7e7f6e5160fbcb5b4bd825c160cc41930e1884 100644
--- a/sim/contrib/examples/Configurations/Pedestrian_Trajectory/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/Pedestrian_Trajectory/Scenario.xosc
@@ -6,10 +6,10 @@
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -36,10 +36,24 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="MiddleClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="MiddleClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<ScenarioObject name="Pedestrian">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="Pedestrian"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName=""/>
+ <ObjectController>
+ <Controller name="Pedestrian">
+ <Properties>
+ <Property name="AgentProfile" value="Pedestrian"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members>
@@ -61,7 +75,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="43.5"/>
</SpeedActionTarget>
@@ -82,7 +96,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="1.0"/>
</SpeedActionTarget>
@@ -104,22 +118,24 @@
<PrivateAction>
<RoutingAction>
<FollowTrajectoryAction>
- <Trajectory name="LaneChange" closed="false">
- <Shape>
- <Polyline>
- <Vertex time="0">
- <Position>
- <WorldPosition x="100" y="3" z="0" h="1.570796326" p="0" r="0"/>
- </Position>
- </Vertex>
- <Vertex time="5">
- <Position>
- <WorldPosition x="100" y="8" z="0" h="1.570796326" p="0" r="0"/>
- </Position>
- </Vertex>
- </Polyline>
- </Shape>
- </Trajectory>
+ <TrajectoryRef>
+ <Trajectory name="LaneChange" closed="false">
+ <Shape>
+ <Polyline>
+ <Vertex time="0">
+ <Position>
+ <WorldPosition x="100" y="3" z="0" h="1.570796326" p="0" r="0"/>
+ </Position>
+ </Vertex>
+ <Vertex time="5">
+ <Position>
+ <WorldPosition x="100" y="8" z="0" h="1.570796326" p="0" r="0"/>
+ </Position>
+ </Vertex>
+ </Polyline>
+ </Shape>
+ </Trajectory>
+ </TrajectoryRef>
<TimeReference>
<None/>
</TimeReference>
@@ -130,7 +146,7 @@
</Action>
<StartTrigger>
<ConditionGroup>
- <Condition name="Conditional">
+ <Condition name="Conditional" delay="0" conditionEdge="rising">
<ByValueCondition>
<SimulationTimeCondition value="-1" rule="greaterThan"/>
</ByValueCondition>
diff --git a/sim/contrib/examples/Configurations/Sensor_Failure/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/Sensor_Failure/ProfilesCatalog.xml
index 55d4bc7ed6810ed9276ea443ad07f5ace55deb2e..950af230871b178bb7cbf81398249ba5431ae117 100644
--- a/sim/contrib/examples/Configurations/Sensor_Failure/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/Sensor_Failure/ProfilesCatalog.xml
@@ -1,26 +1,27 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
<AgentProfile Name="MiddleClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="StandingStill" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 3 f30 2015" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 3 f30 2015" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_3" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 3 f30 2015">
- <Model Name="car_bmw_3"/>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 3 f30 2015">
<Components/>
<Sensors>
- <Sensor Id="0">
- <Position Height="0.5" Lateral="0.0" Longitudinal="0.0" Name="Default" Pitch="0.0" Roll="0.0" Yaw="0.0"/>
+ <Sensor Id="0" Position="FrontWindow">
<Profile Name="Standard" Type="Geometric2D"/>
</Sensor>
</Sensors>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="StandingStill">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
diff --git a/sim/contrib/examples/Configurations/Sensor_Failure/Scenario.xosc b/sim/contrib/examples/Configurations/Sensor_Failure/Scenario.xosc
index 8f5c7c5ad9889f39065dc3e9eb84ebbb4521f165..222ca58dbc3868812bdefb2817e5aadb9027e96b 100644
--- a/sim/contrib/examples/Configurations/Sensor_Failure/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/Sensor_Failure/Scenario.xosc
@@ -6,10 +6,10 @@
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -36,10 +36,24 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="MiddleClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_3"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="MiddleClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<ScenarioObject name="ScenarioAgent">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="MiddleClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_3"/>
+ <ObjectController>
+ <Controller name="ScenarioAgent">
+ <Properties>
+ <Property name="AgentProfile" value="MiddleClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members>
@@ -61,7 +75,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="0"/>
</SpeedActionTarget>
@@ -80,7 +94,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="0.0"/>
</SpeedActionTarget>
@@ -90,6 +104,11 @@
</Private>
</Actions>
</Init>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1"/>
+ </Act>
+ </Story>
<StopTrigger>
<ConditionGroup>
<Condition name="EndTime" delay="0" conditionEdge="rising">
diff --git a/sim/contrib/examples/Configurations/Sensor_Failure/simulationConfig.xml b/sim/contrib/examples/Configurations/Sensor_Failure/simulationConfig.xml
index 748f05f12f19abc1bd2362625cf16744a6ec3085..812c70ec8740a10c4c70ba19791affa5340d49c2 100644
--- a/sim/contrib/examples/Configurations/Sensor_Failure/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/Sensor_Failure/simulationConfig.xml
@@ -59,11 +59,5 @@
</Parameters>
</Observation>
</Observations>
- <Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
- </Spawners>
+ <Spawners/>
</simulationConfig>
diff --git a/sim/contrib/examples/Configurations/Sensor_Latency/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/Sensor_Latency/ProfilesCatalog.xml
index 8116f4c0f6913c52c5d7586aac9c27e60286e73f..5c42d414c2ddc55b3450687555843ec39a3c86eb 100644
--- a/sim/contrib/examples/Configurations/Sensor_Latency/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/Sensor_Latency/ProfilesCatalog.xml
@@ -1,39 +1,42 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
<AgentProfile Name="EgoAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="CarWithCircularSensor" Probability="1"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="CarWithCircularSensor" Probability="1"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_mini_cooper" Probability="1"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="MiddleClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Mini Cooper" Probability="1"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Mini Cooper" Probability="1"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_mini_cooper" Probability="1"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="CarWithCircularSensor">
- <Model Name="car_mini_cooper"/>
+ <SystemProfiles>
+ <SystemProfile Name="CarWithCircularSensor">
<Components/>
<Sensors>
- <Sensor Id="0">
- <Position Height="0.5" Lateral="0.0" Longitudinal="0.0" Name="Default" Pitch="0.0" Roll="0.0" Yaw="0.0"/>
+ <Sensor Id="0" Position="FrontWindow">
<Profile Name="Standard" Type="Geometric2D"/>
</Sensor>
</Sensors>
- </VehicleProfile>
- <VehicleProfile Name="Mini Cooper">
- <Model Name="car_mini_cooper"/>
+ </SystemProfile>
+ <SystemProfile Name="Mini Cooper">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
diff --git a/sim/contrib/examples/Configurations/Sensor_Latency/Scenario.xosc b/sim/contrib/examples/Configurations/Sensor_Latency/Scenario.xosc
index bbed8eaf4503bb8f902f1263c13ef8aad2a8a731..098b11edc5864e6000ae01af8f749539ef2875b4 100644
--- a/sim/contrib/examples/Configurations/Sensor_Latency/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/Sensor_Latency/Scenario.xosc
@@ -6,10 +6,10 @@
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -36,10 +36,24 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="EgoAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="EgoAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<ScenarioObject name="Scenario">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="MiddleClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper"/>
+ <ObjectController>
+ <Controller name="Scenario">
+ <Properties>
+ <Property name="AgentProfile" value="MiddleClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members>
@@ -61,7 +75,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="43.5"/>
</SpeedActionTarget>
@@ -80,7 +94,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="43.5"/>
</SpeedActionTarget>
diff --git a/sim/contrib/examples/Configurations/Sensor_Latency/simulationConfig.xml b/sim/contrib/examples/Configurations/Sensor_Latency/simulationConfig.xml
index c67be17ac9d540ca06694baf9f8dd72087f94e32..63a5e0eff1c1e0638c9b43b6994fa964a5e396ea 100644
--- a/sim/contrib/examples/Configurations/Sensor_Latency/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/Sensor_Latency/simulationConfig.xml
@@ -45,11 +45,5 @@
</Parameters>
</Observation>
</Observations>
- <Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
- </Spawners>
+ <Spawners/>
</simulationConfig>
diff --git a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_EntryExit/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_EntryExit/ProfilesCatalog.xml
index 53ab483f04afc6ea639eea6afdaeeb0aa3ecc33e..3717e7bfc2c2ae9195a2c3b52b847fef40caf3b5 100644
--- a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_EntryExit/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_EntryExit/ProfilesCatalog.xml
@@ -1,78 +1,86 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
<AgentProfile Name="LuxuryClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1" Probability="0.5"/>
- <VehicleProfile Name="BMW 7 2" Probability="0.5"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1" Probability="0.5"/>
+ <SystemProfile Name="BMW 7 2" Probability="0.5"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="0.5"/>
+ <VehicleModel Name="car_bmw_7_2" Probability="0.5"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="MiddleClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Mini Cooper" Probability="0.4"/>
- <VehicleProfile Name="BMW i3" Probability="0.3"/>
- <VehicleProfile Name="BMW 3" Probability="0.3"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Mini Cooper" Probability="0.4"/>
+ <SystemProfile Name="BMW i3" Probability="0.3"/>
+ <SystemProfile Name="BMW 3" Probability="0.3"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_mini_cooper" Probability="0.4"/>
+ <VehicleModel Name="car_bmw_i3" Probability="0.3"/>
+ <VehicleModel Name="car_bmw_3" Probability="0.3"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="TruckAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularTruck" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Truck" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Truck" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="truck" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
- <AgentProfile Name="BusAgent" Type="Dynamic">
+ <AgentProfile Name="BusAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularBus" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Bus" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Bus" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="bus" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 7 2">
- <Model Name="car_bmw_7_2"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 7 2">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Mini Cooper">
- <Model Name="car_mini_cooper"/>
+ </SystemProfile>
+ <SystemProfile Name="Mini Cooper">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW i3">
- <Model Name="car_bmw_i3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW i3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 3">
- <Model Name="car_bmw_3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Truck">
- <Model Name="truck"/>
+ </SystemProfile>
+ <SystemProfile Name="Truck">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Bus">
- <Model Name="bus"/>
+ </SystemProfile>
+ <SystemProfile Name="Bus">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
@@ -121,7 +129,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
</Profile>
<Profile Name="HeavyVehicles">
<List Name="AgentProfiles">
@@ -135,7 +143,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
<Bool Key="RightLaneOnly" Value="true"/>
</Profile>
</ProfileGroup>
diff --git a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_EntryExit/Scenario.xosc b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_EntryExit/Scenario.xosc
new file mode 100644
index 0000000000000000000000000000000000000000..d2de82ba2774e6835d8dca62b99ef9afc65644ae
--- /dev/null
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_EntryExit/Scenario.xosc
@@ -0,0 +1,62 @@
+<?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="Vehicles"/>
+ </VehicleCatalog>
+ <PedestrianCatalog>
+ <Directory path="Vehicles"/>
+ </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>
+ <EntitySelection name="ScenarioAgents">
+ <Members/>
+ </EntitySelection>
+ </Entities>
+ <Storyboard>
+ <Init>
+ <Actions>
+ </Actions>
+ </Init>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1"/>
+ </Act>
+ </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/SpawnerPreRun_Highway_EntryExit/SceneryConfiguration.xodr b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_EntryExit/SceneryConfiguration.xodr
index e6d3643b23035b48177674c48e58e646c30e15cf..0e4aacbfa0de50194c1a795bafe698e41f62978f 100755
--- a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_EntryExit/SceneryConfiguration.xodr
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_EntryExit/SceneryConfiguration.xodr
@@ -1,13 +1,13 @@
<?xml version="1.0"?>
<OpenDRIVE>
<header revMajor="1" revMinor="1" name="Scenery HAF" version="1" date="Tue Sep 1 12:00:00 2020" north="2000.0" south="-2000.0" east="2000.0" west="-2000.0"/>
- <road name="" length="1000.0" id="1" junction="-1">
+ <road name="" length="5000.0" id="1" junction="-1">
<link>
<successor elementType="junction" elementId="1"/>
</link>
<type s="0.0" type="motorway"/>
<planView>
- <geometry s="0.0" x="0.0" y="4000.0" hdg="1.570796" length="1000.0">
+ <geometry s="0.0" x="0.0" y="0.0" hdg="1.570796" length="5000.0">
<line/>
</geometry>
</planView>
@@ -57,7 +57,7 @@
</lane>
</right>
</laneSection>
- <laneSection s="740.0">
+ <laneSection s="4740.0">
<left/>
<center>
<lane id="0" type="border" level="true">
@@ -230,13 +230,13 @@
<signals>
</signals>
</road>
- <road name="" length="1000.0" id="5" junction="-1">
+ <road name="" length="3995.0" id="5" junction="-1">
<link>
<predecessor elementType="junction" elementId="2"/>
</link>
<type s="0.0" type="motorway"/>
<planView>
- <geometry s="0.0" x="0.0" y="6005.0" hdg="1.570796" length="1000.0">
+ <geometry s="0.0" x="0.0" y="6005.0" hdg="1.570796" length="3995.0">
<line/>
</geometry>
</planView>
diff --git a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_FullStream/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_FullStream/ProfilesCatalog.xml
index b7f6fde9eb748fb3d3beecd54be8736f81fbb1ce..affba7ed033006c447773f75327f47fc4dca1a41 100644
--- a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_FullStream/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_FullStream/ProfilesCatalog.xml
@@ -1,78 +1,86 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
<AgentProfile Name="LuxuryClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1" Probability="0.5"/>
- <VehicleProfile Name="BMW 7 2" Probability="0.5"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1" Probability="0.5"/>
+ <SystemProfile Name="BMW 7 2" Probability="0.5"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="0.5"/>
+ <VehicleModel Name="car_bmw_7_2" Probability="0.5"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="MiddleClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Mini Cooper" Probability="0.4"/>
- <VehicleProfile Name="BMW i3" Probability="0.3"/>
- <VehicleProfile Name="BMW 3" Probability="0.3"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Mini Cooper" Probability="0.4"/>
+ <SystemProfile Name="BMW i3" Probability="0.3"/>
+ <SystemProfile Name="BMW 3" Probability="0.3"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_mini_cooper" Probability="0.4"/>
+ <VehicleModel Name="car_bmw_i3" Probability="0.3"/>
+ <VehicleModel Name="car_bmw_3" Probability="0.3"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="TruckAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularTruck" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Truck" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Truck" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="truck" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
- <AgentProfile Name="BusAgent" Type="Dynamic">
+ <AgentProfile Name="BusAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularBus" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Bus" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Bus" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="bus" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 7 2">
- <Model Name="car_bmw_7_2"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 7 2">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Mini Cooper">
- <Model Name="car_mini_cooper"/>
+ </SystemProfile>
+ <SystemProfile Name="Mini Cooper">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW i3">
- <Model Name="car_bmw_i3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW i3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 3">
- <Model Name="car_bmw_3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Truck">
- <Model Name="truck"/>
+ </SystemProfile>
+ <SystemProfile Name="Truck">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Bus">
- <Model Name="bus"/>
+ </SystemProfile>
+ <SystemProfile Name="Bus">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
@@ -121,7 +129,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
</Profile>
<Profile Name="HeavyVehicles">
<List Name="AgentProfiles">
@@ -135,7 +143,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
<Bool Key="RightLaneOnly" Value="true"/>
</Profile>
</ProfileGroup>
diff --git a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_FullStream/Scenario.xosc b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_FullStream/Scenario.xosc
new file mode 100644
index 0000000000000000000000000000000000000000..d2de82ba2774e6835d8dca62b99ef9afc65644ae
--- /dev/null
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_FullStream/Scenario.xosc
@@ -0,0 +1,62 @@
+<?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="Vehicles"/>
+ </VehicleCatalog>
+ <PedestrianCatalog>
+ <Directory path="Vehicles"/>
+ </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>
+ <EntitySelection name="ScenarioAgents">
+ <Members/>
+ </EntitySelection>
+ </Entities>
+ <Storyboard>
+ <Init>
+ <Actions>
+ </Actions>
+ </Init>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1"/>
+ </Act>
+ </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/SpawnerPreRun_Highway_FullStream/SceneryConfiguration.xodr b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_FullStream/SceneryConfiguration.xodr
index e6d3643b23035b48177674c48e58e646c30e15cf..0e4aacbfa0de50194c1a795bafe698e41f62978f 100755
--- a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_FullStream/SceneryConfiguration.xodr
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_FullStream/SceneryConfiguration.xodr
@@ -1,13 +1,13 @@
<?xml version="1.0"?>
<OpenDRIVE>
<header revMajor="1" revMinor="1" name="Scenery HAF" version="1" date="Tue Sep 1 12:00:00 2020" north="2000.0" south="-2000.0" east="2000.0" west="-2000.0"/>
- <road name="" length="1000.0" id="1" junction="-1">
+ <road name="" length="5000.0" id="1" junction="-1">
<link>
<successor elementType="junction" elementId="1"/>
</link>
<type s="0.0" type="motorway"/>
<planView>
- <geometry s="0.0" x="0.0" y="4000.0" hdg="1.570796" length="1000.0">
+ <geometry s="0.0" x="0.0" y="0.0" hdg="1.570796" length="5000.0">
<line/>
</geometry>
</planView>
@@ -57,7 +57,7 @@
</lane>
</right>
</laneSection>
- <laneSection s="740.0">
+ <laneSection s="4740.0">
<left/>
<center>
<lane id="0" type="border" level="true">
@@ -230,13 +230,13 @@
<signals>
</signals>
</road>
- <road name="" length="1000.0" id="5" junction="-1">
+ <road name="" length="3995.0" id="5" junction="-1">
<link>
<predecessor elementType="junction" elementId="2"/>
</link>
<type s="0.0" type="motorway"/>
<planView>
- <geometry s="0.0" x="0.0" y="6005.0" hdg="1.570796" length="1000.0">
+ <geometry s="0.0" x="0.0" y="6005.0" hdg="1.570796" length="3995.0">
<line/>
</geometry>
</planView>
diff --git a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_IncorrectStreamBegin/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_IncorrectStreamBegin/ProfilesCatalog.xml
index 3be1c69496eeac7ca7ee266ee65c2db293521b3a..38cf3607410a443a0177e2de5c2cc8da246bcc06 100644
--- a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_IncorrectStreamBegin/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_IncorrectStreamBegin/ProfilesCatalog.xml
@@ -1,78 +1,86 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
<AgentProfile Name="LuxuryClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1" Probability="0.5"/>
- <VehicleProfile Name="BMW 7 2" Probability="0.5"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1" Probability="0.5"/>
+ <SystemProfile Name="BMW 7 2" Probability="0.5"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="0.5"/>
+ <VehicleModel Name="car_bmw_7_2" Probability="0.5"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="MiddleClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Mini Cooper" Probability="0.4"/>
- <VehicleProfile Name="BMW i3" Probability="0.3"/>
- <VehicleProfile Name="BMW 3" Probability="0.3"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Mini Cooper" Probability="0.4"/>
+ <SystemProfile Name="BMW i3" Probability="0.3"/>
+ <SystemProfile Name="BMW 3" Probability="0.3"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_mini_cooper" Probability="0.4"/>
+ <VehicleModel Name="car_bmw_i3" Probability="0.3"/>
+ <VehicleModel Name="car_bmw_3" Probability="0.3"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="TruckAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularTruck" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Truck" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Truck" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="truck" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
- <AgentProfile Name="BusAgent" Type="Dynamic">
+ <AgentProfile Name="BusAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularBus" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Bus" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Bus" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="bus" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 7 2">
- <Model Name="car_bmw_7_2"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 7 2">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Mini Cooper">
- <Model Name="car_mini_cooper"/>
+ </SystemProfile>
+ <SystemProfile Name="Mini Cooper">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW i3">
- <Model Name="car_bmw_i3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW i3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 3">
- <Model Name="car_bmw_3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Truck">
- <Model Name="truck"/>
+ </SystemProfile>
+ <SystemProfile Name="Truck">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Bus">
- <Model Name="bus"/>
+ </SystemProfile>
+ <SystemProfile Name="Bus">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
@@ -121,7 +129,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
</Profile>
<Profile Name="HeavyVehicles">
<List Name="AgentProfiles">
@@ -135,7 +143,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
<Bool Key="RightLaneOnly" Value="true"/>
</Profile>
</ProfileGroup>
diff --git a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_IncorrectStreamBegin/Scenario.xosc b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_IncorrectStreamBegin/Scenario.xosc
new file mode 100644
index 0000000000000000000000000000000000000000..d2de82ba2774e6835d8dca62b99ef9afc65644ae
--- /dev/null
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_IncorrectStreamBegin/Scenario.xosc
@@ -0,0 +1,62 @@
+<?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="Vehicles"/>
+ </VehicleCatalog>
+ <PedestrianCatalog>
+ <Directory path="Vehicles"/>
+ </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>
+ <EntitySelection name="ScenarioAgents">
+ <Members/>
+ </EntitySelection>
+ </Entities>
+ <Storyboard>
+ <Init>
+ <Actions>
+ </Actions>
+ </Init>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1"/>
+ </Act>
+ </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/SpawnerPreRun_Highway_IncorrectStreamBegin/SceneryConfiguration.xodr b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_IncorrectStreamBegin/SceneryConfiguration.xodr
index e6d3643b23035b48177674c48e58e646c30e15cf..0e4aacbfa0de50194c1a795bafe698e41f62978f 100755
--- a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_IncorrectStreamBegin/SceneryConfiguration.xodr
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_IncorrectStreamBegin/SceneryConfiguration.xodr
@@ -1,13 +1,13 @@
<?xml version="1.0"?>
<OpenDRIVE>
<header revMajor="1" revMinor="1" name="Scenery HAF" version="1" date="Tue Sep 1 12:00:00 2020" north="2000.0" south="-2000.0" east="2000.0" west="-2000.0"/>
- <road name="" length="1000.0" id="1" junction="-1">
+ <road name="" length="5000.0" id="1" junction="-1">
<link>
<successor elementType="junction" elementId="1"/>
</link>
<type s="0.0" type="motorway"/>
<planView>
- <geometry s="0.0" x="0.0" y="4000.0" hdg="1.570796" length="1000.0">
+ <geometry s="0.0" x="0.0" y="0.0" hdg="1.570796" length="5000.0">
<line/>
</geometry>
</planView>
@@ -57,7 +57,7 @@
</lane>
</right>
</laneSection>
- <laneSection s="740.0">
+ <laneSection s="4740.0">
<left/>
<center>
<lane id="0" type="border" level="true">
@@ -230,13 +230,13 @@
<signals>
</signals>
</road>
- <road name="" length="1000.0" id="5" junction="-1">
+ <road name="" length="3995.0" id="5" junction="-1">
<link>
<predecessor elementType="junction" elementId="2"/>
</link>
<type s="0.0" type="motorway"/>
<planView>
- <geometry s="0.0" x="0.0" y="6005.0" hdg="1.570796" length="1000.0">
+ <geometry s="0.0" x="0.0" y="6005.0" hdg="1.570796" length="3995.0">
<line/>
</geometry>
</planView>
diff --git a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_IncorrectStreamMid/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_IncorrectStreamMid/ProfilesCatalog.xml
index 1c00f1c3a07c8b9d164e51fd1e7ef8e0c5f64272..382231677ab3625910d1158fbb274403b7d5c5cc 100644
--- a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_IncorrectStreamMid/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_IncorrectStreamMid/ProfilesCatalog.xml
@@ -1,78 +1,86 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
<AgentProfile Name="LuxuryClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1" Probability="0.5"/>
- <VehicleProfile Name="BMW 7 2" Probability="0.5"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1" Probability="0.5"/>
+ <SystemProfile Name="BMW 7 2" Probability="0.5"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="0.5"/>
+ <VehicleModel Name="car_bmw_7_2" Probability="0.5"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="MiddleClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Mini Cooper" Probability="0.4"/>
- <VehicleProfile Name="BMW i3" Probability="0.3"/>
- <VehicleProfile Name="BMW 3" Probability="0.3"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Mini Cooper" Probability="0.4"/>
+ <SystemProfile Name="BMW i3" Probability="0.3"/>
+ <SystemProfile Name="BMW 3" Probability="0.3"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_mini_cooper" Probability="0.4"/>
+ <VehicleModel Name="car_bmw_i3" Probability="0.3"/>
+ <VehicleModel Name="car_bmw_3" Probability="0.3"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="TruckAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularTruck" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Truck" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Truck" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="truck" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
- <AgentProfile Name="BusAgent" Type="Dynamic">
+ <AgentProfile Name="BusAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularBus" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Bus" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Bus" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="bus" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 7 2">
- <Model Name="car_bmw_7_2"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 7 2">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Mini Cooper">
- <Model Name="car_mini_cooper"/>
+ </SystemProfile>
+ <SystemProfile Name="Mini Cooper">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW i3">
- <Model Name="car_bmw_i3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW i3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 3">
- <Model Name="car_bmw_3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Truck">
- <Model Name="truck"/>
+ </SystemProfile>
+ <SystemProfile Name="Truck">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Bus">
- <Model Name="bus"/>
+ </SystemProfile>
+ <SystemProfile Name="Bus">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
@@ -121,7 +129,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
</Profile>
<Profile Name="HeavyVehicles">
<List Name="AgentProfiles">
@@ -135,7 +143,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
<Bool Key="RightLaneOnly" Value="true"/>
</Profile>
</ProfileGroup>
diff --git a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_IncorrectStreamMid/Scenario.xosc b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_IncorrectStreamMid/Scenario.xosc
new file mode 100644
index 0000000000000000000000000000000000000000..d2de82ba2774e6835d8dca62b99ef9afc65644ae
--- /dev/null
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_IncorrectStreamMid/Scenario.xosc
@@ -0,0 +1,62 @@
+<?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="Vehicles"/>
+ </VehicleCatalog>
+ <PedestrianCatalog>
+ <Directory path="Vehicles"/>
+ </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>
+ <EntitySelection name="ScenarioAgents">
+ <Members/>
+ </EntitySelection>
+ </Entities>
+ <Storyboard>
+ <Init>
+ <Actions>
+ </Actions>
+ </Init>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1"/>
+ </Act>
+ </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/SpawnerPreRun_Highway_IncorrectStreamMid/SceneryConfiguration.xodr b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_IncorrectStreamMid/SceneryConfiguration.xodr
index e6d3643b23035b48177674c48e58e646c30e15cf..0e4aacbfa0de50194c1a795bafe698e41f62978f 100755
--- a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_IncorrectStreamMid/SceneryConfiguration.xodr
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_IncorrectStreamMid/SceneryConfiguration.xodr
@@ -1,13 +1,13 @@
<?xml version="1.0"?>
<OpenDRIVE>
<header revMajor="1" revMinor="1" name="Scenery HAF" version="1" date="Tue Sep 1 12:00:00 2020" north="2000.0" south="-2000.0" east="2000.0" west="-2000.0"/>
- <road name="" length="1000.0" id="1" junction="-1">
+ <road name="" length="5000.0" id="1" junction="-1">
<link>
<successor elementType="junction" elementId="1"/>
</link>
<type s="0.0" type="motorway"/>
<planView>
- <geometry s="0.0" x="0.0" y="4000.0" hdg="1.570796" length="1000.0">
+ <geometry s="0.0" x="0.0" y="0.0" hdg="1.570796" length="5000.0">
<line/>
</geometry>
</planView>
@@ -57,7 +57,7 @@
</lane>
</right>
</laneSection>
- <laneSection s="740.0">
+ <laneSection s="4740.0">
<left/>
<center>
<lane id="0" type="border" level="true">
@@ -230,13 +230,13 @@
<signals>
</signals>
</road>
- <road name="" length="1000.0" id="5" junction="-1">
+ <road name="" length="3995.0" id="5" junction="-1">
<link>
<predecessor elementType="junction" elementId="2"/>
</link>
<type s="0.0" type="motorway"/>
<planView>
- <geometry s="0.0" x="0.0" y="6005.0" hdg="1.570796" length="1000.0">
+ <geometry s="0.0" x="0.0" y="6005.0" hdg="1.570796" length="3995.0">
<line/>
</geometry>
</planView>
diff --git a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_RoadOverlap/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_RoadOverlap/ProfilesCatalog.xml
index 4367f6f7fa378d08586503c9df31d64579d8e94e..29f2720f28621bb198d73b5d2f886dc0b7e3d7ad 100644
--- a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_RoadOverlap/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_RoadOverlap/ProfilesCatalog.xml
@@ -1,78 +1,86 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
<AgentProfile Name="LuxuryClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1" Probability="0.5"/>
- <VehicleProfile Name="BMW 7 2" Probability="0.5"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1" Probability="0.5"/>
+ <SystemProfile Name="BMW 7 2" Probability="0.5"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="0.5"/>
+ <VehicleModel Name="car_bmw_7_2" Probability="0.5"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="MiddleClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Mini Cooper" Probability="0.4"/>
- <VehicleProfile Name="BMW i3" Probability="0.3"/>
- <VehicleProfile Name="BMW 3" Probability="0.3"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Mini Cooper" Probability="0.4"/>
+ <SystemProfile Name="BMW i3" Probability="0.3"/>
+ <SystemProfile Name="BMW 3" Probability="0.3"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_mini_cooper" Probability="0.4"/>
+ <VehicleModel Name="car_bmw_i3" Probability="0.3"/>
+ <VehicleModel Name="car_bmw_3" Probability="0.3"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="TruckAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularTruck" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Truck" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Truck" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="truck" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
- <AgentProfile Name="BusAgent" Type="Dynamic">
+ <AgentProfile Name="BusAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularBus" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Bus" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Bus" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="bus" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 7 2">
- <Model Name="car_bmw_7_2"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 7 2">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Mini Cooper">
- <Model Name="car_mini_cooper"/>
+ </SystemProfile>
+ <SystemProfile Name="Mini Cooper">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW i3">
- <Model Name="car_bmw_i3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW i3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 3">
- <Model Name="car_bmw_3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Truck">
- <Model Name="truck"/>
+ </SystemProfile>
+ <SystemProfile Name="Truck">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Bus">
- <Model Name="bus"/>
+ </SystemProfile>
+ <SystemProfile Name="Bus">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
@@ -121,7 +129,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
</Profile>
<Profile Name="HeavyVehicles">
<List Name="AgentProfiles">
@@ -135,7 +143,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
<Bool Key="RightLaneOnly" Value="true"/>
</Profile>
</ProfileGroup>
@@ -149,7 +157,7 @@
<ListItem>
<StringVector Key="Roads" Value="1,3"/>
<IntVector Key="Lanes" Value="-5"/>
- <Double Key="SStart" Value="741.0"/>
+ <Double Key="SStart" Value="4741.0"/>
</ListItem>
</List>
<List Name="TrafficGroups">
diff --git a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_RoadOverlap/Scenario.xosc b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_RoadOverlap/Scenario.xosc
new file mode 100644
index 0000000000000000000000000000000000000000..d2de82ba2774e6835d8dca62b99ef9afc65644ae
--- /dev/null
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_RoadOverlap/Scenario.xosc
@@ -0,0 +1,62 @@
+<?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="Vehicles"/>
+ </VehicleCatalog>
+ <PedestrianCatalog>
+ <Directory path="Vehicles"/>
+ </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>
+ <EntitySelection name="ScenarioAgents">
+ <Members/>
+ </EntitySelection>
+ </Entities>
+ <Storyboard>
+ <Init>
+ <Actions>
+ </Actions>
+ </Init>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1"/>
+ </Act>
+ </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/SpawnerPreRun_Highway_RoadOverlap/SceneryConfiguration.xodr b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_RoadOverlap/SceneryConfiguration.xodr
index 21781dbc202bf3effab24dffd83392618fc13cc4..20bbc410e633828fb1fcdfa504a2fc2c5ac564a5 100755
--- a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_RoadOverlap/SceneryConfiguration.xodr
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_RoadOverlap/SceneryConfiguration.xodr
@@ -1,13 +1,13 @@
<?xml version="1.0"?>
<OpenDRIVE>
<header revMajor="1" revMinor="1" name="Scenery HAF" version="1" date="Tue Sep 1 12:00:00 2020" north="2000.0" south="-2000.0" east="2000.0" west="-2000.0"/>
- <road name="" length="1000.0" id="1" junction="-1">
+ <road name="" length="5000.0" id="1" junction="-1">
<link>
<successor elementType="junction" elementId="1"/>
</link>
<type s="0.0" type="motorway"/>
<planView>
- <geometry s="0.0" x="0.0" y="4000.0" hdg="1.570796" length="1000.0">
+ <geometry s="0.0" x="0.0" y="0.0" hdg="1.570796" length="5000.0">
<line/>
</geometry>
</planView>
@@ -57,7 +57,7 @@
</lane>
</right>
</laneSection>
- <laneSection s="740.0">
+ <laneSection s="4740.0">
<left/>
<center>
<lane id="0" type="border" level="true">
@@ -230,13 +230,13 @@
<signals>
</signals>
</road>
- <road name="" length="1000.0" id="5" junction="-1">
+ <road name="" length="3995.0" id="5" junction="-1">
<link>
<predecessor elementType="junction" elementId="2"/>
</link>
<type s="0.0" type="motorway"/>
<planView>
- <geometry s="0.0" x="0.0" y="6005.0" hdg="1.570796" length="1000.0">
+ <geometry s="0.0" x="0.0" y="6005.0" hdg="1.570796" length="3995.0">
<line/>
</geometry>
</planView>
@@ -537,4 +537,4 @@
<laneLink from="-4" to="-4"/>
</connection>
</junction>
-</OpenDRIVE>
\ No newline at end of file
+</OpenDRIVE>
diff --git a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_SimpleStream/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_SimpleStream/ProfilesCatalog.xml
index 5de9333b717ecaabe484af7eabb165a8a7c153b0..ae1eff6e25aa14bea629e6c8ea1dabf9d15f85a9 100644
--- a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_SimpleStream/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_SimpleStream/ProfilesCatalog.xml
@@ -1,78 +1,86 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
<AgentProfile Name="LuxuryClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1" Probability="0.5"/>
- <VehicleProfile Name="BMW 7 2" Probability="0.5"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1" Probability="0.5"/>
+ <SystemProfile Name="BMW 7 2" Probability="0.5"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="0.5"/>
+ <VehicleModel Name="car_bmw_7_2" Probability="0.5"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="MiddleClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Mini Cooper" Probability="0.4"/>
- <VehicleProfile Name="BMW i3" Probability="0.3"/>
- <VehicleProfile Name="BMW 3" Probability="0.3"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Mini Cooper" Probability="0.4"/>
+ <SystemProfile Name="BMW i3" Probability="0.3"/>
+ <SystemProfile Name="BMW 3" Probability="0.3"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_mini_cooper" Probability="0.4"/>
+ <VehicleModel Name="car_bmw_i3" Probability="0.3"/>
+ <VehicleModel Name="car_bmw_3" Probability="0.3"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="TruckAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularTruck" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Truck" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Truck" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="truck" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
- <AgentProfile Name="BusAgent" Type="Dynamic">
+ <AgentProfile Name="BusAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularBus" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Bus" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Bus" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="bus" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 7 2">
- <Model Name="car_bmw_7_2"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 7 2">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Mini Cooper">
- <Model Name="car_mini_cooper"/>
+ </SystemProfile>
+ <SystemProfile Name="Mini Cooper">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW i3">
- <Model Name="car_bmw_i3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW i3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 3">
- <Model Name="car_bmw_3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Truck">
- <Model Name="truck"/>
+ </SystemProfile>
+ <SystemProfile Name="Truck">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Bus">
- <Model Name="bus"/>
+ </SystemProfile>
+ <SystemProfile Name="Bus">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
@@ -121,7 +129,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
</Profile>
<Profile Name="HeavyVehicles">
<List Name="AgentProfiles">
@@ -135,7 +143,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
<Bool Key="RightLaneOnly" Value="true"/>
</Profile>
</ProfileGroup>
diff --git a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_SimpleStream/Scenario.xosc b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_SimpleStream/Scenario.xosc
new file mode 100644
index 0000000000000000000000000000000000000000..d2de82ba2774e6835d8dca62b99ef9afc65644ae
--- /dev/null
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_SimpleStream/Scenario.xosc
@@ -0,0 +1,62 @@
+<?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="Vehicles"/>
+ </VehicleCatalog>
+ <PedestrianCatalog>
+ <Directory path="Vehicles"/>
+ </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>
+ <EntitySelection name="ScenarioAgents">
+ <Members/>
+ </EntitySelection>
+ </Entities>
+ <Storyboard>
+ <Init>
+ <Actions>
+ </Actions>
+ </Init>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1"/>
+ </Act>
+ </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/SpawnerPreRun_Highway_SimpleStream/SceneryConfiguration.xodr b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_SimpleStream/SceneryConfiguration.xodr
index e6d3643b23035b48177674c48e58e646c30e15cf..0e4aacbfa0de50194c1a795bafe698e41f62978f 100755
--- a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_SimpleStream/SceneryConfiguration.xodr
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_SimpleStream/SceneryConfiguration.xodr
@@ -1,13 +1,13 @@
<?xml version="1.0"?>
<OpenDRIVE>
<header revMajor="1" revMinor="1" name="Scenery HAF" version="1" date="Tue Sep 1 12:00:00 2020" north="2000.0" south="-2000.0" east="2000.0" west="-2000.0"/>
- <road name="" length="1000.0" id="1" junction="-1">
+ <road name="" length="5000.0" id="1" junction="-1">
<link>
<successor elementType="junction" elementId="1"/>
</link>
<type s="0.0" type="motorway"/>
<planView>
- <geometry s="0.0" x="0.0" y="4000.0" hdg="1.570796" length="1000.0">
+ <geometry s="0.0" x="0.0" y="0.0" hdg="1.570796" length="5000.0">
<line/>
</geometry>
</planView>
@@ -57,7 +57,7 @@
</lane>
</right>
</laneSection>
- <laneSection s="740.0">
+ <laneSection s="4740.0">
<left/>
<center>
<lane id="0" type="border" level="true">
@@ -230,13 +230,13 @@
<signals>
</signals>
</road>
- <road name="" length="1000.0" id="5" junction="-1">
+ <road name="" length="3995.0" id="5" junction="-1">
<link>
<predecessor elementType="junction" elementId="2"/>
</link>
<type s="0.0" type="motorway"/>
<planView>
- <geometry s="0.0" x="0.0" y="6005.0" hdg="1.570796" length="1000.0">
+ <geometry s="0.0" x="0.0" y="6005.0" hdg="1.570796" length="3995.0">
<line/>
</geometry>
</planView>
diff --git a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_SingleRoad/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_SingleRoad/ProfilesCatalog.xml
index ceb2e31fabe5f1dd7cdb2c63652f741c15e6f36a..c6ff2758eaa3535014ff6317146b328027c8493b 100644
--- a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_SingleRoad/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_SingleRoad/ProfilesCatalog.xml
@@ -1,78 +1,86 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
<AgentProfile Name="LuxuryClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1" Probability="0.5"/>
- <VehicleProfile Name="BMW 7 2" Probability="0.5"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1" Probability="0.5"/>
+ <SystemProfile Name="BMW 7 2" Probability="0.5"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="0.5"/>
+ <VehicleModel Name="car_bmw_7_2" Probability="0.5"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="MiddleClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Mini Cooper" Probability="0.4"/>
- <VehicleProfile Name="BMW i3" Probability="0.3"/>
- <VehicleProfile Name="BMW 3" Probability="0.3"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Mini Cooper" Probability="0.4"/>
+ <SystemProfile Name="BMW i3" Probability="0.3"/>
+ <SystemProfile Name="BMW 3" Probability="0.3"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_mini_cooper" Probability="0.4"/>
+ <VehicleModel Name="car_bmw_i3" Probability="0.3"/>
+ <VehicleModel Name="car_bmw_3" Probability="0.3"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="TruckAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularTruck" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Truck" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Truck" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="truck" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
- <AgentProfile Name="BusAgent" Type="Dynamic">
+ <AgentProfile Name="BusAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularBus" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Bus" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Bus" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="bus" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 7 2">
- <Model Name="car_bmw_7_2"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 7 2">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Mini Cooper">
- <Model Name="car_mini_cooper"/>
+ </SystemProfile>
+ <SystemProfile Name="Mini Cooper">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW i3">
- <Model Name="car_bmw_i3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW i3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 3">
- <Model Name="car_bmw_3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Truck">
- <Model Name="truck"/>
+ </SystemProfile>
+ <SystemProfile Name="Truck">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Bus">
- <Model Name="bus"/>
+ </SystemProfile>
+ <SystemProfile Name="Bus">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
@@ -121,7 +129,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
</Profile>
<Profile Name="HeavyVehicles">
<List Name="AgentProfiles">
@@ -135,7 +143,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
<Bool Key="RightLaneOnly" Value="true"/>
</Profile>
</ProfileGroup>
diff --git a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_SingleRoad/Scenario.xosc b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_SingleRoad/Scenario.xosc
new file mode 100644
index 0000000000000000000000000000000000000000..d2de82ba2774e6835d8dca62b99ef9afc65644ae
--- /dev/null
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_SingleRoad/Scenario.xosc
@@ -0,0 +1,62 @@
+<?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="Vehicles"/>
+ </VehicleCatalog>
+ <PedestrianCatalog>
+ <Directory path="Vehicles"/>
+ </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>
+ <EntitySelection name="ScenarioAgents">
+ <Members/>
+ </EntitySelection>
+ </Entities>
+ <Storyboard>
+ <Init>
+ <Actions>
+ </Actions>
+ </Init>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1"/>
+ </Act>
+ </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/SpawnerPreRun_Highway_SingleRoad/SceneryConfiguration.xodr b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_SingleRoad/SceneryConfiguration.xodr
index e6d3643b23035b48177674c48e58e646c30e15cf..0e4aacbfa0de50194c1a795bafe698e41f62978f 100755
--- a/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_SingleRoad/SceneryConfiguration.xodr
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_Highway_SingleRoad/SceneryConfiguration.xodr
@@ -1,13 +1,13 @@
<?xml version="1.0"?>
<OpenDRIVE>
<header revMajor="1" revMinor="1" name="Scenery HAF" version="1" date="Tue Sep 1 12:00:00 2020" north="2000.0" south="-2000.0" east="2000.0" west="-2000.0"/>
- <road name="" length="1000.0" id="1" junction="-1">
+ <road name="" length="5000.0" id="1" junction="-1">
<link>
<successor elementType="junction" elementId="1"/>
</link>
<type s="0.0" type="motorway"/>
<planView>
- <geometry s="0.0" x="0.0" y="4000.0" hdg="1.570796" length="1000.0">
+ <geometry s="0.0" x="0.0" y="0.0" hdg="1.570796" length="5000.0">
<line/>
</geometry>
</planView>
@@ -57,7 +57,7 @@
</lane>
</right>
</laneSection>
- <laneSection s="740.0">
+ <laneSection s="4740.0">
<left/>
<center>
<lane id="0" type="border" level="true">
@@ -230,13 +230,13 @@
<signals>
</signals>
</road>
- <road name="" length="1000.0" id="5" junction="-1">
+ <road name="" length="3995.0" id="5" junction="-1">
<link>
<predecessor elementType="junction" elementId="2"/>
</link>
<type s="0.0" type="motorway"/>
<planView>
- <geometry s="0.0" x="0.0" y="6005.0" hdg="1.570796" length="1000.0">
+ <geometry s="0.0" x="0.0" y="6005.0" hdg="1.570796" length="3995.0">
<line/>
</geometry>
</planView>
diff --git a/sim/contrib/examples/Configurations/SpawnerPreRun_SingleRoad_SpecifiedLanes/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/SpawnerPreRun_SingleRoad_SpecifiedLanes/ProfilesCatalog.xml
index 133d80f166f6deb63a7d1d4508c7c119280c0af0..eed0c5afbaf14c167fefce8533984ba727c5e11d 100644
--- a/sim/contrib/examples/Configurations/SpawnerPreRun_SingleRoad_SpecifiedLanes/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_SingleRoad_SpecifiedLanes/ProfilesCatalog.xml
@@ -1,78 +1,86 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
<AgentProfile Name="LuxuryClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1" Probability="0.5"/>
- <VehicleProfile Name="BMW 7 2" Probability="0.5"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1" Probability="0.5"/>
+ <SystemProfile Name="BMW 7 2" Probability="0.5"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="0.5"/>
+ <VehicleModel Name="car_bmw_7_2" Probability="0.5"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="MiddleClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Mini Cooper" Probability="0.4"/>
- <VehicleProfile Name="BMW i3" Probability="0.3"/>
- <VehicleProfile Name="BMW 3" Probability="0.3"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Mini Cooper" Probability="0.4"/>
+ <SystemProfile Name="BMW i3" Probability="0.3"/>
+ <SystemProfile Name="BMW 3" Probability="0.3"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_mini_cooper" Probability="0.4"/>
+ <VehicleModel Name="car_bmw_i3" Probability="0.3"/>
+ <VehicleModel Name="car_bmw_3" Probability="0.3"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="TruckAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularTruck" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Truck" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Truck" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="truck" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
- <AgentProfile Name="BusAgent" Type="Dynamic">
+ <AgentProfile Name="BusAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularBus" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Bus" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Bus" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="bus" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 7 2">
- <Model Name="car_bmw_7_2"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 7 2">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Mini Cooper">
- <Model Name="car_mini_cooper"/>
+ </SystemProfile>
+ <SystemProfile Name="Mini Cooper">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW i3">
- <Model Name="car_bmw_i3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW i3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 3">
- <Model Name="car_bmw_3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Truck">
- <Model Name="truck"/>
+ </SystemProfile>
+ <SystemProfile Name="Truck">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Bus">
- <Model Name="bus"/>
+ </SystemProfile>
+ <SystemProfile Name="Bus">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
@@ -121,7 +129,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
</Profile>
<Profile Name="HeavyVehicles">
<List Name="AgentProfiles">
@@ -135,7 +143,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
<Bool Key="RightLaneOnly" Value="true"/>
</Profile>
</ProfileGroup>
diff --git a/sim/contrib/examples/Configurations/SpawnerPreRun_SingleRoad_SpecifiedLanes/Scenario.xosc b/sim/contrib/examples/Configurations/SpawnerPreRun_SingleRoad_SpecifiedLanes/Scenario.xosc
new file mode 100644
index 0000000000000000000000000000000000000000..d2de82ba2774e6835d8dca62b99ef9afc65644ae
--- /dev/null
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_SingleRoad_SpecifiedLanes/Scenario.xosc
@@ -0,0 +1,62 @@
+<?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="Vehicles"/>
+ </VehicleCatalog>
+ <PedestrianCatalog>
+ <Directory path="Vehicles"/>
+ </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>
+ <EntitySelection name="ScenarioAgents">
+ <Members/>
+ </EntitySelection>
+ </Entities>
+ <Storyboard>
+ <Init>
+ <Actions>
+ </Actions>
+ </Init>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1"/>
+ </Act>
+ </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/SpawnerPreRun_SingleRoad_SpecifiedRange/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/SpawnerPreRun_SingleRoad_SpecifiedRange/ProfilesCatalog.xml
index 1467bfbb780a5837ccd6edd6bb6d57eb1f47f65a..a59b68d22f54ece0d6d23e53424d1328cb16b0fa 100644
--- a/sim/contrib/examples/Configurations/SpawnerPreRun_SingleRoad_SpecifiedRange/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_SingleRoad_SpecifiedRange/ProfilesCatalog.xml
@@ -1,78 +1,86 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
<AgentProfile Name="LuxuryClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1" Probability="0.5"/>
- <VehicleProfile Name="BMW 7 2" Probability="0.5"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1" Probability="0.5"/>
+ <SystemProfile Name="BMW 7 2" Probability="0.5"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="0.5"/>
+ <VehicleModel Name="car_bmw_7_2" Probability="0.5"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="MiddleClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Mini Cooper" Probability="0.4"/>
- <VehicleProfile Name="BMW i3" Probability="0.3"/>
- <VehicleProfile Name="BMW 3" Probability="0.3"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Mini Cooper" Probability="0.4"/>
+ <SystemProfile Name="BMW i3" Probability="0.3"/>
+ <SystemProfile Name="BMW 3" Probability="0.3"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_mini_cooper" Probability="0.4"/>
+ <VehicleModel Name="car_bmw_i3" Probability="0.3"/>
+ <VehicleModel Name="car_bmw_3" Probability="0.3"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="TruckAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularTruck" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Truck" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Truck" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="truck" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
- <AgentProfile Name="BusAgent" Type="Dynamic">
+ <AgentProfile Name="BusAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularBus" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Bus" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Bus" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="bus" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 7 2">
- <Model Name="car_bmw_7_2"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 7 2">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Mini Cooper">
- <Model Name="car_mini_cooper"/>
+ </SystemProfile>
+ <SystemProfile Name="Mini Cooper">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW i3">
- <Model Name="car_bmw_i3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW i3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 3">
- <Model Name="car_bmw_3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Truck">
- <Model Name="truck"/>
+ </SystemProfile>
+ <SystemProfile Name="Truck">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Bus">
- <Model Name="bus"/>
+ </SystemProfile>
+ <SystemProfile Name="Bus">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
@@ -121,7 +129,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
</Profile>
<Profile Name="HeavyVehicles">
<List Name="AgentProfiles">
@@ -135,7 +143,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
<Bool Key="RightLaneOnly" Value="true"/>
</Profile>
</ProfileGroup>
diff --git a/sim/contrib/examples/Configurations/SpawnerPreRun_SingleRoad_SpecifiedRange/Scenario.xosc b/sim/contrib/examples/Configurations/SpawnerPreRun_SingleRoad_SpecifiedRange/Scenario.xosc
new file mode 100644
index 0000000000000000000000000000000000000000..d2de82ba2774e6835d8dca62b99ef9afc65644ae
--- /dev/null
+++ b/sim/contrib/examples/Configurations/SpawnerPreRun_SingleRoad_SpecifiedRange/Scenario.xosc
@@ -0,0 +1,62 @@
+<?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="Vehicles"/>
+ </VehicleCatalog>
+ <PedestrianCatalog>
+ <Directory path="Vehicles"/>
+ </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>
+ <EntitySelection name="ScenarioAgents">
+ <Members/>
+ </EntitySelection>
+ </Entities>
+ <Storyboard>
+ <Init>
+ <Actions>
+ </Actions>
+ </Init>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1"/>
+ </Act>
+ </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/SpawnerRuntime_Highway_MultipleRoads/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/SpawnerRuntime_Highway_MultipleRoads/ProfilesCatalog.xml
index f0bcbe900063c515fa40f8e9de968642f7a4af2d..fd6d1d0e58c1e80f97bfef461c67f1953876863c 100644
--- a/sim/contrib/examples/Configurations/SpawnerRuntime_Highway_MultipleRoads/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/SpawnerRuntime_Highway_MultipleRoads/ProfilesCatalog.xml
@@ -1,78 +1,86 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
<AgentProfile Name="LuxuryClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1" Probability="0.5"/>
- <VehicleProfile Name="BMW 7 2" Probability="0.5"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1" Probability="0.5"/>
+ <SystemProfile Name="BMW 7 2" Probability="0.5"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="0.5"/>
+ <VehicleModel Name="car_bmw_7_2" Probability="0.5"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="MiddleClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Mini Cooper" Probability="0.4"/>
- <VehicleProfile Name="BMW i3" Probability="0.3"/>
- <VehicleProfile Name="BMW 3" Probability="0.3"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Mini Cooper" Probability="0.4"/>
+ <SystemProfile Name="BMW i3" Probability="0.3"/>
+ <SystemProfile Name="BMW 3" Probability="0.3"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_mini_cooper" Probability="0.4"/>
+ <VehicleModel Name="car_bmw_i3" Probability="0.3"/>
+ <VehicleModel Name="car_bmw_3" Probability="0.3"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="TruckAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularTruck" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Truck" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Truck" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="truck" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
- <AgentProfile Name="BusAgent" Type="Dynamic">
+ <AgentProfile Name="BusAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularBus" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Bus" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Bus" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="bus" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 7 2">
- <Model Name="car_bmw_7_2"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 7 2">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Mini Cooper">
- <Model Name="car_mini_cooper"/>
+ </SystemProfile>
+ <SystemProfile Name="Mini Cooper">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW i3">
- <Model Name="car_bmw_i3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW i3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 3">
- <Model Name="car_bmw_3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Truck">
- <Model Name="truck"/>
+ </SystemProfile>
+ <SystemProfile Name="Truck">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Bus">
- <Model Name="bus"/>
+ </SystemProfile>
+ <SystemProfile Name="Bus">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
@@ -121,7 +129,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
</Profile>
<Profile Name="HeavyVehicles">
<List Name="AgentProfiles">
@@ -135,7 +143,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
<Bool Key="RightLaneOnly" Value="true"/>
</Profile>
</ProfileGroup>
diff --git a/sim/contrib/examples/Configurations/SpawnerRuntime_Highway_MultipleRoads/Scenario.xosc b/sim/contrib/examples/Configurations/SpawnerRuntime_Highway_MultipleRoads/Scenario.xosc
new file mode 100644
index 0000000000000000000000000000000000000000..d2de82ba2774e6835d8dca62b99ef9afc65644ae
--- /dev/null
+++ b/sim/contrib/examples/Configurations/SpawnerRuntime_Highway_MultipleRoads/Scenario.xosc
@@ -0,0 +1,62 @@
+<?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="Vehicles"/>
+ </VehicleCatalog>
+ <PedestrianCatalog>
+ <Directory path="Vehicles"/>
+ </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>
+ <EntitySelection name="ScenarioAgents">
+ <Members/>
+ </EntitySelection>
+ </Entities>
+ <Storyboard>
+ <Init>
+ <Actions>
+ </Actions>
+ </Init>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1"/>
+ </Act>
+ </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/SpawnerRuntime_Highway_MultipleRoads/SceneryConfiguration.xodr b/sim/contrib/examples/Configurations/SpawnerRuntime_Highway_MultipleRoads/SceneryConfiguration.xodr
index e6d3643b23035b48177674c48e58e646c30e15cf..0e4aacbfa0de50194c1a795bafe698e41f62978f 100755
--- a/sim/contrib/examples/Configurations/SpawnerRuntime_Highway_MultipleRoads/SceneryConfiguration.xodr
+++ b/sim/contrib/examples/Configurations/SpawnerRuntime_Highway_MultipleRoads/SceneryConfiguration.xodr
@@ -1,13 +1,13 @@
<?xml version="1.0"?>
<OpenDRIVE>
<header revMajor="1" revMinor="1" name="Scenery HAF" version="1" date="Tue Sep 1 12:00:00 2020" north="2000.0" south="-2000.0" east="2000.0" west="-2000.0"/>
- <road name="" length="1000.0" id="1" junction="-1">
+ <road name="" length="5000.0" id="1" junction="-1">
<link>
<successor elementType="junction" elementId="1"/>
</link>
<type s="0.0" type="motorway"/>
<planView>
- <geometry s="0.0" x="0.0" y="4000.0" hdg="1.570796" length="1000.0">
+ <geometry s="0.0" x="0.0" y="0.0" hdg="1.570796" length="5000.0">
<line/>
</geometry>
</planView>
@@ -57,7 +57,7 @@
</lane>
</right>
</laneSection>
- <laneSection s="740.0">
+ <laneSection s="4740.0">
<left/>
<center>
<lane id="0" type="border" level="true">
@@ -230,13 +230,13 @@
<signals>
</signals>
</road>
- <road name="" length="1000.0" id="5" junction="-1">
+ <road name="" length="3995.0" id="5" junction="-1">
<link>
<predecessor elementType="junction" elementId="2"/>
</link>
<type s="0.0" type="motorway"/>
<planView>
- <geometry s="0.0" x="0.0" y="6005.0" hdg="1.570796" length="1000.0">
+ <geometry s="0.0" x="0.0" y="6005.0" hdg="1.570796" length="3995.0">
<line/>
</geometry>
</planView>
diff --git a/sim/contrib/examples/Configurations/SpawnerRuntime_Highway_SingleRoad/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/SpawnerRuntime_Highway_SingleRoad/ProfilesCatalog.xml
index c4387d95d958e880feb3144657330f2801ef19c8..1e0937103d5e63aed19d783169d2759b82c873b7 100644
--- a/sim/contrib/examples/Configurations/SpawnerRuntime_Highway_SingleRoad/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/SpawnerRuntime_Highway_SingleRoad/ProfilesCatalog.xml
@@ -1,78 +1,86 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
<AgentProfile Name="LuxuryClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1" Probability="0.5"/>
- <VehicleProfile Name="BMW 7 2" Probability="0.5"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1" Probability="0.5"/>
+ <SystemProfile Name="BMW 7 2" Probability="0.5"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="0.5"/>
+ <VehicleModel Name="car_bmw_7_2" Probability="0.5"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="MiddleClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Mini Cooper" Probability="0.4"/>
- <VehicleProfile Name="BMW i3" Probability="0.3"/>
- <VehicleProfile Name="BMW 3" Probability="0.3"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Mini Cooper" Probability="0.4"/>
+ <SystemProfile Name="BMW i3" Probability="0.3"/>
+ <SystemProfile Name="BMW 3" Probability="0.3"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_mini_cooper" Probability="0.4"/>
+ <VehicleModel Name="car_bmw_i3" Probability="0.3"/>
+ <VehicleModel Name="car_bmw_3" Probability="0.3"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="TruckAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularTruck" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Truck" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Truck" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="truck" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
- <AgentProfile Name="BusAgent" Type="Dynamic">
+ <AgentProfile Name="BusAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularBus" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Bus" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Bus" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="bus" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 7 2">
- <Model Name="car_bmw_7_2"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 7 2">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Mini Cooper">
- <Model Name="car_mini_cooper"/>
+ </SystemProfile>
+ <SystemProfile Name="Mini Cooper">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW i3">
- <Model Name="car_bmw_i3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW i3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 3">
- <Model Name="car_bmw_3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Truck">
- <Model Name="truck"/>
+ </SystemProfile>
+ <SystemProfile Name="Truck">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Bus">
- <Model Name="bus"/>
+ </SystemProfile>
+ <SystemProfile Name="Bus">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
@@ -121,7 +129,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
</Profile>
<Profile Name="HeavyVehicles">
<List Name="AgentProfiles">
@@ -135,7 +143,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
<Bool Key="RightLaneOnly" Value="true"/>
</Profile>
</ProfileGroup>
diff --git a/sim/contrib/examples/Configurations/SpawnerRuntime_Highway_SingleRoad/Scenario.xosc b/sim/contrib/examples/Configurations/SpawnerRuntime_Highway_SingleRoad/Scenario.xosc
new file mode 100644
index 0000000000000000000000000000000000000000..d2de82ba2774e6835d8dca62b99ef9afc65644ae
--- /dev/null
+++ b/sim/contrib/examples/Configurations/SpawnerRuntime_Highway_SingleRoad/Scenario.xosc
@@ -0,0 +1,62 @@
+<?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="Vehicles"/>
+ </VehicleCatalog>
+ <PedestrianCatalog>
+ <Directory path="Vehicles"/>
+ </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>
+ <EntitySelection name="ScenarioAgents">
+ <Members/>
+ </EntitySelection>
+ </Entities>
+ <Storyboard>
+ <Init>
+ <Actions>
+ </Actions>
+ </Init>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1"/>
+ </Act>
+ </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/SpawnerRuntime_Highway_SingleRoad/SceneryConfiguration.xodr b/sim/contrib/examples/Configurations/SpawnerRuntime_Highway_SingleRoad/SceneryConfiguration.xodr
index e6d3643b23035b48177674c48e58e646c30e15cf..0e4aacbfa0de50194c1a795bafe698e41f62978f 100755
--- a/sim/contrib/examples/Configurations/SpawnerRuntime_Highway_SingleRoad/SceneryConfiguration.xodr
+++ b/sim/contrib/examples/Configurations/SpawnerRuntime_Highway_SingleRoad/SceneryConfiguration.xodr
@@ -1,13 +1,13 @@
<?xml version="1.0"?>
<OpenDRIVE>
<header revMajor="1" revMinor="1" name="Scenery HAF" version="1" date="Tue Sep 1 12:00:00 2020" north="2000.0" south="-2000.0" east="2000.0" west="-2000.0"/>
- <road name="" length="1000.0" id="1" junction="-1">
+ <road name="" length="5000.0" id="1" junction="-1">
<link>
<successor elementType="junction" elementId="1"/>
</link>
<type s="0.0" type="motorway"/>
<planView>
- <geometry s="0.0" x="0.0" y="4000.0" hdg="1.570796" length="1000.0">
+ <geometry s="0.0" x="0.0" y="0.0" hdg="1.570796" length="5000.0">
<line/>
</geometry>
</planView>
@@ -57,7 +57,7 @@
</lane>
</right>
</laneSection>
- <laneSection s="740.0">
+ <laneSection s="4740.0">
<left/>
<center>
<lane id="0" type="border" level="true">
@@ -230,13 +230,13 @@
<signals>
</signals>
</road>
- <road name="" length="1000.0" id="5" junction="-1">
+ <road name="" length="3995.0" id="5" junction="-1">
<link>
<predecessor elementType="junction" elementId="2"/>
</link>
<type s="0.0" type="motorway"/>
<planView>
- <geometry s="0.0" x="0.0" y="6005.0" hdg="1.570796" length="1000.0">
+ <geometry s="0.0" x="0.0" y="6005.0" hdg="1.570796" length="3995.0">
<line/>
</geometry>
</planView>
diff --git a/sim/contrib/examples/Configurations/SpawnerRuntime_SingleRoad_SpecifiedLanes/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/SpawnerRuntime_SingleRoad_SpecifiedLanes/ProfilesCatalog.xml
index 24e3d3bb1f7fa944cb31caf7919f40b25f50cfd7..d75db1cf8742c7e9ff4060816f374abdeaccb39f 100644
--- a/sim/contrib/examples/Configurations/SpawnerRuntime_SingleRoad_SpecifiedLanes/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/SpawnerRuntime_SingleRoad_SpecifiedLanes/ProfilesCatalog.xml
@@ -1,78 +1,86 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
<AgentProfile Name="LuxuryClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1" Probability="0.5"/>
- <VehicleProfile Name="BMW 7 2" Probability="0.5"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1" Probability="0.5"/>
+ <SystemProfile Name="BMW 7 2" Probability="0.5"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_bmw_7_1" Probability="0.5"/>
+ <VehicleModel Name="car_bmw_7_2" Probability="0.5"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="MiddleClassCarAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Mini Cooper" Probability="0.4"/>
- <VehicleProfile Name="BMW i3" Probability="0.3"/>
- <VehicleProfile Name="BMW 3" Probability="0.3"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Mini Cooper" Probability="0.4"/>
+ <SystemProfile Name="BMW i3" Probability="0.3"/>
+ <SystemProfile Name="BMW 3" Probability="0.3"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_mini_cooper" Probability="0.4"/>
+ <VehicleModel Name="car_bmw_i3" Probability="0.3"/>
+ <VehicleModel Name="car_bmw_3" Probability="0.3"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="TruckAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularTruck" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Truck" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Truck" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="truck" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
- <AgentProfile Name="BusAgent" Type="Dynamic">
+ <AgentProfile Name="BusAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="RegularBus" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Bus" Probability="1.0"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Bus" Probability="1.0"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="bus" Probability="1.0"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 7 2">
- <Model Name="car_bmw_7_2"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 7 2">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Mini Cooper">
- <Model Name="car_mini_cooper"/>
+ </SystemProfile>
+ <SystemProfile Name="Mini Cooper">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW i3">
- <Model Name="car_bmw_i3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW i3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 3">
- <Model Name="car_bmw_3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Truck">
- <Model Name="truck"/>
+ </SystemProfile>
+ <SystemProfile Name="Truck">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Bus">
- <Model Name="bus"/>
+ </SystemProfile>
+ <SystemProfile Name="Bus">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
@@ -121,7 +129,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
</Profile>
<Profile Name="HeavyVehicles">
<List Name="AgentProfiles">
@@ -135,7 +143,7 @@
</ListItem>
</List>
<UniformDistribution Key="Velocity" Max="10" Min="10"/>
- <UniformDistribution Key="TGap" Max="10" Min="10"/>
+ <UniformDistribution Key="TGap" Max="2" Min="2"/>
<Bool Key="RightLaneOnly" Value="true"/>
</Profile>
</ProfileGroup>
diff --git a/sim/contrib/examples/Configurations/SpawnerRuntime_SingleRoad_SpecifiedLanes/Scenario.xosc b/sim/contrib/examples/Configurations/SpawnerRuntime_SingleRoad_SpecifiedLanes/Scenario.xosc
new file mode 100644
index 0000000000000000000000000000000000000000..d2de82ba2774e6835d8dca62b99ef9afc65644ae
--- /dev/null
+++ b/sim/contrib/examples/Configurations/SpawnerRuntime_SingleRoad_SpecifiedLanes/Scenario.xosc
@@ -0,0 +1,62 @@
+<?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="Vehicles"/>
+ </VehicleCatalog>
+ <PedestrianCatalog>
+ <Directory path="Vehicles"/>
+ </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>
+ <EntitySelection name="ScenarioAgents">
+ <Members/>
+ </EntitySelection>
+ </Entities>
+ <Storyboard>
+ <Init>
+ <Actions>
+ </Actions>
+ </Init>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1"/>
+ </Act>
+ </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/StaticAgentCollision/ProfilesCatalog.xml b/sim/contrib/examples/Configurations/StaticAgentCollision/ProfilesCatalog.xml
index a543b8ff4166e7b3da19b34c0c88a76866881846..adf3f626b04a30f4cfcce80cdf0827b3cd56c4c2 100644
--- a/sim/contrib/examples/Configurations/StaticAgentCollision/ProfilesCatalog.xml
+++ b/sim/contrib/examples/Configurations/StaticAgentCollision/ProfilesCatalog.xml
@@ -1,4 +1,4 @@
-<Profiles SchemaVersion="0.4.8">
+<Profiles SchemaVersion="0.5">
<AgentProfiles>
<AgentProfile Name="EgoAgent" Type="Static">
<System>
@@ -18,59 +18,61 @@
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Mini Cooper" Probability="0.4"/>
- <VehicleProfile Name="BMW i3" Probability="0.3"/>
- <VehicleProfile Name="BMW 3" Probability="0.3"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Mini Cooper" Probability="0.4"/>
+ <SystemProfile Name="BMW i3" Probability="0.3"/>
+ <SystemProfile Name="BMW 3" Probability="0.3"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="car_mini_cooper" Probability="0.4"/>
+ <VehicleModel Name="car_bmw_i3" Probability="0.3"/>
+ <VehicleModel Name="car_bmw_3" Probability="0.3"/>
+ </VehicleModels>
</AgentProfile>
<AgentProfile Name="TruckAgent" Type="Dynamic">
<DriverProfiles>
<DriverProfile Name="Regular" Probability="1.0"/>
</DriverProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="Truck" Probability="0.5"/>
- <VehicleProfile Name="Bus" Probability="0.5"/>
- </VehicleProfiles>
+ <SystemProfiles>
+ <SystemProfile Name="Truck" Probability="0.5"/>
+ <SystemProfile Name="Bus" Probability="0.5"/>
+ </SystemProfiles>
+ <VehicleModels>
+ <VehicleModel Name="truck" Probability="0.5"/>
+ <VehicleModel Name="bus" Probability="0.5"/>
+ </VehicleModels>
</AgentProfile>
</AgentProfiles>
- <VehicleProfiles>
- <VehicleProfile Name="BMW 7 1">
- <Model Name="car_bmw_7_1"/>
+ <SystemProfiles>
+ <SystemProfile Name="BMW 7 1">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 7 2">
- <Model Name="car_bmw_7_2"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 7 2">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Mini Cooper">
- <Model Name="car_mini_cooper"/>
+ </SystemProfile>
+ <SystemProfile Name="Mini Cooper">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW i3">
- <Model Name="car_bmw_i3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW i3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="BMW 3">
- <Model Name="car_bmw_3"/>
+ </SystemProfile>
+ <SystemProfile Name="BMW 3">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Truck">
- <Model Name="truck"/>
+ </SystemProfile>
+ <SystemProfile Name="Truck">
<Components/>
<Sensors/>
- </VehicleProfile>
- <VehicleProfile Name="Bus">
- <Model Name="bus"/>
+ </SystemProfile>
+ <SystemProfile Name="Bus">
<Components/>
<Sensors/>
- </VehicleProfile>
- </VehicleProfiles>
+ </SystemProfile>
+ </SystemProfiles>
<ProfileGroup Type="Driver">
<Profile Name="Regular">
<String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
diff --git a/sim/contrib/examples/Configurations/TrafficJam/Scenario.xosc b/sim/contrib/examples/Configurations/TrafficJam/Scenario.xosc
index 3f446b57fa6376b7d4f03be33eae3a23bf856123..7d8436483d98a99a5b1b19cd67158354c9bb752d 100644
--- a/sim/contrib/examples/Configurations/TrafficJam/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/TrafficJam/Scenario.xosc
@@ -36,10 +36,10 @@
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -66,37 +66,114 @@
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="MiddleClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="MiddleClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<ScenarioObject name="ScenarioAgent1">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="MiddleClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper"/>
+ <ObjectController>
+ <Controller name="ScenarioAgent1">
+ <Properties>
+ <Property name="AgentProfile" value="MiddleClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<ScenarioObject name="ScenarioAgent2">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="LuxuryClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="ScenarioAgent2">
+ <Properties>
+ <Property name="AgentProfile" value="LuxuryClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<ScenarioObject name="ScenarioAgent3">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="MiddleClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper"/>
+ <ObjectController>
+ <Controller name="ScenarioAgent3">
+ <Properties>
+ <Property name="AgentProfile" value="MiddleClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<ScenarioObject name="ScenarioAgent4">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="LuxuryClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="ScenarioAgent4">
+ <Properties>
+ <Property name="AgentProfile" value="LuxuryClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<ScenarioObject name="ScenarioAgent5">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="MiddleClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper"/>
+ <ObjectController>
+ <Controller name="ScenarioAgent5">
+ <Properties>
+ <Property name="AgentProfile" value="MiddleClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<ScenarioObject name="ScenarioAgent6">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="LuxuryClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="ScenarioAgent6">
+ <Properties>
+ <Property name="AgentProfile" value="LuxuryClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<ScenarioObject name="ScenarioAgent7">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="LuxuryClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_bmw_7_1"/>
+ <ObjectController>
+ <Controller name="ScenarioAgent7">
+ <Properties>
+ <Property name="AgentProfile" value="LuxuryClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<ScenarioObject name="ScenarioAgent8">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="MiddleClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper"/>
+ <ObjectController>
+ <Controller name="ScenarioAgent8">
+ <Properties>
+ <Property name="AgentProfile" value="MiddleClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<ScenarioObject name="ScenarioAgent9">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="MiddleClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper"/>
+ <ObjectController>
+ <Controller name="ScenarioAgent9">
+ <Properties>
+ <Property name="AgentProfile" value="MiddleClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<ScenarioObject name="ScenarioAgent10">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="MiddleClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper"/>
+ <ObjectController>
+ <Controller name="ScenarioAgent10">
+ <Properties>
+ <Property name="AgentProfile" value="MiddleClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members>
@@ -127,7 +204,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="43.5"/>
</SpeedActionTarget>
@@ -146,7 +223,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.5" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.5" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="$Agent1_Velocity"/>
</SpeedActionTarget>
@@ -165,7 +242,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.5" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.5" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="$Agent2_Velocity"/>
</SpeedActionTarget>
@@ -184,7 +261,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.5" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.5" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="$Agent3_Velocity"/>
</SpeedActionTarget>
@@ -203,7 +280,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.5" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.5" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="$Agent4_Velocity"/>
</SpeedActionTarget>
@@ -222,7 +299,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.5" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.5" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="$Agent5_Velocity"/>
</SpeedActionTarget>
@@ -241,7 +318,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.5" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.5" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="$Agent6_Velocity"/>
</SpeedActionTarget>
@@ -260,7 +337,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.5" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.5" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="$Agent7_Velocity"/>
</SpeedActionTarget>
@@ -279,7 +356,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.5" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.5" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="$Agent8_Velocity"/>
</SpeedActionTarget>
@@ -298,7 +375,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.5" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.5" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="$Agent9_Velocity"/>
</SpeedActionTarget>
@@ -317,7 +394,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.5" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.5" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="$Agent10_Velocity"/>
</SpeedActionTarget>
@@ -327,6 +404,11 @@
</Private>
</Actions>
</Init>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1"/>
+ </Act>
+ </Story>
<StopTrigger>
<ConditionGroup>
<Condition name="EndTime" delay="0" conditionEdge="rising">
diff --git a/sim/contrib/examples/Configurations/TrafficJam/simulationConfig.xml b/sim/contrib/examples/Configurations/TrafficJam/simulationConfig.xml
index 5bd026f99af93474f1c0e8605badc2406649b289..3d8daad03bdb43a0b95fded2c0a6220d59de1af9 100644
--- a/sim/contrib/examples/Configurations/TrafficJam/simulationConfig.xml
+++ b/sim/contrib/examples/Configurations/TrafficJam/simulationConfig.xml
@@ -43,11 +43,6 @@
</Observation>
</Observations>
<Spawners>
- <Spawner>
- <Library>SpawnerScenario</Library>
- <Type>PreRun</Type>
- <Priority>1</Priority>
- </Spawner>
<Spawner>
<Library>SpawnerPreRunCommon</Library>
<Type>PreRun</Type>
diff --git a/sim/contrib/examples/Configurations/TrafficLight/Scenario.xosc b/sim/contrib/examples/Configurations/TrafficLight/Scenario.xosc
index a2d52f7aa43a8c139c7cf4202f2f54c34184a391..af7aee8c70524e80c208f0f974bfe23b3e0836fb 100644
--- a/sim/contrib/examples/Configurations/TrafficLight/Scenario.xosc
+++ b/sim/contrib/examples/Configurations/TrafficLight/Scenario.xosc
@@ -6,10 +6,10 @@
</ParameterDeclarations>
<CatalogLocations>
<VehicleCatalog>
- <Directory path="VehicleModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</VehicleCatalog>
<PedestrianCatalog>
- <Directory path="PedestrianModelsCatalog.xosc"/>
+ <Directory path="Vehicles"/>
</PedestrianCatalog>
<ControllerCatalog>
<Directory path=""/>
@@ -36,23 +36,30 @@
<TrafficSignals>
<TrafficSignalController name="">
<Phase duration="3" name="Phase1">
- <TrafficSignalState state="green" trafficSignalId="1" />
+ <TrafficSignalState state="green" trafficSignalId="1"/>
</Phase>
<Phase duration="3" name="Phase2">
- <TrafficSignalState state="yellow" trafficSignalId="1" />
+ <TrafficSignalState state="yellow" trafficSignalId="1"/>
</Phase>
<Phase duration="3" name="Phase3">
- <TrafficSignalState state="red" trafficSignalId="1" />
+ <TrafficSignalState state="red" trafficSignalId="1"/>
</Phase>
<Phase duration="3" name="Phase4">
- <TrafficSignalState state="red yellow" trafficSignalId="1" />
+ <TrafficSignalState state="red yellow" trafficSignalId="1"/>
</Phase>
</TrafficSignalController>
</TrafficSignals>
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="ProfilesCatalog.xml" entryName="MiddleClassCarAgent"/>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper"/>
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="MiddleClassCarAgent"/>
+ </Properties>
+ </Controller>
+ </ObjectController>
</ScenarioObject>
<EntitySelection name="ScenarioAgents">
<Members/>
@@ -72,7 +79,7 @@
<PrivateAction>
<LongitudinalAction>
<SpeedAction>
- <SpeedActionDynamics dynamicsShape="linear" value="0.0" dynamicsDimension="rate"/>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate"/>
<SpeedActionTarget>
<AbsoluteTargetSpeed value="5.0"/>
</SpeedActionTarget>
@@ -82,7 +89,11 @@
</Private>
</Actions>
</Init>
- <Story/>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1"/>
+ </Act>
+ </Story>
<StopTrigger>
<ConditionGroup>
<Condition name="EndTime" delay="0" conditionEdge="rising">
diff --git a/sim/contrib/examples/PCM_Re-Simulation/result_pcm/1000232/0-0-0/Default/configs/VehicleModelsCatalog.xosc b/sim/contrib/examples/PCM_Re-Simulation/result_pcm/1000232/0-0-0/Default/configs/VehicleModelsCatalog.xosc
index 7a014e58a775817c1cd10dfaad1f71933d161928..51cbe4bd15da1146b854badb0f8f3407f0fc1fe0 100644
--- a/sim/contrib/examples/PCM_Re-Simulation/result_pcm/1000232/0-0-0/Default/configs/VehicleModelsCatalog.xosc
+++ b/sim/contrib/examples/PCM_Re-Simulation/result_pcm/1000232/0-0-0/Default/configs/VehicleModelsCatalog.xosc
@@ -2,7 +2,7 @@
<OpenSCENARIO>
<FileHeader revMajor="1" revMinor="0" date="2020-01-01T00:00:00" description="openPASS vehicle models" author="openPASS"/>
<Catalog name="VehicleCatalog">
- <Vehicle name="Agent_0" vehicleCategory="car">
+ <Vehicle mass="1920" name="Agent_0" vehicleCategory="car">
<Properties>
<Property name="AirDragCoefficient" value="0.3"/>
<Property name="AxleRatio" value="1.0"/>
@@ -10,7 +10,6 @@
<Property name="FrictionCoefficient" value="0.76"/>
<Property name="FrontSurface" value="1.0"/>
<Property name="GearRatio1" value="1.0"/>
- <Property name="Mass" value="1920"/>
<Property name="MaximumEngineSpeed" value="10000.0"/>
<Property name="MaximumEngineTorque" value="500.0"/>
<Property name="MinimumEngineSpeed" value="1.0"/>
@@ -31,7 +30,7 @@
<RearAxle maxSteering="0" wheelDiameter="0.6" trackWidth="1.55" positionX="0" positionZ="0.3"/>
</Axles>
</Vehicle>
- <Vehicle name="Agent_1" vehicleCategory="car">
+ <Vehicle mass="1200" name="Agent_1" vehicleCategory="car">
<Properties>
<Property name="AirDragCoefficient" value="0.3"/>
<Property name="AxleRatio" value="1.0"/>
@@ -39,7 +38,6 @@
<Property name="FrictionCoefficient" value="0.76"/>
<Property name="FrontSurface" value="1.0"/>
<Property name="GearRatio1" value="1.0"/>
- <Property name="Mass" value="1200"/>
<Property name="MaximumEngineSpeed" value="10000.0"/>
<Property name="MaximumEngineTorque" value="500.0"/>
<Property name="MinimumEngineSpeed" value="1.0"/>
diff --git a/sim/deps/openScenarioEngine b/sim/deps/openScenarioEngine
new file mode 160000
index 0000000000000000000000000000000000000000..b7df4a3b5b77c028992485d68632b098914cc368
--- /dev/null
+++ b/sim/deps/openScenarioEngine
@@ -0,0 +1 @@
+Subproject commit b7df4a3b5b77c028992485d68632b098914cc368
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diff --git a/sim/deps/units/include/units.h b/sim/deps/units/include/units.h
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+//--------------------------------------------------------------------------------------------------
+//
+// Units: A compile-time c++14 unit conversion library with no dependencies
+//
+//--------------------------------------------------------------------------------------------------
+//
+// The MIT License (MIT)
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+// and associated documentation files (the "Software"), to deal in the Software without
+// restriction, including without limitation the rights to use, copy, modify, merge, publish,
+// distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in all copies or
+// substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+// BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+// NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+// DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+//--------------------------------------------------------------------------------------------------
+//
+// Copyright (c) 2016 Nic Holthaus
+//
+//--------------------------------------------------------------------------------------------------
+//
+// ATTRIBUTION:
+// Parts of this work have been adapted from:
+// http://stackoverflow.com/questions/35069778/create-comparison-trait-for-template-classes-whose-parameters-are-in-a-different
+// http://stackoverflow.com/questions/28253399/check-traits-for-all-variadic-template-arguments/28253503
+// http://stackoverflow.com/questions/36321295/rational-approximation-of-square-root-of-stdratio-at-compile-time?noredirect=1#comment60266601_36321295
+//
+//--------------------------------------------------------------------------------------------------
+//
+/// @file units.h
+/// @brief Complete implementation of `units` - a compile-time, header-only, unit conversion
+/// library built on c++14 with no dependencies.
+//
+//--------------------------------------------------------------------------------------------------
+
+#pragma once
+
+#ifndef units_h__
+#define units_h__
+
+#ifdef _MSC_VER
+# pragma push_macro("pascal")
+# undef pascal
+# if _MSC_VER <= 1800
+# define _ALLOW_KEYWORD_MACROS
+# pragma warning(push)
+# pragma warning(disable : 4520)
+# pragma push_macro("constexpr")
+# define constexpr /*constexpr*/
+# pragma push_macro("noexcept")
+# define noexcept throw()
+# endif // _MSC_VER < 1800
+#endif // _MSC_VER
+
+#if !defined(_MSC_VER) || _MSC_VER > 1800
+# define UNIT_HAS_LITERAL_SUPPORT
+# define UNIT_HAS_VARIADIC_TEMPLATE_SUPPORT
+#endif
+
+#ifndef UNIT_LIB_DEFAULT_TYPE
+# define UNIT_LIB_DEFAULT_TYPE double
+#endif
+
+//--------------------
+// INCLUDES
+//--------------------
+
+#include <chrono>
+#include <cstddef>
+#include <ratio>
+#include <type_traits>
+#include <cstdint>
+#include <cmath>
+#include <limits>
+
+#if !defined(UNIT_LIB_DISABLE_IOSTREAM)
+ #include <iostream>
+ #include <string>
+ #include <locale>
+
+ //------------------------------
+ // STRING FORMATTER
+ //------------------------------
+
+ namespace units
+ {
+ namespace detail
+ {
+ template <typename T> std::string to_string(const T& t)
+ {
+ std::string str{ std::to_string(t) };
+ int offset{ 1 };
+
+ // remove trailing decimal points for integer value units. Locale aware!
+ struct lconv * lc;
+ lc = localeconv();
+ char decimalPoint = *lc->decimal_point;
+ if (str.find_last_not_of('0') == str.find(decimalPoint)) { offset = 0; }
+ str.erase(str.find_last_not_of('0') + offset, std::string::npos);
+ return str;
+ }
+ }
+ }
+#endif
+
+namespace units
+{
+ template<typename T> inline constexpr const char* name(const T&);
+ template<typename T> inline constexpr const char* abbreviation(const T&);
+}
+
+//------------------------------
+// MACROS
+//------------------------------
+
+/**
+ * @def UNIT_ADD_UNIT_TAGS(namespaceName,nameSingular, namePlural, abbreviation, definition)
+ * @brief Helper macro for generating the boiler-plate code generating the tags of a new unit.
+ * @details The macro generates singular, plural, and abbreviated forms
+ * of the unit definition (e.g. `meter`, `meters`, and `m`), as aliases for the
+ * unit tag.
+ * @param namespaceName namespace in which the new units will be encapsulated.
+ * @param nameSingular singular version of the unit name, e.g. 'meter'
+ * @param namePlural - plural version of the unit name, e.g. 'meters'
+ * @param abbreviation - abbreviated unit name, e.g. 'm'
+ * @param definition - the variadic parameter is used for the definition of the unit
+ * (e.g. `unit<std::ratio<1>, units::category::length_unit>`)
+ * @note a variadic template is used for the definition to allow templates with
+ * commas to be easily expanded. All the variadic 'arguments' should together
+ * comprise the unit definition.
+ */
+#define UNIT_ADD_UNIT_TAGS(namespaceName,nameSingular, namePlural, abbreviation, /*definition*/...)\
+ namespace namespaceName\
+ {\
+ /** @name Units (full names plural) */ /** @{ */ typedef __VA_ARGS__ namePlural; /** @} */\
+ /** @name Units (full names singular) */ /** @{ */ typedef namePlural nameSingular; /** @} */\
+ /** @name Units (abbreviated) */ /** @{ */ typedef namePlural abbreviation; /** @} */\
+ }
+
+/**
+ * @def UNIT_ADD_UNIT_DEFINITION(namespaceName,nameSingular)
+ * @brief Macro for generating the boiler-plate code for the unit_t type definition.
+ * @details The macro generates the definition of the unit container types, e.g. `meter_t`
+ * @param namespaceName namespace in which the new units will be encapsulated.
+ * @param nameSingular singular version of the unit name, e.g. 'meter'
+ */
+#define UNIT_ADD_UNIT_DEFINITION(namespaceName,nameSingular)\
+ namespace namespaceName\
+ {\
+ /** @name Unit Containers */ /** @{ */ typedef unit_t<nameSingular> nameSingular ## _t; /** @} */\
+ }
+
+/**
+ * @def UNIT_ADD_CUSTOM_TYPE_UNIT_DEFINITION(namespaceName,nameSingular,underlyingType)
+ * @brief Macro for generating the boiler-plate code for a unit_t type definition with a non-default underlying type.
+ * @details The macro generates the definition of the unit container types, e.g. `meter_t`
+ * @param namespaceName namespace in which the new units will be encapsulated.
+ * @param nameSingular singular version of the unit name, e.g. 'meter'
+ * @param underlyingType the underlying type
+ */
+#define UNIT_ADD_CUSTOM_TYPE_UNIT_DEFINITION(namespaceName,nameSingular, underlyingType)\
+ namespace namespaceName\
+ {\
+ /** @name Unit Containers */ /** @{ */ typedef unit_t<nameSingular,underlyingType> nameSingular ## _t; /** @} */\
+ }
+/**
+ * @def UNIT_ADD_IO(namespaceName,nameSingular, abbreviation)
+ * @brief Macro for generating the boiler-plate code needed for I/O for a new unit.
+ * @details The macro generates the code to insert units into an ostream. It
+ * prints both the value and abbreviation of the unit when invoked.
+ * @param namespaceName namespace in which the new units will be encapsulated.
+ * @param nameSingular singular version of the unit name, e.g. 'meter'
+ * @param abbrev - abbreviated unit name, e.g. 'm'
+ * @note When UNIT_LIB_DISABLE_IOSTREAM is defined, the macro does not generate any code
+ */
+#if defined(UNIT_LIB_DISABLE_IOSTREAM)
+ #define UNIT_ADD_IO(namespaceName, nameSingular, abbrev)
+#else
+ #define UNIT_ADD_IO(namespaceName, nameSingular, abbrev)\
+ namespace namespaceName\
+ {\
+ inline std::ostream& operator<<(std::ostream& os, const nameSingular ## _t& obj) \
+ {\
+ os << obj() << " "#abbrev; return os; \
+ }\
+ inline std::string to_string(const nameSingular ## _t& obj)\
+ {\
+ return units::detail::to_string(obj()) + std::string(" "#abbrev);\
+ }\
+ }
+#endif
+
+ /**
+ * @def UNIT_ADD_NAME(namespaceName,nameSingular,abbreviation)
+ * @brief Macro for generating constexpr names/abbreviations for units.
+ * @details The macro generates names for units. E.g. name() of 1_m would be "meter", and
+ * abbreviation would be "m".
+ * @param namespaceName namespace in which the new units will be encapsulated. All literal values
+ * are placed in the `units::literals` namespace.
+ * @param nameSingular singular version of the unit name, e.g. 'meter'
+ * @param abbreviation - abbreviated unit name, e.g. 'm'
+ */
+#define UNIT_ADD_NAME(namespaceName, nameSingular, abbrev)\
+template<> inline constexpr const char* name(const namespaceName::nameSingular ## _t&)\
+{\
+ return #nameSingular;\
+}\
+template<> inline constexpr const char* abbreviation(const namespaceName::nameSingular ## _t&)\
+{\
+ return #abbrev;\
+}
+
+/**
+ * @def UNIT_ADD_LITERALS(namespaceName,nameSingular,abbreviation)
+ * @brief Macro for generating user-defined literals for units.
+ * @details The macro generates user-defined literals for units. A literal suffix is created
+ * using the abbreviation (e.g. `10.0_m`).
+ * @param namespaceName namespace in which the new units will be encapsulated. All literal values
+ * are placed in the `units::literals` namespace.
+ * @param nameSingular singular version of the unit name, e.g. 'meter'
+ * @param abbreviation - abbreviated unit name, e.g. 'm'
+ * @note When UNIT_HAS_LITERAL_SUPPORT is not defined, the macro does not generate any code
+ */
+#if defined(UNIT_HAS_LITERAL_SUPPORT)
+ #define UNIT_ADD_LITERALS(namespaceName, nameSingular, abbreviation)\
+ namespace literals\
+ {\
+ inline constexpr namespaceName::nameSingular ## _t operator""_ ## abbreviation(long double d)\
+ {\
+ return namespaceName::nameSingular ## _t(static_cast<namespaceName::nameSingular ## _t::underlying_type>(d));\
+ }\
+ inline constexpr namespaceName::nameSingular ## _t operator""_ ## abbreviation (unsigned long long d)\
+ {\
+ return namespaceName::nameSingular ## _t(static_cast<namespaceName::nameSingular ## _t::underlying_type>(d));\
+ }\
+ }
+#else
+ #define UNIT_ADD_LITERALS(namespaceName, nameSingular, abbreviation)
+#endif
+
+/**
+ * @def UNIT_ADD(namespaceName,nameSingular, namePlural, abbreviation, definition)
+ * @brief Macro for generating the boiler-plate code needed for a new unit.
+ * @details The macro generates singular, plural, and abbreviated forms
+ * of the unit definition (e.g. `meter`, `meters`, and `m`), as well as the
+ * appropriately named unit container (e.g. `meter_t`). A literal suffix is created
+ * using the abbreviation (e.g. `10.0_m`). It also defines a class-specific
+ * cout function which prints both the value and abbreviation of the unit when invoked.
+ * @param namespaceName namespace in which the new units will be encapsulated. All literal values
+ * are placed in the `units::literals` namespace.
+ * @param nameSingular singular version of the unit name, e.g. 'meter'
+ * @param namePlural - plural version of the unit name, e.g. 'meters'
+ * @param abbreviation - abbreviated unit name, e.g. 'm'
+ * @param definition - the variadic parameter is used for the definition of the unit
+ * (e.g. `unit<std::ratio<1>, units::category::length_unit>`)
+ * @note a variadic template is used for the definition to allow templates with
+ * commas to be easily expanded. All the variadic 'arguments' should together
+ * comprise the unit definition.
+ */
+#define UNIT_ADD(namespaceName, nameSingular, namePlural, abbreviation, /*definition*/...)\
+ UNIT_ADD_UNIT_TAGS(namespaceName,nameSingular, namePlural, abbreviation, __VA_ARGS__)\
+ UNIT_ADD_UNIT_DEFINITION(namespaceName,nameSingular)\
+ UNIT_ADD_NAME(namespaceName,nameSingular, abbreviation)\
+ UNIT_ADD_IO(namespaceName,nameSingular, abbreviation)\
+ UNIT_ADD_LITERALS(namespaceName,nameSingular, abbreviation)
+
+/**
+ * @def UNIT_ADD_WITH_CUSTOM_TYPE(namespaceName,nameSingular, namePlural, abbreviation, underlyingType, definition)
+ * @brief Macro for generating the boiler-plate code needed for a new unit with a non-default underlying type.
+ * @details The macro generates singular, plural, and abbreviated forms
+ * of the unit definition (e.g. `meter`, `meters`, and `m`), as well as the
+ * appropriately named unit container (e.g. `meter_t`). A literal suffix is created
+ * using the abbreviation (e.g. `10.0_m`). It also defines a class-specific
+ * cout function which prints both the value and abbreviation of the unit when invoked.
+ * @param namespaceName namespace in which the new units will be encapsulated. All literal values
+ * are placed in the `units::literals` namespace.
+ * @param nameSingular singular version of the unit name, e.g. 'meter'
+ * @param namePlural - plural version of the unit name, e.g. 'meters'
+ * @param abbreviation - abbreviated unit name, e.g. 'm'
+ * @param underlyingType - the underlying type, e.g. 'int' or 'float'
+ * @param definition - the variadic parameter is used for the definition of the unit
+ * (e.g. `unit<std::ratio<1>, units::category::length_unit>`)
+ * @note a variadic template is used for the definition to allow templates with
+ * commas to be easily expanded. All the variadic 'arguments' should together
+ * comprise the unit definition.
+ */
+#define UNIT_ADD_WITH_CUSTOM_TYPE(namespaceName, nameSingular, namePlural, abbreviation, underlyingType, /*definition*/...)\
+ UNIT_ADD_UNIT_TAGS(namespaceName,nameSingular, namePlural, abbreviation, __VA_ARGS__)\
+ UNIT_ADD_CUSTOM_TYPE_UNIT_DEFINITION(namespaceName,nameSingular,underlyingType)\
+ UNIT_ADD_IO(namespaceName,nameSingular, abbreviation)\
+ UNIT_ADD_LITERALS(namespaceName,nameSingular, abbreviation)
+
+/**
+ * @def UNIT_ADD_DECIBEL(namespaceName, nameSingular, abbreviation)
+ * @brief Macro to create decibel container and literals for an existing unit type.
+ * @details This macro generates the decibel unit container, cout overload, and literal definitions.
+ * @param namespaceName namespace in which the new units will be encapsulated. All literal values
+ * are placed in the `units::literals` namespace.
+ * @param nameSingular singular version of the base unit name, e.g. 'watt'
+ * @param abbreviation - abbreviated decibel unit name, e.g. 'dBW'
+ */
+#define UNIT_ADD_DECIBEL(namespaceName, nameSingular, abbreviation)\
+ namespace namespaceName\
+ {\
+ /** @name Unit Containers */ /** @{ */ typedef unit_t<nameSingular, UNIT_LIB_DEFAULT_TYPE, units::decibel_scale> abbreviation ## _t; /** @} */\
+ }\
+ UNIT_ADD_IO(namespaceName, abbreviation, abbreviation)\
+ UNIT_ADD_LITERALS(namespaceName, abbreviation, abbreviation)
+
+/**
+ * @def UNIT_ADD_CATEGORY_TRAIT(unitCategory, baseUnit)
+ * @brief Macro to create the `is_category_unit` type trait.
+ * @details This trait allows users to test whether a given type matches
+ * an intended category. This macro comprises all the boiler-plate
+ * code necessary to do so.
+ * @param unitCategory The name of the category of unit, e.g. length or mass.
+ */
+
+#define UNIT_ADD_CATEGORY_TRAIT_DETAIL(unitCategory)\
+ namespace traits\
+ {\
+ /** @cond */\
+ namespace detail\
+ {\
+ template<typename T> struct is_ ## unitCategory ## _unit_impl : std::false_type {};\
+ template<typename C, typename U, typename P, typename T>\
+ struct is_ ## unitCategory ## _unit_impl<units::unit<C, U, P, T>> : std::is_same<units::traits::base_unit_of<typename units::traits::unit_traits<units::unit<C, U, P, T>>::base_unit_type>, units::category::unitCategory ## _unit>::type {};\
+ template<typename U, typename S, template<typename> class N>\
+ struct is_ ## unitCategory ## _unit_impl<units::unit_t<U, S, N>> : std::is_same<units::traits::base_unit_of<typename units::traits::unit_t_traits<units::unit_t<U, S, N>>::unit_type>, units::category::unitCategory ## _unit>::type {};\
+ }\
+ /** @endcond */\
+ }
+
+#if defined(UNIT_HAS_VARIADIC_TEMPLATE_SUPPORT)
+#define UNIT_ADD_IS_UNIT_CATEGORY_TRAIT(unitCategory)\
+ namespace traits\
+ {\
+ template<typename... T> struct is_ ## unitCategory ## _unit : std::integral_constant<bool, units::all_true<units::traits::detail::is_ ## unitCategory ## _unit_impl<std::decay_t<T>>::value...>::value> {};\
+ }
+#else
+#define UNIT_ADD_IS_UNIT_CATEGORY_TRAIT(unitCategory)\
+ namespace traits\
+ {\
+ template<typename T1, typename T2 = T1, typename T3 = T1>\
+ struct is_ ## unitCategory ## _unit : std::integral_constant<bool, units::traits::detail::is_ ## unitCategory ## _unit_impl<typename std::decay<T1>::type>::value &&\
+ units::traits::detail::is_ ## unitCategory ## _unit_impl<typename std::decay<T2>::type>::value &&\
+ units::traits::detail::is_ ## unitCategory ## _unit_impl<typename std::decay<T3>::type>::value>{};\
+ }
+#endif
+
+#define UNIT_ADD_CATEGORY_TRAIT(unitCategory)\
+ UNIT_ADD_CATEGORY_TRAIT_DETAIL(unitCategory)\
+ /** @ingroup TypeTraits*/\
+ /** @brief Trait which tests whether a type represents a unit of unitCategory*/\
+ /** @details Inherits from `std::true_type` or `std::false_type`. Use `is_ ## unitCategory ## _unit<T>::value` to test the unit represents a unitCategory quantity.*/\
+ /** @tparam T one or more types to test*/\
+ UNIT_ADD_IS_UNIT_CATEGORY_TRAIT(unitCategory)
+
+/**
+ * @def UNIT_ADD_WITH_METRIC_PREFIXES(nameSingular, namePlural, abbreviation, definition)
+ * @brief Macro for generating the boiler-plate code needed for a new unit, including its metric
+ * prefixes from femto to peta.
+ * @details See UNIT_ADD. In addition to generating the unit definition and containers '(e.g. `meters` and 'meter_t',
+ * it also creates corresponding units with metric suffixes such as `millimeters`, and `millimeter_t`), as well as the
+ * literal suffixes (e.g. `10.0_mm`).
+ * @param namespaceName namespace in which the new units will be encapsulated. All literal values
+ * are placed in the `units::literals` namespace.
+ * @param nameSingular singular version of the unit name, e.g. 'meter'
+ * @param namePlural - plural version of the unit name, e.g. 'meters'
+ * @param abbreviation - abbreviated unit name, e.g. 'm'
+ * @param definition - the variadic parameter is used for the definition of the unit
+ * (e.g. `unit<std::ratio<1>, units::category::length_unit>`)
+ * @note a variadic template is used for the definition to allow templates with
+ * commas to be easily expanded. All the variadic 'arguments' should together
+ * comprise the unit definition.
+ */
+#define UNIT_ADD_WITH_METRIC_PREFIXES(namespaceName, nameSingular, namePlural, abbreviation, /*definition*/...)\
+ UNIT_ADD(namespaceName, nameSingular, namePlural, abbreviation, __VA_ARGS__)\
+ UNIT_ADD(namespaceName, femto ## nameSingular, femto ## namePlural, f ## abbreviation, femto<namePlural>)\
+ UNIT_ADD(namespaceName, pico ## nameSingular, pico ## namePlural, p ## abbreviation, pico<namePlural>)\
+ UNIT_ADD(namespaceName, nano ## nameSingular, nano ## namePlural, n ## abbreviation, nano<namePlural>)\
+ UNIT_ADD(namespaceName, micro ## nameSingular, micro ## namePlural, u ## abbreviation, micro<namePlural>)\
+ UNIT_ADD(namespaceName, milli ## nameSingular, milli ## namePlural, m ## abbreviation, milli<namePlural>)\
+ UNIT_ADD(namespaceName, centi ## nameSingular, centi ## namePlural, c ## abbreviation, centi<namePlural>)\
+ UNIT_ADD(namespaceName, deci ## nameSingular, deci ## namePlural, d ## abbreviation, deci<namePlural>)\
+ UNIT_ADD(namespaceName, deca ## nameSingular, deca ## namePlural, da ## abbreviation, deca<namePlural>)\
+ UNIT_ADD(namespaceName, hecto ## nameSingular, hecto ## namePlural, h ## abbreviation, hecto<namePlural>)\
+ UNIT_ADD(namespaceName, kilo ## nameSingular, kilo ## namePlural, k ## abbreviation, kilo<namePlural>)\
+ UNIT_ADD(namespaceName, mega ## nameSingular, mega ## namePlural, M ## abbreviation, mega<namePlural>)\
+ UNIT_ADD(namespaceName, giga ## nameSingular, giga ## namePlural, G ## abbreviation, giga<namePlural>)\
+ UNIT_ADD(namespaceName, tera ## nameSingular, tera ## namePlural, T ## abbreviation, tera<namePlural>)\
+ UNIT_ADD(namespaceName, peta ## nameSingular, peta ## namePlural, P ## abbreviation, peta<namePlural>)\
+
+ /**
+ * @def UNIT_ADD_WITH_METRIC_AND_BINARY_PREFIXES(nameSingular, namePlural, abbreviation, definition)
+ * @brief Macro for generating the boiler-plate code needed for a new unit, including its metric
+ * prefixes from femto to peta, and binary prefixes from kibi to exbi.
+ * @details See UNIT_ADD. In addition to generating the unit definition and containers '(e.g. `bytes` and 'byte_t',
+ * it also creates corresponding units with metric suffixes such as `millimeters`, and `millimeter_t`), as well as the
+ * literal suffixes (e.g. `10.0_B`).
+ * @param namespaceName namespace in which the new units will be encapsulated. All literal values
+ * are placed in the `units::literals` namespace.
+ * @param nameSingular singular version of the unit name, e.g. 'byte'
+ * @param namePlural - plural version of the unit name, e.g. 'bytes'
+ * @param abbreviation - abbreviated unit name, e.g. 'B'
+ * @param definition - the variadic parameter is used for the definition of the unit
+ * (e.g. `unit<std::ratio<1>, units::category::data_unit>`)
+ * @note a variadic template is used for the definition to allow templates with
+ * commas to be easily expanded. All the variadic 'arguments' should together
+ * comprise the unit definition.
+ */
+#define UNIT_ADD_WITH_METRIC_AND_BINARY_PREFIXES(namespaceName, nameSingular, namePlural, abbreviation, /*definition*/...)\
+ UNIT_ADD_WITH_METRIC_PREFIXES(namespaceName, nameSingular, namePlural, abbreviation, __VA_ARGS__)\
+ UNIT_ADD(namespaceName, kibi ## nameSingular, kibi ## namePlural, Ki ## abbreviation, kibi<namePlural>)\
+ UNIT_ADD(namespaceName, mebi ## nameSingular, mebi ## namePlural, Mi ## abbreviation, mebi<namePlural>)\
+ UNIT_ADD(namespaceName, gibi ## nameSingular, gibi ## namePlural, Gi ## abbreviation, gibi<namePlural>)\
+ UNIT_ADD(namespaceName, tebi ## nameSingular, tebi ## namePlural, Ti ## abbreviation, tebi<namePlural>)\
+ UNIT_ADD(namespaceName, pebi ## nameSingular, pebi ## namePlural, Pi ## abbreviation, pebi<namePlural>)\
+ UNIT_ADD(namespaceName, exbi ## nameSingular, exbi ## namePlural, Ei ## abbreviation, exbi<namePlural>)
+
+//--------------------
+// UNITS NAMESPACE
+//--------------------
+
+/**
+ * @namespace units
+ * @brief Unit Conversion Library namespace
+ */
+namespace units
+{
+ //----------------------------------
+ // DOXYGEN
+ //----------------------------------
+
+ /**
+ * @defgroup UnitContainers Unit Containers
+ * @brief Defines a series of classes which contain dimensioned values. Unit containers
+ * store a value, and support various arithmetic operations.
+ */
+
+ /**
+ * @defgroup UnitTypes Unit Types
+ * @brief Defines a series of classes which represent units. These types are tags used by
+ * the conversion function, to create compound units, or to create `unit_t` types.
+ * By themselves, they are not containers and have no stored value.
+ */
+
+ /**
+ * @defgroup UnitManipulators Unit Manipulators
+ * @brief Defines a series of classes used to manipulate unit types, such as `inverse<>`, `squared<>`, and metric prefixes.
+ * Unit manipulators can be chained together, e.g. `inverse<squared<pico<time::seconds>>>` to
+ * represent picoseconds^-2.
+ */
+
+ /**
+ * @defgroup CompileTimeUnitManipulators Compile-time Unit Manipulators
+ * @brief Defines a series of classes used to manipulate `unit_value_t` types at compile-time, such as `unit_value_add<>`, `unit_value_sqrt<>`, etc.
+ * Compile-time manipulators can be chained together, e.g. `unit_value_sqrt<unit_value_add<unit_value_power<a, 2>, unit_value_power<b, 2>>>` to
+ * represent `c = sqrt(a^2 + b^2).
+ */
+
+ /**
+ * @defgroup UnitMath Unit Math
+ * @brief Defines a collection of unit-enabled, strongly-typed versions of `<cmath>` functions.
+ * @details Includes most c++11 extensions.
+ */
+
+ /**
+ * @defgroup Conversion Explicit Conversion
+ * @brief Functions used to convert values of one logical type to another.
+ */
+
+ /**
+ * @defgroup TypeTraits Type Traits
+ * @brief Defines a series of classes to obtain unit type information at compile-time.
+ */
+
+ //------------------------------
+ // FORWARD DECLARATIONS
+ //------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace constants
+ {
+ namespace detail
+ {
+ static constexpr const UNIT_LIB_DEFAULT_TYPE PI_VAL = 3.14159265358979323846264338327950288419716939937510;
+ }
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ //------------------------------
+ // RATIO TRAITS
+ //------------------------------
+
+ /**
+ * @ingroup TypeTraits
+ * @{
+ */
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /// has_num implementation.
+ template<class T>
+ struct has_num_impl
+ {
+ template<class U>
+ static constexpr auto test(U*)->std::is_integral<decltype(U::num)> {return std::is_integral<decltype(U::num)>{}; }
+ template<typename>
+ static constexpr std::false_type test(...) { return std::false_type{}; }
+
+ using type = decltype(test<T>(0));
+ };
+ }
+
+ /**
+ * @brief Trait which checks for the existence of a static numerator.
+ * @details Inherits from `std::true_type` or `std::false_type`. Use `has_num<T>::value` to test
+ * whether `class T` has a numerator static member.
+ */
+ template<class T>
+ struct has_num : units::detail::has_num_impl<T>::type {};
+
+ namespace detail
+ {
+ /// has_den implementation.
+ template<class T>
+ struct has_den_impl
+ {
+ template<class U>
+ static constexpr auto test(U*)->std::is_integral<decltype(U::den)> { return std::is_integral<decltype(U::den)>{}; }
+ template<typename>
+ static constexpr std::false_type test(...) { return std::false_type{}; }
+
+ using type = decltype(test<T>(0));
+ };
+ }
+
+ /**
+ * @brief Trait which checks for the existence of a static denominator.
+ * @details Inherits from `std::true_type` or `std::false_type`. Use `has_den<T>::value` to test
+ * whether `class T` has a denominator static member.
+ */
+ template<class T>
+ struct has_den : units::detail::has_den_impl<T>::type {};
+
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ namespace traits
+ {
+ /**
+ * @brief Trait that tests whether a type represents a std::ratio.
+ * @details Inherits from `std::true_type` or `std::false_type`. Use `is_ratio<T>::value` to test
+ * whether `class T` implements a std::ratio.
+ */
+ template<class T>
+ struct is_ratio : std::integral_constant<bool,
+ has_num<T>::value &&
+ has_den<T>::value>
+ {};
+ }
+
+ //------------------------------
+ // UNIT TRAITS
+ //------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ /**
+ * @brief void type.
+ * @details Helper class for creating type traits.
+ */
+ template<class ...>
+ struct void_t { typedef void type; };
+
+ /**
+ * @brief parameter pack for boolean arguments.
+ */
+ template<bool...> struct bool_pack {};
+
+ /**
+ * @brief Trait which tests that a set of other traits are all true.
+ */
+ template<bool... Args>
+ struct all_true : std::is_same<units::bool_pack<true, Args...>, units::bool_pack<Args..., true>> {};
+ /** @endcond */ // DOXYGEN IGNORE
+
+ /**
+ * @brief namespace representing type traits which can access the properties of types provided by the units library.
+ */
+ namespace traits
+ {
+#ifdef FOR_DOXYGEN_PURPOSES_ONLY
+ /**
+ * @ingroup TypeTraits
+ * @brief Traits class defining the properties of units.
+ * @details The units library determines certain properties of the units passed to
+ * them and what they represent by using the members of the corresponding
+ * unit_traits instantiation.
+ */
+ template<class T>
+ struct unit_traits
+ {
+ typedef typename T::base_unit_type base_unit_type; ///< Unit type that the unit was derived from. May be a `base_unit` or another `unit`. Use the `base_unit_of` trait to find the SI base unit type. This will be `void` if type `T` is not a unit.
+ typedef typename T::conversion_ratio conversion_ratio; ///< `std::ratio` representing the conversion factor to the `base_unit_type`. This will be `void` if type `T` is not a unit.
+ typedef typename T::pi_exponent_ratio pi_exponent_ratio; ///< `std::ratio` representing the exponent of pi to be used in the conversion. This will be `void` if type `T` is not a unit.
+ typedef typename T::translation_ratio translation_ratio; ///< `std::ratio` representing a datum translation to the base unit (i.e. degrees C to degrees F conversion). This will be `void` if type `T` is not a unit.
+ };
+#endif
+ /** @cond */ // DOXYGEN IGNORE
+ /**
+ * @brief unit traits implementation for classes which are not units.
+ */
+ template<class T, typename = void>
+ struct unit_traits
+ {
+ typedef void base_unit_type;
+ typedef void conversion_ratio;
+ typedef void pi_exponent_ratio;
+ typedef void translation_ratio;
+ };
+
+ template<class T>
+ struct unit_traits
+ <T, typename void_t<
+ typename T::base_unit_type,
+ typename T::conversion_ratio,
+ typename T::pi_exponent_ratio,
+ typename T::translation_ratio>::type>
+ {
+ typedef typename T::base_unit_type base_unit_type; ///< Unit type that the unit was derived from. May be a `base_unit` or another `unit`. Use the `base_unit_of` trait to find the SI base unit type. This will be `void` if type `T` is not a unit.
+ typedef typename T::conversion_ratio conversion_ratio; ///< `std::ratio` representing the conversion factor to the `base_unit_type`. This will be `void` if type `T` is not a unit.
+ typedef typename T::pi_exponent_ratio pi_exponent_ratio; ///< `std::ratio` representing the exponent of pi to be used in the conversion. This will be `void` if type `T` is not a unit.
+ typedef typename T::translation_ratio translation_ratio; ///< `std::ratio` representing a datum translation to the base unit (i.e. degrees C to degrees F conversion). This will be `void` if type `T` is not a unit.
+ };
+ /** @endcond */ // END DOXYGEN IGNORE
+ }
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /**
+ * @brief helper type to identify base units.
+ * @details A non-templated base class for `base_unit` which enables RTTI testing.
+ */
+ struct _base_unit_t {};
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ namespace traits
+ {
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait which tests if a class is a `base_unit` type.
+ * @details Inherits from `std::true_type` or `std::false_type`. Use `is_base_unit<T>::value` to test
+ * whether `class T` implements a `base_unit`.
+ */
+ template<class T>
+ struct is_base_unit : std::is_base_of<units::detail::_base_unit_t, T> {};
+ }
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /**
+ * @brief helper type to identify units.
+ * @details A non-templated base class for `unit` which enables RTTI testing.
+ */
+ struct _unit {};
+
+ template<std::intmax_t Num, std::intmax_t Den = 1>
+ using meter_ratio = std::ratio<Num, Den>;
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ namespace traits
+ {
+ /**
+ * @ingroup TypeTraits
+ * @brief Traits which tests if a class is a `unit`
+ * @details Inherits from `std::true_type` or `std::false_type`. Use `is_unit<T>::value` to test
+ * whether `class T` implements a `unit`.
+ */
+ template<class T>
+ struct is_unit : std::is_base_of<units::detail::_unit, T>::type {};
+ }
+
+ /** @} */ // end of TypeTraits
+
+ //------------------------------
+ // BASE UNIT CLASS
+ //------------------------------
+
+ /**
+ * @ingroup UnitTypes
+ * @brief Class representing SI base unit types.
+ * @details Base units are represented by a combination of `std::ratio` template parameters, each
+ * describing the exponent of the type of unit they represent. Example: meters per second
+ * would be described by a +1 exponent for meters, and a -1 exponent for seconds, thus:
+ * `base_unit<std::ratio<1>, std::ratio<0>, std::ratio<-1>>`
+ * @tparam Meter `std::ratio` representing the exponent value for meters.
+ * @tparam Kilogram `std::ratio` representing the exponent value for kilograms.
+ * @tparam Second `std::ratio` representing the exponent value for seconds.
+ * @tparam Radian `std::ratio` representing the exponent value for radians. Although radians are not SI base units, they are included because radians are described by the SI as m * m^-1, which would make them indistinguishable from scalars.
+ * @tparam Ampere `std::ratio` representing the exponent value for amperes.
+ * @tparam Kelvin `std::ratio` representing the exponent value for Kelvin.
+ * @tparam Mole `std::ratio` representing the exponent value for moles.
+ * @tparam Candela `std::ratio` representing the exponent value for candelas.
+ * @tparam Byte `std::ratio` representing the exponent value for bytes.
+ * @sa category for type aliases for SI base_unit types.
+ */
+ template<class Meter = detail::meter_ratio<0>,
+ class Kilogram = std::ratio<0>,
+ class Second = std::ratio<0>,
+ class Radian = std::ratio<0>,
+ class Ampere = std::ratio<0>,
+ class Kelvin = std::ratio<0>,
+ class Mole = std::ratio<0>,
+ class Candela = std::ratio<0>,
+ class Byte = std::ratio<0>>
+ struct base_unit : units::detail::_base_unit_t
+ {
+ static_assert(traits::is_ratio<Meter>::value, "Template parameter `Meter` must be a `std::ratio` representing the exponent of meters the unit has");
+ static_assert(traits::is_ratio<Kilogram>::value, "Template parameter `Kilogram` must be a `std::ratio` representing the exponent of kilograms the unit has");
+ static_assert(traits::is_ratio<Second>::value, "Template parameter `Second` must be a `std::ratio` representing the exponent of seconds the unit has");
+ static_assert(traits::is_ratio<Ampere>::value, "Template parameter `Ampere` must be a `std::ratio` representing the exponent of amperes the unit has");
+ static_assert(traits::is_ratio<Kelvin>::value, "Template parameter `Kelvin` must be a `std::ratio` representing the exponent of kelvin the unit has");
+ static_assert(traits::is_ratio<Candela>::value, "Template parameter `Candela` must be a `std::ratio` representing the exponent of candelas the unit has");
+ static_assert(traits::is_ratio<Mole>::value, "Template parameter `Mole` must be a `std::ratio` representing the exponent of moles the unit has");
+ static_assert(traits::is_ratio<Radian>::value, "Template parameter `Radian` must be a `std::ratio` representing the exponent of radians the unit has");
+ static_assert(traits::is_ratio<Byte>::value, "Template parameter `Byte` must be a `std::ratio` representing the exponent of bytes the unit has");
+
+ typedef Meter meter_ratio;
+ typedef Kilogram kilogram_ratio;
+ typedef Second second_ratio;
+ typedef Radian radian_ratio;
+ typedef Ampere ampere_ratio;
+ typedef Kelvin kelvin_ratio;
+ typedef Mole mole_ratio;
+ typedef Candela candela_ratio;
+ typedef Byte byte_ratio;
+ };
+
+ //------------------------------
+ // UNIT CATEGORIES
+ //------------------------------
+
+ /**
+ * @brief namespace representing the implemented base and derived unit types. These will not generally be needed by library users.
+ * @sa base_unit for the definition of the category parameters.
+ */
+ namespace category
+ {
+ // SCALAR (DIMENSIONLESS) TYPES
+ typedef base_unit<> scalar_unit; ///< Represents a quantity with no dimension.
+ typedef base_unit<> dimensionless_unit; ///< Represents a quantity with no dimension.
+
+ // SI BASE UNIT TYPES
+ // METERS KILOGRAMS SECONDS RADIANS AMPERES KELVIN MOLE CANDELA BYTE --- CATEGORY
+ typedef base_unit<detail::meter_ratio<1>> length_unit; ///< Represents an SI base unit of length
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<1>> mass_unit; ///< Represents an SI base unit of mass
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<1>> time_unit; ///< Represents an SI base unit of time
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<1>> angle_unit; ///< Represents an SI base unit of angle
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<1>> current_unit; ///< Represents an SI base unit of current
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<1>> temperature_unit; ///< Represents an SI base unit of temperature
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<1>> substance_unit; ///< Represents an SI base unit of amount of substance
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<1>> luminous_intensity_unit; ///< Represents an SI base unit of luminous intensity
+
+ // SI DERIVED UNIT TYPES
+ // METERS KILOGRAMS SECONDS RADIANS AMPERES KELVIN MOLE CANDELA BYTE --- CATEGORY
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<2>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>> solid_angle_unit; ///< Represents an SI derived unit of solid angle
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<-1>> frequency_unit; ///< Represents an SI derived unit of frequency
+ typedef base_unit<detail::meter_ratio<1>, std::ratio<0>, std::ratio<-1>> velocity_unit; ///< Represents an SI derived unit of velocity
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<-1>, std::ratio<1>> angular_velocity_unit; ///< Represents an SI derived unit of angular velocity
+ typedef base_unit<detail::meter_ratio<1>, std::ratio<0>, std::ratio<-2>> acceleration_unit; ///< Represents an SI derived unit of acceleration
+ typedef base_unit<detail::meter_ratio<1>, std::ratio<1>, std::ratio<-2>> force_unit; ///< Represents an SI derived unit of force
+ typedef base_unit<detail::meter_ratio<-1>, std::ratio<1>, std::ratio<-2>> pressure_unit; ///< Represents an SI derived unit of pressure
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<1>, std::ratio<0>, std::ratio<1>> charge_unit; ///< Represents an SI derived unit of charge
+ typedef base_unit<detail::meter_ratio<2>, std::ratio<1>, std::ratio<-2>> energy_unit; ///< Represents an SI derived unit of energy
+ typedef base_unit<detail::meter_ratio<2>, std::ratio<1>, std::ratio<-3>> power_unit; ///< Represents an SI derived unit of power
+ typedef base_unit<detail::meter_ratio<2>, std::ratio<1>, std::ratio<-3>, std::ratio<0>, std::ratio<-1>> voltage_unit; ///< Represents an SI derived unit of voltage
+ typedef base_unit<detail::meter_ratio<-2>, std::ratio<-1>, std::ratio<4>, std::ratio<0>, std::ratio<2>> capacitance_unit; ///< Represents an SI derived unit of capacitance
+ typedef base_unit<detail::meter_ratio<2>, std::ratio<1>, std::ratio<-3>, std::ratio<0>, std::ratio<-2>> impedance_unit; ///< Represents an SI derived unit of impedance
+ typedef base_unit<detail::meter_ratio<-2>, std::ratio<-1>, std::ratio<3>, std::ratio<0>, std::ratio<2>> conductance_unit; ///< Represents an SI derived unit of conductance
+ typedef base_unit<detail::meter_ratio<2>, std::ratio<1>, std::ratio<-2>, std::ratio<0>, std::ratio<-1>> magnetic_flux_unit; ///< Represents an SI derived unit of magnetic flux
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<1>, std::ratio<-2>, std::ratio<0>, std::ratio<-1>> magnetic_field_strength_unit; ///< Represents an SI derived unit of magnetic field strength
+ typedef base_unit<detail::meter_ratio<2>, std::ratio<1>, std::ratio<-2>, std::ratio<0>, std::ratio<-2>> inductance_unit; ///< Represents an SI derived unit of inductance
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<2>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<1>> luminous_flux_unit; ///< Represents an SI derived unit of luminous flux
+ typedef base_unit<detail::meter_ratio<-2>, std::ratio<0>, std::ratio<0>, std::ratio<2>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<1>> illuminance_unit; ///< Represents an SI derived unit of illuminance
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<-1>> radioactivity_unit; ///< Represents an SI derived unit of radioactivity
+
+ // OTHER UNIT TYPES
+ // METERS KILOGRAMS SECONDS RADIANS AMPERES KELVIN MOLE CANDELA BYTE --- CATEGORY
+ typedef base_unit<detail::meter_ratio<2>, std::ratio<1>, std::ratio<-2>> torque_unit; ///< Represents an SI derived unit of torque
+ typedef base_unit<detail::meter_ratio<2>> area_unit; ///< Represents an SI derived unit of area
+ typedef base_unit<detail::meter_ratio<3>> volume_unit; ///< Represents an SI derived unit of volume
+ typedef base_unit<detail::meter_ratio<-3>, std::ratio<1>> density_unit; ///< Represents an SI derived unit of density
+ typedef base_unit<> concentration_unit; ///< Represents a unit of concentration
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<1>> data_unit; ///< Represents a unit of data size
+ typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<-1>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<0>, std::ratio<1>> data_transfer_rate_unit; ///< Represents a unit of data transfer rate
+ }
+
+ //------------------------------
+ // UNIT CLASSES
+ //------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ /**
+ * @brief unit type template specialization for units derived from base units.
+ */
+ template <class, class, class, class> struct unit;
+ template<class Conversion, class... Exponents, class PiExponent, class Translation>
+ struct unit<Conversion, base_unit<Exponents...>, PiExponent, Translation> : units::detail::_unit
+ {
+ static_assert(traits::is_ratio<Conversion>::value, "Template parameter `Conversion` must be a `std::ratio` representing the conversion factor to `BaseUnit`.");
+ static_assert(traits::is_ratio<PiExponent>::value, "Template parameter `PiExponent` must be a `std::ratio` representing the exponents of Pi the unit has.");
+ static_assert(traits::is_ratio<Translation>::value, "Template parameter `Translation` must be a `std::ratio` representing an additive translation required by the unit conversion.");
+
+ typedef typename units::base_unit<Exponents...> base_unit_type;
+ typedef Conversion conversion_ratio;
+ typedef Translation translation_ratio;
+ typedef PiExponent pi_exponent_ratio;
+ };
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @brief Type representing an arbitrary unit.
+ * @ingroup UnitTypes
+ * @details `unit` types are used as tags for the `conversion` function. They are *not* containers
+ * (see `unit_t` for a container class). Each unit is defined by:
+ *
+ * - A `std::ratio` defining the conversion factor to the base unit type. (e.g. `std::ratio<1,12>` for inches to feet)
+ * - A base unit that the unit is derived from (or a unit category. Must be of type `unit` or `base_unit`)
+ * - An exponent representing factors of PI required by the conversion. (e.g. `std::ratio<-1>` for a radians to degrees conversion)
+ * - a ratio representing a datum translation required for the conversion (e.g. `std::ratio<32>` for a fahrenheit to celsius conversion)
+ *
+ * Typically, a specific unit, like `meters`, would be implemented as a type alias
+ * of `unit`, i.e. `using meters = unit<std::ratio<1>, units::category::length_unit`, or
+ * `using inches = unit<std::ratio<1,12>, feet>`.
+ * @tparam Conversion std::ratio representing scalar multiplication factor.
+ * @tparam BaseUnit Unit type which this unit is derived from. May be a `base_unit`, or another `unit`.
+ * @tparam PiExponent std::ratio representing the exponent of pi required by the conversion.
+ * @tparam Translation std::ratio representing any datum translation required by the conversion.
+ */
+ template<class Conversion, class BaseUnit, class PiExponent = std::ratio<0>, class Translation = std::ratio<0>>
+ struct unit : units::detail::_unit
+ {
+ static_assert(traits::is_unit<BaseUnit>::value, "Template parameter `BaseUnit` must be a `unit` type.");
+ static_assert(traits::is_ratio<Conversion>::value, "Template parameter `Conversion` must be a `std::ratio` representing the conversion factor to `BaseUnit`.");
+ static_assert(traits::is_ratio<PiExponent>::value, "Template parameter `PiExponent` must be a `std::ratio` representing the exponents of Pi the unit has.");
+
+ typedef typename units::traits::unit_traits<BaseUnit>::base_unit_type base_unit_type;
+ typedef typename std::ratio_multiply<typename BaseUnit::conversion_ratio, Conversion> conversion_ratio;
+ typedef typename std::ratio_add<typename BaseUnit::pi_exponent_ratio, PiExponent> pi_exponent_ratio;
+ typedef typename std::ratio_add<std::ratio_multiply<typename BaseUnit::conversion_ratio, Translation>, typename BaseUnit::translation_ratio> translation_ratio;
+ };
+
+ //------------------------------
+ // BASE UNIT MANIPULATORS
+ //------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /**
+ * @brief base_unit_of trait implementation
+ * @details recursively seeks base_unit type that a unit is derived from. Since units can be
+ * derived from other units, the `base_unit_type` typedef may not represent this value.
+ */
+ template<class> struct base_unit_of_impl;
+ template<class Conversion, class BaseUnit, class PiExponent, class Translation>
+ struct base_unit_of_impl<unit<Conversion, BaseUnit, PiExponent, Translation>> : base_unit_of_impl<BaseUnit> {};
+ template<class... Exponents>
+ struct base_unit_of_impl<base_unit<Exponents...>>
+ {
+ typedef base_unit<Exponents...> type;
+ };
+ template<>
+ struct base_unit_of_impl<void>
+ {
+ typedef void type;
+ };
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ namespace traits
+ {
+ /**
+ * @brief Trait which returns the `base_unit` type that a unit is originally derived from.
+ * @details Since units can be derived from other `unit` types in addition to `base_unit` types,
+ * the `base_unit_type` typedef will not always be a `base_unit` (or unit category).
+ * Since compatible
+ */
+ template<class U>
+ using base_unit_of = typename units::detail::base_unit_of_impl<U>::type;
+ }
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /**
+ * @brief implementation of base_unit_multiply
+ * @details 'multiples' (adds exponent ratios of) two base unit types. Base units can be found
+ * using `base_unit_of`.
+ */
+ template<class, class> struct base_unit_multiply_impl;
+ template<class... Exponents1, class... Exponents2>
+ struct base_unit_multiply_impl<base_unit<Exponents1...>, base_unit<Exponents2...>> {
+ using type = base_unit<std::ratio_add<Exponents1, Exponents2>...>;
+ };
+
+ /**
+ * @brief represents type of two base units multiplied together
+ */
+ template<class U1, class U2>
+ using base_unit_multiply = typename base_unit_multiply_impl<U1, U2>::type;
+
+ /**
+ * @brief implementation of base_unit_divide
+ * @details 'dived' (subtracts exponent ratios of) two base unit types. Base units can be found
+ * using `base_unit_of`.
+ */
+ template<class, class> struct base_unit_divide_impl;
+ template<class... Exponents1, class... Exponents2>
+ struct base_unit_divide_impl<base_unit<Exponents1...>, base_unit<Exponents2...>> {
+ using type = base_unit<std::ratio_subtract<Exponents1, Exponents2>...>;
+ };
+
+ /**
+ * @brief represents the resulting type of `base_unit` U1 divided by U2.
+ */
+ template<class U1, class U2>
+ using base_unit_divide = typename base_unit_divide_impl<U1, U2>::type;
+
+ /**
+ * @brief implementation of inverse_base
+ * @details multiplies all `base_unit` exponent ratios by -1. The resulting type represents
+ * the inverse base unit of the given `base_unit` type.
+ */
+ template<class> struct inverse_base_impl;
+
+ template<class... Exponents>
+ struct inverse_base_impl<base_unit<Exponents...>> {
+ using type = base_unit<std::ratio_multiply<Exponents, std::ratio<-1>>...>;
+ };
+
+ /**
+ * @brief represent the inverse type of `class U`
+ * @details E.g. if `U` is `length_unit`, then `inverse<U>` will represent `length_unit^-1`.
+ */
+ template<class U> using inverse_base = typename inverse_base_impl<U>::type;
+
+ /**
+ * @brief implementation of `squared_base`
+ * @details multiplies all the exponent ratios of the given class by 2. The resulting type is
+ * equivalent to the given type squared.
+ */
+ template<class U> struct squared_base_impl;
+ template<class... Exponents>
+ struct squared_base_impl<base_unit<Exponents...>> {
+ using type = base_unit<std::ratio_multiply<Exponents, std::ratio<2>>...>;
+ };
+
+ /**
+ * @brief represents the type of a `base_unit` squared.
+ * @details E.g. `squared<length_unit>` will represent `length_unit^2`.
+ */
+ template<class U> using squared_base = typename squared_base_impl<U>::type;
+
+ /**
+ * @brief implementation of `cubed_base`
+ * @details multiplies all the exponent ratios of the given class by 3. The resulting type is
+ * equivalent to the given type cubed.
+ */
+ template<class U> struct cubed_base_impl;
+ template<class... Exponents>
+ struct cubed_base_impl<base_unit<Exponents...>> {
+ using type = base_unit<std::ratio_multiply<Exponents, std::ratio<3>>...>;
+ };
+
+ /**
+ * @brief represents the type of a `base_unit` cubed.
+ * @details E.g. `cubed<length_unit>` will represent `length_unit^3`.
+ */
+ template<class U> using cubed_base = typename cubed_base_impl<U>::type;
+
+ /**
+ * @brief implementation of `sqrt_base`
+ * @details divides all the exponent ratios of the given class by 2. The resulting type is
+ * equivalent to the square root of the given type.
+ */
+ template<class U> struct sqrt_base_impl;
+ template<class... Exponents>
+ struct sqrt_base_impl<base_unit<Exponents...>> {
+ using type = base_unit<std::ratio_divide<Exponents, std::ratio<2>>...>;
+ };
+
+ /**
+ * @brief represents the square-root type of a `base_unit`.
+ * @details E.g. `sqrt<length_unit>` will represent `length_unit^(1/2)`.
+ */
+ template<class U> using sqrt_base = typename sqrt_base_impl<U>::type;
+
+ /**
+ * @brief implementation of `cbrt_base`
+ * @details divides all the exponent ratios of the given class by 3. The resulting type is
+ * equivalent to the given type's cube-root.
+ */
+ template<class U> struct cbrt_base_impl;
+ template<class... Exponents>
+ struct cbrt_base_impl<base_unit<Exponents...>> {
+ using type = base_unit<std::ratio_divide<Exponents, std::ratio<3>>...>;
+ };
+
+ /**
+ * @brief represents the cube-root type of a `base_unit` .
+ * @details E.g. `cbrt<length_unit>` will represent `length_unit^(1/3)`.
+ */
+ template<class U> using cbrt_base = typename cbrt_base_impl<U>::type;
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ //------------------------------
+ // UNIT MANIPULATORS
+ //------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /**
+ * @brief implementation of `unit_multiply`.
+ * @details multiplies two units. The base unit becomes the base units of each with their exponents
+ * added together. The conversion factors of each are multiplied by each other. Pi exponent ratios
+ * are added, and datum translations are removed.
+ */
+ template<class Unit1, class Unit2>
+ struct unit_multiply_impl
+ {
+ using type = unit < std::ratio_multiply<typename Unit1::conversion_ratio, typename Unit2::conversion_ratio>,
+ base_unit_multiply <traits::base_unit_of<typename Unit1::base_unit_type>, traits::base_unit_of<typename Unit2::base_unit_type>>,
+ std::ratio_add<typename Unit1::pi_exponent_ratio, typename Unit2::pi_exponent_ratio>,
+ std::ratio < 0 >> ;
+ };
+
+ /**
+ * @brief represents the type of two units multiplied together.
+ * @details recalculates conversion and exponent ratios at compile-time.
+ */
+ template<class U1, class U2>
+ using unit_multiply = typename unit_multiply_impl<U1, U2>::type;
+
+ /**
+ * @brief implementation of `unit_divide`.
+ * @details divides two units. The base unit becomes the base units of each with their exponents
+ * subtracted from each other. The conversion factors of each are divided by each other. Pi exponent ratios
+ * are subtracted, and datum translations are removed.
+ */
+ template<class Unit1, class Unit2>
+ struct unit_divide_impl
+ {
+ using type = unit < std::ratio_divide<typename Unit1::conversion_ratio, typename Unit2::conversion_ratio>,
+ base_unit_divide<traits::base_unit_of<typename Unit1::base_unit_type>, traits::base_unit_of<typename Unit2::base_unit_type>>,
+ std::ratio_subtract<typename Unit1::pi_exponent_ratio, typename Unit2::pi_exponent_ratio>,
+ std::ratio < 0 >> ;
+ };
+
+ /**
+ * @brief represents the type of two units divided by each other.
+ * @details recalculates conversion and exponent ratios at compile-time.
+ */
+ template<class U1, class U2>
+ using unit_divide = typename unit_divide_impl<U1, U2>::type;
+
+ /**
+ * @brief implementation of `inverse`
+ * @details inverts a unit (equivalent to 1/unit). The `base_unit` and pi exponents are all multiplied by
+ * -1. The conversion ratio numerator and denominator are swapped. Datum translation
+ * ratios are removed.
+ */
+ template<class Unit>
+ struct inverse_impl
+ {
+ using type = unit < std::ratio<Unit::conversion_ratio::den, Unit::conversion_ratio::num>,
+ inverse_base<traits::base_unit_of<typename units::traits::unit_traits<Unit>::base_unit_type>>,
+ std::ratio_multiply<typename units::traits::unit_traits<Unit>::pi_exponent_ratio, std::ratio<-1>>,
+ std::ratio < 0 >> ; // inverses are rates or change, the translation factor goes away.
+ };
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @brief represents the inverse unit type of `class U`.
+ * @ingroup UnitManipulators
+ * @tparam U `unit` type to invert.
+ * @details E.g. `inverse<meters>` will represent meters^-1 (i.e. 1/meters).
+ */
+ template<class U> using inverse = typename units::detail::inverse_impl<U>::type;
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /**
+ * @brief implementation of `squared`
+ * @details Squares the conversion ratio, `base_unit` exponents, pi exponents, and removes
+ * datum translation ratios.
+ */
+ template<class Unit>
+ struct squared_impl
+ {
+ static_assert(traits::is_unit<Unit>::value, "Template parameter `Unit` must be a `unit` type.");
+ using Conversion = typename Unit::conversion_ratio;
+ using type = unit < std::ratio_multiply<Conversion, Conversion>,
+ squared_base<traits::base_unit_of<typename Unit::base_unit_type>>,
+ std::ratio_multiply<typename Unit::pi_exponent_ratio, std::ratio<2>>,
+ typename Unit::translation_ratio
+ > ;
+ };
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @brief represents the unit type of `class U` squared
+ * @ingroup UnitManipulators
+ * @tparam U `unit` type to square.
+ * @details E.g. `square<meters>` will represent meters^2.
+ */
+ template<class U>
+ using squared = typename units::detail::squared_impl<U>::type;
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /**
+ * @brief implementation of `cubed`
+ * @details Cubes the conversion ratio, `base_unit` exponents, pi exponents, and removes
+ * datum translation ratios.
+ */
+ template<class Unit>
+ struct cubed_impl
+ {
+ static_assert(traits::is_unit<Unit>::value, "Template parameter `Unit` must be a `unit` type.");
+ using Conversion = typename Unit::conversion_ratio;
+ using type = unit < std::ratio_multiply<Conversion, std::ratio_multiply<Conversion, Conversion>>,
+ cubed_base<traits::base_unit_of<typename Unit::base_unit_type>>,
+ std::ratio_multiply<typename Unit::pi_exponent_ratio, std::ratio<3>>,
+ typename Unit::translation_ratio> ;
+ };
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @brief represents the type of `class U` cubed.
+ * @ingroup UnitManipulators
+ * @tparam U `unit` type to cube.
+ * @details E.g. `cubed<meters>` will represent meters^3.
+ */
+ template<class U>
+ using cubed = typename units::detail::cubed_impl<U>::type;
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ //----------------------------------
+ // RATIO_SQRT IMPLEMENTATION
+ //----------------------------------
+
+ using Zero = std::ratio<0>;
+ using One = std::ratio<1>;
+ template <typename R> using Square = std::ratio_multiply<R, R>;
+
+ // Find the largest std::integer N such that Predicate<N>::value is true.
+ template <template <std::intmax_t N> class Predicate, typename enabled = void>
+ struct BinarySearch {
+ template <std::intmax_t N>
+ struct SafeDouble_ {
+ static constexpr const std::intmax_t value = 2 * N;
+ static_assert(value > 0, "Overflows when computing 2 * N");
+ };
+
+ template <intmax_t Lower, intmax_t Upper, typename Condition1 = void, typename Condition2 = void>
+ struct DoubleSidedSearch_ : DoubleSidedSearch_<Lower, Upper,
+ std::integral_constant<bool, (Upper - Lower == 1)>,
+ std::integral_constant<bool, ((Upper - Lower>1 && Predicate<Lower + (Upper - Lower) / 2>::value))>> {};
+
+ template <intmax_t Lower, intmax_t Upper>
+ struct DoubleSidedSearch_<Lower, Upper, std::false_type, std::false_type> : DoubleSidedSearch_<Lower, Lower + (Upper - Lower) / 2> {};
+
+ template <intmax_t Lower, intmax_t Upper, typename Condition2>
+ struct DoubleSidedSearch_<Lower, Upper, std::true_type, Condition2> : std::integral_constant<intmax_t, Lower>{};
+
+ template <intmax_t Lower, intmax_t Upper, typename Condition1>
+ struct DoubleSidedSearch_<Lower, Upper, Condition1, std::true_type> : DoubleSidedSearch_<Lower + (Upper - Lower) / 2, Upper>{};
+
+ template <std::intmax_t Lower, class enabled1 = void>
+ struct SingleSidedSearch_ : SingleSidedSearch_<Lower, std::integral_constant<bool, Predicate<SafeDouble_<Lower>::value>::value>>{};
+
+ template <std::intmax_t Lower>
+ struct SingleSidedSearch_<Lower, std::false_type> : DoubleSidedSearch_<Lower, SafeDouble_<Lower>::value> {};
+
+ template <std::intmax_t Lower>
+ struct SingleSidedSearch_<Lower, std::true_type> : SingleSidedSearch_<SafeDouble_<Lower>::value>{};
+
+ static constexpr const std::intmax_t value = SingleSidedSearch_<1>::value;
+ };
+
+ template <template <std::intmax_t N> class Predicate>
+ struct BinarySearch<Predicate, std::enable_if_t<!Predicate<1>::value>> : std::integral_constant<std::intmax_t, 0>{};
+
+ // Find largest std::integer N such that N<=sqrt(R)
+ template <typename R>
+ struct Integer {
+ template <std::intmax_t N> using Predicate_ = std::ratio_less_equal<std::ratio<N>, std::ratio_divide<R, std::ratio<N>>>;
+ static constexpr const std::intmax_t value = BinarySearch<Predicate_>::value;
+ };
+
+ template <typename R>
+ struct IsPerfectSquare {
+ static constexpr const std::intmax_t DenSqrt_ = Integer<std::ratio<R::den>>::value;
+ static constexpr const std::intmax_t NumSqrt_ = Integer<std::ratio<R::num>>::value;
+ static constexpr const bool value =( DenSqrt_ * DenSqrt_ == R::den && NumSqrt_ * NumSqrt_ == R::num);
+ using Sqrt = std::ratio<NumSqrt_, DenSqrt_>;
+ };
+
+ // Represents sqrt(P)-Q.
+ template <typename Tp, typename Tq>
+ struct Remainder {
+ using P = Tp;
+ using Q = Tq;
+ };
+
+ // Represents 1/R = I + Rem where R is a Remainder.
+ template <typename R>
+ struct Reciprocal {
+ using P_ = typename R::P;
+ using Q_ = typename R::Q;
+ using Den_ = std::ratio_subtract<P_, Square<Q_>>;
+ using A_ = std::ratio_divide<Q_, Den_>;
+ using B_ = std::ratio_divide<P_, Square<Den_>>;
+ static constexpr const std::intmax_t I_ = (A_::num + Integer<std::ratio_multiply<B_, Square<std::ratio<A_::den>>>>::value) / A_::den;
+ using I = std::ratio<I_>;
+ using Rem = Remainder<B_, std::ratio_subtract<I, A_>>;
+ };
+
+ // Expands sqrt(R) to continued fraction:
+ // f(x)=C1+1/(C2+1/(C3+1/(...+1/(Cn+x)))) = (U*x+V)/(W*x+1) and sqrt(R)=f(Rem).
+ // The error |f(Rem)-V| = |(U-W*V)x/(W*x+1)| <= |U-W*V|*Rem <= |U-W*V|/I' where
+ // I' is the std::integer part of reciprocal of Rem.
+ template <typename Tr, std::intmax_t N>
+ struct ContinuedFraction {
+ template <typename T>
+ using Abs_ = std::conditional_t<std::ratio_less<T, Zero>::value, std::ratio_subtract<Zero, T>, T>;
+
+ using R = Tr;
+ using Last_ = ContinuedFraction<R, N - 1>;
+ using Reciprocal_ = Reciprocal<typename Last_::Rem>;
+ using Rem = typename Reciprocal_::Rem;
+ using I_ = typename Reciprocal_::I;
+ using Den_ = std::ratio_add<typename Last_::W, I_>;
+ using U = std::ratio_divide<typename Last_::V, Den_>;
+ using V = std::ratio_divide<std::ratio_add<typename Last_::U, std::ratio_multiply<typename Last_::V, I_>>, Den_>;
+ using W = std::ratio_divide<One, Den_>;
+ using Error = Abs_<std::ratio_divide<std::ratio_subtract<U, std::ratio_multiply<V, W>>, typename Reciprocal<Rem>::I>>;
+ };
+
+ template <typename Tr>
+ struct ContinuedFraction<Tr, 1> {
+ using R = Tr;
+ using U = One;
+ using V = std::ratio<Integer<R>::value>;
+ using W = Zero;
+ using Rem = Remainder<R, V>;
+ using Error = std::ratio_divide<One, typename Reciprocal<Rem>::I>;
+ };
+
+ template <typename R, typename Eps, std::intmax_t N = 1, typename enabled = void>
+ struct Sqrt_ : Sqrt_<R, Eps, N + 1> {};
+
+ template <typename R, typename Eps, std::intmax_t N>
+ struct Sqrt_<R, Eps, N, std::enable_if_t<std::ratio_less_equal<typename ContinuedFraction<R, N>::Error, Eps>::value>> {
+ using type = typename ContinuedFraction<R, N>::V;
+ };
+
+ template <typename R, typename Eps, typename enabled = void>
+ struct Sqrt {
+ static_assert(std::ratio_greater_equal<R, Zero>::value, "R can't be negative");
+ };
+
+ template <typename R, typename Eps>
+ struct Sqrt<R, Eps, std::enable_if_t<std::ratio_greater_equal<R, Zero>::value && IsPerfectSquare<R>::value>> {
+ using type = typename IsPerfectSquare<R>::Sqrt;
+ };
+
+ template <typename R, typename Eps>
+ struct Sqrt<R, Eps, std::enable_if_t<(std::ratio_greater_equal<R, Zero>::value && !IsPerfectSquare<R>::value)>> : Sqrt_<R, Eps>{};
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @ingroup TypeTraits
+ * @brief Calculate square root of a ratio at compile-time
+ * @details Calculates a rational approximation of the square root of the ratio. The error
+ * in the calculation is bounded by 1/epsilon (Eps). E.g. for the default value
+ * of 10000000000, the maximum error will be a/10000000000, or 1e-8, or said another way,
+ * the error will be on the order of 10^-9. Since these calculations are done at
+ * compile time, it is advisable to set epsilon to the highest value that does not
+ * cause an integer overflow in the calculation. If you can't compile `ratio_sqrt`
+ * due to overflow errors, reducing the value of epsilon sufficiently will correct
+ * the problem.\n\n
+ * `ratio_sqrt` is guaranteed to converge for all values of `Ratio` which do not
+ * overflow.
+ * @note This function provides a rational approximation, _NOT_ an exact value.
+ * @tparam Ratio ratio to take the square root of. This can represent any rational value,
+ * _not_ just integers or values with integer roots.
+ * @tparam Eps Value of epsilon, which represents the inverse of the maximum allowable
+ * error. This value should be chosen to be as high as possible before
+ * integer overflow errors occur in the compiler.
+ */
+ template<typename Ratio, std::intmax_t Eps = 10000000000>
+ using ratio_sqrt = typename units::detail::Sqrt<Ratio, std::ratio<1, Eps>>::type;
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /**
+ * @brief implementation of `sqrt`
+ * @details square roots the conversion ratio, `base_unit` exponents, pi exponents, and removes
+ * datum translation ratios.
+ */
+ template<class Unit, std::intmax_t Eps>
+ struct sqrt_impl
+ {
+ static_assert(traits::is_unit<Unit>::value, "Template parameter `Unit` must be a `unit` type.");
+ using Conversion = typename Unit::conversion_ratio;
+ using type = unit <ratio_sqrt<Conversion, Eps>,
+ sqrt_base<traits::base_unit_of<typename Unit::base_unit_type>>,
+ std::ratio_divide<typename Unit::pi_exponent_ratio, std::ratio<2>>,
+ typename Unit::translation_ratio>;
+ };
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @ingroup UnitManipulators
+ * @brief represents the square root of type `class U`.
+ * @details Calculates a rational approximation of the square root of the unit. The error
+ * in the calculation is bounded by 1/epsilon (Eps). E.g. for the default value
+ * of 10000000000, the maximum error will be a/10000000000, or 1e-8, or said another way,
+ * the error will be on the order of 10^-9. Since these calculations are done at
+ * compile time, it is advisable to set epsilon to the highest value that does not
+ * cause an integer overflow in the calculation. If you can't compile `ratio_sqrt`
+ * due to overflow errors, reducing the value of epsilon sufficiently will correct
+ * the problem.\n\n
+ * `ratio_sqrt` is guaranteed to converge for all values of `Ratio` which do not
+ * overflow.
+ * @tparam U `unit` type to take the square root of.
+ * @tparam Eps Value of epsilon, which represents the inverse of the maximum allowable
+ * error. This value should be chosen to be as high as possible before
+ * integer overflow errors occur in the compiler.
+ * @note USE WITH CAUTION. The is an approximate value. In general, squared<sqrt<meter>> != meter,
+ * i.e. the operation is not reversible, and it will result in propogated approximations.
+ * Use only when absolutely necessary.
+ */
+ template<class U, std::intmax_t Eps = 10000000000>
+ using square_root = typename units::detail::sqrt_impl<U, Eps>::type;
+
+ //------------------------------
+ // COMPOUND UNITS
+ //------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /**
+ * @brief implementation of compound_unit
+ * @details multiplies a variadic list of units together, and is inherited from the resulting
+ * type.
+ */
+ template<class U, class... Us> struct compound_impl;
+ template<class U> struct compound_impl<U> { using type = U; };
+ template<class U1, class U2, class...Us>
+ struct compound_impl<U1, U2, Us...>
+ : compound_impl<unit_multiply<U1, U2>, Us...> {};
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @brief Represents a unit type made up from other units.
+ * @details Compound units are formed by multiplying the units of all the types provided in
+ * the template argument. Types provided must inherit from `unit`. A compound unit can
+ * be formed from any number of other units, and unit manipulators like `inverse` and
+ * `squared` are supported. E.g. to specify acceleration, on could create
+ * `using acceleration = compound_unit<length::meters, inverse<squared<seconds>>;`
+ * @tparam U... units which, when multiplied together, form the desired compound unit.
+ * @ingroup UnitTypes
+ */
+ template<class U, class... Us>
+ using compound_unit = typename units::detail::compound_impl<U, Us...>::type;
+
+ //------------------------------
+ // PREFIXES
+ //------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /**
+ * @brief prefix applicator.
+ * @details creates a unit type from a prefix and a unit
+ */
+ template<class Ratio, class Unit>
+ struct prefix
+ {
+ static_assert(traits::is_ratio<Ratio>::value, "Template parameter `Ratio` must be a `std::ratio`.");
+ static_assert(traits::is_unit<Unit>::value, "Template parameter `Unit` must be a `unit` type.");
+ typedef typename units::unit<Ratio, Unit> type;
+ };
+
+ /// recursive exponential implementation
+ template <int N, class U>
+ struct power_of_ratio
+ {
+ typedef std::ratio_multiply<U, typename power_of_ratio<N - 1, U>::type> type;
+ };
+
+ /// End recursion
+ template <class U>
+ struct power_of_ratio<1, U>
+ {
+ typedef U type;
+ };
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @ingroup UnitManipulators
+ * @{
+ * @ingroup Decimal Prefixes
+ * @{
+ */
+ template<class U> using atto = typename units::detail::prefix<std::atto, U>::type; ///< Represents the type of `class U` with the metric 'atto' prefix appended. @details E.g. atto<meters> represents meters*10^-18 @tparam U unit type to apply the prefix to.
+ template<class U> using femto = typename units::detail::prefix<std::femto,U>::type; ///< Represents the type of `class U` with the metric 'femto' prefix appended. @details E.g. femto<meters> represents meters*10^-15 @tparam U unit type to apply the prefix to.
+ template<class U> using pico = typename units::detail::prefix<std::pico, U>::type; ///< Represents the type of `class U` with the metric 'pico' prefix appended. @details E.g. pico<meters> represents meters*10^-12 @tparam U unit type to apply the prefix to.
+ template<class U> using nano = typename units::detail::prefix<std::nano, U>::type; ///< Represents the type of `class U` with the metric 'nano' prefix appended. @details E.g. nano<meters> represents meters*10^-9 @tparam U unit type to apply the prefix to.
+ template<class U> using micro = typename units::detail::prefix<std::micro,U>::type; ///< Represents the type of `class U` with the metric 'micro' prefix appended. @details E.g. micro<meters> represents meters*10^-6 @tparam U unit type to apply the prefix to.
+ template<class U> using milli = typename units::detail::prefix<std::milli,U>::type; ///< Represents the type of `class U` with the metric 'milli' prefix appended. @details E.g. milli<meters> represents meters*10^-3 @tparam U unit type to apply the prefix to.
+ template<class U> using centi = typename units::detail::prefix<std::centi,U>::type; ///< Represents the type of `class U` with the metric 'centi' prefix appended. @details E.g. centi<meters> represents meters*10^-2 @tparam U unit type to apply the prefix to.
+ template<class U> using deci = typename units::detail::prefix<std::deci, U>::type; ///< Represents the type of `class U` with the metric 'deci' prefix appended. @details E.g. deci<meters> represents meters*10^-1 @tparam U unit type to apply the prefix to.
+ template<class U> using deca = typename units::detail::prefix<std::deca, U>::type; ///< Represents the type of `class U` with the metric 'deca' prefix appended. @details E.g. deca<meters> represents meters*10^1 @tparam U unit type to apply the prefix to.
+ template<class U> using hecto = typename units::detail::prefix<std::hecto,U>::type; ///< Represents the type of `class U` with the metric 'hecto' prefix appended. @details E.g. hecto<meters> represents meters*10^2 @tparam U unit type to apply the prefix to.
+ template<class U> using kilo = typename units::detail::prefix<std::kilo, U>::type; ///< Represents the type of `class U` with the metric 'kilo' prefix appended. @details E.g. kilo<meters> represents meters*10^3 @tparam U unit type to apply the prefix to.
+ template<class U> using mega = typename units::detail::prefix<std::mega, U>::type; ///< Represents the type of `class U` with the metric 'mega' prefix appended. @details E.g. mega<meters> represents meters*10^6 @tparam U unit type to apply the prefix to.
+ template<class U> using giga = typename units::detail::prefix<std::giga, U>::type; ///< Represents the type of `class U` with the metric 'giga' prefix appended. @details E.g. giga<meters> represents meters*10^9 @tparam U unit type to apply the prefix to.
+ template<class U> using tera = typename units::detail::prefix<std::tera, U>::type; ///< Represents the type of `class U` with the metric 'tera' prefix appended. @details E.g. tera<meters> represents meters*10^12 @tparam U unit type to apply the prefix to.
+ template<class U> using peta = typename units::detail::prefix<std::peta, U>::type; ///< Represents the type of `class U` with the metric 'peta' prefix appended. @details E.g. peta<meters> represents meters*10^15 @tparam U unit type to apply the prefix to.
+ template<class U> using exa = typename units::detail::prefix<std::exa, U>::type; ///< Represents the type of `class U` with the metric 'exa' prefix appended. @details E.g. exa<meters> represents meters*10^18 @tparam U unit type to apply the prefix to.
+ /** @} @} */
+
+ /**
+ * @ingroup UnitManipulators
+ * @{
+ * @ingroup Binary Prefixes
+ * @{
+ */
+ template<class U> using kibi = typename units::detail::prefix<std::ratio<1024>, U>::type; ///< Represents the type of `class U` with the binary 'kibi' prefix appended. @details E.g. kibi<bytes> represents bytes*2^10 @tparam U unit type to apply the prefix to.
+ template<class U> using mebi = typename units::detail::prefix<std::ratio<1048576>, U>::type; ///< Represents the type of `class U` with the binary 'mibi' prefix appended. @details E.g. mebi<bytes> represents bytes*2^20 @tparam U unit type to apply the prefix to.
+ template<class U> using gibi = typename units::detail::prefix<std::ratio<1073741824>, U>::type; ///< Represents the type of `class U` with the binary 'gibi' prefix appended. @details E.g. gibi<bytes> represents bytes*2^30 @tparam U unit type to apply the prefix to.
+ template<class U> using tebi = typename units::detail::prefix<std::ratio<1099511627776>, U>::type; ///< Represents the type of `class U` with the binary 'tebi' prefix appended. @details E.g. tebi<bytes> represents bytes*2^40 @tparam U unit type to apply the prefix to.
+ template<class U> using pebi = typename units::detail::prefix<std::ratio<1125899906842624>, U>::type; ///< Represents the type of `class U` with the binary 'pebi' prefix appended. @details E.g. pebi<bytes> represents bytes*2^50 @tparam U unit type to apply the prefix to.
+ template<class U> using exbi = typename units::detail::prefix<std::ratio<1152921504606846976>, U>::type; ///< Represents the type of `class U` with the binary 'exbi' prefix appended. @details E.g. exbi<bytes> represents bytes*2^60 @tparam U unit type to apply the prefix to.
+ /** @} @} */
+
+ //------------------------------
+ // CONVERSION TRAITS
+ //------------------------------
+
+ namespace traits
+ {
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait which checks whether two units can be converted to each other
+ * @details Inherits from `std::true_type` or `std::false_type`. Use `is_convertible_unit<U1, U2>::value` to test
+ * whether `class U1` is convertible to `class U2`. Note: convertible has both the semantic meaning,
+ * (i.e. meters can be converted to feet), and the c++ meaning of conversion (type meters can be
+ * converted to type feet). Conversion is always symmetric, so if U1 is convertible to U2, then
+ * U2 will be convertible to U1.
+ * @tparam U1 Unit to convert from.
+ * @tparam U2 Unit to convert to.
+ * @sa is_convertible_unit_t
+ */
+ template<class U1, class U2>
+ struct is_convertible_unit : std::is_same <traits::base_unit_of<typename units::traits::unit_traits<U1>::base_unit_type>,
+ base_unit_of<typename units::traits::unit_traits<U2>::base_unit_type >> {};
+ }
+
+ //------------------------------
+ // CONVERSION FUNCTION
+ //------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ constexpr inline UNIT_LIB_DEFAULT_TYPE pow(UNIT_LIB_DEFAULT_TYPE x, unsigned long long y)
+ {
+ return y == 0 ? 1.0 : x * pow(x, y - 1);
+ }
+
+ constexpr inline UNIT_LIB_DEFAULT_TYPE abs(UNIT_LIB_DEFAULT_TYPE x)
+ {
+ return x < 0 ? -x : x;
+ }
+
+ /// convert dispatch for units which are both the same
+ template<class Ratio, class PiRatio, class Translation, bool piRequired, bool translationRequired, typename T>
+ static inline constexpr T convert(const T& value, std::true_type, std::integral_constant<bool, piRequired>, std::integral_constant<bool, translationRequired>) noexcept
+ {
+ return value;
+ }
+
+ template<std::size_t Ratio_num, std::size_t Ratio_den>
+ struct normal_convert
+ {
+ template<typename T>
+ inline constexpr T operator()(const T& value) const noexcept
+ {
+ return value * Ratio_num / Ratio_den;
+ }
+ };
+
+ template<std::size_t Ratio_num>
+ struct normal_convert<Ratio_num, 1>
+ {
+ template<typename T>
+ inline constexpr T operator()(const T& value) const noexcept
+ {
+ return value * Ratio_num;
+ }
+ };
+
+ template<std::size_t Ratio_den>
+ struct normal_convert<1, Ratio_den>
+ {
+ template<typename T>
+ inline constexpr T operator()(const T& value) const noexcept
+ {
+ return value / Ratio_den;
+ }
+ };
+
+ template<>
+ struct normal_convert<1, 1>
+ {
+ template<typename T>
+ inline constexpr T operator()(const T& value) const noexcept
+ {
+ return value;
+ }
+ };
+
+ /// convert dispatch for units of different types w/ no translation and no PI
+ template<class Ratio, class PiRatio, class Translation, typename T>
+ static inline constexpr T convert(const T& value, std::false_type, std::false_type, std::false_type) noexcept
+ {
+ return normal_convert<Ratio::num, Ratio::den>{}(value);
+ }
+
+ /// convert dispatch for units of different types w/ no translation, but has PI in numerator
+ // constepxr with PI in numerator
+ template<class Ratio, class PiRatio, class Translation, typename T>
+ static inline constexpr
+ std::enable_if_t<(PiRatio::num / PiRatio::den >= 1 && PiRatio::num % PiRatio::den == 0), T>
+ convert(const T& value, std::false_type, std::true_type, std::false_type) noexcept
+ {
+ return normal_convert<Ratio::num, Ratio::den>{}(value) * pow(constants::detail::PI_VAL, PiRatio::num / PiRatio::den);
+ }
+
+ /// convert dispatch for units of different types w/ no translation, but has PI in denominator
+ // constexpr with PI in denominator
+ template<class Ratio, class PiRatio, class Translation, typename T>
+ static inline constexpr
+ std::enable_if_t<(PiRatio::num / PiRatio::den <= -1 && PiRatio::num % PiRatio::den == 0), T>
+ convert(const T& value, std::false_type, std::true_type, std::false_type) noexcept
+ {
+ return normal_convert<Ratio::num, Ratio::den>{}(value) / pow(constants::detail::PI_VAL, -PiRatio::num / PiRatio::den);
+ }
+
+ /// convert dispatch for units of different types w/ no translation, but has PI in numerator
+ // Not constexpr - uses std::pow
+ template<class Ratio, class PiRatio, class Translation, typename T>
+ static inline // sorry, this can't be constexpr!
+ std::enable_if_t<(PiRatio::num / PiRatio::den < 1 && PiRatio::num / PiRatio::den > -1), T>
+ convert(const T& value, std::false_type, std::true_type, std::false_type) noexcept
+ {
+ return normal_convert<Ratio::num, Ratio::den>{}(value) * std::pow(constants::detail::PI_VAL, PiRatio::num / PiRatio::den);
+ }
+
+ /// convert dispatch for units of different types with a translation, but no PI
+ template<class Ratio, class PiRatio, class Translation, typename T>
+ static inline constexpr T convert(const T& value, std::false_type, std::false_type, std::true_type) noexcept
+ {
+ return normal_convert<Ratio::num, Ratio::den>{}(value) + (static_cast<UNIT_LIB_DEFAULT_TYPE>(Translation::num) / Translation::den);
+ }
+
+ /// convert dispatch for units of different types with a translation AND PI
+ template<class Ratio, class PiRatio, class Translation, typename T>
+ static inline constexpr T convert(const T& value, std::false_type isSame, std::true_type piRequired, std::true_type) noexcept
+ {
+ return convert<Ratio, PiRatio, Translation>(value, isSame, piRequired, std::false_type()) + (static_cast<UNIT_LIB_DEFAULT_TYPE>(Translation::num) / Translation::den);
+ }
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @ingroup Conversion
+ * @brief converts a <i>value</i> from one type to another.
+ * @details Converts a <i>value</i> of a built-in arithmetic type to another unit. This does not change
+ * the type of <i>value</i>, only what it contains. E.g. @code double result = convert<length::meters, length::feet>(1.0); // result == 3.28084 @endcode
+ * @sa unit_t for implicit conversion of unit containers.
+ * @tparam UnitFrom unit tag to convert <i>value</i> from. Must be a `unit` type (i.e. is_unit<UnitFrom>::value == true),
+ * and must be convertible to `UnitTo` (i.e. is_convertible_unit<UnitFrom, UnitTo>::value == true).
+ * @tparam UnitTo unit tag to convert <i>value</i> to. Must be a `unit` type (i.e. is_unit<UnitTo>::value == true),
+ * and must be convertible from `UnitFrom` (i.e. is_convertible_unit<UnitFrom, UnitTo>::value == true).
+ * @tparam T type of <i>value</i>. It is inferred from <i>value</i>, and is expected to be a built-in arithmetic type.
+ * @param[in] value Arithmetic value to convert from `UnitFrom` to `UnitTo`. The value should represent
+ * a quantity in units of `UnitFrom`.
+ * @returns value, converted from units of `UnitFrom` to `UnitTo`.
+ */
+ template<class UnitFrom, class UnitTo, typename T = UNIT_LIB_DEFAULT_TYPE>
+ static inline constexpr T convert(const T& value) noexcept
+ {
+ static_assert(traits::is_unit<UnitFrom>::value, "Template parameter `UnitFrom` must be a `unit` type.");
+ static_assert(traits::is_unit<UnitTo>::value, "Template parameter `UnitTo` must be a `unit` type.");
+ static_assert(traits::is_convertible_unit<UnitFrom, UnitTo>::value, "Units are not compatible.");
+
+ using Ratio = std::ratio_divide<typename UnitFrom::conversion_ratio, typename UnitTo::conversion_ratio>;
+ using PiRatio = std::ratio_subtract<typename UnitFrom::pi_exponent_ratio, typename UnitTo::pi_exponent_ratio>;
+ using Translation = std::ratio_divide<std::ratio_subtract<typename UnitFrom::translation_ratio, typename UnitTo::translation_ratio>, typename UnitTo::conversion_ratio>;
+
+ using isSame = typename std::is_same<std::decay_t<UnitFrom>, std::decay_t<UnitTo>>::type;
+ using piRequired = std::integral_constant<bool, !(std::is_same<std::ratio<0>, PiRatio>::value)>;
+ using translationRequired = std::integral_constant<bool, !(std::is_same<std::ratio<0>, Translation>::value)>;
+
+ return units::detail::convert<Ratio, PiRatio, Translation>
+ (value, isSame{}, piRequired{}, translationRequired{});
+ }
+
+ //----------------------------------
+ // NON-LINEAR SCALE TRAITS
+ //----------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace traits
+ {
+ namespace detail
+ {
+ /**
+ * @brief implementation of has_operator_parenthesis
+ * @details checks that operator() returns the same type as `Ret`
+ */
+ template<class T, class Ret>
+ struct has_operator_parenthesis_impl
+ {
+ template<class U>
+ static constexpr auto test(U*) -> decltype(std::declval<U>()()) { return decltype(std::declval<U>()()){}; }
+ template<typename>
+ static constexpr std::false_type test(...) { return std::false_type{}; }
+
+ using type = typename std::is_same<Ret, decltype(test<T>(0))>::type;
+ };
+ }
+
+ /**
+ * @brief checks that `class T` has an `operator()` member which returns `Ret`
+ * @details used as part of the linear_scale concept.
+ */
+ template<class T, class Ret>
+ struct has_operator_parenthesis : traits::detail::has_operator_parenthesis_impl<T, Ret>::type {};
+ }
+
+ namespace traits
+ {
+ namespace detail
+ {
+ /**
+ * @brief implementation of has_value_member
+ * @details checks for a member named `m_member` with type `Ret`
+ */
+ template<class T, class Ret>
+ struct has_value_member_impl
+ {
+ template<class U>
+ static constexpr auto test(U* p) -> decltype(p->m_value) { return p->m_value; }
+ template<typename>
+ static constexpr auto test(...)->std::false_type { return std::false_type{}; }
+
+ using type = typename std::is_same<std::decay_t<Ret>, std::decay_t<decltype(test<T>(0))>>::type;
+ };
+ }
+
+ /**
+ * @brief checks for a member named `m_member` with type `Ret`
+ * @details used as part of the linear_scale concept checker.
+ */
+ template<class T, class Ret>
+ struct has_value_member : traits::detail::has_value_member_impl<T, Ret>::type {};
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ namespace traits
+ {
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait which tests that `class T` meets the requirements for a non-linear scale
+ * @details A non-linear scale must:
+ * - be default constructible
+ * - have an `operator()` member which returns the non-linear value stored in the scale
+ * - have an accessible `m_value` member type which stores the linearized value in the scale.
+ *
+ * Linear/nonlinear scales are used by `units::unit` to store values and scale them
+ * if they represent things like dB.
+ */
+ template<class T, class Ret>
+ struct is_nonlinear_scale : std::integral_constant<bool,
+ std::is_default_constructible<T>::value &&
+ has_operator_parenthesis<T, Ret>::value &&
+ has_value_member<T, Ret>::value &&
+ std::is_trivial<T>::value>
+ {};
+ }
+
+ //------------------------------
+ // UNIT_T TYPE TRAITS
+ //------------------------------
+
+ namespace traits
+ {
+#ifdef FOR_DOXYGEN_PURPOSOES_ONLY
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait for accessing the publically defined types of `units::unit_t`
+ * @details The units library determines certain properties of the unit_t types passed to them
+ * and what they represent by using the members of the corresponding unit_t_traits instantiation.
+ */
+ template<typename T>
+ struct unit_t_traits
+ {
+ typedef typename T::non_linear_scale_type non_linear_scale_type; ///< Type of the unit_t non_linear_scale (e.g. linear_scale, decibel_scale). This property is used to enable the proper linear or logarithmic arithmetic functions.
+ typedef typename T::underlying_type underlying_type; ///< Underlying storage type of the `unit_t`, e.g. `double`.
+ typedef typename T::value_type value_type; ///< Synonym for underlying type. May be removed in future versions. Prefer underlying_type.
+ typedef typename T::unit_type unit_type; ///< Type of unit the `unit_t` represents, e.g. `meters`
+ };
+#endif
+
+ /** @cond */ // DOXYGEN IGNORE
+ /**
+ * @brief unit_t_traits specialization for things which are not unit_t
+ * @details
+ */
+ template<typename T, typename = void>
+ struct unit_t_traits
+ {
+ typedef void non_linear_scale_type;
+ typedef void underlying_type;
+ typedef void value_type;
+ typedef void unit_type;
+ };
+
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait for accessing the publically defined types of `units::unit_t`
+ * @details
+ */
+ template<typename T>
+ struct unit_t_traits <T, typename void_t<
+ typename T::non_linear_scale_type,
+ typename T::underlying_type,
+ typename T::value_type,
+ typename T::unit_type>::type>
+ {
+ typedef typename T::non_linear_scale_type non_linear_scale_type;
+ typedef typename T::underlying_type underlying_type;
+ typedef typename T::value_type value_type;
+ typedef typename T::unit_type unit_type;
+ };
+ /** @endcond */ // END DOXYGEN IGNORE
+ }
+
+ namespace traits
+ {
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait which tests whether two container types derived from `unit_t` are convertible to each other
+ * @details Inherits from `std::true_type` or `std::false_type`. Use `is_convertible_unit_t<U1, U2>::value` to test
+ * whether `class U1` is convertible to `class U2`. Note: convertible has both the semantic meaning,
+ * (i.e. meters can be converted to feet), and the c++ meaning of conversion (type meters can be
+ * converted to type feet). Conversion is always symmetric, so if U1 is convertible to U2, then
+ * U2 will be convertible to U1.
+ * @tparam U1 Unit to convert from.
+ * @tparam U2 Unit to convert to.
+ * @sa is_convertible_unit
+ */
+ template<class U1, class U2>
+ struct is_convertible_unit_t : std::integral_constant<bool,
+ is_convertible_unit<typename units::traits::unit_t_traits<U1>::unit_type, typename units::traits::unit_t_traits<U2>::unit_type>::value>
+ {};
+ }
+
+ //----------------------------------
+ // UNIT TYPE
+ //----------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ // forward declaration
+ template<typename T> struct linear_scale;
+ template<typename T> struct decibel_scale;
+
+ namespace detail
+ {
+ /**
+ * @brief helper type to identify units.
+ * @details A non-templated base class for `unit` which enables RTTI testing.
+ */
+ struct _unit_t {};
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ namespace traits
+ {
+ // forward declaration
+ #if !defined(_MSC_VER) || _MSC_VER > 1800 // bug in VS2013 prevents this from working
+ template<typename... T> struct is_dimensionless_unit;
+ #else
+ template<typename T1, typename T2 = T1, typename T3 = T1> struct is_dimensionless_unit;
+ #endif
+
+ /**
+ * @ingroup TypeTraits
+ * @brief Traits which tests if a class is a `unit`
+ * @details Inherits from `std::true_type` or `std::false_type`. Use `is_unit<T>::value` to test
+ * whether `class T` implements a `unit`.
+ */
+ template<class T>
+ struct is_unit_t : std::is_base_of<units::detail::_unit_t, T>::type {};
+ }
+
+ /**
+ * @ingroup UnitContainers
+ * @brief Container for values which represent quantities of a given unit.
+ * @details Stores a value which represents a quantity in the given units. Unit containers
+ * (except scalar values) are *not* convertible to built-in c++ types, in order to
+ * provide type safety in dimensional analysis. Unit containers *are* implicitly
+ * convertible to other compatible unit container types. Unit containers support
+ * various types of arithmetic operations, depending on their scale type.
+ *
+ * The value of a `unit_t` can only be changed on construction, or by assignment
+ * from another `unit_t` type. If necessary, the underlying value can be accessed
+ * using `operator()`: @code
+ * meter_t m(5.0);
+ * double val = m(); // val == 5.0 @endcode.
+ * @tparam Units unit tag for which type of units the `unit_t` represents (e.g. meters)
+ * @tparam T underlying type of the storage. Defaults to double.
+ * @tparam NonLinearScale optional scale class for the units. Defaults to linear (i.e. does
+ * not scale the unit value). Examples of non-linear scales could be logarithmic,
+ * decibel, or richter scales. Non-linear scales must adhere to the non-linear-scale
+ * concept, i.e. `is_nonlinear_scale<...>::value` must be `true`.
+ * @sa
+ * - \ref lengthContainers "length unit containers"
+ * - \ref massContainers "mass unit containers"
+ * - \ref timeContainers "time unit containers"
+ * - \ref angleContainers "angle unit containers"
+ * - \ref currentContainers "current unit containers"
+ * - \ref temperatureContainers "temperature unit containers"
+ * - \ref substanceContainers "substance unit containers"
+ * - \ref luminousIntensityContainers "luminous intensity unit containers"
+ * - \ref solidAngleContainers "solid angle unit containers"
+ * - \ref frequencyContainers "frequency unit containers"
+ * - \ref velocityContainers "velocity unit containers"
+ * - \ref angularVelocityContainers "angular velocity unit containers"
+ * - \ref accelerationContainers "acceleration unit containers"
+ * - \ref forceContainers "force unit containers"
+ * - \ref pressureContainers "pressure unit containers"
+ * - \ref chargeContainers "charge unit containers"
+ * - \ref energyContainers "energy unit containers"
+ * - \ref powerContainers "power unit containers"
+ * - \ref voltageContainers "voltage unit containers"
+ * - \ref capacitanceContainers "capacitance unit containers"
+ * - \ref impedanceContainers "impedance unit containers"
+ * - \ref magneticFluxContainers "magnetic flux unit containers"
+ * - \ref magneticFieldStrengthContainers "magnetic field strength unit containers"
+ * - \ref inductanceContainers "inductance unit containers"
+ * - \ref luminousFluxContainers "luminous flux unit containers"
+ * - \ref illuminanceContainers "illuminance unit containers"
+ * - \ref radiationContainers "radiation unit containers"
+ * - \ref torqueContainers "torque unit containers"
+ * - \ref areaContainers "area unit containers"
+ * - \ref volumeContainers "volume unit containers"
+ * - \ref densityContainers "density unit containers"
+ * - \ref concentrationContainers "concentration unit containers"
+ * - \ref constantContainers "constant unit containers"
+ */
+ template<class Units, typename T = UNIT_LIB_DEFAULT_TYPE, template<typename> class NonLinearScale = linear_scale>
+ class unit_t : public NonLinearScale<T>, units::detail::_unit_t
+ {
+ static_assert(traits::is_unit<Units>::value, "Template parameter `Units` must be a unit tag. Check that you aren't using a unit type (_t).");
+ static_assert(traits::is_nonlinear_scale<NonLinearScale<T>, T>::value, "Template parameter `NonLinearScale` does not conform to the `is_nonlinear_scale` concept.");
+
+ protected:
+
+ using nls = NonLinearScale<T>;
+ using nls::m_value;
+
+ public:
+
+ typedef NonLinearScale<T> non_linear_scale_type; ///< Type of the non-linear scale of the unit_t (e.g. linear_scale)
+ typedef T underlying_type; ///< Type of the underlying storage of the unit_t (e.g. double)
+ typedef T value_type; ///< Synonym for underlying type. May be removed in future versions. Prefer underlying_type.
+ typedef Units unit_type; ///< Type of `unit` the `unit_t` represents (e.g. meters)
+
+ /**
+ * @ingroup Constructors
+ * @brief default constructor.
+ */
+ constexpr unit_t() = default;
+
+ /**
+ * @brief constructor
+ * @details constructs a new unit_t using the non-linear scale's constructor.
+ * @param[in] value unit value magnitude.
+ * @param[in] args additional constructor arguments are forwarded to the non-linear scale constructor. Which
+ * args are required depends on which scale is used. For the default (linear) scale,
+ * no additional args are necessary.
+ */
+ template<class... Args>
+ inline explicit constexpr unit_t(const T value, const Args&... args) noexcept : nls(value, args...)
+ {
+
+ }
+
+ /**
+ * @brief constructor
+ * @details enable implicit conversions from T types ONLY for linear scalar units
+ * @param[in] value value of the unit_t
+ */
+ template<class Ty, class = typename std::enable_if<traits::is_dimensionless_unit<Units>::value && std::is_arithmetic<Ty>::value>::type>
+ inline constexpr unit_t(const Ty value) noexcept : nls(value)
+ {
+
+ }
+
+ /**
+ * @brief chrono constructor
+ * @details enable implicit conversions from std::chrono::duration types ONLY for time units
+ * @param[in] value value of the unit_t
+ */
+ template<class Rep, class Period, class = std::enable_if_t<std::is_arithmetic<Rep>::value && traits::is_ratio<Period>::value>>
+ inline constexpr unit_t(const std::chrono::duration<Rep, Period>& value) noexcept :
+ nls(units::convert<unit<std::ratio<1,1000000000>, category::time_unit>, Units>(static_cast<T>(std::chrono::duration_cast<std::chrono::nanoseconds>(value).count())))
+ {
+
+ }
+
+ /**
+ * @brief copy constructor (converting)
+ * @details performs implicit unit conversions if required.
+ * @param[in] rhs unit to copy.
+ */
+ template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
+ inline constexpr unit_t(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) noexcept :
+ nls(units::convert<UnitsRhs, Units, T>(rhs.m_value), std::true_type() /*store linear value*/)
+ {
+
+ }
+
+ /**
+ * @brief assignment
+ * @details performs implicit unit conversions if required
+ * @param[in] rhs unit to copy.
+ */
+ template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
+ inline unit_t& operator=(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) noexcept
+ {
+ nls::m_value = units::convert<UnitsRhs, Units, T>(rhs.m_value);
+ return *this;
+ }
+
+ /**
+ * @brief assignment
+ * @details performs implicit conversions from built-in types ONLY for scalar units
+ * @param[in] rhs value to copy.
+ */
+ template<class Ty, class = std::enable_if_t<traits::is_dimensionless_unit<Units>::value && std::is_arithmetic<Ty>::value>>
+ inline unit_t& operator=(const Ty& rhs) noexcept
+ {
+ nls::m_value = rhs;
+ return *this;
+ }
+
+ /**
+ * @brief less-than
+ * @details compares the linearized value of two units. Performs unit conversions if necessary.
+ * @param[in] rhs right-hand side unit for the comparison
+ * @returns true IFF the value of `this` is less than the value of `rhs`
+ */
+ template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
+ inline constexpr bool operator<(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
+ {
+ return (nls::m_value < units::convert<UnitsRhs, Units>(rhs.m_value));
+ }
+
+ /**
+ * @brief less-than or equal
+ * @details compares the linearized value of two units. Performs unit conversions if necessary.
+ * @param[in] rhs right-hand side unit for the comparison
+ * @returns true IFF the value of `this` is less than or equal to the value of `rhs`
+ */
+ template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
+ inline constexpr bool operator<=(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
+ {
+ return (nls::m_value <= units::convert<UnitsRhs, Units>(rhs.m_value));
+ }
+
+ /**
+ * @brief greater-than
+ * @details compares the linearized value of two units. Performs unit conversions if necessary.
+ * @param[in] rhs right-hand side unit for the comparison
+ * @returns true IFF the value of `this` is greater than the value of `rhs`
+ */
+ template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
+ inline constexpr bool operator>(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
+ {
+ return (nls::m_value > units::convert<UnitsRhs, Units>(rhs.m_value));
+ }
+
+ /**
+ * @brief greater-than or equal
+ * @details compares the linearized value of two units. Performs unit conversions if necessary.
+ * @param[in] rhs right-hand side unit for the comparison
+ * @returns true IFF the value of `this` is greater than or equal to the value of `rhs`
+ */
+ template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
+ inline constexpr bool operator>=(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
+ {
+ return (nls::m_value >= units::convert<UnitsRhs, Units>(rhs.m_value));
+ }
+
+ /**
+ * @brief equality
+ * @details compares the linearized value of two units. Performs unit conversions if necessary.
+ * @param[in] rhs right-hand side unit for the comparison
+ * @returns true IFF the value of `this` exactly equal to the value of rhs.
+ * @note This may not be suitable for all applications when the underlying_type of unit_t is a double.
+ */
+ template<class UnitsRhs, typename Ty, template<typename> class NlsRhs, std::enable_if_t<std::is_floating_point<T>::value || std::is_floating_point<Ty>::value, int> = 0>
+ inline constexpr bool operator==(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
+ {
+ return detail::abs(nls::m_value - units::convert<UnitsRhs, Units>(rhs.m_value)) < std::numeric_limits<T>::epsilon() *
+ detail::abs(nls::m_value + units::convert<UnitsRhs, Units>(rhs.m_value)) ||
+ detail::abs(nls::m_value - units::convert<UnitsRhs, Units>(rhs.m_value)) < std::numeric_limits<T>::min();
+ }
+
+ template<class UnitsRhs, typename Ty, template<typename> class NlsRhs, std::enable_if_t<std::is_integral<T>::value && std::is_integral<Ty>::value, int> = 0>
+ inline constexpr bool operator==(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
+ {
+ return nls::m_value == units::convert<UnitsRhs, Units>(rhs.m_value);
+ }
+
+ /**
+ * @brief inequality
+ * @details compares the linearized value of two units. Performs unit conversions if necessary.
+ * @param[in] rhs right-hand side unit for the comparison
+ * @returns true IFF the value of `this` is not equal to the value of rhs.
+ * @note This may not be suitable for all applications when the underlying_type of unit_t is a double.
+ */
+ template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
+ inline constexpr bool operator!=(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
+ {
+ return !(*this == rhs);
+ }
+
+ /**
+ * @brief unit value
+ * @returns value of the unit in it's underlying, non-safe type.
+ */
+ inline constexpr underlying_type value() const noexcept
+ {
+ return static_cast<underlying_type>(*this);
+ }
+
+ /**
+ * @brief unit value
+ * @returns value of the unit converted to an arithmetic, non-safe type.
+ */
+ template<typename Ty, class = std::enable_if_t<std::is_arithmetic<Ty>::value>>
+ inline constexpr Ty to() const noexcept
+ {
+ return static_cast<Ty>(*this);
+ }
+
+ /**
+ * @brief linearized unit value
+ * @returns linearized value of unit which has a non-linear scale. For `unit_t` types with
+ * linear scales, this is equivalent to `value`.
+ */
+ template<typename Ty, class = std::enable_if_t<std::is_arithmetic<Ty>::value>>
+ inline constexpr Ty toLinearized() const noexcept
+ {
+ return static_cast<Ty>(m_value);
+ }
+
+ /**
+ * @brief conversion
+ * @details Converts to a different unit container. Units can be converted to other containers
+ * implicitly, but this can be used in cases where explicit notation of a conversion
+ * is beneficial, or where an r-value container is needed.
+ * @tparam U unit (not unit_t) to convert to
+ * @returns a unit container with the specified units containing the equivalent value to
+ * *this.
+ */
+ template<class U>
+ inline constexpr unit_t<U> convert() const noexcept
+ {
+ static_assert(traits::is_unit<U>::value, "Template parameter `U` must be a unit type.");
+ return unit_t<U>(*this);
+ }
+
+ /**
+ * @brief implicit type conversion.
+ * @details only enabled for scalar unit types.
+ */
+ template<class Ty, std::enable_if_t<traits::is_dimensionless_unit<Units>::value && std::is_arithmetic<Ty>::value, int> = 0>
+ inline constexpr operator Ty() const noexcept
+ {
+ // this conversion also resolves any PI exponents, by converting from a non-zero PI ratio to a zero-pi ratio.
+ return static_cast<Ty>(units::convert<Units, unit<std::ratio<1>, units::category::scalar_unit>>((*this)()));
+ }
+
+ /**
+ * @brief explicit type conversion.
+ * @details only enabled for non-dimensionless unit types.
+ */
+ template<class Ty, std::enable_if_t<!traits::is_dimensionless_unit<Units>::value && std::is_arithmetic<Ty>::value, int> = 0>
+ inline constexpr explicit operator Ty() const noexcept
+ {
+ return static_cast<Ty>((*this)());
+ }
+
+ /**
+ * @brief chrono implicit type conversion.
+ * @details only enabled for time unit types.
+ */
+ template<typename U = Units, std::enable_if_t<units::traits::is_convertible_unit<U, unit<std::ratio<1>, category::time_unit>>::value, int> = 0>
+ inline constexpr operator std::chrono::nanoseconds() const noexcept
+ {
+ return std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double, std::nano>(units::convert<Units, unit<std::ratio<1,1000000000>, category::time_unit>>((*this)())));
+ }
+
+ /**
+ * @brief returns the unit name
+ */
+ inline constexpr const char* name() const noexcept
+ {
+ return units::name(*this);
+ }
+
+ /**
+ * @brief returns the unit abbreviation
+ */
+ inline constexpr const char* abbreviation() const noexcept
+ {
+ return units::abbreviation(*this);
+ }
+
+ public:
+
+ template<class U, typename Ty, template<typename> class Nlt>
+ friend class unit_t;
+ };
+
+ //------------------------------
+ // UNIT_T NON-MEMBER FUNCTIONS
+ //------------------------------
+
+ /**
+ * @ingroup UnitContainers
+ * @brief Constructs a unit container from an arithmetic type.
+ * @details make_unit can be used to construct a unit container from an arithmetic type, as an alternative to
+ * using the explicit constructor. Unlike the explicit constructor it forces the user to explicitly
+ * specify the units.
+ * @tparam UnitType Type to construct.
+ * @tparam Ty Arithmetic type.
+ * @param[in] value Arithmetic value that represents a quantity in units of `UnitType`.
+ */
+ template<class UnitType, typename T, class = std::enable_if_t<std::is_arithmetic<T>::value>>
+ inline constexpr UnitType make_unit(const T value) noexcept
+ {
+ static_assert(traits::is_unit_t<UnitType>::value, "Template parameter `UnitType` must be a unit type (_t).");
+
+ return UnitType(value);
+ }
+
+#if !defined(UNIT_LIB_DISABLE_IOSTREAM)
+ template<class Units, typename T, template<typename> class NonLinearScale>
+ inline std::ostream& operator<<(std::ostream& os, const unit_t<Units, T, NonLinearScale>& obj) noexcept
+ {
+ using BaseUnits = unit<std::ratio<1>, typename traits::unit_traits<Units>::base_unit_type>;
+ os << convert<Units, BaseUnits>(obj());
+
+ if (traits::unit_traits<Units>::base_unit_type::meter_ratio::num != 0) { os << " m"; }
+ if (traits::unit_traits<Units>::base_unit_type::meter_ratio::num != 0 &&
+ traits::unit_traits<Units>::base_unit_type::meter_ratio::num != 1) { os << "^" << traits::unit_traits<Units>::base_unit_type::meter_ratio::num; }
+ if (traits::unit_traits<Units>::base_unit_type::meter_ratio::den != 1) { os << "/" << traits::unit_traits<Units>::base_unit_type::meter_ratio::den; }
+
+ if (traits::unit_traits<Units>::base_unit_type::kilogram_ratio::num != 0) { os << " kg"; }
+ if (traits::unit_traits<Units>::base_unit_type::kilogram_ratio::num != 0 &&
+ traits::unit_traits<Units>::base_unit_type::kilogram_ratio::num != 1) { os << "^" << traits::unit_traits<Units>::base_unit_type::kilogram_ratio::num; }
+ if (traits::unit_traits<Units>::base_unit_type::kilogram_ratio::den != 1) { os << "/" << traits::unit_traits<Units>::base_unit_type::kilogram_ratio::den; }
+
+ if (traits::unit_traits<Units>::base_unit_type::second_ratio::num != 0) { os << " s"; }
+ if (traits::unit_traits<Units>::base_unit_type::second_ratio::num != 0 &&
+ traits::unit_traits<Units>::base_unit_type::second_ratio::num != 1) { os << "^" << traits::unit_traits<Units>::base_unit_type::second_ratio::num; }
+ if (traits::unit_traits<Units>::base_unit_type::second_ratio::den != 1) { os << "/" << traits::unit_traits<Units>::base_unit_type::second_ratio::den; }
+
+ if (traits::unit_traits<Units>::base_unit_type::ampere_ratio::num != 0) { os << " A"; }
+ if (traits::unit_traits<Units>::base_unit_type::ampere_ratio::num != 0 &&
+ traits::unit_traits<Units>::base_unit_type::ampere_ratio::num != 1) { os << "^" << traits::unit_traits<Units>::base_unit_type::ampere_ratio::num; }
+ if (traits::unit_traits<Units>::base_unit_type::ampere_ratio::den != 1) { os << "/" << traits::unit_traits<Units>::base_unit_type::ampere_ratio::den; }
+
+ if (traits::unit_traits<Units>::base_unit_type::kelvin_ratio::num != 0) { os << " K"; }
+ if (traits::unit_traits<Units>::base_unit_type::kelvin_ratio::num != 0 &&
+ traits::unit_traits<Units>::base_unit_type::kelvin_ratio::num != 1) { os << "^" << traits::unit_traits<Units>::base_unit_type::kelvin_ratio::num; }
+ if (traits::unit_traits<Units>::base_unit_type::kelvin_ratio::den != 1) { os << "/" << traits::unit_traits<Units>::base_unit_type::kelvin_ratio::den; }
+
+ if (traits::unit_traits<Units>::base_unit_type::mole_ratio::num != 0) { os << " mol"; }
+ if (traits::unit_traits<Units>::base_unit_type::mole_ratio::num != 0 &&
+ traits::unit_traits<Units>::base_unit_type::mole_ratio::num != 1) { os << "^" << traits::unit_traits<Units>::base_unit_type::mole_ratio::num; }
+ if (traits::unit_traits<Units>::base_unit_type::mole_ratio::den != 1) { os << "/" << traits::unit_traits<Units>::base_unit_type::mole_ratio::den; }
+
+ if (traits::unit_traits<Units>::base_unit_type::candela_ratio::num != 0) { os << " cd"; }
+ if (traits::unit_traits<Units>::base_unit_type::candela_ratio::num != 0 &&
+ traits::unit_traits<Units>::base_unit_type::candela_ratio::num != 1) { os << "^" << traits::unit_traits<Units>::base_unit_type::candela_ratio::num; }
+ if (traits::unit_traits<Units>::base_unit_type::candela_ratio::den != 1) { os << "/" << traits::unit_traits<Units>::base_unit_type::candela_ratio::den; }
+
+ if (traits::unit_traits<Units>::base_unit_type::radian_ratio::num != 0) { os << " rad"; }
+ if (traits::unit_traits<Units>::base_unit_type::radian_ratio::num != 0 &&
+ traits::unit_traits<Units>::base_unit_type::radian_ratio::num != 1) { os << "^" << traits::unit_traits<Units>::base_unit_type::radian_ratio::num; }
+ if (traits::unit_traits<Units>::base_unit_type::radian_ratio::den != 1) { os << "/" << traits::unit_traits<Units>::base_unit_type::radian_ratio::den; }
+
+ if (traits::unit_traits<Units>::base_unit_type::byte_ratio::num != 0) { os << " b"; }
+ if (traits::unit_traits<Units>::base_unit_type::byte_ratio::num != 0 &&
+ traits::unit_traits<Units>::base_unit_type::byte_ratio::num != 1) { os << "^" << traits::unit_traits<Units>::base_unit_type::byte_ratio::num; }
+ if (traits::unit_traits<Units>::base_unit_type::byte_ratio::den != 1) { os << "/" << traits::unit_traits<Units>::base_unit_type::byte_ratio::den; }
+
+ return os;
+ }
+#endif
+
+ template<class Units, typename T, template<typename> class NonLinearScale, typename RhsType>
+ inline constexpr unit_t<Units, T, NonLinearScale>& operator+=(unit_t<Units, T, NonLinearScale>& lhs, const RhsType& rhs) noexcept
+ {
+ static_assert(traits::is_convertible_unit_t<unit_t<Units, T, NonLinearScale>, RhsType>::value ||
+ (traits::is_dimensionless_unit<decltype(lhs)>::value && std::is_arithmetic<RhsType>::value),
+ "parameters are not compatible units.");
+
+ lhs = lhs + rhs;
+ return lhs;
+ }
+
+ template<class Units, typename T, template<typename> class NonLinearScale, typename RhsType>
+ inline constexpr unit_t<Units, T, NonLinearScale>& operator-=(unit_t<Units, T, NonLinearScale>& lhs, const RhsType& rhs) noexcept
+ {
+ static_assert(traits::is_convertible_unit_t<unit_t<Units, T, NonLinearScale>, RhsType>::value ||
+ (traits::is_dimensionless_unit<decltype(lhs)>::value && std::is_arithmetic<RhsType>::value),
+ "parameters are not compatible units.");
+
+ lhs = lhs - rhs;
+ return lhs;
+ }
+
+ template<class Units, typename T, template<typename> class NonLinearScale, typename RhsType>
+ inline constexpr unit_t<Units, T, NonLinearScale>& operator*=(unit_t<Units, T, NonLinearScale>& lhs, const RhsType& rhs) noexcept
+ {
+ static_assert((traits::is_dimensionless_unit<RhsType>::value || std::is_arithmetic<RhsType>::value),
+ "right-hand side parameter must be dimensionless.");
+
+ lhs = lhs * rhs;
+ return lhs;
+ }
+
+ template<class Units, typename T, template<typename> class NonLinearScale, typename RhsType>
+ inline constexpr unit_t<Units, T, NonLinearScale>& operator/=(unit_t<Units, T, NonLinearScale>& lhs, const RhsType& rhs) noexcept
+ {
+ static_assert((traits::is_dimensionless_unit<RhsType>::value || std::is_arithmetic<RhsType>::value),
+ "right-hand side parameter must be dimensionless.");
+
+ lhs = lhs / rhs;
+ return lhs;
+ }
+
+ //------------------------------
+ // UNIT_T UNARY OPERATORS
+ //------------------------------
+
+ // unary addition: +T
+ template<class Units, typename T, template<typename> class NonLinearScale>
+ inline constexpr unit_t<Units, T, NonLinearScale> operator+(const unit_t<Units, T, NonLinearScale>& u) noexcept
+ {
+ return u;
+ }
+
+ // prefix increment: ++T
+ template<class Units, typename T, template<typename> class NonLinearScale>
+ inline constexpr unit_t<Units, T, NonLinearScale>& operator++(unit_t<Units, T, NonLinearScale>& u) noexcept
+ {
+ u = unit_t<Units, T, NonLinearScale>(u() + 1);
+ return u;
+ }
+
+ // postfix increment: T++
+ template<class Units, typename T, template<typename> class NonLinearScale>
+ inline constexpr unit_t<Units, T, NonLinearScale> operator++(unit_t<Units, T, NonLinearScale>& u, int) noexcept
+ {
+ auto ret = u;
+ u = unit_t<Units, T, NonLinearScale>(u() + 1);
+ return ret;
+ }
+
+ // unary addition: -T
+ template<class Units, typename T, template<typename> class NonLinearScale>
+ inline constexpr unit_t<Units, T, NonLinearScale> operator-(const unit_t<Units, T, NonLinearScale>& u) noexcept
+ {
+ return unit_t<Units, T, NonLinearScale>(-u());
+ }
+
+ // prefix increment: --T
+ template<class Units, typename T, template<typename> class NonLinearScale>
+ inline constexpr unit_t<Units, T, NonLinearScale>& operator--(unit_t<Units, T, NonLinearScale>& u) noexcept
+ {
+ u = unit_t<Units, T, NonLinearScale>(u() - 1);
+ return u;
+ }
+
+ // postfix increment: T--
+ template<class Units, typename T, template<typename> class NonLinearScale>
+ inline constexpr unit_t<Units, T, NonLinearScale> operator--(unit_t<Units, T, NonLinearScale>& u, int) noexcept
+ {
+ auto ret = u;
+ u = unit_t<Units, T, NonLinearScale>(u() - 1);
+ return ret;
+ }
+
+ //------------------------------
+ // UNIT_CAST
+ //------------------------------
+
+ /**
+ * @ingroup Conversion
+ * @brief Casts a unit container to an arithmetic type.
+ * @details unit_cast can be used to remove the strong typing from a unit class, and convert it
+ * to a built-in arithmetic type. This may be useful for compatibility with libraries
+ * and legacy code that don't support `unit_t` types. E.g
+ * @code meter_t unitVal(5);
+ * double value = units::unit_cast<double>(unitVal); // value = 5.0
+ * @endcode
+ * @tparam T Type to cast the unit type to. Must be a built-in arithmetic type.
+ * @param value Unit value to cast.
+ * @sa unit_t::to
+ */
+ template<typename T, typename Units, class = std::enable_if_t<std::is_arithmetic<T>::value && traits::is_unit_t<Units>::value>>
+ inline constexpr T unit_cast(const Units& value) noexcept
+ {
+ return static_cast<T>(value);
+ }
+
+ //------------------------------
+ // NON-LINEAR SCALE TRAITS
+ //------------------------------
+
+ // forward declaration
+ template<typename T> struct decibel_scale;
+
+ namespace traits
+ {
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait which tests whether a type is inherited from a linear scale.
+ * @details Inherits from `std::true_type` or `std::false_type`. Use `has_linear_scale<U1 [, U2, ...]>::value` to test
+ * one or more types to see if they represent unit_t's whose scale is linear.
+ * @tparam T one or more types to test.
+ */
+#if !defined(_MSC_VER) || _MSC_VER > 1800 // bug in VS2013 prevents this from working
+ template<typename... T>
+ struct has_linear_scale : std::integral_constant<bool, units::all_true<std::is_base_of<units::linear_scale<typename units::traits::unit_t_traits<T>::underlying_type>, T>::value...>::value > {};
+#else
+ template<typename T1, typename T2 = T1, typename T3 = T1>
+ struct has_linear_scale : std::integral_constant<bool,
+ std::is_base_of<units::linear_scale<typename units::traits::unit_t_traits<T1>::underlying_type>, T1>::value &&
+ std::is_base_of<units::linear_scale<typename units::traits::unit_t_traits<T2>::underlying_type>, T2>::value &&
+ std::is_base_of<units::linear_scale<typename units::traits::unit_t_traits<T3>::underlying_type>, T3>::value> {};
+#endif
+
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait which tests whether a type is inherited from a decibel scale.
+ * @details Inherits from `std::true_type` or `std::false_type`. Use `has_decibel_scale<U1 [, U2, ...]>::value` to test
+ * one or more types to see if they represent unit_t's whose scale is in decibels.
+ * @tparam T one or more types to test.
+ */
+#if !defined(_MSC_VER) || _MSC_VER > 1800 // bug in VS2013 prevents this from working
+ template<typename... T>
+ struct has_decibel_scale : std::integral_constant<bool, units::all_true<std::is_base_of<units::decibel_scale<typename units::traits::unit_t_traits<T>::underlying_type>, T>::value...>::value> {};
+#else
+ template<typename T1, typename T2 = T1, typename T3 = T1>
+ struct has_decibel_scale : std::integral_constant<bool,
+ std::is_base_of<units::decibel_scale<typename units::traits::unit_t_traits<T1>::underlying_type>, T1>::value &&
+ std::is_base_of<units::decibel_scale<typename units::traits::unit_t_traits<T2>::underlying_type>, T2>::value &&
+ std::is_base_of<units::decibel_scale<typename units::traits::unit_t_traits<T2>::underlying_type>, T3>::value> {};
+#endif
+
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait which tests whether two types has the same non-linear scale.
+ * @details Inherits from `std::true_type` or `std::false_type`. Use `is_same_scale<U1 , U2>::value` to test
+ * whether two types have the same non-linear scale.
+ * @tparam T1 left hand type.
+ * @tparam T2 right hand type
+ */
+ template<typename T1, typename T2>
+ struct is_same_scale : std::integral_constant<bool,
+ std::is_same<typename units::traits::unit_t_traits<T1>::non_linear_scale_type, typename units::traits::unit_t_traits<T2>::non_linear_scale_type>::value>
+ {};
+ }
+
+ //----------------------------------
+ // NON-LINEAR SCALES
+ //----------------------------------
+
+ // Non-linear transforms are used to pre and post scale units which are defined in terms of non-
+ // linear functions of their current value. A good example of a non-linear scale would be a
+ // logarithmic or decibel scale
+
+ //------------------------------
+ // LINEAR SCALE
+ //------------------------------
+
+ /**
+ * @brief unit_t scale which is linear
+ * @details Represents units on a linear scale. This is the appropriate unit_t scale for almost
+ * all units almost all of the time.
+ * @tparam T underlying storage type
+ * @sa unit_t
+ */
+ template<typename T>
+ struct linear_scale
+ {
+ inline constexpr linear_scale() = default; ///< default constructor.
+ inline constexpr linear_scale(const linear_scale&) = default;
+ inline ~linear_scale() = default;
+ inline linear_scale& operator=(const linear_scale&) = default;
+#if defined(_MSC_VER) && (_MSC_VER > 1800)
+ inline constexpr linear_scale(linear_scale&&) = default;
+ inline linear_scale& operator=(linear_scale&&) = default;
+#endif
+ template<class... Args>
+ inline constexpr linear_scale(const T& value, Args&&...) noexcept : m_value(value) {} ///< constructor.
+ inline constexpr T operator()() const noexcept { return m_value; } ///< returns value.
+
+ T m_value; ///< linearized value.
+ };
+
+ //----------------------------------
+ // SCALAR (LINEAR) UNITS
+ //----------------------------------
+
+ // Scalar units are the *ONLY* units implicitly convertible to/from built-in types.
+ namespace dimensionless
+ {
+ typedef unit<std::ratio<1>, units::category::scalar_unit> scalar;
+ typedef unit<std::ratio<1>, units::category::dimensionless_unit> dimensionless;
+
+ typedef unit_t<scalar> scalar_t;
+ typedef scalar_t dimensionless_t;
+ }
+
+// ignore the redeclaration of the default template parameters
+#if defined(_MSC_VER)
+# pragma warning(push)
+# pragma warning(disable : 4348)
+#endif
+ UNIT_ADD_CATEGORY_TRAIT(scalar)
+ UNIT_ADD_CATEGORY_TRAIT(dimensionless)
+#if defined(_MSC_VER)
+# pragma warning(pop)
+#endif
+
+ //------------------------------
+ // LINEAR ARITHMETIC
+ //------------------------------
+
+ template<class UnitTypeLhs, class UnitTypeRhs, std::enable_if_t<!traits::is_same_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
+ constexpr inline int operator+(const UnitTypeLhs& /* lhs */, const UnitTypeRhs& /* rhs */) noexcept
+ {
+ static_assert(traits::is_same_scale<UnitTypeLhs, UnitTypeRhs>::value, "Cannot add units with different linear/non-linear scales.");
+ return 0;
+ }
+
+ /// Addition operator for unit_t types with a linear_scale.
+ template<class UnitTypeLhs, class UnitTypeRhs, std::enable_if_t<traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
+ inline constexpr UnitTypeLhs operator+(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
+ {
+ using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+ using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+ return UnitTypeLhs(lhs() + convert<UnitsRhs, UnitsLhs>(rhs()));
+ }
+
+ /// Addition operator for scalar unit_t types with a linear_scale. Scalar types can be implicitly converted to built-in types.
+ template<typename T, std::enable_if_t<std::is_arithmetic<T>::value, int> = 0>
+ inline constexpr dimensionless::scalar_t operator+(const dimensionless::scalar_t& lhs, T rhs) noexcept
+ {
+ return dimensionless::scalar_t(lhs() + rhs);
+ }
+
+ /// Addition operator for scalar unit_t types with a linear_scale. Scalar types can be implicitly converted to built-in types.
+ template<typename T, std::enable_if_t<std::is_arithmetic<T>::value, int> = 0>
+ inline constexpr dimensionless::scalar_t operator+(T lhs, const dimensionless::scalar_t& rhs) noexcept
+ {
+ return dimensionless::scalar_t(lhs + rhs());
+ }
+
+ /// Subtraction operator for unit_t types with a linear_scale.
+ template<class UnitTypeLhs, class UnitTypeRhs, std::enable_if_t<traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
+ inline constexpr UnitTypeLhs operator-(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
+ {
+ using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+ using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+ return UnitTypeLhs(lhs() - convert<UnitsRhs, UnitsLhs>(rhs()));
+ }
+
+ /// Subtraction operator for scalar unit_t types with a linear_scale. Scalar types can be implicitly converted to built-in types.
+ template<typename T, std::enable_if_t<std::is_arithmetic<T>::value, int> = 0>
+ inline constexpr dimensionless::scalar_t operator-(const dimensionless::scalar_t& lhs, T rhs) noexcept
+ {
+ return dimensionless::scalar_t(lhs() - rhs);
+ }
+
+ /// Subtraction operator for scalar unit_t types with a linear_scale. Scalar types can be implicitly converted to built-in types.
+ template<typename T, std::enable_if_t<std::is_arithmetic<T>::value, int> = 0>
+ inline constexpr dimensionless::scalar_t operator-(T lhs, const dimensionless::scalar_t& rhs) noexcept
+ {
+ return dimensionless::scalar_t(lhs - rhs());
+ }
+
+ /// Multiplication type for convertible unit_t types with a linear scale. @returns the multiplied value, with the same type as left-hand side unit.
+ template<class UnitTypeLhs, class UnitTypeRhs,
+ std::enable_if_t<traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value && traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
+ inline constexpr auto operator*(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<compound_unit<squared<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>>>
+ {
+ using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+ using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+ return unit_t<compound_unit<squared<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>>>
+ (lhs() * convert<UnitsRhs, UnitsLhs>(rhs()));
+ }
+
+ /// Multiplication type for non-convertible unit_t types with a linear scale. @returns the multiplied value, whose type is a compound unit of the left and right hand side values.
+ template<class UnitTypeLhs, class UnitTypeRhs,
+ std::enable_if_t<!traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value && traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value && !traits::is_dimensionless_unit<UnitTypeLhs>::value && !traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
+ inline constexpr auto operator*(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<compound_unit<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type, typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>
+ {
+ using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+ using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+ return unit_t<compound_unit<UnitsLhs, UnitsRhs>>
+ (lhs() * rhs());
+ }
+
+ /// Multiplication by a dimensionless unit for unit_t types with a linear scale.
+ template<class UnitTypeLhs, typename UnitTypeRhs,
+ std::enable_if_t<traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value && !traits::is_dimensionless_unit<UnitTypeLhs>::value && traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
+ inline constexpr UnitTypeLhs operator*(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
+ {
+ // the cast makes sure factors of PI are handled as expected
+ return UnitTypeLhs(lhs() * static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs));
+ }
+
+ /// Multiplication by a dimensionless unit for unit_t types with a linear scale.
+ template<class UnitTypeLhs, typename UnitTypeRhs,
+ std::enable_if_t<traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value && traits::is_dimensionless_unit<UnitTypeLhs>::value && !traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
+ inline constexpr UnitTypeRhs operator*(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
+ {
+ // the cast makes sure factors of PI are handled as expected
+ return UnitTypeRhs(static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) * rhs());
+ }
+
+ /// Multiplication by a scalar for unit_t types with a linear scale.
+ template<class UnitTypeLhs, typename T,
+ std::enable_if_t<std::is_arithmetic<T>::value && traits::has_linear_scale<UnitTypeLhs>::value, int> = 0>
+ inline constexpr UnitTypeLhs operator*(const UnitTypeLhs& lhs, T rhs) noexcept
+ {
+ return UnitTypeLhs(lhs() * rhs);
+ }
+
+ /// Multiplication by a scalar for unit_t types with a linear scale.
+ template<class UnitTypeRhs, typename T,
+ std::enable_if_t<std::is_arithmetic<T>::value && traits::has_linear_scale<UnitTypeRhs>::value, int> = 0>
+ inline constexpr UnitTypeRhs operator*(T lhs, const UnitTypeRhs& rhs) noexcept
+ {
+ return UnitTypeRhs(lhs * rhs());
+ }
+
+ /// Division for convertible unit_t types with a linear scale. @returns the lhs divided by rhs value, whose type is a scalar
+ template<class UnitTypeLhs, class UnitTypeRhs,
+ std::enable_if_t<traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value && traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
+ inline constexpr dimensionless::scalar_t operator/(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
+ {
+ using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+ using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+ return dimensionless::scalar_t(lhs() / convert<UnitsRhs, UnitsLhs>(rhs()));
+ }
+
+ /// Division for non-convertible unit_t types with a linear scale. @returns the lhs divided by the rhs, with a compound unit type of lhs/rhs
+ template<class UnitTypeLhs, class UnitTypeRhs,
+ std::enable_if_t<!traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value && traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value && !traits::is_dimensionless_unit<UnitTypeLhs>::value && !traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
+ inline constexpr auto operator/(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<compound_unit<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type, inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>>
+ {
+ using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+ using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+ return unit_t<compound_unit<UnitsLhs, inverse<UnitsRhs>>>
+ (lhs() / rhs());
+ }
+
+ /// Division by a dimensionless unit for unit_t types with a linear scale
+ template<class UnitTypeLhs, class UnitTypeRhs,
+ std::enable_if_t<traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value && !traits::is_dimensionless_unit<UnitTypeLhs>::value && traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
+ inline constexpr UnitTypeLhs operator/(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
+ {
+ return UnitTypeLhs(lhs() / static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs));
+ }
+
+ /// Division of a dimensionless unit by a unit_t type with a linear scale
+ template<class UnitTypeLhs, class UnitTypeRhs,
+ std::enable_if_t<traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value && traits::is_dimensionless_unit<UnitTypeLhs>::value && !traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
+ inline constexpr auto operator/(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>
+ {
+ return unit_t<inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>
+ (static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) / rhs());
+ }
+
+ /// Division by a scalar for unit_t types with a linear scale
+ template<class UnitTypeLhs, typename T,
+ std::enable_if_t<std::is_arithmetic<T>::value && traits::has_linear_scale<UnitTypeLhs>::value, int> = 0>
+ inline constexpr UnitTypeLhs operator/(const UnitTypeLhs& lhs, T rhs) noexcept
+ {
+ return UnitTypeLhs(lhs() / rhs);
+ }
+
+ /// Division of a scalar by a unit_t type with a linear scale
+ template<class UnitTypeRhs, typename T,
+ std::enable_if_t<std::is_arithmetic<T>::value && traits::has_linear_scale<UnitTypeRhs>::value, int> = 0>
+ inline constexpr auto operator/(T lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>
+ {
+ using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+ return unit_t<inverse<UnitsRhs>>
+ (lhs / rhs());
+ }
+
+ //----------------------------------
+ // SCALAR COMPARISONS
+ //----------------------------------
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator==(const UNIT_LIB_DEFAULT_TYPE lhs, const Units& rhs) noexcept
+ {
+ return detail::abs(lhs - static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs)) < std::numeric_limits<UNIT_LIB_DEFAULT_TYPE>::epsilon() * detail::abs(lhs + static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs)) ||
+ detail::abs(lhs - static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs)) < std::numeric_limits<UNIT_LIB_DEFAULT_TYPE>::min();
+ }
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator==(const Units& lhs, const UNIT_LIB_DEFAULT_TYPE rhs) noexcept
+ {
+ return detail::abs(static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) - rhs) < std::numeric_limits<UNIT_LIB_DEFAULT_TYPE>::epsilon() * detail::abs(static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) + rhs) ||
+ detail::abs(static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) - rhs) < std::numeric_limits<UNIT_LIB_DEFAULT_TYPE>::min();
+ }
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator!=(const UNIT_LIB_DEFAULT_TYPE lhs, const Units& rhs) noexcept
+ {
+ return!(lhs == static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs));
+ }
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator!=(const Units& lhs, const UNIT_LIB_DEFAULT_TYPE rhs) noexcept
+ {
+ return !(static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) == rhs);
+ }
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator>=(const UNIT_LIB_DEFAULT_TYPE lhs, const Units& rhs) noexcept
+ {
+ return std::isgreaterequal(lhs, static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs));
+ }
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator>=(const Units& lhs, const UNIT_LIB_DEFAULT_TYPE rhs) noexcept
+ {
+ return std::isgreaterequal(static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs), rhs);
+ }
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator>(const UNIT_LIB_DEFAULT_TYPE lhs, const Units& rhs) noexcept
+ {
+ return lhs > static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs);
+ }
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator>(const Units& lhs, const UNIT_LIB_DEFAULT_TYPE rhs) noexcept
+ {
+ return static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) > rhs;
+ }
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator<=(const UNIT_LIB_DEFAULT_TYPE lhs, const Units& rhs) noexcept
+ {
+ return std::islessequal(lhs, static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs));
+ }
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator<=(const Units& lhs, const UNIT_LIB_DEFAULT_TYPE rhs) noexcept
+ {
+ return std::islessequal(static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs), rhs);
+ }
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator<(const UNIT_LIB_DEFAULT_TYPE lhs, const Units& rhs) noexcept
+ {
+ return lhs < static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs);
+ }
+
+ template<typename Units, class = std::enable_if_t<units::traits::is_dimensionless_unit<Units>::value>>
+ constexpr bool operator<(const Units& lhs, const UNIT_LIB_DEFAULT_TYPE rhs) noexcept
+ {
+ return static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) < rhs;
+ }
+
+ //----------------------------------
+ // POW
+ //----------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ /// recursive exponential implementation
+ template <int N, class U> struct power_of_unit
+ {
+ template<bool isPos, int V> struct power_of_unit_impl;
+
+ template<int V> struct power_of_unit_impl<true, V>
+ {
+ typedef units::detail::unit_multiply<U, typename power_of_unit<N - 1, U>::type> type;
+ };
+
+ template<int V> struct power_of_unit_impl<false, V>
+ {
+ typedef units::inverse<typename power_of_unit<-N, U>::type> type;
+ };
+
+ typedef typename power_of_unit_impl<(N > 0), N>::type type;
+ };
+
+ /// End recursion
+ template <class U> struct power_of_unit<1, U>
+ {
+ typedef U type;
+ };
+ template <class U> struct power_of_unit<0, U>
+ {
+ typedef units::dimensionless::dimensionless type;
+ };
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ namespace math
+ {
+ /**
+ * @brief computes the value of <i>value</i> raised to the <i>power</i>
+ * @details Only implemented for linear_scale units. <i>Power</i> must be known at compile time, so the resulting unit type can be deduced.
+ * @tparam power exponential power to raise <i>value</i> by.
+ * @param[in] value `unit_t` derived type to raise to the given <i>power</i>
+ * @returns new unit_t, raised to the given exponent
+ */
+ template<int power, class UnitType, class = typename std::enable_if<traits::has_linear_scale<UnitType>::value, int>>
+ inline auto pow(const UnitType& value) noexcept -> unit_t<typename units::detail::power_of_unit<power, typename units::traits::unit_t_traits<UnitType>::unit_type>::type, typename units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
+ {
+ return unit_t<typename units::detail::power_of_unit<power, typename units::traits::unit_t_traits<UnitType>::unit_type>::type, typename units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
+ (std::pow(value(), power));
+ }
+
+ /**
+ * @brief computes the value of <i>value</i> raised to the <i>power</i> as a constexpr
+ * @details Only implemented for linear_scale units. <i>Power</i> must be known at compile time, so the resulting unit type can be deduced.
+ * Additionally, the power must be <i>a positive, integral, value</i>.
+ * @tparam power exponential power to raise <i>value</i> by.
+ * @param[in] value `unit_t` derived type to raise to the given <i>power</i>
+ * @returns new unit_t, raised to the given exponent
+ */
+ template<int power, class UnitType, class = typename std::enable_if<traits::has_linear_scale<UnitType>::value, int>>
+ inline constexpr auto cpow(const UnitType& value) noexcept -> unit_t<typename units::detail::power_of_unit<power, typename units::traits::unit_t_traits<UnitType>::unit_type>::type, typename units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
+ {
+ static_assert(power >= 0, "cpow cannot accept negative numbers. Try units::math::pow instead.");
+ return unit_t<typename units::detail::power_of_unit<power, typename units::traits::unit_t_traits<UnitType>::unit_type>::type, typename units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
+ (detail::pow(value(), power));
+ }
+ }
+
+ //------------------------------
+ // DECIBEL SCALE
+ //------------------------------
+
+ /**
+ * @brief unit_t scale for representing decibel values.
+ * @details internally stores linearized values. `operator()` returns the value in dB.
+ * @tparam T underlying storage type
+ * @sa unit_t
+ */
+ template<typename T>
+ struct decibel_scale
+ {
+ inline constexpr decibel_scale() = default;
+ inline constexpr decibel_scale(const decibel_scale&) = default;
+ inline ~decibel_scale() = default;
+ inline decibel_scale& operator=(const decibel_scale&) = default;
+#if defined(_MSC_VER) && (_MSC_VER > 1800)
+ inline constexpr decibel_scale(decibel_scale&&) = default;
+ inline decibel_scale& operator=(decibel_scale&&) = default;
+#endif
+ inline constexpr decibel_scale(const T value) noexcept : m_value(std::pow(10, value / 10)) {}
+ template<class... Args>
+ inline constexpr decibel_scale(const T value, std::true_type, Args&&...) noexcept : m_value(value) {}
+ inline constexpr T operator()() const noexcept { return 10 * std::log10(m_value); }
+
+ T m_value; ///< linearized value
+ };
+
+ //------------------------------
+ // SCALAR (DECIBEL) UNITS
+ //------------------------------
+
+ /**
+ * @brief namespace for unit types and containers for units that have no dimension (scalar units)
+ * @sa See unit_t for more information on unit type containers.
+ */
+ namespace dimensionless
+ {
+ typedef unit_t<scalar, UNIT_LIB_DEFAULT_TYPE, decibel_scale> dB_t;
+#if !defined(UNIT_LIB_DISABLE_IOSTREAM)
+ inline std::ostream& operator<<(std::ostream& os, const dB_t& obj) { os << obj() << " dB"; return os; }
+#endif
+ typedef dB_t dBi_t;
+ }
+
+ //------------------------------
+ // DECIBEL ARITHMETIC
+ //------------------------------
+
+ /// Addition for convertible unit_t types with a decibel_scale
+ template<class UnitTypeLhs, class UnitTypeRhs,
+ std::enable_if_t<traits::has_decibel_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
+ constexpr inline auto operator+(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<compound_unit<squared<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>>, typename units::traits::unit_t_traits<UnitTypeLhs>::underlying_type, decibel_scale>
+ {
+ using LhsUnits = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+ using RhsUnits = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+ using underlying_type = typename units::traits::unit_t_traits<UnitTypeLhs>::underlying_type;
+
+ return unit_t<compound_unit<squared<LhsUnits>>, underlying_type, decibel_scale>
+ (lhs.template toLinearized<underlying_type>() * convert<RhsUnits, LhsUnits>(rhs.template toLinearized<underlying_type>()), std::true_type());
+ }
+
+ /// Addition between unit_t types with a decibel_scale and dimensionless dB units
+ template<class UnitTypeLhs, std::enable_if_t<traits::has_decibel_scale<UnitTypeLhs>::value && !traits::is_dimensionless_unit<UnitTypeLhs>::value, int> = 0>
+ constexpr inline UnitTypeLhs operator+(const UnitTypeLhs& lhs, const dimensionless::dB_t& rhs) noexcept
+ {
+ using underlying_type = typename units::traits::unit_t_traits<UnitTypeLhs>::underlying_type;
+ return UnitTypeLhs(lhs.template toLinearized<underlying_type>() * rhs.template toLinearized<underlying_type>(), std::true_type());
+ }
+
+ /// Addition between unit_t types with a decibel_scale and dimensionless dB units
+ template<class UnitTypeRhs, std::enable_if_t<traits::has_decibel_scale<UnitTypeRhs>::value && !traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
+ constexpr inline UnitTypeRhs operator+(const dimensionless::dB_t& lhs, const UnitTypeRhs& rhs) noexcept
+ {
+ using underlying_type = typename units::traits::unit_t_traits<UnitTypeRhs>::underlying_type;
+ return UnitTypeRhs(lhs.template toLinearized<underlying_type>() * rhs.template toLinearized<underlying_type>(), std::true_type());
+ }
+
+ /// Subtraction for convertible unit_t types with a decibel_scale
+ template<class UnitTypeLhs, class UnitTypeRhs, std::enable_if_t<traits::has_decibel_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
+ constexpr inline auto operator-(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<compound_unit<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type, inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>, typename units::traits::unit_t_traits<UnitTypeLhs>::underlying_type, decibel_scale>
+ {
+ using LhsUnits = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
+ using RhsUnits = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+ using underlying_type = typename units::traits::unit_t_traits<UnitTypeLhs>::underlying_type;
+
+ return unit_t<compound_unit<LhsUnits, inverse<RhsUnits>>, underlying_type, decibel_scale>
+ (lhs.template toLinearized<underlying_type>() / convert<RhsUnits, LhsUnits>(rhs.template toLinearized<underlying_type>()), std::true_type());
+ }
+
+ /// Subtraction between unit_t types with a decibel_scale and dimensionless dB units
+ template<class UnitTypeLhs, std::enable_if_t<traits::has_decibel_scale<UnitTypeLhs>::value && !traits::is_dimensionless_unit<UnitTypeLhs>::value, int> = 0>
+ constexpr inline UnitTypeLhs operator-(const UnitTypeLhs& lhs, const dimensionless::dB_t& rhs) noexcept
+ {
+ using underlying_type = typename units::traits::unit_t_traits<UnitTypeLhs>::underlying_type;
+ return UnitTypeLhs(lhs.template toLinearized<underlying_type>() / rhs.template toLinearized<underlying_type>(), std::true_type());
+ }
+
+ /// Subtraction between unit_t types with a decibel_scale and dimensionless dB units
+ template<class UnitTypeRhs, std::enable_if_t<traits::has_decibel_scale<UnitTypeRhs>::value && !traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
+ constexpr inline auto operator-(const dimensionless::dB_t& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>, typename units::traits::unit_t_traits<UnitTypeRhs>::underlying_type, decibel_scale>
+ {
+ using RhsUnits = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
+ using underlying_type = typename units::traits::unit_t_traits<RhsUnits>::underlying_type;
+
+ return unit_t<inverse<RhsUnits>, underlying_type, decibel_scale>
+ (lhs.template toLinearized<underlying_type>() / rhs.template toLinearized<underlying_type>(), std::true_type());
+ }
+
+ //----------------------------------
+ // UNIT RATIO CLASS
+ //----------------------------------
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ template<class Units>
+ struct _unit_value_t {};
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ namespace traits
+ {
+#ifdef FOR_DOXYGEN_PURPOSES_ONLY
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait for accessing the publically defined types of `units::unit_value_t_traits`
+ * @details The units library determines certain properties of the `unit_value_t` types passed to
+ * them and what they represent by using the members of the corresponding `unit_value_t_traits`
+ * instantiation.
+ */
+ template<typename T>
+ struct unit_value_t_traits
+ {
+ typedef typename T::unit_type unit_type; ///< Dimension represented by the `unit_value_t`.
+ typedef typename T::ratio ratio; ///< Quantity represented by the `unit_value_t`, expressed as arational number.
+ };
+#endif
+
+ /** @cond */ // DOXYGEN IGNORE
+ /**
+ * @brief unit_value_t_traits specialization for things which are not unit_t
+ * @details
+ */
+ template<typename T, typename = void>
+ struct unit_value_t_traits
+ {
+ typedef void unit_type;
+ typedef void ratio;
+ };
+
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait for accessing the publically defined types of `units::unit_value_t_traits`
+ * @details
+ */
+ template<typename T>
+ struct unit_value_t_traits <T, typename void_t<
+ typename T::unit_type,
+ typename T::ratio>::type>
+ {
+ typedef typename T::unit_type unit_type;
+ typedef typename T::ratio ratio;
+ };
+ /** @endcond */ // END DOXYGEN IGNORE
+ }
+
+ //------------------------------------------------------------------------------
+ // COMPILE-TIME UNIT VALUES AND ARITHMETIC
+ //------------------------------------------------------------------------------
+
+ /**
+ * @ingroup UnitContainers
+ * @brief Stores a rational unit value as a compile-time constant
+ * @details unit_value_t is useful for performing compile-time arithmetic on known
+ * unit quantities.
+ * @tparam Units units represented by the `unit_value_t`
+ * @tparam Num numerator of the represented value.
+ * @tparam Denom denominator of the represented value.
+ * @sa unit_value_t_traits to access information about the properties of the class,
+ * such as it's unit type and rational value.
+ * @note This is intentionally identical in concept to a `std::ratio`.
+ *
+ */
+ template<typename Units, std::uintmax_t Num, std::uintmax_t Denom = 1>
+ struct unit_value_t : units::detail::_unit_value_t<Units>
+ {
+ typedef Units unit_type;
+ typedef std::ratio<Num, Denom> ratio;
+
+ static_assert(traits::is_unit<Units>::value, "Template parameter `Units` must be a unit type.");
+ static constexpr const unit_t<Units> value() { return unit_t<Units>((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den); }
+ };
+
+ namespace traits
+ {
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait which tests whether a type is a unit_value_t representing the given unit type.
+ * @details e.g. `is_unit_value_t<meters, myType>::value` would test that `myType` is a
+ * `unit_value_t<meters>`.
+ * @tparam Units units that the `unit_value_t` is supposed to have.
+ * @tparam T type to test.
+ */
+ template<typename T, typename Units = typename traits::unit_value_t_traits<T>::unit_type>
+ struct is_unit_value_t : std::integral_constant<bool,
+ std::is_base_of<units::detail::_unit_value_t<Units>, T>::value>
+ {};
+
+ /**
+ * @ingroup TypeTraits
+ * @brief Trait which tests whether type T is a unit_value_t with a unit type in the given category.
+ * @details e.g. `is_unit_value_t_category<units::category::length, unit_value_t<feet>>::value` would be true
+ */
+ template<typename Category, typename T>
+ struct is_unit_value_t_category : std::integral_constant<bool,
+ std::is_same<units::traits::base_unit_of<typename traits::unit_value_t_traits<T>::unit_type>, Category>::value>
+ {
+ static_assert(is_base_unit<Category>::value, "Template parameter `Category` must be a `base_unit` type.");
+ };
+ }
+
+ /** @cond */ // DOXYGEN IGNORE
+ namespace detail
+ {
+ // base class for common arithmetic
+ template<class U1, class U2>
+ struct unit_value_arithmetic
+ {
+ static_assert(traits::is_unit_value_t<U1>::value, "Template parameter `U1` must be a `unit_value_t` type.");
+ static_assert(traits::is_unit_value_t<U2>::value, "Template parameter `U2` must be a `unit_value_t` type.");
+
+ using _UNIT1 = typename traits::unit_value_t_traits<U1>::unit_type;
+ using _UNIT2 = typename traits::unit_value_t_traits<U2>::unit_type;
+ using _CONV1 = typename units::traits::unit_traits<_UNIT1>::conversion_ratio;
+ using _CONV2 = typename units::traits::unit_traits<_UNIT2>::conversion_ratio;
+ using _RATIO1 = typename traits::unit_value_t_traits<U1>::ratio;
+ using _RATIO2 = typename traits::unit_value_t_traits<U2>::ratio;
+ using _RATIO2CONV = typename std::ratio_divide<std::ratio_multiply<_RATIO2, _CONV2>, _CONV1>;
+ using _PI_EXP = std::ratio_subtract<typename units::traits::unit_traits<_UNIT2>::pi_exponent_ratio, typename units::traits::unit_traits<_UNIT1>::pi_exponent_ratio>;
+ };
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @ingroup CompileTimeUnitManipulators
+ * @brief adds two unit_value_t types at compile-time
+ * @details The resulting unit will the the `unit_type` of `U1`
+ * @tparam U1 left-hand `unit_value_t`
+ * @tparam U2 right-hand `unit_value_t`
+ * @sa unit_value_t_traits to access information about the properties of the class,
+ * such as it's unit type and rational value.
+ * @note very similar in concept to `std::ratio_add`
+ */
+ template<class U1, class U2>
+ struct unit_value_add : units::detail::unit_value_arithmetic<U1, U2>, units::detail::_unit_value_t<typename traits::unit_value_t_traits<U1>::unit_type>
+ {
+ /** @cond */ // DOXYGEN IGNORE
+ using Base = units::detail::unit_value_arithmetic<U1, U2>;
+ typedef typename Base::_UNIT1 unit_type;
+ using ratio = std::ratio_add<typename Base::_RATIO1, typename Base::_RATIO2CONV>;
+
+ static_assert(traits::is_convertible_unit<typename Base::_UNIT1, typename Base::_UNIT2>::value, "Unit types are not compatible.");
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @brief Value of sum
+ * @details Returns the calculated value of the sum of `U1` and `U2`, in the same
+ * units as `U1`.
+ * @returns Value of the sum in the appropriate units.
+ */
+ static constexpr const unit_t<unit_type> value() noexcept
+ {
+ using UsePi = std::integral_constant<bool, Base::_PI_EXP::num != 0>;
+ return value(UsePi());
+ }
+
+ /** @cond */ // DOXYGEN IGNORE
+ // value if PI isn't involved
+ static constexpr const unit_t<unit_type> value(std::false_type) noexcept
+ {
+ return unit_t<unit_type>((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den);
+ }
+
+ // value if PI *is* involved
+ static constexpr const unit_t<unit_type> value(std::true_type) noexcept
+ {
+ return unit_t<unit_type>(((UNIT_LIB_DEFAULT_TYPE)Base::_RATIO1::num / Base::_RATIO1::den) +
+ ((UNIT_LIB_DEFAULT_TYPE)Base::_RATIO2CONV::num / Base::_RATIO2CONV::den) * std::pow(units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)Base::_PI_EXP::num / Base::_PI_EXP::den)));
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+ };
+
+ /**
+ * @ingroup CompileTimeUnitManipulators
+ * @brief subtracts two unit_value_t types at compile-time
+ * @details The resulting unit will the the `unit_type` of `U1`
+ * @tparam U1 left-hand `unit_value_t`
+ * @tparam U2 right-hand `unit_value_t`
+ * @sa unit_value_t_traits to access information about the properties of the class,
+ * such as it's unit type and rational value.
+ * @note very similar in concept to `std::ratio_subtract`
+ */
+ template<class U1, class U2>
+ struct unit_value_subtract : units::detail::unit_value_arithmetic<U1, U2>, units::detail::_unit_value_t<typename traits::unit_value_t_traits<U1>::unit_type>
+ {
+ /** @cond */ // DOXYGEN IGNORE
+ using Base = units::detail::unit_value_arithmetic<U1, U2>;
+
+ typedef typename Base::_UNIT1 unit_type;
+ using ratio = std::ratio_subtract<typename Base::_RATIO1, typename Base::_RATIO2CONV>;
+
+ static_assert(traits::is_convertible_unit<typename Base::_UNIT1, typename Base::_UNIT2>::value, "Unit types are not compatible.");
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @brief Value of difference
+ * @details Returns the calculated value of the difference of `U1` and `U2`, in the same
+ * units as `U1`.
+ * @returns Value of the difference in the appropriate units.
+ */
+ static constexpr const unit_t<unit_type> value() noexcept
+ {
+ using UsePi = std::integral_constant<bool, Base::_PI_EXP::num != 0>;
+ return value(UsePi());
+ }
+
+ /** @cond */ // DOXYGEN IGNORE
+ // value if PI isn't involved
+ static constexpr const unit_t<unit_type> value(std::false_type) noexcept
+ {
+ return unit_t<unit_type>((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den);
+ }
+
+ // value if PI *is* involved
+ static constexpr const unit_t<unit_type> value(std::true_type) noexcept
+ {
+ return unit_t<unit_type>(((UNIT_LIB_DEFAULT_TYPE)Base::_RATIO1::num / Base::_RATIO1::den) - ((UNIT_LIB_DEFAULT_TYPE)Base::_RATIO2CONV::num / Base::_RATIO2CONV::den)
+ * std::pow(units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)Base::_PI_EXP::num / Base::_PI_EXP::den)));
+ }
+ /** @endcond */ // END DOXYGEN IGNORE };
+ };
+
+ /**
+ * @ingroup CompileTimeUnitManipulators
+ * @brief multiplies two unit_value_t types at compile-time
+ * @details The resulting unit will the the `unit_type` of `U1 * U2`
+ * @tparam U1 left-hand `unit_value_t`
+ * @tparam U2 right-hand `unit_value_t`
+ * @sa unit_value_t_traits to access information about the properties of the class,
+ * such as it's unit type and rational value.
+ * @note very similar in concept to `std::ratio_multiply`
+ */
+ template<class U1, class U2>
+ struct unit_value_multiply : units::detail::unit_value_arithmetic<U1, U2>,
+ units::detail::_unit_value_t<typename std::conditional<traits::is_convertible_unit<typename traits::unit_value_t_traits<U1>::unit_type,
+ typename traits::unit_value_t_traits<U2>::unit_type>::value, compound_unit<squared<typename traits::unit_value_t_traits<U1>::unit_type>>,
+ compound_unit<typename traits::unit_value_t_traits<U1>::unit_type, typename traits::unit_value_t_traits<U2>::unit_type>>::type>
+ {
+ /** @cond */ // DOXYGEN IGNORE
+ using Base = units::detail::unit_value_arithmetic<U1, U2>;
+
+ using unit_type = std::conditional_t<traits::is_convertible_unit<typename Base::_UNIT1, typename Base::_UNIT2>::value, compound_unit<squared<typename Base::_UNIT1>>, compound_unit<typename Base::_UNIT1, typename Base::_UNIT2>>;
+ using ratio = std::conditional_t<traits::is_convertible_unit<typename Base::_UNIT1, typename Base::_UNIT2>::value, std::ratio_multiply<typename Base::_RATIO1, typename Base::_RATIO2CONV>, std::ratio_multiply<typename Base::_RATIO1, typename Base::_RATIO2>>;
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @brief Value of product
+ * @details Returns the calculated value of the product of `U1` and `U2`, in units
+ * of `U1 x U2`.
+ * @returns Value of the product in the appropriate units.
+ */
+ static constexpr const unit_t<unit_type> value() noexcept
+ {
+ using UsePi = std::integral_constant<bool, Base::_PI_EXP::num != 0>;
+ return value(UsePi());
+ }
+
+ /** @cond */ // DOXYGEN IGNORE
+ // value if PI isn't involved
+ static constexpr const unit_t<unit_type> value(std::false_type) noexcept
+ {
+ return unit_t<unit_type>((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den);
+ }
+
+ // value if PI *is* involved
+ static constexpr const unit_t<unit_type> value(std::true_type) noexcept
+ {
+ return unit_t<unit_type>(((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den) * std::pow(units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)Base::_PI_EXP::num / Base::_PI_EXP::den)));
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+ };
+
+ /**
+ * @ingroup CompileTimeUnitManipulators
+ * @brief divides two unit_value_t types at compile-time
+ * @details The resulting unit will the the `unit_type` of `U1`
+ * @tparam U1 left-hand `unit_value_t`
+ * @tparam U2 right-hand `unit_value_t`
+ * @sa unit_value_t_traits to access information about the properties of the class,
+ * such as it's unit type and rational value.
+ * @note very similar in concept to `std::ratio_divide`
+ */
+ template<class U1, class U2>
+ struct unit_value_divide : units::detail::unit_value_arithmetic<U1, U2>,
+ units::detail::_unit_value_t<typename std::conditional<traits::is_convertible_unit<typename traits::unit_value_t_traits<U1>::unit_type,
+ typename traits::unit_value_t_traits<U2>::unit_type>::value, dimensionless::scalar, compound_unit<typename traits::unit_value_t_traits<U1>::unit_type,
+ inverse<typename traits::unit_value_t_traits<U2>::unit_type>>>::type>
+ {
+ /** @cond */ // DOXYGEN IGNORE
+ using Base = units::detail::unit_value_arithmetic<U1, U2>;
+
+ using unit_type = std::conditional_t<traits::is_convertible_unit<typename Base::_UNIT1, typename Base::_UNIT2>::value, dimensionless::scalar, compound_unit<typename Base::_UNIT1, inverse<typename Base::_UNIT2>>>;
+ using ratio = std::conditional_t<traits::is_convertible_unit<typename Base::_UNIT1, typename Base::_UNIT2>::value, std::ratio_divide<typename Base::_RATIO1, typename Base::_RATIO2CONV>, std::ratio_divide<typename Base::_RATIO1, typename Base::_RATIO2>>;
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @brief Value of quotient
+ * @details Returns the calculated value of the quotient of `U1` and `U2`, in units
+ * of `U1 x U2`.
+ * @returns Value of the quotient in the appropriate units.
+ */
+ static constexpr const unit_t<unit_type> value() noexcept
+ {
+ using UsePi = std::integral_constant<bool, Base::_PI_EXP::num != 0>;
+ return value(UsePi());
+ }
+
+ /** @cond */ // DOXYGEN IGNORE
+ // value if PI isn't involved
+ static constexpr const unit_t<unit_type> value(std::false_type) noexcept
+ {
+ return unit_t<unit_type>((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den);
+ }
+
+ // value if PI *is* involved
+ static constexpr const unit_t<unit_type> value(std::true_type) noexcept
+ {
+ return unit_t<unit_type>(((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den) * std::pow(units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)Base::_PI_EXP::num / Base::_PI_EXP::den)));
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+ };
+
+ /**
+ * @ingroup CompileTimeUnitManipulators
+ * @brief raises unit_value_to a power at compile-time
+ * @details The resulting unit will the `unit_type` of `U1` squared
+ * @tparam U1 `unit_value_t` to take the exponentiation of.
+ * @sa unit_value_t_traits to access information about the properties of the class,
+ * such as it's unit type and rational value.
+ * @note very similar in concept to `units::math::pow`
+ */
+ template<class U1, int power>
+ struct unit_value_power : units::detail::unit_value_arithmetic<U1, U1>, units::detail::_unit_value_t<typename units::detail::power_of_unit<power, typename traits::unit_value_t_traits<U1>::unit_type>::type>
+ {
+ /** @cond */ // DOXYGEN IGNORE
+ using Base = units::detail::unit_value_arithmetic<U1, U1>;
+
+ using unit_type = typename units::detail::power_of_unit<power, typename Base::_UNIT1>::type;
+ using ratio = typename units::detail::power_of_ratio<power, typename Base::_RATIO1>::type;
+ using pi_exponent = std::ratio_multiply<std::ratio<power>, typename Base::_UNIT1::pi_exponent_ratio>;
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @brief Value of exponentiation
+ * @details Returns the calculated value of the exponentiation of `U1`, in units
+ * of `U1^power`.
+ * @returns Value of the exponentiation in the appropriate units.
+ */
+ static constexpr const unit_t<unit_type> value() noexcept
+ {
+ using UsePi = std::integral_constant<bool, Base::_PI_EXP::num != 0>;
+ return value(UsePi());
+ }
+
+ /** @cond */ // DOXYGEN IGNORE
+ // value if PI isn't involved
+ static constexpr const unit_t<unit_type> value(std::false_type) noexcept
+ {
+ return unit_t<unit_type>((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den);
+ }
+
+ // value if PI *is* involved
+ static constexpr const unit_t<unit_type> value(std::true_type) noexcept
+ {
+ return unit_t<unit_type>(((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den) * std::pow(units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)pi_exponent::num / pi_exponent::den)));
+ }
+ /** @endcond */ // END DOXYGEN IGNORE };
+ };
+
+ /**
+ * @ingroup CompileTimeUnitManipulators
+ * @brief calculates square root of unit_value_t at compile-time
+ * @details The resulting unit will the square root `unit_type` of `U1`
+ * @tparam U1 `unit_value_t` to take the square root of.
+ * @sa unit_value_t_traits to access information about the properties of the class,
+ * such as it's unit type and rational value.
+ * @note very similar in concept to `units::ratio_sqrt`
+ */
+ template<class U1, std::intmax_t Eps = 10000000000>
+ struct unit_value_sqrt : units::detail::unit_value_arithmetic<U1, U1>, units::detail::_unit_value_t<square_root<typename traits::unit_value_t_traits<U1>::unit_type, Eps>>
+ {
+ /** @cond */ // DOXYGEN IGNORE
+ using Base = units::detail::unit_value_arithmetic<U1, U1>;
+
+ using unit_type = square_root<typename Base::_UNIT1, Eps>;
+ using ratio = ratio_sqrt<typename Base::_RATIO1, Eps>;
+ using pi_exponent = ratio_sqrt<typename Base::_UNIT1::pi_exponent_ratio, Eps>;
+ /** @endcond */ // END DOXYGEN IGNORE
+
+ /**
+ * @brief Value of square root
+ * @details Returns the calculated value of the square root of `U1`, in units
+ * of `U1^1/2`.
+ * @returns Value of the square root in the appropriate units.
+ */
+ static constexpr const unit_t<unit_type> value() noexcept
+ {
+ using UsePi = std::integral_constant<bool, Base::_PI_EXP::num != 0>;
+ return value(UsePi());
+ }
+
+ /** @cond */ // DOXYGEN IGNORE
+ // value if PI isn't involved
+ static constexpr const unit_t<unit_type> value(std::false_type) noexcept
+ {
+ return unit_t<unit_type>((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den);
+ }
+
+ // value if PI *is* involved
+ static constexpr const unit_t<unit_type> value(std::true_type) noexcept
+ {
+ return unit_t<unit_type>(((UNIT_LIB_DEFAULT_TYPE)ratio::num / ratio::den) * std::pow(units::constants::detail::PI_VAL, ((UNIT_LIB_DEFAULT_TYPE)pi_exponent::num / pi_exponent::den)));
+ }
+ /** @endcond */ // END DOXYGEN IGNORE
+ };
+
+ //------------------------------
+ // LITERALS
+ //------------------------------
+
+ /**
+ * @namespace units::literals
+ * @brief namespace for unit literal definitions of all categories.
+ * @details Literals allow for declaring unit types using suffix values. For example, a type
+ * of `meter_t(6.2)` could be declared as `6.2_m`. All literals use an underscore
+ * followed by the abbreviation for the unit. To enable literal syntax in your code,
+ * include the statement `using namespace units::literals`.
+ * @anchor unitLiterals
+ * @sa See unit_t for more information on unit type containers.
+ */
+
+ //------------------------------
+ // LENGTH UNITS
+ //------------------------------
+
+ /**
+ * @namespace units::length
+ * @brief namespace for unit types and containers representing length values
+ * @details The SI unit for length is `meters`, and the corresponding `base_unit` category is
+ * `length_unit`.
+ * @anchor lengthContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_LENGTH_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(length, meter, meters, m, unit<std::ratio<1>, units::category::length_unit>)
+ UNIT_ADD(length, foot, feet, ft, unit<std::ratio<381, 1250>, meters>)
+ UNIT_ADD(length, mil, mils, mil, unit<std::ratio<1000>, feet>)
+ UNIT_ADD(length, inch, inches, in, unit<std::ratio<1, 12>, feet>)
+ UNIT_ADD(length, mile, miles, mi, unit<std::ratio<5280>, feet>)
+ UNIT_ADD(length, nauticalMile, nauticalMiles, nmi, unit<std::ratio<1852>, meters>)
+ UNIT_ADD(length, astronicalUnit, astronicalUnits, au, unit<std::ratio<149597870700>, meters>)
+ UNIT_ADD(length, lightyear, lightyears, ly, unit<std::ratio<9460730472580800>, meters>)
+ UNIT_ADD(length, parsec, parsecs, pc, unit<std::ratio<648000>, astronicalUnits, std::ratio<-1>>)
+ UNIT_ADD(length, angstrom, angstroms, angstrom, unit<std::ratio<1, 10>, nanometers>)
+ UNIT_ADD(length, cubit, cubits, cbt, unit<std::ratio<18>, inches>)
+ UNIT_ADD(length, fathom, fathoms, ftm, unit<std::ratio<6>, feet>)
+ UNIT_ADD(length, chain, chains, ch, unit<std::ratio<66>, feet>)
+ UNIT_ADD(length, furlong, furlongs, fur, unit<std::ratio<10>, chains>)
+ UNIT_ADD(length, hand, hands, hand, unit<std::ratio<4>, inches>)
+ UNIT_ADD(length, league, leagues, lea, unit<std::ratio<3>, miles>)
+ UNIT_ADD(length, nauticalLeague, nauticalLeagues, nl, unit<std::ratio<3>, nauticalMiles>)
+ UNIT_ADD(length, yard, yards, yd, unit<std::ratio<3>, feet>)
+
+ UNIT_ADD_CATEGORY_TRAIT(length)
+#endif
+
+ //------------------------------
+ // MASS UNITS
+ //------------------------------
+
+ /**
+ * @namespace units::mass
+ * @brief namespace for unit types and containers representing mass values
+ * @details The SI unit for mass is `kilograms`, and the corresponding `base_unit` category is
+ * `mass_unit`.
+ * @anchor massContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_MASS_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(mass, gram, grams, g, unit<std::ratio<1, 1000>, units::category::mass_unit>)
+ UNIT_ADD(mass, metric_ton, metric_tons, t, unit<std::ratio<1000>, kilograms>)
+ UNIT_ADD(mass, pound, pounds, lb, unit<std::ratio<45359237, 100000000>, kilograms>)
+ UNIT_ADD(mass, long_ton, long_tons, ln_t, unit<std::ratio<2240>, pounds>)
+ UNIT_ADD(mass, short_ton, short_tons, sh_t, unit<std::ratio<2000>, pounds>)
+ UNIT_ADD(mass, stone, stone, st, unit<std::ratio<14>, pounds>)
+ UNIT_ADD(mass, ounce, ounces, oz, unit<std::ratio<1, 16>, pounds>)
+ UNIT_ADD(mass, carat, carats, ct, unit<std::ratio<200>, milligrams>)
+ UNIT_ADD(mass, slug, slugs, slug, unit<std::ratio<145939029, 10000000>, kilograms>)
+
+ UNIT_ADD_CATEGORY_TRAIT(mass)
+#endif
+
+ //------------------------------
+ // TIME UNITS
+ //------------------------------
+
+ /**
+ * @namespace units::time
+ * @brief namespace for unit types and containers representing time values
+ * @details The SI unit for time is `seconds`, and the corresponding `base_unit` category is
+ * `time_unit`.
+ * @anchor timeContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_TIME_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(time, second, seconds, s, unit<std::ratio<1>, units::category::time_unit>)
+ UNIT_ADD(time, minute, minutes, min, unit<std::ratio<60>, seconds>)
+ UNIT_ADD(time, hour, hours, hr, unit<std::ratio<60>, minutes>)
+ UNIT_ADD(time, day, days, d, unit<std::ratio<24>, hours>)
+ UNIT_ADD(time, week, weeks, wk, unit<std::ratio<7>, days>)
+ UNIT_ADD(time, year, years, yr, unit<std::ratio<365>, days>)
+ UNIT_ADD(time, julian_year, julian_years, a_j, unit<std::ratio<31557600>, seconds>)
+ UNIT_ADD(time, gregorian_year, gregorian_years, a_g, unit<std::ratio<31556952>, seconds>)
+
+ UNIT_ADD_CATEGORY_TRAIT(time)
+#endif
+
+ //------------------------------
+ // ANGLE UNITS
+ //------------------------------
+
+ /**
+ * @namespace units::angle
+ * @brief namespace for unit types and containers representing angle values
+ * @details The SI unit for angle is `radians`, and the corresponding `base_unit` category is
+ * `angle_unit`.
+ * @anchor angleContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(angle, radian, radians, rad, unit<std::ratio<1>, units::category::angle_unit>)
+ UNIT_ADD(angle, degree, degrees, deg, unit<std::ratio<1, 180>, radians, std::ratio<1>>)
+ UNIT_ADD(angle, arcminute, arcminutes, arcmin, unit<std::ratio<1, 60>, degrees>)
+ UNIT_ADD(angle, arcsecond, arcseconds, arcsec, unit<std::ratio<1, 60>, arcminutes>)
+ UNIT_ADD(angle, milliarcsecond, milliarcseconds, mas, milli<arcseconds>)
+ UNIT_ADD(angle, turn, turns, tr, unit<std::ratio<2>, radians, std::ratio<1>>)
+ UNIT_ADD(angle, gradian, gradians, gon, unit<std::ratio<1, 400>, turns>)
+
+ UNIT_ADD_CATEGORY_TRAIT(angle)
+#endif
+
+ //------------------------------
+ // UNITS OF CURRENT
+ //------------------------------
+ /**
+ * @namespace units::current
+ * @brief namespace for unit types and containers representing current values
+ * @details The SI unit for current is `amperes`, and the corresponding `base_unit` category is
+ * `current_unit`.
+ * @anchor currentContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_CURRENT_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(current, ampere, amperes, A, unit<std::ratio<1>, units::category::current_unit>)
+
+ UNIT_ADD_CATEGORY_TRAIT(current)
+#endif
+
+ //------------------------------
+ // UNITS OF TEMPERATURE
+ //------------------------------
+
+ // NOTE: temperature units have special conversion overloads, since they
+ // require translations and aren't a reversible transform.
+
+ /**
+ * @namespace units::temperature
+ * @brief namespace for unit types and containers representing temperature values
+ * @details The SI unit for temperature is `kelvin`, and the corresponding `base_unit` category is
+ * `temperature_unit`.
+ * @anchor temperatureContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_TEMPERATURE_UNITS)
+ UNIT_ADD(temperature, kelvin, kelvin, K, unit<std::ratio<1>, units::category::temperature_unit>)
+ UNIT_ADD(temperature, celsius, celsius, degC, unit<std::ratio<1>, kelvin, std::ratio<0>, std::ratio<27315, 100>>)
+ UNIT_ADD(temperature, fahrenheit, fahrenheit, degF, unit<std::ratio<5, 9>, celsius, std::ratio<0>, std::ratio<-160, 9>>)
+ UNIT_ADD(temperature, reaumur, reaumur, Re, unit<std::ratio<10, 8>, celsius>)
+ UNIT_ADD(temperature, rankine, rankine, Ra, unit<std::ratio<5, 9>, kelvin>)
+
+ UNIT_ADD_CATEGORY_TRAIT(temperature)
+#endif
+
+ //------------------------------
+ // UNITS OF AMOUNT OF SUBSTANCE
+ //------------------------------
+
+ /**
+ * @namespace units::substance
+ * @brief namespace for unit types and containers representing substance values
+ * @details The SI unit for substance is `moles`, and the corresponding `base_unit` category is
+ * `substance_unit`.
+ * @anchor substanceContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_SUBSTANCE_UNITS)
+ UNIT_ADD(substance, mole, moles, mol, unit<std::ratio<1>, units::category::substance_unit>)
+
+ UNIT_ADD_CATEGORY_TRAIT(substance)
+#endif
+
+ //------------------------------
+ // UNITS OF LUMINOUS INTENSITY
+ //------------------------------
+
+ /**
+ * @namespace units::luminous_intensity
+ * @brief namespace for unit types and containers representing luminous_intensity values
+ * @details The SI unit for luminous_intensity is `candelas`, and the corresponding `base_unit` category is
+ * `luminous_intensity_unit`.
+ * @anchor luminousIntensityContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_LUMINOUS_INTENSITY_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(luminous_intensity, candela, candelas, cd, unit<std::ratio<1>, units::category::luminous_intensity_unit>)
+
+ UNIT_ADD_CATEGORY_TRAIT(luminous_intensity)
+#endif
+
+ //------------------------------
+ // UNITS OF SOLID ANGLE
+ //------------------------------
+
+ /**
+ * @namespace units::solid_angle
+ * @brief namespace for unit types and containers representing solid_angle values
+ * @details The SI unit for solid_angle is `steradians`, and the corresponding `base_unit` category is
+ * `solid_angle_unit`.
+ * @anchor solidAngleContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_SOLID_ANGLE_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(solid_angle, steradian, steradians, sr, unit<std::ratio<1>, units::category::solid_angle_unit>)
+ UNIT_ADD(solid_angle, degree_squared, degrees_squared, sq_deg, squared<angle::degrees>)
+ UNIT_ADD(solid_angle, spat, spats, sp, unit<std::ratio<4>, steradians, std::ratio<1>>)
+
+ UNIT_ADD_CATEGORY_TRAIT(solid_angle)
+#endif
+
+ //------------------------------
+ // FREQUENCY UNITS
+ //------------------------------
+
+ /**
+ * @namespace units::frequency
+ * @brief namespace for unit types and containers representing frequency values
+ * @details The SI unit for frequency is `hertz`, and the corresponding `base_unit` category is
+ * `frequency_unit`.
+ * @anchor frequencyContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_FREQUENCY_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(frequency, hertz, hertz, Hz, unit<std::ratio<1>, units::category::frequency_unit>)
+
+ UNIT_ADD_CATEGORY_TRAIT(frequency)
+#endif
+
+ //------------------------------
+ // VELOCITY UNITS
+ //------------------------------
+
+ /**
+ * @namespace units::velocity
+ * @brief namespace for unit types and containers representing velocity values
+ * @details The SI unit for velocity is `meters_per_second`, and the corresponding `base_unit` category is
+ * `velocity_unit`.
+ * @anchor velocityContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_VELOCITY_UNITS)
+ UNIT_ADD(velocity, meters_per_second, meters_per_second, mps, unit<std::ratio<1>, units::category::velocity_unit>)
+ UNIT_ADD(velocity, feet_per_second, feet_per_second, fps, compound_unit<length::feet, inverse<time::seconds>>)
+ UNIT_ADD(velocity, miles_per_hour, miles_per_hour, mph, compound_unit<length::miles, inverse<time::hour>>)
+ UNIT_ADD(velocity, kilometers_per_hour, kilometers_per_hour, kph, compound_unit<length::kilometers, inverse<time::hour>>)
+ UNIT_ADD(velocity, knot, knots, kts, compound_unit<length::nauticalMiles, inverse<time::hour>>)
+
+ UNIT_ADD_CATEGORY_TRAIT(velocity)
+#endif
+
+ //------------------------------
+ // ANGULAR VELOCITY UNITS
+ //------------------------------
+
+ /**
+ * @namespace units::angular_velocity
+ * @brief namespace for unit types and containers representing angular velocity values
+ * @details The SI unit for angular velocity is `radians_per_second`, and the corresponding `base_unit` category is
+ * `angular_velocity_unit`.
+ * @anchor angularVelocityContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGULAR_VELOCITY_UNITS)
+ UNIT_ADD(angular_velocity, radians_per_second, radians_per_second, rad_per_s, unit<std::ratio<1>, units::category::angular_velocity_unit>)
+ UNIT_ADD(angular_velocity, degrees_per_second, degrees_per_second, deg_per_s, compound_unit<angle::degrees, inverse<time::seconds>>)
+ UNIT_ADD(angular_velocity, revolutions_per_minute, revolutions_per_minute, rpm, unit<std::ratio<2, 60>, radians_per_second, std::ratio<1>>)
+ UNIT_ADD(angular_velocity, milliarcseconds_per_year, milliarcseconds_per_year, mas_per_yr, compound_unit<angle::milliarcseconds, inverse<time::year>>)
+
+ UNIT_ADD_CATEGORY_TRAIT(angular_velocity)
+#endif
+
+ //------------------------------
+ // UNITS OF ACCELERATION
+ //------------------------------
+
+ /**
+ * @namespace units::acceleration
+ * @brief namespace for unit types and containers representing acceleration values
+ * @details The SI unit for acceleration is `meters_per_second_squared`, and the corresponding `base_unit` category is
+ * `acceleration_unit`.
+ * @anchor accelerationContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ACCELERATION_UNITS)
+ UNIT_ADD(acceleration, meters_per_second_squared, meters_per_second_squared, mps_sq, unit<std::ratio<1>, units::category::acceleration_unit>)
+ UNIT_ADD(acceleration, feet_per_second_squared, feet_per_second_squared, fps_sq, compound_unit<length::feet, inverse<squared<time::seconds>>>)
+ UNIT_ADD(acceleration, standard_gravity, standard_gravity, SG, unit<std::ratio<980665, 100000>, meters_per_second_squared>)
+
+ UNIT_ADD_CATEGORY_TRAIT(acceleration)
+#endif
+
+ //------------------------------
+ // UNITS OF FORCE
+ //------------------------------
+
+ /**
+ * @namespace units::force
+ * @brief namespace for unit types and containers representing force values
+ * @details The SI unit for force is `newtons`, and the corresponding `base_unit` category is
+ * `force_unit`.
+ * @anchor forceContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_FORCE_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(force, newton, newtons, N, unit<std::ratio<1>, units::category::force_unit>)
+ UNIT_ADD(force, pound, pounds, lbf, compound_unit<mass::slug, length::foot, inverse<squared<time::seconds>>>)
+ UNIT_ADD(force, dyne, dynes, dyn, unit<std::ratio<1, 100000>, newtons>)
+ UNIT_ADD(force, kilopond, kiloponds, kp, compound_unit<acceleration::standard_gravity, mass::kilograms>)
+ UNIT_ADD(force, poundal, poundals, pdl, compound_unit<mass::pound, length::foot, inverse<squared<time::seconds>>>)
+
+ UNIT_ADD_CATEGORY_TRAIT(force)
+#endif
+
+ //------------------------------
+ // UNITS OF PRESSURE
+ //------------------------------
+
+ /**
+ * @namespace units::pressure
+ * @brief namespace for unit types and containers representing pressure values
+ * @details The SI unit for pressure is `pascals`, and the corresponding `base_unit` category is
+ * `pressure_unit`.
+ * @anchor pressureContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_PRESSURE_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(pressure, pascal, pascals, Pa, unit<std::ratio<1>, units::category::pressure_unit>)
+ UNIT_ADD(pressure, bar, bars, bar, unit<std::ratio<100>, kilo<pascals>>)
+ UNIT_ADD(pressure, mbar, mbars, mbar, unit<std::ratio<1>, milli<bar>>)
+ UNIT_ADD(pressure, atmosphere, atmospheres, atm, unit<std::ratio<101325>, pascals>)
+ UNIT_ADD(pressure, pounds_per_square_inch, pounds_per_square_inch, psi, compound_unit<force::pounds, inverse<squared<length::inch>>>)
+ UNIT_ADD(pressure, torr, torrs, torr, unit<std::ratio<1, 760>, atmospheres>)
+
+ UNIT_ADD_CATEGORY_TRAIT(pressure)
+#endif
+
+ //------------------------------
+ // UNITS OF CHARGE
+ //------------------------------
+
+ /**
+ * @namespace units::charge
+ * @brief namespace for unit types and containers representing charge values
+ * @details The SI unit for charge is `coulombs`, and the corresponding `base_unit` category is
+ * `charge_unit`.
+ * @anchor chargeContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_CHARGE_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(charge, coulomb, coulombs, C, unit<std::ratio<1>, units::category::charge_unit>)
+ UNIT_ADD_WITH_METRIC_PREFIXES(charge, ampere_hour, ampere_hours, Ah, compound_unit<current::ampere, time::hours>)
+
+ UNIT_ADD_CATEGORY_TRAIT(charge)
+#endif
+
+ //------------------------------
+ // UNITS OF ENERGY
+ //------------------------------
+
+ /**
+ * @namespace units::energy
+ * @brief namespace for unit types and containers representing energy values
+ * @details The SI unit for energy is `joules`, and the corresponding `base_unit` category is
+ * `energy_unit`.
+ * @anchor energyContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ENERGY_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(energy, joule, joules, J, unit<std::ratio<1>, units::category::energy_unit>)
+ UNIT_ADD_WITH_METRIC_PREFIXES(energy, calorie, calories, cal, unit<std::ratio<4184, 1000>, joules>)
+ UNIT_ADD(energy, kilowatt_hour, kilowatt_hours, kWh, unit<std::ratio<36, 10>, megajoules>)
+ UNIT_ADD(energy, watt_hour, watt_hours, Wh, unit<std::ratio<1, 1000>, kilowatt_hours>)
+ UNIT_ADD(energy, british_thermal_unit, british_thermal_units, BTU, unit<std::ratio<105505585262, 100000000>, joules>)
+ UNIT_ADD(energy, british_thermal_unit_iso, british_thermal_units_iso, BTU_iso, unit<std::ratio<1055056, 1000>, joules>)
+ UNIT_ADD(energy, british_thermal_unit_59, british_thermal_units_59, BTU59, unit<std::ratio<1054804, 1000>, joules>)
+ UNIT_ADD(energy, therm, therms, thm, unit<std::ratio<100000>, british_thermal_units_59>)
+ UNIT_ADD(energy, foot_pound, foot_pounds, ftlbf, unit<std::ratio<13558179483314004, 10000000000000000>, joules>)
+
+ UNIT_ADD_CATEGORY_TRAIT(energy)
+#endif
+
+ //------------------------------
+ // UNITS OF POWER
+ //------------------------------
+
+ /**
+ * @namespace units::power
+ * @brief namespace for unit types and containers representing power values
+ * @details The SI unit for power is `watts`, and the corresponding `base_unit` category is
+ * `power_unit`.
+ * @anchor powerContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_POWER_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(power, watt, watts, W, unit<std::ratio<1>, units::category::power_unit>)
+ UNIT_ADD(power, horsepower, horsepower, hp, unit<std::ratio<7457, 10>, watts>)
+ UNIT_ADD_DECIBEL(power, watt, dBW)
+ UNIT_ADD_DECIBEL(power, milliwatt, dBm)
+
+ UNIT_ADD_CATEGORY_TRAIT(power)
+#endif
+
+ //------------------------------
+ // UNITS OF VOLTAGE
+ //------------------------------
+
+ /**
+ * @namespace units::voltage
+ * @brief namespace for unit types and containers representing voltage values
+ * @details The SI unit for voltage is `volts`, and the corresponding `base_unit` category is
+ * `voltage_unit`.
+ * @anchor voltageContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_VOLTAGE_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(voltage, volt, volts, V, unit<std::ratio<1>, units::category::voltage_unit>)
+ UNIT_ADD(voltage, statvolt, statvolts, statV, unit<std::ratio<1000000, 299792458>, volts>)
+ UNIT_ADD(voltage, abvolt, abvolts, abV, unit<std::ratio<1, 100000000>, volts>)
+
+ UNIT_ADD_CATEGORY_TRAIT(voltage)
+#endif
+
+ //------------------------------
+ // UNITS OF CAPACITANCE
+ //------------------------------
+
+ /**
+ * @namespace units::capacitance
+ * @brief namespace for unit types and containers representing capacitance values
+ * @details The SI unit for capacitance is `farads`, and the corresponding `base_unit` category is
+ * `capacitance_unit`.
+ * @anchor capacitanceContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_CAPACITANCE_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(capacitance, farad, farads, F, unit<std::ratio<1>, units::category::capacitance_unit>)
+
+ UNIT_ADD_CATEGORY_TRAIT(capacitance)
+#endif
+
+ //------------------------------
+ // UNITS OF IMPEDANCE
+ //------------------------------
+
+ /**
+ * @namespace units::impedance
+ * @brief namespace for unit types and containers representing impedance values
+ * @details The SI unit for impedance is `ohms`, and the corresponding `base_unit` category is
+ * `impedance_unit`.
+ * @anchor impedanceContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_IMPEDANCE_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(impedance, ohm, ohms, Ohm, unit<std::ratio<1>, units::category::impedance_unit>)
+
+ UNIT_ADD_CATEGORY_TRAIT(impedance)
+#endif
+
+ //------------------------------
+ // UNITS OF CONDUCTANCE
+ //------------------------------
+
+ /**
+ * @namespace units::conductance
+ * @brief namespace for unit types and containers representing conductance values
+ * @details The SI unit for conductance is `siemens`, and the corresponding `base_unit` category is
+ * `conductance_unit`.
+ * @anchor conductanceContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_CONDUCTANCE_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(conductance, siemens, siemens, S, unit<std::ratio<1>, units::category::conductance_unit>)
+
+ UNIT_ADD_CATEGORY_TRAIT(conductance)
+#endif
+
+ //------------------------------
+ // UNITS OF MAGNETIC FLUX
+ //------------------------------
+
+ /**
+ * @namespace units::magnetic_flux
+ * @brief namespace for unit types and containers representing magnetic_flux values
+ * @details The SI unit for magnetic_flux is `webers`, and the corresponding `base_unit` category is
+ * `magnetic_flux_unit`.
+ * @anchor magneticFluxContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_MAGNETIC_FLUX_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(magnetic_flux, weber, webers, Wb, unit<std::ratio<1>, units::category::magnetic_flux_unit>)
+ UNIT_ADD(magnetic_flux, maxwell, maxwells, Mx, unit<std::ratio<1, 100000000>, webers>)
+
+ UNIT_ADD_CATEGORY_TRAIT(magnetic_flux)
+#endif
+
+ //----------------------------------------
+ // UNITS OF MAGNETIC FIELD STRENGTH
+ //----------------------------------------
+
+ /**
+ * @namespace units::magnetic_field_strength
+ * @brief namespace for unit types and containers representing magnetic_field_strength values
+ * @details The SI unit for magnetic_field_strength is `teslas`, and the corresponding `base_unit` category is
+ * `magnetic_field_strength_unit`.
+ * @anchor magneticFieldStrengthContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+ // Unfortunately `_T` is a WINAPI macro, so we have to use `_Te` as the tesla abbreviation.
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_MAGNETIC_FIELD_STRENGTH_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(magnetic_field_strength, tesla, teslas, Te, unit<std::ratio<1>, units::category::magnetic_field_strength_unit>)
+ UNIT_ADD(magnetic_field_strength, gauss, gauss, G, compound_unit<magnetic_flux::maxwell, inverse<squared<length::centimeter>>>)
+
+ UNIT_ADD_CATEGORY_TRAIT(magnetic_field_strength)
+#endif
+
+ //------------------------------
+ // UNITS OF INDUCTANCE
+ //------------------------------
+
+ /**
+ * @namespace units::inductance
+ * @brief namespace for unit types and containers representing inductance values
+ * @details The SI unit for inductance is `henrys`, and the corresponding `base_unit` category is
+ * `inductance_unit`.
+ * @anchor inductanceContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_INDUCTANCE_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(inductance, henry, henries, H, unit<std::ratio<1>, units::category::inductance_unit>)
+
+ UNIT_ADD_CATEGORY_TRAIT(inductance)
+#endif
+
+ //------------------------------
+ // UNITS OF LUMINOUS FLUX
+ //------------------------------
+
+ /**
+ * @namespace units::luminous_flux
+ * @brief namespace for unit types and containers representing luminous_flux values
+ * @details The SI unit for luminous_flux is `lumens`, and the corresponding `base_unit` category is
+ * `luminous_flux_unit`.
+ * @anchor luminousFluxContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_LUMINOUS_FLUX_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(luminous_flux, lumen, lumens, lm, unit<std::ratio<1>, units::category::luminous_flux_unit>)
+
+ UNIT_ADD_CATEGORY_TRAIT(luminous_flux)
+#endif
+
+ //------------------------------
+ // UNITS OF ILLUMINANCE
+ //------------------------------
+
+ /**
+ * @namespace units::illuminance
+ * @brief namespace for unit types and containers representing illuminance values
+ * @details The SI unit for illuminance is `luxes`, and the corresponding `base_unit` category is
+ * `illuminance_unit`.
+ * @anchor illuminanceContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ILLUMINANCE_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(illuminance, lux, luxes, lx, unit<std::ratio<1>, units::category::illuminance_unit>)
+ UNIT_ADD(illuminance, footcandle, footcandles, fc, compound_unit<luminous_flux::lumen, inverse<squared<length::foot>>>)
+ UNIT_ADD(illuminance, lumens_per_square_inch, lumens_per_square_inch, lm_per_in_sq, compound_unit<luminous_flux::lumen, inverse<squared<length::inch>>>)
+ UNIT_ADD(illuminance, phot, phots, ph, compound_unit<luminous_flux::lumens, inverse<squared<length::centimeter>>>)
+
+ UNIT_ADD_CATEGORY_TRAIT(illuminance)
+#endif
+
+ //------------------------------
+ // UNITS OF RADIATION
+ //------------------------------
+
+ /**
+ * @namespace units::radiation
+ * @brief namespace for unit types and containers representing radiation values
+ * @details The SI units for radiation are:
+ * - source activity: becquerel
+ * - absorbed dose: gray
+ * - equivalent dose: sievert
+ * @anchor radiationContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_RADIATION_UNITS)
+ UNIT_ADD_WITH_METRIC_PREFIXES(radiation, becquerel, becquerels, Bq, unit<std::ratio<1>, units::frequency::hertz>)
+ UNIT_ADD_WITH_METRIC_PREFIXES(radiation, gray, grays, Gy, compound_unit<energy::joules, inverse<mass::kilogram>>)
+ UNIT_ADD_WITH_METRIC_PREFIXES(radiation, sievert, sieverts, Sv, unit<std::ratio<1>, grays>)
+ UNIT_ADD(radiation, curie, curies, Ci, unit<std::ratio<37>, gigabecquerels>)
+ UNIT_ADD(radiation, rutherford, rutherfords, rd, unit<std::ratio<1>, megabecquerels>)
+ UNIT_ADD(radiation, rad, rads, rads, unit<std::ratio<1>, centigrays>)
+
+ UNIT_ADD_CATEGORY_TRAIT(radioactivity)
+#endif
+
+ //------------------------------
+ // UNITS OF TORQUE
+ //------------------------------
+
+ /**
+ * @namespace units::torque
+ * @brief namespace for unit types and containers representing torque values
+ * @details The SI unit for torque is `newton_meters`, and the corresponding `base_unit` category is
+ * `torque_units`.
+ * @anchor torqueContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_TORQUE_UNITS)
+ UNIT_ADD(torque, newton_meter, newton_meters, Nm, unit<std::ratio<1>, units::energy::joule>)
+ UNIT_ADD(torque, foot_pound, foot_pounds, ftlb, compound_unit<length::foot, force::pounds>)
+ UNIT_ADD(torque, foot_poundal, foot_poundals, ftpdl, compound_unit<length::foot, force::poundal>)
+ UNIT_ADD(torque, inch_pound, inch_pounds, inlb, compound_unit<length::inch, force::pounds>)
+ UNIT_ADD(torque, meter_kilogram, meter_kilograms, mkgf, compound_unit<length::meter, force::kiloponds>)
+
+ UNIT_ADD_CATEGORY_TRAIT(torque)
+#endif
+
+ //------------------------------
+ // AREA UNITS
+ //------------------------------
+
+ /**
+ * @namespace units::area
+ * @brief namespace for unit types and containers representing area values
+ * @details The SI unit for area is `square_meters`, and the corresponding `base_unit` category is
+ * `area_unit`.
+ * @anchor areaContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_AREA_UNITS)
+ UNIT_ADD(area, square_meter, square_meters, sq_m, unit<std::ratio<1>, units::category::area_unit>)
+ UNIT_ADD(area, square_foot, square_feet, sq_ft, squared<length::feet>)
+ UNIT_ADD(area, square_inch, square_inches, sq_in, squared<length::inch>)
+ UNIT_ADD(area, square_mile, square_miles, sq_mi, squared<length::miles>)
+ UNIT_ADD(area, square_kilometer, square_kilometers, sq_km, squared<length::kilometers>)
+ UNIT_ADD(area, hectare, hectares, ha, unit<std::ratio<10000>, square_meters>)
+ UNIT_ADD(area, acre, acres, acre, unit<std::ratio<43560>, square_feet>)
+
+ UNIT_ADD_CATEGORY_TRAIT(area)
+#endif
+
+ //------------------------------
+ // UNITS OF VOLUME
+ //------------------------------
+
+ /**
+ * @namespace units::volume
+ * @brief namespace for unit types and containers representing volume values
+ * @details The SI unit for volume is `cubic_meters`, and the corresponding `base_unit` category is
+ * `volume_unit`.
+ * @anchor volumeContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_VOLUME_UNITS)
+ UNIT_ADD(volume, cubic_meter, cubic_meters, cu_m, unit<std::ratio<1>, units::category::volume_unit>)
+ UNIT_ADD(volume, cubic_millimeter, cubic_millimeters, cu_mm, cubed<length::millimeter>)
+ UNIT_ADD(volume, cubic_kilometer, cubic_kilometers, cu_km, cubed<length::kilometer>)
+ UNIT_ADD_WITH_METRIC_PREFIXES(volume, liter, liters, L, cubed<deci<length::meter>>)
+ UNIT_ADD(volume, cubic_inch, cubic_inches, cu_in, cubed<length::inches>)
+ UNIT_ADD(volume, cubic_foot, cubic_feet, cu_ft, cubed<length::feet>)
+ UNIT_ADD(volume, cubic_yard, cubic_yards, cu_yd, cubed<length::yards>)
+ UNIT_ADD(volume, cubic_mile, cubic_miles, cu_mi, cubed<length::miles>)
+ UNIT_ADD(volume, gallon, gallons, gal, unit<std::ratio<231>, cubic_inches>)
+ UNIT_ADD(volume, quart, quarts, qt, unit<std::ratio<1, 4>, gallons>)
+ UNIT_ADD(volume, pint, pints, pt, unit<std::ratio<1, 2>, quarts>)
+ UNIT_ADD(volume, cup, cups, c, unit<std::ratio<1, 2>, pints>)
+ UNIT_ADD(volume, fluid_ounce, fluid_ounces, fl_oz, unit<std::ratio<1, 8>, cups>)
+ UNIT_ADD(volume, barrel, barrels, bl, unit<std::ratio<42>, gallons>)
+ UNIT_ADD(volume, bushel, bushels, bu, unit<std::ratio<215042, 100>, cubic_inches>)
+ UNIT_ADD(volume, cord, cords, cord, unit<std::ratio<128>, cubic_feet>)
+ UNIT_ADD(volume, cubic_fathom, cubic_fathoms, cu_fm, cubed<length::fathom>)
+ UNIT_ADD(volume, tablespoon, tablespoons, tbsp, unit<std::ratio<1, 2>, fluid_ounces>)
+ UNIT_ADD(volume, teaspoon, teaspoons, tsp, unit<std::ratio<1, 6>, fluid_ounces>)
+ UNIT_ADD(volume, pinch, pinches, pinch, unit<std::ratio<1, 8>, teaspoons>)
+ UNIT_ADD(volume, dash, dashes, dash, unit<std::ratio<1, 2>, pinches>)
+ UNIT_ADD(volume, drop, drops, drop, unit<std::ratio<1, 360>, fluid_ounces>)
+ UNIT_ADD(volume, fifth, fifths, fifth, unit<std::ratio<1, 5>, gallons>)
+ UNIT_ADD(volume, dram, drams, dr, unit<std::ratio<1, 8>, fluid_ounces>)
+ UNIT_ADD(volume, gill, gills, gi, unit<std::ratio<4>, fluid_ounces>)
+ UNIT_ADD(volume, peck, pecks, pk, unit<std::ratio<1, 4>, bushels>)
+ UNIT_ADD(volume, sack, sacks, sacks, unit<std::ratio<3>, bushels>)
+ UNIT_ADD(volume, shot, shots, shots, unit<std::ratio<3, 2>, fluid_ounces>)
+ UNIT_ADD(volume, strike, strikes, strikes, unit<std::ratio<2>, bushels>)
+
+ UNIT_ADD_CATEGORY_TRAIT(volume)
+#endif
+
+ //------------------------------
+ // UNITS OF DENSITY
+ //------------------------------
+
+ /**
+ * @namespace units::density
+ * @brief namespace for unit types and containers representing density values
+ * @details The SI unit for density is `kilograms_per_cubic_meter`, and the corresponding `base_unit` category is
+ * `density_unit`.
+ * @anchor densityContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_DENSITY_UNITS)
+ UNIT_ADD(density, kilograms_per_cubic_meter, kilograms_per_cubic_meter, kg_per_cu_m, unit<std::ratio<1>, units::category::density_unit>)
+ UNIT_ADD(density, grams_per_milliliter, grams_per_milliliter, g_per_mL, compound_unit<mass::grams, inverse<volume::milliliter>>)
+ UNIT_ADD(density, kilograms_per_liter, kilograms_per_liter, kg_per_L, unit<std::ratio<1>, compound_unit<mass::grams, inverse<volume::milliliter>>>)
+ UNIT_ADD(density, ounces_per_cubic_foot, ounces_per_cubic_foot, oz_per_cu_ft, compound_unit<mass::ounces, inverse<volume::cubic_foot>>)
+ UNIT_ADD(density, ounces_per_cubic_inch, ounces_per_cubic_inch, oz_per_cu_in, compound_unit<mass::ounces, inverse<volume::cubic_inch>>)
+ UNIT_ADD(density, ounces_per_gallon, ounces_per_gallon, oz_per_gal, compound_unit<mass::ounces, inverse<volume::gallon>>)
+ UNIT_ADD(density, pounds_per_cubic_foot, pounds_per_cubic_foot, lb_per_cu_ft, compound_unit<mass::pounds, inverse<volume::cubic_foot>>)
+ UNIT_ADD(density, pounds_per_cubic_inch, pounds_per_cubic_inch, lb_per_cu_in, compound_unit<mass::pounds, inverse<volume::cubic_inch>>)
+ UNIT_ADD(density, pounds_per_gallon, pounds_per_gallon, lb_per_gal, compound_unit<mass::pounds, inverse<volume::gallon>>)
+ UNIT_ADD(density, slugs_per_cubic_foot, slugs_per_cubic_foot, slug_per_cu_ft, compound_unit<mass::slugs, inverse<volume::cubic_foot>>)
+
+ UNIT_ADD_CATEGORY_TRAIT(density)
+#endif
+
+ //------------------------------
+ // UNITS OF CONCENTRATION
+ //------------------------------
+
+ /**
+ * @namespace units::concentration
+ * @brief namespace for unit types and containers representing concentration values
+ * @details The SI unit for concentration is `parts_per_million`, and the corresponding `base_unit` category is
+ * `scalar_unit`.
+ * @anchor concentrationContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_CONCENTRATION_UNITS)
+ UNIT_ADD(concentration, ppm, parts_per_million, ppm, unit<std::ratio<1, 1000000>, units::category::scalar_unit>)
+ UNIT_ADD(concentration, ppb, parts_per_billion, ppb, unit<std::ratio<1, 1000>, parts_per_million>)
+ UNIT_ADD(concentration, ppt, parts_per_trillion, ppt, unit<std::ratio<1, 1000>, parts_per_billion>)
+ UNIT_ADD(concentration, percent, percent, pct, unit<std::ratio<1, 100>, units::category::scalar_unit>)
+
+ UNIT_ADD_CATEGORY_TRAIT(concentration)
+#endif
+
+ //------------------------------
+ // UNITS OF DATA
+ //------------------------------
+
+ /**
+ * @namespace units::data
+ * @brief namespace for unit types and containers representing data values
+ * @details The base unit for data is `bytes`, and the corresponding `base_unit` category is
+ * `data_unit`.
+ * @anchor dataContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_DATA_UNITS)
+ UNIT_ADD_WITH_METRIC_AND_BINARY_PREFIXES(data, byte, bytes, B, unit<std::ratio<1>, units::category::data_unit>)
+ UNIT_ADD(data, exabyte, exabytes, EB, unit<std::ratio<1000>, petabytes>)
+ UNIT_ADD_WITH_METRIC_AND_BINARY_PREFIXES(data, bit, bits, b, unit<std::ratio<1, 8>, byte>)
+ UNIT_ADD(data, exabit, exabits, Eb, unit<std::ratio<1000>, petabits>)
+
+ UNIT_ADD_CATEGORY_TRAIT(data)
+#endif
+
+ //------------------------------
+ // UNITS OF DATA TRANSFER
+ //------------------------------
+
+ /**
+ * @namespace units::data_transfer_rate
+ * @brief namespace for unit types and containers representing data values
+ * @details The base unit for data is `bytes`, and the corresponding `base_unit` category is
+ * `data_unit`.
+ * @anchor dataContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_DATA_TRANSFER_RATE_UNITS)
+ UNIT_ADD_WITH_METRIC_AND_BINARY_PREFIXES(data_transfer_rate, bytes_per_second, bytes_per_second, Bps, unit<std::ratio<1>, units::category::data_transfer_rate_unit>)
+ UNIT_ADD(data_transfer_rate, exabytes_per_second, exabytes_per_second, EBps, unit<std::ratio<1000>, petabytes_per_second>)
+ UNIT_ADD_WITH_METRIC_AND_BINARY_PREFIXES(data_transfer_rate, bits_per_second, bits_per_second, bps, unit<std::ratio<1, 8>, bytes_per_second>)
+ UNIT_ADD(data_transfer_rate, exabits_per_second, exabits_per_second, Ebps, unit<std::ratio<1000>, petabits_per_second>)
+
+ UNIT_ADD_CATEGORY_TRAIT(data_transfer_rate)
+#endif
+
+ //------------------------------
+ // CONSTANTS
+ //------------------------------
+
+ /**
+ * @brief namespace for physical constants like PI and Avogadro's Number.
+ * @sa See unit_t for more information on unit type containers.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS)
+ namespace constants
+ {
+ /**
+ * @name Unit Containers
+ * @anchor constantContainers
+ * @{
+ */
+ using PI = unit<std::ratio<1>, dimensionless::scalar, std::ratio<1>>;
+
+ static constexpr const unit_t<PI> pi(1); ///< Ratio of a circle's circumference to its diameter.
+ static constexpr const velocity::meters_per_second_t c(299792458.0); ///< Speed of light in vacuum.
+ static constexpr const unit_t<compound_unit<cubed<length::meters>, inverse<mass::kilogram>, inverse<squared<time::seconds>>>> G(6.67408e-11); ///< Newtonian constant of gravitation.
+ static constexpr const unit_t<compound_unit<energy::joule, time::seconds>> h(6.626070040e-34); ///< Planck constant.
+ static constexpr const unit_t<compound_unit<force::newtons, inverse<squared<current::ampere>>>> mu0(pi * 4.0e-7 * force::newton_t(1) / units::math::cpow<2>(current::ampere_t(1))); ///< vacuum permeability.
+ static constexpr const unit_t<compound_unit<capacitance::farad, inverse<length::meter>>> epsilon0(1.0 / (mu0 * math::cpow<2>(c))); ///< vacuum permitivity.
+ static constexpr const impedance::ohm_t Z0(mu0 * c); ///< characteristic impedance of vacuum.
+ static constexpr const unit_t<compound_unit<force::newtons, area::square_meter, inverse<squared<charge::coulomb>>>> k_e(1.0 / (4 * pi * epsilon0)); ///< Coulomb's constant.
+ static constexpr const charge::coulomb_t e(1.6021766208e-19); ///< elementary charge.
+ static constexpr const mass::kilogram_t m_e(9.10938356e-31); ///< electron mass.
+ static constexpr const mass::kilogram_t m_p(1.672621898e-27); ///< proton mass.
+ static constexpr const unit_t<compound_unit<energy::joules, inverse<magnetic_field_strength::tesla>>> mu_B(e * h / (4 * pi *m_e)); ///< Bohr magneton.
+ static constexpr const unit_t<inverse<substance::mol>> N_A(6.022140857e23); ///< Avagadro's Number.
+ static constexpr const unit_t<compound_unit<energy::joules, inverse<temperature::kelvin>, inverse<substance::moles>>> R(8.3144598); ///< Gas constant.
+ static constexpr const unit_t<compound_unit<energy::joules, inverse<temperature::kelvin>>> k_B(R / N_A); ///< Boltzmann constant.
+ static constexpr const unit_t<compound_unit<charge::coulomb, inverse<substance::mol>>> F(N_A * e); ///< Faraday constant.
+ static constexpr const unit_t<compound_unit<power::watts, inverse<area::square_meters>, inverse<squared<squared<temperature::kelvin>>>>> sigma((2 * math::cpow<5>(pi) * math::cpow<4>(R)) / (15 * math::cpow<3>(h) * math::cpow<2>(c) * math::cpow<4>(N_A))); ///< Stefan-Boltzmann constant.
+ /** @} */
+ }
+#endif
+
+ //----------------------------------
+ // UNIT-ENABLED CMATH FUNCTIONS
+ //----------------------------------
+
+ /**
+ * @brief namespace for unit-enabled versions of the `<cmath>` library
+ * @details Includes trigonometric functions, exponential/log functions, rounding functions, etc.
+ * @sa See `unit_t` for more information on unit type containers.
+ */
+ namespace math
+ {
+
+ //----------------------------------
+ // MIN/MAX FUNCTIONS
+ //----------------------------------
+
+ template<class UnitTypeLhs, class UnitTypeRhs>
+ UnitTypeLhs min(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs)
+ {
+ static_assert(traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value, "Unit types are not compatible.");
+ UnitTypeLhs r(rhs);
+ return (lhs < r ? lhs : r);
+ }
+
+ template<class UnitTypeLhs, class UnitTypeRhs>
+ UnitTypeLhs max(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs)
+ {
+ static_assert(traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value, "Unit types are not compatible.");
+ UnitTypeLhs r(rhs);
+ return (lhs > r ? lhs : r);
+ }
+
+ //----------------------------------
+ // TRIGONOMETRIC FUNCTIONS
+ //----------------------------------
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute cosine
+ * @details The input value can be in any unit of angle, including radians or degrees.
+ * @tparam AngleUnit any `unit_t` type of `category::angle_unit`.
+ * @param[in] angle angle to compute the cosine of
+ * @returns Returns the cosine of <i>angle</i>
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class AngleUnit>
+ dimensionless::scalar_t cos(const AngleUnit angle) noexcept
+ {
+ static_assert(traits::is_angle_unit<AngleUnit>::value, "Type `AngleUnit` must be a unit of angle derived from `unit_t`.");
+ return dimensionless::scalar_t(std::cos(angle.template convert<angle::radian>()()));
+ }
+#endif
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute sine
+ * @details The input value can be in any unit of angle, including radians or degrees.
+ * @tparam AngleUnit any `unit_t` type of `category::angle_unit`.
+ * @param[in] angle angle to compute the since of
+ * @returns Returns the sine of <i>angle</i>
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class AngleUnit>
+ dimensionless::scalar_t sin(const AngleUnit angle) noexcept
+ {
+ static_assert(traits::is_angle_unit<AngleUnit>::value, "Type `AngleUnit` must be a unit of angle derived from `unit_t`.");
+ return dimensionless::scalar_t(std::sin(angle.template convert<angle::radian>()()));
+ }
+#endif
+ /**
+ * @ingroup UnitMath
+ * @brief Compute tangent
+ * @details The input value can be in any unit of angle, including radians or degrees.
+ * @tparam AngleUnit any `unit_t` type of `category::angle_unit`.
+ * @param[in] angle angle to compute the tangent of
+ * @returns Returns the tangent of <i>angle</i>
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class AngleUnit>
+ dimensionless::scalar_t tan(const AngleUnit angle) noexcept
+ {
+ static_assert(traits::is_angle_unit<AngleUnit>::value, "Type `AngleUnit` must be a unit of angle derived from `unit_t`.");
+ return dimensionless::scalar_t(std::tan(angle.template convert<angle::radian>()()));
+ }
+#endif
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute arc cosine
+ * @details Returns the principal value of the arc cosine of x, expressed in radians.
+ * @param[in] x Value whose arc cosine is computed, in the interval [-1,+1].
+ * @returns Principal arc cosine of x, in the interval [0,pi] radians.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class ScalarUnit>
+ angle::radian_t acos(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return angle::radian_t(std::acos(x()));
+ }
+#endif
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute arc sine
+ * @details Returns the principal value of the arc sine of x, expressed in radians.
+ * @param[in] x Value whose arc sine is computed, in the interval [-1,+1].
+ * @returns Principal arc sine of x, in the interval [-pi/2,+pi/2] radians.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class ScalarUnit>
+ angle::radian_t asin(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return angle::radian_t(std::asin(x()));
+ }
+#endif
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute arc tangent
+ * @details Returns the principal value of the arc tangent of x, expressed in radians.
+ * Notice that because of the sign ambiguity, the function cannot determine with
+ * certainty in which quadrant the angle falls only by its tangent value. See
+ * atan2 for an alternative that takes a fractional argument instead.
+ * @tparam AngleUnit any `unit_t` type of `category::angle_unit`.
+ * @param[in] x Value whose arc tangent is computed, in the interval [-1,+1].
+ * @returns Principal arc tangent of x, in the interval [-pi/2,+pi/2] radians.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class ScalarUnit>
+ angle::radian_t atan(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return angle::radian_t(std::atan(x()));
+ }
+#endif
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute arc tangent with two parameters
+ * @details To compute the value, the function takes into account the sign of both arguments in order to determine the quadrant.
+ * @param[in] y y-component of the triangle expressed.
+ * @param[in] x x-component of the triangle expressed.
+ * @returns Returns the principal value of the arc tangent of <i>y/x</i>, expressed in radians.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class Y, class X>
+ angle::radian_t atan2(const Y y, const X x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<decltype(y/x)>::value, "The quantity y/x must yield a dimensionless ratio.");
+
+ // X and Y could be different length units, so normalize them
+ return angle::radian_t(std::atan2(y.template convert<typename units::traits::unit_t_traits<X>::unit_type>()(), x()));
+ }
+#endif
+
+ //----------------------------------
+ // HYPERBOLIC TRIG FUNCTIONS
+ //----------------------------------
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute hyperbolic cosine
+ * @details The input value can be in any unit of angle, including radians or degrees.
+ * @tparam AngleUnit any `unit_t` type of `category::angle_unit`.
+ * @param[in] angle angle to compute the hyperbolic cosine of
+ * @returns Returns the hyperbolic cosine of <i>angle</i>
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class AngleUnit>
+ dimensionless::scalar_t cosh(const AngleUnit angle) noexcept
+ {
+ static_assert(traits::is_angle_unit<AngleUnit>::value, "Type `AngleUnit` must be a unit of angle derived from `unit_t`.");
+ return dimensionless::scalar_t(std::cosh(angle.template convert<angle::radian>()()));
+ }
+#endif
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute hyperbolic sine
+ * @details The input value can be in any unit of angle, including radians or degrees.
+ * @tparam AngleUnit any `unit_t` type of `category::angle_unit`.
+ * @param[in] angle angle to compute the hyperbolic sine of
+ * @returns Returns the hyperbolic sine of <i>angle</i>
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class AngleUnit>
+ dimensionless::scalar_t sinh(const AngleUnit angle) noexcept
+ {
+ static_assert(traits::is_angle_unit<AngleUnit>::value, "Type `AngleUnit` must be a unit of angle derived from `unit_t`.");
+ return dimensionless::scalar_t(std::sinh(angle.template convert<angle::radian>()()));
+ }
+#endif
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute hyperbolic tangent
+ * @details The input value can be in any unit of angle, including radians or degrees.
+ * @tparam AngleUnit any `unit_t` type of `category::angle_unit`.
+ * @param[in] angle angle to compute the hyperbolic tangent of
+ * @returns Returns the hyperbolic tangent of <i>angle</i>
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class AngleUnit>
+ dimensionless::scalar_t tanh(const AngleUnit angle) noexcept
+ {
+ static_assert(traits::is_angle_unit<AngleUnit>::value, "Type `AngleUnit` must be a unit of angle derived from `unit_t`.");
+ return dimensionless::scalar_t(std::tanh(angle.template convert<angle::radian>()()));
+ }
+#endif
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute arc hyperbolic cosine
+ * @details Returns the nonnegative arc hyperbolic cosine of x, expressed in radians.
+ * @param[in] x Value whose arc hyperbolic cosine is computed. If the argument is less
+ * than 1, a domain error occurs.
+ * @returns Nonnegative arc hyperbolic cosine of x, in the interval [0,+INFINITY] radians.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class ScalarUnit>
+ angle::radian_t acosh(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return angle::radian_t(std::acosh(x()));
+ }
+#endif
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute arc hyperbolic sine
+ * @details Returns the arc hyperbolic sine of x, expressed in radians.
+ * @param[in] x Value whose arc hyperbolic sine is computed.
+ * @returns Arc hyperbolic sine of x, in radians.
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class ScalarUnit>
+ angle::radian_t asinh(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return angle::radian_t(std::asinh(x()));
+ }
+#endif
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute arc hyperbolic tangent
+ * @details Returns the arc hyperbolic tangent of x, expressed in radians.
+ * @param[in] x Value whose arc hyperbolic tangent is computed, in the interval [-1,+1].
+ * If the argument is out of this interval, a domain error occurs. For
+ * values of -1 and +1, a pole error may occur.
+ * @returns units::angle::radian_t
+ */
+#if !defined(DISABLE_PREDEFINED_UNITS) || defined(ENABLE_PREDEFINED_ANGLE_UNITS)
+ template<class ScalarUnit>
+ angle::radian_t atanh(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return angle::radian_t(std::atanh(x()));
+ }
+#endif
+
+ //----------------------------------
+ // TRANSCENDENTAL FUNCTIONS
+ //----------------------------------
+
+ // it makes NO SENSE to put dimensioned units into a transcendental function, and if you think it does you are
+ // demonstrably wrong. https://en.wikipedia.org/wiki/Transcendental_function#Dimensional_analysis
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute exponential function
+ * @details Returns the base-e exponential function of x, which is e raised to the power x: ex.
+ * @param[in] x scalar value of the exponent.
+ * @returns Exponential value of x.
+ * If the magnitude of the result is too large to be represented by a value of the return type, the
+ * function returns HUGE_VAL (or HUGE_VALF or HUGE_VALL) with the proper sign, and an overflow range error occurs
+ */
+ template<class ScalarUnit>
+ dimensionless::scalar_t exp(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return dimensionless::scalar_t(std::exp(x()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute natural logarithm
+ * @details Returns the natural logarithm of x.
+ * @param[in] x scalar value whose logarithm is calculated. If the argument is negative, a
+ * domain error occurs.
+ * @sa log10 for more common base-10 logarithms
+ * @returns Natural logarithm of x.
+ */
+ template<class ScalarUnit>
+ dimensionless::scalar_t log(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return dimensionless::scalar_t(std::log(x()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute common logarithm
+ * @details Returns the common (base-10) logarithm of x.
+ * @param[in] x Value whose logarithm is calculated. If the argument is negative, a
+ * domain error occurs.
+ * @returns Common logarithm of x.
+ */
+ template<class ScalarUnit>
+ dimensionless::scalar_t log10(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return dimensionless::scalar_t(std::log10(x()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Break into fractional and integral parts.
+ * @details The integer part is stored in the object pointed by intpart, and the
+ * fractional part is returned by the function. Both parts have the same sign
+ * as x.
+ * @param[in] x scalar value to break into parts.
+ * @param[in] intpart Pointer to an object (of the same type as x) where the integral part
+ * is stored with the same sign as x.
+ * @returns The fractional part of x, with the same sign.
+ */
+ template<class ScalarUnit>
+ dimensionless::scalar_t modf(const ScalarUnit x, ScalarUnit* intpart) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+
+ UNIT_LIB_DEFAULT_TYPE intp;
+ dimensionless::scalar_t fracpart = dimensionless::scalar_t(std::modf(x(), &intp));
+ *intpart = intp;
+ return fracpart;
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute binary exponential function
+ * @details Returns the base-2 exponential function of x, which is 2 raised to the power x: 2^x.
+ * 2param[in] x Value of the exponent.
+ * @returns 2 raised to the power of x.
+ */
+ template<class ScalarUnit>
+ dimensionless::scalar_t exp2(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return dimensionless::scalar_t(std::exp2(x()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute exponential minus one
+ * @details Returns e raised to the power x minus one: e^x-1. For small magnitude values
+ * of x, expm1 may be more accurate than exp(x)-1.
+ * @param[in] x Value of the exponent.
+ * @returns e raised to the power of x, minus one.
+ */
+ template<class ScalarUnit>
+ dimensionless::scalar_t expm1(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return dimensionless::scalar_t(std::expm1(x()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute logarithm plus one
+ * @details Returns the natural logarithm of one plus x. For small magnitude values of
+ * x, logp1 may be more accurate than log(1+x).
+ * @param[in] x Value whose logarithm is calculated. If the argument is less than -1, a
+ * domain error occurs.
+ * @returns The natural logarithm of (1+x).
+ */
+ template<class ScalarUnit>
+ dimensionless::scalar_t log1p(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return dimensionless::scalar_t(std::log1p(x()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute binary logarithm
+ * @details Returns the binary (base-2) logarithm of x.
+ * @param[in] x Value whose logarithm is calculated. If the argument is negative, a
+ * domain error occurs.
+ * @returns The binary logarithm of x: log2x.
+ */
+ template<class ScalarUnit>
+ dimensionless::scalar_t log2(const ScalarUnit x) noexcept
+ {
+ static_assert(traits::is_dimensionless_unit<ScalarUnit>::value, "Type `ScalarUnit` must be a dimensionless unit derived from `unit_t`.");
+ return dimensionless::scalar_t(std::log2(x()));
+ }
+
+ //----------------------------------
+ // POWER FUNCTIONS
+ //----------------------------------
+
+ /* pow is implemented earlier in the library since a lot of the unit definitions depend on it */
+
+ /**
+ * @ingroup UnitMath
+ * @brief computes the square root of <i>value</i>
+ * @details Only implemented for linear_scale units.
+ * @param[in] value `unit_t` derived type to compute the square root of.
+ * @returns new unit_t, whose units are the square root of value's. E.g. if values
+ * had units of `square_meter`, then the return type will have units of
+ * `meter`.
+ * @note `sqrt` provides a _rational approximation_ of the square root of <i>value</i>.
+ * In some cases, _both_ the returned value _and_ conversion factor of the returned
+ * unit type may have errors no larger than `1e-10`.
+ */
+ template<class UnitType, std::enable_if_t<units::traits::has_linear_scale<UnitType>::value, int> = 0>
+ inline auto sqrt(const UnitType& value) noexcept -> unit_t<square_root<typename units::traits::unit_t_traits<UnitType>::unit_type>, typename units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
+ {
+ return unit_t<square_root<typename units::traits::unit_t_traits<UnitType>::unit_type>, typename units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
+ (std::sqrt(value()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Computes the square root of the sum-of-squares of x and y.
+ * @details Only implemented for linear_scale units.
+ * @param[in] x unit_t type value
+ * @param[in] y unit_t type value
+ * @returns square root of the sum-of-squares of x and y in the same units
+ * as x.
+ */
+ template<class UnitTypeLhs, class UnitTypeRhs, std::enable_if_t<units::traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
+ inline UnitTypeLhs hypot(const UnitTypeLhs& x, const UnitTypeRhs& y)
+ {
+ static_assert(traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value, "Parameters of hypot() function are not compatible units.");
+ return UnitTypeLhs(std::hypot(x(), y.template convert<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>()()));
+ }
+
+ //----------------------------------
+ // ROUNDING FUNCTIONS
+ //----------------------------------
+
+ /**
+ * @ingroup UnitMath
+ * @brief Round up value
+ * @details Rounds x upward, returning the smallest integral value that is not less than x.
+ * @param[in] x Unit value to round up.
+ * @returns The smallest integral value that is not less than x.
+ */
+ template<class UnitType, class = std::enable_if_t<traits::is_unit_t<UnitType>::value>>
+ UnitType ceil(const UnitType x) noexcept
+ {
+ return UnitType(std::ceil(x()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Round down value
+ * @details Rounds x downward, returning the largest integral value that is not greater than x.
+ * @param[in] x Unit value to round down.
+ * @returns The value of x rounded downward.
+ */
+ template<class UnitType, class = std::enable_if_t<traits::is_unit_t<UnitType>::value>>
+ UnitType floor(const UnitType x) noexcept
+ {
+ return UnitType(std::floor(x()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute remainder of division
+ * @details Returns the floating-point remainder of numer/denom (rounded towards zero).
+ * @param[in] numer Value of the quotient numerator.
+ * @param[in] denom Value of the quotient denominator.
+ * @returns The remainder of dividing the arguments.
+ */
+ template<class UnitTypeLhs, class UnitTypeRhs, class = std::enable_if_t<traits::is_unit_t<UnitTypeLhs>::value && traits::is_unit_t<UnitTypeRhs>::value>>
+ UnitTypeLhs fmod(const UnitTypeLhs numer, const UnitTypeRhs denom) noexcept
+ {
+ static_assert(traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value, "Parameters of fmod() function are not compatible units.");
+ return UnitTypeLhs(std::fmod(numer(), denom.template convert<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>()()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Truncate value
+ * @details Rounds x toward zero, returning the nearest integral value that is not
+ * larger in magnitude than x. Effectively rounds towards 0.
+ * @param[in] x Value to truncate
+ * @returns The nearest integral value that is not larger in magnitude than x.
+ */
+ template<class UnitType, class = std::enable_if_t<traits::is_unit_t<UnitType>::value>>
+ UnitType trunc(const UnitType x) noexcept
+ {
+ return UnitType(std::trunc(x()));
+ }
+
+
+ /**
+ * @ingroup UnitMath
+ * @brief Round to nearest
+ * @details Returns the integral value that is nearest to x, with halfway cases rounded
+ * away from zero.
+ * @param[in] x value to round.
+ * @returns The value of x rounded to the nearest integral.
+ */
+ template<class UnitType, class = std::enable_if_t<traits::is_unit_t<UnitType>::value>>
+ UnitType round(const UnitType x) noexcept
+ {
+ return UnitType(std::round(x()));
+ }
+
+ //----------------------------------
+ // FLOATING POINT MANIPULATION
+ //----------------------------------
+
+ /**
+ * @ingroup UnitMath
+ * @brief Copy sign
+ * @details Returns a value with the magnitude and dimension of x, and the sign of y.
+ * Values x and y do not have to be compatible units.
+ * @param[in] x Value with the magnitude of the resulting value.
+ * @param[in] y Value with the sign of the resulting value.
+ * @returns value with the magnitude and dimension of x, and the sign of y.
+ */
+ template<class UnitTypeLhs, class UnitTypeRhs, class = std::enable_if_t<traits::is_unit_t<UnitTypeLhs>::value && traits::is_unit_t<UnitTypeRhs>::value>>
+ UnitTypeLhs copysign(const UnitTypeLhs x, const UnitTypeRhs y) noexcept
+ {
+ return UnitTypeLhs(std::copysign(x(), y())); // no need for conversion to get the correct sign.
+ }
+
+ /// Overload to copy the sign from a raw double
+ template<class UnitTypeLhs, class = std::enable_if_t<traits::is_unit_t<UnitTypeLhs>::value>>
+ UnitTypeLhs copysign(const UnitTypeLhs x, const UNIT_LIB_DEFAULT_TYPE y) noexcept
+ {
+ return UnitTypeLhs(std::copysign(x(), y));
+ }
+
+ //----------------------------------
+ // MIN / MAX / DIFFERENCE
+ //----------------------------------
+
+ /**
+ * @ingroup UnitMath
+ * @brief Positive difference
+ * @details The function returns x-y if x>y, and zero otherwise, in the same units as x.
+ * Values x and y do not have to be the same type of units, but they do have to
+ * be compatible.
+ * @param[in] x Values whose difference is calculated.
+ * @param[in] y Values whose difference is calculated.
+ * @returns The positive difference between x and y.
+ */
+ template<class UnitTypeLhs, class UnitTypeRhs, class = std::enable_if_t<traits::is_unit_t<UnitTypeLhs>::value && traits::is_unit_t<UnitTypeRhs>::value>>
+ UnitTypeLhs fdim(const UnitTypeLhs x, const UnitTypeRhs y) noexcept
+ {
+ static_assert(traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value, "Parameters of fdim() function are not compatible units.");
+ return UnitTypeLhs(std::fdim(x(), y.template convert<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>()()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Maximum value
+ * @details Returns the larger of its arguments: either x or y, in the same units as x.
+ * Values x and y do not have to be the same type of units, but they do have to
+ * be compatible.
+ * @param[in] x Values among which the function selects a maximum.
+ * @param[in] y Values among which the function selects a maximum.
+ * @returns The maximum numeric value of its arguments.
+ */
+ template<class UnitTypeLhs, class UnitTypeRhs, class = std::enable_if_t<traits::is_unit_t<UnitTypeLhs>::value && traits::is_unit_t<UnitTypeRhs>::value>>
+ UnitTypeLhs fmax(const UnitTypeLhs x, const UnitTypeRhs y) noexcept
+ {
+ static_assert(traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value, "Parameters of fmax() function are not compatible units.");
+ return UnitTypeLhs(std::fmax(x(), y.template convert<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>()()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Minimum value
+ * @details Returns the smaller of its arguments: either x or y, in the same units as x.
+ * If one of the arguments in a NaN, the other is returned.
+ * Values x and y do not have to be the same type of units, but they do have to
+ * be compatible.
+ * @param[in] x Values among which the function selects a minimum.
+ * @param[in] y Values among which the function selects a minimum.
+ * @returns The minimum numeric value of its arguments.
+ */
+ template<class UnitTypeLhs, class UnitTypeRhs, class = std::enable_if_t<traits::is_unit_t<UnitTypeLhs>::value && traits::is_unit_t<UnitTypeRhs>::value>>
+ UnitTypeLhs fmin(const UnitTypeLhs x, const UnitTypeRhs y) noexcept
+ {
+ static_assert(traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value, "Parameters of fmin() function are not compatible units.");
+ return UnitTypeLhs(std::fmin(x(), y.template convert<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>()()));
+ }
+
+ //----------------------------------
+ // OTHER FUNCTIONS
+ //----------------------------------
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute absolute value
+ * @details Returns the absolute value of x, i.e. |x|.
+ * @param[in] x Value whose absolute value is returned.
+ * @returns The absolute value of x.
+ */
+ template<class UnitType, class = std::enable_if_t<traits::is_unit_t<UnitType>::value>>
+ UnitType fabs(const UnitType x) noexcept
+ {
+ return UnitType(std::fabs(x()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Compute absolute value
+ * @details Returns the absolute value of x, i.e. |x|.
+ * @param[in] x Value whose absolute value is returned.
+ * @returns The absolute value of x.
+ */
+ template<class UnitType, class = std::enable_if_t<traits::is_unit_t<UnitType>::value>>
+ UnitType abs(const UnitType x) noexcept
+ {
+ return UnitType(std::fabs(x()));
+ }
+
+ /**
+ * @ingroup UnitMath
+ * @brief Multiply-add
+ * @details Returns x*y+z. The function computes the result without losing precision in
+ * any intermediate result. The resulting unit type is a compound unit of x* y.
+ * @param[in] x Values to be multiplied.
+ * @param[in] y Values to be multiplied.
+ * @param[in] z Value to be added.
+ * @returns The result of x*y+z
+ */
+ template<class UnitTypeLhs, class UnitMultiply, class UnitAdd, class = std::enable_if_t<traits::is_unit_t<UnitTypeLhs>::value && traits::is_unit_t<UnitMultiply>::value && traits::is_unit_t<UnitAdd>::value>>
+ auto fma(const UnitTypeLhs x, const UnitMultiply y, const UnitAdd z) noexcept -> decltype(x * y)
+ {
+ using resultType = decltype(x * y);
+ static_assert(traits::is_convertible_unit_t<compound_unit<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type, typename units::traits::unit_t_traits<UnitMultiply>::unit_type>, typename units::traits::unit_t_traits<UnitAdd>::unit_type>::value, "Unit types are not compatible.");
+ return resultType(std::fma(x(), y(), resultType(z)()));
+ }
+
+ } // end namespace math
+} // end namespace units
+
+//------------------------------
+// std::numeric_limits
+//------------------------------
+
+namespace std
+{
+ template<class Units, typename T, template<typename> class NonLinearScale>
+ class numeric_limits<units::unit_t<Units, T, NonLinearScale>>
+ {
+ public:
+ static constexpr units::unit_t<Units, T, NonLinearScale> min()
+ {
+ return units::unit_t<Units, T, NonLinearScale>(std::numeric_limits<T>::min());
+ }
+ static constexpr units::unit_t<Units, T, NonLinearScale> max()
+ {
+ return units::unit_t<Units, T, NonLinearScale>(std::numeric_limits<T>::max());
+ }
+ static constexpr units::unit_t<Units, T, NonLinearScale> lowest()
+ {
+ return units::unit_t<Units, T, NonLinearScale>(std::numeric_limits<T>::lowest());
+ }
+ static constexpr bool is_integer = std::numeric_limits<T>::is_integer;
+ static constexpr bool is_signed = std::numeric_limits<T>::is_signed;
+ };
+}
+
+#ifdef _MSC_VER
+# if _MSC_VER <= 1800
+# pragma warning(pop)
+# undef constexpr
+# pragma pop_macro("constexpr")
+# undef noexcept
+# pragma pop_macro("noexcept")
+# undef _ALLOW_KEYWORD_MACROS
+# endif // _MSC_VER < 1800
+# pragma pop_macro("pascal")
+#endif // _MSC_VER
+
+#endif // units_h__
+
+// For Emacs
+// Local Variables:
+// Mode: C++
+// c-basic-offset: 2
+// fill-column: 116
+// tab-width: 4
+// End:
diff --git a/sim/include/agentBlueprintInterface.h b/sim/include/agentBlueprintInterface.h
index ac1993c1de46b4af2ef8f8155f8f828e1029409c..4a2704eb0cdbb4abd1895af06c189300f8f14dbd 100644
--- a/sim/include/agentBlueprintInterface.h
+++ b/sim/include/agentBlueprintInterface.h
@@ -15,14 +15,15 @@
//! with the framework.
//-----------------------------------------------------------------------------
+#include <MantleAPI/Traffic/entity_properties.h>
#include <string>
#include <unordered_map>
#include "common/globalDefinitions.h"
#include "common/worldDefinitions.h"
-
#include "include/agentTypeInterface.h"
#include "include/profilesInterface.h"
+#include "include/controlStrategiesInterface.h"
#pragma once
@@ -38,51 +39,28 @@ struct Route
struct SpawnParameter
{
- double positionX = -999;
- double positionY = -999;
- double velocity = -999;
- double acceleration = -999;
- double gear = -999;
- double yawAngle = -999;
+ mantle_api::Vec3<units::length::meter_t> position{0.0_m, 0.0_m, 0.0_m};
+ units::velocity::meters_per_second_t velocity{0.0_mps};
+ units::acceleration::meters_per_second_squared_t acceleration{0.0_mps_sq};
+ mantle_api::Orientation3<units::angle::radian_t> orientation{0.0_rad, 0.0_rad, 0.0_rad};
+ double gear = 0.0;
Route route{};
};
-class AgentBlueprintInterface
+struct System
{
-public:
- AgentBlueprintInterface() = default;
- virtual ~AgentBlueprintInterface() = default;
-
- //Setter
- virtual void SetVehicleComponentProfileNames(VehicleComponentProfileNames vehicleComponentProfileName) = 0;
- virtual void SetAgentCategory(AgentCategory agentCategory) = 0;
- virtual void SetAgentProfileName(std::string agentTypeName) = 0;
- virtual void SetVehicleProfileName(std::string vehicleModelName) = 0;
- virtual void SetVehicleModelName(std::string vehicleModelName) = 0;
- virtual void SetVehicleModelParameters(VehicleModelParameters vehicleModelParameters) = 0;
- virtual void SetDriverProfileName(std::string driverProfileName) = 0;
- virtual void SetSpawnParameter(SpawnParameter spawnParameter) = 0;
- virtual void SetSpeedGoalMin(double speedGoalMin) = 0;
- virtual void SetAgentType(std::shared_ptr<core::AgentTypeInterface> agentType) = 0;
-
- virtual void AddSensor(openpass::sensors::Parameter parameters) = 0;
-
- virtual AgentCategory GetAgentCategory() const = 0;
- virtual std::string GetAgentProfileName() const = 0;
- virtual std::string GetVehicleProfileName() const = 0;
- virtual std::string GetVehicleModelName() const = 0;
- virtual std::string GetDriverProfileName() const = 0;
- virtual std::string GetObjectName() const = 0;
-
- virtual VehicleModelParameters GetVehicleModelParameters() const = 0;
- virtual openpass::sensors::Parameters GetSensorParameters() const = 0;
- virtual VehicleComponentProfileNames GetVehicleComponentProfileNames() const = 0;
- virtual core::AgentTypeInterface& GetAgentType() const = 0;
- virtual SpawnParameter& GetSpawnParameter() = 0;
- virtual const SpawnParameter& GetSpawnParameter() const = 0;
- virtual double GetSpeedGoalMin() const = 0;
-
- virtual void SetObjectName(std::string objectName) = 0;
+ std::shared_ptr<core::AgentTypeInterface> agentType;
+ std::string agentProfileName;
+ std::string driverProfileName;
+ openpass::sensors::Parameters sensorParameters;
};
-
+struct AgentBuildInstructions
+{
+ std::string name;
+ AgentCategory agentCategory;
+ std::shared_ptr<const mantle_api::EntityProperties> entityProperties;
+ System system;
+ SpawnParameter spawnParameter;
+ std::shared_ptr<ControlStrategiesInterface> controlStrategies;
+};
diff --git a/sim/include/agentBlueprintProviderInterface.h b/sim/include/agentBlueprintProviderInterface.h
index 90b3e68e579025e35528befe5a6c0435dd5b1371..3d952a58706963380df2347e8324ad33c82d0fde 100644
--- a/sim/include/agentBlueprintProviderInterface.h
+++ b/sim/include/agentBlueprintProviderInterface.h
@@ -17,9 +17,8 @@
#pragma once
#include <optional>
-#include "common/openScenarioDefinitions.h"
+#include "include/agentBlueprintInterface.h"
-class AgentBlueprint;
class AgentBlueprintProviderInterface
{
public:
@@ -36,6 +35,8 @@ public:
*
* @return Sampled AgentBlueprint if successful
*/
- virtual AgentBlueprint SampleAgent(const std::string& agentProfileName, const openScenario::Parameters& assignedParameters) const = 0;
+ virtual System SampleSystem(const std::string &agentProfileName) const = 0;
+
+ virtual std::string SampleVehicleModelName(const std::string &agentProfileName) const = 0;
};
diff --git a/sim/include/agentFactoryInterface.h b/sim/include/agentFactoryInterface.h
index 55a5e138f15f4deaf6b82780083fe134397aa60c..9113681fe9f470f423ef61f177cb46195bc17aba 100644
--- a/sim/include/agentFactoryInterface.h
+++ b/sim/include/agentFactoryInterface.h
@@ -51,7 +51,7 @@ public:
//!
//! @return The added agent
//-----------------------------------------------------------------------------
- virtual Agent *AddAgent(AgentBlueprintInterface* agentBlueprint) = 0;
+ virtual Agent *AddAgent(const AgentBuildInstructions& agentBuildInstructions) = 0;
};
} //namespace core
diff --git a/sim/include/agentInterface.h b/sim/include/agentInterface.h
index 6d3146774aaa8c2bf3eaf8101293321248b505f0..3e10ccb395cd5238ecdbad4862bb2dd6ecf64091 100644
--- a/sim/include/agentInterface.h
+++ b/sim/include/agentInterface.h
@@ -18,6 +18,7 @@
#pragma once
+#include <MantleAPI/Traffic/entity_properties.h>
#include <map>
#include <vector>
@@ -47,7 +48,7 @@ public:
virtual ~AgentInterface() = default;
//! Returns the EgoAgent corresponding to this agent
- virtual EgoAgentInterface& GetEgoAgent() = 0;
+ virtual EgoAgentInterface &GetEgoAgent() = 0;
//-----------------------------------------------------------------------------
//! Retrieves the type key of an agent
@@ -59,9 +60,9 @@ public:
//-----------------------------------------------------------------------------
//! Retrieves all vehicle model parameters of agent
//!
- //! @return VehicleModelParameters of agent
+ //! @return mantle_api::VehicleProperties of agent
//-----------------------------------------------------------------------------
- virtual VehicleModelParameters GetVehicleModelParameters() const = 0;
+ virtual std::shared_ptr<const mantle_api::EntityProperties> GetVehicleModelParameters() const = 0;
//-----------------------------------------------------------------------------
//! Retrieves name of driver profile of agent
@@ -131,28 +132,28 @@ public:
//!
//! @param[in] positionX X-coordinate
//-----------------------------------------------------------------------------
- virtual void SetPositionX(double positionX) = 0;
+ virtual void SetPositionX(units::length::meter_t positionX) = 0;
//-----------------------------------------------------------------------------
//! Sets y-coordinate of agent
//!
//! @param[in] positionY Y-coordinate
//-----------------------------------------------------------------------------
- virtual void SetPositionY(double positionY) = 0;
+ virtual void SetPositionY(units::length::meter_t positionY) = 0;
//-----------------------------------------------------------------------------
//! Sets the agents vehicle model parameter
//!
//! @param[in] parameter New vehicle model paramter
//-----------------------------------------------------------------------------
- virtual void SetVehicleModelParameter (const VehicleModelParameters ¶meter) = 0;
+ virtual void SetVehicleModelParameter(const std::shared_ptr<const mantle_api::EntityProperties> parameter) = 0;
//-----------------------------------------------------------------------------
//! Sets forward velocity of agent
//!
//! @param[in] velocityX Forward velocity
//-----------------------------------------------------------------------------
- virtual void SetVelocity(double value) = 0;
+ virtual void SetVelocity(units::velocity::meters_per_second_t value) = 0;
//-----------------------------------------------------------------------------
//! Sets velocity of agent
@@ -161,42 +162,42 @@ public:
//! @param[in] vy Sideward velocity
//! @param[in] vz Upward velocity
//-----------------------------------------------------------------------------
- virtual void SetVelocityVector(double vx, double vy, double vz) = 0;
+ virtual void SetVelocityVector(const mantle_api::Vec3<units::velocity::meters_per_second_t> &velocity) = 0;
//-----------------------------------------------------------------------------
//! Sets forward acceleration of agent
//!
//! @param[in] accelerationX forward acceleration
//-----------------------------------------------------------------------------
- virtual void SetAcceleration(double value) = 0;
+ virtual void SetAcceleration(units::acceleration::meters_per_second_squared_t value) = 0;
//-----------------------------------------------------------------------------
//! Sets yaw angle of agent
//!
//! @param[in] yawAngle agent orientation
//-----------------------------------------------------------------------------
- virtual void SetYaw(double value) = 0;
+ virtual void SetYaw(units::angle::radian_t value) = 0;
//-----------------------------------------------------------------------------
//! Sets roll angle of agent
//!
//! @param[in] yawAngle agent orientation
//-----------------------------------------------------------------------------
- virtual void SetRoll(double value) = 0;
+ virtual void SetRoll(units::angle::radian_t value) = 0;
//-----------------------------------------------------------------------------
//! Sets the total traveled distance of agent
//!
//! @param[in] distanceTraveled total traveled distance
//-----------------------------------------------------------------------------
- virtual void SetDistanceTraveled(double distanceTraveled) = 0;
+ virtual void SetDistanceTraveled(units::length::meter_t distanceTraveled) = 0;
//-----------------------------------------------------------------------------
//! Returns the total traveled distance of agent
//!
//! @return total traveled distance
//-----------------------------------------------------------------------------
- virtual double GetDistanceTraveled() const = 0;
+ virtual units::length::meter_t GetDistanceTraveled() const = 0;
//-----------------------------------------------------------------------------
//! Sets gear of vehicle
@@ -210,7 +211,7 @@ public:
//!
//! @param[in] engineSpeed current engineSpeed
//-----------------------------------------------------------------------------
- virtual void SetEngineSpeed(double engineSpeed) = 0;
+ virtual void SetEngineSpeed(units::angular_velocity::revolutions_per_minute_t engineSpeed) = 0;
//-----------------------------------------------------------------------------
//! Sets current position of acceleration pedal in percent
@@ -231,28 +232,28 @@ public:
//!
//! @param[in] steeringWheelAngle current steering wheel angle
//-----------------------------------------------------------------------------
- virtual void SetSteeringWheelAngle(double steeringWheelAngle) = 0;
+ virtual void SetSteeringWheelAngle(units::angle::radian_t steeringWheelAngle) = 0;
//-----------------------------------------------------------------------------
//! Sets the rotation rate of the wheels and updates their rotation, assumes RWD
//!
//! @param[in] steeringWheelAngle current steering wheel angle
//-----------------------------------------------------------------------------
- virtual void SetWheelsRotationRateAndOrientation(double steeringWheelAngle, double velocity, double acceleration) = 0;
+ virtual void SetWheelsRotationRateAndOrientation(units::angle::radian_t steeringWheelAngle, units::velocity::meters_per_second_t velocity, units::acceleration::meters_per_second_squared_t acceleration) = 0;
//-----------------------------------------------------------------------------
//! Sets maximum acceleration of the vehicle
//!
//! @param[in] maxAcceleration maximum acceleration
//-----------------------------------------------------------------------------
- virtual void SetMaxAcceleration(double maxAcceleration) = 0;
+ virtual void SetMaxAcceleration(units::acceleration::meters_per_second_squared_t maxAcceleration) = 0;
//-----------------------------------------------------------------------------
//! Sets maximum deceleration of the vehicle
//!
//! @param[in] maxDeceleration maximum deceleration
//-----------------------------------------------------------------------------
- virtual void SetMaxDeceleration(double maxDeceleration) = 0;
+ virtual void SetMaxDeceleration(units::acceleration::meters_per_second_squared_t maxDeceleration) = 0;
//-----------------------------------------------------------------------------
//! update list with collision partners
@@ -344,7 +345,6 @@ public:
//-----------------------------------------------------------------------------
virtual bool GetHighBeamLight() const = 0;
-
//-----------------------------------------------------------------------------
//! Returns the status of lights
//!
@@ -373,7 +373,7 @@ public:
//! @param[in] agentBlueprint Blueprint holding parameters such as dimensions
//! of a vehicle, or its initial spawning velocity
//-----------------------------------------------------------------------------
- virtual void InitParameter(const AgentBlueprintInterface& agentBlueprint) = 0;
+ virtual void InitParameter(const AgentBuildInstructions &agentBuildInstructions) = 0;
//-----------------------------------------------------------------------------
//! Returns true if agent is still in World located.
@@ -400,7 +400,7 @@ public:
//! \param ownConnectorId OpenDrive id of the connecting road that this agent is assumed to drive on
//!
//! \return distance of front of agent to the intersecting lane
- virtual double GetDistanceToConnectorEntrance(std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const = 0;
+ virtual units::length::meter_t GetDistanceToConnectorEntrance(std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const = 0;
//! Returns the s coordinate distance from the rear of the agent to the furthest point where his lane intersects another.
//! As the agent may not yet be on the junction, it has to be specified which connecting road he will take in the junction
@@ -410,63 +410,63 @@ public:
//! \param ownConnectorId OpenDrive id of the connecting road that this agent is assumed to drive on
//!
//! \return distance of rear of agent to the farther side of the intersecting lane
- virtual double GetDistanceToConnectorDeparture(std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const = 0;
+ virtual units::length::meter_t GetDistanceToConnectorDeparture(std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const = 0;
//-----------------------------------------------------------------------------
//! Retrieve the yaw rate of the agent.
//!
//! @return
//-----------------------------------------------------------------------------
- virtual double GetYawRate() const = 0;
+ virtual units::angular_velocity::radians_per_second_t GetYawRate() const = 0;
//-----------------------------------------------------------------------------
//! Set the yaw rate of the agent.
//!
//! @return
//-----------------------------------------------------------------------------
- virtual void SetYawRate(double yawRate) = 0;
+ virtual void SetYawRate(units::angular_velocity::radians_per_second_t yawRate) = 0;
//-----------------------------------------------------------------------------
//! Retrieve the yaw acceleration of the agent.
//!
//! @return
//-----------------------------------------------------------------------------
- virtual double GetYawAcceleration() const = 0;
+ virtual units::angular_acceleration::radians_per_second_squared_t GetYawAcceleration() const = 0;
//-----------------------------------------------------------------------------
//! Set the yaw acceleration of the agent.
//!
//! @return
//-----------------------------------------------------------------------------
- virtual void SetYawAcceleration(double yawAcceleration) = 0;
+ virtual void SetYawAcceleration(units::angular_acceleration::radians_per_second_squared_t yawAcceleration) = 0;
//-----------------------------------------------------------------------------
//! Retrieve the centripetal acceleration of the agent.
//!
//! @return Centripetal acceleration [m/s^2]
//-----------------------------------------------------------------------------
- virtual double GetCentripetalAcceleration() const = 0;
+ virtual units::acceleration::meters_per_second_squared_t GetCentripetalAcceleration() const = 0;
//-----------------------------------------------------------------------------
//! Retrieve the tangential acceleration of the agent.
//!
//! @return Tangential acceleration [m/s^2]
//-----------------------------------------------------------------------------
- virtual double GetTangentialAcceleration() const = 0;
+ virtual units::acceleration::meters_per_second_squared_t GetTangentialAcceleration() const = 0;
//-----------------------------------------------------------------------------
//! Set the centripetal acceleration of the agent.
//!
//! @param[in] centripetalAcceleration The acceleration to set [m/s^2]
//-----------------------------------------------------------------------------
- virtual void SetCentripetalAcceleration(double centripetalAcceleration) = 0;
+ virtual void SetCentripetalAcceleration(units::acceleration::meters_per_second_squared_t centripetalAcceleration) = 0;
//-----------------------------------------------------------------------------
//! Set the tangential acceleration of the agent.
//!
//! @param[in] tangentialAcceleration The acceleration to set [m/s^2]
//-----------------------------------------------------------------------------
- virtual void SetTangentialAcceleration(double tangentialAcceleration) = 0;
+ virtual void SetTangentialAcceleration(units::acceleration::meters_per_second_squared_t tangentialAcceleration) = 0;
//-----------------------------------------------------------------------------
//! Retrieve the ids of the roads the agent is on
@@ -476,9 +476,9 @@ public:
//-----------------------------------------------------------------------------
virtual std::vector<std::string> GetRoads(ObjectPoint point) const = 0;
- virtual double GetDistanceReferencePointToLeadingEdge() const = 0;
+ virtual units::length::meter_t GetDistanceReferencePointToLeadingEdge() const = 0;
- virtual double GetEngineSpeed() const = 0;
+ virtual units::angular_velocity::revolutions_per_minute_t GetEngineSpeed() const = 0;
//-----------------------------------------------------------------------------
//! Gets current position of acceleration pedal in percent
@@ -499,19 +499,21 @@ public:
//!
//! @return current steering wheel angle
//-----------------------------------------------------------------------------
- virtual double GetSteeringWheelAngle() const = 0;
+ virtual units::angle::radian_t GetSteeringWheelAngle() const = 0;
- virtual double GetMaxAcceleration() const = 0;
- virtual double GetMaxDeceleration() const = 0;
+ virtual units::acceleration::meters_per_second_squared_t GetMaxAcceleration() const = 0;
+ virtual units::acceleration::meters_per_second_squared_t GetMaxDeceleration() const = 0;
//-----------------------------------------------------------------------------
//! Retrieves the minimum speed goal of agent
//!
//! @return Speed Goal Min
//-----------------------------------------------------------------------------
- virtual double GetSpeedGoalMin() const = 0;
+ virtual units::velocity::meters_per_second_t GetSpeedGoalMin() const = 0;
- virtual const openpass::sensors::Parameters& GetSensorParameters() const = 0;
+ virtual const openpass::sensors::Parameters &GetSensorParameters() const = 0;
virtual void SetSensorParameters(openpass::sensors::Parameters sensorParameters) = 0;
+
+ virtual units::length::meter_t GetWheelbase() const = 0;
};
diff --git a/sim/include/configurationContainerInterface.h b/sim/include/configurationContainerInterface.h
index 2cdf5c4a6b0b91af38a93c752d01b5ba439c8e79..2ad481877c53ae4d63573bd0dc71af4797dbf161 100644
--- a/sim/include/configurationContainerInterface.h
+++ b/sim/include/configurationContainerInterface.h
@@ -16,7 +16,6 @@
#include "include/simulationConfigInterface.h"
#include "include/profilesInterface.h"
#include "include/sceneryInterface.h"
-#include "include/scenarioInterface.h"
#include "include/systemConfigInterface.h"
#include "include/vehicleModelsInterface.h"
@@ -29,9 +28,6 @@ public:
virtual std::shared_ptr<SystemConfigInterface> GetSystemConfigBlueprint() const = 0;
virtual const SimulationConfigInterface* GetSimulationConfig() const = 0;
virtual const ProfilesInterface* GetProfiles() const = 0;
- virtual const SceneryInterface* GetScenery() const = 0;
- virtual const ScenarioInterface* GetScenario() const = 0;
virtual const std::map<std::string, std::shared_ptr<SystemConfigInterface>>& GetSystemConfigs() const = 0;
- virtual const VehicleModelsInterface* GetVehicleModels() const = 0;
virtual const openpass::common::RuntimeInformation& GetRuntimeInformation() const = 0;
};
diff --git a/sim/include/controlStrategiesInterface.h b/sim/include/controlStrategiesInterface.h
new file mode 100644
index 0000000000000000000000000000000000000000..335efae08bd0a50e11deb0680cd3ace07a19e9ee
--- /dev/null
+++ b/sim/include/controlStrategiesInterface.h
@@ -0,0 +1,38 @@
+/********************************************************************************
+ * 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
+ * http://www.eclipse.org/legal/epl-2.0.
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ ********************************************************************************/
+
+//-----------------------------------------------------------------------------
+//! @file controlStrategiesInterface.h
+//! @brief This interfaces provies access to the control strategies of a single entity
+//-----------------------------------------------------------------------------
+
+#include <limits>
+#include <memory>
+
+#include "MantleAPI/Traffic/control_strategy.h"
+
+#pragma once
+
+class ControlStrategiesInterface
+{
+public:
+ ControlStrategiesInterface() = default;
+ virtual ~ControlStrategiesInterface() = default;
+
+ virtual std::vector<std::shared_ptr<mantle_api::ControlStrategy>> GetStrategies(mantle_api::ControlStrategyType type) = 0;
+
+ virtual void SetStrategies(std::vector<std::shared_ptr<mantle_api::ControlStrategy>> strategies) = 0;
+
+ virtual const std::vector<std::string>& GetCustomCommands() = 0;
+
+ virtual void AddCustomCommand(const std::string& command) = 0;
+
+ virtual void ResetCustomCommands() = 0;
+};
\ No newline at end of file
diff --git a/sim/include/egoAgentInterface.h b/sim/include/egoAgentInterface.h
index 3f3a9f1c6ff64c353107adc459890f343b85ba5a..8cd75f07042275a7da940d9c0eaaf8b410e2068d 100644
--- a/sim/include/egoAgentInterface.h
+++ b/sim/include/egoAgentInterface.h
@@ -11,8 +11,12 @@
#pragma once
+#include "common/namedType.h"
#include "include/agentInterface.h"
+using namespace units::literals;
+using namespace openpass::type;
+
template <typename ... QueryPack>
using Predicate = std::function<bool(QueryPack ...)>;
@@ -22,26 +26,12 @@ using Compare = std::function<bool(std::pair<QueryPack, QueryPack>...)>;
template <typename T>
using ExecuteReturn = std::tuple<std::vector<T>>;
-template <typename T, typename Tag>
-struct NamedType
-{
- T value;
-
- NamedType (T value) :
- value(value) {}
-
- operator T() const
- {
- return value;
- }
-};
-
-using DistanceToEndOfLane = NamedType<double, struct DistanceType>;
+using DistanceToEndOfLane = NamedType<units::length::meter_t, struct DistanceType>;
//! Parameters of GetDistanceToEndOfLane
struct DistanceToEndOfLaneParameter
{
- double range;
+ units::length::meter_t range;
int relativeLane;
};
@@ -50,8 +40,8 @@ using ObjectsInRange = NamedType<std::vector<const WorldObjectInterface*>, struc
//! Parameters of GetObjectsInRange
struct ObjectsInRangeParameter
{
- double backwardRange;
- double forwardRange;
+ units::length::meter_t backwardRange;
+ units::length::meter_t forwardRange;
int relativeLane;
};
@@ -111,11 +101,11 @@ public:
virtual const std::string& GetRoadId() const = 0;
//! Returns the velocity of the own agent taking the route into account
- virtual double GetVelocity(VelocityScope velocityScope) const = 0;
+ virtual units::velocity::meters_per_second_t GetVelocity(VelocityScope velocityScope) const = 0;
//! Returns the velocity of another object taking the own route into account
//! This means that, if the other object is an agent driving in opposite direction the longitudinal velocity will be negative
- virtual double GetVelocity(VelocityScope velocityScope, const WorldObjectInterface* object) const = 0;
+ virtual units::velocity::meters_per_second_t GetVelocity(VelocityScope velocityScope, const WorldObjectInterface* object) const = 0;
//! Return the distane to the end of the driving lane (i.e. as defined by the corresponding
//! WorldInterface function) along the set route. Returns infinity if the end is father away than the range
@@ -123,16 +113,16 @@ public:
//! \param range maximum search range (calculated from MainLaneLocator)
//! \param relativeLane lane id relative to own lane (in driving direction)
//! \return remaining distance (calculated from MainLaneLocator)
- virtual double GetDistanceToEndOfLane(double range, int relativeLane = 0) const = 0;
+ virtual units::length::meter_t GetDistanceToEndOfLane(units::length::meter_t range, int relativeLane = 0) const = 0;
- virtual double GetDistanceToEndOfLane(double range, int relativeLane, const LaneTypes& acceptableLaneTypes) const = 0;
+ virtual units::length::meter_t GetDistanceToEndOfLane(units::length::meter_t range, int relativeLane, const LaneTypes& acceptableLaneTypes) const = 0;
//! Returns all lane along the route relative the agent (i.e. the driving view of the agent)
//!
//! \param range maximum search range (calculated from MainLaneLocator)
//! \param relativeLane lane id relative to own lane (in driving direction)
//! \return lanes relative to agent
- virtual RelativeWorldView::Lanes GetRelativeLanes(double range, int relativeLane = 0, bool includeOncoming = true) const = 0;
+ virtual RelativeWorldView::Lanes GetRelativeLanes(units::length::meter_t range, int relativeLane = 0, bool includeOncoming = true) const = 0;
//! Returns the relative lane of the ReferencePoint or MainLocatePoint of another object
//!
@@ -141,13 +131,13 @@ public:
//! \return relative lane id
virtual std::optional<int> GetRelativeLaneId(const WorldObjectInterface* object, ObjectPoint point) const = 0;
- [[deprecated]] virtual RelativeWorldView::Roads GetRelativeJunctions(double range) const = 0;
+ [[deprecated]] virtual RelativeWorldView::Roads GetRelativeJunctions(units::length::meter_t range) const = 0;
//! Returns the relative distances (start and end) and the road id of all roads on the route in range
//!
//! \param range range of search
//! \return information about all roads in range
- virtual RelativeWorldView::Roads GetRelativeRoads(double range) const = 0;
+ virtual RelativeWorldView::Roads GetRelativeRoads(units::length::meter_t range) const = 0;
//! Returns all WorldObjects around the agent inside the specified range on the specified
//! lane along the route
@@ -156,7 +146,7 @@ public:
//! \param forwardRange search range against driving direction (calculated from MainLaneLocator)
//! \param relativeLane lane id relative to own lane (in driving direction)
//! \return objects in range
- virtual std::vector<const WorldObjectInterface*> GetObjectsInRange(double backwardRange, double forwardRange, int relativeLane = 0) const = 0;
+ virtual std::vector<const WorldObjectInterface*> GetObjectsInRange(units::length::meter_t backwardRange, units::length::meter_t forwardRange, int relativeLane = 0) const = 0;
//! Returns all Agents around the agent inside the specified range on the specified
//! lane along the route
@@ -165,7 +155,7 @@ public:
//! \param forwardRange search range against driving direction (calculated from MainLaneLocator)
//! \param relativeLane lane id relative to own lane (in driving direction)
//! \return agents in range
- virtual AgentInterfaces GetAgentsInRange(double backwardRange, double forwardRange, int relativeLane = 0) const = 0;
+ virtual AgentInterfaces GetAgentsInRange(units::length::meter_t backwardRange, units::length::meter_t forwardRange, int relativeLane = 0) const = 0;
//! Returns all TrafficSigns in front of the agent inside the specified range on the specified
//! lane along the route
@@ -173,7 +163,7 @@ public:
//! \param range search range (calculated from MainLaneLocator)
//! \param relativeLane lane id relative to own lane (in driving direction)
//! \return traffic signs in range
- virtual std::vector<CommonTrafficSign::Entity> GetTrafficSignsInRange(double range, int relativeLane = 0) const = 0;
+ virtual std::vector<CommonTrafficSign::Entity> GetTrafficSignsInRange(units::length::meter_t range, int relativeLane = 0) const = 0;
//! Returns all RoadMarkings in front of the agent inside the specified range on the specified
//! lane along the route
@@ -181,7 +171,7 @@ public:
//! \param range search range (calculated from MainLaneLocator)
//! \param relativeLane lane id relative to own lane (in driving direction)
//! \return road markings in range
- virtual std::vector<CommonTrafficSign::Entity> GetRoadMarkingsInRange(double range, int relativeLane = 0) const = 0;
+ virtual std::vector<CommonTrafficSign::Entity> GetRoadMarkingsInRange(units::length::meter_t range, int relativeLane = 0) const = 0;
//! Returns all TrafficLights in front of the agent inside the specified range on the specified
//! lane along the route
@@ -189,7 +179,7 @@ public:
//! \param range search range (calculated from MainLaneLocator)
//! \param relativeLane lane id relative to own lane (in driving direction)
//! \return traffic lights in range
- virtual std::vector<CommonTrafficLight::Entity> GetTrafficLightsInRange(double range, int relativeLane = 0) const = 0;
+ virtual std::vector<CommonTrafficLight::Entity> GetTrafficLightsInRange(units::length::meter_t range, int relativeLane = 0) const = 0;
//! Returns all LaneMarkings in front of the agent inside the specified range on the specified
//! lane along the route
@@ -197,7 +187,7 @@ public:
//! \param range search range (calculated from MainLaneLocator)
//! \param relativeLane lane id relative to own lane (in driving direction)
//! \return lane markings in range
- virtual std::vector<LaneMarking::Entity> GetLaneMarkingsInRange(double range, Side side, int relativeLane = 0) const = 0;
+ virtual std::vector<LaneMarking::Entity> GetLaneMarkingsInRange(units::length::meter_t range, Side side, int relativeLane = 0) const = 0;
//! Returns the (longitudinal) distance to another object along the route
//!
@@ -205,9 +195,9 @@ public:
//! \param ownPoint point of own agent used for calculation
//! \param otherPoint point of other object used for calculation
//! \return distance to other object or nullopt if the other object is not on the route of this agent
- virtual std::optional<double> GetDistanceToObject(const WorldObjectInterface* otherObject, const ObjectPoint &ownPoint, const ObjectPoint &otherPoint) const = 0;
+ virtual std::optional<units::length::meter_t> GetDistanceToObject(const WorldObjectInterface* otherObject, const ObjectPoint &ownPoint, const ObjectPoint &otherPoint) const = 0;
- virtual std::optional<double> GetNetDistance(const WorldObjectInterface* otherObject) const = 0;
+ virtual std::optional<units::length::meter_t> GetNetDistance(const WorldObjectInterface* otherObject) const = 0;
//! Returns the (lateral) obstruction with another object along the route
//!
@@ -219,53 +209,53 @@ public:
//! Returns the yaw of the agent at the MainLaneLocater relative to the road respecting intended driving direction
//! (i.e. driving in the intended direction equals zero relative yaw)
- virtual double GetRelativeYaw() const = 0;
+ virtual units::angle::radian_t GetRelativeYaw() const = 0;
//! Returns the distance of the MainLaneLocator to the middle of the lane respecting intended driving direction
//! (i.e. positive values are to the left w.r.t. driving direction)
- virtual double GetPositionLateral() const = 0;
+ virtual units::length::meter_t GetPositionLateral() const = 0;
//! Returns the distance to the lane boundary on the specified side (or 0 if agent protrudes the road)
- virtual double GetLaneRemainder(Side side) const = 0;
+ virtual units::length::meter_t GetLaneRemainder(Side side) const = 0;
//! Returns the width of the specified lane at the current s coordinate
//!
//! \param relativeLane lane id relative to own lane (in driving direction)
//! \return width of lane
- virtual double GetLaneWidth(int relativeLane = 0) const = 0;
+ virtual units::length::meter_t GetLaneWidth(int relativeLane = 0) const = 0;
//! Returns the width of the specified lane at the specified distance if existing
//!
//! \param distance search distance relative to MainLaneLocator
//! \param relativeLane lane id relative to own lane (in driving direction)
//! \return width of lane
- virtual std::optional<double> GetLaneWidth(double distance, int relativeLane = 0) const = 0;
+ virtual std::optional<units::length::meter_t> GetLaneWidth(units::length::meter_t distance, int relativeLane = 0) const = 0;
//! Returns the curvature of the specified lane at the current s coordinate
//!
//! \param relativeLane lane id relative to own lane (in driving direction)
//! \return curvature of lane
- virtual double GetLaneCurvature(int relativeLane = 0) const = 0;
+ virtual units::curvature::inverse_meter_t GetLaneCurvature(int relativeLane = 0) const = 0;
//! Returns the curvature of the specified lane at the specified distance if existing
//!
//! \param distance search distance relative to MainLaneLocator
//! \param relativeLane lane id relative to own lane (in driving direction)
//! \return curvature of lane
- virtual std::optional<double> GetLaneCurvature(double distance, int relativeLane = 0) const = 0;
+ virtual std::optional<units::curvature::inverse_meter_t> GetLaneCurvature(units::length::meter_t distance, int relativeLane = 0) const = 0;
//! Returns the direction of the specified lane at the current s coordinate
//!
//! \param relativeLane lane id relative to own lane (in driving direction)
//! \return direction of lane
- virtual double GetLaneDirection(int relativeLane = 0) const = 0;
+ virtual units::angle::radian_t GetLaneDirection(int relativeLane = 0) const = 0;
//! Returns the direction of the specified lane at the specified distance if existing
//!
//! \param distance search distance relative to MainLaneLocator
//! \param relativeLane lane id relative to own lane (in driving direction)
//! \return direction of lane
- virtual std::optional<double> GetLaneDirection(double distance, int relativeLane = 0) const = 0;
+ virtual std::optional<units::angle::radian_t> GetLaneDirection(units::length::meter_t distance, int relativeLane = 0) const = 0;
//! Returns the position of the MainLaneLocator (w.r.t. the OpenDrive direction of the road)
virtual const std::optional<GlobalRoadPosition>& GetMainLocatePosition() const = 0;
@@ -284,7 +274,7 @@ public:
//! \param tDistance distance along t (left of driving direction)
//! \param yaw yaw relative to road at given distance
//! \return world position at given distance
- virtual std::optional<Position> GetWorldPosition(double sDistance, double tDistance, double yaw = 0) const = 0;
+ virtual std::optional<Position> GetWorldPosition (units::length::meter_t sDistance, units::length::meter_t tDistance, units::angle::radian_t yaw = 0.0_rad) const = 0;
//!Returns the road positions of the given point of an object relative to the ego route
//!
diff --git a/sim/include/entityRepositoryInterface.h b/sim/include/entityRepositoryInterface.h
new file mode 100644
index 0000000000000000000000000000000000000000..dcbd724161c48dedf4e9537e5a68a9c1f87b3784
--- /dev/null
+++ b/sim/include/entityRepositoryInterface.h
@@ -0,0 +1,26 @@
+/*******************************************************************************
+* Copyright (c) 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+*
+* 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 "MantleAPI/Traffic/i_entity_repository.h"
+
+namespace core {
+class Agent;
+
+class EntityRepositoryInterface : public mantle_api::IEntityRepository
+{
+public:
+ virtual bool SpawnReadyAgents() = 0;
+
+ virtual std::vector<Agent *> ConsumeNewAgents() = 0;
+};
+
+} // namespace core
\ No newline at end of file
diff --git a/sim/include/environmentInterface.h b/sim/include/environmentInterface.h
new file mode 100644
index 0000000000000000000000000000000000000000..2a9031b2fe24c1b138490673a5943c6e6b314bb5
--- /dev/null
+++ b/sim/include/environmentInterface.h
@@ -0,0 +1,30 @@
+/********************************************************************************
+ * Copyright (c) 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0.
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ ********************************************************************************/
+#pragma once
+
+#include "MantleAPI/Execution/i_environment.h"
+#include "include/entityRepositoryInterface.h"
+#include "include/worldInterface.h"
+
+namespace core {
+class EnvironmentInterface : public mantle_api::IEnvironment
+{
+public:
+ virtual EntityRepositoryInterface& GetEntityRepository() = 0;
+
+ // virtual ControllerRepository& GetControllerRepository() = 0;
+
+ virtual void Step(const mantle_api::Time &simulationTime) = 0;
+
+ virtual void SetWorld(WorldInterface* world) = 0;
+
+ virtual void Reset() = 0;
+};
+}
\ No newline at end of file
diff --git a/sim/include/eventDetectorNetworkInterface.h b/sim/include/eventDetectorNetworkInterface.h
index f6a5fbb36574c9b0d7b9246a0a6f81f07b99e49b..5fba31177c8f5e60c77d996bb25c66419cbebd8d 100644
--- a/sim/include/eventDetectorNetworkInterface.h
+++ b/sim/include/eventDetectorNetworkInterface.h
@@ -11,7 +11,6 @@
#pragma once
#include "include/eventNetworkInterface.h"
-#include "include/scenarioInterface.h"
#include "include/stochasticsInterface.h"
namespace core
@@ -26,8 +25,7 @@ public:
EventDetectorNetworkInterface() = default;
~EventDetectorNetworkInterface() = default;
- virtual bool Instantiate(const std::string libraryPath,
- const ScenarioInterface *scenario,
+ virtual bool Instantiate(const std::string& libraryPath,
EventNetworkInterface* eventNetwork,
StochasticsInterface *stochastics) = 0;
diff --git a/sim/include/frameworkModuleContainerInterface.h b/sim/include/frameworkModuleContainerInterface.h
index ad66e307713650a67ec06b372660c8497b49f288..2221b246aa6e883ef7affb4c5107f41541d42e92 100644
--- a/sim/include/frameworkModuleContainerInterface.h
+++ b/sim/include/frameworkModuleContainerInterface.h
@@ -13,7 +13,6 @@
// TODO rb: replace by forward declarations
#include "include/stochasticsInterface.h"
-class AgentBlueprintProviderInterface;
class DataBufferInterface;
class WorldInterface;
@@ -31,13 +30,6 @@ class FrameworkModuleContainerInterface
public:
virtual ~FrameworkModuleContainerInterface() = default;
- /*!
- * \brief Returns a pointer to the agentBlueprintProvider
- *
- * @return agentBlueprintProvider pointer
- */
- virtual const AgentBlueprintProviderInterface* GetAgentBlueprintProvider() const = 0;
-
/*!
* \brief Returns a pointer to the AgentFactory
*
diff --git a/sim/include/manipulatorNetworkInterface.h b/sim/include/manipulatorNetworkInterface.h
index 333136950a07b806d9a1acca5ddbb0dd1c88c874..3cc912cb1c23b0eb5104b11062083a9fb03c0e17 100644
--- a/sim/include/manipulatorNetworkInterface.h
+++ b/sim/include/manipulatorNetworkInterface.h
@@ -13,8 +13,6 @@
#include <string>
#include <vector>
-class ScenarioInterface;
-
namespace core {
class EventNetworkInterface;
@@ -24,19 +22,18 @@ class ManipulatorNetworkInterface
{
public:
ManipulatorNetworkInterface() = default;
- ManipulatorNetworkInterface(const ManipulatorNetworkInterface&) = delete;
- ManipulatorNetworkInterface(ManipulatorNetworkInterface&&) = delete;
- ManipulatorNetworkInterface& operator=(const ManipulatorNetworkInterface&) = delete;
- ManipulatorNetworkInterface& operator=(ManipulatorNetworkInterface&&) = delete;
+ ManipulatorNetworkInterface(const ManipulatorNetworkInterface &) = delete;
+ ManipulatorNetworkInterface(ManipulatorNetworkInterface &&) = delete;
+ ManipulatorNetworkInterface &operator=(const ManipulatorNetworkInterface &) = delete;
+ ManipulatorNetworkInterface &operator=(ManipulatorNetworkInterface &&) = delete;
virtual ~ManipulatorNetworkInterface() = default;
- virtual bool Instantiate(const std::string libraryPath,
- const ScenarioInterface *scenario,
- EventNetworkInterface* eventNetwork) = 0;
+ virtual bool Instantiate(const std::string& libraryPath,
+ EventNetworkInterface *eventNetwork) = 0;
virtual void Clear() = 0;
virtual const std::vector<const Manipulator*> GetManipulators() const = 0;
};
-}// namespace core
+} // namespace core
diff --git a/sim/include/modelInterface.h b/sim/include/modelInterface.h
index 4783dd0bcad073654ebe0ad23d42fe24ee20996c..eb8d7acf402099d2efc2debdb840eb10abbc0b99 100644
--- a/sim/include/modelInterface.h
+++ b/sim/include/modelInterface.h
@@ -29,6 +29,7 @@
#include "include/observationInterface.h"
#include "include/publisherInterface.h"
#include "include/signalInterface.h"
+#include "include/controlStrategiesInterface.h"
class ParameterInterface;
class StochasticsInterface;
@@ -532,7 +533,7 @@ private:
const CallbackInterface *callbacks; //!< Reference to framework callbacks
};
-class UnrestrictedEventModelInterface : public UnrestrictedModelInterface
+class UnrestrictedControllStrategyModelInterface : public UnrestrictedModelInterface
{
public:
//-----------------------------------------------------------------------------
@@ -544,10 +545,9 @@ public:
//! @param[in] offsetTime Corresponds to "offsetTime" of "Component"
//! @param[in] responseTime Corresponds to "responseTime" of "Component"
//! @param[in] cycleTime Corresponds to "cycleTime" of "Component"
- //! @param[in] eventNetwork Pointer to event network
- //! @param[in] callbacks Pointer to the callbacks
+ //! @param[in] controlStrategies controlStrategies of entity
//-----------------------------------------------------------------------------
- UnrestrictedEventModelInterface(std::string componentName,
+ UnrestrictedControllStrategyModelInterface(std::string componentName,
bool isInit,
int priority,
int offsetTime,
@@ -559,7 +559,7 @@ public:
PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent,
- core::EventNetworkInterface * const eventNetwork):
+ std::shared_ptr<ControlStrategiesInterface> const controlStrategies):
UnrestrictedModelInterface(componentName,
isInit,
priority,
@@ -572,25 +572,25 @@ public:
publisher,
callbacks,
agent),
- eventNetwork(eventNetwork)
+ controlStrategies(controlStrategies)
{}
- UnrestrictedEventModelInterface(const UnrestrictedEventModelInterface&) = delete;
- UnrestrictedEventModelInterface(UnrestrictedEventModelInterface&&) = delete;
- UnrestrictedEventModelInterface& operator=(const UnrestrictedEventModelInterface&) = delete;
- UnrestrictedEventModelInterface& operator=(UnrestrictedEventModelInterface&&) = delete;
- virtual ~UnrestrictedEventModelInterface() = default;
+ UnrestrictedControllStrategyModelInterface(const UnrestrictedControllStrategyModelInterface&) = delete;
+ UnrestrictedControllStrategyModelInterface(UnrestrictedControllStrategyModelInterface&&) = delete;
+ UnrestrictedControllStrategyModelInterface& operator=(const UnrestrictedControllStrategyModelInterface&) = delete;
+ UnrestrictedControllStrategyModelInterface& operator=(UnrestrictedControllStrategyModelInterface&&) = delete;
+ virtual ~UnrestrictedControllStrategyModelInterface() = default;
protected:
//-----------------------------------------------------------------------------
- //! Retrieves the EventNetwork
+ //! Retrieves the controll strategies
//!
- //! @return EventNetwork
+ //! @return controll strategies
//-----------------------------------------------------------------------------
- core::EventNetworkInterface* GetEventNetwork() const
+ std::shared_ptr<ControlStrategiesInterface> GetControlStrategies() const
{
- return eventNetwork;
+ return controlStrategies;
}
private:
- core::EventNetworkInterface * const eventNetwork;
+ std::shared_ptr<ControlStrategiesInterface> const controlStrategies {};
};
diff --git a/sim/include/profilesInterface.h b/sim/include/profilesInterface.h
index c5620ca55d68a69175c1faee6ced7495bcaaa829..1ff5b0b276eac4ba780688aa4f8b6cfa071a8766 100644
--- a/sim/include/profilesInterface.h
+++ b/sim/include/profilesInterface.h
@@ -30,35 +30,35 @@ enum class AgentProfileType
struct AgentProfile
{
//Dynamic profile
- StringProbabilities driverProfiles {};
- StringProbabilities vehicleProfiles {};
+ StringProbabilities driverProfiles{};
+ StringProbabilities systemProfiles{};
+ StringProbabilities vehicleModels{};
//Static profile
std::string systemConfigFile;
- int systemId;
std::string vehicleModel;
+ int systemId;
AgentProfileType type;
};
struct SensorLink
{
- int sensorId {};
- std::string inputId {};
+ int sensorId{};
+ std::string inputId{};
};
struct VehicleComponent
{
- std::string type {};
- StringProbabilities componentProfiles {};
- std::vector<SensorLink> sensorLinks {};
+ std::string type{};
+ StringProbabilities componentProfiles{};
+ std::vector<SensorLink> sensorLinks{};
};
-struct VehicleProfile
+struct SystemProfile
{
- std::string vehicleModel {};
- std::vector<VehicleComponent> vehicleComponents {};
- openpass::sensors::Parameters sensors {};
+ std::vector<VehicleComponent> vehicleComponents{};
+ openpass::sensors::Parameters sensors{};
};
//-----------------------------------------------------------------------------
@@ -88,17 +88,17 @@ public:
/*!
* \brief Returns a pointer to the map of vehicle profiles
*
- * @return vehicleProfiles
+ * @return systemProfiles
*/
- virtual const std::unordered_map<std::string, VehicleProfile>& GetVehicleProfiles() const = 0;
+ virtual const std::unordered_map<std::string, SystemProfile> &GetSystemProfiles() const = 0;
/*!
- * \brief Add vehicleProfile with the specified profileName to the map of vehicle profiles
+ * \brief Add systemProfile with the specified profileName to the map of system profiles
*
- * @param[in] profileName name of the vehicleProfile
- * @param[in] vehicleProfile vehicleProfile which shall be added
+ * @param[in] profileName name of the systemProfile
+ * @param[in] systemProfile systemProfile which shall be added
*/
- virtual void AddVehicleProfile(const std::string& profileName, const VehicleProfile& vehicleProfile) = 0;
+ virtual void AddSystemProfile(const std::string& profileName, const SystemProfile& systemProfile) = 0;
/*!
* \brief Returns a pointer to the map of profile groups
@@ -126,12 +126,20 @@ public:
virtual const StringProbabilities& GetDriverProbabilities(std::string agentProfileName) const = 0;
/*!
- * \brief Returns the vehicle profile probabilities of an agentProfile
+ * \brief Returns the system profile probabilities of an agentProfile
*
* @param[in] agentProfileName Name of the agentProfile from which the probabilities are requested
* @return probality map for vehicle profiles
*/
- virtual const StringProbabilities& GetVehicleProfileProbabilities(std::string agentProfileName) const = 0;
+ virtual const StringProbabilities &GetSystemProfileProbabilities(std::string agentProfileName) const = 0;
+
+ /*!
+ * \brief Returns the vehicle model probabilities of an agentProfile
+ *
+ * @param[in] agentProfileName Name of the agentProfile from which the probabilities are requested
+ * @return probality map for vehicle models
+ */
+ virtual const StringProbabilities &GetVehicleModelsProbabilities(std::string agentProfileName) const = 0;
//! \brief Returns the profile with the specified name in the specified profile gropus
//!
diff --git a/sim/include/radioInterface.h b/sim/include/radioInterface.h
index e2ebec14230b78ce2324232065f663d3721c40d3..ec641ed53f064d608370255ae90dd44ddc99eaa6 100644
--- a/sim/include/radioInterface.h
+++ b/sim/include/radioInterface.h
@@ -20,6 +20,11 @@
#include <vector>
#include "common/DetectedObject.h"
+namespace units
+{
+ using sensitivity = unit_t<compound_unit<power::watt, inverse<area::square_meter>>>;
+}
+
class RadioInterface
{
public:
@@ -36,7 +41,7 @@ public:
//! @param[in] positionY y-position of the sender
//! @param[in] signalStrength signal strength of the antenna
//! @param[in] objectInformation information to broadcast
- virtual void Send(double positionX, double postionY, double signalStrength, DetectedObject objectInformation) = 0;
+ virtual void Send(units::length::meter_t positionX, units::length::meter_t postionY, units::power::watt_t signalStrength, DetectedObject objectInformation) = 0;
//! Call the cloud to return all the information available at a position
//!
@@ -44,7 +49,7 @@ public:
//! @param[in] positionY y-position of the receiver
//! @param[in] sensitivity how strong the signal needs to be for the receiver to read the signal
//! @return list of all the information which can be received at this position
- virtual std::vector<DetectedObject> Receive(double positionX, double positionY, double sensitivity) = 0;
+ virtual std::vector<DetectedObject> Receive(units::length::meter_t positionX, units::length::meter_t positionY, units::sensitivity sensitivity) = 0;
//! For each new timestep this function clears all signal of the previous timestep
virtual void Reset() = 0;
diff --git a/sim/include/roadInterface/roadElementTypes.h b/sim/include/roadInterface/roadElementTypes.h
index ebf4979fe70231b0113c692f9ce108f7883e044a..e934e8a80117c53c359ae285668923896c6bb12b 100644
--- a/sim/include/roadInterface/roadElementTypes.h
+++ b/sim/include/roadInterface/roadElementTypes.h
@@ -22,6 +22,10 @@
#include <vector>
#include <array>
+#include<units.h>
+
+using namespace units::literals;
+
//-----------------------------------------------------------------------------
//! Road link connection orientation
//-----------------------------------------------------------------------------
@@ -249,25 +253,25 @@ struct RoadElementValidity
///
struct RoadSignalSpecification
{
- double s{0};
- double t{0};
+ units::length::meter_t s{0};
+ units::length::meter_t t{0};
std::string id{};
std::string name{};
std::string dynamic{};
std::string orientation{};
- double zOffset{0};
+ units::length::meter_t zOffset{0};
std::string country{};
std::string type{};
std::string subtype{};
double value{0};
RoadSignalUnit unit{};
- double height{0};
- double width{0};
+ units::length::meter_t height{0};
+ units::length::meter_t width{0};
std::string text{};
- double hOffset{0};
- double pitch{0};
- double roll{0};
- double yaw{0};
+ units::angle::radian_t hOffset{0};
+ units::angle::radian_t pitch{0};
+ units::angle::radian_t roll{0};
+ units::angle::radian_t yaw{0};
RoadElementValidity validity;
std::vector<std::string> dependencyIds {};
@@ -353,51 +357,51 @@ struct RoadObjectSpecification // http://www.opendrive.org/docs/OpenDRIVEFormatS
RoadObjectType type{RoadObjectType::none};
std::string name {""};
std::string id {""};
- double s {0};
- double t {0};
- double zOffset {0};
- double validLength {0};
+ units::length::meter_t s {0};
+ units::length::meter_t t {0};
+ units::length::meter_t zOffset {0};
+ units::length::meter_t validLength {0};
RoadElementOrientation orientation{RoadElementOrientation::positive};
- double width {0};
- double length {0};
- double radius {0};
- double height {0};
- double hdg {0};
- double pitch {0};
- double roll {0};
+ units::length::meter_t width {0};
+ units::length::meter_t length {0};
+ units::length::meter_t radius {0};
+ units::length::meter_t height {0};
+ units::angle::radian_t hdg {0};
+ units::angle::radian_t pitch {0};
+ units::angle::radian_t roll {0};
bool continuous {false};
RoadElementValidity validity;
bool checkStandardCompliance()
{
- return s >= 0 &&
- validLength >= 0 &&
- length >= 0 &&
- width >= 0 &&
- radius >= 0;
+ return s >= 0_m &&
+ validLength >= 0_m &&
+ length >= 0_m &&
+ width >= 0_m &&
+ radius >= 0_m;
}
bool checkSimulatorCompliance()
{
- return length > 0 && // force physical dimensions
- width > 0 && // force physical dimensions
- radius == 0; // do not support radius
+ return length > 0_m && // force physical dimensions
+ width > 0_m && // force physical dimensions
+ radius == 0_m; // do not support radius
}
};
struct OptionalInterval
{
bool isSet = {false};
- double start;
- double end;
+ units::length::meter_t start;
+ units::length::meter_t end;
};
struct ObjectRepeat
{
- double s;
- double length;
- double distance;
+ units::length::meter_t s;
+ units::length::meter_t length;
+ units::length::meter_t distance;
OptionalInterval t;
OptionalInterval width;
OptionalInterval height;
@@ -405,9 +409,9 @@ struct ObjectRepeat
bool checkLimits()
{
- return s >= 0 &&
- length >= 0 &&
- distance >= 0;
+ return s >= 0_m &&
+ length >= 0_m &&
+ distance >= 0_m;
}
};
@@ -426,7 +430,7 @@ enum class RoadTypeInformation // http://www.opendrive.org/docs/OpenDRIVEFormatS
struct RoadTypeSpecification
{
- double s{0};
+ units::length::meter_t s{0};
RoadTypeInformation roadType;
};
diff --git a/sim/include/roadInterface/roadElevation.h b/sim/include/roadInterface/roadElevation.h
index abc18d16fbe4c50c573f5aca5b62a9bfb19217a6..d61b41597531949fd27e6324c101cbe1bbb5f860 100644
--- a/sim/include/roadInterface/roadElevation.h
+++ b/sim/include/roadInterface/roadElevation.h
@@ -22,11 +22,11 @@
class RoadElevation
{
public:
- RoadElevation(double s,
- double a,
+ RoadElevation(units::length::meter_t s,
+ units::length::meter_t a,
double b,
- double c,
- double d) :
+ units::unit_t<units::inverse<units::length::meter>> c,
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> d) :
s(s),
a(a),
b(b),
@@ -44,7 +44,7 @@ public:
//!
//! @return start position of the elevation
//-----------------------------------------------------------------------------
- double GetS() const
+ units::length::meter_t GetS() const
{
return s;
}
@@ -54,7 +54,7 @@ public:
//!
//! @return constant factor of the polynomial
//-----------------------------------------------------------------------------
- double GetA() const
+ units::length::meter_t GetA() const
{
return a;
}
@@ -74,7 +74,7 @@ public:
//!
//! @return quadratic factor of the polynomial
//-----------------------------------------------------------------------------
- double GetC() const
+ units::unit_t<units::inverse<units::length::meter>> GetC() const
{
return c;
}
@@ -84,17 +84,17 @@ public:
//!
//! @return cubic factor of the polynomial
//-----------------------------------------------------------------------------
- double GetD() const
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> GetD() const
{
return d;
}
private:
- double s;
- double a;
+ units::length::meter_t s;
+ units::length::meter_t a;
double b;
- double c;
- double d;
+ units::unit_t<units::inverse<units::length::meter>> c;
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> d;
};
#endif // ROADELEVATION
diff --git a/sim/include/roadInterface/roadGeometryInterface.h b/sim/include/roadInterface/roadGeometryInterface.h
index c66c7de207582d857c6614e11a037ede0c0d21b7..5a04afdfaaaa4f362883f4435339209009a255c4 100644
--- a/sim/include/roadInterface/roadGeometryInterface.h
+++ b/sim/include/roadInterface/roadGeometryInterface.h
@@ -42,7 +42,7 @@ public:
//! @param[in] tOffset offset to the left
//! @return coordinates with the x/y coordinates
//-----------------------------------------------------------------------------
- virtual Common::Vector2d GetCoord(double geometryOffset, double laneOffset) const = 0;
+ virtual Common::Vector2d<units::length::meter_t> GetCoord(units::length::meter_t geometryOffset, units::length::meter_t laneOffset) const = 0;
//-----------------------------------------------------------------------------
//! Calculates the heading.
@@ -50,26 +50,26 @@ public:
//! @param[in] sOffset s offset within geometry section
//! @return heading
//-----------------------------------------------------------------------------
- virtual double GetDir(double geometryOffset) const = 0;
+ virtual units::angle::radian_t GetDir(units::length::meter_t geometryOffset) const = 0;
//-----------------------------------------------------------------------------
//! Retrieves the offset within the OpenDrive road.
//!
//! @return offset
//-----------------------------------------------------------------------------
- virtual double GetS() const = 0;
+ virtual units::length::meter_t GetS() const = 0;
//-----------------------------------------------------------------------------
//! Retrieves the initial direction of the geometry section
//!
//! @return initial direction of geometry
//-----------------------------------------------------------------------------
- virtual double GetHdg() const = 0;
+ virtual units::angle::radian_t GetHdg() const = 0;
//-----------------------------------------------------------------------------
//! Retrieves the length of the geometry section
//!
//! @return length of geometry section
//-----------------------------------------------------------------------------
- virtual double GetLength() const = 0;
+ virtual units::length::meter_t GetLength() const = 0;
};
diff --git a/sim/include/roadInterface/roadInterface.h b/sim/include/roadInterface/roadInterface.h
index 04f89b51cb4579445c88d8ca9818bdd2e973af6b..ae2b8112a7d272c2d5e8cff312709febe76483bf 100644
--- a/sim/include/roadInterface/roadInterface.h
+++ b/sim/include/roadInterface/roadInterface.h
@@ -32,6 +32,7 @@
#include "roadLaneOffset.h"
#include "roadGeometryInterface.h"
#include "roadLinkInterface.h"
+#include "common/globalDefinitions.h"
//-----------------------------------------------------------------------------
//! Struct containing values for parametric cubic polynomial geometry
@@ -45,14 +46,14 @@
//! @param[in] dV cubic factor of the polynomial for v
//-----------------------------------------------------------------------------
struct ParamPoly3Parameters{
- double aU;
- double bU;
- double cU;
- double dU;
- double aV;
- double bV;
- double cV;
- double dV;
+ units::length::meter_t aU;
+ units::dimensionless::scalar_t bU;
+ units::curvature::inverse_meter_t cU;
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> dU;
+ units::length::meter_t aV;
+ units::dimensionless::scalar_t bV;
+ units::curvature::inverse_meter_t cV;
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> dV;
};
//-----------------------------------------------------------------------------
@@ -79,11 +80,11 @@ public:
//! @param[in] length length of the element's reference line
//! @return false if an error has occurred, true otherwise
//-----------------------------------------------------------------------------
- virtual bool AddGeometryLine(double s,
- double x,
- double y,
- double hdg,
- double length) = 0;
+ virtual bool AddGeometryLine(units::length::meter_t s,
+ units::length::meter_t x,
+ units::length::meter_t y,
+ units::angle::radian_t hdg,
+ units::length::meter_t length) = 0;
//-----------------------------------------------------------------------------
//! Adds an arc geometry to a road by creating a new RoadGeometryArc object and
@@ -97,12 +98,12 @@ public:
//! @param[in] curvature constant curvature throughout the element
//! @return false if an error has occurred, true otherwise
//-----------------------------------------------------------------------------
- virtual bool AddGeometryArc(double s,
- double x,
- double y,
- double hdg,
- double length,
- double curvature) = 0;
+ virtual bool AddGeometryArc(units::length::meter_t s,
+ units::length::meter_t x,
+ units::length::meter_t y,
+ units::angle::radian_t hdg,
+ units::length::meter_t length,
+ units::curvature::inverse_meter_t curvature) = 0;
//-----------------------------------------------------------------------------
//! Adds a spiral geometry to a road by creating a new RoadGeometrySpiral object and
@@ -117,13 +118,13 @@ public:
//! @param[in] curvEnd curvature at the end of the element
//! @return false if an error has occurred, true otherwise
//-----------------------------------------------------------------------------
- virtual bool AddGeometrySpiral(double s,
- double x,
- double y,
- double hdg,
- double length,
- double curvStart,
- double curvEnd) = 0;
+ virtual bool AddGeometrySpiral(units::length::meter_t s,
+ units::length::meter_t x,
+ units::length::meter_t y,
+ units::angle::radian_t hdg,
+ units::length::meter_t length,
+ units::curvature::inverse_meter_t curvStart,
+ units::curvature::inverse_meter_t curvEnd) = 0;
//-----------------------------------------------------------------------------
//! Adds a cubic polynomial geometry to a road by creating a new RoadGeometryPoly3
@@ -140,15 +141,15 @@ public:
//! @param[in] d cubic factor of the polynomial
//! @return false if an error has occurred, true otherwise
//-----------------------------------------------------------------------------
- virtual bool AddGeometryPoly3(double s,
- double x,
- double y,
- double hdg,
- double length,
- double a,
+ virtual bool AddGeometryPoly3(units::length::meter_t s,
+ units::length::meter_t x,
+ units::length::meter_t y,
+ units::angle::radian_t hdg,
+ units::length::meter_t length,
+ units::length::meter_t a,
double b,
- double c,
- double d) = 0;
+ units::unit_t<units::inverse<units::length::meter>> c,
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> d) = 0;
//-----------------------------------------------------------------------------
//! Adds a parametric cubic polynomial geometry to a road by creating a new
//! RoadGeometryparamPoly3 object and adding it to the stored list of geometries.
@@ -162,11 +163,11 @@ public:
//! @param[in] parameters Factors for the polynomials describing the road
//! @return false if an error has occurred, true otherwise
//-----------------------------------------------------------------------------
- virtual bool AddGeometryParamPoly3(double s,
- double x,
- double y,
- double hdg,
- double length,
+ virtual bool AddGeometryParamPoly3(units::length::meter_t s,
+ units::length::meter_t x,
+ units::length::meter_t y,
+ units::angle::radian_t hdg,
+ units::length::meter_t length,
ParamPoly3Parameters parameters) = 0;
//-----------------------------------------------------------------------------
@@ -180,11 +181,11 @@ public:
//! @param[in] d cubic factor of the polynomial
//! @return false if an error has occurred, true otherwise
//-----------------------------------------------------------------------------
- virtual bool AddElevation(double s,
- double a,
+ virtual bool AddElevation(units::length::meter_t s,
+ units::length::meter_t a,
double b,
- double c,
- double d) = 0;
+ units::unit_t<units::inverse<units::length::meter>> c,
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> d) = 0;
//-----------------------------------------------------------------------------
//! Adds a lane offset defined via a cubic polynomial to a road by creating a new
@@ -197,11 +198,11 @@ public:
//! @param[in] d cubic factor of the polynomial
//! @return false if an error has occurred, true otherwise
//-----------------------------------------------------------------------------
- virtual bool AddLaneOffset(double s,
- double a,
+ virtual bool AddLaneOffset(units::length::meter_t s,
+ units::length::meter_t a,
double b,
- double c,
- double d) = 0;
+ units::unit_t<units::inverse<units::length::meter>> c,
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> d) = 0;
//-----------------------------------------------------------------------------
//! Adds a new link to a road by creating a new RoadLink object and adding it
@@ -225,7 +226,7 @@ public:
//! @param[in] start start position s-coordinate
//! @return created road lane section
//-----------------------------------------------------------------------------
- virtual RoadLaneSectionInterface *AddRoadLaneSection(double start) = 0;
+ virtual RoadLaneSectionInterface *AddRoadLaneSection(units::length::meter_t start) = 0;
//-----------------------------------------------------------------------------
//! Adds a new lane section to a road by creating a new RoadLaneSection object
@@ -306,7 +307,7 @@ public:
virtual void AddRoadType(const RoadTypeSpecification &info) = 0;
- virtual RoadTypeInformation GetRoadType(double start) const = 0;
+ virtual RoadTypeInformation GetRoadType(units::length::meter_t start) const = 0;
virtual void SetJunctionId(const std::string& junctionId) = 0;
diff --git a/sim/include/roadInterface/roadLaneInterface.h b/sim/include/roadInterface/roadLaneInterface.h
index 8ffb366105f323d4b94c42230b20fcd34d7f3865..7f318345f20cc83600936a0b38fba83e229c99a8 100644
--- a/sim/include/roadInterface/roadLaneInterface.h
+++ b/sim/include/roadInterface/roadLaneInterface.h
@@ -50,11 +50,11 @@ public:
//!
//! @return False if an error occurred, true otherwise
//-----------------------------------------------------------------------------
- virtual bool AddWidth(double sOffset,
- double a,
+ virtual bool AddWidth(units::length::meter_t sOffset,
+ units::length::meter_t a,
double b,
- double c,
- double d) = 0;
+ units::unit_t<units::inverse<units::length::meter>> c,
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> d) = 0;
//-----------------------------------------------------------------------------
//! Adds a new polynomial calculating the border of a lane to a road lane.
@@ -67,11 +67,11 @@ public:
//!
//! @return False if an error occurred, true otherwise
//-----------------------------------------------------------------------------
- virtual bool AddBorder(double sOffset,
- double a,
+ virtual bool AddBorder(units::length::meter_t sOffset,
+ units::length::meter_t a,
double b,
- double c,
- double d) = 0;
+ units::unit_t<units::inverse<units::length::meter>> c,
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> d) = 0;
//-----------------------------------------------------------------------------
//! Adds a new roadmark to a road lane.
@@ -84,7 +84,7 @@ public:
//!
//! @return False if an error occurred, true otherwise
//-----------------------------------------------------------------------------
- virtual bool AddRoadMark(double sOffset,
+ virtual bool AddRoadMark(units::length::meter_t sOffset,
RoadLaneRoadDescriptionType descType,
RoadLaneRoadMarkType roadMark,
RoadLaneRoadMarkColor color,
diff --git a/sim/include/roadInterface/roadLaneOffset.h b/sim/include/roadInterface/roadLaneOffset.h
index a5df5456a3456d4da81168eeea0d09dd8d1e9d36..ac2dfb3e7d963f67155a22e9834de19231e119df 100644
--- a/sim/include/roadInterface/roadLaneOffset.h
+++ b/sim/include/roadInterface/roadLaneOffset.h
@@ -24,11 +24,11 @@
class RoadLaneOffset
{
public:
- RoadLaneOffset(double s,
- double a,
+ RoadLaneOffset(units::length::meter_t s,
+ units::length::meter_t a,
double b,
- double c,
- double d) :
+ units::unit_t<units::inverse<units::length::meter>> c,
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> d) :
s(s),
a(a),
b(b),
@@ -46,7 +46,7 @@ public:
//!
//! @return start position of the offset
//-----------------------------------------------------------------------------
- double GetS() const
+ units::length::meter_t GetS() const
{
return s;
}
@@ -56,7 +56,7 @@ public:
//!
//! @return constant factor of the polynomial
//-----------------------------------------------------------------------------
- double GetA() const
+ units::length::meter_t GetA() const
{
return a;
}
@@ -76,7 +76,7 @@ public:
//!
//! @return quadratic factor of the polynomial
//-----------------------------------------------------------------------------
- double GetC() const
+ units::unit_t<units::inverse<units::length::meter>> GetC() const
{
return c;
}
@@ -86,17 +86,17 @@ public:
//!
//! @return cubic factor of the polynomial
//-----------------------------------------------------------------------------
- double GetD() const
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> GetD() const
{
return d;
}
private:
- double s;
- double a;
+ units::length::meter_t s;
+ units::length::meter_t a;
double b;
- double c;
- double d;
+ units::unit_t<units::inverse<units::length::meter>> c;
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> d;
};
#endif // ROADLANEOFFSET
diff --git a/sim/include/roadInterface/roadLaneRoadMark.h b/sim/include/roadInterface/roadLaneRoadMark.h
index 6cfa8e3999b21de21688cc7c26c88d5b703d9397..9a9b29c690ba44b1d3649b8bac7881d71cafdca9 100644
--- a/sim/include/roadInterface/roadLaneRoadMark.h
+++ b/sim/include/roadInterface/roadLaneRoadMark.h
@@ -19,7 +19,7 @@ enum class RoadLaneRoadMarkWeight;
class RoadLaneRoadMark
{
public:
- RoadLaneRoadMark(double sOffset,
+ RoadLaneRoadMark(units::length::meter_t sOffset,
RoadLaneRoadDescriptionType descriptionType,
RoadLaneRoadMarkType type,
RoadLaneRoadMarkColor color,
@@ -39,12 +39,12 @@ public:
return type;
}
- double GetSOffset() const
+ units::length::meter_t GetSOffset() const
{
return sOffset;
}
- double GetSEnd() const
+ units::length::meter_t GetSEnd() const
{
return sEnd;
}
@@ -69,7 +69,7 @@ public:
return descriptionType;
}
- void LimitSEnd (double limit)
+ void LimitSEnd (units::length::meter_t limit)
{
sEnd = std::min(sEnd, limit);
}
@@ -77,8 +77,8 @@ public:
private:
-double sOffset;
-double sEnd = std::numeric_limits<double>::max();
+units::length::meter_t sOffset;
+units::length::meter_t sEnd{std::numeric_limits<double>::max()};
RoadLaneRoadMarkType type;
RoadLaneRoadMarkColor color;
RoadLaneRoadMarkLaneChange laneChange;
diff --git a/sim/include/roadInterface/roadLaneSectionInterface.h b/sim/include/roadInterface/roadLaneSectionInterface.h
index 9f201abaf19142778bbbd9dba2956dd87a8d126d..51c7cbf640c18f13f792176be796e215887ebe00 100644
--- a/sim/include/roadInterface/roadLaneSectionInterface.h
+++ b/sim/include/roadInterface/roadLaneSectionInterface.h
@@ -60,7 +60,7 @@ public:
//!
//! @return Starting offset of the road lane section
//-----------------------------------------------------------------------------
- virtual double GetStart() const = 0;
+ virtual units::length::meter_t GetStart() const = 0;
//-----------------------------------------------------------------------------
//! Sets the flag, if the lane section is in the reference direction or not.
diff --git a/sim/include/roadInterface/roadLaneWidth.h b/sim/include/roadInterface/roadLaneWidth.h
index 42066ded089259eafafad02625a3023694302a20..fd3364eda4ee336d49659a4dfeb3b6e617a9d091 100644
--- a/sim/include/roadInterface/roadLaneWidth.h
+++ b/sim/include/roadInterface/roadLaneWidth.h
@@ -25,11 +25,11 @@
class RoadLaneWidth
{
public:
- RoadLaneWidth(double sOffset,
- double a,
+ RoadLaneWidth(units::length::meter_t sOffset,
+ units::length::meter_t a,
double b,
- double c,
- double d) :
+ units::unit_t<units::inverse<units::length::meter>> c,
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> d) :
sOffset(sOffset),
a(a),
b(b),
@@ -48,7 +48,7 @@ public:
//!
//! @return Offset relative to the preceding lane section
//-----------------------------------------------------------------------------
- double GetSOffset() const
+ units::length::meter_t GetSOffset() const
{
return sOffset;
}
@@ -58,7 +58,7 @@ public:
//!
//! @return Constant factor from the polynomial
//-----------------------------------------------------------------------------
- double GetA() const
+ units::length::meter_t GetA() const
{
return a;
}
@@ -78,7 +78,7 @@ public:
//!
//! @return Quadratic factor from the polynomial
//-----------------------------------------------------------------------------
- double GetC() const
+ units::unit_t<units::inverse<units::length::meter>> GetC() const
{
return c;
}
@@ -88,17 +88,17 @@ public:
//!
//! @return Cubic factor from the polynomial
//-----------------------------------------------------------------------------
- double GetD() const
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> GetD() const
{
return d;
}
private:
- double sOffset;
- double a;
+ units::length::meter_t sOffset;
+ units::length::meter_t a;
double b;
- double c;
- double d;
+ units::unit_t<units::inverse<units::length::meter>> c;
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> d;
};
#endif // ROADLANEWIDTH
diff --git a/sim/include/roadInterface/roadObjectInterface.h b/sim/include/roadInterface/roadObjectInterface.h
index ff792997775e48d15aa3bf7275026cb87bb2e419..36c399045324f5a015d346b5f588ae845269aefe 100644
--- a/sim/include/roadInterface/roadObjectInterface.h
+++ b/sim/include/roadInterface/roadObjectInterface.h
@@ -24,16 +24,16 @@ public:
virtual RoadObjectType GetType() const = 0;
virtual std::string GetId() const = 0;
- virtual double GetS() const = 0;
- virtual double GetT() const = 0;
- virtual double GetZOffset() const = 0;
+ virtual units::length::meter_t GetS() const = 0;
+ virtual units::length::meter_t GetT() const = 0;
+ virtual units::length::meter_t GetZOffset() const = 0;
virtual bool IsValidForLane(int laneId) const = 0;
- virtual double GetLength() const = 0;
- virtual double GetWidth() const = 0;
- virtual double GetHdg() const = 0;
- virtual double GetHeight() const = 0;
- virtual double GetPitch() const = 0;
- virtual double GetRoll() const = 0;
+ virtual units::length::meter_t GetLength() const = 0;
+ virtual units::length::meter_t GetWidth() const = 0;
+ virtual units::angle::radian_t GetHdg() const = 0;
+ virtual units::length::meter_t GetHeight() const = 0;
+ virtual units::angle::radian_t GetPitch() const = 0;
+ virtual units::angle::radian_t GetRoll() const = 0;
virtual bool IsContinuous() const = 0;
virtual std::string GetName() const = 0;
};
diff --git a/sim/include/roadInterface/roadSignalInterface.h b/sim/include/roadInterface/roadSignalInterface.h
index 10b1c20409ef0f26566a1f5c873da09c67fe6303..665bafcaa6f8ceeb685deed0f1c271356fb196f7 100644
--- a/sim/include/roadInterface/roadSignalInterface.h
+++ b/sim/include/roadInterface/roadSignalInterface.h
@@ -35,14 +35,14 @@ public:
///
/// @return s [m]
//-----------------------------------------------------------------------------
- virtual double GetS() const = 0;
+ virtual units::length::meter_t GetS() const = 0;
//-----------------------------------------------------------------------------
/// @brief Returns the t coordinate of the signal
///
/// @return s [m]
//-----------------------------------------------------------------------------
- virtual double GetT() const = 0;
+ virtual units::length::meter_t GetT() const = 0;
//-----------------------------------------------------------------------------
//! Returns if the signal is valid for a given lane
@@ -101,30 +101,30 @@ public:
///
/// @return height [m]
//-----------------------------------------------------------------------------
- virtual double GetWidth() const = 0;
+ virtual units::length::meter_t GetWidth() const = 0;
//-----------------------------------------------------------------------------
/// @brief Returns the height of the signal
///
/// @return height [m]
//-----------------------------------------------------------------------------
- virtual double GetHeight() const = 0;
+ virtual units::length::meter_t GetHeight() const = 0;
//-----------------------------------------------------------------------------
/// @brief Returns the pitch of the signal
///
/// @return height [m]
//-----------------------------------------------------------------------------
- virtual double GetPitch() const = 0;
+ virtual units::angle::radian_t GetPitch() const = 0;
//-----------------------------------------------------------------------------
/// @brief Returns the roll of the signal
///
/// @return height [m]
//-----------------------------------------------------------------------------
- virtual double GetRoll() const = 0;
+ virtual units::angle::radian_t GetRoll() const = 0;
- virtual double GetZOffset() const = 0;
+ virtual units::length::meter_t GetZOffset() const = 0;
virtual bool GetOrientation() const = 0;
- virtual double GetHOffset() const = 0;
+ virtual units::angle::radian_t GetHOffset() const = 0;
};
diff --git a/sim/include/scenarioInterface.h b/sim/include/scenarioInterface.h
deleted file mode 100644
index 51ae6b546732bd1f9e43c9bbc6de65cf5352fbff..0000000000000000000000000000000000000000
--- a/sim/include/scenarioInterface.h
+++ /dev/null
@@ -1,232 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2016-2018 ITK Engineering GmbH
- * 2017-2021 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-//-----------------------------------------------------------------------------
-//! @file ScenarioInterface.h
-//! @brief This file contains the interface to translate the scenario between
-//! framework and world.
-//-----------------------------------------------------------------------------
-
-#pragma once
-
-#include <string>
-#include <vector>
-
-#include "include/sceneryDynamicsInterface.h"
-#include "common/worldDefinitions.h"
-#include "common/eventDetectorDefinitions.h"
-
-/*!
- * \brief Information required for spawning a scenario agent
- */
-struct SpawnInfo
-{
-public:
- SpawnInfo() {}
- SpawnInfo(openScenario::Position position,
- double v,
- double acceleration):
- position(position)
- {
- this->velocity = v;
- this->acceleration = acceleration;
- }
-
- bool spawning {true}; //!< Spawning flag, spawning agent if true
-
- openScenario::Position position{}; //!< Initial position
- std::optional<std::vector<RouteElement>> route {std::nullopt}; //!< Optional predfined route
-
- double velocity{0.0}; //!< Initial velocity
- std::optional<openScenario::StochasticAttribute> stochasticVelocity{}; //!< optional stochastic initial velocity
-
- std::optional<double> acceleration{0.0}; //!< Optional initial acceleration
- std::optional<openScenario::StochasticAttribute> stochasticAcceleration{}; //!< optional stochastic initial acceleration
-};
-
-/*!
- * \brief References an element inside a catalog
- */
-struct CatalogReference
-{
- std::string catalogName; //!< Name of the catalog (currently used as filename reference)
- std::string entryName; //!< Name of the element inside the catalog
-};
-
-/*!
- * \brief Represents an entity from the scenario
- */
-struct ScenarioEntity
-{
- std::string name; //! Name of the scenario object
- CatalogReference catalogReference; //! Catalog reference information
- SpawnInfo spawnInfo; //! Initial spawn parameter information
- openScenario::Parameters assignedParameters; //! Parameters assigned in the Catalog reference
-};
-
-//-----------------------------------------------------------------------------
-//! Class representing a scenario as a list of roads.
-//-----------------------------------------------------------------------------
-class ScenarioInterface
-{
-
-public:
- ScenarioInterface() = default;
- ScenarioInterface(const ScenarioInterface&) = delete;
- ScenarioInterface(ScenarioInterface&&) = delete;
- ScenarioInterface& operator=(const ScenarioInterface&) = delete;
- ScenarioInterface& operator=(ScenarioInterface&&) = delete;
- virtual ~ScenarioInterface() = default;
-
- //-----------------------------------------------------------------------------
- //! \brief Retreives the path to the vehicle catalog file
- //!
- //! \return Relative path to the vehicle catalog
- //-----------------------------------------------------------------------------
- virtual const std::string& GetVehicleCatalogPath() const = 0;
-
- //-----------------------------------------------------------------------------
- //! \brief Sets the path to the vehicle catalog file
- //!
- //! \param[in] catalogPath Relative path to the vehicle catalog file
- //-----------------------------------------------------------------------------
- virtual void SetVehicleCatalogPath(const std::string& catalogPath) = 0;
-
- //-----------------------------------------------------------------------------
- //! \brief Retreives the path to the pedestrian catalog file
- //!
- //! \return Relative path to the pedestrian catalog
- //-----------------------------------------------------------------------------
- virtual const std::string& GetPedestrianCatalogPath() const = 0;
-
- //-----------------------------------------------------------------------------
- //! Sets the path to the pedestrian catalog file
- //!
- //! \param[in] catalogPath Relative path to the pedestrian catalog file
- //-----------------------------------------------------------------------------
- virtual void SetPedestrianCatalogPath(const std::string& catalogPath) = 0;
-
- //-----------------------------------------------------------------------------
- //! \brief Retreives the path to the trajectory catalog file
- //!
- //! The path can either be absolute or relative to the simulator executable
- //!
- //! \return Path to the trajectory catalog file
- //-----------------------------------------------------------------------------
- virtual const std::string& GetTrajectoryCatalogPath() const = 0;
-
- //-----------------------------------------------------------------------------
- //! Sets the path to the trajectory catalog file
- //!
- //! The path can either be absolute or relative to the simulator executable
- //!
- //! \param[in] catalogPath Path to the trajectory catalog file
- //-----------------------------------------------------------------------------
- virtual void SetTrajectoryCatalogPath(const std::string& catalogPath) = 0;
-
- //-----------------------------------------------------------------------------
- //! Retreives the path to the scenery file (OpenDRIVE)
- //!
- //! \return Relative path to the scenery file
- //-----------------------------------------------------------------------------
- virtual const std::string& GetSceneryPath() const = 0;
-
- //-----------------------------------------------------------------------------
- //! Sets the path to the scenery file (OpenDRIVE)
- //!
- //! \param[in] sceneryPath Relative path to the scenery file
- //-----------------------------------------------------------------------------
- virtual void SetSceneryPath(const std::string& sceneryPath) = 0;
-
- //-----------------------------------------------------------------------------
- //! Retreives the dynamic scenery portions
- //!
- //! \return scenery dynamics
- //-----------------------------------------------------------------------------
- virtual const SceneryDynamicsInterface& GetSceneryDynamics() const = 0;
-
- //-----------------------------------------------------------------------------
- //! Adds one traffic signal controller
- //----------------------------------------------------------------------------
- virtual void AddTrafficSignalController (const openScenario::TrafficSignalController& controller) = 0;
-
- //-----------------------------------------------------------------------------
- //! Adds one scenario entity to the scenery entities of the scenario.
- //-----------------------------------------------------------------------------
- virtual void AddScenarioEntity(const ScenarioEntity& entity) = 0;
-
- //-----------------------------------------------------------------------------
- //! Adds groups to the scenario as defined by groupDefinitions - a map of
- //! group names to a list of group member entity names.
- //-----------------------------------------------------------------------------
- virtual void AddScenarioGroupsByEntityNames(const std::map<std::string, std::vector<std::string>> &groupDefinitions) = 0;
-
- virtual const std::vector<ScenarioEntity>& GetEntities() const = 0;
-
- //-----------------------------------------------------------------------------
- //! Returns the ego entity of the scenario.
- //!
- //! @return ScenarioEntities of vehicles other than ego
- //-----------------------------------------------------------------------------
- virtual const std::vector<ScenarioEntity*> &GetScenarioEntities() const = 0;
-
- //-----------------------------------------------------------------------------
- //! Returns the entity groups of the scenario.
- //!
- //! @return map of group names to vector of ScenarioEntities belonging to the
- //! group
- //-----------------------------------------------------------------------------
- virtual const std::map<std::string, std::vector<ScenarioEntity*>> &GetScenarioGroups() const = 0;
-
- //-----------------------------------------------------------------------------
- //! Adds a event detector to the event detectors map.
- //-----------------------------------------------------------------------------
- virtual void AddConditionalEventDetector(const openScenario::ConditionalEventDetectorInformation &eventDetectorInformation) = 0;
-
- //-------------------------------------------------------------------------
- //! \brief AddAction Adds a shared_ptr to an action to the actions map
- //!
- //! \param[in] action a shared_ptr to an action
- //-------------------------------------------------------------------------
- virtual void AddAction(const openScenario::Action action, const std::string eventName) = 0;
-
- //-----------------------------------------------------------------------------
- //! Returns the event detector.
- //!
- //! @return list of event detector
- //-----------------------------------------------------------------------------
- virtual const std::vector<openScenario::ConditionalEventDetectorInformation>& GetEventDetectorInformations() const = 0;
-
- //-------------------------------------------------------------------------
- //! \brief GetActions Returns the actions of the scenario
- //!
- //! \returns list of actions
- //-------------------------------------------------------------------------
- virtual std::vector<openScenario::ManipulatorInformation> GetActions() const = 0;
-
- //-------------------------------------------------------------------------
- //! \brief Returns the desired end time of the simulation.
- //! \returns the desired end time of the simulation.
- //-------------------------------------------------------------------------
- virtual int GetEndTime() const = 0;
-
- //-------------------------------------------------------------------------
- //! \brief Sets the desired end time of the simulation.
- //! \param[in] endTime The desired end time of the simulation.
- //-------------------------------------------------------------------------
- virtual void SetEndTime(const double endTime) = 0;
-
- //-------------------------------------------------------------------------
- //! \brief Sets the environment conditions of the simulation.
- //! \param[in] endTime The environment conditions of the simulation.
- //-------------------------------------------------------------------------
- virtual void SetEnvironment(const openScenario::EnvironmentAction& environment) = 0;
-};
diff --git a/sim/include/sceneryDynamicsInterface.h b/sim/include/sceneryDynamicsInterface.h
deleted file mode 100644
index 302efb7911c9ebbf208ec38c6f43284fdeb8266a..0000000000000000000000000000000000000000
--- a/sim/include/sceneryDynamicsInterface.h
+++ /dev/null
@@ -1,36 +0,0 @@
-/********************************************************************************
- * 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-//-----------------------------------------------------------------------------
-//! @file sceneryDynamicsInterface.h
-//! @brief This file contains the interface to the dynamic portion of the scenery
-//-----------------------------------------------------------------------------
-
-#pragma once
-
-#include <vector>
-#include "common/openScenarioDefinitions.h"
-
-//-----------------------------------------------------------------------------
-//! Class representing the dynamic portion of the scenery
-//! i.e. states that may change during simulation
-//-----------------------------------------------------------------------------
-class SceneryDynamicsInterface
-{
-public:
- SceneryDynamicsInterface() = default;
- virtual ~SceneryDynamicsInterface() = default;
-
- //! Returns the environment as defined in the scenario file
- virtual openScenario::EnvironmentAction GetEnvironment() const = 0;
-
- //! Returns the list of traffic signal controllers as defined in the scenario file
- virtual std::vector<openScenario::TrafficSignalController> GetTrafficSignalControllers() const = 0;
-};
diff --git a/sim/include/spawnItemParameterInterface.h b/sim/include/spawnItemParameterInterface.h
index 2b08e9feb0fc0e63214e30ee2f1491968468e6e2..077df2570c024e7cacc22e9422f766ce684f08d0 100644
--- a/sim/include/spawnItemParameterInterface.h
+++ b/sim/include/spawnItemParameterInterface.h
@@ -40,28 +40,28 @@ public:
//!
//! @param[in] positionX X-coordinate
//-----------------------------------------------------------------------------
- virtual void SetPositionX(double positionX) = 0;
+ virtual void SetPositionX(units::length::meter_t positionX) = 0;
//-----------------------------------------------------------------------------
//! Sets the y-coordinate of the agent to be spawned
//!
//! @param[in] positionY Y-coordinate
//-----------------------------------------------------------------------------
- virtual void SetPositionY(double positionY) = 0;
+ virtual void SetPositionY(units::length::meter_t positionY) = 0;
//-----------------------------------------------------------------------------
//! Sets the forward velocity of the agent to be spawned
//!
//! @param[in] velocity Forward velocity
//-----------------------------------------------------------------------------
- virtual void SetVelocity(double velocity) = 0;
+ virtual void SetVelocity(units::velocity::meters_per_second_t velocity) = 0;
//-----------------------------------------------------------------------------
//! Sets the forward acceleration of the agent to be spawned
//!
//! @param[in] acceleration Forward acceleration
//-----------------------------------------------------------------------------
- virtual void SetAcceleration(double acceleration) = 0;
+ virtual void SetAcceleration(units::acceleration::meters_per_second_squared_t acceleration) = 0;
//-----------------------------------------------------------------------------
//! Sets the gear of the agent to be spawned
@@ -75,7 +75,7 @@ public:
//!
//! @param[in] yawAngle Agent orientation (0 points to east)
//-----------------------------------------------------------------------------
- virtual void SetYaw(double yawAngle) = 0;
+ virtual void SetYaw(units::angle::radian_t yawAngle) = 0;
//-----------------------------------------------------------------------------
//! Sets the next time when the agent will be spawned
@@ -103,11 +103,11 @@ public:
virtual double GetPositionY() const = 0;
- virtual double GetVelocity() const = 0;
+ virtual units::velocity::meters_per_second_t GetVelocity() const = 0;
- virtual double GetAcceleration() const = 0;
+ virtual units::acceleration::meters_per_second_squared_t GetAcceleration() const = 0;
- virtual double GetYaw() const = 0;
+ virtual units::angle::radian_t GetYaw() const = 0;
virtual std::string GetVehicleModel() const = 0;
};
diff --git a/sim/include/spawnPointInterface.h b/sim/include/spawnPointInterface.h
index c2e24a95dd42d7c1ba3b849c055a44e515f52282..18b90fbd5b04877b612bc31724da4442b84f981d 100644
--- a/sim/include/spawnPointInterface.h
+++ b/sim/include/spawnPointInterface.h
@@ -19,11 +19,11 @@
#include <string>
-#include "modelElements/agent.h"
-#include "include/parameterInterface.h"
-#include "include/callbackInterface.h"
#include "include/agentBlueprintInterface.h"
#include "include/agentInterface.h"
+#include "include/callbackInterface.h"
+#include "include/parameterInterface.h"
+#include "modelElements/agent.h"
class WorldInterface;
@@ -32,20 +32,20 @@ class WorldInterface;
//-----------------------------------------------------------------------------
class SpawnPointInterface
{
-public:
+public:
SpawnPointInterface(WorldInterface *world,
const CallbackInterface *callbacks) :
world(world),
callbacks(callbacks)
- {}
- SpawnPointInterface(const SpawnPointInterface&) = delete;
- SpawnPointInterface(SpawnPointInterface&&) = delete;
- SpawnPointInterface& operator=(const SpawnPointInterface&) = delete;
- SpawnPointInterface& operator=(SpawnPointInterface&&) = delete;
+ {
+ }
+ SpawnPointInterface(const SpawnPointInterface &) = delete;
+ SpawnPointInterface(SpawnPointInterface &&) = delete;
+ SpawnPointInterface &operator=(const SpawnPointInterface &) = delete;
+ SpawnPointInterface &operator=(SpawnPointInterface &&) = delete;
virtual ~SpawnPointInterface() = default;
- using Agents = std::vector<core::Agent*>;
- virtual Agents Trigger(int time) = 0;
+ virtual void Trigger(int time) = 0;
protected:
//-----------------------------------------------------------------------------
@@ -71,7 +71,7 @@ protected:
int line,
const std::string &message) const
{
- if(callbacks)
+ if (callbacks)
{
callbacks->Log(logLevel,
file,
@@ -81,8 +81,6 @@ protected:
}
private:
- WorldInterface *world; //!< References the world of the framework
- const CallbackInterface *callbacks; //!< References the callback functions of the framework
+ WorldInterface *world; //!< References the world of the framework
+ const CallbackInterface *callbacks; //!< References the callback functions of the framework
};
-
-
diff --git a/sim/include/spawnPointNetworkInterface.h b/sim/include/spawnPointNetworkInterface.h
index 46aae75d552d737553991067f01e8ed883949422..e20c5056b2f902d3aab20135effb0b37b19684af 100644
--- a/sim/include/spawnPointNetworkInterface.h
+++ b/sim/include/spawnPointNetworkInterface.h
@@ -12,8 +12,8 @@
#include <list>
#include <map>
#include "include/agentFactoryInterface.h"
-#include "include/agentBlueprintProviderInterface.h"
-#include "include/scenarioInterface.h"
+#include "include/configurationContainerInterface.h"
+#include "include/vehicleModelsInterface.h"
#include "common/spawnPointLibraryDefinitions.h"
namespace core
@@ -35,25 +35,26 @@ public:
//! or create a new instance (which is then also stored), then create a new spawn
//! point using the provided parameters.
//!
- //! @param[in] libraryInfos Information for the SpawnPointLibrary
- //! @param[in] agentFactory Factory for the agents
- //! @param[in] agentBlueprintProvider AgentBlueprintProvider
- //! @param[in] sampler Sampler
- //! @return true, if successful
+ //! @param[in] libraryInfos Information for the SpawnPointLibrary
+ //! @param[in] agentFactory Factory for the agents
+ //! @param[in] stochastics StochasticInterface
+ //! @param[in] spawnPointProfiles SpawnPointProfiles of the ProfilesCatalog
+ //! @param[in] configurationContainer ConfigurationContainer
+ //! @param[in] vehicles Shared pointer containing the Vehicles of the VehiclesCatalog
+ //! @return true, if successful
//-----------------------------------------------------------------------------
virtual bool Instantiate(const SpawnPointLibraryInfoCollection& libraryInfos,
AgentFactoryInterface* agentFactory,
- const AgentBlueprintProviderInterface* agentBlueprintProvider,
StochasticsInterface* stochastics,
- const ScenarioInterface* scenario,
- const std::optional<ProfileGroup>& spawnPointProfiles) = 0;
+ const std::optional<ProfileGroup>& spawnPointProfiles,
+ ConfigurationContainerInterface* configurationContainer,
+ std::shared_ptr<mantle_api::IEnvironment> environment,
+ std::shared_ptr<Vehicles> vehicles) = 0;
virtual bool TriggerPreRunSpawnZones() = 0;
virtual bool TriggerRuntimeSpawnPoints(const int timestamp) = 0;
- virtual std::vector<Agent*> ConsumeNewAgents() = 0;
-
//-----------------------------------------------------------------------------
//! Clears all spawnpoints.
//-----------------------------------------------------------------------------
diff --git a/sim/include/streamInterface.h b/sim/include/streamInterface.h
index 46da70e9e79e5f2a9220ab040d68ac50e9401615..db5a8523e1401ebfa183e3590d3a65d759f810e5 100644
--- a/sim/include/streamInterface.h
+++ b/sim/include/streamInterface.h
@@ -29,15 +29,15 @@ class WorldObjectInterface;
//! Defines the position in a RoadStream or LaneStream
struct StreamPosition
{
- double s; //!< Longitudinal position in the stream (relative to the start)
- double t; //!< Lateral position in stream (relative to middle of the road/lane)
- double hdg; //! Heading relative to stream direction
+ units::length::meter_t s; //!< Longitudinal position in the stream (relative to the start)
+ units::length::meter_t t; //!< Lateral position in stream (relative to middle of the road/lane)
+ units::angle::radian_t hdg; //! Heading relative to stream direction
double operator==(const StreamPosition& other) const
{
- return std::abs(s - other.s) < EQUALITY_BOUND
- && std::abs(t - other.t) < EQUALITY_BOUND
- && std::abs(hdg - other.hdg) < EQUALITY_BOUND;
+ return mantle_api::IsEqual(s, other.s, EQUALITY_BOUND)
+ && mantle_api::IsEqual(t, other.t, EQUALITY_BOUND)
+ && mantle_api::IsEqual(hdg, other.hdg, EQUALITY_BOUND);
}
};
@@ -90,10 +90,10 @@ public:
//! Each LaneType is valid until the s position of the next element in the list
//!
//! \return list of laneTypes and where they start
- virtual std::vector<std::pair<double, LaneType>> GetLaneTypes() const = 0;
+ virtual std::vector<std::pair<units::length::meter_t, LaneType>> GetLaneTypes() const = 0;
//! Returns the length of the stream
- virtual double GetLength() const = 0;
+ virtual units::length::meter_t GetLength() const = 0;
};
//! Represents a connected sequence of roads in the road network
@@ -130,5 +130,5 @@ public:
virtual std::unique_ptr<LaneStreamInterface> GetLaneStream(const GlobalRoadPosition& startPosition) const = 0;
//! Returns the length of the stream
- virtual double GetLength() const = 0;
+ virtual units::length::meter_t GetLength() const = 0;
};
diff --git a/sim/include/trafficObjectInterface.h b/sim/include/trafficObjectInterface.h
index 0441a9ad5ca3b26f485fd2d774dc86f29c6db063..be798776e1b7f17b4959511f6c24e582a42026dd 100644
--- a/sim/include/trafficObjectInterface.h
+++ b/sim/include/trafficObjectInterface.h
@@ -24,6 +24,6 @@ public:
virtual ~TrafficObjectInterface() = default;
virtual OpenDriveId GetOpenDriveId() const = 0;
- virtual double GetZOffset() const = 0;
+ virtual units::length::meter_t GetZOffset() const = 0;
virtual bool GetIsCollidable() const = 0;
};
diff --git a/sim/include/vehicleModelsInterface.h b/sim/include/vehicleModelsInterface.h
index 307aad7b3a8bb938b2c05896a1d29193bf1a7800..6e26964bc1a7c915a3938b1f3d466c03f8fa9679 100644
--- a/sim/include/vehicleModelsInterface.h
+++ b/sim/include/vehicleModelsInterface.h
@@ -19,140 +19,9 @@
#include <algorithm>
#include <math.h>
-#include "common/globalDefinitions.h"
-#include "common/openScenarioDefinitions.h"
+#include <MantleAPI/Traffic/entity_properties.h>
-//! Resolves a parametrized attribute
-//!
-//! \param attribute attribute is defined in the catalog
-//! \param parameterAssignments parameter assignments in the catalog reference
-template <typename T>
-T GetAttribute(openScenario::ParameterizedAttribute<T> attribute, const openScenario::Parameters& parameterAssignments)
-{
- const auto& assignedParameter = parameterAssignments.find(attribute.name);
- if (assignedParameter != parameterAssignments.cend())
- {
- auto valueString = std::get<std::string>(assignedParameter->second);
- if constexpr (std::is_same_v<T, std::string>)
- {
- return valueString;
- }
- try
- {
- if constexpr (std::is_same_v<T, double>)
- {
- return std::stod(valueString);
- }
- else if constexpr (std::is_same_v<T, int>)
- {
- return std::stoi(valueString);
- }
- }
- catch (const std::invalid_argument&)
- {
- throw std::runtime_error("Type of assigned parameter \"" + attribute.name + "\" in scenario does not match.");
- }
- catch (const std::out_of_range&)
- {
- throw std::runtime_error("Value of assigned parameter \"" + attribute.name + "\" is out of range.");
- }
- }
- else
- {
- return attribute.defaultValue;
- }
-}
-
-//! 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;
-
- struct BoundingBoxCenter
- {
- 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)};
- }
- } 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
- };
- }
-};
-
-using VehicleModelMap = std::unordered_map<std::string, ParametrizedVehicleModelParameters>;
+using VehicleModelMap = std::unordered_map<std::string, mantle_api::VehicleProperties>;
class VehicleModelsInterface
{
@@ -160,17 +29,15 @@ public:
VehicleModelsInterface() = default;
~VehicleModelsInterface() = default;
- virtual const VehicleModelMap& GetVehicleModelMap() const = 0;
-
//! Add the VehicleModel with the specified name
//!
//! \param name name of the vehicle model
//! \param vehicleModel assigned parameters, that overwrite the default parameters
- virtual void AddVehicleModel(const std::string& name, const ParametrizedVehicleModelParameters& vehicleModel) = 0;
+ virtual void AddVehicleModel(const std::string& name, mantle_api::VehicleProperties vehicleModel) = 0;
//! Returns the VehicleModel with the specified name
//!
//! \param vehicleModelType name of the vehicle model
//! \param parameters assigned parameters, that overwrite the default parameters
- virtual VehicleModelParameters GetVehicleModel(std::string vehicleModelType, const openScenario::Parameters& parameters = {}) const = 0;
+ virtual mantle_api::VehicleProperties GetVehicleModel(std::string vehicleModelType) const = 0;
};
diff --git a/sim/include/worldInterface.h b/sim/include/worldInterface.h
index 16026a4b70dab26bd60d862cdfb2cc77e4e9653a..4bc88cb47a5531812aecc3859e8a867d108593de 100644
--- a/sim/include/worldInterface.h
+++ b/sim/include/worldInterface.h
@@ -18,21 +18,21 @@
#pragma once
-#include <map>
#include <functional>
#include <list>
+#include <map>
#include "common/boostGeometryCommon.h"
#include "common/globalDefinitions.h"
#include "common/openPassTypes.h"
-#include "common/openScenarioDefinitions.h"
#include "common/vector2d.h"
#include "common/worldDefinitions.h"
#include "include/streamInterface.h"
#include "include/radioInterface.h"
+#include "include/agentBlueprintInterface.h"
+#include "MantleAPI/EnvironmentalConditions/weather.h"
class AgentInterface;
-class AgentBlueprintInterface;
class ParameterInterface;
class SceneryInterface;
class SceneryDynamicsInterface;
@@ -54,9 +54,15 @@ public:
WorldInterface &operator=(WorldInterface &&) = delete;
virtual ~WorldInterface() = default;
- virtual bool Instantiate() {return false;}
+ virtual bool Instantiate()
+ {
+ return false;
+ }
- virtual bool isInstantiated() {return false;}
+ virtual bool isInstantiated()
+ {
+ return false;
+ }
//-----------------------------------------------------------------------------
//! Retrieves the OSI ground truth
@@ -99,7 +105,7 @@ public:
//!
//! @return Pointer OSI world data structure
//-----------------------------------------------------------------------------
- virtual void* GetWorldData() = 0;
+ virtual void *GetWorldData() = 0;
//-----------------------------------------------------------------------------
//! Retrieves time of day (hour)
@@ -120,14 +126,14 @@ public:
//!
//! @return visibility distance
//-----------------------------------------------------------------------------
- virtual double GetVisibilityDistance() const = 0;
+ virtual units::length::meter_t GetVisibilityDistance() const = 0;
//-----------------------------------------------------------------------------
//! Retrieves traffic rules
//!
//! @return traffic rules
//-----------------------------------------------------------------------------
- virtual const TrafficRules& GetTrafficRules() const = 0;
+ virtual const TrafficRules &GetTrafficRules() const = 0;
//-----------------------------------------------------------------------------
//! Sets the world parameters like weekday, library
@@ -135,7 +141,7 @@ public:
//!
//! @return
//-----------------------------------------------------------------------------
- virtual void ExtractParameter(ParameterInterface* parameters) = 0;
+ virtual void ExtractParameter(ParameterInterface *parameters) = 0;
//-----------------------------------------------------------------------------
//! Reset the world for the next run
@@ -178,7 +184,7 @@ public:
//!
//! @return Vector of all worldObjects
//-----------------------------------------------------------------------------
- virtual const std::vector<const WorldObjectInterface*>& GetWorldObjects() const = 0;
+ virtual const std::vector<const WorldObjectInterface *> &GetWorldObjects() const = 0;
//-----------------------------------------------------------------------------
//! queue functions and values to update agent when SyncGlobalData is called
@@ -220,11 +226,18 @@ public:
//! Create a scenery in world.
//!
//! @param scenery OpenDrive scenery to convert
- //! @param sceneryDynamics scenery related information in the scenario
//! @param turningRates turning rate for junctions
//! @return
//-----------------------------------------------------------------------------
- virtual bool CreateScenery(const SceneryInterface *scenery, const SceneryDynamicsInterface& sceneryDynamics, const TurningRates& turningRates) = 0;
+ virtual bool CreateScenery(const SceneryInterface *scenery, const TurningRates& turningRates) = 0;
+
+ //-----------------------------------------------------------------------------
+ //! Set weather in world.
+ //!
+ //! @param weather weather from scenario
+ //! @return
+ //-----------------------------------------------------------------------------
+ virtual void SetWeather(const mantle_api::Weather& weather) = 0;
//-----------------------------------------------------------------------------
//! Create an agentAdapter for an agent to communicate between the agent of the
@@ -241,7 +254,7 @@ public:
//! @param agentBlueprint blueprint holding parameters of the agent
//! @return Instance of the AgentAdapter (implementing AgentInterface)
//------------------------------------------------------------------------------------
- virtual AgentInterface &CreateAgentAdapter(const AgentBlueprintInterface &agentBlueprint) = 0;
+ virtual AgentInterface &CreateAgentAdapter(const AgentBuildInstructions &agentBlueprint) = 0;
//-----------------------------------------------------------------------------
//! Returns one agent which is set to be special.
@@ -270,29 +283,29 @@ public:
//!
//! @return
//-----------------------------------------------------------------------------
- virtual Position LaneCoord2WorldCoord(double distanceOnLane, double offset, std::string roadId,
- int laneId) const = 0;
+ virtual Position LaneCoord2WorldCoord(units::length::meter_t distanceOnLane, units::length::meter_t offset, std::string roadId,
+ int laneId) const = 0;
//-----------------------------------------------------------------------------
//! Retrieve all lane positions corresponding to the specified world position
//!
//! @return Position on all lanes at specified world position
//-----------------------------------------------------------------------------
- virtual GlobalRoadPositions WorldCoord2LaneCoord(double x, double y, double heading) const = 0;
+ virtual GlobalRoadPositions WorldCoord2LaneCoord(units::length::meter_t x, units::length::meter_t y, units::angle::radian_t heading) const = 0;
//-----------------------------------------------------------------------------
//! Tries to create an internal scenery from a given file.
//!
//! @return
//-----------------------------------------------------------------------------
- virtual bool CreateWorldScenery(const std::string &sceneryFilename) = 0;
+ virtual bool CreateWorldScenery(const std::string &sceneryFilename) = 0;
//-----------------------------------------------------------------------------
//! Tries to create an internal scenario from a given file.
//!
//! @return
//-----------------------------------------------------------------------------
- virtual bool CreateWorldScenario(const std::string &scenarioFilename) = 0;
+ virtual bool CreateWorldScenario(const std::string &scenarioFilename) = 0;
//-----------------------------------------------------------------------------
//! Locate a given relative point of an object in relation to a given RoadGraph
@@ -319,8 +332,8 @@ public:
//!
//! @return All agents in specified range
//-----------------------------------------------------------------------------
- virtual RouteQueryResult<AgentInterfaces> GetAgentsInRange(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double startDistance,
- double backwardRange, double forwardRange) const = 0;
+ virtual RouteQueryResult<AgentInterfaces> GetAgentsInRange(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t startDistance,
+ units::length::meter_t backwardRange, units::length::meter_t forwardRange) const = 0;
//-----------------------------------------------------------------------------
//! Returns all objects in specified range (also objects partially in search interval).
@@ -335,17 +348,17 @@ public:
//!
//! @return All objects in specified range
//-----------------------------------------------------------------------------
- virtual RouteQueryResult<std::vector<const WorldObjectInterface*>> GetObjectsInRange(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double startDistance,
- double backwardRange, double forwardRange) const = 0;
+ virtual RouteQueryResult<std::vector<const WorldObjectInterface *>> GetObjectsInRange(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t startDistance,
+ units::length::meter_t backwardRange, units::length::meter_t forwardRange) const = 0;
//! Returns all agents on the specified connectingRoad of a junction and on the incoming lanes that lead to this connecting road
//! inside a certain range. The range is measured backwards from the end of the connecting road.
//!
//! \param connectingRoadId OpenDrive id of the connecting road
//! \param range Distance of the search start to the end of connecting road
- //!
+ //!
//! \return All agents in specified range
- virtual AgentInterfaces GetAgentsInRangeOfJunctionConnection(std::string connectingRoadId, double range) const = 0;
+ virtual AgentInterfaces GetAgentsInRangeOfJunctionConnection(std::string connectingRoadId, units::length::meter_t range) const = 0;
//! Returns the s coordinate distance from the front of the agent to the first point where his lane intersects another.
//! As the agent may not yet be on the junction, it has to be specified which connecting road he will take in the junction
@@ -355,7 +368,7 @@ public:
//! \param ownConnectorId OpenDrive id of the connecting road that this agent is assumed to drive on
//!
//! \return distance of front of agent to the intersecting lane
- virtual double GetDistanceToConnectorEntrance(std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const = 0;
+ virtual units::length::meter_t GetDistanceToConnectorEntrance(std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const = 0;
//! Returns the s coordinate distance from the rear of the agent to the furthest point where his lane intersects another.
//! As the agent may not yet be on the junction, it has to be specified which connecting road he will take in the junction
@@ -365,7 +378,7 @@ public:
//! \param ownConnectorId OpenDrive id of the connecting road that this agent is assumed to drive on
//!
//! \return distance of rear of agent to the farther side of the intersecting lane
- virtual double GetDistanceToConnectorDeparture(std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const = 0;
+ virtual units::length::meter_t GetDistanceToConnectorDeparture(std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const = 0;
//-----------------------------------------------------------------------------
//! Retrieve whether s coordinate is valid on given lane.
@@ -375,7 +388,7 @@ public:
//! @param[in] distance s coordinate
//! @return true if s is valid at given distance, false otherwise
//-----------------------------------------------------------------------------
- virtual bool IsSValidOnLane(std::string roadId, int laneId, double distance) = 0;
+ virtual bool IsSValidOnLane(std::string roadId, int laneId, units::length::meter_t distance) = 0;
//-----------------------------------------------------------------------------
//! Retrieve whether a road id exists in a specified openDrive direction.
@@ -397,7 +410,7 @@ public:
//!
//! @return true if the lane has a valid LaneType
//-----------------------------------------------------------------------------
- virtual bool IsLaneTypeValid(const std::string &roadId, const int laneId, const double distanceOnLane, const LaneTypes& validLaneTypes) = 0;
+ virtual bool IsLaneTypeValid(const std::string &roadId, const int laneId, const units::length::meter_t distanceOnLane, const LaneTypes &validLaneTypes) = 0;
//-----------------------------------------------------------------------------
//! Returns interpolated value for the curvature of the lane at the given position.
@@ -409,7 +422,7 @@ public:
//! @param[in] position s coordinate of search start
//! @return curvature at position
//-----------------------------------------------------------------------------
- virtual double GetLaneCurvature(std::string roadId, int laneId, double position) const = 0 ;
+ virtual units::curvature::inverse_meter_t GetLaneCurvature(std::string roadId, int laneId, units::length::meter_t position) const = 0;
//-----------------------------------------------------------------------------
//! Returns interpolated value for the curvature of the lane at distance from the given position.
@@ -423,7 +436,7 @@ public:
//! @param[in] distance s coordinate difference from position to the point of interst
//! @return curvature at position
//-----------------------------------------------------------------------------
- virtual RouteQueryResult<std::optional<double> > GetLaneCurvature(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double position, double distance) const = 0;
+ virtual RouteQueryResult<std::optional<units::curvature::inverse_meter_t>> GetLaneCurvature(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t position, units::length::meter_t distance) const = 0;
//-----------------------------------------------------------------------------
//! Returns interpolated value for the width of the lane the given position.
@@ -435,7 +448,7 @@ public:
//! @param[in] position s coordinate of search start
//! @return width at position
//-----------------------------------------------------------------------------
- virtual double GetLaneWidth(std::string roadId, int laneId, double position) const = 0 ;
+ virtual units::length::meter_t GetLaneWidth(std::string roadId, int laneId, units::length::meter_t position) const = 0;
//-----------------------------------------------------------------------------
//! Returns interpolated value for the width of the lane at distance from the given position.
@@ -449,7 +462,7 @@ public:
//! @param[in] distance s coordinate difference from position to the point of interst
//! @return width at position
//-----------------------------------------------------------------------------
- virtual RouteQueryResult<std::optional<double> > GetLaneWidth(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double position, double distance) const = 0;
+ virtual RouteQueryResult<std::optional<units::length::meter_t>> GetLaneWidth(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t position, units::length::meter_t distance) const = 0;
//-----------------------------------------------------------------------------
//! Returns value for the direction (i.e. heading) of the lane at the given position.
@@ -461,7 +474,7 @@ public:
//! @param[in] position s coordinate of search start
//! @return direction at position
//-----------------------------------------------------------------------------
- virtual double GetLaneDirection(std::string roadId, int laneId, double position) const = 0 ;
+ virtual units::angle::radian_t GetLaneDirection(std::string roadId, int laneId, units::length::meter_t position) const = 0;
//-----------------------------------------------------------------------------
//! Returns value for the curvature (i.e. heading) of the lane at distance from the given position.
@@ -475,7 +488,7 @@ public:
//! @param[in] distance s coordinate difference from position to the point of interst
//! @return direction at position
//-----------------------------------------------------------------------------
- virtual RouteQueryResult<std::optional<double> > GetLaneDirection(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double position, double distance) const = 0;
+ virtual RouteQueryResult<std::optional<units::angle::radian_t>> GetLaneDirection(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t position, units::length::meter_t distance) const = 0;
//-----------------------------------------------------------------------------
//! Returns remaining distance to end of lane stream (along given route) or until next lane which has non of the following types:
@@ -488,8 +501,8 @@ public:
//! @param[in] maxSearchLength maximum search length
//! @return remaining distance
//-----------------------------------------------------------------------------
- virtual RouteQueryResult<double> GetDistanceToEndOfLane(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double initialSearchDistance,
- double maximumSearchLength) const = 0;
+ virtual RouteQueryResult<units::length::meter_t> GetDistanceToEndOfLane(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t initialSearchDistance,
+ units::length::meter_t maximumSearchLength) const = 0;
//-----------------------------------------------------------------------------
//! Returns remaining distance to end of lane stream (along given route) or until next lane which has non of the specified types:
@@ -502,8 +515,8 @@ public:
//! @param[in] laneTypes filter for lane types
//! @return remaining distance
//-----------------------------------------------------------------------------
- virtual RouteQueryResult<double> GetDistanceToEndOfLane(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double initialSearchDistance,
- double maximumSearchLength, const LaneTypes& laneTypes) const = 0;
+ virtual RouteQueryResult<units::length::meter_t> GetDistanceToEndOfLane(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t initialSearchDistance,
+ units::length::meter_t maximumSearchLength, const LaneTypes &laneTypes) const = 0;
//-----------------------------------------------------------------------------
//! \brief GetDistanceBetweenObjects gets the distance between two
@@ -517,10 +530,10 @@ public:
//! \param target the position of the second object
//! \return the distance between the positions on the Route
//-----------------------------------------------------------------------------
- virtual RouteQueryResult<std::optional<double>> GetDistanceBetweenObjects(const RoadGraph& roadGraph,
- RoadGraphVertex startNode,
- double ownPosition,
- const GlobalRoadPositions &target) const = 0;
+ virtual RouteQueryResult<std::optional<units::length::meter_t>> GetDistanceBetweenObjects(const RoadGraph& roadGraph,
+ RoadGraphVertex startNode,
+ units::length::meter_t ownPosition,
+ const GlobalRoadPositions &target) const = 0;
//-----------------------------------------------------------------------------
//! \brief This method returns all LaneSections of a road
@@ -529,14 +542,14 @@ public:
//!
//! \return LaneSections
//-----------------------------------------------------------------------------
- virtual LaneSections GetLaneSections(const std::string& roadId) const = 0;
+ virtual LaneSections GetLaneSections(const std::string &roadId) const = 0;
//-----------------------------------------------------------------------------
//! Retrieve whether a new agent intersects with an existing agent
//!
//! @return
//-----------------------------------------------------------------------------
- virtual bool IntersectsWithAgent(double x, double y, double rotation, double length, double width, double center) = 0;
+ virtual bool IntersectsWithAgent(units::length::meter_t x, units::length::meter_t y, units::angle::radian_t rotation, units::length::meter_t length, units::length::meter_t width, units::length::meter_t center) = 0;
virtual Position RoadCoord2WorldCoord(RoadPosition roadCoord, std::string roadID = "") const = 0;
@@ -547,7 +560,7 @@ public:
*
* \return Length of the specified road in [m]
*/
- virtual double GetRoadLength(const std::string& roadId) const = 0;
+ virtual units::length::meter_t GetRoadLength(const std::string &roadId) const = 0;
//! Calculates the obstruction of an agent with another object i.e. how far to left or the right the object is from my position
//! For more information see the [markdown documentation](\ref dev_framework_modules_world_getobstruction)
@@ -559,7 +572,7 @@ public:
//! \param touchedRoads position of the other object
//! \return obstruction with the other object
virtual RouteQueryResult<Obstruction> GetObstruction(const RoadGraph &roadGraph, RoadGraphVertex startNode, const GlobalRoadPosition &ownPosition,
- const std::map<ObjectPoint, Common::Vector2d> &points, const RoadIntervals &touchedRoads) const = 0;
+ const std::map<ObjectPoint, Common::Vector2d<units::length::meter_t>> &points, const RoadIntervals &touchedRoads) const = 0;
//! Returns all traffic signs valid for a lane inside the range
//!
@@ -569,8 +582,8 @@ public:
//! \param startDistance s coordinate
//! \param searchRange range of search (can also be negative)
//! \return traffic signs in range
- virtual RouteQueryResult<std::vector<CommonTrafficSign::Entity>> GetTrafficSignsInRange(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId,
- double startDistance, double searchRange) const = 0;
+ virtual RouteQueryResult<std::vector<CommonTrafficSign::Entity>> GetTrafficSignsInRange(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId,
+ units::length::meter_t startDistance, units::length::meter_t searchRange) const = 0;
//! Returns all road markings valid for a lane inside the range
//!
@@ -580,8 +593,8 @@ public:
//! \param startDistance s coordinate
//! \param searchRange range of search
//! \return road markings in range (can also be negative)
- virtual RouteQueryResult<std::vector<CommonTrafficSign::Entity>> GetRoadMarkingsInRange(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId,
- double startDistance, double searchRange) const = 0;
+ virtual RouteQueryResult<std::vector<CommonTrafficSign::Entity>> GetRoadMarkingsInRange(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId,
+ units::length::meter_t startDistance, units::length::meter_t searchRange) const = 0;
//! Returns all traffic lights valid for a lane inside the range
//!
@@ -591,8 +604,8 @@ public:
//! \param startDistance s coordinate
//! \param searchRange range of search (can also be negative)
//! \return traffic lights in range
- virtual RouteQueryResult<std::vector<CommonTrafficLight::Entity>> GetTrafficLightsInRange(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId,
- double startDistance, double searchRange) const = 0;
+ virtual RouteQueryResult<std::vector<CommonTrafficLight::Entity>> GetTrafficLightsInRange(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId,
+ units::length::meter_t startDistance, units::length::meter_t searchRange) const = 0;
//! Retrieves all lane markings on the given position on the given side of the lane inside the range
//!
@@ -602,7 +615,7 @@ public:
//! \param startDistance s coordinate
//! \param range search range
//! \param side side of the lane
- virtual RouteQueryResult<std::vector<LaneMarking::Entity>> GetLaneMarkings(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double startDistance, double range, Side side) const = 0;
+ virtual RouteQueryResult<std::vector<LaneMarking::Entity>> GetLaneMarkings(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t startDistance, units::length::meter_t range, Side side) const = 0;
//! Returns the relative distances (start and end) and the connecting road id of all junctions on the route in range
//!
@@ -611,7 +624,7 @@ public:
//! \param startDistance start s coordinate on the road
//! \param range range of search
//! \return information about all junctions in range
- [[deprecated]] virtual RouteQueryResult<RelativeWorldView::Roads> GetRelativeJunctions(const RoadGraph &roadGraph, RoadGraphVertex startNode, double startDistance, double range) const = 0;
+ [[deprecated]] virtual RouteQueryResult<RelativeWorldView::Roads> GetRelativeJunctions(const RoadGraph &roadGraph, RoadGraphVertex startNode, units::length::meter_t startDistance, units::length::meter_t range) const = 0;
//! Returns the relative distances (start and end) and the road id of all roads on the route in range
//!
@@ -620,7 +633,7 @@ public:
//! \param startDistance start s coordinate on the road
//! \param range range of search
//! \return information about all roads in range
- virtual RouteQueryResult<RelativeWorldView::Roads> GetRelativeRoads(const RoadGraph& roadGraph, RoadGraphVertex startNode, double startDistance, double range) const = 0;
+ virtual RouteQueryResult<RelativeWorldView::Roads> GetRelativeRoads(const RoadGraph& roadGraph, RoadGraphVertex startNode, units::length::meter_t startDistance, units::length::meter_t range) const = 0;
//! Returns information about all lanes on the route in range. These info are the relative distances (start and end),
//! the laneId relative to the ego lane, the successors and predecessors if existing and the information wether the intended
@@ -634,7 +647,7 @@ public:
//! \param range range of search
//! \param includeOncoming indicating whether oncoming lanes should be included
//! \return information about all lanes in range
- virtual RouteQueryResult<RelativeWorldView::Lanes> GetRelativeLanes(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double distance, double range, bool includeOncoming = true) const = 0;
+ virtual RouteQueryResult<RelativeWorldView::Lanes> GetRelativeLanes(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t distance, units::length::meter_t range, bool includeOncoming = true) const = 0;
//! Returns the relative lane id of the located position of a point relative to the given position
//!
@@ -644,7 +657,7 @@ public:
//! \param distance own s coordinate
//! \param targetPosition position of queried point
//! \return lane id relative to own position
- virtual RouteQueryResult<std::optional<int>> GetRelativeLaneId(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double distance, GlobalRoadPositions targetPosition) const = 0;
+ virtual RouteQueryResult<std::optional<int>> GetRelativeLaneId(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t distance, GlobalRoadPositions targetPosition) const = 0;
//! Returns all possible connections on the junction, that an agent has when coming from the specified road
//!
@@ -686,19 +699,19 @@ public:
//! \param maxDepth maximum depth of the tree
//! \param inDrivingDirection calculate tree in driving direction or against driving direction
//! \return pair consisting of RoadGraph starting at start element and root vertex of this tree
- virtual std::pair<RoadGraph, RoadGraphVertex> GetRoadGraph(const RouteElement& start, int maxDepth, bool inDrivingDirection = true) const = 0;
+ virtual std::pair<RoadGraph, RoadGraphVertex> GetRoadGraph(const RouteElement &start, int maxDepth, bool inDrivingDirection = true) const = 0;
//! Returns the weight of the path for randomized route generation
//!
//! \param roadGraph RoadGraph for which weights should be given
//! \return map of weights for all edges in the graph
- virtual std::map<RoadGraphEdge, double> GetEdgeWeights (const RoadGraph& roadGraph) const = 0;
+ virtual std::map<RoadGraphEdge, double> GetEdgeWeights(const RoadGraph &roadGraph) const = 0;
//! Returns the RoadStream that is defined by the given route
//!
//! \param route list of roads with direction
//! \return RoadStream along route
- virtual std::unique_ptr<RoadStreamInterface> GetRoadStream(const std::vector<RouteElement>& route) const = 0;
+ virtual std::unique_ptr<RoadStreamInterface> GetRoadStream(const std::vector<RouteElement> &route) const = 0;
//-----------------------------------------------------------------------------
//! Retrieves the friction
@@ -712,7 +725,7 @@ public:
//!
//! @return
//-----------------------------------------------------------------------------
- virtual AgentInterface* GetEgoAgent() = 0;
+ virtual AgentInterface *GetEgoAgent() = 0;
//-----------------------------------------------------------------------------
//! Retrieves agents that were removed from the world during the previous timestep and clears the list
@@ -726,19 +739,29 @@ public:
//!
//! @return Traffic objects
//-----------------------------------------------------------------------------
- virtual const std::vector<const TrafficObjectInterface*>& GetTrafficObjects() const = 0;
+ virtual const std::vector<const TrafficObjectInterface *> &GetTrafficObjects() const = 0;
//-----------------------------------------------------------------------------
//! Returns one agent with the specified scenarioName
//!
//! @return
//-----------------------------------------------------------------------------
- virtual AgentInterface* GetAgentByName(const std::string& scenarioName) = 0;
+ virtual AgentInterface *GetAgentByName(const std::string &scenarioName) = 0;
//-----------------------------------------------------------------------------
//! Retrieves the Radio for Car2X communication
//!
//! @return radio
//-----------------------------------------------------------------------------
- virtual RadioInterface& GetRadio() = 0;
+ virtual RadioInterface &GetRadio() = 0;
+
+ //-----------------------------------------------------------------------------
+ //! Returns the OSI Id of the lane
+ //!
+ //! @param[in] roadId OpenDriveId of the road to search in
+ //! @param[in] laneId OpenDriveId of lane to search in
+ //! @param[in] position s coordinate of search start
+ //! @return OSI Id of the lane
+ //-----------------------------------------------------------------------------
+ virtual uint64_t GetUniqueLaneId(std::string roadId, int laneId, units::length::meter_t position) const = 0;
};
diff --git a/sim/include/worldObjectInterface.h b/sim/include/worldObjectInterface.h
index 3cd88ff1efd98017a76d159aa624e2748a73821b..697d39f1b2eb6cfa80d642f5549353f6caa05286 100644
--- a/sim/include/worldObjectInterface.h
+++ b/sim/include/worldObjectInterface.h
@@ -12,39 +12,36 @@
#include "common/globalDefinitions.h"
#include "common/boostGeometryCommon.h"
#include "common/worldDefinitions.h"
+#include "common/vector2d.h"
#include <unordered_map>
class WorldObjectInterface;
-namespace Common
-{
-class Vector2d;
-}
class WorldObjectInterface
{
public:
virtual ObjectTypeOSI GetType() const = 0;
- virtual double GetPositionX() const = 0;
- virtual double GetPositionY() const = 0;
+ virtual units::length::meter_t GetPositionX() const = 0;
+ virtual units::length::meter_t GetPositionY() const = 0;
/// \brief Retrieves width of the boundary box
/// \return width
- virtual double GetWidth() const = 0;
+ virtual units::length::meter_t GetWidth() const = 0;
/// \brief Retrieves length of the boundary box
/// \return length
- virtual double GetLength() const = 0;
+ virtual units::length::meter_t GetLength() const = 0;
- virtual double GetHeight() const = 0;
+ virtual units::length::meter_t GetHeight() const = 0;
/// \brief Retrieves yaw angle w.r.t. x-axis
/// \return yaw
- virtual double GetYaw() const = 0;
+ virtual units::angle::radian_t GetYaw() const = 0;
/// \brief Retrieves roll angle
/// \return roll
- virtual double GetRoll() const = 0;
+ virtual units::angle::radian_t GetRoll() const = 0;
/// \brief Get unique id of an object
/// \return id
@@ -59,24 +56,24 @@ public:
/// \brief Returns the world position of the given point
/// \param point point to locate (must not be a of type ObjectPointRelative)
/// \return world position
- virtual Common::Vector2d GetAbsolutePosition(const ObjectPoint& point) const = 0;
+ virtual Common::Vector2d<units::length::meter_t> GetAbsolutePosition(const ObjectPoint& point) const = 0;
/// \brief Returns the road position(s) of the given point
/// \param point point to locate (must not be a of type ObjectPointRelative)
/// \return road positions
virtual const GlobalRoadPositions& GetRoadPosition(const ObjectPoint& point) const = 0;
- virtual double GetDistanceReferencePointToLeadingEdge() const = 0;
+ virtual units::length::meter_t GetDistanceReferencePointToLeadingEdge() const = 0;
/// \brief Returns the objects velocity at the given point
/// \param point point where to get the velocity (must not be a of type ObjectPointRelative)
/// \return velocity
- virtual Common::Vector2d GetVelocity(ObjectPoint point = ObjectPointPredefined::Reference) const = 0;
+ virtual Common::Vector2d<units::velocity::meters_per_second_t> GetVelocity(ObjectPoint point = ObjectPointPredefined::Reference) const = 0;
/// \brief Returns the objects acceleration at the given point
/// \param point point where to get the acceleration (must not be a of type ObjectPointRelative)
/// \return acceleration
- virtual Common::Vector2d GetAcceleration(ObjectPoint point = ObjectPointPredefined::Reference) const = 0;
+ virtual Common::Vector2d<units::acceleration::meters_per_second_squared_t> GetAcceleration(ObjectPoint point = ObjectPointPredefined::Reference) const = 0;
virtual bool Locate() = 0;
virtual void Unlocate() = 0;
diff --git a/sim/src/common/CMakeLists.txt b/sim/src/common/CMakeLists.txt
index a2df78a6431791b68225c49dc901ee27b1b931c3..6b82ae0ecbad49402d2563c1b52c2c78b6132c75 100644
--- a/sim/src/common/CMakeLists.txt
+++ b/sim/src/common/CMakeLists.txt
@@ -11,13 +11,8 @@ add_openpass_target(
NAME Common TYPE library LINKAGE shared COMPONENT common
HEADERS
- events/acquirePositionEvent.h
events/basicEvent.h
events/collisionEvent.h
- events/componentStateChangeEvent.h
- events/laneChangeEvent.h
- events/speedActionEvent.h
- events/trajectoryEvent.h
accelerationSignal.h
agentCompToCompCtrlSignal.h
acquirePositionSignal.h
@@ -26,7 +21,6 @@ add_openpass_target(
compCtrlToAgentCompSignal.h
compatibility.h
dynamicsSignal.h
- eventDetectorDefinitions.h
eventTypes.h
globalDefinitions.h
lateralSignal.h
@@ -35,7 +29,6 @@ add_openpass_target(
opExport.h
openPassTypes.h
openPassUtils.h
- openScenarioDefinitions.h
parameter.h
parametersVehicleSignal.h
primitiveSignals.h
@@ -57,5 +50,4 @@ add_openpass_target(
SOURCES
commonTools.cpp
vector3d.cpp
- eventDetectorDefinitions.cpp
)
diff --git a/sim/src/common/RoutePlanning/RouteCalculation.h b/sim/src/common/RoutePlanning/RouteCalculation.h
index beb927350bd6ce2425fc2617e1b325dc2d5c8bf8..415d8034a7c0d922ee4fc7ed3a69304cacf7be4e 100644
--- a/sim/src/common/RoutePlanning/RouteCalculation.h
+++ b/sim/src/common/RoutePlanning/RouteCalculation.h
@@ -146,7 +146,7 @@ static bool GetNewRoute(AgentInterface &agent, const WorldInterface &world, Stoc
{
for (const auto &[roadId, roadPosition] : agent.GetRoadPosition(ObjectPointPredefined::Reference))
{
- bool direction = std::abs(roadPosition.roadPosition.hdg) <= M_PI_2;
+ bool direction = std::abs(roadPosition.roadPosition.hdg.value()) <= M_PI_2;
if (world.IsDirectionalRoadExisting(roadId, direction))
{
roadGraphs.push_back(world.GetRoadGraph({roadId, direction}, maxDepth));
@@ -156,14 +156,14 @@ static bool GetNewRoute(AgentInterface &agent, const WorldInterface &world, Stoc
std::optional<RoadGraph> selectedRoadGraph;
RoadGraphVertex selectedStart;
RoadGraphVertex selectedMainLocatorVertex;
- double minHeading{std::numeric_limits<double>::max()};
+ units::angle::radian_t minHeading{std::numeric_limits<double>::max()};
for (const auto&[roadGraph, start] : roadGraphs)
{
const auto mainLocatorVertex = FindPosition(agent.GetRoadPosition(ObjectPointPredefined::FrontCenter), roadGraph, start);
if (mainLocatorVertex.has_value())
{
const auto mainLocateRouteElement = get(RouteElement(), roadGraph, mainLocatorVertex.value());
- auto absHeading = std::abs(CommonHelper::SetAngleToValidRange(agent.GetRoadPosition(ObjectPointPredefined::FrontCenter).at(mainLocateRouteElement.roadId).roadPosition.hdg + mainLocateRouteElement.inOdDirection ? 0 : M_PI));
+ auto absHeading = units::math::abs(CommonHelper::SetAngleToValidRange(agent.GetRoadPosition(ObjectPointPredefined::FrontCenter).at(mainLocateRouteElement.roadId).roadPosition.hdg + (mainLocateRouteElement.inOdDirection ? 0.0_rad : units::angle::radian_t(M_PI))));
if (absHeading < minHeading)
{
minHeading = absHeading;
diff --git a/sim/src/common/accelerationSignal.h b/sim/src/common/accelerationSignal.h
index d61bf5f39467b2e0276347e94c73756d52cdbb99..e3185b8142a0e52e07f870a0e393b2c566afd825 100644
--- a/sim/src/common/accelerationSignal.h
+++ b/sim/src/common/accelerationSignal.h
@@ -53,7 +53,7 @@ public:
//! Constructor
//-----------------------------------------------------------------------------
AccelerationSignal(ComponentState componentState,
- double acceleration) :
+ units::acceleration::meters_per_second_squared_t acceleration) :
acceleration(acceleration)
{
this->componentState = componentState;
@@ -80,6 +80,6 @@ public:
return stream.str();
}
- double acceleration;
+ units::acceleration::meters_per_second_squared_t acceleration;
};
diff --git a/sim/src/common/acquirePositionSignal.h b/sim/src/common/acquirePositionSignal.h
index 49bc960dda91240cec37151b28f9570c69c0ee85..21faba4270e0610fe1d3ecb78d48daef847c0372 100644
--- a/sim/src/common/acquirePositionSignal.h
+++ b/sim/src/common/acquirePositionSignal.h
@@ -19,8 +19,8 @@
#include <sstream>
#include <include/signalInterface.h>
+#include <MantleAPI/Common/position.h>
-#include "openScenarioDefinitions.h"
class AcquirePositionSignal : public ComponentStateSignalInterface
{
public:
@@ -29,7 +29,7 @@ public:
AcquirePositionSignal(){
componentState = ComponentState::Disabled;
};
- AcquirePositionSignal(ComponentState componentState, openScenario::Position position) :
+ AcquirePositionSignal(ComponentState componentState, mantle_api::Position position) :
position(std::move(position))
{
this->componentState = componentState;
@@ -42,12 +42,12 @@ public:
AcquirePositionSignal& operator=(const AcquirePositionSignal&) = delete;
AcquirePositionSignal& operator=(AcquirePositionSignal&&) = delete;
- openScenario::Position position;
+ mantle_api::Position position;
explicit operator std::string() const override {
std::ostringstream stream{};
stream << COMPONENTNAME << "\n"
- << "openScenario::Position output stream operator not implemented.";
+ << "mantle_api::Position output stream operator not implemented.";
return stream.str();
};
};
diff --git a/sim/src/common/commonHelper.h b/sim/src/common/commonHelper.h
index 8744e9bc9a82643f7f7aa26aaaa7111835aed27b..29cda9604f5face07c556abb3a1ae7efac066216 100644
--- a/sim/src/common/commonHelper.h
+++ b/sim/src/common/commonHelper.h
@@ -16,6 +16,7 @@
#include <vector>
#include "math.h"
+#include <units.h>
//-----------------------------------------------------------------------------
//! @brief defines common helper functions like conversion from and to enums.
@@ -30,9 +31,11 @@ static constexpr double EPSILON = 0.001; //!Treat values smaller than epsilon as
}
//! Returns the same angle but within the range [-PI, PI]
-[[maybe_unused]] static inline double SetAngleToValidRange(double angle)
+[[maybe_unused]] static inline units::angle::radian_t SetAngleToValidRange(units::angle::radian_t angle)
{
- return (angle >= -M_PI) ? std::fmod(angle + M_PI, 2 * M_PI) - M_PI : std::fmod(angle + M_PI, 2 * M_PI) + M_PI;
+ units::angle::radian_t pi{M_PI};
+
+ return (angle >= -pi) ? units::math::fmod(angle + pi, 2 * pi) - pi : units::math::fmod(angle + pi, 2 * pi) + pi;
}
//-----------------------------------------------------------------------------
@@ -57,6 +60,29 @@ static constexpr double EPSILON = 0.001; //!Treat values smaller than epsilon as
return elements;
}
+//-----------------------------------------------------------------------------
+//! @brief Calculate linear interpolated points with constant spacing for unit types.
+//!
+//! @param[in] start Start of interval
+//! @param[in] end End of interval
+//! @param[in] totalPoints Total number of points returned (includes start
+//! and end point)
+//!
+//! @return Vector of interpolated points.
+//-----------------------------------------------------------------------------
+template <typename T, class = typename std::enable_if_t<units::traits::is_unit_t<T>::value>>
+[[maybe_unused]] static std::vector<T> InterpolateLinear(const T start, const T end, const int totalPoints)
+{
+ std::vector<T> elements;
+
+ for(int i = 0; i < totalPoints; ++i)
+ {
+ elements.push_back(start + (i * ((end-start) / (totalPoints-1))));
+ //elements.push_back(start + (i * ((end-start+1) / (totalPoints)))); //not correct implemented yet
+ }
+ return elements;
+}
+
template <typename T>
[[maybe_unused]] static inline constexpr T PerHourToPerSecond(T value) noexcept
{
diff --git a/sim/src/common/commonTools.cpp b/sim/src/common/commonTools.cpp
index cd35507da1c6b178343ac4925dfa74c55112219c..f132d9548c0931895e8604cc24219822db158bb9 100644
--- a/sim/src/common/commonTools.cpp
+++ b/sim/src/common/commonTools.cpp
@@ -12,25 +12,23 @@
#include "commonTools.h"
#include <algorithm>
-bool CommonHelper::IntersectionCalculation::OnEdge(const Common::Vector2d &A, const Common::Vector2d &B, const Common::Vector2d &P)
+bool CommonHelper::IntersectionCalculation::OnEdge(const Common::Vector2d<units::length::meter_t> &A, const Common::Vector2d<units::length::meter_t> &B, const Common::Vector2d<units::length::meter_t> &P)
{
const auto PA = P - A;
const auto BA = B - A;
- if (std::abs(PA.x * BA.y - PA.y * BA.x) > CommonHelper::EPSILON)
+ if (units::math::abs(PA.x * BA.y - PA.y * BA.x).value() > CommonHelper::EPSILON)
{
return false;
}
- if (std::abs(BA.y) < CommonHelper::EPSILON)
+ if (std::abs(BA.y.value()) < CommonHelper::EPSILON)
{
- return BA.x > 0 ? A.x <= P.x && P.x <= B.x :
- B.x <= P.x && P.x <= A.x;
+ return BA.x > 0_m ? A.x <= P.x && P.x <= B.x : B.x <= P.x && P.x <= A.x;
}
else
{
- return BA.y > 0 ? A.y <= P.y && P.y <= B.y :
- B.y <= P.y && P.y <= A.y;
+ return BA.y > 0_m ? A.y <= P.y && P.y <= B.y : B.y <= P.y && P.y <= A.y;
}
}
@@ -44,7 +42,7 @@ bool CommonHelper::IntersectionCalculation::WithinBarycentricCoords(double dot00
return (u >= 0) && (v >= 0) && (u + v < 1);
}
-bool CommonHelper::IntersectionCalculation::IsWithin(const Common::Vector2d &A, const Common::Vector2d &B, const Common::Vector2d &C, const Common::Vector2d &D, const Common::Vector2d &P)
+bool CommonHelper::IntersectionCalculation::IsWithin(const Common::Vector2d<units::length::meter_t> &A, const Common::Vector2d<units::length::meter_t> &B, const Common::Vector2d<units::length::meter_t> &C, const Common::Vector2d<units::length::meter_t> &D, const Common::Vector2d<units::length::meter_t> &P)
{
// Triangle 1 (A, B, C)
const auto BA = A - B;
@@ -85,7 +83,7 @@ bool CommonHelper::IntersectionCalculation::IsWithin(const Common::Vector2d &A,
}
//! Adds a new point to the list if it is not already in the list (or a point near it within a small epsilon)
-void AddPointIfNotDuplicate(std::vector<Common::Vector2d>& points, const Common::Vector2d& newPoint)
+void AddPointIfNotDuplicate(std::vector<Common::Vector2d<units::length::meter_t>> &points, const Common::Vector2d<units::length::meter_t> &newPoint)
{
//! Note: find uses the operator== which is defined for Vector2d taking a small epsilon into account
//! This mitigates rounding errors
@@ -95,40 +93,37 @@ void AddPointIfNotDuplicate(std::vector<Common::Vector2d>& points, const Common:
}
}
-std::vector<Common::Vector2d> CommonHelper::IntersectionCalculation::GetIntersectionPoints(const std::vector<Common::Vector2d> &firstPoints, const std::vector<Common::Vector2d> &secondPoints, bool firstIsRectangular, bool secondIsRectangular)
+std::vector<Common::Vector2d<units::length::meter_t>> CommonHelper::IntersectionCalculation::GetIntersectionPoints(const std::vector<Common::Vector2d<units::length::meter_t>> &firstPoints, const std::vector<Common::Vector2d<units::length::meter_t>> &secondPoints, bool firstIsRectangular, bool secondIsRectangular)
{
- std::vector<Common::Vector2d> intersectionPoints{};
+ std::vector<Common::Vector2d<units::length::meter_t>> intersectionPoints{};
intersectionPoints.reserve(8);
- Common::Vector2d firstEdges[4];
+ Common::Vector2d<units::length::meter_t> firstEdges[4];
firstEdges[0] = firstPoints[1] - firstPoints[0];
firstEdges[1] = firstPoints[2] - firstPoints[1];
firstEdges[2] = firstPoints[3] - firstPoints[2];
firstEdges[3] = firstPoints[0] - firstPoints[3];
- Common::Vector2d secondEdges[4];
+ Common::Vector2d<units::length::meter_t> secondEdges[4];
secondEdges[0] = secondPoints[1] - secondPoints[0];
secondEdges[1] = secondPoints[2] - secondPoints[1];
secondEdges[2] = secondPoints[3] - secondPoints[2];
secondEdges[3] = secondPoints[0] - secondPoints[3];
-
- double lambda[4][4];
- double kappa[4][4];
+ units::dimensionless::scalar_t lambda[4][4];
+ units::dimensionless::scalar_t kappa[4][4];
bool parallel[4][4];
for (size_t i = 0; i < 4; i++)
{
for (size_t k = 0; k < 4; k++)
{
- double determinant = secondEdges[i].x * firstEdges[k].y - secondEdges[i].y * firstEdges[k].x;
- parallel[i][k] = (std::abs(determinant) < CommonHelper::EPSILON);
- lambda[i][k] = ( - secondPoints[i].x * firstEdges[k].y + secondPoints[i].y * firstEdges[k].x
- + firstPoints[k].x * firstEdges[k].y - firstPoints[k].y * firstEdges[k].x ) / determinant;
- kappa[i][k] = ( - secondPoints[i].x * secondEdges[i].y + secondPoints[i].y * secondEdges[i].x
- + firstPoints[k].x * secondEdges[i].y - firstPoints[k].y * secondEdges[i].x) / determinant;
+ units::area::square_meter_t determinant = secondEdges[i].x * firstEdges[k].y - secondEdges[i].y * firstEdges[k].x;
+ parallel[i][k] = (std::abs(determinant.value()) < CommonHelper::EPSILON);
+ lambda[i][k] = (-secondPoints[i].x * firstEdges[k].y + secondPoints[i].y * firstEdges[k].x + firstPoints[k].x * firstEdges[k].y - firstPoints[k].y * firstEdges[k].x) / determinant;
+ kappa[i][k] = (-secondPoints[i].x * secondEdges[i].y + secondPoints[i].y * secondEdges[i].x + firstPoints[k].x * secondEdges[i].y - firstPoints[k].y * secondEdges[i].x) / determinant;
if (lambda[i][k] > 0 && lambda[i][k] < 1 && kappa[i][k] > 0 && kappa[i][k] < 1)
{
//0 < lambda < 1 and 0 < kappa < 1 => edges intersect. Intersection point is left hand side (and rhs) of the above equation
- double intersectionPointX = secondPoints[i].x + lambda[i][k] * secondEdges[i].x;
- double intersectionPointY = secondPoints[i].y + lambda[i][k] * secondEdges[i].y;
+ units::length::meter_t intersectionPointX = secondPoints[i].x + lambda[i][k] * secondEdges[i].x;
+ units::length::meter_t intersectionPointY = secondPoints[i].y + lambda[i][k] * secondEdges[i].y;
intersectionPoints.emplace_back(intersectionPointX, intersectionPointY);
}
}
@@ -176,16 +171,16 @@ std::vector<Common::Vector2d> CommonHelper::IntersectionCalculation::GetIntersec
return intersectionPoints;
}
-std::vector<Common::Vector2d> CommonHelper::IntersectionCalculation::GetIntersectionPoints(const polygon_t &firstPolygon, const polygon_t &secondPolygon, bool firstIsRectangular, bool secondIsRectangular)
+std::vector<Common::Vector2d<units::length::meter_t>> CommonHelper::IntersectionCalculation::GetIntersectionPoints(const polygon_t &firstPolygon, const polygon_t &secondPolygon, bool firstIsRectangular, bool secondIsRectangular)
{
- std::vector<Common::Vector2d> firstPoints;
+ std::vector<Common::Vector2d<units::length::meter_t>> firstPoints;
std::transform(firstPolygon.outer().begin(), firstPolygon.outer().end(), std::back_insert_iterator(firstPoints),
- [&](const auto& point){return Common::Vector2d{bg::get<0>(point), bg::get<1>(point)};});
+ [&](const auto &point) { return Common::Vector2d<units::length::meter_t>{units::length::meter_t(bg::get<0>(point)), units::length::meter_t(bg::get<1>(point))}; });
firstPoints.pop_back();
- std::vector<Common::Vector2d> secondPoints;
+ std::vector<Common::Vector2d<units::length::meter_t>> secondPoints;
std::transform(secondPolygon.outer().begin(), secondPolygon.outer().end(), std::back_insert_iterator(secondPoints),
- [&](const auto& point){return Common::Vector2d{bg::get<0>(point), bg::get<1>(point)};});
+ [&](const auto &point) { return Common::Vector2d<units::length::meter_t>{units::length::meter_t(bg::get<0>(point)), units::length::meter_t(bg::get<1>(point))}; });
secondPoints.pop_back();
return GetIntersectionPoints(firstPoints, secondPoints, firstIsRectangular, secondIsRectangular);
diff --git a/sim/src/common/commonTools.h b/sim/src/common/commonTools.h
index 855ce3d9eec0d31616e46bbb6ad93aba79e0089f..400f4f2c8efc285549b465e06fbd6e7da9c715f2 100644
--- a/sim/src/common/commonTools.h
+++ b/sim/src/common/commonTools.h
@@ -34,12 +34,14 @@
#include "common/boostGeometryCommon.h"
+using namespace units::literals;
+
namespace CommonHelper
{
-[[maybe_unused]] static inline constexpr bool CheckPointValid(const Common::Vector2d *point)
+[[maybe_unused]] static inline constexpr bool CheckPointValid(const Common::Vector2d<units::length::meter_t> *point)
{
- return ((point != nullptr) && (point->x != INFINITY) && (point->y != INFINITY));
+ return ((point != nullptr) && (point->x != units::length::meter_t(INFINITY)) && (point->y != units::length::meter_t(INFINITY)));
}
//! Calculate the absolute angle between two pcm points.
@@ -48,16 +50,14 @@ namespace CommonHelper
//! @param[in] secondPoint secondPoint
//! @return distance between two pcm points
//-----------------------------------------------------------------------------
-[[maybe_unused]] static double CalcAngleBetweenPoints(const Common::Vector2d& firstPoint, const Common::Vector2d& secondPoint)
+[[maybe_unused]] static units::angle::radian_t CalcAngleBetweenPoints(const Common::Vector2d<units::length::meter_t> &firstPoint, const Common::Vector2d<units::length::meter_t> &secondPoint)
{
if ((!CheckPointValid(&firstPoint)) || (!CheckPointValid(&secondPoint)))
{
- return INFINITY;
+ return units::angle::radian_t(INFINITY);
}
- double angle = (secondPoint - firstPoint).Angle();
-
- return angle;
+ return units::angle::radian_t((secondPoint - firstPoint).Angle());
}
//! Transform a pcm point to a vector in the coordination system of a
@@ -65,11 +65,11 @@ namespace CommonHelper
//!
//! @param[in] point point
//! @return vector
-[[maybe_unused]] static Common::Vector2d TransformPointToSourcePointCoord(const Common::Vector2d *point,
- const Common::Vector2d *sourcePoint,
- double direction)
+[[maybe_unused]] static Common::Vector2d<units::length::meter_t> TransformPointToSourcePointCoord(const Common::Vector2d<units::length::meter_t> *point,
+ const Common::Vector2d<units::length::meter_t> *sourcePoint,
+ units::angle::radian_t direction)
{
- Common::Vector2d newPoint = *point; //(point->x, point->y);
+ Common::Vector2d<units::length::meter_t> newPoint = *point; //(point->x, point->y);
newPoint.Translate((*sourcePoint) * (-1));
newPoint.Rotate(direction * (-1));
@@ -91,6 +91,22 @@ static double roundDoubleWithDecimals(double value, int decimals)
return std::floor((value * (std::pow(10, decimals))) + 0.5)/(std::pow(10.0, decimals));
}
+//-----------------------------------------------------------------------------
+//! @brief Round doubles.
+//!
+//! Rounds doubles of unit type to a given amount of decimals.
+//!
+//! @param[in] value Value which is rounded
+//! @param[in] decimals Amount of decimals.
+//!
+//! @return Rounded value.
+//-----------------------------------------------------------------------------
+template<class T>
+static T roundDoubleWithDecimals(T value, int decimals)
+{
+ return units::math::floor((value * (std::pow(10, decimals))) + T(0.5))/(std::pow(10.0, decimals));
+}
+
//! Estimate the inertial momentum for rotation around the vehicle's z-axis, assuming
//! a cuboid of homogeneous mass density. ( see .e.g. https://en.wikipedia.org/wiki/List_of_moments_of_inertia )
//!
@@ -98,25 +114,23 @@ static double roundDoubleWithDecimals(double value, int decimals)
//! @param[in] length Length of the vehicle [m]
//! @param[in] width Width of the vehicle [m]
//! @return momentInertiaYaw [kg*m^2]
-static double CalculateMomentInertiaYaw(double mass, double length, double width) {
- return mass * (length*length + width*width) / 12;
+static units::inertia CalculateMomentInertiaYaw(units::mass::kilogram_t mass, units::length::meter_t length, units::length::meter_t width) {
+ return mass * (length*length + width*width) / units::dimensionless::scalar_t(12);
}
-[[maybe_unused]] static std::optional<Common::Vector2d> CalculateIntersection(const Common::Vector2d& firstStartPoint, const Common::Vector2d& firstAxis,
- const Common::Vector2d& secondStartPoint, const Common::Vector2d& secondAxis)
+[[maybe_unused]] static std::optional<Common::Vector2d<units::length::meter_t>> CalculateIntersection(const Common::Vector2d<units::length::meter_t> &firstStartPoint, const Common::Vector2d<units::length::meter_t> &firstAxis,
+ const Common::Vector2d<units::length::meter_t> &secondStartPoint, const Common::Vector2d<units::length::meter_t> &secondAxis)
{
//Solve linear equation firstStartPoint + lambda * firstAxis = secondStart + kappa * secondAxis
- double determinant = - firstAxis.x * secondAxis.y + firstAxis.y * secondAxis.x; //Determinant of matrix (firstAxis -secondAxis)
- if (std::abs(determinant) < EPSILON)
+ units::area::square_meter_t determinant = -firstAxis.x * secondAxis.y + firstAxis.y * secondAxis.x; //Determinant of matrix (firstAxis -secondAxis)
+ if (std::abs(determinant.value()) < EPSILON)
{
return std::nullopt;
}
- double lambda = (- (secondStartPoint.x - firstStartPoint.x) * secondAxis.y
- + (secondStartPoint.y - firstStartPoint.y) * secondAxis.x)
- / determinant;
- double intersectionPointX = firstStartPoint.x + lambda * firstAxis.x;
- double intersectionPointY = firstStartPoint.y + lambda * firstAxis.y;
- return std::make_optional<Common::Vector2d>(intersectionPointX, intersectionPointY);
+ units::dimensionless::scalar_t lambda = (-(secondStartPoint.x - firstStartPoint.x) * secondAxis.y + (secondStartPoint.y - firstStartPoint.y) * secondAxis.x) / determinant;
+ units::length::meter_t intersectionPointX = firstStartPoint.x + lambda * firstAxis.x;
+ units::length::meter_t intersectionPointY = firstStartPoint.y + lambda * firstAxis.y;
+ return std::make_optional<Common::Vector2d<units::length::meter_t>>(intersectionPointX, intersectionPointY);
}
//! Calculates the net distance of the x and y coordinates of two bounding boxes
@@ -169,6 +183,23 @@ static double CalculateMomentInertiaYaw(double mass, double length, double width
return {netX, netY};
}
+//! Calculates the net distance of the x and y coordinates of two bounding boxes
+//!
+//! \param vector Vector which will be rotated
+//! \param yaw Angle of rotation
+//! \return rotated vector
+[[maybe_unused]] static mantle_api::Vec3<units::length::meter_t> RotateYaw(const mantle_api::Vec3<units::length::meter_t> &vector, units::angle::radian_t angle)
+{
+ auto cosValue = units::math::cos(angle);
+ auto sinValue = units::math::sin(angle);
+ units::length::meter_t newX = vector.x * cosValue - vector.y * sinValue;
+ units::length::meter_t newY = vector.x * sinValue + vector.y * cosValue;
+
+ return {newX,
+ newY,
+ vector.z};
+}
+
class IntersectionCalculation
{
public:
@@ -193,11 +224,11 @@ public:
* @param[in] P Point to be queried
* @returns true if point is within on the edges of the quadrilateral
*/
- static OPENPASSCOMMONEXPORT bool IsWithin(const Common::Vector2d& A,
- const Common::Vector2d& B,
- const Common::Vector2d& C,
- const Common::Vector2d& D,
- const Common::Vector2d& P);
+ static OPENPASSCOMMONEXPORT bool IsWithin(const Common::Vector2d<units::length::meter_t> &A,
+ const Common::Vector2d<units::length::meter_t> &B,
+ const Common::Vector2d<units::length::meter_t> &C,
+ const Common::Vector2d<units::length::meter_t> &D,
+ const Common::Vector2d<units::length::meter_t> &P);
//! \brief Calculates the intersection polygon of two quadrangles.
//!
@@ -212,7 +243,7 @@ public:
//! \param firstIsRectangular specify that first quadrangele is rectangular
//! \param secondIsRectangular specify that second quadrangele is rectangular
//! \return points of the intersection polygon
- static OPENPASSCOMMONEXPORT std::vector<Common::Vector2d> GetIntersectionPoints(const std::vector<Common::Vector2d>& firstPoints, const std::vector<Common::Vector2d>& secondPoints, bool firstIsRectangular = true, bool secondIsRectangular = true);
+ static OPENPASSCOMMONEXPORT std::vector<Common::Vector2d<units::length::meter_t>> GetIntersectionPoints(const std::vector<Common::Vector2d<units::length::meter_t>> &firstPoints, const std::vector<Common::Vector2d<units::length::meter_t>> &secondPoints, bool firstIsRectangular = true, bool secondIsRectangular = true);
//! \brief Calculates the intersection polygon of two quadrangles.
//!
@@ -225,12 +256,12 @@ public:
//! \param firstIsRectangular specify that first quadrangele is rectangular
//! \param secondIsRectangular specify that second quadrangele is rectangular
//! \return points of the intersection polygon
- static OPENPASSCOMMONEXPORT std::vector<Common::Vector2d> GetIntersectionPoints(const polygon_t& firstPolygon, const polygon_t& secondPolygon, bool firstIsRectangular = true, bool secondIsRectangular = true);
+ static OPENPASSCOMMONEXPORT std::vector<Common::Vector2d<units::length::meter_t>> GetIntersectionPoints(const polygon_t &firstPolygon, const polygon_t &secondPolygon, bool firstIsRectangular = true, bool secondIsRectangular = true);
private:
- static bool OnEdge(const Common::Vector2d& A,
- const Common::Vector2d& B,
- const Common::Vector2d& P);
+ static bool OnEdge(const Common::Vector2d<units::length::meter_t> &A,
+ const Common::Vector2d<units::length::meter_t> &B,
+ const Common::Vector2d<units::length::meter_t> &P);
static bool WithinBarycentricCoords(double dot00,
double dot02,
@@ -294,16 +325,16 @@ private:
static RouteElement GetRoadWithLowestHeading(const GlobalRoadPositions& roadPositions, const WorldInterface& world)
{
RouteElement bestFitting;
- double minHeading = std::numeric_limits<double>::max();
+ units::angle::radian_t minHeading{std::numeric_limits<double>::max()};
for (const auto [roadId, position] : roadPositions)
{
- const auto absHeadingInOdDirection = std::abs(position.roadPosition.hdg);
+ const auto absHeadingInOdDirection = units::math::abs(position.roadPosition.hdg);
if (absHeadingInOdDirection < minHeading && world.IsDirectionalRoadExisting(roadId, true))
{
bestFitting = {roadId, true};
minHeading = absHeadingInOdDirection;
}
- const auto absHeadingAgainstOdDirection = std::abs(SetAngleToValidRange(position.roadPosition.hdg + M_PI));
+ const auto absHeadingAgainstOdDirection = units::math::abs(SetAngleToValidRange(position.roadPosition.hdg + units::angle::radian_t(M_PI)));
if (absHeadingAgainstOdDirection < minHeading && world.IsDirectionalRoadExisting(roadId, false))
{
bestFitting = {roadId, false};
@@ -371,15 +402,15 @@ public:
//!
//! @return true if collision would happen
//-----------------------------------------------------------------------------
- static bool WillCrashDuringBrake(double sDelta, double vEgo, double aEgo, double vFront, double aFront)
+ static bool WillCrashDuringBrake(units::length::meter_t sDelta, units::velocity::meters_per_second_t vEgo, units::acceleration::meters_per_second_squared_t aEgo, units::velocity::meters_per_second_t vFront, units::acceleration::meters_per_second_squared_t aFront)
{
//Calculate the intersection of the vehicles trajactory (quadratic functions)
- auto stopTime = - vEgo / aEgo; //timepoint where ego stops
+ units::time::second_t stopTime = - vEgo / aEgo; //timepoint where ego stops
bool frontStopsEarlier = false;
- double frontTravelDistance;
+ units::length::meter_t frontTravelDistance;
- if (aFront < 0)
+ if (aFront < 0_mps_sq)
{
auto stopTimeFront = - vFront / aFront;
if (stopTimeFront < stopTime) //special case: FrontVehicle stops earlier than Ego
@@ -400,8 +431,8 @@ public:
}
// intersection of lines
- auto intersectionTime = sDelta / (vEgo - vFront);
- if (0 <= intersectionTime && intersectionTime <= stopTime)
+ units::time::second_t intersectionTime = sDelta / (vEgo - vFront);
+ if (0_s <= intersectionTime && intersectionTime <= stopTime)
{
if (frontStopsEarlier)
{
@@ -417,23 +448,23 @@ public:
}
// intersection of quadratic functions
- auto discriminant = (vEgo - vFront) * (vEgo - vFront) + 2 * (aEgo - aFront) * sDelta;
+ units::unit_t<units::squared<units::velocity::meters_per_second>> discriminant = (vEgo - vFront) * (vEgo - vFront) + 2 * (aEgo - aFront) * sDelta;
- if (discriminant < 0)
+ if (discriminant < units::unit_t<units::squared<units::velocity::meters_per_second>>(0))
{
return false;
}
- auto intersectionPoint1 = ((vFront - vEgo) + std::sqrt(discriminant)) / (aEgo - aFront);
- auto intersectionPoint2 = ((vFront - vEgo) - std::sqrt(discriminant)) / (aEgo - aFront);
+ units::time::second_t intersectionPoint1 = ((vFront - vEgo) + units::math::sqrt(discriminant)) / (aEgo - aFront);
+ units::time::second_t intersectionPoint2 = ((vFront - vEgo) - units::math::sqrt(discriminant)) / (aEgo - aFront);
- if ((0 <= intersectionPoint1 && intersectionPoint1 <= stopTime) ||
- (0 <= intersectionPoint2 && intersectionPoint2 <= stopTime))
+ if ((0_s <= intersectionPoint1 && intersectionPoint1 <= stopTime) ||
+ (0_s <= intersectionPoint2 && intersectionPoint2 <= stopTime))
{
if (frontStopsEarlier)
{
- auto travelDistance = - 0.5 * stopTime * stopTime * aEgo;
+ units::length::meter_t travelDistance = - 0.5 * stopTime * stopTime * aEgo;
if (travelDistance < sDelta + frontTravelDistance)
{
return false;
@@ -462,16 +493,16 @@ public:
//!
//! @return true if collision would happen
//-----------------------------------------------------------------------------
- static bool WillCrash(double sDelta, double vEgo, double assumedBrakeAccelerationEgo, double vFront, double aFront, double assumedTtb)
+ static bool WillCrash(units::length::meter_t sDelta, units::velocity::meters_per_second_t vEgo, units::acceleration::meters_per_second_squared_t assumedBrakeAccelerationEgo, units::velocity::meters_per_second_t vFront, units::acceleration::meters_per_second_squared_t aFront, units::time::second_t assumedTtb)
{
auto sEgoAtTtb = vEgo * assumedTtb;
// estimate values for front vehicle at t=ttb
- auto stopTimeFront = aFront < 0 ? -vFront/aFront : std::numeric_limits<double>::max();
- auto tFront = std::min(stopTimeFront, assumedTtb);
+ auto stopTimeFront = aFront < 0_mps_sq ? -vFront/aFront : units::time::second_t(std::numeric_limits<double>::max());
+ auto tFront = units::math::min(stopTimeFront, assumedTtb);
auto sFrontAtTtb = sDelta + vFront*tFront + aFront*tFront*tFront/2;
- auto vFrontAtTtb = stopTimeFront < assumedTtb ? 0 : vFront + aFront*assumedTtb;
- auto aFrontAtTtb = stopTimeFront < assumedTtb ? 0 : aFront;
+ auto vFrontAtTtb = stopTimeFront < assumedTtb ? 0_mps : vFront + aFront*assumedTtb;
+ auto aFrontAtTtb = stopTimeFront < assumedTtb ? 0_mps_sq : aFront;
if(sFrontAtTtb <= sEgoAtTtb) {
return true;
@@ -481,15 +512,15 @@ public:
}
//! Calculate the width left of the reference point of a leaning object
- static double GetWidthLeft(double width, double height, double roll)
+ static units::length::meter_t GetWidthLeft(units::length::meter_t width, units::length::meter_t height, units::angle::radian_t roll)
{
- return 0.5 * width * std::cos(roll) + (roll < 0 ? height * std::sin(-roll) : 0);
+ return 0.5 * width * units::math::cos(roll) + (roll < 0_rad ? height * units::math::sin(-roll) : 0_m);
}
//! Calculate the width right of the reference point of a leaning object
- static double GetWidthRight(double width, double height, double roll)
+ static units::length::meter_t GetWidthRight(units::length::meter_t width, units::length::meter_t height, units::angle::radian_t roll)
{
- return 0.5 * width * std::cos(roll) + (roll > 0 ? height * std::sin(roll) : 0);
+ return 0.5 * width * units::math::cos(roll) + (roll > 0_rad ? height * units::math::sin(roll) : 0_m);
}
};
@@ -556,19 +587,19 @@ public:
//! @brief Structure to hold all necessary world object parameters for TTC calculation
//-----------------------------------------------------------------------------
struct TtcParameters{
- double length;
- 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
+ units::length::meter_t length;
+ units::length::meter_t widthLeft;
+ units::length::meter_t widthRight;
+ units::length::meter_t frontLength; // distance from reference point of object to leading edge of object
+ units::length::meter_t backLength; // distance from reference point to back edge of object
point_t position;
- double velocityX;
- double velocityY;
- double accelerationX;
- double accelerationY;
- double yaw;
- double yawRate;
- double yawAcceleration;
+ units::velocity::meters_per_second_t velocityX;
+ units::velocity::meters_per_second_t velocityY;
+ units::acceleration::meters_per_second_squared_t accelerationX;
+ units::acceleration::meters_per_second_squared_t accelerationY;
+ units::angle::radian_t yaw;
+ units::angular_velocity::radians_per_second_t yawRate;
+ units::angular_acceleration::radians_per_second_squared_t yawAcceleration;
};
//-----------------------------------------------------------------------------
//! @brief Calculates the time to collision between two (moving) objects
@@ -584,8 +615,8 @@ public:
//!
//! @return time to collsion between the two objects
//-----------------------------------------------------------------------------
- static double CalculateObjectTTC(const AgentInterface &agent, const WorldObjectInterface &detectedObject, double maxTtc,
- double collisionDetectionLongitudinalBoundary, double collisionDetectionLateralBoundary, double cycleTime)
+ static units::time::second_t CalculateObjectTTC(const AgentInterface &agent, const WorldObjectInterface &detectedObject, units::time::second_t maxTtc,
+ units::length::meter_t collisionDetectionLongitudinalBoundary, units::length::meter_t collisionDetectionLateralBoundary, double cycleTime)
{
TtcParameters agentParameters = GetTTCObjectParameters(&agent, collisionDetectionLongitudinalBoundary, collisionDetectionLateralBoundary);
TtcParameters objectParameters = GetTTCObjectParameters(&detectedObject, collisionDetectionLongitudinalBoundary, collisionDetectionLateralBoundary);
@@ -593,10 +624,10 @@ public:
return CalculateObjectTTC(agentParameters, objectParameters, maxTtc, cycleTime);
}
- static double CalculateObjectTTC(TtcParameters agentParameters, TtcParameters objectParameters, double maxTtc, double cycleTime)
+ static units::time::second_t CalculateObjectTTC(TtcParameters agentParameters, TtcParameters objectParameters, units::time::second_t maxTtc, double cycleTime)
{
- double timestep = cycleTime / 1000.0;
- double ttc = 0.0;
+ const units::time::second_t timestep{cycleTime / 1000.0};
+ units::time::second_t ttc{0.0};
while (ttc <= maxTtc)
{
@@ -615,7 +646,7 @@ public:
}
// No collision detected
- return std::numeric_limits<double>::max();
+ return units::time::second_t(std::numeric_limits<double>::max());
}
private:
//-----------------------------------------------------------------------------
@@ -627,7 +658,7 @@ private:
//!
//! @return parameters needed for TTC calculation
//-----------------------------------------------------------------------------
- static TtcParameters GetTTCObjectParameters(const WorldObjectInterface *object, double collisionDetectionLongitudinalBoundary, double collisionDetectionLateralBoundary)
+ static TtcParameters GetTTCObjectParameters(const WorldObjectInterface *object, units::length::meter_t collisionDetectionLongitudinalBoundary, units::length::meter_t collisionDetectionLateralBoundary)
{
TtcParameters parameters;
@@ -639,14 +670,14 @@ private:
parameters.backLength = parameters.length - parameters.frontLength; // distance from reference point to back edge of object
// inital object values at current position
- parameters.position = { object->GetPositionX(), object->GetPositionY() };
+ parameters.position = { units::unit_cast<double>(object->GetPositionX()), units::unit_cast<double>(object->GetPositionY()) };
parameters.velocityX = object->GetVelocity().x;
parameters.velocityY = object->GetVelocity().y;
parameters.accelerationX = object->GetAcceleration().x;
parameters.accelerationY = object->GetAcceleration().y;
parameters.yaw = object->GetYaw();
- parameters.yawRate = 0.0;
- parameters.yawAcceleration = 0.0;
+ parameters.yawRate = 0.0_rad_per_s;
+ parameters.yawAcceleration = 0.0_rad_per_s_sq;
if (const AgentInterface* objectAsAgent = dynamic_cast<const AgentInterface*>(object)) // cast returns nullptr if unsuccessful
{
@@ -671,12 +702,11 @@ 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) * 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
+ bg::append(box, point_t{ units::unit_cast<double>(units::length::meter_t(parameters.position.get<0>()) - units::math::cos(parameters.yaw) * parameters.backLength + units::math::sin(parameters.yaw) * parameters.widthRight) , units::unit_cast<double>(units::length::meter_t(parameters.position.get<1>()) - units::math::sin(parameters.yaw) * parameters.backLength - units::math::cos(parameters.yaw) * parameters.widthRight) }); // back right corner
+ bg::append(box, point_t{ units::unit_cast<double>(units::length::meter_t(parameters.position.get<0>()) - units::math::cos(parameters.yaw) * parameters.backLength - units::math::sin(parameters.yaw) * parameters.widthLeft) , units::unit_cast<double>(units::length::meter_t(parameters.position.get<1>()) - units::math::sin(parameters.yaw) * parameters.backLength + units::math::cos(parameters.yaw) * parameters.widthLeft) }); // back left corner
+ bg::append(box, point_t{ units::unit_cast<double>(units::length::meter_t(parameters.position.get<0>()) + units::math::cos(parameters.yaw) * parameters.frontLength - units::math::sin(parameters.yaw) * parameters.widthLeft) , units::unit_cast<double>(units::length::meter_t(parameters.position.get<1>()) + units::math::sin(parameters.yaw) * parameters.frontLength + units::math::cos(parameters.yaw) * parameters.widthLeft) }); // front left corner
+ bg::append(box, point_t{ units::unit_cast<double>(units::length::meter_t(parameters.position.get<0>()) + units::math::cos(parameters.yaw) * parameters.frontLength + units::math::sin(parameters.yaw) * parameters.widthRight) , units::unit_cast<double>(units::length::meter_t(parameters.position.get<1>()) + units::math::sin(parameters.yaw) * parameters.frontLength - units::math::cos(parameters.yaw) * parameters.widthRight) }); // front right corner
+ bg::append(box, point_t{ units::unit_cast<double>(units::length::meter_t(parameters.position.get<0>()) - units::math::cos(parameters.yaw) * parameters.backLength + units::math::sin(parameters.yaw) * parameters.widthRight) , units::unit_cast<double>(units::length::meter_t(parameters.position.get<1>()) - units::math::sin(parameters.yaw) * parameters.backLength - units::math::cos(parameters.yaw) * parameters.widthRight) }); // back right corner
return box;
}
//-----------------------------------------------------------------------------
@@ -686,16 +716,19 @@ private:
//! @param [in] timestep time resolution of the TTC simulation
//!
//-----------------------------------------------------------------------------
- static void PropagateParametersForward(TtcParameters ¶meters, const double timestep)
+ static void PropagateParametersForward(TtcParameters ¶meters, const units::time::second_t timestep)
{
- parameters.position.set<0>(parameters.position.get<0>() + 0.5 * parameters.accelerationX * timestep * timestep + parameters.velocityX * timestep); // x-coordinate
- parameters.position.set<1>(parameters.position.get<1>() + 0.5 * parameters.accelerationY * timestep * timestep + parameters.velocityY * timestep); // y-coordinate
- double deltaYaw = 0.5 * parameters.yawAcceleration * timestep * timestep + parameters.yawRate * timestep;
+ const units::length::meter_t positionX(units::length::meter_t(parameters.position.get<0>()) + 0.5 * parameters.accelerationX * timestep * timestep + parameters.velocityX * timestep);
+ const units::length::meter_t positionY(units::length::meter_t(parameters.position.get<1>()) + 0.5 * parameters.accelerationY * timestep * timestep + parameters.velocityY * timestep);
+
+ parameters.position.set<0>(units::unit_cast<double>(positionX)); // x-coordinate
+ parameters.position.set<1>(units::unit_cast<double>(positionY)); // y-coordinate
+ const units::angle::radian_t deltaYaw = 0.5 * parameters.yawAcceleration * timestep * timestep + parameters.yawRate * timestep;
parameters.yaw += deltaYaw;
- parameters.velocityX = std::cos(deltaYaw) * parameters.velocityX - std::sin(deltaYaw) * parameters.velocityY;
- parameters.velocityY = std::sin(deltaYaw) * parameters.velocityX + std::cos(deltaYaw) * parameters.velocityY;
- parameters.accelerationX = std::cos(deltaYaw) * parameters.accelerationX - std::sin(deltaYaw) * parameters.accelerationY;
- parameters.accelerationY = std::sin(deltaYaw) * parameters.accelerationX + std::cos(deltaYaw) * parameters.accelerationY;
+ parameters.velocityX = units::math::cos(deltaYaw) * parameters.velocityX - units::math::sin(deltaYaw) * parameters.velocityY;
+ parameters.velocityY = units::math::sin(deltaYaw) * parameters.velocityX + units::math::cos(deltaYaw) * parameters.velocityY;
+ parameters.accelerationX = units::math::cos(deltaYaw) * parameters.accelerationX - units::math::sin(deltaYaw) * parameters.accelerationY;
+ parameters.accelerationY = units::math::sin(deltaYaw) * parameters.accelerationX + units::math::cos(deltaYaw) * parameters.accelerationY;
parameters.velocityX += parameters.accelerationX * timestep;
parameters.velocityY += parameters.accelerationY * timestep;
parameters.yawRate += parameters.yawAcceleration * timestep;
diff --git a/sim/src/common/dynamicsSignal.h b/sim/src/common/dynamicsSignal.h
index 4e7bc52b98fb196865e474cc97d5e09bc1fbe269..67b7361eb7506abb04b843593705b8c3a218f2d6 100644
--- a/sim/src/common/dynamicsSignal.h
+++ b/sim/src/common/dynamicsSignal.h
@@ -33,29 +33,9 @@ public:
DynamicsSignal(ComponentState componentState) : ComponentStateSignalInterface{componentState}{}
DynamicsSignal(ComponentState componentState,
- double acceleration,
- double velocity,
- double positionX,
- double positionY,
- double yaw,
- double yawRate,
- double yawAcceleration,
- double roll,
- double steeringWheelAngle,
- double centripetalAcceleration,
- double travelDistance) :
+ DynamicsInformation dynamicsInformation) :
ComponentStateSignalInterface{componentState},
- acceleration(acceleration),
- velocity(velocity),
- positionX(positionX),
- positionY(positionY),
- yaw(yaw),
- yawRate(yawRate),
- yawAcceleration(yawAcceleration),
- roll(roll),
- steeringWheelAngle(steeringWheelAngle),
- centripetalAcceleration(centripetalAcceleration),
- travelDistance(travelDistance)
+ dynamicsInformation(dynamicsInformation)
{}
DynamicsSignal(DynamicsSignal &other) = default;
@@ -74,30 +54,20 @@ public:
{
std::ostringstream stream;
stream << COMPONENTNAME << std::endl;
- stream << "acceleration: " << acceleration << std::endl;
- stream << "velocity: " << velocity << std::endl;
- stream << "positionX: " << positionX << std::endl;
- stream << "positionY: " << positionY << std::endl;
- stream << "yaw: " << yaw << std::endl;
- stream << "yawRate: " << yawRate << std::endl;
- stream << "yawAcceleration" << yawAcceleration << std::endl;
- stream << "roll: " << roll << std::endl;
- stream << "steeringWheelAngle: " << steeringWheelAngle << std::endl;
- stream << "centripetalAcceleration: " << centripetalAcceleration << std::endl;
- stream << "travelDistance: " << travelDistance << std::endl;
+ stream << "acceleration: " << dynamicsInformation.acceleration << std::endl;
+ stream << "velocity: " << dynamicsInformation.velocity << std::endl;
+ stream << "positionX: " << dynamicsInformation.positionX << std::endl;
+ stream << "positionY: " << dynamicsInformation.positionY << std::endl;
+ stream << "yaw: " << dynamicsInformation.yaw << std::endl;
+ stream << "yawRate: " << dynamicsInformation.yawRate << std::endl;
+ stream << "yawAcceleration" << dynamicsInformation.yawAcceleration << std::endl;
+ stream << "roll: " << dynamicsInformation.roll << std::endl;
+ stream << "steeringWheelAngle: " << dynamicsInformation.steeringWheelAngle << std::endl;
+ stream << "centripetalAcceleration: " << dynamicsInformation.centripetalAcceleration << std::endl;
+ stream << "travelDistance: " << dynamicsInformation.travelDistance << std::endl;
return stream.str();
}
- double acceleration = 0.0;
- double velocity = 0.0;
- double positionX = 0.0;
- double positionY = 0.0;
- double yaw = 0.0;
- double yawRate = 0.0;
- double yawAcceleration = 0.0;
- double roll = 0.0;
- double steeringWheelAngle = 0.0;
- double centripetalAcceleration = 0.0;
- double travelDistance = 0.0;
+ DynamicsInformation dynamicsInformation{};
};
diff --git a/sim/src/common/eventDetectorDefinitions.h b/sim/src/common/eventDetectorDefinitions.h
deleted file mode 100644
index 696f6e9dd4bdef8483f5ff9b471197d1184920c4..0000000000000000000000000000000000000000
--- a/sim/src/common/eventDetectorDefinitions.h
+++ /dev/null
@@ -1,241 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 HLRS, University of Stuttgart
- * 2019-2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#pragma once
-
-#include <optional>
-#include <string>
-#include <variant>
-#include "common/openScenarioDefinitions.h"
-#include "include/agentInterface.h"
-#include "include/worldInterface.h"
-#include "common/opExport.h"
-
-namespace openScenario
-{
-
-namespace ConditionEquality
-{
-//! Maximum difference between two values to be consired equal for OpenSCENARIO rule equal_to
-static constexpr double EPSILON = 1e-12;
-}
-
-enum class Rule
-{
- LessThan = 0,
- EqualTo,
- GreaterThan
-};
-
-
-// OpenScenario ByEntity Conditions
-class OPENPASSCOMMONEXPORT ByEntityCondition
-{
-public:
- ByEntityCondition(const std::vector<std::string> &triggeringEntityNames):
- triggeringEntityNames(triggeringEntityNames)
- {}
- ByEntityCondition(const ByEntityCondition&) = default;
- virtual ~ByEntityCondition();
-
- std::vector<AgentInterface *> GetTriggeringAgents(WorldInterface* const world) const
- {
- std::vector<AgentInterface *> triggeringAgents {};
-
- if(triggeringEntityNames.empty())
- {
- const auto &agentMap = world->GetAgents();
- std::transform(agentMap.cbegin(),
- agentMap.cend(),
- std::back_inserter(triggeringAgents),
- [] (const auto &agentPair) -> AgentInterface*
- {
- return agentPair.second;
- });
- }
- else
- {
- for (const auto& triggeringEntityName : triggeringEntityNames)
- {
- const auto triggeringAgent = world->GetAgentByName(triggeringEntityName);
-
- if(triggeringAgent != nullptr)
- {
- triggeringAgents.emplace_back(triggeringAgent);
- }
- }
- }
-
- return triggeringAgents;
- }
-
-private:
- const std::vector<std::string> triggeringEntityNames;
-};
-
-class OPENPASSCOMMONEXPORT TimeToCollisionCondition : public ByEntityCondition
-{
-public:
- TimeToCollisionCondition(const std::vector<std::string>& triggeringEntityNames,
- const std::string& referenceEntityName,
- const double targetTTC,
- const Rule rule):
- ByEntityCondition(triggeringEntityNames),
- referenceEntityName(referenceEntityName),
- targetTTC(targetTTC),
- rule(rule)
- {}
- TimeToCollisionCondition(const TimeToCollisionCondition&) = default;
- virtual ~TimeToCollisionCondition();
-
- AgentInterfaces IsMet(WorldInterface * const world) const;
-
-private:
- const std::string referenceEntityName;
- const double targetTTC;
- const Rule rule;
-};
-
-class OPENPASSCOMMONEXPORT TimeHeadwayCondition : public ByEntityCondition
-{
-public:
- TimeHeadwayCondition(const std::vector<std::string>& triggeringEntityNames,
- const std::string& referenceEntityName,
- const double targetTHW,
- const bool freeSpace,
- const Rule rule):
- ByEntityCondition(triggeringEntityNames),
- referenceEntityName(referenceEntityName),
- targetTHW(targetTHW),
- freeSpace(freeSpace),
- rule(rule)
- {}
- TimeHeadwayCondition(const TimeHeadwayCondition&) = default;
- virtual ~TimeHeadwayCondition();
-
- AgentInterfaces IsMet(WorldInterface * const world) const;
-
-private:
- const std::string referenceEntityName;
- const double targetTHW;
- const bool freeSpace;
- const Rule rule;
-};
-
-class OPENPASSCOMMONEXPORT ReachPositionCondition : public ByEntityCondition
-{
-public:
- ReachPositionCondition(const std::vector<std::string>& triggeringEntityNames,
- const double tolerance,
- const openScenario::Position position):
- ByEntityCondition(triggeringEntityNames),
- tolerance(tolerance),
- position(position)
- {
- if (tolerance < 0)
- {
- throw std::runtime_error("Reach Position Tolerance must be greater than or equal to 0");
- }
-
- if (std::holds_alternative<openScenario::RoadPosition>(position))
- {
- const auto roadPosition = std::get<openScenario::RoadPosition>(position);
-
- if (roadPosition.s < 0)
- {
- throw std::runtime_error("Reach Position Target S Coordinate must be greater than or equal to 0");
- }
-
- }
- }
- ReachPositionCondition(const ReachPositionCondition&) = default;
- virtual ~ReachPositionCondition();
-
- AgentInterfaces IsMet(WorldInterface * const world) const;
-
-private:
- const double tolerance{};
- const openScenario::Position position{};
-};
-
-class OPENPASSCOMMONEXPORT RelativeSpeedCondition : public ByEntityCondition
-{
-public:
- RelativeSpeedCondition(const std::vector<std::string> &triggeringEntityNames,
- const std::string &referenceEntityName,
- const double value,
- const Rule rule):
- ByEntityCondition(triggeringEntityNames),
- referenceEntityName(referenceEntityName),
- value(value),
- rule(rule)
- {}
- RelativeSpeedCondition(const RelativeSpeedCondition&) = default;
- virtual ~RelativeSpeedCondition();
-
- AgentInterfaces IsMet(WorldInterface * const world) const;
-
-private:
- const std::string referenceEntityName{};
- const double value{};
- const Rule rule{};
-};
-
-// OpenScenario ByValue Conditions
-class OPENPASSCOMMONEXPORT ByValueCondition
-{
-public:
- ByValueCondition(const Rule rule):
- rule(rule)
- {}
- ByValueCondition(const ByValueCondition&) = default;
- virtual ~ByValueCondition();
-protected:
- const Rule rule;
-};
-
-class OPENPASSCOMMONEXPORT SimulationTimeCondition : public ByValueCondition
-{
-public:
- SimulationTimeCondition(const Rule rule,
- const double targetValueInSeconds):
- ByValueCondition(rule),
- targetValue(static_cast<int>(targetValueInSeconds * 1000.0))
- {}
- SimulationTimeCondition(const SimulationTimeCondition&) = default;
- virtual ~SimulationTimeCondition();
-
- bool IsMet(const int value) const;
- int GetTargetValue() const;
-
-private:
- const int targetValue;
-};
-
-using Condition = std::variant<ReachPositionCondition,
- RelativeSpeedCondition,
- SimulationTimeCondition,
- TimeToCollisionCondition,
- TimeHeadwayCondition>;
-using ConditionGroup = std::vector<Condition>;
-
-///
-/// \brief Event specific information collected from an openSCENARIO story
-///
-struct OPENPASSCOMMONEXPORT ConditionalEventDetectorInformation
-{
- ActorInformation actorInformation{};
- int numberOfExecutions{}; ///< Specifies number of executions. Use -1 for "unrestricted"
- std::string eventName{};
- ConditionGroup conditions{};
-};
-
-} // openScenario
diff --git a/sim/src/common/events/acquirePositionEvent.h b/sim/src/common/events/acquirePositionEvent.h
deleted file mode 100644
index 4bf6260544eabe1220ef9d46114ca682e688eade..0000000000000000000000000000000000000000
--- a/sim/src/common/events/acquirePositionEvent.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
- *
- * This program and the accompanying materials are made available under the
- * terms of the Eclipse Public License 2.0 which is available at
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-//-----------------------------------------------------------------------------
-/** @file acquirePositionEvent.h
-* @brief This file contains all functions for AcquirePositionEvents.
-*
-* This class contains all functionality of the module. */
-//-----------------------------------------------------------------------------
-
-#pragma once
-
-#include <src/common/openScenarioDefinitions.h>
-#include <utility>
-
-#include "basicEvent.h"
-namespace openpass::events {
-
-class AcquirePositionEvent : public OpenScenarioEvent
-{
-public:
- AcquirePositionEvent(int time,
- const std::string &eventName,
- const std::string &source,
- int agentId,
- openScenario::Position position) :
- OpenScenarioEvent(time, eventName, source, {}, {{agentId}}), position(std::move(position))
- {
- }
-
- static constexpr char TOPIC[]{"OpenSCENARIO/Position"};
- const openScenario::Position position;
-};
-
-} // namespace openpass::events
diff --git a/sim/src/common/events/componentStateChangeEvent.h b/sim/src/common/events/componentStateChangeEvent.h
deleted file mode 100644
index fa95e400d806619f700b141254329d7a3c0bacc0..0000000000000000000000000000000000000000
--- a/sim/src/common/events/componentStateChangeEvent.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#pragma once
-
-#include "common/events/basicEvent.h"
-#include "include/signalInterface.h"
-
-namespace openpass::events {
-
-//-----------------------------------------------------------------------------
-/** This class hold information about a Component State Change Event
- *
- * \ingroup Event */
-//-----------------------------------------------------------------------------
-
-class ComponentStateChangeEvent : public OpenScenarioEvent
-{
-public:
- static constexpr char TOPIC[] {"OpenSCENARIO/UserDefinedAction/CustomCommandAction/SetComponentState"};
-
- ComponentStateChangeEvent(int time, std::string eventName, std::string source,
- openpass::type::TriggeringEntities triggeringAgents, openpass::type::AffectedEntities actingAgents,
- const std::string componentName, ComponentState componentState) :
- OpenScenarioEvent{time, eventName, source, triggeringAgents, actingAgents},
- componentName{std::move(componentName)},
- componentState{std::move(componentState)}
- {
- }
-
- const std::string componentName;
- const ComponentState componentState;
-};
-
-} // namespace openpass::events
diff --git a/sim/src/common/events/laneChangeEvent.h b/sim/src/common/events/laneChangeEvent.h
deleted file mode 100644
index e260ff1c454e949d7c430686703b86899c1019e9..0000000000000000000000000000000000000000
--- a/sim/src/common/events/laneChangeEvent.h
+++ /dev/null
@@ -1,36 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2017 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#pragma once
-
-#include "common/events/basicEvent.h"
-#include "common/openScenarioDefinitions.h"
-
-namespace openpass::events {
-
-//-----------------------------------------------------------------------------
-/** This class implements all functionality of the LaneChangeEvent.
- *
- * \ingroup Event */
-//-----------------------------------------------------------------------------
-class LaneChangeEvent : public OpenScenarioEvent
-{
-public:
- static constexpr char TOPIC[] {"OpenSCENARIO/PrivateAction/LateralAction/LaneChangeAction"};
-
- LaneChangeEvent(int time, const std::string eventName, const std::string source, int agentId, const openScenario::LaneChangeParameter laneChange):
- OpenScenarioEvent{time, std::move(eventName), std::move(source), {}, {{agentId}}},
- laneChange{std::move(laneChange)}
- {}
-
- const openScenario::LaneChangeParameter laneChange;
-};
-
-} // namespace openpass::events
diff --git a/sim/src/common/events/speedActionEvent.h b/sim/src/common/events/speedActionEvent.h
deleted file mode 100644
index 2afc64b2ce8f643c6612f2b669fc665277ac7f4a..0000000000000000000000000000000000000000
--- a/sim/src/common/events/speedActionEvent.h
+++ /dev/null
@@ -1,37 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#pragma once
-
-#include "common/events/basicEvent.h"
-#include "common/openScenarioDefinitions.h"
-
-namespace openpass::events {
-
-//-----------------------------------------------------------------------------
-/** This class implements all functionality of the SpeedActionEvent.
- *
- * \ingroup Event */
-//-----------------------------------------------------------------------------
-class SpeedActionEvent : public OpenScenarioEvent
-{
-public:
- static constexpr char TOPIC[] {"openSCENARIO/LongitudinalAction/SpeedAction"};
-
- SpeedActionEvent(int time, const std::string eventName, const std::string source, int agentId, const openScenario::SpeedAction speedAction) :
- OpenScenarioEvent(time, std::move(eventName), std::move(source), {}, {{agentId}}),
- speedAction(std::move(speedAction))
- {
- }
-
- const openScenario::SpeedAction speedAction;
-};
-
-} // namespace openpass::events
diff --git a/sim/src/common/events/trajectoryEvent.h b/sim/src/common/events/trajectoryEvent.h
deleted file mode 100644
index f98020ad8f97f00b7742c31d3311fd56dccb1398..0000000000000000000000000000000000000000
--- a/sim/src/common/events/trajectoryEvent.h
+++ /dev/null
@@ -1,44 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-//-----------------------------------------------------------------------------
-/** @file TrajectoryEvent.h
-* @brief This file contains all functions for agent based events.
-*
-* This class contains all functionality of the module. */
-//-----------------------------------------------------------------------------
-
-#pragma once
-
-#include "common/events/basicEvent.h"
-#include "common/openScenarioDefinitions.h"
-
-namespace openpass::events {
-
-//-----------------------------------------------------------------------------
-/** This class implements all functionality of the Trajectory Event.
- *
- * \ingroup Event */
-//-----------------------------------------------------------------------------
-class TrajectoryEvent : public OpenScenarioEvent
-{
-public:
- static constexpr char TOPIC[] {"OpenSCENARIO/Trajectory"};
-
- TrajectoryEvent(int time, const std::string eventName, const std::string source, int agentId, const openScenario::Trajectory trajectory):
- OpenScenarioEvent{time, std::move(eventName), std::move(source), {}, {{agentId}}},
- trajectory{std::move(trajectory)}
- {}
-
- const openScenario::Trajectory trajectory;
-};
-
-} // namespace openpass::events
-
diff --git a/sim/src/common/globalDefinitions.h b/sim/src/common/globalDefinitions.h
index 0f3323241c2b38659ffa8320679459958f058539..8838dcbf75b2aed26a3bafc7e945a047d02226af 100644
--- a/sim/src/common/globalDefinitions.h
+++ b/sim/src/common/globalDefinitions.h
@@ -18,13 +18,16 @@
#pragma once
-#include "common/opMath.h"
+#include <MantleAPI/Traffic/entity_properties.h>
+#include <MantleAPI/Common/orientation.h>
#include <list>
#include <map>
#include <string>
#include <tuple>
#include <vector>
+#include "common/opMath.h"
+
// the following is a temporary workaround until the contribution is merged into osi
#if defined(_WIN32) && !defined(NODLL)
#define OSIIMPORT __declspec(dllimport)
@@ -98,6 +101,26 @@ enum class AgentCategory
Any
};
+namespace units {
+UNIT_ADD(curvature,
+ inverse_meter,
+ inverse_meters,
+ i_m,
+ units::unit<std::ratio<1>, units::inverse<units::length::meter>>)
+
+namespace category {
+typedef base_unit<detail::meter_ratio<-1>> curvature_unit;
+}
+
+UNIT_ADD_CATEGORY_TRAIT(curvature)
+
+using inertia = unit_t<compound_unit<mass::kilogram, squared<length::meter>>>;
+using impulse = unit_t<compound_unit<force::newton, time::second>>;
+
+// Radian are by default unitless, but the units.h explicitly defines it as a unit. This leads to several typematch errors in calculations. Therefore the inverse_radian is used to remove the radian type.
+using inverse_radian = units::unit_t<units::inverse<units::angle::radian>>;
+} // namespace units
+
namespace openpass::utils {
/// @brief constexpr map for transforming the a corresponding enumeration into
@@ -118,96 +141,92 @@ inline std::string to_string(AgentCategory agentCategory) noexcept
return std::string(to_cstr(agentCategory));
}
-} // namespace util
+} // namespace openpass::utils
//-----------------------------------------------------------------------------
//! Agent type classification
//-----------------------------------------------------------------------------
-enum class AgentVehicleType
-{
- NONE = -2,
- Undefined = -1,
- Car = 0,
- Pedestrian = 1,
- Motorbike = 2,
- Bicycle = 3,
- Truck = 4
-};
-
namespace openpass::utils {
/// @brief constexpr map for transforming the a corresponding enumeration into
/// a string representation: try to_cstr(EnumType) or to_string(EnumType)
-static constexpr std::array<const char *, 7> AgentVehicleTypeMapping{
- "NONE",
- "Undefined",
- "Car",
+static constexpr std::array<const char *, 4> EntityTypeMapping{
+ "Other",
+ "Vehicle",
"Pedestrian",
+ "Animal"};
+
+static constexpr std::array<const char *, 16> VehicleClassificationMapping{
+ "Other",
+ "Small_car",
+ "Compact_car",
+ "Medium_car",
+ "Luxury_car",
+ "Delivery_van",
+ "Heavy_truck",
+ "Semitrailer",
+ "Trailer",
"Motorbike",
"Bicycle",
- "Truck"};
+ "Bus",
+ "Tram",
+ "Train",
+ "Wheelchair",
+ "Invalid"};
-
-constexpr const char *to_cstr(AgentVehicleType agentVehicleType)
+constexpr const char *to_cstr(mantle_api::EntityType entityType)
{
- return AgentVehicleTypeMapping[static_cast<size_t>(agentVehicleType) -
- static_cast<size_t>(AgentVehicleType::NONE)];
+ return EntityTypeMapping[static_cast<std::size_t>(entityType) - 1];
}
-inline std::string to_string(AgentVehicleType agentVehicleType) noexcept
+constexpr const char *to_cstr(mantle_api::VehicleClass vehicleClassification)
{
- return std::string(to_cstr(agentVehicleType));
+ if (vehicleClassification == mantle_api::VehicleClass::kInvalid)
+ {
+ return VehicleClassificationMapping.back();
+ }
+ else
+ {
+ return VehicleClassificationMapping[static_cast<std::size_t>(vehicleClassification) - 1];
+ }
}
-} // namespace util
+inline std::string to_string(mantle_api::EntityType entityType) noexcept
+{
+ return std::string(to_cstr(entityType));
+}
+inline std::string to_string(mantle_api::VehicleClass vehicleClassification) noexcept
+{
+ return std::string(to_cstr(vehicleClassification));
+}
-/// @brief convert a vehicle type name to VehicleType enum
-inline AgentVehicleType GetAgentVehicleType(const std::string &strVehicleType)
+inline bool IsCar(mantle_api::VehicleClass vehicleClassification)
{
- if (0 == strVehicleType.compare("Car"))
+ if (vehicleClassification == mantle_api::VehicleClass::kSmall_car || vehicleClassification == mantle_api::VehicleClass::kCompact_car || vehicleClassification == mantle_api::VehicleClass::kMedium_car || vehicleClassification == mantle_api::VehicleClass::kLuxury_car)
{
- return AgentVehicleType::Car;
+ return true;
}
- else if (0 == strVehicleType.compare("Pedestrian"))
+ else
{
- return AgentVehicleType::Pedestrian;
+ return false;
}
- else if (0 == strVehicleType.compare("Motorbike"))
- {
- return AgentVehicleType::Motorbike;
- }
- else if (0 == strVehicleType.compare("Bicycle"))
- {
- return AgentVehicleType::Bicycle;
- }
- else if (0 == strVehicleType.compare("Truck"))
- {
- return AgentVehicleType::Truck;
- }
- return AgentVehicleType::Undefined;
-}
-
-// convert a AgentVehicleType to VehicleType string
-inline std::string GetAgentVehicleTypeStr(const AgentVehicleType &vehicleType)
-{
- return (vehicleType == AgentVehicleType::Car) ? "Car" : (vehicleType == AgentVehicleType::Pedestrian) ? "Pedestrian" : (vehicleType == AgentVehicleType::Motorbike) ? "Motorbike" : (vehicleType == AgentVehicleType::Bicycle) ? "Bicycle" : (vehicleType == AgentVehicleType::Truck) ? "Truck" : "unknown type";
}
-// convert a string of type code to VehicleType string
-inline std::string GetAgentVehicleTypeStr(const std::string &vehicleTypeCode)
+inline bool IsTruck(mantle_api::VehicleClass vehicleClassification)
{
- try
+ if (vehicleClassification == mantle_api::VehicleClass::kHeavy_truck || vehicleClassification == mantle_api::VehicleClass::kSemitrailer)
{
- AgentVehicleType vehicleType = static_cast<AgentVehicleType>(std::stoi(vehicleTypeCode));
- return GetAgentVehicleTypeStr(vehicleType);
+ return true;
}
- catch (...)
+ else
{
- return "unknown type";
+ return false;
}
}
+} // namespace openpass::utils
+
//! State of indicator lever
enum class IndicatorLever
{
@@ -229,10 +248,10 @@ struct Position
Position()
{
}
- Position(double x,
- double y,
- double yaw,
- double curvature) :
+ Position(units::length::meter_t x,
+ units::length::meter_t y,
+ units::angle::radian_t yaw,
+ units::curvature::inverse_meter_t curvature) :
xPos(x),
yPos(y),
yawAngle(yaw),
@@ -240,10 +259,10 @@ struct Position
{
}
- double xPos{0};
- double yPos{0};
- double yawAngle{0};
- double curvature{0};
+ units::length::meter_t xPos{0};
+ units::length::meter_t yPos{0};
+ units::angle::radian_t yawAngle{0};
+ units::curvature::inverse_meter_t curvature{0};
};
//! Enum of potential types of marks.
@@ -303,45 +322,6 @@ enum class Side
Right
};
-struct VehicleModelParameters
-{
- 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
{
Safety = 0,
@@ -371,13 +351,13 @@ enum class LaneCategory
//! Defines which traffic rules are in effect
struct TrafficRules
{
- double openSpeedLimit; //!< maximum allowed speed if not restricted by signs
+ double openSpeedLimit; //!< maximum allowed speed if not restricted by signs
double openSpeedLimitTrucks; //!< maximum allowed speed for trucks if not restricted by signs
double openSpeedLimitBuses; //!< maximum allowed speed for buses if not restricted by signs
- bool keepToOuterLanes; //!< if true, vehicles must use the outermost free lane for driving
+ bool keepToOuterLanes; //!< if true, vehicles must use the outermost free lane for driving
bool dontOvertakeOnOuterLanes; //!< if true, it is prohibited to overtake another vehicle, that is driving further left (or right for lefthand traffic)
- bool formRescueLane; //!< if true, vehicles driving in a traffic jam must form a corridor for emergency vehicles
- bool zipperMerge; //!< if true all merging shall be performed using zipper merge
+ bool formRescueLane; //!< if true, vehicles driving in a traffic jam must form a corridor for emergency vehicles
+ bool zipperMerge; //!< if true all merging shall be performed using zipper merge
};
//! Defines the weight of a path for randomized route generation
@@ -417,37 +397,37 @@ public:
return reference;
}
- AgentVehicleType GetVehicleType() const
+ mantle_api::VehicleClass GetVehicleClassification() const
{
- return vehicleType;
+ return vehicleClassification;
}
- double GetWidth() const
+ units::length::meter_t GetWidth() const
{
return width;
}
- double GetLength() const
+ units::length::meter_t GetLength() const
{
return length;
}
- double GetDistanceCOGtoFrontAxle() const
+ units::length::meter_t GetDistanceCOGtoFrontAxle() const
{
return distanceCOGtoFrontAxle;
}
- double GetWeight() const
+ units::mass::kilogram_t GetWeight() const
{
return weight;
}
- double GetHeightCOG() const
+ units::length::meter_t GetHeightCOG() const
{
return heightCOG;
}
- double GetWheelbase() const
+ units::length::meter_t GetWheelbase() const
{
return wheelbase;
}
@@ -472,47 +452,47 @@ public:
return frictionCoeff;
}
- double GetTrackWidth() const
+ units::length::meter_t GetTrackWidth() const
{
return trackWidth;
}
- double GetDistanceCOGtoLeadingEdge() const
+ units::length::meter_t GetDistanceCOGtoLeadingEdge() const
{
return distanceCOGtoLeadingEdge;
}
- void SetVehicleType(AgentVehicleType vehicleType)
+ void SetVehicleClassification(mantle_api::VehicleClass vehicleClassification)
{
- this->vehicleType = vehicleType;
+ this->vehicleClassification = vehicleClassification;
}
- void SetWidth(double width)
+ void SetWidth(units::length::meter_t width)
{
this->width = width;
}
- void SetLength(double length)
+ void SetLength(units::length::meter_t length)
{
this->length = length;
}
- void SetDistanceCOGtoFrontAxle(double distanceCOGtoFrontAxle)
+ void SetDistanceCOGtoFrontAxle(units::length::meter_t distanceCOGtoFrontAxle)
{
this->distanceCOGtoFrontAxle = distanceCOGtoFrontAxle;
}
- void SetWeight(double weight)
+ void SetWeight(units::mass::kilogram_t weight)
{
this->weight = weight;
}
- void SetHeightCOG(double heightCOG)
+ void SetHeightCOG(units::length::meter_t heightCOG)
{
this->heightCOG = heightCOG;
}
- void SetWheelbase(double wheelbase)
+ void SetWheelbase(units::length::meter_t wheelbase)
{
this->wheelbase = wheelbase;
}
@@ -537,12 +517,12 @@ public:
this->frictionCoeff = frictionCoeff;
}
- void SetTrackWidth(double trackWidth)
+ void SetTrackWidth(units::length::meter_t trackWidth)
{
this->trackWidth = trackWidth;
}
- void SetDistanceCOGtoLeadingEdge(double distanceCOGtoLeadingEdge)
+ void SetDistanceCOGtoLeadingEdge(units::length::meter_t distanceCOGtoLeadingEdge)
{
this->distanceCOGtoLeadingEdge = distanceCOGtoLeadingEdge;
}
@@ -550,23 +530,23 @@ public:
private:
int id;
int reference;
- AgentVehicleType vehicleType;
- double positionX;
- double positionY;
- double width;
- double length;
+ mantle_api::VehicleClass vehicleClassification;
+ units::length::meter_t positionX;
+ units::length::meter_t positionY;
+ units::length::meter_t width;
+ units::length::meter_t length;
double velocityX;
double velocityY;
- double distanceCOGtoFrontAxle;
- double weight;
- double heightCOG;
- double wheelbase;
+ units::length::meter_t distanceCOGtoFrontAxle;
+ units::mass::kilogram_t weight;
+ units::length::meter_t heightCOG;
+ units::length::meter_t wheelbase;
double momentInertiaRoll;
double momentInertiaPitch;
double momentInertiaYaw;
double frictionCoeff;
- double trackWidth;
- double distanceCOGtoLeadingEdge;
+ units::length::meter_t trackWidth;
+ units::length::meter_t distanceCOGtoLeadingEdge;
double accelerationX;
double accelerationY;
double yawAngle;
@@ -574,22 +554,38 @@ private:
struct PostCrashVelocity
{
- bool isActive = false;//!< activity flag
- double velocityAbsolute = 0.0;//!< post crash velocity, absolute [m/s]
- double velocityDirection = 0.0;//!< post crash velocity direction [rad]
- double yawVelocity = 0.0;//!< post crash yaw velocity [rad/s]
+ bool isActive = false; //!< activity flag
+ units::velocity::meters_per_second_t velocityAbsolute{0.0}; //!< post crash velocity, absolute [m/s]
+ units::angle::radian_t velocityDirection{0.0}; //!< post crash velocity direction [rad]
+ units::angular_velocity::radians_per_second_t yawVelocity{0.0}; //!< post crash yaw velocity [rad/s]
};
/*!
* For definitions see http://indexsmart.mirasmart.com/26esv/PDFfiles/26ESV-000177.pdf
*/
-struct CollisionAngles{
- double OYA = 0.0; //!< opponent yaw angle
- double HCPAo = 0.0; //!< original host collision point angle
- double OCPAo = 0.0; //!< original opponent collision point angle
- double HCPA = 0.0; //!< transformed host collision point angle
- double OCPA = 0.0; //!< transformed opponent collision point angle
+struct CollisionAngles
+{
+ units::angle::radian_t OYA{0.0}; //!< opponent yaw angle
+ units::angle::radian_t HCPAo{0.0}; //!< original host collision point angle
+ units::angle::radian_t OCPAo{0.0}; //!< original opponent collision point angle
+ units::angle::radian_t HCPA{0.0}; //!< transformed host collision point angle
+ units::angle::radian_t OCPA{0.0}; //!< transformed opponent collision point angle
};
class AgentInterface;
-using AgentInterfaces = std::vector<const AgentInterface*>;
+using AgentInterfaces = std::vector<const AgentInterface *>;
+
+struct DynamicsInformation
+{
+ units::acceleration::meters_per_second_squared_t acceleration{0.0};
+ units::velocity::meters_per_second_t velocity{0.0};
+ units::length::meter_t positionX{0.0};
+ units::length::meter_t positionY{0.0};
+ units::angle::radian_t yaw{0.0};
+ units::angular_velocity::radians_per_second_t yawRate{0.0};
+ units::angular_acceleration::radians_per_second_squared_t yawAcceleration{0.0};
+ units::angle::radian_t roll{0.0};
+ units::angle::radian_t steeringWheelAngle{0.0};
+ units::acceleration::meters_per_second_squared_t centripetalAcceleration{0.0};
+ units::length::meter_t travelDistance{0.0};
+};
diff --git a/sim/src/common/hypot.h b/sim/src/common/hypot.h
index 22b4157441dde6b128e85219a5f370ae74de6f6e..ebe28aab3980ce3f9e15f11512c6fcff0c10679f 100644
--- a/sim/src/common/hypot.h
+++ b/sim/src/common/hypot.h
@@ -11,6 +11,7 @@
#pragma once
#include <cmath>
+#include <units.h>
namespace openpass
{
@@ -25,4 +26,16 @@ namespace openpass
const auto x = std::fma(-b, b, h_sq-a_sq) + std::fma(h, h, -h_sq) - std::fma(a, a, -a_sq);
return h - x/(2*h);
}
+
+template <typename T>
+[[nodiscard]] T hypot(T a, T b)
+{
+ if (a.value() == 0.0) return units::math::abs(b);
+ if (b.value() == 0.0) return units::math::abs(a);
+ const auto h = units::math::sqrt(units::math::fma(a,a,b*b));
+ const auto h_sq = h * h ;
+ const auto a_sq = a * a;
+ const auto x = units::math::fma(-b, b, h_sq-a_sq) + units::math::fma(h, h, -h_sq) - units::math::fma(a, a, -a_sq);
+ return h - x/(2*h);
+}
}
\ No newline at end of file
diff --git a/sim/src/common/lateralSignal.h b/sim/src/common/lateralSignal.h
index dbb8e5a4a9ad9a13f51c0c755e8493c552a34c4e..15c136dc28bfa7875408339a4f1275cbb4ac5c18 100644
--- a/sim/src/common/lateralSignal.h
+++ b/sim/src/common/lateralSignal.h
@@ -21,6 +21,16 @@
#include "include/modelInterface.h"
+struct LateralInformation
+{
+ units::length::meter_t laneWidth {0.0};
+ units::length::meter_t deviation {0.0};
+ units::angular_acceleration::radians_per_second_squared_t gainDeviation {0.0};
+ units::angle::radian_t headingError {0.0};
+ units::frequency::hertz_t gainHeadingError {0.0};
+ units::curvature::inverse_meter_t kappaManoeuvre {0.0};
+};
+
class LateralSignal: public ComponentStateSignalInterface
{
public:
@@ -39,22 +49,12 @@ public:
//-----------------------------------------------------------------------------
LateralSignal(
ComponentState componentState,
- double laneWidth,
- double lateralDeviation,
- double gainLateralDeviation,
- double headingError,
- double gainHeadingError,
- double kappaManoeuvre,
- double kappaRoad,
- std::vector <double> curvatureOfSegmentsToNearPoint,
- std::vector <double> curvatureOfSegmentsToFarPoint
+ LateralInformation lateralInformation,
+ units::curvature::inverse_meter_t kappaRoad,
+ std::vector <units::curvature::inverse_meter_t> curvatureOfSegmentsToNearPoint,
+ std::vector <units::curvature::inverse_meter_t> curvatureOfSegmentsToFarPoint
):
- laneWidth(laneWidth),
- lateralDeviation(lateralDeviation),
- gainLateralDeviation(gainLateralDeviation),
- headingError(headingError),
- gainHeadingError(gainHeadingError),
- kappaManoeuvre(kappaManoeuvre),
+ lateralInformation(lateralInformation),
kappaRoad(kappaRoad),
curvatureOfSegmentsToNearPoint(curvatureOfSegmentsToNearPoint),
curvatureOfSegmentsToFarPoint(curvatureOfSegmentsToFarPoint)
@@ -77,15 +77,10 @@ public:
return stream.str();
}
- double laneWidth {0.};
- double lateralDeviation {0.};
- double gainLateralDeviation {20.0};
- double headingError {0.};
- double gainHeadingError {7.5};
- double kappaManoeuvre {0.};
- double kappaRoad {0.};
- std::vector <double> curvatureOfSegmentsToNearPoint {0.};
- std::vector <double> curvatureOfSegmentsToFarPoint {0.};
+ LateralInformation lateralInformation{};
+ units::curvature::inverse_meter_t kappaRoad {0.};
+ std::vector <units::curvature::inverse_meter_t> curvatureOfSegmentsToNearPoint {0.0_i_m};
+ std::vector <units::curvature::inverse_meter_t> curvatureOfSegmentsToFarPoint {0.0_i_m};
//-----------------------------------------------------------------------------
//! Constructor
@@ -93,12 +88,7 @@ public:
LateralSignal(LateralSignal &other) :
LateralSignal(
other.componentState,
- other.laneWidth,
- other.lateralDeviation,
- other.gainLateralDeviation,
- other.headingError,
- other.gainHeadingError,
- other.kappaManoeuvre
+ other.lateralInformation
)
{
}
@@ -108,19 +98,9 @@ public:
//-----------------------------------------------------------------------------
LateralSignal(
ComponentState componentState,
- double laneWidth,
- double lateralDeviation,
- double gainLateralDeviation,
- double headingError,
- double gainHeadingError,
- double kappaManoeuvre
+ LateralInformation lateralInformation
):
- laneWidth(laneWidth),
- lateralDeviation(lateralDeviation),
- gainLateralDeviation(gainLateralDeviation),
- headingError(headingError),
- gainHeadingError(gainHeadingError),
- kappaManoeuvre(kappaManoeuvre)
+ lateralInformation(lateralInformation)
{
this->componentState = componentState;
}
@@ -128,12 +108,7 @@ public:
LateralSignal& operator=(const LateralSignal& other)
{
componentState = other.componentState;
- laneWidth = other.laneWidth;
- lateralDeviation = other.lateralDeviation;
- gainLateralDeviation = other.gainLateralDeviation;
- headingError = other.headingError;
- gainHeadingError = other.gainHeadingError;
- kappaManoeuvre = other.kappaManoeuvre;
+ lateralInformation = other.lateralInformation;
return *this;
}
diff --git a/sim/src/common/namedType.h b/sim/src/common/namedType.h
index b85f31532ba73851071dfe719faf43e3dcaf7188..4a7dea9f6e03bf430818384446c7b9524cdadbb5 100644
--- a/sim/src/common/namedType.h
+++ b/sim/src/common/namedType.h
@@ -78,6 +78,36 @@ struct NamedType
{
return this->value != other;
}
+
+ constexpr bool operator<(NamedType<T, Tag> const &other) const
+ {
+ return this->value < other.value;
+ }
+
+ constexpr bool operator<(T const &other) const
+ {
+ return this->value < other;
+ }
+
+ constexpr bool operator>(NamedType<T, Tag> const &other) const
+ {
+ return this->value > other.value;
+ }
+
+ constexpr bool operator>(T const &other) const
+ {
+ return this->value > other;
+ }
+
+ constexpr bool operator<=(NamedType<T, Tag> const &other) const
+ {
+ return this->value <= other.value;
+ }
+
+ constexpr bool operator>=(T const &other) const
+ {
+ return this->value >= other;
+ }
};
} // namespace openpass::type
diff --git a/sim/src/common/openScenarioDefinitions.h b/sim/src/common/openScenarioDefinitions.h
deleted file mode 100644
index cd01f6be89c43bb4765bb5637b560d49d5cecba4..0000000000000000000000000000000000000000
--- a/sim/src/common/openScenarioDefinitions.h
+++ /dev/null
@@ -1,405 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2019-2021 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-#pragma once
-
-#include "commonHelper.h"
-
-#include <map>
-#include <optional>
-#include <ostream>
-#include <string>
-#include <variant>
-#include <vector>
-
-namespace openScenario {
-
-//! Value of a ParameterDeclaration or ParameterAssignment element
-using ParameterValue = std::variant<bool, int, double, std::string>;
-
-//! Content of a ParameterDeclarations or ParameterAssignments element
-using Parameters = std::map<std::string, ParameterValue>;
-
-//! Attribute in a catalog that is not yet resolved
-template <typename T>
-struct ParameterizedAttribute
-{
- std::string name; //!< Name of the parameter in OpenSCENARIO
- T defaultValue; //!< Value defined in the catalog (may be overwritten in the CatalogReference later)
-
- ParameterizedAttribute() = default;
-
- ParameterizedAttribute(const T& value) :
- name{""},
- defaultValue{value} {}
-
- ParameterizedAttribute(const std::string& name, const T& defaultValue) :
- name{name},
- defaultValue{defaultValue} {}
-};
-
-enum class Shape
-{
- Linear = 0,
- Step
-};
-
-enum class SpeedTargetValueType
-{
- Delta = 0,
- Factor
-};
-
-// This is a custom solution and not according to the openScenario standard
-struct StochasticAttribute
-{
- double value = -999;
- double mean = -999;
- double stdDeviation = -999;
- double lowerBoundary = -999;
- double upperBoundary = -999;
-};
-
-struct ActorInformation
-{
- bool actorIsTriggeringEntity{false};
- std::optional<std::vector<std::string>> actors{};
-};
-
-//! OSC Orientation
-enum class OrientationType
-{
- Undefined = 0,
- Relative,
- Absolute
-};
-
-//! OSC Orientation
-struct Orientation
-{
- std::optional<OrientationType> type{};
- std::optional<double> h{};
- std::optional<double> p{};
- std::optional<double> r{};
-};
-
-//! OSC Position
-struct LanePosition
-{
- std::optional<Orientation> orientation{};
- std::string roadId{};
- int laneId{};
- std::optional<double> offset{};
- double s{};
-
- std::optional<StochasticAttribute> stochasticOffset;
- std::optional<StochasticAttribute> stochasticS;
-};
-
-//! OSC RelativeLanePosition
-struct RelativeLanePosition
-{
- std::string entityRef{};
- int dLane{};
- double ds{};
- std::optional<double> offset{};
- std::optional<Orientation> orientation{};
-};
-
-//! OSC RoadPosition
-struct RoadPosition
-{
- std::optional<Orientation> orientation{};
- std::string roadId{};
- double s{};
- double t{};
-};
-
-//! OSC WorldPosition
-struct WorldPosition
-{
- double x{};
- double y{};
- std::optional<double> z;
- std::optional<double> h;
- std::optional<double> p;
- std::optional<double> r;
-};
-
-//! OSC RelativeObjectPosition
-struct RelativeObjectPosition {
- std::optional<Orientation> orientation{};
- std::string entityRef{};
- double dx{};
- double dy{};
- std::optional<double> dz{};
-};
-
-//! OSC RelativeWorldPosition
-struct RelativeWorldPosition {
- std::optional<Orientation> orientation{};
- std::string entityRef{};
- double dx{};
- double dy{};
- std::optional<double> dz{};
-};
-
-//! One of different variants of Position in OpenSCENARIO
-using Position = std::variant<LanePosition,
- RelativeLanePosition,
- RoadPosition,
- WorldPosition,
- RelativeObjectPosition,
- RelativeWorldPosition>;
-
-struct TrafficSignalControllerPhase
-{
- std::string name;
- double duration;
- std::map<std::string, std::string> states;
-};
-
-struct TrafficSignalController
-{
- std::string name;
- double delay;
- std::vector<TrafficSignalControllerPhase> phases;
-};
-
-// Action
-// GlobalAction
-enum EntityActionType
-{
- Delete = 0,
- Add
-};
-
-struct EntityAction
-{
- std::string entityRef{};
- EntityActionType type{};
-};
-
-//! OpenSCENARIO Sun
-struct Sun
-{
- double intensity{0.};
- double azimuth{0.};
- double elevation{0.};
-};
-
-//! OpenSCENARIO Fog
-struct Fog
-{
- double visualRange{0.};
-};
-
-//! OpenSCENARIO Precipitation
-struct Precipitation
-{
- enum Type
- {
- dry,
- rain,
- snow
- } type;
-
- double intensity;
-};
-
-//! OpenSCENARIO Weather
-struct Weather
-{
- enum CloudState
- {
- skyOff,
- free,
- cloudy,
- overcast,
- rainy
- } cloudState;
-
- Sun sun;
- Fog fog;
- Precipitation precipitation;
-};
-
-//! OpenSCENARIO EnvironmentAction
-struct EnvironmentAction
-{
- Weather weather;
-};
-
-using GlobalAction = std::variant<EntityAction, EnvironmentAction>;
-
-// PrivateAction
-struct TrajectoryPoint
-{
- double time{};
- double x{};
- double y{};
- double yaw{};
-
- bool operator== (const TrajectoryPoint& other) const
- {
- return CommonHelper::DoubleEquality(other.time, time)
- && CommonHelper::DoubleEquality(other.x, x)
- && CommonHelper::DoubleEquality(other.y, y)
- && CommonHelper::DoubleEquality(other.yaw, yaw);
- }
-
- friend std::ostream& operator<<(std::ostream& os, const TrajectoryPoint& point)
- {
- os << "t = " << point.time
- << " : (" << point.x
- << ", " << point.y
- << ") yaw = " << point.yaw;
-
- return os;
- }
-};
-
-//! OSC TimeReference (for FollowTrajectoryAction)
-struct TrajectoryTimeReference
-{
- std::string domainAbsoluteRelative;
- double scale;
- double offset;
-};
-
-//! OSC Trajectory
-struct Trajectory
-{
- std::vector<TrajectoryPoint> points;
- std::string name;
- std::optional<TrajectoryTimeReference> timeReference;
-
- friend std::ostream& operator<<(std::ostream& os, const Trajectory& trajectory)
- {
- os << "Trajectory \"" << trajectory.name << "\"\n";
- for (const auto& point : trajectory.points)
- {
- os << point << "\n";
- }
-
- return os;
- }
-};
-
-//! OSC AssignRouteAction
-using AssignRouteAction = std::vector<RoadPosition>;
-
-//! OSC FollowTrajectoryAction
-struct FollowTrajectoryAction
-{
- Trajectory trajectory{};
-};
-
-//! OSC AcquirePositionAction
-struct AcquirePositionAction
-{
- Position position{};
-};
-
-//! Some variant of a RoutingAction in OpenSCENARIO
-using RoutingAction = std::variant<AssignRouteAction, FollowTrajectoryAction, AcquirePositionAction>;
-
-struct VisibilityAction
-{
- bool graphics {false};
- bool traffic {false};
- bool sensors {false};
-};
-
-struct LaneChangeParameter
-{
- enum class Type
- {
- Absolute,
- Relative
- };
-
- enum class DynamicsType
- {
- Time,
- Distance
- };
-
- Type type{}; //! Whether the target is absolute or relative
- int value{}; //! Value of the target element
- std::string object{}; //! Name of the reference object if relative
- double dynamicsTarget{}; //! Time or distance defined by Dynamics element
- DynamicsType dynamicsType{}; //! Whether time or distance was defined by Dynamics element
-};
-
-struct LaneChangeAction
-{
- LaneChangeParameter laneChangeParameter{};
-};
-
-using LateralAction = std::variant<LaneChangeAction>;
-
-struct TransitionDynamics
-{
- Shape shape{};
- double value{};
- std::string dimension{};
-};
-
-struct AbsoluteTargetSpeed
-{
- double value{};
-};
-
-struct RelativeTargetSpeed
-{
- std::string entityRef{};
- double value{};
- SpeedTargetValueType speedTargetValueType{};
- bool continuous{};
-};
-
-using SpeedActionTarget = std::variant<AbsoluteTargetSpeed, RelativeTargetSpeed>;
-
-struct SpeedAction
-{
- TransitionDynamics transitionDynamics {};
- SpeedActionTarget target {};
-
- std::optional<StochasticAttribute> stochasticValue {};
- std::optional<StochasticAttribute> stochasticDynamics {};
-};
-
-using LongitudinalAction = std::variant<SpeedAction>;
-
-using TeleportAction = Position;
-
-using PrivateAction = std::variant<LateralAction, LongitudinalAction, RoutingAction, TeleportAction, VisibilityAction>;
-
-// UserDefinedAction
-struct CustomCommandAction
-{
- std::string command;
-};
-
-using UserDefinedAction = std::variant<CustomCommandAction>;
-
-using Action = std::variant<GlobalAction, PrivateAction, UserDefinedAction>;
-
-struct ManipulatorInformation
-{
- ManipulatorInformation(const Action action, const std::string eventName):
- action(action),
- eventName(eventName)
- {}
-
- const Action action;
- const std::string eventName;
-};
-} // namespace openScenario
diff --git a/sim/src/common/parametersVehicleSignal.h b/sim/src/common/parametersVehicleSignal.h
index 12292b6d83fabbda0c1e86adcee8533e668f5fbb..d5bbbfd7f51cec789a81756db173cd25089db023 100644
--- a/sim/src/common/parametersVehicleSignal.h
+++ b/sim/src/common/parametersVehicleSignal.h
@@ -37,7 +37,7 @@ public:
//-----------------------------------------------------------------------------
//! Constructor
//-----------------------------------------------------------------------------
- ParametersVehicleSignal(VehicleModelParameters vehicleParameters):
+ ParametersVehicleSignal(mantle_api::VehicleProperties vehicleParameters):
vehicleParameters(vehicleParameters)
{
}
@@ -56,5 +56,5 @@ public:
return stream.str();
}
- VehicleModelParameters vehicleParameters;
+ mantle_api::VehicleProperties vehicleParameters;
};
diff --git a/sim/src/common/postCrashDynamic.h b/sim/src/common/postCrashDynamic.h
index 765f1294c5cf4eae0cbbad3bd35dbf10a659795f..2c5af3730f61fef6ef80c0f8a9fc938aca528737 100644
--- a/sim/src/common/postCrashDynamic.h
+++ b/sim/src/common/postCrashDynamic.h
@@ -10,7 +10,11 @@
#pragma once
+#include "common/globalDefinitions.h"
#include "common/vector2d.h"
+#include "units.h"
+
+using namespace units::literals;
#define POSTCRASHDYNAMICID 0
@@ -34,115 +38,115 @@ public:
//! \param collisionVelocity
//! \param sliding
//!
- PostCrashDynamic(double velocity = 0,
- double velocityChange = 0,
- double velocityDirection = 0,
- double yawVelocity = 0,
- Common::Vector2d pulse = Common::Vector2d(),
- double pulseDirection = 0,
- Common::Vector2d pulseLocal = Common::Vector2d(),
- Common::Vector2d pointOfContactLocal = Common::Vector2d(),
- double collisionVelocity = 0,
- bool sliding = false)
- : velocity(velocity),
- velocityChange(velocityChange),
- velocityDirection(velocityDirection),
- yawVelocity(yawVelocity),
- pulse(pulse),
- pulseDirection(pulseDirection),
- pulseLocal(pulseLocal),
- pointOfContactLocal(pointOfContactLocal),
- collisionVelocity(collisionVelocity),
- sliding(sliding)
+ PostCrashDynamic(units::velocity::meters_per_second_t velocity = 0_mps,
+ units::velocity::meters_per_second_t velocityChange = 0_mps,
+ units::angle::radian_t velocityDirection = 0_rad,
+ units::angular_velocity::radians_per_second_t yawVelocity = 0_rad_per_s,
+ Common::Vector2d<units::impulse> pulse = Common::Vector2d<units::impulse>(),
+ units::angle::radian_t pulseDirection = 0_rad,
+ Common::Vector2d<units::impulse> pulseLocal = Common::Vector2d<units::impulse>(),
+ Common::Vector2d<units::length::meter_t> pointOfContactLocal = Common::Vector2d<units::length::meter_t>(),
+ units::velocity::meters_per_second_t collisionVelocity = 0_mps,
+ bool sliding = false) :
+ velocity(velocity),
+ velocityChange(velocityChange),
+ velocityDirection(velocityDirection),
+ yawVelocity(yawVelocity),
+ pulse(pulse),
+ pulseDirection(pulseDirection),
+ pulseLocal(pulseLocal),
+ pointOfContactLocal(pointOfContactLocal),
+ collisionVelocity(collisionVelocity),
+ sliding(sliding)
{}
virtual ~PostCrashDynamic() = default;
- double GetVelocity() const
+ units::velocity::meters_per_second_t GetVelocity() const
{
return velocity;
}
- void SetVelocity(double value)
+ void SetVelocity(units::velocity::meters_per_second_t value)
{
velocity = value;
}
- double GetVelocityChange() const
+ units::velocity::meters_per_second_t GetVelocityChange() const
{
return velocityChange;
}
- void SetVelocityChange(double value)
+ void SetVelocityChange(units::velocity::meters_per_second_t value)
{
velocityChange = value;
}
- double GetVelocityDirection() const
+ units::angle::radian_t GetVelocityDirection() const
{
return velocityDirection;
}
- void SetVelocityDirection(double value)
+ void SetVelocityDirection(units::angle::radian_t value)
{
velocityDirection = value;
}
- double GetYawVelocity() const
+ units::angular_velocity::radians_per_second_t GetYawVelocity() const
{
return yawVelocity;
}
- void SetYawVelocity(double value)
+ void SetYawVelocity(units::angular_velocity::radians_per_second_t value)
{
yawVelocity = value;
}
- Common::Vector2d GetPulse() const
+ Common::Vector2d<units::impulse> GetPulse() const
{
return pulse;
}
- void SetPulse(const Common::Vector2d &value)
+ void SetPulse(const Common::Vector2d<units::impulse> &value)
{
pulse = value;
}
- double GetPulseDirection() const
+ units::angle::radian_t GetPulseDirection() const
{
return pulseDirection;
}
- void SetPulseDirection(double value)
+ void SetPulseDirection(units::angle::radian_t value)
{
pulseDirection = value;
}
- Common::Vector2d GetPulseLocal() const
+ Common::Vector2d<units::impulse> GetPulseLocal() const
{
return pulseLocal;
}
- void SetPulseLocal(Common::Vector2d value)
+ void SetPulseLocal(Common::Vector2d<units::impulse> value)
{
pulseLocal = value;
}
- Common::Vector2d GetPointOfContactLocal() const
+ Common::Vector2d<units::length::meter_t> GetPointOfContactLocal() const
{
return pointOfContactLocal;
}
- void SetPointOfContactLocal(const Common::Vector2d &value)
+ void SetPointOfContactLocal(const Common::Vector2d<units::length::meter_t> &value)
{
pointOfContactLocal = value;
}
- double GetCollisionVelocity() const
+ units::velocity::meters_per_second_t GetCollisionVelocity() const
{
return collisionVelocity;
}
- void SetCollisionVelocity(double value)
+ void SetCollisionVelocity(units::velocity::meters_per_second_t value)
{
collisionVelocity = value;
}
@@ -159,23 +163,23 @@ public:
private:
//! post crash velocity, absolute [m/s]
- double velocity = 0;
+ units::velocity::meters_per_second_t velocity{0};
//! delta-V: collision induced velocity change [m/s]
- double velocityChange = 0;
+ units::velocity::meters_per_second_t velocityChange{0};
//! post crash velocity direction [rad]
- double velocityDirection = 0;
+ units::angle::radian_t velocityDirection{0};
//! post crash yaw velocity [rad/s]
- double yawVelocity = 0;
+ units::angular_velocity::radians_per_second_t yawVelocity{0};
//! pulse vector [two-dimensional vector: kg*m/s,kg*m/s]
- Common::Vector2d pulse = Common::Vector2d(0, 0);
+ Common::Vector2d<units::impulse> pulse = Common::Vector2d(units::impulse(0), units::impulse(0));
//! pulse direction [rad]
- double pulseDirection = 0;
+ units::angle::radian_t pulseDirection{0};
//! crash pulse in local vehicle coordinate system
- Common::Vector2d pulseLocal = Common::Vector2d(0, 0);
+ Common::Vector2d<units::impulse> pulseLocal = Common::Vector2d(units::impulse(0), units::impulse(0));
//! point of impact in local vehicle coordinate system
- Common::Vector2d pointOfContactLocal = Common::Vector2d(0, 0);
+ Common::Vector2d<units::length::meter_t> pointOfContactLocal = Common::Vector2d<units::length::meter_t>(0_m, 0_m);
//! collision velocity
- double collisionVelocity = 0;
+ units::velocity::meters_per_second_t collisionVelocity{0};
/*!
* \brief flag for collision type
*
diff --git a/sim/src/common/rollSignal.h b/sim/src/common/rollSignal.h
index 0056cb77c5f5c467e64f736a360dd95ed737ac9f..e412380a7162e21b33b986caab9152365a531f30 100644
--- a/sim/src/common/rollSignal.h
+++ b/sim/src/common/rollSignal.h
@@ -37,7 +37,7 @@ public:
//-----------------------------------------------------------------------------
RollSignal(
ComponentState componentState,
- double rollAngle
+ units::angle::radian_t rollAngle
):
rollAngle(rollAngle)
{
@@ -63,6 +63,6 @@ public:
return stream.str();
}
- double rollAngle {0.};
+ units::angle::radian_t rollAngle {0.};
};
diff --git a/sim/src/common/sensorDefinitions.h b/sim/src/common/sensorDefinitions.h
index ea07cfb063cc74e3604aac77e7c5070d84a0bfda..442509b1e2fbffddbc894c0b319667eb9422b247 100644
--- a/sim/src/common/sensorDefinitions.h
+++ b/sim/src/common/sensorDefinitions.h
@@ -11,18 +11,15 @@
#pragma once
#include "common/parameter.h"
+#include <MantleAPI/Common/pose.h>
+#include <MantleAPI/Traffic/entity_properties.h>
namespace openpass::sensors
{
struct Position
{
std::string name {};
- double longitudinal {};
- double lateral {};
- double height {};
- double pitch {};
- double yaw {};
- double roll {};
+ mantle_api::Pose pose{};
};
struct Profile
@@ -35,10 +32,33 @@ struct Profile
struct Parameter
{
int id {};
- Position position {};
+ std::string positionName {};
Profile profile {};
};
+static double GetPositionValue(const std::string& valueName, const std::string& positionName, const mantle_api::VehicleProperties& vehicleProperties)
+{
+ auto value = vehicleProperties.properties.find("SensorPosition/"+positionName+"/"+valueName);
+ if(value == vehicleProperties.properties.cend())
+ {
+ throw std::runtime_error("No value \"" + valueName + "\" for SensorPosition \"" + positionName + "\" defined for VehicleModel \"" + vehicleProperties.model + "\"");
+ }
+ return std::stod(value->second);
+}
+
+static Position GetPosition(const std::string& positionName, const mantle_api::VehicleProperties& vehicleProperties)
+{
+ Position position;
+ position.name = positionName;
+ position.pose.position.x = units::length::meter_t(GetPositionValue("Longitudinal", positionName, vehicleProperties));
+ position.pose.position.y = units::length::meter_t(GetPositionValue("Lateral", positionName, vehicleProperties));
+ position.pose.position.z = units::length::meter_t(GetPositionValue("Height", positionName, vehicleProperties));
+ position.pose.orientation.yaw = units::angle::radian_t(GetPositionValue("Yaw", positionName, vehicleProperties));
+ position.pose.orientation.pitch = units::angle::radian_t(GetPositionValue("Pitch", positionName, vehicleProperties));
+ position.pose.orientation.roll = units::angle::radian_t(GetPositionValue("Roll", positionName, vehicleProperties));
+ return position;
+}
+
using Profiles = std::vector<Profile>;
using Parameters = std::vector<Parameter>;
diff --git a/sim/src/common/sensorFusionQuery.h b/sim/src/common/sensorFusionQuery.h
index a144a14333591a2b751765922234c121e8f7c621..b7eab48ff309e8eb2196019e509ae92e637be3a6 100644
--- a/sim/src/common/sensorFusionQuery.h
+++ b/sim/src/common/sensorFusionQuery.h
@@ -110,16 +110,16 @@ namespace SensorFusionHelperFunctions
convertedObject.mutable_base()->mutable_position()->set_y(convertedPosition.y());
convertedObject.mutable_base()->mutable_orientation()->set_yaw(object.base().orientation().yaw() + mountingPosition.orientation().yaw());
- ObjectPointCustom pointMountingPosition{mountingPosition.position().x(), mountingPosition.position().y()};
+ ObjectPointCustom pointMountingPosition{units::length::meter_t{mountingPosition.position().x()}, units::length::meter_t{mountingPosition.position().y()}};
const auto differenceVelocity = agent.GetVelocity(pointMountingPosition) - agent.GetVelocity(ObjectPointPredefined::Reference);
point_t velocity{object.base().velocity().x(), object.base().velocity().y()};
- point_t convertedVelocity = ConvertVectorToVehicleCoordinates(velocity, {differenceVelocity.x, differenceVelocity.y}, agent.GetYaw(), mountingPosition);
+ point_t convertedVelocity = ConvertVectorToVehicleCoordinates(velocity, {differenceVelocity.x.value(), differenceVelocity.y.value()}, agent.GetYaw().value(), mountingPosition);
convertedObject.mutable_base()->mutable_velocity()->set_x(convertedVelocity.x());
convertedObject.mutable_base()->mutable_velocity()->set_y(convertedVelocity.y());
const auto differenceAcceleration = agent.GetAcceleration(pointMountingPosition) - agent.GetAcceleration(ObjectPointPredefined::Reference);
point_t acceleration{object.base().acceleration().x(), object.base().acceleration().y()};
- point_t convertedAcceleration = ConvertVectorToVehicleCoordinates(acceleration, {differenceAcceleration.x, differenceAcceleration.y}, agent.GetYaw(), mountingPosition);
+ point_t convertedAcceleration = ConvertVectorToVehicleCoordinates(acceleration, {differenceAcceleration.x.value(), differenceAcceleration.y.value()}, agent.GetYaw().value(), mountingPosition);
convertedObject.mutable_base()->mutable_acceleration()->set_x(convertedAcceleration.x());
convertedObject.mutable_base()->mutable_acceleration()->set_y(convertedAcceleration.y());
diff --git a/sim/src/common/spawnPointLibraryDefinitions.h b/sim/src/common/spawnPointLibraryDefinitions.h
index 40f8d07c34ac20f3b96e4b90787415c16c942d9a..b230e9a95eb45673080e7fc62ca951c5b4f55add 100644
--- a/sim/src/common/spawnPointLibraryDefinitions.h
+++ b/sim/src/common/spawnPointLibraryDefinitions.h
@@ -9,14 +9,15 @@
********************************************************************************/
#pragma once
-#include <unordered_map>
-#include <string>
#include <memory>
+#include <string>
+#include <unordered_map>
#include <vector>
#include <optional>
+#include "MantleAPI/Execution/i_environment.h"
+
class ParameterInterface;
-class ScenarioInterface;
class WorldInterface;
class StochasticsInterface;
class AgentBlueprintProviderInterface;
@@ -45,6 +46,7 @@ struct SpawnPointLibraryInfo
std::optional<std::string> profileName {};
};
using SpawnPointLibraryInfoCollection = std::vector<SpawnPointLibraryInfo>;
+using Vehicles = std::map<std::string, std::shared_ptr<const mantle_api::VehicleProperties>>;
struct SpawnPointDependencies
{
@@ -56,11 +58,15 @@ struct SpawnPointDependencies
SpawnPointDependencies(core::AgentFactoryInterface* agentFactory,
WorldInterface* world,
const AgentBlueprintProviderInterface* agentBlueprintProvider,
- StochasticsInterface* stochastics) :
+ StochasticsInterface* stochastics,
+ std::shared_ptr<mantle_api::IEnvironment> environment,
+ std::shared_ptr<Vehicles> vehicles) :
agentFactory{agentFactory},
world{world},
agentBlueprintProvider{agentBlueprintProvider},
- stochastics{stochastics}
+ stochastics{stochastics},
+ environment{environment},
+ vehicles{vehicles}
{}
SpawnPointDependencies& operator=(const SpawnPointDependencies&) = default;
@@ -70,6 +76,7 @@ struct SpawnPointDependencies
WorldInterface* world {nullptr};
const AgentBlueprintProviderInterface* agentBlueprintProvider {nullptr};
StochasticsInterface* stochastics {nullptr};
- std::optional<const ScenarioInterface*> scenario{std::nullopt};
std::optional<ParameterInterface*> parameters{std::nullopt};
+ std::shared_ptr<mantle_api::IEnvironment> environment{nullptr};
+ std::shared_ptr<Vehicles> vehicles{nullptr};
};
diff --git a/sim/src/common/speedActionSignal.h b/sim/src/common/speedActionSignal.h
index 612d78e027267e07531eee23bb46071bbf303616..b9060def7e5fb54c274e0feec28f200223778193 100644
--- a/sim/src/common/speedActionSignal.h
+++ b/sim/src/common/speedActionSignal.h
@@ -18,7 +18,6 @@
#pragma once
#include "include/modelInterface.h"
-#include "common/openScenarioDefinitions.h"
//-----------------------------------------------------------------------------
//! Signal class
@@ -49,8 +48,8 @@ public:
//! Constructor
//-----------------------------------------------------------------------------
SpeedActionSignal(ComponentState componentState,
- const double targetSpeed,
- const double acceleration) :
+ const units::velocity::meters_per_second_t targetSpeed,
+ const units::acceleration::meters_per_second_squared_t acceleration) :
ComponentStateSignalInterface(componentState),
targetSpeed(targetSpeed),
acceleration(acceleration)
@@ -70,7 +69,7 @@ public:
return stream.str();
}
- double targetSpeed {};
- double acceleration {}; // Range [0..inf[
+ units::velocity::meters_per_second_t targetSpeed {0.0};
+ units::acceleration::meters_per_second_squared_t acceleration{0.0}; // Range [0..inf[
};
diff --git a/sim/src/common/steeringSignal.h b/sim/src/common/steeringSignal.h
index 91bd7f1982330dca5dc62563f2834e604b912295..c51384e5282de6b7179707126c7447c5622e4d06 100644
--- a/sim/src/common/steeringSignal.h
+++ b/sim/src/common/steeringSignal.h
@@ -33,7 +33,7 @@ public:
//! Constructor
//-----------------------------------------------------------------------------
SteeringSignal(ComponentState componentState,
- double steeringWheelAngle) :
+ units::angle::radian_t steeringWheelAngle) :
ComponentStateSignalInterface (componentState),
steeringWheelAngle(steeringWheelAngle)
{}
@@ -57,6 +57,6 @@ public:
return stream.str();
}
- double steeringWheelAngle;
+ units::angle::radian_t steeringWheelAngle;
};
diff --git a/sim/src/common/trajectorySignal.h b/sim/src/common/trajectorySignal.h
index c2c0b5e3a5cb3c529b8b13656f03841bb69a97df..02a51c4e6617837b9964342463a97e53abe459c1 100644
--- a/sim/src/common/trajectorySignal.h
+++ b/sim/src/common/trajectorySignal.h
@@ -19,7 +19,8 @@
#pragma once
#include "include/modelInterface.h"
-#include "common/openScenarioDefinitions.h"
+
+#include "MantleAPI/Common/trajectory.h"
//-----------------------------------------------------------------------------
//! Signal class
@@ -53,7 +54,7 @@ public:
//! Constructor
//-----------------------------------------------------------------------------
TrajectorySignal(ComponentState componentState,
- openScenario::Trajectory trajectory) :
+ mantle_api::Trajectory trajectory) :
trajectory(trajectory)
{
this->componentState = componentState;
@@ -81,6 +82,6 @@ public:
return stream.str();
}
- openScenario::Trajectory trajectory;
+ mantle_api::Trajectory trajectory;
};
diff --git a/sim/src/common/vector2d.h b/sim/src/common/vector2d.h
index 9ebe7e6500ffc454ad159ffcc6631c5a0d189f9e..fcceb6049cc599079dd70785d92e22efe5db548b 100644
--- a/sim/src/common/vector2d.h
+++ b/sim/src/common/vector2d.h
@@ -15,23 +15,27 @@
#pragma once
-#include <ostream>
#include <cmath>
+#include <ostream>
+
+#include "MantleAPI/Common/floating_point_helper.h"
#include "common/opExport.h"
#include "common/hypot.h"
+#include "units.h"
namespace Common {
/*!
* class for 2d vectors in cartesian coordinate system
*/
+template <typename T, class = typename std::enable_if<units::traits::is_unit<T>::value>>
class OPENPASSCOMMONEXPORT Vector2d final
{
public:
- static double constexpr EPSILON = 1e-9;
+ static T constexpr EPSILON{1e-9};
- double x;
- double y;
+ T x;
+ T y;
Vector2d(const Vector2d &) = default;
Vector2d(Vector2d &&) = default;
@@ -44,7 +48,10 @@ public:
* \param[in] x x-value
* \param[in] y y-value
*/
- constexpr Vector2d(double x = 0, double y = 0) noexcept : x(x), y(y) {}
+ constexpr Vector2d(T x = T(0), T y = T(0)) noexcept :
+ x(x), y(y)
+ {
+ }
/*!
* translation of vector
@@ -52,7 +59,7 @@ public:
* \param[in] x x-value of displacement vector
* \param[in] y y-value of displacement vector
*/
- constexpr void Translate(double x, double y) noexcept
+ constexpr void Translate(T x, T y) noexcept
{
this->x += x;
this->y += y;
@@ -63,7 +70,7 @@ public:
* translation of vector via another vector
* \param[in] translationVector vector of translation
*/
- constexpr void Translate(Vector2d translationVector) noexcept
+ constexpr void Translate(Vector2d<T> translationVector) noexcept
{
this->x += translationVector.x;
this->y += translationVector.y;
@@ -74,10 +81,10 @@ public:
*
* \param[in] angle angle, in radians
*/
- void Rotate(double angle) noexcept
+ void Rotate(units::angle::radian_t angle) noexcept
{
- double cosAngle = std::cos(angle);
- double sinAngle = std::sin(angle);
+ auto cosAngle = units::math::cos(angle);
+ auto sinAngle = units::math::sin(angle);
*this = Vector2d(x * cosAngle - y * sinAngle,
x * sinAngle + y * cosAngle);
}
@@ -87,6 +94,7 @@ public:
*
* \param[in] scale scaling factor
*/
+ // TODO CK extend all operators with unit template magic
constexpr void Scale(double scale) noexcept
{
x *= scale;
@@ -98,7 +106,7 @@ public:
*
* \param[in] in added 2d vector
*/
- constexpr void Add(const Vector2d &in) noexcept
+ constexpr void Add(const Vector2d<T> &in) noexcept
{
x += in.x;
y += in.y;
@@ -109,7 +117,7 @@ public:
*
* \param[in] in subtracted 2d vector
*/
- constexpr void Sub(const Vector2d &in) noexcept
+ constexpr void Sub(const Vector2d<T> &in) noexcept
{
x -= in.x;
y -= in.y;
@@ -121,9 +129,9 @@ public:
* \param[in] in 2d vector
* \return returns dot product of the 2 vectors
*/
- constexpr double Dot(const Vector2d &in) const noexcept
+ constexpr double Dot(const Vector2d<T> &in) const noexcept
{
- return x * in.x + y * in.y;
+ return units::unit_cast<double>(x * in.x + y * in.y);
}
/*!
@@ -132,9 +140,10 @@ public:
* \param[in] in 2d vector
* \return returns z-component of the cross product
*/
- constexpr double Cross(const Vector2d &in) const noexcept
+ template <typename Y, class = typename std::enable_if<units::traits::is_unit<T>::value>>
+ constexpr double Cross(const Vector2d<Y> &in) const noexcept
{
- return x * in.y - y * in.x;
+ return units::unit_cast<double>(x * in.y - y * in.x);
}
/*!
@@ -146,21 +155,16 @@ public:
*
* \return returns true if vector could be normalized, false otherwise
*/
- bool Norm()
+ Vector2d<units::dimensionless::scalar_t> Norm()
{
- double length = Length();
+ auto length = Length();
- if (std::abs(length) < EPSILON)
+ if (units::math::abs(length) < EPSILON)
{
- x = 0.0;
- y = 0.0;
- return false;
+ throw std::runtime_error("Can't normalize Vector2d with length of 0.0");
}
- x /= length;
- y /= length;
-
- return true;
+ return Vector2d<units::dimensionless::scalar_t>(x / length, y / length);
}
/*!
@@ -168,7 +172,7 @@ public:
*
* \return length of the vector
*/
- double Length() const noexcept
+ T Length() const noexcept
{
return openpass::hypot(x, y);
}
@@ -178,9 +182,9 @@ public:
* returns the angle of the vector [-pi,+pi]
* \return angle of vector
*/
- double Angle() const noexcept
+ units::angle::radian_t Angle() const noexcept
{
- return atan2(y, x);
+ return units::math::atan2(y, x);
}
/*!
@@ -188,24 +192,24 @@ public:
*
* \param[in] in yaw of the projection axis
*/
- double Projection(double yaw) const
+ T Projection(units::angle::radian_t yaw) const
{
- return x * std::cos(yaw) + y * std::sin(yaw);
+ return x * units::math::cos(yaw) + y * units::math::sin(yaw);
}
- constexpr Vector2d operator-(const Vector2d &in) const noexcept
+ constexpr Vector2d<T> operator-(const Vector2d<T> &in) const noexcept
{
- return Vector2d(x - in.x, y - in.y);
+ return Vector2d<T>(x - in.x, y - in.y);
}
- constexpr Vector2d operator+(const Vector2d &in) const noexcept
+ constexpr Vector2d<T> operator+(const Vector2d<T> &in) const noexcept
{
- return Vector2d(x + in.x, y + in.y);
+ return Vector2d<T>(x + in.x, y + in.y);
}
- constexpr Vector2d operator*(double in) const noexcept
+ constexpr Vector2d<T> operator*(double in) const noexcept
{
- return Vector2d(x * in, y * in);
+ return Vector2d<T>(x * in, y * in);
}
/*!
@@ -215,10 +219,10 @@ public:
*
* \return true if vectors are considered equal, false otherwise
*/
- constexpr bool operator==(const Vector2d &in) const noexcept
+ constexpr bool operator==(const Vector2d<T> &in) const noexcept
{
- return (std::abs(x - in.x) < EPSILON) &&
- (std::abs(y - in.y) < EPSILON);
+ return (mantle_api::IsEqual(x, in.x, EPSILON.value()) &&
+ mantle_api::IsEqual(y, in.y, EPSILON.value()));
}
/*!
@@ -228,27 +232,30 @@ public:
*
* \return false if vectors are considered equal, true otherwise
*/
- constexpr bool operator!=(const Vector2d &in) const noexcept
+ constexpr bool operator!=(const Vector2d<T> &in) const noexcept
{
return !operator==(in);
}
/// \brief Overload << operator for Vector2d
- friend std::ostream& operator<<(std::ostream& os, const Vector2d& vector)
+ friend std::ostream &operator<<(std::ostream &os, const Vector2d<T> &vector)
{
return os << "(" << vector.x << ", " << vector.y << ")";
}
};
+template <typename T, class = typename std::enable_if<units::traits::is_unit<T>::value>>
struct Line
{
- explicit constexpr Line(const Common::Vector2d& startPoint, const Common::Vector2d& endPoint) noexcept :
+ explicit constexpr Line(const Common::Vector2d<T> &startPoint, const Common::Vector2d<T> &endPoint) noexcept :
startPoint{startPoint},
- directionalVector{endPoint - startPoint}{}
+ directionalVector{endPoint - startPoint}
+ {
+ }
- Common::Vector2d startPoint;
- Common::Vector2d directionalVector;
+ Common::Vector2d<T> startPoint;
+ Common::Vector2d<T> directionalVector;
};
} // namespace Common
diff --git a/sim/src/common/vector3d.cpp b/sim/src/common/vector3d.cpp
index d501d91846aa798a3db18ca47a64543d1cfdc9ed..2fcdac43f09c56c665de5283bff283743727e7bb 100644
--- a/sim/src/common/vector3d.cpp
+++ b/sim/src/common/vector3d.cpp
@@ -47,7 +47,7 @@ void Vector3d::Sub(const Vector3d &in)
bool Vector3d::Norm()
{
- double length = std::sqrt(x*x + y*y + z*z);
+ auto length = std::sqrt(x*x + y*y + z*z);
if(0 == length)
{
return false;
diff --git a/sim/src/common/worldDefinitions.h b/sim/src/common/worldDefinitions.h
index 304719d6414a61e14b69508909939133336ed435..65543e2adda5c507199e9c786ba9650923a6fd3b 100644
--- a/sim/src/common/worldDefinitions.h
+++ b/sim/src/common/worldDefinitions.h
@@ -19,6 +19,8 @@
#include <set>
#include "boost/graph/adjacency_list.hpp"
+using namespace units::literals;
+
//! Double values with difference lower than this should be considered equal
constexpr double EQUALITY_BOUND = 1e-3;
@@ -110,8 +112,8 @@ enum class LaneType
//! interval on a road over multiple lanes
struct LaneSection
{
- double startS;
- double endS;
+ units::length::meter_t startS;
+ units::length::meter_t endS;
std::vector<int> laneIds;
};
@@ -140,8 +142,8 @@ struct Lane
//! interval on a road over multiple lanes relative to a position / agent
struct LanesInterval
{
- double startS;
- double endS;
+ units::length::meter_t startS;
+ units::length::meter_t endS;
std::vector<Lane> lanes;
};
@@ -152,8 +154,8 @@ using Lanes = std::vector<LanesInterval>;
//! Position of a road relative to an agent
struct Road
{
- double startS; //!< relative distance to start of road
- double endS; //!< relative distance to end of road
+ units::length::meter_t startS; //!< relative distance to start of road
+ units::length::meter_t endS; //!< relative distance to end of road
std::string roadId; //!< id of the road
bool junction; //!< whether the road is part of a junction
bool inOdDirection; //!< whether the agent is driving in reference line direction (i.e. increasing s coordinate)
@@ -167,22 +169,22 @@ using Roads = std::vector<Road>;
struct RoadPosition
{
RoadPosition() = default;
- RoadPosition(double s,
- double t,
- double hdg):
+ RoadPosition(units::length::meter_t s,
+ units::length::meter_t t,
+ units::angle::radian_t hdg):
s(s),
t(t),
hdg(hdg) {}
- double s {0};
- double t {0};
- double hdg {0};
+ units::length::meter_t s {0};
+ units::length::meter_t t {0};
+ units::angle::radian_t hdg {0};
bool operator==(const RoadPosition& other) const
{
- return std::abs(s - other.s) < EQUALITY_BOUND
- && std::abs(t - other.t) < EQUALITY_BOUND
- && std::abs(hdg - other.hdg) < EQUALITY_BOUND;
+ return units::math::abs(s - other.s) < units::length::meter_t(EQUALITY_BOUND)
+ && units::math::abs(t - other.t) < units::length::meter_t(EQUALITY_BOUND)
+ && units::math::abs(hdg - other.hdg) < units::angle::radian_t(EQUALITY_BOUND);
}
};
@@ -190,7 +192,7 @@ struct RoadPosition
struct GlobalRoadPosition
{
GlobalRoadPosition() = default;
- GlobalRoadPosition(std::string roadId, int laneId, double s, double t, double hdg) :
+ GlobalRoadPosition(std::string roadId, int laneId, units::length::meter_t s, units::length::meter_t t, units::angle::radian_t hdg) :
roadId{roadId},
laneId{laneId},
roadPosition(s, t, hdg)
@@ -216,21 +218,21 @@ using GlobalRoadPositions = std::map<std::string, GlobalRoadPosition>;
struct Remainder
{
Remainder() = default;
- Remainder(double left, double right) : left{left}, right{right}
+ Remainder(units::length::meter_t left, units::length::meter_t right) : left{left}, right{right}
{}
- double left {0.0};
- double right {0.0};
+ units::length::meter_t left {0.0};
+ units::length::meter_t right {0.0};
};
//! Interval on a specific road
struct RoadInterval
{
std::vector<int> lanes;
- GlobalRoadPosition sMin{"", 0, std::numeric_limits<double>::infinity(), 0, 0};
- GlobalRoadPosition sMax{"", 0, -std::numeric_limits<double>::infinity(), 0, 0};
- GlobalRoadPosition tMin{"", 999, 0, std::numeric_limits<double>::infinity(), 0};
- GlobalRoadPosition tMax{"", -999, 0, -std::numeric_limits<double>::infinity(), 0};
+ GlobalRoadPosition sMin{"", 0, units::length::meter_t{std::numeric_limits<double>::infinity()}, 0_m, 0_rad};
+ GlobalRoadPosition sMax{"", 0, units::length::meter_t{-std::numeric_limits<double>::infinity()}, 0_m, 0_rad};
+ GlobalRoadPosition tMin{"", 999, 0_m, units::length::meter_t{std::numeric_limits<double>::infinity()}, 0_rad};
+ GlobalRoadPosition tMax{"", -999, 0_m, units::length::meter_t{-std::numeric_limits<double>::infinity()}, 0_rad};
};
using RoadIntervals = std::map<std::string, RoadInterval>;
@@ -260,13 +262,13 @@ enum class ObjectPointRelative
//! Point of an object for costum use (e.g. sensor position)
struct ObjectPointCustom
{
- double longitudinal;
- double lateral;
+ units::length::meter_t longitudinal;
+ units::length::meter_t lateral;
bool operator== (const ObjectPointCustom& other) const
{
- return std::abs(longitudinal - other.longitudinal) < EQUALITY_BOUND
- && std::abs(lateral - other.lateral) < EQUALITY_BOUND;
+ return units::math::abs(longitudinal - other.longitudinal).value() < EQUALITY_BOUND
+ && units::math::abs(lateral - other.lateral).value() < EQUALITY_BOUND;
}
//Needed for map sorting
@@ -328,9 +330,9 @@ class Obstruction
{
public:
bool valid {false}; ///!< @brief True, if obstruction could be calculated
- std::map<ObjectPoint, double> lateralDistances{}; ///!< @brief obstructions for various points (defined during call of the query)
+ std::map<ObjectPoint, units::length::meter_t> lateralDistances{}; ///!< @brief obstructions for various points (defined during call of the query)
- Obstruction(std::map<ObjectPoint, double> lateralDistances) :
+ Obstruction(std::map<ObjectPoint, units::length::meter_t> lateralDistances) :
valid{true},
lateralDistances{lateralDistances}
{
@@ -404,8 +406,8 @@ struct Entity
{
Type type {Type::Undefined};
Unit unit {Unit::None};
- double distanceToStartOfRoad {0};
- double relativeDistance {0};
+ units::length::meter_t distanceToStartOfRoad {0};
+ units::length::meter_t relativeDistance {0};
double value {0};
std::string text {""};
std::vector<Entity> supplementarySigns{};
@@ -442,8 +444,8 @@ struct Entity
{
Type type{Type::None};
Color color{Color::White};
- double relativeStartDistance{0.0};
- double width{0.0};
+ units::length::meter_t relativeStartDistance{0.0};
+ units::length::meter_t width{0.0};
};
}
@@ -488,6 +490,6 @@ struct Entity
{
Type type{Type::ThreeLights};
State state{State::Red};
- double relativeDistance{0.0};
+ units::length::meter_t relativeDistance{0.0};
};
}
diff --git a/sim/src/common/xmlParser.h b/sim/src/common/xmlParser.h
index f2ac7ab2ac45aebc4d9417c928b9f466251264bf..099a03a52d0e22e3b082bff3c700c686783d631c 100644
--- a/sim/src/common/xmlParser.h
+++ b/sim/src/common/xmlParser.h
@@ -23,6 +23,9 @@
#include <QDomDocument>
#include <QFile>
+#include <optional>
+
+#include "units.h"
//! Writes a message into the log including the line and column number of the erronous xml element
//!
@@ -68,6 +71,38 @@ extern bool ParseAttributeString(QDomElement element, const std::string &attribu
extern bool ParseAttributeDouble(QDomElement element, const std::string &attributeName, double &result, std::optional<double> defaultValue = std::nullopt);
+template <typename T, class = typename std::enable_if_t<units::traits::is_unit_t<T>::value>>
+extern bool ParseAttributeDouble(QDomElement element, const std::string &attributeName, T &result, std::optional<T> defaultValue = std::nullopt)
+{
+ if(!element.hasAttribute(QString::fromStdString(attributeName)))
+ {
+ if (defaultValue.has_value())
+ {
+ result = defaultValue.value();
+ return true;
+ }
+
+ return false;
+ }
+
+ QDomAttr attribute = element.attributeNode(QString::fromStdString(attributeName));
+ if(attribute.isNull())
+ {
+ return false;
+ }
+
+ try
+ {
+ result = T(std::stod(attribute.value().toStdString()));
+ }
+ catch(...)
+ {
+ return false;
+ }
+
+ return true;
+}
+
extern bool ParseAttributeInt(QDomElement element, const std::string &attributeName, int &result);
extern bool ParseAttributeBool(QDomElement element, const std::string &attributeName, bool &result);
diff --git a/sim/src/components/AgentUpdater/src/agentUpdaterImpl.cpp b/sim/src/components/AgentUpdater/src/agentUpdaterImpl.cpp
index 49fa49fc3dd3c4246fd9472a16bc8a5444d1e468..bfde91c29b222f7c909faab8d3a5a3d9bda26005 100644
--- a/sim/src/components/AgentUpdater/src/agentUpdaterImpl.cpp
+++ b/sim/src/components/AgentUpdater/src/agentUpdaterImpl.cpp
@@ -15,39 +15,30 @@
//-----------------------------------------------------------------------------
#include "agentUpdaterImpl.h"
+
#include <qglobal.h>
void AgentUpdaterImplementation::UpdateInput(int localLinkId, const std::shared_ptr<SignalInterface const> &data, [[maybe_unused]] int time)
{
if (localLinkId == 0)
+ {
+ // from DynamicsPrioritizer
+ const std::shared_ptr<DynamicsSignal const> signal = std::dynamic_pointer_cast<DynamicsSignal const>(data);
+ if (!signal)
{
- // from DynamicsPrioritizer
- const std::shared_ptr<DynamicsSignal const> signal = std::dynamic_pointer_cast<DynamicsSignal const>(data);
- if (!signal)
- {
- const std::string msg = COMPONENTNAME + " invalid signaltype";
- LOG(CbkLogLevel::Debug, msg);
- throw std::runtime_error(msg);
- }
-
- acceleration = signal->acceleration;
- velocity = signal->velocity;
- positionX = signal->positionX;
- positionY = signal->positionY;
- yaw = signal->yaw;
- yawRate = signal->yawRate;
- yawAcceleration = signal->yawAcceleration;
- roll = signal->roll;
- steeringWheelAngle = signal->steeringWheelAngle;
- centripetalAcceleration = signal->centripetalAcceleration;
- travelDistance = signal->travelDistance;
- }
- else
- {
- const std::string msg = COMPONENTNAME + " invalid link";
+ const std::string msg = COMPONENTNAME + " invalid signaltype";
LOG(CbkLogLevel::Debug, msg);
throw std::runtime_error(msg);
}
+
+ dynamicsInformation = signal->dynamicsInformation;
+ }
+ else
+ {
+ const std::string msg = COMPONENTNAME + " invalid link";
+ LOG(CbkLogLevel::Debug, msg);
+ throw std::runtime_error(msg);
+ }
}
void AgentUpdaterImplementation::UpdateOutput([[maybe_unused]] int localLinkId,
@@ -60,36 +51,27 @@ void AgentUpdaterImplementation::Trigger([[maybe_unused]] int time)
{
AgentInterface *agent = GetAgent();
- Validate(acceleration, "acceleration");
- agent->SetAcceleration(acceleration);
- Validate(velocity, "velocity");
- agent->SetVelocity(velocity);
- Validate(positionX, "positionX");
- agent->SetPositionX(positionX);
- Validate(positionY, "positionY");
- agent->SetPositionY(positionY);
- Validate(yaw, "yaw");
- agent->SetYaw(yaw);
- Validate(yawRate, "yawRate");
- agent->SetYawRate(yawRate);
- Validate(yawAcceleration, "yawAcceleration");
- agent->SetYawAcceleration(yawAcceleration);
- Validate(roll, "roll");
- agent->SetRoll(roll);
- Validate(steeringWheelAngle, "steeringWheelAngle");
- agent->SetSteeringWheelAngle(steeringWheelAngle);
- Validate(centripetalAcceleration, "centripetalAcceleration");
- agent->SetCentripetalAcceleration(centripetalAcceleration);
- Validate(travelDistance, "travelDistance");
- agent->SetDistanceTraveled(agent->GetDistanceTraveled() + travelDistance);
- agent->SetWheelsRotationRateAndOrientation(steeringWheelAngle, velocity, acceleration);
-}
-
-
-void AgentUpdaterImplementation::Validate(double value, const std::string &description)
-{
- if (std::isnan(value))
- {
- LOGERRORANDTHROW("AgentUpdater got NaN as value of " + description + " for Agent " + std::to_string(GetAgent()->GetId()));
- }
+ Validate(dynamicsInformation.acceleration, "acceleration");
+ agent->SetAcceleration(dynamicsInformation.acceleration);
+ Validate(dynamicsInformation.velocity, "velocity");
+ agent->SetVelocity(dynamicsInformation.velocity);
+ Validate(dynamicsInformation.positionX, "positionX");
+ agent->SetPositionX(dynamicsInformation.positionX);
+ Validate(dynamicsInformation.positionY, "positionY");
+ agent->SetPositionY(dynamicsInformation.positionY);
+ Validate(dynamicsInformation.yaw, "yaw");
+ agent->SetYaw(dynamicsInformation.yaw);
+ Validate(dynamicsInformation.yawRate, "yawRate");
+ agent->SetYawRate(dynamicsInformation.yawRate);
+ Validate(dynamicsInformation.yawAcceleration, "yawAcceleration");
+ agent->SetYawAcceleration(dynamicsInformation.yawAcceleration);
+ Validate(dynamicsInformation.roll, "roll");
+ agent->SetRoll(dynamicsInformation.roll);
+ Validate(dynamicsInformation.steeringWheelAngle, "steeringWheelAngle");
+ agent->SetSteeringWheelAngle(dynamicsInformation.steeringWheelAngle);
+ Validate(dynamicsInformation.centripetalAcceleration, "centripetalAcceleration");
+ agent->SetCentripetalAcceleration(dynamicsInformation.centripetalAcceleration);
+ Validate(dynamicsInformation.travelDistance, "travelDistance");
+ agent->SetDistanceTraveled(agent->GetDistanceTraveled() + dynamicsInformation.travelDistance);
+ agent->SetWheelsRotationRateAndOrientation(dynamicsInformation.steeringWheelAngle, dynamicsInformation.velocity, dynamicsInformation.acceleration);
}
diff --git a/sim/src/components/AgentUpdater/src/agentUpdaterImpl.h b/sim/src/components/AgentUpdater/src/agentUpdaterImpl.h
index e0710dc1f1a286abd3015eb7652f4461c7b8d0b8..a2fc1817c1b6df8aa7e92105401b6f13b7b2b9f6 100644
--- a/sim/src/components/AgentUpdater/src/agentUpdaterImpl.h
+++ b/sim/src/components/AgentUpdater/src/agentUpdaterImpl.h
@@ -17,15 +17,12 @@
* Input variables:
* name | meaning
* -----|------
-* acceleration | Acceleration of the agent in m/s.
-* velocity | Velocity of the agent in m/s.
-* positionX | X position of the agent.
-* positionY | Y position of the agent.
+* dynamicsInformation | All values regarding the dynamic calculation of the agent
*
* Input channel IDs:
* Input ID | signal class | contained variables
* ------------|--------------|-------------
-* 0 | DynamicsSignal | acceleration, velocity, positionX, positionY
+* 0 | DynamicsSignal | DynamicsInformation
*
* @} */
@@ -119,18 +116,15 @@ public:
/*!
* \brief Checks that the given value is not Nan and logs an error otherwise
*/
- void Validate(double value, const std::string& description);
+ template <typename T, class = typename std::enable_if_t<units::traits::is_unit_t<T>::value>>
+ void Validate(T value, const std::string &description)
+ {
+ if (std::isnan(value.value()))
+ {
+ LOGERRORANDTHROW("AgentUpdater got NaN as value of " + description + " for Agent " + std::to_string(GetAgent()->GetId()));
+ }
+ }
private:
- double acceleration {0.0};
- double velocity {0.0};
- double positionX {0.0};
- double positionY {0.0};
- double yaw {0.0};
- double yawRate {0.0};
- double yawAcceleration {0.0};
- double roll {0.0};
- double steeringWheelAngle {0.0};
- double centripetalAcceleration {0.0};
- double travelDistance {0.0};
+ DynamicsInformation dynamicsInformation{};
};
diff --git a/sim/src/components/AlgorithmAFDM/src/followingDriverModel.cpp b/sim/src/components/AlgorithmAFDM/src/followingDriverModel.cpp
index 7f3968f55fc2b45dfc1da33e6653ea86d1a0baca..b73f7f2c40330f11b6fc30655d3d04914e6c886b 100644
--- a/sim/src/components/AlgorithmAFDM/src/followingDriverModel.cpp
+++ b/sim/src/components/AlgorithmAFDM/src/followingDriverModel.cpp
@@ -10,27 +10,28 @@
********************************************************************************/
/**********************************************
***********************************************/
+#include "followingDriverModel.h"
+
#include <QtGlobal>
-#include "followingDriverModel.h"
+#include "common/accelerationSignal.h"
#include "common/lateralSignal.h"
#include "common/secondaryDriverTasksSignal.h"
-#include "common/accelerationSignal.h"
AlgorithmAgentFollowingDriverModelImplementation::AlgorithmAgentFollowingDriverModelImplementation(
- std::string componentName,
- bool isInit,
- int priority,
- int offsetTime,
- int responseTime,
- int cycleTime,
- StochasticsInterface *stochastics,
- WorldInterface *world,
- const ParameterInterface *parameters,
- PublisherInterface * const publisher,
- const CallbackInterface *callbacks,
- AgentInterface *agent) :
- SensorInterface(
+ std::string componentName,
+ bool isInit,
+ int priority,
+ int offsetTime,
+ int responseTime,
+ int cycleTime,
+ StochasticsInterface *stochastics,
+ WorldInterface *world,
+ const ParameterInterface *parameters,
+ PublisherInterface *const publisher,
+ const CallbackInterface *callbacks,
+ AgentInterface *agent) :
+ SensorInterface(
componentName,
isInit,
priority,
@@ -46,7 +47,7 @@ AlgorithmAgentFollowingDriverModelImplementation::AlgorithmAgentFollowingDriverM
{
if (parameters->GetParametersDouble().count("VelocityWish") > 0)
{
- vWish = parameters->GetParametersDouble().at("VelocityWish");
+ vWish = units::velocity::meters_per_second_t(parameters->GetParametersDouble().at("VelocityWish"));
}
if (parameters->GetParametersDouble().count("Delta") > 0)
{
@@ -54,24 +55,25 @@ AlgorithmAgentFollowingDriverModelImplementation::AlgorithmAgentFollowingDriverM
}
if (parameters->GetParametersDouble().count("TGapWish") > 0)
{
- tGapWish = parameters->GetParametersDouble().at("TGapWish");
+ tGapWish = units::time::second_t(parameters->GetParametersDouble().at("TGapWish"));
}
if (parameters->GetParametersDouble().count("MinDistance") > 0)
{
- minDistance = parameters->GetParametersDouble().at("MinDistance");
+ minDistance = units::length::meter_t(parameters->GetParametersDouble().at("MinDistance"));
}
if (parameters->GetParametersDouble().count("MaxAcceleration") > 0)
{
- maxAcceleration = parameters->GetParametersDouble().at("MaxAcceleration");
+ maxAcceleration = units::acceleration::meters_per_second_squared_t(parameters->GetParametersDouble().at("MaxAcceleration"));
}
if (parameters->GetParametersDouble().count("MaxDeceleration") > 0)
{
- decelerationWish = parameters->GetParametersDouble().at("MaxDeceleration");
+ decelerationWish = units::acceleration::meters_per_second_squared_t(parameters->GetParametersDouble().at("MaxDeceleration"));
}
}
AlgorithmAgentFollowingDriverModelImplementation::~AlgorithmAgentFollowingDriverModelImplementation()
-{}
+{
+}
void AlgorithmAgentFollowingDriverModelImplementation::UpdateInput(int localLinkId, const std::shared_ptr<SignalInterface const> &data, int time)
{
@@ -80,7 +82,7 @@ void AlgorithmAgentFollowingDriverModelImplementation::UpdateInput(int localLink
{
// from SensorDriver
const std::shared_ptr<SensorDriverSignal const> signal = std::dynamic_pointer_cast<SensorDriverSignal const>(data);
- if(!signal)
+ if (!signal)
{
const std::string msg = COMPONENTNAME + " invalid signaltype";
LOG(CbkLogLevel::Debug, msg);
@@ -103,52 +105,47 @@ void AlgorithmAgentFollowingDriverModelImplementation::UpdateOutput(int localLin
{
Q_UNUSED(time);
- if(localLinkId == 0)
+ if (localLinkId == 0)
{
try
{
data = std::make_shared<LateralSignal const>(
- componentState,
- out_laneWidth,
- out_lateral_displacement, // lateral deviation
- out_lateral_gain_displacement,
- out_lateral_heading_error,
- out_lateral_gain_heading_error,
- out_curvature);
+ componentState,
+ out_lateralInformation);
}
- catch(const std::bad_alloc&)
+ catch (const std::bad_alloc &)
{
const std::string msg = COMPONENTNAME + " could not instantiate signal";
LOG(CbkLogLevel::Debug, msg);
throw std::runtime_error(msg);
}
}
- else if(localLinkId == 1)
+ else if (localLinkId == 1)
{
try
{
data = std::make_shared<SecondaryDriverTasksSignal const>(
- out_indicatorState,
- out_hornSwitch,
- out_headLight,
- out_highBeamLight,
- out_flasher,
- componentState);
+ out_indicatorState,
+ out_hornSwitch,
+ out_headLight,
+ out_highBeamLight,
+ out_flasher,
+ componentState);
}
- catch(const std::bad_alloc&)
+ catch (const std::bad_alloc &)
{
const std::string msg = COMPONENTNAME + " could not instantiate signal";
LOG(CbkLogLevel::Debug, msg);
throw std::runtime_error(msg);
}
}
- else if(localLinkId == 2)
+ else if (localLinkId == 2)
{
try
{
data = std::make_shared<AccelerationSignal const>(componentState, out_longitudinal_acc);
}
- catch(const std::bad_alloc&)
+ catch (const std::bad_alloc &)
{
const std::string msg = COMPONENTNAME + " could not instantiate signal";
LOG(CbkLogLevel::Debug, msg);
@@ -167,36 +164,39 @@ void AlgorithmAgentFollowingDriverModelImplementation::Trigger(int time)
{
Q_UNUSED(time);
- out_curvature = geometryInformation.laneEgo.curvature;
- out_laneWidth = geometryInformation.laneEgo.width;
- out_lateral_speed = 0;
- out_lateral_frequency = std::sqrt(lateralDynamicConstants.lateralAcceleration / geometryInformation.laneEgo.width);
+ out_lateralInformation.kappaManoeuvre = geometryInformation.laneEgo.curvature;
+ out_lateralInformation.laneWidth = geometryInformation.laneEgo.width;
+ out_lateral_speed = 0_mps;
+ out_lateral_frequency = units::math::sqrt(lateralDynamicConstants.lateralAcceleration / geometryInformation.laneEgo.width);
out_lateral_damping = lateralDynamicConstants.zeta;
- out_lateral_displacement = -ownVehicleInformation.lateralPosition;
- out_lateral_heading_error = -ownVehicleInformation.heading;
- out_lateral_gain_heading_error = lateralDynamicConstants.gainHeadingError;
+ out_lateralInformation.deviation = -ownVehicleInformation.lateralPosition;
+ out_lateralInformation.headingError = -ownVehicleInformation.heading;
+ out_lateralInformation.gainHeadingError = lateralDynamicConstants.gainHeadingError;
- const auto& frontAgent = surroundingObjects.objectFront;
- double decelerationCoeff = 0.0;
+ const auto &frontAgent = surroundingObjects.objectFront;
+ units::dimensionless::scalar_t decelerationCoeff{0.0};
if (frontAgent.exist)
{
- auto vDelta = std::abs(ownVehicleInformation.absoluteVelocity - frontAgent.absoluteVelocity);
- auto effectiveMinimumGap = minDistance + ownVehicleInformation.absoluteVelocity * tGapWish + ownVehicleInformation.absoluteVelocity * vDelta / (2 * std::sqrt(maxAcceleration * decelerationWish));
- decelerationCoeff = std::pow(effectiveMinimumGap/frontAgent.relativeLongitudinalDistance, 2);
+ auto vDelta = units::math::abs(ownVehicleInformation.absoluteVelocity - frontAgent.absoluteVelocity);
+ const units::unit_t<units::squared<units::velocity::meters_per_second>> squareVelocity = ownVehicleInformation.absoluteVelocity * vDelta;
+ const units::acceleration::meters_per_second_squared_t acceleration = 2 * units::math::sqrt(maxAcceleration * decelerationWish);
+
+ const units::length::meter_t distanceBasedOnAcceleration = squareVelocity / acceleration;
+ units::length::meter_t effectiveMinimumGap = minDistance + ownVehicleInformation.absoluteVelocity * tGapWish + distanceBasedOnAcceleration;
+ decelerationCoeff = units::math::pow<2>(effectiveMinimumGap / frontAgent.relativeLongitudinalDistance);
}
- auto freeRoadCoeff = 1.0 - std::pow(ownVehicleInformation.absoluteVelocity/vWish, delta);
+ auto freeRoadCoeff = 1.0 - std::pow(ownVehicleInformation.absoluteVelocity / vWish, delta);
auto intelligentDriverModelAcceleration = maxAcceleration * (freeRoadCoeff - decelerationCoeff);
- if(intelligentDriverModelAcceleration >= 0)
+ if (intelligentDriverModelAcceleration >= 0_mps_sq)
{
- out_longitudinal_acc = std::min(maxAcceleration, intelligentDriverModelAcceleration);
+ out_longitudinal_acc = units::math::min(maxAcceleration, intelligentDriverModelAcceleration);
}
else
{
auto maxDeceleration = -decelerationWish;
- out_longitudinal_acc = std::max(maxDeceleration, intelligentDriverModelAcceleration);
+ out_longitudinal_acc = units::math::max(maxDeceleration, intelligentDriverModelAcceleration);
}
}
-
diff --git a/sim/src/components/AlgorithmAFDM/src/followingDriverModel.h b/sim/src/components/AlgorithmAFDM/src/followingDriverModel.h
index 4725b6245f8fd4ce3800757000695aa8e3cacc7f..2b34c1c0df745a4b68c3276dfa5711dea74575ea 100644
--- a/sim/src/components/AlgorithmAFDM/src/followingDriverModel.h
+++ b/sim/src/components/AlgorithmAFDM/src/followingDriverModel.h
@@ -20,6 +20,7 @@
#include "include/modelInterface.h"
#include "include/parameterInterface.h"
#include "common/primitiveSignals.h"
+#include "common/lateralSignal.h"
#include "components/Sensor_Driver/src/Signals/sensorDriverSignal.h"
class AgentInterface;
@@ -31,11 +32,11 @@ class WorldInterface;
struct LateralDynamicConstants
{
//! Typical acceleration for a lane change [m/s].
- const double lateralAcceleration = 1.5;
+ const units::acceleration::meters_per_second_squared_t lateralAcceleration{1.5};
//! Typical lateral damping for a lane change [m/s].
const double zeta = 1.0;
//! aggressiveness of the controller for heading errors
- const double gainHeadingError = 7.5;
+ const units::frequency::hertz_t gainHeadingError{7.5};
};
class AlgorithmAgentFollowingDriverModelImplementation : public SensorInterface
@@ -133,39 +134,34 @@ private:
// constants from IDM paper
//! desired speed
- double vWish = 120.0/3.6;
+ units::velocity::kilometers_per_hour_t vWish{120.0};
//! free acceleration exponent characterizing how the acceleration decreases with velocity (1: linear, infinity: constant)
double delta = 4.0;
//! desired time gap between ego and front agent
- double tGapWish = 1.5;
+ units::time::second_t tGapWish{1.5};
//! minimum distance between ego and front (used at slow speeds) also called jam distance
- double minDistance = 2.0;
+ units::length::meter_t minDistance {2.0};
//! maximum acceleration in satisfactory way, not vehicle possible acceleration
- double maxAcceleration = 1.4;
+ units::acceleration::meters_per_second_squared_t maxAcceleration{1.4};
//! desired deceleration
- double decelerationWish = 2.0;
-
+ units::acceleration::meters_per_second_squared_t decelerationWish{2.0};
+
+ LateralInformation out_lateralInformation {0_m,
+ 0_m,
+ 20.0_rad_per_s_sq,
+ 0_rad,
+ 0_Hz,
+ 0_i_m};
+
//! The lateral velocity of the current vehicle [m/s].
- double out_lateral_speed = 0;
- //! The relative lateral position of the vehicle [m].
- double out_lateral_displacement = 0;
- //! The gain for lateral displacement error controller [-].
- double out_lateral_gain_displacement = 20.0;
+ units::velocity::meters_per_second_t out_lateral_speed{0};
//! The damping constant of the lateral oscillation of the vehicle [].
double out_lateral_damping = 0;
//! The lateral oscillation frequency of the vehicle [1/s].
- double out_lateral_frequency = 0;
- //! The heading angle error of the vehicle [rad].
- double out_lateral_heading_error = 0;
- //! The gain for heading error controller [-].
- double out_lateral_gain_heading_error = 7.5;
- //! The curvature of the lane at vehicle's position [1/m].
- double out_curvature = 0;
- //! The width of the lane containing the vehicle [m].
- double out_laneWidth = 0;
+ units::frequency::hertz_t out_lateral_frequency{0};
//! The longitudinal acceleration of the vehicle [m/s^2].
- double out_longitudinal_acc = 0;
+ units::acceleration::meters_per_second_squared_t out_longitudinal_acc{0};
//! The state of the turning indicator [-].
int out_indicatorState = static_cast<int>(IndicatorState::IndicatorState_Off);
diff --git a/sim/src/components/Algorithm_AEB/src/autonomousEmergencyBraking.cpp b/sim/src/components/Algorithm_AEB/src/autonomousEmergencyBraking.cpp
index 5a24e0d2255d8975aefb764d1ddb80f9a2ec3cd5..ca9313e310f61440ea1e3d9596865c22e9a3345c 100644
--- a/sim/src/components/Algorithm_AEB/src/autonomousEmergencyBraking.cpp
+++ b/sim/src/components/Algorithm_AEB/src/autonomousEmergencyBraking.cpp
@@ -74,10 +74,10 @@ AlgorithmAutonomousEmergencyBrakingImplementation::AlgorithmAutonomousEmergencyB
void AlgorithmAutonomousEmergencyBrakingImplementation::ParseParameters(const ParameterInterface *parameters)
{
- ttcBrake = parameters->GetParametersDouble().at("TTC");
- brakingAcceleration = parameters->GetParametersDouble().at("Acceleration");
- collisionDetectionLongitudinalBoundary = parameters->GetParametersDouble().at("CollisionDetectionLongitudinalBoundary");
- collisionDetectionLateralBoundary = parameters->GetParametersDouble().at("CollisionDetectionLateralBoundary");
+ ttcBrake = units::time::second_t(parameters->GetParametersDouble().at("TTC"));
+ brakingAcceleration = units::acceleration::meters_per_second_squared_t(parameters->GetParametersDouble().at("Acceleration"));
+ collisionDetectionLongitudinalBoundary = units::length::meter_t(parameters->GetParametersDouble().at("CollisionDetectionLongitudinalBoundary"));
+ collisionDetectionLateralBoundary = units::length::meter_t(parameters->GetParametersDouble().at("CollisionDetectionLateralBoundary"));
const auto &sensorList = parameters->GetParameterLists().at("SensorLinks");
for (const auto &sensorLink : sensorList)
@@ -162,103 +162,72 @@ void AlgorithmAutonomousEmergencyBrakingImplementation::Trigger([[maybe_unused]]
}
}
-bool AlgorithmAutonomousEmergencyBrakingImplementation::ShouldBeActivated(const double ttc) const
+bool AlgorithmAutonomousEmergencyBrakingImplementation::ShouldBeActivated(const units::time::second_t ttc) const
{
return ttc < ttcBrake;
}
-bool AlgorithmAutonomousEmergencyBrakingImplementation::ShouldBeDeactivated(const double ttc) const
+bool AlgorithmAutonomousEmergencyBrakingImplementation::ShouldBeDeactivated(const units::time::second_t ttc) const
{
return ttc > (ttcBrake * 1.5);
}
-double AlgorithmAutonomousEmergencyBrakingImplementation::CalculateObjectTTC(const osi3::BaseMoving &baseMoving)
+units::time::second_t AlgorithmAutonomousEmergencyBrakingImplementation::CalculateObjectTTC(const osi3::BaseMoving &baseMoving)
{
- 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
+ auto ego = GetEgoTTCParameters();
+
TtcCalculations::TtcParameters opponent;
- opponent.length = baseMoving.dimension().length() + collisionDetectionLongitudinalBoundary;
- width = baseMoving.dimension().width();
- height = baseMoving.dimension().height();
- roll = baseMoving.orientation().roll();
+ opponent.length = units::length::meter_t(baseMoving.dimension().length()) + collisionDetectionLongitudinalBoundary;
+ units::length::meter_t width{baseMoving.dimension().width()};
+ units::length::meter_t height{baseMoving.dimension().height()};
+ units::angle::radian_t 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()};
- opponent.velocityX = baseMoving.velocity().x();
- opponent.velocityY = baseMoving.velocity().y();
- opponent.accelerationX = baseMoving.acceleration().x();
- opponent.accelerationY = baseMoving.acceleration().y();
- opponent.yaw = baseMoving.orientation().yaw();
- opponent.yawRate = baseMoving.orientation_rate().yaw();
- opponent.yawAcceleration = baseMoving.orientation_acceleration().yaw();
+ opponent.velocityX = units::velocity::meters_per_second_t(baseMoving.velocity().x());
+ opponent.velocityY = units::velocity::meters_per_second_t(baseMoving.velocity().y());
+ opponent.accelerationX = units::acceleration::meters_per_second_squared_t(baseMoving.acceleration().x());
+ opponent.accelerationY = units::acceleration::meters_per_second_squared_t(baseMoving.acceleration().y());
+ opponent.yaw = units::angle::radian_t(baseMoving.orientation().yaw());
+ opponent.yawRate = units::angular_velocity::radians_per_second_t(baseMoving.orientation_rate().yaw());
+ opponent.yawAcceleration = units::angular_acceleration::radians_per_second_squared_t(baseMoving.orientation_acceleration().yaw());
return TtcCalculations::CalculateObjectTTC(ego, opponent, ttcBrake * 1.5, GetCycleTime());
}
-double AlgorithmAutonomousEmergencyBrakingImplementation::CalculateObjectTTC(const osi3::BaseStationary &baseStationary)
+units::time::second_t AlgorithmAutonomousEmergencyBrakingImplementation::CalculateObjectTTC(const osi3::BaseStationary &baseStationary)
{
- 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(); //This is a temporary solution, since the moving object osi is filled with dummy nans here
- ego.yawAcceleration = GetAgent()->GetYawAcceleration();
+ auto ego = GetEgoTTCParameters();
TtcCalculations::TtcParameters opponent;
- opponent.length = baseStationary.dimension().length() + collisionDetectionLongitudinalBoundary;
- width = baseStationary.dimension().width();
- height = baseStationary.dimension().height();
- roll = baseStationary.orientation().roll();
+ opponent.length = units::length::meter_t(baseStationary.dimension().length()) + collisionDetectionLongitudinalBoundary;
+ units::length::meter_t width{baseStationary.dimension().width()};
+ units::length::meter_t height{baseStationary.dimension().height()};
+ units::angle::radian_t 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()};
opponent.velocityX = -GetAgent()->GetVelocity().Length();
- opponent.velocityY = 0.0;
+ opponent.velocityY = 0.0_mps;
opponent.accelerationX = -GetAgent()->GetAcceleration().Projection(GetAgent()->GetYaw());
- opponent.accelerationY = 0.0;
- opponent.yaw = baseStationary.orientation().yaw();
- opponent.yawRate = 0.0;
- opponent.yawAcceleration = 0.0;
+ opponent.accelerationY = 0.0_mps_sq;
+ opponent.yaw = units::angle::radian_t(baseStationary.orientation().yaw());
+ opponent.yawRate = 0.0_rad_per_s;
+ opponent.yawAcceleration = 0.0_rad_per_s_sq;
return TtcCalculations::CalculateObjectTTC(ego, opponent, ttcBrake * 1.5, GetCycleTime());
}
-double AlgorithmAutonomousEmergencyBrakingImplementation::CalculateTTC()
+units::time::second_t AlgorithmAutonomousEmergencyBrakingImplementation::CalculateTTC()
{
- double ttc = std::numeric_limits<double>::max();
+ units::time::second_t ttc{std::numeric_limits<double>::max()};
for (const auto &detectedObject : detectedMovingObjects)
{
- double objectTtc = CalculateObjectTTC(detectedObject.base());
+ auto objectTtc = CalculateObjectTTC(detectedObject.base());
if (objectTtc < ttc)
{
ttc = objectTtc;
@@ -266,7 +235,7 @@ double AlgorithmAutonomousEmergencyBrakingImplementation::CalculateTTC()
}
for (const auto &detectedObject : detectedStationaryObjects)
{
- double objectTtc = CalculateObjectTTC(detectedObject.base());
+ auto objectTtc = CalculateObjectTTC(detectedObject.base());
if (objectTtc < ttc)
{
ttc = objectTtc;
@@ -276,7 +245,7 @@ double AlgorithmAutonomousEmergencyBrakingImplementation::CalculateTTC()
return ttc;
}
-void AlgorithmAutonomousEmergencyBrakingImplementation::SetAcceleration(double setValue)
+void AlgorithmAutonomousEmergencyBrakingImplementation::SetAcceleration(units::acceleration::meters_per_second_squared_t setValue)
{
activeAcceleration = setValue;
GetPublisher()->Publish(COMPONENTNAME, ComponentEvent({{"ComponentState", openpass::utils::to_string(componentState)}}));
@@ -285,13 +254,37 @@ void AlgorithmAutonomousEmergencyBrakingImplementation::SetAcceleration(double s
void AlgorithmAutonomousEmergencyBrakingImplementation::UpdateAcceleration()
{
if (componentState == ComponentState::Acting &&
- (activeAcceleration - brakingAcceleration) != 0.0)
+ (activeAcceleration - brakingAcceleration) != 0.0_mps_sq)
{
SetAcceleration(brakingAcceleration);
}
else if (componentState == ComponentState::Disabled &&
- activeAcceleration != 0.0)
+ activeAcceleration != 0.0_mps_sq)
{
- SetAcceleration(0.0);
+ SetAcceleration(0.0_mps_sq);
}
}
+
+TtcCalculations::TtcParameters AlgorithmAutonomousEmergencyBrakingImplementation::GetEgoTTCParameters()
+{
+ TtcCalculations::TtcParameters ego;
+ ego.length = GetAgent()->GetLength() + collisionDetectionLongitudinalBoundary;
+ auto width = GetAgent()->GetWidth();
+ auto height = GetAgent()->GetHeight();
+ auto 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_mps;
+ ego.velocityY = 0.0_mps;
+ ego.accelerationX = 0.0_mps_sq;
+ ego.accelerationY = 0.0_mps_sq;
+ ego.yaw = 0.0_rad;
+ ego.yawRate = GetAgent()->GetYawRate(); //This is a temporary solution, since the moving object osi is filled with dummy nans here
+ ego.yawAcceleration = 0.0_rad_per_s_sq; // GetAgent()->GetYawAcceleration() not implemented yet
+
+ return ego;
+}
\ No newline at end of file
diff --git a/sim/src/components/Algorithm_AEB/src/autonomousEmergencyBraking.h b/sim/src/components/Algorithm_AEB/src/autonomousEmergencyBraking.h
index 6f161aaa3c99baa9fe3a1bd0533f5fdc63e55cce..7a30227fee46969a47ab2ad549f2340737150396 100644
--- a/sim/src/components/Algorithm_AEB/src/autonomousEmergencyBraking.h
+++ b/sim/src/components/Algorithm_AEB/src/autonomousEmergencyBraking.h
@@ -109,7 +109,7 @@ public:
virtual void Trigger(int time);
//for testing
- double GetAcceleration()
+ units::acceleration::meters_per_second_squared_t GetAcceleration()
{
return activeAcceleration;
}
@@ -131,21 +131,21 @@ private:
*
* \return minimum ttc
*/
- double CalculateTTC();
+ units::time::second_t CalculateTTC();
/*!
* \brief Calculates the ttc between a moving object and the own agent
* \param baseMoving osi BaseMoving of other object
* \return ttc
*/
- double CalculateObjectTTC(const osi3::BaseMoving &baseMoving);
+ units::time::second_t CalculateObjectTTC(const osi3::BaseMoving &baseMoving);
/*!
* \brief Calculates the ttc between a stationary object and the own agent
* \param baseStationary osi BaseStationary of other object
* \return ttc
*/
- double CalculateObjectTTC(const osi3::BaseStationary &baseStationary);
+ units::time::second_t CalculateObjectTTC(const osi3::BaseStationary &baseStationary);
/*!
* \brief ShouldBeActivated Determines if the Autonomous Emergency Braking system
@@ -155,7 +155,7 @@ private:
*
* \returns true if AEB should be activated, false otherwise
*/
- bool ShouldBeActivated(double ttc) const;
+ bool ShouldBeActivated(units::time::second_t ttc) const;
/*!
* \brief ShouldBeDeactivated Determines if the Autonomous Emergency Braking system
* should be deactivated
@@ -164,7 +164,7 @@ private:
*
* \returns true if AEB should be deactivated, false otherwise
*/
- bool ShouldBeDeactivated(double ttc) const;
+ bool ShouldBeDeactivated(units::time::second_t ttc) const;
/*!
* \brief Checks if current acceleration of the system needs to be updated
@@ -176,19 +176,21 @@ private:
/*!
* \brief Sets the current acceleration of the system
*/
- void SetAcceleration(double setValue);
+ void SetAcceleration(units::acceleration::meters_per_second_squared_t setValue);
+
+ TtcCalculations::TtcParameters GetEgoTTCParameters();
std::vector<int> sensors; ///!< Collection of sensor input ids
- double collisionDetectionLongitudinalBoundary{0.0}; ///!< Additional length added to the vehicle boundary when checking for collision detection
- double collisionDetectionLateralBoundary{0.0}; ///!< Additional width added to the vehicle boundary when checking for collision detection
+ units::length::meter_t collisionDetectionLongitudinalBoundary{0.0}; ///!< Additional length added to the vehicle boundary when checking for collision detection
+ units::length::meter_t collisionDetectionLateralBoundary{0.0}; ///!< Additional width added to the vehicle boundary when checking for collision detection
std::vector<osi3::DetectedMovingObject> detectedMovingObjects; ///!< Collection of moving objects detected by connected sensors
std::vector<osi3::DetectedStationaryObject> detectedStationaryObjects; ///!< Collection of stationary objects detected by connected sensors
ComponentState componentState = ComponentState::Disabled; ///!< Current state of the AEB component
- double ttcBrake{0.0}; ///!< The minimum Time-To-Collision before the AEB component activates
- double brakingAcceleration{0.0}; ///!< The acceleration provided by the AEB component when activated (should be negative)
- double activeAcceleration{0.0}; ///!< The current acceleration actively provided by the AEB component (should be 0.0 when off)
+ units::time::second_t ttcBrake{0.0}; ///!< The minimum Time-To-Collision before the AEB component activates
+ units::acceleration::meters_per_second_squared_t brakingAcceleration{0.0}; ///!< The acceleration provided by the AEB component when activated (should be negative)
+ units::acceleration::meters_per_second_squared_t activeAcceleration{0.0}; ///!< The current acceleration actively provided by the AEB component (should be 0.0 when off)
};
diff --git a/sim/src/components/Algorithm_CruiseControlByDistance/algorithm_cruisecontrolbydistance_implementation.cpp b/sim/src/components/Algorithm_CruiseControlByDistance/algorithm_cruisecontrolbydistance_implementation.cpp
index 627061f079f568ae8f25f2221628d39e2a1a2eb2..37057b4f42886f684a8b1061459a1a7d4c348ff7 100644
--- a/sim/src/components/Algorithm_CruiseControlByDistance/algorithm_cruisecontrolbydistance_implementation.cpp
+++ b/sim/src/components/Algorithm_CruiseControlByDistance/algorithm_cruisecontrolbydistance_implementation.cpp
@@ -8,10 +8,11 @@
* SPDX-License-Identifier: EPL-2.0
********************************************************************************/
+#include "algorithm_cruisecontrolbydistance_implementation.h"
#include <qglobal.h>
-#include "algorithm_cruisecontrolbydistance_implementation.h"
-#include "Common/primitiveSignals.h"
+
+#include "common/primitiveSignals.h"
void Algorithm_CruiseControlByDistance_Implementation::UpdateInput(int localLinkId, const std::shared_ptr<SignalInterface const> &data, int time)
{
diff --git a/sim/src/components/Algorithm_FmuWrapper/CMakeLists.txt b/sim/src/components/Algorithm_FmuWrapper/CMakeLists.txt
index 96248601f5f434868d0705431fd2b2c7641428d4..61f6ea873bbfea8ea6d6a0c3e4e81529f50849be 100644
--- a/sim/src/components/Algorithm_FmuWrapper/CMakeLists.txt
+++ b/sim/src/components/Algorithm_FmuWrapper/CMakeLists.txt
@@ -1,5 +1,5 @@
################################################################################
-# Copyright (c) 2020-2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+# Copyright (c) 2020-2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
#
# This program and the accompanying materials are made available under the
# terms of the Eclipse Public License 2.0 which is available at
@@ -20,6 +20,7 @@ add_openpass_target(
src/fmuWrapper.h
src/OsmpFmuHandler.h
src/variant_visitor.h
+ ${MANTLE_INCLUDE_DIR}/MantleAPI/Common/position.h
SOURCES
AlgorithmFmuWrapper.cpp
diff --git a/sim/src/components/Algorithm_FmuWrapper/src/OsmpFmuHandler.cpp b/sim/src/components/Algorithm_FmuWrapper/src/OsmpFmuHandler.cpp
index 4cca69e3cc2d6baf505ab4ad1442103246389d9a..97ae22d75eb4dc748a29f486f5edfd66d2eb2df3 100644
--- a/sim/src/components/Algorithm_FmuWrapper/src/OsmpFmuHandler.cpp
+++ b/sim/src/components/Algorithm_FmuWrapper/src/OsmpFmuHandler.cpp
@@ -11,6 +11,7 @@
#include "OsmpFmuHandler.h"
+#include <MantleAPI/Common/position.h>
#include <cmath>
#include <src/common/acquirePositionSignal.h>
@@ -38,42 +39,46 @@ std::string log_prefix(const std::string &agentIdString)
return "Agent " + agentIdString + ": ";
}
-void* decode_integer_to_pointer(fmi2_integer_t hi, fmi2_integer_t lo)
+void *decode_integer_to_pointer(fmi2_integer_t hi, fmi2_integer_t lo)
{
#if PTRDIFF_MAX == INT64_MAX
- union addrconv {
- struct {
+ union addrconv
+ {
+ struct
+ {
int lo;
int hi;
} base;
unsigned long long address;
} myaddr;
- myaddr.base.lo=lo;
- myaddr.base.hi=hi;
- return reinterpret_cast<void*>(myaddr.address);
+ myaddr.base.lo = lo;
+ myaddr.base.hi = hi;
+ return reinterpret_cast<void *>(myaddr.address);
#elif PTRDIFF_MAX == INT32_MAX
- return reinterpret_cast<void*>(lo);
+ return reinterpret_cast<void *>(lo);
#else
#error "Cannot determine 32bit or 64bit environment!"
#endif
}
-void encode_pointer_to_integer(const void* ptr,fmi2_integer_t& hi,fmi2_integer_t& lo)
+void encode_pointer_to_integer(const void *ptr, fmi2_integer_t &hi, fmi2_integer_t &lo)
{
#if PTRDIFF_MAX == INT64_MAX
- union addrconv {
- struct {
+ union addrconv
+ {
+ struct
+ {
int lo;
int hi;
} base;
unsigned long long address;
} myaddr;
- myaddr.address=reinterpret_cast<unsigned long long>(ptr);
- hi=myaddr.base.hi;
- lo=myaddr.base.lo;
+ myaddr.address = reinterpret_cast<unsigned long long>(ptr);
+ hi = myaddr.base.hi;
+ lo = myaddr.base.lo;
#elif PTRDIFF_MAX == INT32_MAX
- hi=0;
- lo=reinterpret_cast<int>(ptr);
+ hi = 0;
+ lo = reinterpret_cast<int>(ptr);
#else
#error "Cannot determine 32bit or 64bit environment!"
#endif
@@ -86,16 +91,16 @@ OsmpFmuHandler::OsmpFmuHandler(fmu_check_data_t *cdata, WorldInterface *world, A
fmuVariables(fmuVariables),
previousPosition(agent->GetPositionX(), agent->GetPositionY()),
agentIdString(std::to_string(agent->GetId())),
- bb_center_offset_x(agent->GetVehicleModelParameters().boundingBoxCenter.x)
+ bb_center_offset_x(agent->GetVehicleModelParameters()->bounding_box.geometric_center.x)
{
std::filesystem::path fmuPath = cdata->FMUPath;
fmuName = fmuPath.filename().replace_extension().string();
- for (const auto& [key, value] : parameters->GetParametersString())
+ for (const auto &[key, value] : parameters->GetParametersString())
{
const auto pos = key.find('_');
const auto type = key.substr(0, pos);
- const auto variableName = key.substr(pos+1);
+ const auto variableName = key.substr(pos + 1);
if (type == "Input" || type == "Output" || type == "Init")
{
const auto findResult = variableMapping.at(type).find(value);
@@ -105,7 +110,7 @@ OsmpFmuHandler::OsmpFmuHandler(fmu_check_data_t *cdata, WorldInterface *world, A
}
else
{
- LOGERRORANDTHROW(log_prefix(agentIdString) + "Unkown FMU \""+type+"\" variable \""+value+"\"")
+ LOGERRORANDTHROW(log_prefix(agentIdString) + "Unkown FMU \"" + type + "\" variable \"" + value + "\"")
}
}
}
@@ -218,7 +223,7 @@ OsmpFmuHandler::OsmpFmuHandler(fmu_check_data_t *cdata, WorldInterface *world, A
outputDir =
QString::fromStdString(parameters->GetRuntimeInformation().directories.output) + QDir::separator() +
"FmuWrapper" + QDir::separator() +
- "Agent" + QString::fromStdString(ss.str()) + QDir::separator() +
+ "Agent" + QString::fromStdString(ss.str()) + QDir::separator() +
QString::fromStdString(fmuName) + QDir::separator() + "JsonFiles";
QDir directory{outputDir};
@@ -236,7 +241,7 @@ OsmpFmuHandler::OsmpFmuHandler(fmu_check_data_t *cdata, WorldInterface *world, A
traceOutputDir = QString::fromStdString(parameters->GetRuntimeInformation().directories.output) + QDir::separator() +
"FmuWrapper" + QDir::separator() +
- "Agent" + QString::fromStdString(ss.str()) + QDir::separator() +
+ "Agent" + QString::fromStdString(ss.str()) + QDir::separator() +
QString::fromStdString(fmuName) + QDir::separator() + "BinaryTraceFiles";
QDir directory{traceOutputDir};
if (!directory.exists())
@@ -258,8 +263,8 @@ OsmpFmuHandler::~OsmpFmuHandler() {
FmuFileHelper::writeTracesToFile(traceOutputDir, fileToOutputTracesMap);
}
-void OsmpFmuHandler::SetSensorViewConfigRequest() {
-
+void OsmpFmuHandler::SetSensorViewConfigRequest()
+{
void *buffer = decode_integer_to_pointer(GetValue(fmuVariables.at(sensorViewConfigRequestVariable.value() + ".base.hi").first, VariableType::Int).intValue,
GetValue(fmuVariables.at(sensorViewConfigRequestVariable.value() + ".base.lo").first, VariableType::Int).intValue);
const auto size = static_cast<std::string::size_type>(GetValue(fmuVariables.at(sensorViewConfigRequestVariable.value() + ".size").first, VariableType::Int).intValue);
@@ -293,8 +298,6 @@ void OsmpFmuHandler::SetSensorViewConfig()
void OsmpFmuHandler::UpdateInput(int localLinkId, const std::shared_ptr<const SignalInterface> &data, [[maybe_unused]] int time)
{
-
-
if (localLinkId == 2)
{
auto signal = std::dynamic_pointer_cast<SensorDataSignal const>(data);
@@ -342,7 +345,7 @@ void OsmpFmuHandler::UpdateInput(int localLinkId, const std::shared_ptr<const Si
const auto signal = std::dynamic_pointer_cast<SpeedActionSignal const>(data);
if (signal && signal->componentState == ComponentState::Acting)
{
- trafficCommands[time]->add_action()->mutable_speed_action()->set_absolute_target_speed(signal->targetSpeed);
+ trafficCommands[time]->add_action()->mutable_speed_action()->set_absolute_target_speed(units::unit_cast<double>(signal->targetSpeed));
}
}
@@ -368,11 +371,10 @@ void OsmpFmuHandler::UpdateInput(int localLinkId, const std::shared_ptr<const Si
}
}
-constexpr double EPSILON = 0.001;
+const units::length::meter_t EPSILON{0.001};
-void OsmpFmuHandler::UpdateOutput(int localLinkId, std::shared_ptr<SignalInterface const>& data, int time)
+void OsmpFmuHandler::UpdateOutput(int localLinkId, std::shared_ptr<SignalInterface const> &data, int time)
{
-
if (localLinkId == 6)
{
data = std::make_shared<SensorDataSignal const>(sensorDataOut);
@@ -380,31 +382,23 @@ void OsmpFmuHandler::UpdateOutput(int localLinkId, std::shared_ptr<SignalInterfa
else if (localLinkId == 0)
{
- double acceleration{0.0};
- double velocity{0.0};
- double positionX{0.0};
- double positionY{0.0};
- double yaw{0.0};
- double yawRate{0.0};
+ DynamicsInformation dynamicsInformation{};
+ dynamicsInformation.yaw = 0_rad;
double yawAcceleration{0.0};
- double roll{0.0};
- double steeringWheelAngle{0.0};
- double centripetalAcceleration{0.0};
- double travelDistance{0.0};
if (trafficUpdateVariable.has_value())
{
if (trafficUpdate.update_size() > 0)
{
- const auto& baseMoving = trafficUpdate.mutable_update(0)->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() - bb_center_offset_x * std::cos(yaw);
- positionY = baseMoving->position().y() - bb_center_offset_x * std::sin(yaw);
- yawRate = baseMoving->orientation_rate().yaw();
+ const auto &baseMoving = trafficUpdate.mutable_update(0)->mutable_base();
+ dynamicsInformation.velocity = units::velocity::meters_per_second_t(std::sqrt(baseMoving->velocity().x() * baseMoving->velocity().x() + baseMoving->velocity().y() * baseMoving->velocity().y()));
+ dynamicsInformation.yaw = units::angle::radian_t(baseMoving->orientation().yaw());
+ dynamicsInformation.roll = units::angle::radian_t(baseMoving->orientation().roll());
+ dynamicsInformation.acceleration = units::acceleration::meters_per_second_squared_t(baseMoving->acceleration().x()) * units::math::cos(dynamicsInformation.yaw) + units::acceleration::meters_per_second_squared_t(baseMoving->acceleration().y()) * units::math::sin(dynamicsInformation.yaw);
+ dynamicsInformation.centripetalAcceleration = units::acceleration::meters_per_second_squared_t(-baseMoving->acceleration().x()) * units::math::sin(dynamicsInformation.yaw) + units::acceleration::meters_per_second_squared_t(baseMoving->acceleration().y()) * units::math::cos(dynamicsInformation.yaw);
+ dynamicsInformation.positionX = units::length::meter_t(baseMoving->position().x()) - bb_center_offset_x * units::math::cos(dynamicsInformation.yaw);
+ dynamicsInformation.positionY = units::length::meter_t(baseMoving->position().y()) - bb_center_offset_x * units::math::sin(dynamicsInformation.yaw);
+ dynamicsInformation.yawRate = units::angular_velocity::radians_per_second_t(baseMoving->orientation_rate().yaw());
yawAcceleration = baseMoving->orientation_acceleration().yaw();
}
else
@@ -416,7 +410,7 @@ void OsmpFmuHandler::UpdateOutput(int localLinkId, std::shared_ptr<SignalInterfa
else if (motionCommandVariable.has_value())
{
setlevel4to5::DynamicState dynamicState;
- if(motionCommand.trajectory().trajectory_point_size() > 0)
+ if (motionCommand.trajectory().trajectory_point_size() > 0)
{
dynamicState = motionCommand.trajectory().trajectory_point(0);
}
@@ -425,11 +419,11 @@ void OsmpFmuHandler::UpdateOutput(int localLinkId, std::shared_ptr<SignalInterfa
dynamicState = motionCommand.current_state();
}
- acceleration = dynamicState.acceleration();
- velocity = dynamicState.velocity();
- positionX = dynamicState.position_x() - bb_center_offset_x * std::cos(yaw);
- positionY = dynamicState.position_y() - bb_center_offset_x * std::sin(yaw);
- yaw = dynamicState.heading_angle();
+ dynamicsInformation.acceleration = units::acceleration::meters_per_second_squared_t(dynamicState.acceleration());
+ dynamicsInformation.velocity = units::velocity::meters_per_second_t(dynamicState.velocity());
+ dynamicsInformation.positionX = units::length::meter_t(dynamicState.position_x()) - bb_center_offset_x * units::math::cos(dynamicsInformation.yaw);
+ dynamicsInformation.positionY = units::length::meter_t(dynamicState.position_y()) - bb_center_offset_x * units::math::sin(dynamicsInformation.yaw);
+ dynamicsInformation.yaw = units::angle::radian_t(dynamicState.heading_angle());
}
#endif
else
@@ -437,29 +431,19 @@ void OsmpFmuHandler::UpdateOutput(int localLinkId, std::shared_ptr<SignalInterfa
LOGERRORANDTHROW(log_prefix(agentIdString) + "Cannot provide DynamicsSignal, as neither TrafficUpdate nor MotionCommand are connected");
}
- if (std::abs(positionX) < EPSILON && std::abs(positionY) < EPSILON)
+ if (units::math::abs(dynamicsInformation.positionX) < EPSILON && units::math::abs(dynamicsInformation.positionY) < EPSILON)
{
- positionX = previousPosition.x;
- positionY = previousPosition.y;
+ dynamicsInformation.positionX = previousPosition.x;
+ dynamicsInformation.positionY = previousPosition.y;
}
- double deltaX = positionX - previousPosition.x;
- double deltaY = positionY - previousPosition.y;
- travelDistance = std::sqrt(deltaX * deltaX + deltaY * deltaY);
- previousPosition = {positionX, positionY};
+ auto deltaX = dynamicsInformation.positionX - previousPosition.x;
+ auto deltaY = dynamicsInformation.positionY - previousPosition.y;
+ dynamicsInformation.travelDistance = units::math::sqrt(deltaX * deltaX + deltaY * deltaY);
+ previousPosition = {dynamicsInformation.positionX, dynamicsInformation.positionY};
data = std::make_shared<DynamicsSignal const>(ComponentState::Acting,
- acceleration,
- velocity,
- positionX,
- positionY,
- yaw,
- yawRate,
- yawAcceleration,
- roll,
- steeringWheelAngle,
- centripetalAcceleration,
- travelDistance);
+ dynamicsInformation);
}
}
@@ -468,13 +452,13 @@ void OsmpFmuHandler::Init()
SetFmuParameters();
if (groundTruthVariable.has_value())
{
- auto* worldData = static_cast<OWL::Interfaces::WorldData*>(world->GetWorldData());
+ auto *worldData = static_cast<OWL::Interfaces::WorldData *>(world->GetWorldData());
const auto& groundTruth = worldData->GetOsiGroundTruth();
fmi2_integer_t fmuInputValues[3];
- fmi2_value_reference_t valueReferences[3] = {fmuVariables.at(groundTruthVariable.value()+".base.lo").first,
- fmuVariables.at(groundTruthVariable.value()+".base.hi").first,
- fmuVariables.at(groundTruthVariable.value()+".size").first};
+ fmi2_value_reference_t valueReferences[3] = {fmuVariables.at(groundTruthVariable.value() + ".base.lo").first,
+ fmuVariables.at(groundTruthVariable.value() + ".base.hi").first,
+ fmuVariables.at(groundTruthVariable.value() + ".size").first};
groundTruth.SerializeToString(&serializedGroundTruth);
encode_pointer_to_integer(serializedGroundTruth.data(),
@@ -483,9 +467,9 @@ void OsmpFmuHandler::Init()
fmuInputValues[2] = serializedGroundTruth.length();
fmi2_import_set_integer(cdata->fmu2,
- valueReferences, // array of value reference
- 3, // number of elements
- fmuInputValues); // array of values
+ valueReferences, // array of value reference
+ 3, // number of elements
+ fmuInputValues); // array of values
if (writeGroundTruth)
{
WriteJson(groundTruth, "GroundTruth.json");
@@ -533,7 +517,7 @@ void OsmpFmuHandler::PreStep(int time)
{
if (sensorViewVariable)
{
- auto* worldData = static_cast<OWL::Interfaces::WorldData*>(world->GetWorldData());
+ auto *worldData = static_cast<OWL::Interfaces::WorldData *>(world->GetWorldData());
auto sensorView = worldData->GetSensorView(sensorViewConfig, agent->GetId());
SetSensorViewInput(*sensorView);
@@ -648,20 +632,20 @@ void OsmpFmuHandler::PostStep(int time)
}
}
-FmuHandlerInterface::FmuValue& OsmpFmuHandler::GetValue(fmi2_value_reference_t valueReference, VariableType variableType) const
+FmuHandlerInterface::FmuValue &OsmpFmuHandler::GetValue(fmi2_value_reference_t valueReference, VariableType variableType) const
{
ValueReferenceAndType valueReferenceAndType;
valueReferenceAndType.emplace<FMI2>(valueReference, variableType);
return fmuVariableValues->at(valueReferenceAndType);
}
-void OsmpFmuHandler::SetSensorViewInput(const osi3::SensorView& data)
+void OsmpFmuHandler::SetSensorViewInput(const osi3::SensorView &data)
{
std::swap(serializedSensorView, previousSerializedSensorView);
fmi2_integer_t fmuInputValues[3];
- fmi2_value_reference_t valueReferences[3] = {fmuVariables.at(sensorViewVariable.value()+".base.lo").first,
- fmuVariables.at(sensorViewVariable.value()+".base.hi").first,
- fmuVariables.at(sensorViewVariable.value()+".size").first};
+ fmi2_value_reference_t valueReferences[3] = {fmuVariables.at(sensorViewVariable.value() + ".base.lo").first,
+ fmuVariables.at(sensorViewVariable.value() + ".base.hi").first,
+ fmuVariables.at(sensorViewVariable.value() + ".size").first};
data.SerializeToString(&serializedSensorView);
encode_pointer_to_integer(serializedSensorView.data(),
@@ -670,18 +654,18 @@ void OsmpFmuHandler::SetSensorViewInput(const osi3::SensorView& data)
fmuInputValues[2] = serializedSensorView.length();
fmi2_import_set_integer(cdata->fmu2,
- valueReferences, // array of value reference
- 3, // number of elements
- fmuInputValues); // array of values
+ valueReferences, // array of value reference
+ 3, // number of elements
+ fmuInputValues); // array of values
}
-void OsmpFmuHandler::SetSensorDataInput(const osi3::SensorData& data)
+void OsmpFmuHandler::SetSensorDataInput(const osi3::SensorData &data)
{
std::swap(serializedSensorDataIn, previousSerializedSensorDataIn);
fmi2_integer_t fmuInputValues[3];
- fmi2_value_reference_t valueReferences[3] = {fmuVariables.at(sensorDataInVariable.value()+".base.lo").first,
- fmuVariables.at(sensorDataInVariable.value()+".base.hi").first,
- fmuVariables.at(sensorDataInVariable.value()+".size").first};
+ fmi2_value_reference_t valueReferences[3] = {fmuVariables.at(sensorDataInVariable.value() + ".base.lo").first,
+ fmuVariables.at(sensorDataInVariable.value() + ".base.hi").first,
+ fmuVariables.at(sensorDataInVariable.value() + ".size").first};
data.SerializeToString(&serializedSensorDataIn);
encode_pointer_to_integer(serializedSensorDataIn.data(),
@@ -690,15 +674,15 @@ void OsmpFmuHandler::SetSensorDataInput(const osi3::SensorData& data)
fmuInputValues[2] = serializedSensorDataIn.length();
fmi2_import_set_integer(cdata->fmu2,
- valueReferences, // array of value reference
- 3, // number of elements
- fmuInputValues); // array of values
+ valueReferences, // array of value reference
+ 3, // number of elements
+ fmuInputValues); // array of values
}
void OsmpFmuHandler::GetSensorData()
{
- void* buffer = decode_integer_to_pointer(GetValue(fmuVariables.at(sensorDataOutVariable.value()+".base.hi").first, VariableType::Int).intValue,
- GetValue(fmuVariables.at(sensorDataOutVariable.value()+".base.lo").first, VariableType::Int).intValue);
+ void *buffer = decode_integer_to_pointer(GetValue(fmuVariables.at(sensorDataOutVariable.value() + ".base.hi").first, VariableType::Int).intValue,
+ GetValue(fmuVariables.at(sensorDataOutVariable.value() + ".base.lo").first, VariableType::Int).intValue);
if (enforceDoubleBuffering && buffer != nullptr && buffer == previousSensorDataOut)
{
@@ -708,54 +692,66 @@ void OsmpFmuHandler::GetSensorData()
}
previousSensorDataOut = buffer;
- sensorDataOut.ParseFromArray(buffer, GetValue(fmuVariables.at(sensorDataOutVariable.value()+".size").first, VariableType::Int).intValue);
+ sensorDataOut.ParseFromArray(buffer, GetValue(fmuVariables.at(sensorDataOutVariable.value() + ".size").first, VariableType::Int).intValue);
}
-void OsmpFmuHandler::AddTrafficCommandActionFromOpenScenarioTrajectory(osi3::TrafficAction *trafficAction, const openScenario::Trajectory& trajectory)
+void OsmpFmuHandler::AddTrafficCommandActionFromOpenScenarioTrajectory(osi3::TrafficAction *trafficAction, const mantle_api::Trajectory &trajectory)
{
- if (trajectory.timeReference.has_value()) {
+ auto trajectoryLine = std::get<mantle_api::PolyLine>(trajectory.type);
+ if (trajectoryLine.front().time.has_value())
+ {
auto trajectoryAction = trafficAction->mutable_follow_trajectory_action();
- for (const auto& trajectoryPoint : trajectory.points)
+ for (const auto &trajectoryPoint : trajectoryLine)
{
auto statePoint = trajectoryAction->add_trajectory_point();
- statePoint->mutable_timestamp()->set_seconds(static_cast<google::protobuf::int64>(trajectoryPoint.time));
- statePoint->mutable_timestamp()->set_nanos(static_cast<google::protobuf::uint32>(std::fmod(trajectoryPoint.time * 1e9, 1e9)));
- statePoint->mutable_position()->set_x(trajectoryPoint.x);
- statePoint->mutable_position()->set_y(trajectoryPoint.y);
- statePoint->mutable_orientation()->set_yaw(trajectoryPoint.yaw);
+
+ if (trajectoryPoint.time.has_value())
+ {
+ const auto &time = trajectoryPoint.time.value();
+ statePoint->mutable_timestamp()->set_seconds(static_cast<google::protobuf::int64>(units::time::second_t(time).value()));
+ statePoint->mutable_timestamp()->set_nanos(static_cast<google::protobuf::uint32>(std::fmod(units::time::second_t(time).value() * 1e9, 1e9)));
+ }
+
+ statePoint->mutable_position()->set_x(trajectoryPoint.pose.position.x.value());
+ statePoint->mutable_position()->set_y(trajectoryPoint.pose.position.y.value());
+ statePoint->mutable_orientation()->set_yaw(trajectoryPoint.pose.orientation.yaw.value());
}
- } else {
+ }
+ else
+ {
auto followPathAction = trafficAction->mutable_follow_path_action();
- for (const auto& trajectoryPoint : trajectory.points)
+ for (const auto &trajectoryPoint : trajectoryLine)
{
auto statePoint = followPathAction->add_path_point();
- statePoint->mutable_position()->set_x(trajectoryPoint.x);
- statePoint->mutable_position()->set_y(trajectoryPoint.y);
- statePoint->mutable_orientation()->set_yaw(trajectoryPoint.yaw);
+ statePoint->mutable_position()->set_x(trajectoryPoint.pose.position.x.value());
+ statePoint->mutable_position()->set_y(trajectoryPoint.pose.position.y.value());
+ statePoint->mutable_orientation()->set_yaw(trajectoryPoint.pose.orientation.yaw.value());
}
}
}
void OsmpFmuHandler::AddTrafficCommandActionFromOpenScenarioPosition(osi3::TrafficAction *trafficAction,
- const openScenario::Position &position,
+ const mantle_api::Position &position,
WorldInterface *const worldInterface,
const std::function<void(const std::string &)> &errorCallback)
{
auto acquireGlobalPositionAction = trafficAction->mutable_acquire_global_position_action();
std::visit(variant_visitor{
- [&acquireGlobalPositionAction](const openScenario::WorldPosition &worldPosition) {
- acquireGlobalPositionAction->mutable_position()->set_x(worldPosition.x);
- acquireGlobalPositionAction->mutable_position()->set_y(worldPosition.y);
- if (worldPosition.z.has_value())
- acquireGlobalPositionAction->mutable_position()->set_z(worldPosition.z.value());
- if (worldPosition.r.has_value())
- acquireGlobalPositionAction->mutable_orientation()->set_roll(worldPosition.r.value());
- if (worldPosition.p.has_value())
- acquireGlobalPositionAction->mutable_orientation()->set_pitch(worldPosition.p.value());
- if (worldPosition.h.has_value())
- acquireGlobalPositionAction->mutable_orientation()->set_yaw(worldPosition.h.value());
+ [&acquireGlobalPositionAction](const mantle_api::Vec3<units::length::meter_t> &worldPosition) {
+ acquireGlobalPositionAction->mutable_position()->set_x(worldPosition.x.value());
+ acquireGlobalPositionAction->mutable_position()->set_y(worldPosition.y.value());
+ // if (worldPosition.z.has_value())
+ // acquireGlobalPositionAction->mutable_position()->set_z(worldPosition.z.value());
+ // if (worldPosition.r.has_value())
+ // acquireGlobalPositionAction->mutable_orientation()->set_roll(worldPosition.r.value());
+ // if (worldPosition.p.has_value())
+ // acquireGlobalPositionAction->mutable_orientation()->set_pitch(worldPosition.p.value());
+ // if (worldPosition.h.has_value())
+ // acquireGlobalPositionAction->mutable_orientation()->set_yaw(worldPosition.h.value());
},
+ // TODO CK Reactivate after relativObjectPosition is available in MantleAPI
+ /*
[&worldInterface, &errorCallback, &acquireGlobalPositionAction](const openScenario::RelativeObjectPosition &relativeObjectPosition) {
const auto entityRef = relativeObjectPosition.entityRef;
const auto referencedAgentInterface = worldInterface->GetAgentByName(entityRef);
@@ -773,20 +769,20 @@ void OsmpFmuHandler::AddTrafficCommandActionFromOpenScenarioPosition(osi3::Traff
if (orientation.h.has_value())
acquireGlobalPositionAction->mutable_orientation()->set_yaw(orientation.h.value());
}
- },
+ },*/
[&errorCallback](auto &&other) {
errorCallback("Position variant not supported for 'openScenario::AcquirePositionAction'");
}},
position);
}
-void OsmpFmuHandler::SetTrafficCommandInput(const osi3::TrafficCommand& data)
+void OsmpFmuHandler::SetTrafficCommandInput(const osi3::TrafficCommand &data)
{
std::swap(serializedTrafficCommand, previousSerializedTrafficCommand);
fmi2_integer_t fmuInputValues[3];
- fmi2_value_reference_t valueReferences[3] = {fmuVariables.at(trafficCommandVariable.value()+".base.lo").first,
- fmuVariables.at(trafficCommandVariable.value()+".base.hi").first,
- fmuVariables.at(trafficCommandVariable.value()+".size").first};
+ fmi2_value_reference_t valueReferences[3] = {fmuVariables.at(trafficCommandVariable.value() + ".base.lo").first,
+ fmuVariables.at(trafficCommandVariable.value() + ".base.hi").first,
+ fmuVariables.at(trafficCommandVariable.value() + ".size").first};
data.SerializeToString(&serializedTrafficCommand);
encode_pointer_to_integer(serializedTrafficCommand.data(),
@@ -803,9 +799,9 @@ void OsmpFmuHandler::SetTrafficCommandInput(const osi3::TrafficCommand& data)
fmuInputValues[2] = static_cast<fmi2_integer_t>(length);
fmi2_import_set_integer(cdata->fmu2,
- valueReferences, // array of value reference
- 3, // number of elements
- fmuInputValues); // array of values
+ valueReferences, // array of value reference
+ 3, // number of elements
+ fmuInputValues); // array of values
}
void OsmpFmuHandler::GetTrafficUpdate()
@@ -824,13 +820,13 @@ void OsmpFmuHandler::GetTrafficUpdate()
}
#ifdef USE_EXTENDED_OSI
-void OsmpFmuHandler::SetVehicleCommunicationDataInput(const setlevel4to5::VehicleCommunicationData& data)
+void OsmpFmuHandler::SetVehicleCommunicationDataInput(const setlevel4to5::VehicleCommunicationData &data)
{
std::swap(serializedVehicleCommunicationData, previousSerializedVehicleCommunicationData);
fmi2_integer_t fmuInputValues[3];
- fmi2_value_reference_t valueReferences[3] = {fmuVariables.at(vehicleCommunicationDataVariable.value()+".base.lo").first,
- fmuVariables.at(vehicleCommunicationDataVariable.value()+".base.hi").first,
- fmuVariables.at(vehicleCommunicationDataVariable.value()+".size").first};
+ fmi2_value_reference_t valueReferences[3] = {fmuVariables.at(vehicleCommunicationDataVariable.value() + ".base.lo").first,
+ fmuVariables.at(vehicleCommunicationDataVariable.value() + ".base.hi").first,
+ fmuVariables.at(vehicleCommunicationDataVariable.value() + ".size").first};
data.SerializeToString(&serializedVehicleCommunicationData);
encode_pointer_to_integer(serializedVehicleCommunicationData.data(),
@@ -839,20 +835,22 @@ void OsmpFmuHandler::SetVehicleCommunicationDataInput(const setlevel4to5::Vehicl
fmuInputValues[2] = serializedVehicleCommunicationData.length();
fmi2_import_set_integer(cdata->fmu2,
- valueReferences, // array of value reference
- 3, // number of elements
- fmuInputValues); // array of values
+ valueReferences, // array of value reference
+ 3, // number of elements
+ fmuInputValues); // array of values
}
-void logAndThrow(const std::string& message, const std::function<void(const std::string&)> &errorCallback) noexcept(false) {
- if (errorCallback) errorCallback(message);
+void logAndThrow(const std::string &message, const std::function<void(const std::string &)> &errorCallback) noexcept(false)
+{
+ if (errorCallback)
+ errorCallback(message);
throw std::runtime_error(message);
}
void OsmpFmuHandler::GetMotionCommand()
{
- void* buffer = decode_integer_to_pointer(GetValue(fmuVariables.at(motionCommandVariable.value()+".base.hi").first, VariableType::Int).intValue,
- GetValue(fmuVariables.at(motionCommandVariable.value()+".base.lo").first, VariableType::Int).intValue);
+ void *buffer = decode_integer_to_pointer(GetValue(fmuVariables.at(motionCommandVariable.value() + ".base.hi").first, VariableType::Int).intValue,
+ GetValue(fmuVariables.at(motionCommandVariable.value() + ".base.lo").first, VariableType::Int).intValue);
if (enforceDoubleBuffering && buffer != nullptr && buffer == previousMotionCommand)
{
@@ -860,7 +858,7 @@ void OsmpFmuHandler::GetMotionCommand()
}
previousMotionCommand = buffer;
- motionCommand.ParseFromArray(buffer, GetValue(fmuVariables.at(motionCommandVariable.value()+".size").first, VariableType::Int).intValue);
+ motionCommand.ParseFromArray(buffer, GetValue(fmuVariables.at(motionCommandVariable.value() + ".size").first, VariableType::Int).intValue);
}
#endif
@@ -959,7 +957,7 @@ void OsmpFmuHandler::SetFmuParameters()
fmi2_value_reference_t intvrs[1];
fmi2_integer_t intData[1];
- for (const auto& fmuParameter : fmuIntegerParameters)
+ for (const auto &fmuParameter : fmuIntegerParameters)
{
intData[0] = fmuParameter.value;
intvrs[0] = fmuParameter.valueReference;
@@ -981,7 +979,7 @@ void OsmpFmuHandler::SetFmuParameters()
fmi2_value_reference_t boolvrs[1];
fmi2_boolean_t boolData[1];
- for (const auto& fmuParameter : fmuBoolParameters)
+ for (const auto &fmuParameter : fmuBoolParameters)
{
boolData[0] = fmuParameter.value;
boolvrs[0] = fmuParameter.valueReference;
@@ -1003,7 +1001,7 @@ void OsmpFmuHandler::SetFmuParameters()
fmi2_value_reference_t stringvrs[1];
fmi2_string_t stringData[1];
- for (const auto& fmuParameter : fmuStringParameters)
+ for (const auto &fmuParameter : fmuStringParameters)
{
stringData[0] = fmuParameter.value.data();
stringvrs[0] = fmuParameter.valueReference;
@@ -1045,7 +1043,7 @@ void OsmpFmuHandler::SetMotionCommandDataInput(const setlevel4to5::MotionCommand
}
#endif
-void OsmpFmuHandler::WriteJson(const google::protobuf::Message& message, const QString& fileName)
+void OsmpFmuHandler::WriteJson(const google::protobuf::Message &message, const QString &fileName)
{
QFile file{outputDir + QDir::separator() + fileName};
file.open(QIODevice::WriteOnly);
@@ -1085,7 +1083,8 @@ std::vector<unsigned char> intToBytes(int paramInt)
return arrayOfByte;
}
-void OsmpFmuHandler::AppendMessages(std::string& appendedMessage, std::string& message) {
+void OsmpFmuHandler::AppendMessages(std::string &appendedMessage, std::string &message)
+{
auto length = intToBytes(message.length());
std::string messageLength{length.begin(), length.end()};
appendedMessage = appendedMessage + messageLength + message;
diff --git a/sim/src/components/Algorithm_FmuWrapper/src/OsmpFmuHandler.h b/sim/src/components/Algorithm_FmuWrapper/src/OsmpFmuHandler.h
index 1e097b3bf01847a64aeae6cf6dd3a7bcaf73bf89..2852c430da52ede92225068882fefb7f8ef70189 100644
--- a/sim/src/components/Algorithm_FmuWrapper/src/OsmpFmuHandler.h
+++ b/sim/src/components/Algorithm_FmuWrapper/src/OsmpFmuHandler.h
@@ -13,6 +13,8 @@
#include <QString>
+#include "MantleAPI/Common/position.h"
+#include "MantleAPI/Common/trajectory.h"
#include "include/agentInterface.h"
#include "include/fmuHandlerInterface.h"
#include "include/parameterInterface.h"
@@ -27,14 +29,13 @@
#ifdef USE_EXTENDED_OSI
#include "osi3/sl45_motioncommand.pb.h"
#include "osi3/sl45_vehiclecommunicationdata.pb.h"
+
#endif
#include <any>
-#include <regex>
-#include <fstream>
#include <filesystem>
-
-#include "common/openScenarioDefinitions.h"
+#include <fstream>
+#include <regex>
class CallbackInterface;
@@ -68,11 +69,11 @@ public:
//! Adds a trajectory from OpenSCENARIO to a OSI TrafficAction
static void AddTrafficCommandActionFromOpenScenarioTrajectory(osi3::TrafficAction *trafficAction,
- const openScenario::Trajectory& trajectory);
+ const mantle_api::Trajectory& trajectory);
//! Adds a position from OpenSCENARIO to a OSI TrafficAction
static void AddTrafficCommandActionFromOpenScenarioPosition(osi3::TrafficAction *trafficAction,
- const openScenario::Position &position,
+ const mantle_api::Position &position,
WorldInterface *worldInterface,
const std::function<void(const std::string &)> &errorCallback);
@@ -285,12 +286,11 @@ private:
std::map<std::string, std::pair<std::string, int>> fileToOutputTracesMap{};
- Common::Vector2d previousPosition{0.0,0.0};
-
+ Common::Vector2d<units::length::meter_t> previousPosition{0.0_m, 0.0_m};
void AppendMessages(std::string &appendedMessage, std::string& message);
std::ofstream traceOutputFile;
- double bb_center_offset_x{0.0}; //!< Offset of bounding box center to agent reference point (rear axle)
+ units::length::meter_t bb_center_offset_x{0.0}; //!< Offset of bounding box center to agent reference point (rear axle)
};
diff --git a/sim/src/components/Algorithm_Lateral/src/lateralImpl.cpp b/sim/src/components/Algorithm_Lateral/src/lateralImpl.cpp
index b2d1cfd12f534edc84983f2c6526e3e6a08a3e63..8197ee0490589a5b487f7dce46ca57c483a0d90b 100644
--- a/sim/src/components/Algorithm_Lateral/src/lateralImpl.cpp
+++ b/sim/src/components/Algorithm_Lateral/src/lateralImpl.cpp
@@ -64,9 +64,9 @@ void AlgorithmLateralImplementation::UpdateInput(int localLinkId, const std::sha
const auto steeringRatio = helper::map::query(signal->vehicleParameters.properties, vehicle::properties::SteeringRatio);
THROWIFFALSE(steeringRatio.has_value(), "SteeringRatio was not defined in VehicleCatalog");
- steeringController.SetVehicleParameter(steeringRatio.value(),
- signal->vehicleParameters.frontAxle.maxSteering * steeringRatio.value(),
- signal->vehicleParameters.frontAxle.positionX - signal->vehicleParameters.rearAxle.positionX);
+ steeringController.SetVehicleParameter(std::stod(steeringRatio.value()),
+ signal->vehicleParameters.front_axle.max_steering * std::stod(steeringRatio.value()),
+ signal->vehicleParameters.front_axle.bb_center_to_axle_center.x - signal->vehicleParameters.rear_axle.bb_center_to_axle_center.x);
}
else if (localLinkId == 101 || localLinkId == 102)
{
@@ -105,7 +105,7 @@ void AlgorithmLateralImplementation::UpdateOutput(int localLinkId, std::shared_p
}
else
{
- data = std::make_shared<SteeringSignal const>(ComponentState::Disabled, 0.0);
+ data = std::make_shared<SteeringSignal const>(ComponentState::Disabled, 0.0_rad);
}
}
catch(const std::bad_alloc&)
@@ -125,5 +125,5 @@ void AlgorithmLateralImplementation::UpdateOutput(int localLinkId, std::shared_p
void AlgorithmLateralImplementation::Trigger(int time)
{
- out_desiredSteeringWheelAngle = steeringController.CalculateSteeringAngle(time);
+ out_desiredSteeringWheelAngle = steeringController.CalculateSteeringAngle(units::time::millisecond_t(time));
}
diff --git a/sim/src/components/Algorithm_Lateral/src/lateralImpl.h b/sim/src/components/Algorithm_Lateral/src/lateralImpl.h
index f2fbebc093c7b474bf4f7de21e8910a00bdf5bce..2b1741b7e2e867cf51e05c1d2277d2326788759b 100644
--- a/sim/src/components/Algorithm_Lateral/src/lateralImpl.h
+++ b/sim/src/components/Algorithm_Lateral/src/lateralImpl.h
@@ -166,7 +166,7 @@ protected:
SteeringController steeringController{};
//! The steering wheel angle wish of the driver in radian
- double out_desiredSteeringWheelAngle{0};
+ units::angle::radian_t out_desiredSteeringWheelAngle{0};
bool isActive{false};
};
diff --git a/sim/src/components/Algorithm_Lateral/src/steeringController.cpp b/sim/src/components/Algorithm_Lateral/src/steeringController.cpp
index 9eb196bbd34df7384014dd84ee89c6bec9f316af..ec531db360cf54a1c69b550d56073c1820cacb62 100644
--- a/sim/src/components/Algorithm_Lateral/src/steeringController.cpp
+++ b/sim/src/components/Algorithm_Lateral/src/steeringController.cpp
@@ -21,31 +21,33 @@
#include "common/commonTools.h"
#include "common/globalDefinitions.h"
-double SteeringController::CalculateSteeringAngle(int time)
+using namespace units::literals;
+
+units::angle::radian_t SteeringController::CalculateSteeringAngle(units::time::millisecond_t time)
{
// Time step length
- double dt{(time - timeLast) * 0.001};
- tAverage = .05;
- double velocityForCalculations = std::fmax(20. / 3.6, in_velocity);
+ auto dt = time - timeLast;
+ tAverage = .05_s;
+ auto velocityForCalculations = units::math::fmax(20.0_mps, in_velocity);
// Scale gains to current velocity. Linear interpolation between 0 and default values at 200km/h.
- double velocityFactor = std::clamp(3.6 / 150. * velocityForCalculations, .15, 1.);
- in_lateralSignal.gainLateralDeviation *= velocityFactor;
- in_lateralSignal.gainHeadingError *= velocityFactor;
+ double velocityFactor = std::clamp(units::unit_cast<double>(velocityForCalculations / 150.0_kph), .15, 1.);
+ in_lateralSignal.lateralInformation.gainDeviation *= velocityFactor;
+ in_lateralSignal.lateralInformation.gainHeadingError *= velocityFactor;
tAverage = tAverage / velocityFactor;
// Controller for lateral deviation
- double deltaHLateralDeviation = in_lateralSignal.gainLateralDeviation
+ units::angle::radian_t deltaHLateralDeviation = in_lateralSignal.lateralInformation.gainDeviation
* in_steeringRatio * in_wheelBase / (velocityForCalculations * velocityForCalculations)
- * in_lateralSignal.lateralDeviation;
+ * in_lateralSignal.lateralInformation.deviation;
// Controller for heading angle error
- double deltaHHeadingError = in_lateralSignal.gainHeadingError
+ units::angle::radian_t deltaHHeadingError = in_lateralSignal.lateralInformation.gainHeadingError
* in_steeringRatio * in_wheelBase / velocityForCalculations
- * in_lateralSignal.headingError;
+ * in_lateralSignal.lateralInformation.headingError;
// Controller for road curvature
- double meanCurvatureToNearPoint = 0.;
- double meanCurvatureToFarPoint = 0.;
+ units::curvature::inverse_meter_t meanCurvatureToNearPoint{0.0};
+ units::curvature::inverse_meter_t meanCurvatureToFarPoint{0.0};
if (!in_lateralSignal.curvatureOfSegmentsToNearPoint.empty())
{
for (unsigned int i = 0; i < in_lateralSignal.curvatureOfSegmentsToNearPoint.size(); ++i)
@@ -67,11 +69,11 @@ double SteeringController::CalculateSteeringAngle(int time)
}
// Smooth curvatures with a running average filter
- double meanCurvatureToNearPointSmooth = (dt * meanCurvatureToNearPoint + (tAverage - dt) *
+ units::curvature::inverse_meter_t meanCurvatureToNearPointSmooth = (dt * meanCurvatureToNearPoint + (tAverage - dt) *
meanCurvatureToNearPointSmoothLast) / tAverage;
- double meanCurvatureToFarPointSmooth = (dt * meanCurvatureToFarPoint + (tAverage - dt) *
+ units::curvature::inverse_meter_t meanCurvatureToFarPointSmooth = (dt * meanCurvatureToFarPoint + (tAverage - dt) *
meanCurvatureToFarPointSmoothLast) / tAverage;
- double curvatureRoadSmooth = (dt * in_lateralSignal.kappaRoad + (tAverage - dt) * curvatureRoadSmoothLast) / tAverage;
+ units::curvature::inverse_meter_t curvatureRoadSmooth = (dt * in_lateralSignal.kappaRoad + (tAverage - dt) * curvatureRoadSmoothLast) / tAverage;
// Weighting of different curvature Information RoadSmooth, road, nearPointSmooth, farPointSmooth, nearPointMax
std::vector <double> weighingCurvaturePortions = {.75, 0.25, .15, -.10};
@@ -85,28 +87,28 @@ double SteeringController::CalculateSteeringAngle(int time)
weighingCurvaturePortions.at(3) = 0.;
}
- double calc_kappaRoadAnticipated = (weighingCurvaturePortions.at(0) * curvatureRoadSmooth +
- weighingCurvaturePortions.at(1) * in_lateralSignal.kappaRoad +
- weighingCurvaturePortions.at(2) * meanCurvatureToNearPointSmooth +
- weighingCurvaturePortions.at(3) * meanCurvatureToFarPointSmooth) /
+ units::curvature::inverse_meter_t calc_kappaRoadAnticipated = (weighingCurvaturePortions.at(0) * curvatureRoadSmooth +
+ weighingCurvaturePortions.at(1) * in_lateralSignal.kappaRoad +
+ weighingCurvaturePortions.at(2) * meanCurvatureToNearPointSmooth +
+ weighingCurvaturePortions.at(3) * meanCurvatureToFarPointSmooth) /
(weighingCurvaturePortions.at(0) + weighingCurvaturePortions.at(1) +
weighingCurvaturePortions.at(2) + weighingCurvaturePortions.at(3));
// Controller for road curvaturedelta due to manoeuvre
- double deltaHkappa = std::atan((in_lateralSignal.kappaManoeuvre + calc_kappaRoadAnticipated) * in_wheelBase)
+ units::angle::radian_t deltaHkappa = units::math::atan((in_lateralSignal.lateralInformation.kappaManoeuvre + calc_kappaRoadAnticipated) * in_wheelBase)
* in_steeringRatio;
// Total steering wheel angle
- double deltaH = deltaHLateralDeviation + deltaHHeadingError + deltaHkappa;
+ auto deltaH = deltaHLateralDeviation + deltaHHeadingError + deltaHkappa;
// Limit steering wheel velocity. Human limit set to 320°/s.
- constexpr double HUMAN_LIMIT {320.0 * M_PI / 180.0};
- const auto maxDeltaSteeringWheelAngle = (HUMAN_LIMIT / velocityFactor) * dt;
+ const units::angular_velocity::radians_per_second_t HUMAN_LIMIT {320.0 * M_PI / 180.0};
+ const units::angle::radian_t maxDeltaSteeringWheelAngle = (HUMAN_LIMIT / velocityFactor) * dt;
const auto deltaSteeringWheelAngle = deltaH - in_steeringWheelAngle;
- if (std::fabs(deltaSteeringWheelAngle) > maxDeltaSteeringWheelAngle)
+ if (units::math::fabs(deltaSteeringWheelAngle) > maxDeltaSteeringWheelAngle)
{
- deltaH = std::copysign(maxDeltaSteeringWheelAngle, deltaSteeringWheelAngle) + in_steeringWheelAngle;
+ deltaH = units::angle::radian_t(std::copysign(maxDeltaSteeringWheelAngle.value(), deltaSteeringWheelAngle.value())) + in_steeringWheelAngle;
}
const auto desiredSteeringWheelAngle = std::clamp(deltaH, -in_steeringMax, in_steeringMax);
@@ -116,5 +118,5 @@ double SteeringController::CalculateSteeringAngle(int time)
meanCurvatureToFarPointSmoothLast = meanCurvatureToFarPointSmooth;
curvatureRoadSmoothLast = curvatureRoadSmooth;
- return desiredSteeringWheelAngle;
+ return units::angle::radian_t(desiredSteeringWheelAngle);
}
diff --git a/sim/src/components/Algorithm_Lateral/src/steeringController.h b/sim/src/components/Algorithm_Lateral/src/steeringController.h
index a82930a67a7991dfff2b978ab8e6ca4b24df68ff..3cd9ad4ba1fe53336d1b551fe60a89e99b065677 100644
--- a/sim/src/components/Algorithm_Lateral/src/steeringController.h
+++ b/sim/src/components/Algorithm_Lateral/src/steeringController.h
@@ -29,7 +29,7 @@ public:
*
* return steering angle
*/
- double CalculateSteeringAngle(int time);
+ units::angle::radian_t CalculateSteeringAngle(units::time::millisecond_t time);
/*!
* \brief Sets the lateral input, which contains the desired lateral position.
@@ -49,8 +49,8 @@ public:
* @param[in] wheelbase wheelbase
*/
void SetVehicleParameter(const double &steeringRatio,
- const double &maximumSteeringWheelAngleAmplitude,
- const double &wheelbase)
+ const units::angle::radian_t &maximumSteeringWheelAngleAmplitude,
+ const units::length::meter_t &wheelbase)
{
in_steeringRatio = steeringRatio;
in_steeringMax = maximumSteeringWheelAngleAmplitude;
@@ -63,8 +63,8 @@ public:
* @param[in] velocity Current velocity
* @param[in] steeringWheelAngle Current steeringwheel angle
*/
- void SetVelocityAndSteeringWheelAngle(const double &velocity,
- const double &steeringWheelAngle)
+ void SetVelocityAndSteeringWheelAngle(const units::velocity::meters_per_second_t &velocity,
+ const units::angle::radian_t &steeringWheelAngle)
{
in_velocity = velocity;
in_steeringWheelAngle = steeringWheelAngle;
@@ -78,29 +78,29 @@ protected:
LateralSignal in_lateralSignal {};
//! current velocity
- double in_velocity = 0.0;
+ units::velocity::meters_per_second_t in_velocity{0.0};
//! current angle of the steering wheel
- double in_steeringWheelAngle = 0.0;
+ units::angle::radian_t in_steeringWheelAngle{0.0};
//! The steering ratio of the vehicle.
double in_steeringRatio = 10.7;
//! The maximum steering wheel angle of the car in both directions in degree.
- double in_steeringMax = 180.0;
+ units::angle::radian_t in_steeringMax{180.0};
//! The wheelbase of the car in m.
- double in_wheelBase = 2.89;
+ units::length::meter_t in_wheelBase {2.89};
// --- Internal Parameters
//! Time to Average regulation over
- double tAverage {0.};
+ units::time::second_t tAverage {0.};
/** @} @} */
//! Previous scheduling time (for calculation of cycle time lenght).
- int timeLast {-100};
+ units::time::millisecond_t timeLast {-100};
//! running average of mean curvature up to NearPoint
- double meanCurvatureToNearPointSmoothLast {0.};
+ units::curvature::inverse_meter_t meanCurvatureToNearPointSmoothLast {0.};
//! running average of mean curvature from NearPoint up to FarPoint
- double meanCurvatureToFarPointSmoothLast {0.};
+ units::curvature::inverse_meter_t meanCurvatureToFarPointSmoothLast {0.};
//! running average of kappaRoad at referencepoint
- double curvatureRoadSmoothLast {0.};
+ units::curvature::inverse_meter_t curvatureRoadSmoothLast {0.};
};
diff --git a/sim/src/components/Algorithm_Longitudinal/src/algo_longImpl.cpp b/sim/src/components/Algorithm_Longitudinal/src/algo_longImpl.cpp
index 10774c2899f27159b765f985736137ef58eb1e42..7b7e5f68cacd9463f6f69357137a156d9c22bc99 100644
--- a/sim/src/components/Algorithm_Longitudinal/src/algo_longImpl.cpp
+++ b/sim/src/components/Algorithm_Longitudinal/src/algo_longImpl.cpp
@@ -135,7 +135,7 @@ void AlgorithmLongitudinalImplementation::Trigger(int time)
void AlgorithmLongitudinalImplementation::CalculatePedalPositionAndGear()
{
- if (currentVelocity == 0 && accelerationWish == 0)
+ if (currentVelocity == 0_mps && accelerationWish == 0_mps_sq)
{
out_accPedalPos = 0;
out_brakePedalPos = 0;
diff --git a/sim/src/components/Algorithm_Longitudinal/src/algo_longImpl.h b/sim/src/components/Algorithm_Longitudinal/src/algo_longImpl.h
index 4a14a9e5361eb7a62424f55e45696a926c4c1eef..d8f2ec46f17b4f47c9e85664154fd2d504b3203b 100644
--- a/sim/src/components/Algorithm_Longitudinal/src/algo_longImpl.h
+++ b/sim/src/components/Algorithm_Longitudinal/src/algo_longImpl.h
@@ -38,7 +38,7 @@
* Init input variables:
* name | meaning
* -----|------
-* vehicleModelParameters | VehicleModelParameters
+* vehicleModelParameters | mantle_api::VehicleProperties
*
* Init input channel IDs:
* Input Id | signal class | contained variables
@@ -146,10 +146,10 @@ private:
bool initializedSensorDriverData{false};
//! The wish acceleration of the agent in m/s^2.
- double accelerationWish{0.0};
+ units::acceleration::meters_per_second_squared_t accelerationWish{0.0};
//! current agent velocity
- double currentVelocity{0.0};
+ units::velocity::meters_per_second_t currentVelocity{0.0};
// --- Outputs
@@ -163,6 +163,6 @@ private:
// --- Init Inputs
//! contains: double carMass; double rDyn and more;
- VehicleModelParameters vehicleModelParameters;
+ mantle_api::VehicleProperties vehicleModelParameters;
};
diff --git a/sim/src/components/Algorithm_Longitudinal/src/longCalcs.cpp b/sim/src/components/Algorithm_Longitudinal/src/longCalcs.cpp
index 45620d9fe357f0a46603a68d58bf13db64a062e9..aa6ceff1480888322409c312de11c528c7049135 100644
--- a/sim/src/components/Algorithm_Longitudinal/src/longCalcs.cpp
+++ b/sim/src/components/Algorithm_Longitudinal/src/longCalcs.cpp
@@ -2,6 +2,7 @@
* Copyright (c) 2020 HLRS, University of Stuttgart
* 2016-2017 ITK Engineering GmbH
* 2019 in-tech GmbH
+ * 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -23,13 +24,15 @@
#include "common/commonTools.h"
#include "components/common/vehicleProperties.h"
-AlgorithmLongitudinalCalculations::AlgorithmLongitudinalCalculations(double xVel,
- double in_aVehicle,
- const VehicleModelParameters &vehicleModelParameters,
+using namespace units::literals;
+
+AlgorithmLongitudinalCalculations::AlgorithmLongitudinalCalculations(units::velocity::meters_per_second_t velocity,
+ units::acceleration::meters_per_second_squared_t accelerationWish,
+ const mantle_api::VehicleProperties &vehicleModelParameters,
std::function<void (CbkLogLevel, const char*, int, const std::string&)> Log) :
Log(Log),
- velocity(xVel),
- accelerationWish(in_aVehicle),
+ velocity(velocity),
+ accelerationWish(accelerationWish),
vehicleModelParameters(vehicleModelParameters)
{
}
@@ -44,7 +47,7 @@ double AlgorithmLongitudinalCalculations::GetAcceleratorPedalPosition() const
return acceleratorPedalPosition;
}
-double AlgorithmLongitudinalCalculations::GetEngineSpeed() const
+units::angular_velocity::revolutions_per_minute_t AlgorithmLongitudinalCalculations::GetEngineSpeed() const
{
return engineSpeed;
}
@@ -54,11 +57,11 @@ int AlgorithmLongitudinalCalculations::GetGear() const
return gear;
}
-double AlgorithmLongitudinalCalculations::GetEngineTorqueAtGear(int gear, double acceleration)
+units::torque::newton_meter_t AlgorithmLongitudinalCalculations::GetEngineTorqueAtGear(int gear, const units::acceleration::meters_per_second_squared_t &acceleration)
{
- if (acceleration == 0 || gear == 0)
+ if (acceleration == 0_mps_sq || gear == 0)
{
- return 0;
+ return 0.0_Nm;
}
if (gear > GetVehicleProperty(vehicle::properties::NumberOfGears) || gear < 0)
@@ -66,8 +69,8 @@ double AlgorithmLongitudinalCalculations::GetEngineTorqueAtGear(int gear, double
throw std::runtime_error("Gear in AlgorithmLongitudinal is invalid");
}
- 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)));
+ units::torque::newton_meter_t wheelSetTorque = vehicleModelParameters.mass * 0.5 * vehicleModelParameters.rear_axle.wheel_diameter * units::acceleration::meters_per_second_squared_t(acceleration);
+ auto engineTorqueAtGear = wheelSetTorque / (GetVehicleProperty(vehicle::properties::AxleRatio) * GetVehicleProperty(vehicle::properties::GearRatio+std::to_string(gear)));
return engineTorqueAtGear;
}
@@ -76,41 +79,41 @@ double AlgorithmLongitudinalCalculations::GetVehicleProperty(const std::string&
{
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();
+ return std::stod(property.value());
}
-double AlgorithmLongitudinalCalculations::GetEngineSpeedByVelocity(double xVel, int gear)
+units::angular_velocity::revolutions_per_minute_t AlgorithmLongitudinalCalculations::GetEngineSpeedByVelocity(const units::velocity::meters_per_second_t &xVel, int gear)
{
- 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
+ return 1_rad * (xVel * GetVehicleProperty(vehicle::properties::AxleRatio) * GetVehicleProperty(vehicle::properties::GearRatio+std::to_string(gear))) / (vehicleModelParameters.rear_axle.wheel_diameter * 0.5); // an dynamic wheel radius rDyn must actually be used here
}
void AlgorithmLongitudinalCalculations::CalculateGearAndEngineSpeed()
{
- std::map<double, int> nEngineSet;
- std::map<double, std::tuple<int, double, double>> minDeltaAccWheelBased;
+ std::map<units::angular_velocity::revolutions_per_minute_t, int> nEngineSet;
+ std::map<units::acceleration::meters_per_second_squared_t, std::tuple<int, units::angular_velocity::revolutions_per_minute_t, units::acceleration::meters_per_second_squared_t>> minDeltaAccWheelBased;
const auto numberOfGears = GetVehicleProperty(vehicle::properties::NumberOfGears);
for (int gear = 1; gear <= numberOfGears; ++gear)
{
- double engineSpeed = GetEngineSpeedByVelocity(velocity, gear);
- double limitWheelAcc;
- double accDelta;
+ const auto engineSpeed = GetEngineSpeedByVelocity(velocity, gear);
+ units::acceleration::meters_per_second_squared_t limitWheelAcc;
+ units::acceleration::meters_per_second_squared_t accDelta;
- if (accelerationWish >= 0)
+ if (accelerationWish >= 0_mps_sq)
{
- double MMax = GetEngineTorqueMax(engineSpeed);
+ auto MMax = GetEngineTorqueMax(engineSpeed);
limitWheelAcc = GetAccFromEngineTorque(MMax, gear);
- if(accelerationWish == 0)
- accDelta = 0;
+ if(accelerationWish == 0_mps_sq)
+ accDelta = 0_mps_sq;
else
- accDelta = std::fabs(accelerationWish - limitWheelAcc);
+ accDelta = units::math::fabs(accelerationWish - limitWheelAcc);
}
else
{
- double MMin = GetEngineTorqueMin(engineSpeed);
+ auto MMin = GetEngineTorqueMin(engineSpeed);
limitWheelAcc = GetAccFromEngineTorque(MMin, gear);
- accDelta = std::fabs(accelerationWish - limitWheelAcc);
+ accDelta = units::math::fabs(accelerationWish - limitWheelAcc);
}
nEngineSet[engineSpeed] = gear;
@@ -147,46 +150,46 @@ void AlgorithmLongitudinalCalculations::CalculateGearAndEngineSpeed()
// trim wish acceleration to possible value
gear = std::get<0>(val);
engineSpeed = std::get<1>(val);
- accelerationWish = std::min(accelerationWish, std::get<2>(val));
+ accelerationWish = units::math::min(accelerationWish, std::get<2>(val));
}
-bool AlgorithmLongitudinalCalculations::isWithinEngineLimits(int gear, double engineSpeed, double acceleration)
+bool AlgorithmLongitudinalCalculations::isWithinEngineLimits(int gear, const units::angular_velocity::revolutions_per_minute_t &engineSpeed, const units::acceleration::meters_per_second_squared_t &acceleration)
{
if(!isEngineSpeedWithinEngineLimits(engineSpeed))
{
return false;
}
- double currentWishTorque = GetEngineTorqueAtGear(gear, acceleration);
+ auto currentWishTorque = GetEngineTorqueAtGear(gear, acceleration);
return isTorqueWithinEngineLimits(currentWishTorque, engineSpeed);
}
-bool AlgorithmLongitudinalCalculations::isTorqueWithinEngineLimits(double torque, double engineSpeed)
+bool AlgorithmLongitudinalCalculations::isTorqueWithinEngineLimits(const units::torque::newton_meter_t &torque, const units::angular_velocity::revolutions_per_minute_t &engineSpeed)
{
- double currentMEngMax = GetEngineTorqueMax(engineSpeed);
+ auto currentMEngMax = GetEngineTorqueMax(engineSpeed);
return torque <= currentMEngMax;
}
-inline bool AlgorithmLongitudinalCalculations::isEngineSpeedWithinEngineLimits(double engineSpeed)
+inline bool AlgorithmLongitudinalCalculations::isEngineSpeedWithinEngineLimits(const units::angular_velocity::revolutions_per_minute_t &engineSpeed)
{
- return (engineSpeed >= GetVehicleProperty(vehicle::properties::MinimumEngineSpeed) && engineSpeed <= GetVehicleProperty(vehicle::properties::MaximumEngineSpeed));
+ return (engineSpeed >= units::angular_velocity::revolutions_per_minute_t(GetVehicleProperty(vehicle::properties::MinimumEngineSpeed)) && engineSpeed <= units::angular_velocity::revolutions_per_minute_t(GetVehicleProperty(vehicle::properties::MaximumEngineSpeed)));
}
-double AlgorithmLongitudinalCalculations::GetEngineTorqueMax(double engineSpeed)
+units::torque::newton_meter_t AlgorithmLongitudinalCalculations::GetEngineTorqueMax(const units::angular_velocity::revolutions_per_minute_t &engineSpeed)
{
- const double maximumEngineTorque = GetVehicleProperty(vehicle::properties::MaximumEngineTorque);
- const double maximumEngineSpeed = GetVehicleProperty(vehicle::properties::MaximumEngineSpeed);
- const double minimumEngineSpeed = GetVehicleProperty(vehicle::properties::MinimumEngineSpeed);
+ const units::torque::newton_meter_t maximumEngineTorque {GetVehicleProperty(vehicle::properties::MaximumEngineTorque)};
+ const units::angular_velocity::revolutions_per_minute_t maximumEngineSpeed{GetVehicleProperty(vehicle::properties::MaximumEngineSpeed)};
+ const units::angular_velocity::revolutions_per_minute_t minimumEngineSpeed{GetVehicleProperty(vehicle::properties::MinimumEngineSpeed)};
- double torqueMax = maximumEngineTorque; // initial value at max
- double speed = engineSpeed;
+ auto torqueMax = maximumEngineTorque; // initial value at max
+ auto speed = engineSpeed;
- bool isLowerSection = engineSpeed < minimumEngineSpeed + 1000;
+ bool isLowerSection = engineSpeed < minimumEngineSpeed + 1000_rpm;
bool isBeyondLowerSectionBorder = engineSpeed < minimumEngineSpeed;
- bool isUpperSection = engineSpeed > maximumEngineSpeed - 1000;
+ bool isUpperSection = engineSpeed > maximumEngineSpeed - 1000_rpm;
bool isBeyondUpperSectionBorder = engineSpeed > maximumEngineSpeed;
@@ -195,8 +198,10 @@ double AlgorithmLongitudinalCalculations::GetEngineTorqueMax(double engineSpeed)
if (isBeyondLowerSectionBorder) // not within limits
{
speed = minimumEngineSpeed;
- }
- torqueMax = (1000 - (speed - minimumEngineSpeed)) * -0.1 + maximumEngineTorque;
+ }
+
+ const auto tempEngineSpeed = 1000_rpm - (speed - minimumEngineSpeed);
+ torqueMax = units::inverse_radian(0.5 / M_PI) * (tempEngineSpeed)*units::unit_t<units::compound_unit<units::torque::newton_meter, units::time::minute>>(-0.1) + maximumEngineTorque;
}
else if (isUpperSection)
{
@@ -204,54 +209,60 @@ double AlgorithmLongitudinalCalculations::GetEngineTorqueMax(double engineSpeed)
{
speed = maximumEngineSpeed;
}
- torqueMax = (speed - maximumEngineSpeed + 1000) * -0.04 + maximumEngineTorque;
+
+ const auto tempEngineSpeed = speed - maximumEngineSpeed + 1000_rpm;
+ torqueMax = units::inverse_radian(0.5 / M_PI) * tempEngineSpeed * units::unit_t<units::compound_unit<units::torque::newton_meter, units::time::minute>>(-0.04) + maximumEngineTorque;
}
return torqueMax;
}
-double AlgorithmLongitudinalCalculations::GetEngineTorqueMin(double engineSpeed)
+units::torque::newton_meter_t AlgorithmLongitudinalCalculations::GetEngineTorqueMin(const units::angular_velocity::revolutions_per_minute_t& engineSpeed)
{
return GetEngineTorqueMax(engineSpeed) * -.1;
}
-double AlgorithmLongitudinalCalculations::GetAccFromEngineTorque(double engineTorque, int chosenGear)
+units::acceleration::meters_per_second_squared_t AlgorithmLongitudinalCalculations::GetAccFromEngineTorque(const units::torque::newton_meter_t &engineTorque, int chosenGear)
{
- 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);
+ const auto wheelSetTorque = engineTorque * (GetVehicleProperty(vehicle::properties::AxleRatio) * GetVehicleProperty(vehicle::properties::GearRatio+std::to_string(chosenGear)));
+ const units::force::newton_t wheelSetForce = wheelSetTorque / (0.5 * vehicleModelParameters.rear_axle.wheel_diameter);
+ return wheelSetForce / vehicleModelParameters.mass;
}
void AlgorithmLongitudinalCalculations::CalculatePedalPositions()
{
- constexpr double oneG = 9.81;
+ const units::acceleration::meters_per_second_squared_t oneG{9.81};
- if (accelerationWish < 0) // speed shall be reduced with drag or brake
+ units::angular_velocity::revolutions_per_minute_t engineSpeedInUnits(engineSpeed);
+
+ if (accelerationWish < 0.0_mps_sq) // speed shall be reduced with drag or brake
{
- double engineTorque = GetEngineTorqueAtGear(gear, accelerationWish);
- double MDragMax = GetEngineTorqueMin(engineSpeed);
+ const auto engineTorque = GetEngineTorqueAtGear(gear, accelerationWish);
+ const auto MDragMax = GetEngineTorqueMin(engineSpeedInUnits);
if (engineTorque < MDragMax)
{ // brake
// calculate acceleration of MDragMax and substract
// this from in_aVehicle since brake and drag work in parallel while clutch is closed
- double accMDragMax = GetAccFromEngineTorque(MDragMax, gear);
+ const auto accMDragMax = GetAccFromEngineTorque(MDragMax, gear);
acceleratorPedalPosition = 0.0;
- brakePedalPosition = std::min(-(accelerationWish - accMDragMax) / oneG, 1.0);
+
+ const auto pedalPositionBasedOnAcceleration = -(accelerationWish - accMDragMax) / oneG;
+ brakePedalPosition = std::min(pedalPositionBasedOnAcceleration.value(), 1.0);
return;
}
}
// cases of acceleration and drag => use engine here
- double MDragMax = GetEngineTorqueMin(engineSpeed);
- double MTorqueMax = GetEngineTorqueMax(engineSpeed);
+ const auto MDragMax = GetEngineTorqueMin(engineSpeedInUnits);
+ const auto MTorqueMax = GetEngineTorqueMax(engineSpeedInUnits);
- double wishTorque = GetEngineTorqueAtGear(gear, accelerationWish);
+ const auto wishTorque = GetEngineTorqueAtGear(gear, accelerationWish);
- acceleratorPedalPosition = std::min((wishTorque - MDragMax) / (MTorqueMax - MDragMax), 1.0);
+ acceleratorPedalPosition = std::min(units::unit_cast<double>((wishTorque - MDragMax) / (MTorqueMax - MDragMax)), 1.0);
brakePedalPosition = 0.0;
}
diff --git a/sim/src/components/Algorithm_Longitudinal/src/longCalcs.h b/sim/src/components/Algorithm_Longitudinal/src/longCalcs.h
index 403863c801b7faeab8be25442bf2f48ab42a667e..7e2ebd60b6faab5303eb09e2e53c384a0fb5c1b8 100644
--- a/sim/src/components/Algorithm_Longitudinal/src/longCalcs.h
+++ b/sim/src/components/Algorithm_Longitudinal/src/longCalcs.h
@@ -24,9 +24,10 @@
#include <vector>
#include <functional>
-#include "common/globalDefinitions.h"
#include "include/callbackInterface.h"
+#include <MantleAPI/Traffic/entity_properties.h>
+
//! \brief This class does all the calculations in the Algorithm_Longitudinal module.
//!
//! Based on the current velocity of the agent and a desired acceleration, this class calculates the
@@ -45,7 +46,7 @@ public:
//! \param accelerationWish desired acceleration (can be negative)
//! \param vehicleModelParameters parameters of the vehicle model
//!
- AlgorithmLongitudinalCalculations(double velocity, double accelerationWish, const VehicleModelParameters &vehicleModelParameters, std::function<void (CbkLogLevel, const char*, int, const std::string &)> Log);
+ AlgorithmLongitudinalCalculations(units::velocity::meters_per_second_t velocity, units::acceleration::meters_per_second_squared_t accelerationWish, const mantle_api::VehicleProperties &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
@@ -71,7 +72,7 @@ public:
//!
//! \return Calculated engine speed
//!
- double GetEngineSpeed() const;
+ units::angular_velocity::revolutions_per_minute_t GetEngineSpeed() const;
//!
//! \return Calculated gear
@@ -81,34 +82,34 @@ public:
//!
//! \brief Calculates the acceleration that will result from the engineTorque at the given gear
//!
- double GetAccFromEngineTorque(double engineTorque, int chosenGear);
+ units::acceleration::meters_per_second_squared_t GetAccFromEngineTorque(const units::torque::newton_meter_t &engineTorque, int chosenGear);
//!
//! \brief Calculates the engine speed required to drive with the given velocity at the specified gear
//!
- double GetEngineSpeedByVelocity(double velocity, int gear);
+ units::angular_velocity::revolutions_per_minute_t GetEngineSpeedByVelocity(const units::velocity::meters_per_second_t &velocity, int gear);
//!
//! \brief Checks wether the engineSpeed and acceleration/torque can be achieved by the engine
//!
- bool isWithinEngineLimits(int gear, double engineSpeed, double acceleration);
- inline bool isEngineSpeedWithinEngineLimits(double engineSpeed);
- bool isTorqueWithinEngineLimits(double torque, double engineSpeed);
+ bool isWithinEngineLimits(int gear, const units::angular_velocity::revolutions_per_minute_t &engineSpeed, const units::acceleration::meters_per_second_squared_t &acceleration);
+ inline bool isEngineSpeedWithinEngineLimits(const units::angular_velocity::revolutions_per_minute_t &engineSpeed);
+ bool isTorqueWithinEngineLimits(const units::torque::newton_meter_t &torque, const units::angular_velocity::revolutions_per_minute_t &engineSpeed);
//!
//! \brief Returns the maximum possible engineTorque for the given engineSpeed
//!
- double GetEngineTorqueMin(double engineSpeed);
+ units::torque::newton_meter_t GetEngineTorqueMin(const units::angular_velocity::revolutions_per_minute_t& engineSpeed);
//!
//! \brief Returns the minimum engineTorque (i.e. maximum drag) for the given engineSpeed
//!
- double GetEngineTorqueMax(double engineSpeed);
+ units::torque::newton_meter_t GetEngineTorqueMax(const units::angular_velocity::revolutions_per_minute_t& engineSpeed);
//!
//! \brief Calculates the engine torque required to achieve the given acceleration at the specified gear
//!
- double GetEngineTorqueAtGear(int gear, double acceleration);
+ units::torque::newton_meter_t GetEngineTorqueAtGear(int gear, const units::acceleration::meters_per_second_squared_t &acceleration);
protected:
double GetVehicleProperty(const std::string& propertyName);
@@ -116,13 +117,13 @@ protected:
std::function<void (CbkLogLevel, const char*, int, const std::string &)> Log;
//Input
- double velocity{0.0};
- double accelerationWish{0.0};
- const VehicleModelParameters &vehicleModelParameters;
+ units::velocity::meters_per_second_t velocity{0.0};
+ units::acceleration::meters_per_second_squared_t accelerationWish{0.0};
+ const mantle_api::VehicleProperties &vehicleModelParameters;
//Output
int gear{1};
- double engineSpeed{0.0};
+ units::angular_velocity::revolutions_per_minute_t engineSpeed{0.0};
double brakePedalPosition{0.0};
double acceleratorPedalPosition{0.0};
};
diff --git a/sim/src/components/Algorithm_Routecontrol/algorithm_RouteControl_implementation.cpp b/sim/src/components/Algorithm_Routecontrol/algorithm_RouteControl_implementation.cpp
index 866a38b05ea6192a798c4b4e964c81920360a109..bbfda447dbcc3c8093dc5ba762a1969ca9be5bc9 100644
--- a/sim/src/components/Algorithm_Routecontrol/algorithm_RouteControl_implementation.cpp
+++ b/sim/src/components/Algorithm_Routecontrol/algorithm_RouteControl_implementation.cpp
@@ -1,5 +1,6 @@
/********************************************************************************
* Copyright (c) 2020-2021 ITK Engineering GmbH
+ * 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -93,7 +94,7 @@ Algorithm_Routecontrol_Implementation::Algorithm_Routecontrol_Implementation(
{
LOGINFO(QString().sprintf("Constructing %s for agent %d", COMPONENTNAME.c_str(), agent->GetId()).toStdString());
- mTimeStep = (double)cycleTime / 1000.0;
+ mTimeStep = units::time::second_t((double)cycleTime / 1000.0);
try
{
@@ -141,8 +142,15 @@ void Algorithm_Routecontrol_Implementation::UpdateInput(int localLinkId,
try
{
- trajectory = trajectorySignal->trajectory;
- LOGDEBUG(QString().sprintf("%s UpdateInput successful", COMPONENTNAME.c_str()).toStdString());
+ if (std::holds_alternative<mantle_api::PolyLine>(trajectorySignal->trajectory.type))
+ {
+ trajectory = std::get<mantle_api::PolyLine>(trajectorySignal->trajectory.type);
+ LOGDEBUG(QString().sprintf("%s UpdateInput successful", COMPONENTNAME.c_str()).toStdString());
+ }
+ else
+ {
+ LOGERROR(QString().sprintf("%s UpdateInput failed. Only trajectories of type PolyLine are supported.", COMPONENTNAME.c_str()).toStdString());
+ }
}
catch (...)
{
@@ -190,12 +198,11 @@ void Algorithm_Routecontrol_Implementation::Trigger(int time_ms)
* - driver aggressivity
*/
- auto weight = helper::map::query(GetAgent()->GetVehicleModelParameters().properties, vehicle::properties::Mass);
- THROWIFFALSE(weight.has_value(), "Mass was not defined in VehicleCatalog");
+ auto weight = GetAgent()->GetVehicleModelParameters()->mass;
- routeControl->SetVehicleProperties(weight.value(),
+ routeControl->SetVehicleProperties(weight,
maxpower.GetValue(),
- mintorque.GetValue(),
+ units::torque::newton_meter_t(mintorque.GetValue()),
drivingAgressivity.GetValue());
routeControl->SetPIDParameters(pedalsKp.GetValue(), pedalsKi.GetValue(), pedalsKd.GetValue(),
@@ -204,7 +211,7 @@ void Algorithm_Routecontrol_Implementation::Trigger(int time_ms)
if (!waypoints) // only allocate once
{
- unsigned int n = trajectory.points.size();
+ unsigned int n = trajectory.size();
waypoints = new std::vector<WaypointData>(n);
ReadWayPointData(); // for periodic trajectory update: move this line outside the IF statement
}
@@ -218,7 +225,7 @@ void Algorithm_Routecontrol_Implementation::Trigger(int time_ms)
}
// perform calculations
- routeControl->Perform(time_ms, GetAgent()->GetPositionX(), GetAgent()->GetPositionY(),
+ routeControl->Perform(units::time::millisecond_t(time_ms), GetAgent()->GetPositionX(), GetAgent()->GetPositionY(),
GetAgent()->GetYaw(), GetAgent()->GetVelocity().Length());
LOGDEBUG(QString().sprintf("%s output (agent %d) : FrontWheelAngle = %f, ThrottlePedal = %f, BrakePedal = %f",
@@ -236,7 +243,7 @@ void Algorithm_Routecontrol_Implementation::Trigger(int time_ms)
*/
double brake = routeControl->GetBrakePedal();
std::array<double, 4> brakeSuperpose{0.0, 0.0, 0.0, 0.0};
- ControlData result{routeControl->GetFrontWheelAngle(), routeControl->GetThrottlePedal(), brake, brakeSuperpose};
+ ControlData result{routeControl->GetFrontWheelAngle().value(), routeControl->GetThrottlePedal(), brake, brakeSuperpose};
control.SetValue(result);
LOGDEBUG(QString().sprintf("%s Trigger successful", COMPONENTNAME.c_str()).toStdString());
@@ -246,20 +253,25 @@ void Algorithm_Routecontrol_Implementation::Trigger(int time_ms)
void Algorithm_Routecontrol_Implementation::ReadWayPointData()
{
- unsigned int n = trajectory.points.size();
+ unsigned int n = trajectory.size();
- double vel = 0.0;
+ units::velocity::meters_per_second_t vel{0.0};
for (unsigned int i = 0; i < n; ++i)
{
- openScenario::TrajectoryPoint point = trajectory.points.at(i);
- waypoints->at(i).time = point.time; // s
- waypoints->at(i).position.x = point.x;
- waypoints->at(i).position.y = point.y;
+ auto polyLinePoint = trajectory.at(i);
+
+ if (!polyLinePoint.time.has_value())
+ {
+ LOGERROR(QString().sprintf("%s ReadWayPointData failed. Time in PolyLinePoint not set.", COMPONENTNAME.c_str()).toStdString());
+ }
+ waypoints->at(i).time = polyLinePoint.time.value(); // s
+ waypoints->at(i).position.x = polyLinePoint.pose.position.x;
+ waypoints->at(i).position.y = polyLinePoint.pose.position.y;
if (i<n-1)
{
- openScenario::TrajectoryPoint pointNext = trajectory.points.at(i+1);
- vel = std::sqrt(std::pow(pointNext.x-point.x,2) + std::pow(pointNext.y-point.y,2)) / mTimeStep; // uniform motion approximation
+ auto polyLinePointNext = trajectory.at(i + 1);
+ vel = units::math::sqrt(units::math::pow<2>(polyLinePointNext.pose.position.x - polyLinePoint.pose.position.x) + units::math::pow<2>(polyLinePointNext.pose.position.y - polyLinePoint.pose.position.y)) / mTimeStep; // uniform motion approximation
}
waypoints->at(i).longVelocity = vel;
}
diff --git a/sim/src/components/Algorithm_Routecontrol/algorithm_RouteControl_implementation.h b/sim/src/components/Algorithm_Routecontrol/algorithm_RouteControl_implementation.h
index 62435c0cd3db4614f5551354eb85f22a58dce925..937b41b9ca3917d32bf70bc44ca4db549a8b21d1 100644
--- a/sim/src/components/Algorithm_Routecontrol/algorithm_RouteControl_implementation.h
+++ b/sim/src/components/Algorithm_Routecontrol/algorithm_RouteControl_implementation.h
@@ -132,7 +132,7 @@ private:
* @{
*/
// InputPort<TrajectorySignal, openScenario::Trajectory> trajectory{0, &inputPorts}; //!< given trajectory to follow
- openScenario::Trajectory trajectory; //!< given trajectory to follow
+ mantle_api::PolyLine trajectory; //!< given trajectory to follow
/**
* @}
* @}
@@ -179,7 +179,7 @@ private:
//local computation objects
std::vector<WaypointData> *waypoints = nullptr; //!< vector of waypoints that should be followed
RouteControl *routeControl = nullptr; //!< class containing the actual algorithms for the route control
- double mTimeStep; //!< time step in s
+ units::time::second_t mTimeStep; //!< time step in s
/**
* @}
*/
diff --git a/sim/src/components/Algorithm_Routecontrol/routeControl.cpp b/sim/src/components/Algorithm_Routecontrol/routeControl.cpp
index 11598b4d86fcab0d6c29f076bc934da97681508e..dc209bc9a6b5992f4c10b322db67b4bcaef5356d 100644
--- a/sim/src/components/Algorithm_Routecontrol/routeControl.cpp
+++ b/sim/src/components/Algorithm_Routecontrol/routeControl.cpp
@@ -11,26 +11,26 @@
#include "routeControl.h"
// Constructor RouteControl
-RouteControl::RouteControl(double dT):
+RouteControl::RouteControl(units::time::second_t dT) :
mDT(dT)
{
// Initialize current Position Data
- mCurrentPosData.position.x = 0.0;
- mCurrentPosData.position.y = 0.0;
- mCurrentPosData.longVelocity = 0.0;
- mCurrentPosData.angle = 0.0;
+ mCurrentPosData.position.x = 0.0_m;
+ mCurrentPosData.position.y = 0.0_m;
+ mCurrentPosData.longVelocity = 0.0_mps;
+ mCurrentPosData.angle = 0.0_rad;
// Initialize outputs (throttle, brake and front wheel angle)
mThrottlePedal = 0.0;
mThrottlePedalPrev = 0.0;
mBrakePedal = 0.0;
mBrakePedalPrev = 0.0;
- mFrontWheelAngle = 0.0;
+ mFrontWheelAngle = 0.0_rad;
// Initialize support variables and paremeters
mSteeringFactorDriverAction = 0.0;
- mlookAheadTime = C_lookAheadTimeDefault / 1000.0; // C_lookAheadTimeDefault = 270 ms
+ mlookAheadTime = units::time::millisecond_t(C_lookAheadTimeDefault); // C_lookAheadTimeDefault = 270 ms
mLastUsedTrajectoryIndex = 0;
mDrivingAggressivity = C_MaxDrivingAggressivity;
@@ -59,7 +59,7 @@ RouteControl::RouteControl(double dT):
}
// Set Vehicle properties and parameters
-void RouteControl::SetVehicleProperties(double weight, double maxPower, double minTorque, double drivingAggressivity)
+void RouteControl::SetVehicleProperties(units::mass::kilogram_t weight, double maxPower, units::torque::newton_meter_t minTorque, double drivingAggressivity)
{
// Set wheel radius, limit steerin angle, weight, max throttle power, min brake torque
mWheelRadius = C_WheelRadius; // C_WheelRadius = 0.3m
@@ -202,7 +202,7 @@ void RouteControl::CalculateFrontWheelAngle()
mFrontWheelAngle = std::clamp(mFrontWheelAngle, -mLimitSteeringAngle, mLimitSteeringAngle);
}
-double RouteControl::GetFrontWheelAngle()
+units::angle::radian_t RouteControl::GetFrontWheelAngle()
{
return mFrontWheelAngle;
}
@@ -216,7 +216,7 @@ void RouteControl::SetRequestedTrajectory(std::vector<WaypointData> &trajFoll)
}
// Set the current position of the vehicle
-void RouteControl::SetCurrentPosition(double positionX, double positionY, double yawAngle, double longVelocity)
+void RouteControl::SetCurrentPosition(units::length::meter_t positionX, units::length::meter_t positionY, units::angle::radian_t yawAngle, units::velocity::meters_per_second_t longVelocity)
{
// Sets the current x-position, y-position, longitudinal velocity and the yaw angle of the vehicle
mCurrentPosData.position.x = positionX;
@@ -226,10 +226,10 @@ void RouteControl::SetCurrentPosition(double positionX, double positionY, double
}
// Function returning the next relevant goal waypoint of the trajectory to use as a reference
-WaypointData& RouteControl::GetGoalWaypoint(double lookAheadTime, bool& isLastTrajectoryPoint)
+WaypointData &RouteControl::GetGoalWaypoint(units::time::second_t lookAheadTime, bool &isLastTrajectoryPoint)
{
- double distance;
- double minDistance = INFINITY;
+ units::length::meter_t distance;
+ units::length::meter_t minDistance(INFINITY);
int nextPointIndex = -1;
// Get the index of the next point to the nearest point to the current position
@@ -237,7 +237,7 @@ WaypointData& RouteControl::GetGoalWaypoint(double lookAheadTime, bool& isLastTr
for (int i = 0; i < mTrajectorySize; i++)
{
// Calculate the distance between the current position and a waypoint in trajectory
- Common::Vector2d distanceVec(mRequestedTrajectory[i].position - mCurrentPosData.position);
+ Common::Vector2d<units::length::meter_t> distanceVec(mRequestedTrajectory[i].position - mCurrentPosData.position);
distance = distanceVec.Length();
if (distance < minDistance)
@@ -259,12 +259,12 @@ WaypointData& RouteControl::GetGoalWaypoint(double lookAheadTime, bool& isLastTr
}
}
- if (lookAheadTime > 0) // check if lookAheadTime is meaningful (bigger than 0)
+ if (lookAheadTime > 0_s) // check if lookAheadTime is meaningful (bigger than 0)
{
// starting from the trajectory waypoint with minimum distance until the current position
for (int i = nextPointIndex; i < mTrajectorySize; i++)
{
- if ((mRequestedTrajectory[i].time - (double)mTime / 1000.0) >= lookAheadTime)
+ if ((mRequestedTrajectory[i].time - mTime) >= lookAheadTime)
{
// when the time difference between an analyzed trajectory waypoint and the waypoint with the minimum distance (until the current position of the vehicle)
// is bigger or equal than the look ahead time, returns that analyzed waypoint as the next waypoint to use
@@ -285,10 +285,10 @@ WaypointData& RouteControl::GetGoalWaypoint(double lookAheadTime, bool& isLastTr
}
// Function returning the angle from the current position to the given goal waypoint
-double RouteControl::GetAngleToGoalWaypoint(WaypointData& goalWaypointAngle)
+units::angle::radian_t RouteControl::GetAngleToGoalWaypoint(WaypointData &goalWaypointAngle)
{
- Common::Vector2d distanceToGoalPoint(goalWaypointAngle.position - mCurrentPosData.position);
- return distanceToGoalPoint.Angle();
+ Common::Vector2d<units::length::meter_t> distanceToGoalPoint(goalWaypointAngle.position - mCurrentPosData.position);
+ return units::angle::radian_t(distanceToGoalPoint.Angle());
}
// Function returning the next relevant goal waypoint of the trajectory to use as a reference for the Velocity control
@@ -297,18 +297,18 @@ WaypointData& RouteControl::GetGoalWaypointVelocity()
bool isLastTrajectoryPoint;
Q_UNUSED(isLastTrajectoryPoint);
// lastTrajectoryPoint flag is true, when the returned goal waypoint is the last one
- return GetGoalWaypoint(0.0, isLastTrajectoryPoint); // lookAheadTime trasfered here is equal 0
+ return GetGoalWaypoint(0.0_s, isLastTrajectoryPoint); // lookAheadTime trasfered here is equal 0
}
// Function returning the next relevant goal waypoint of the trajectory to use as a reference for the Steering Angle control
-WaypointData& RouteControl::GetGoalWaypointAngle(double lookAheadTime, bool& lastTrajectoryPoint)
+WaypointData &RouteControl::GetGoalWaypointAngle(units::time::second_t lookAheadTime, bool &lastTrajectoryPoint)
{
// lastTrajectoryPoint flag is true, when the returned goal waypoint is the last one
// endOfRoute flag is true, when lastTrajectoryPoint was previously set to true and the vehicle keeps on driving far from last trajectory point
return GetGoalWaypoint(lookAheadTime, lastTrajectoryPoint);
}
-void RouteControl::Perform(int time, double positionX, double positionY, double yawAngle, double longVelocity)
+void RouteControl::Perform(units::time::millisecond_t time, units::length::meter_t positionX, units::length::meter_t positionY, units::angle::radian_t yawAngle, units::velocity::meters_per_second_t longVelocity)
{
/** @addtogroup sim_step_00_rc_start
* Read and update previous vehicle's state:
@@ -341,23 +341,23 @@ void RouteControl::Perform(int time, double positionX, double positionY, double
/** @addtogroup sim_step_10_rc_error
* Obtain the pointing deviation between the extrapolated vehicle translation and the trajectory point to be reached.
*/
- double angleToGoalWaypoint = GetAngleToGoalWaypoint(goalWaypointAngle);
+ const auto angleToGoalWaypoint = GetAngleToGoalWaypoint(goalWaypointAngle);
// compare current steering angle with the one it should have
- double angleDelta = mCurrentPosData.angle - angleToGoalWaypoint;
- if (angleDelta > M_PI) // make sure the angle is in the proper range (-PI, PI)
+ auto angleDelta = mCurrentPosData.angle - angleToGoalWaypoint;
+ if (angleDelta > units::angle::radian_t(M_PI)) // make sure the angle is in the proper range (-PI, PI)
{
- angleDelta -= (2 * M_PI);
+ angleDelta -= units::angle::radian_t(2 * M_PI);
}
- else if (angleDelta < -M_PI)
+ else if (angleDelta < units::angle::radian_t(-M_PI))
{
- angleDelta += (2 * M_PI);
+ angleDelta += units::angle::radian_t(2 * M_PI);
}
/** @addtogroup sim_step_10_rc_error
* Scale steering control according to absolute velocity.
*/
- steeringError = angleDelta/mCurrentPosData.longVelocity;
+ steeringError = angleDelta.value() / mCurrentPosData.longVelocity.value();
// calculate the steering and velocity control
SteeringControl(steeringError);
@@ -366,7 +366,7 @@ void RouteControl::Perform(int time, double positionX, double positionY, double
/** @addtogroup sim_step_10_rc_error
* Obtain the deviation between the actual vehicle velocity and the desired velocity value.
*/
- double velocityError = mCurrentPosData.longVelocity - goalWaypointVelocity.longVelocity;
+ const auto velocityError = mCurrentPosData.longVelocity - goalWaypointVelocity.longVelocity;
PedalControl( velocityError);
CalculateFrontWheelAngle();
@@ -417,7 +417,7 @@ void RouteControl::SteeringControl(double steeringError)
}
// Function PedalControl executes the PID controller to compensate the forward velocity error
-void RouteControl::PedalControl(double velocityError)
+void RouteControl::PedalControl(units::velocity::meters_per_second_t velocityError)
{
double pedalPIDControllerAction;
@@ -432,10 +432,10 @@ void RouteControl::PedalControl(double velocityError)
* - derivative
*/
// calculate the Proportional part of the PID controller
- pedalProportionalTerm = mPedalsKp * velocityError;
+ pedalProportionalTerm = mPedalsKp * velocityError.value();
// calculate the Integral part of the PID controller
- mPedalsIntegralError += velocityError;
+ mPedalsIntegralError += velocityError.value();
pedalIntegralTerm = mPedalsKi * mPedalsIntegralError * mDT;
// the integral term is limited, to avoid that it becomes extremly high with the time
if (pedalIntegralTerm > C_PedalIntegratorMax)
@@ -448,7 +448,7 @@ void RouteControl::PedalControl(double velocityError)
}
// calculate the Derivative part of the PID controller
- double pedalsDerivativeError = velocityError - mPreVelocityError;
+ double pedalsDerivativeError = velocityError.value() - mPreVelocityError;
if (mDT > 0.0) // when the dT is equal 0, avoids division by 0
{
pedalDerivativeTerm = mPedalsKd * (pedalsDerivativeError / mDT);
@@ -463,14 +463,14 @@ void RouteControl::PedalControl(double velocityError)
SetPedals(pedalPIDControllerAction);
// remember the velocity error for the next cycle
- mPreVelocityError = velocityError;
+ mPreVelocityError = velocityError.value();
}
// Function SetSteering sets the PID controller action, transfered to the steering of the vehicle
void RouteControl::SetSteering(double pidAction)
{
mSteeringFactorDriverAction = C_SteeringWheelSensitivity;
- mFrontWheelAngle = pidAction * mSteeringFactorDriverAction;
+ mFrontWheelAngle = units::angle::radian_t(pidAction * mSteeringFactorDriverAction);
}
// Function SetPedals sets the PID controller action, transfered to the pedals of the vehicle
@@ -478,7 +478,7 @@ void RouteControl::SetPedals(double pidAction)
{
if (pidAction > 0.0) // when driving too slow, driver compensates with acceleration
{
- if (mCurrentPosData.longVelocity <= 0.0)
+ if (mCurrentPosData.longVelocity <= 0.0_mps)
{
// if the velocity is 0 or negative, vehicle must press the full throttle pedal
mThrottlePedal = C_MaxThrottlePedal;
@@ -486,7 +486,7 @@ void RouteControl::SetPedals(double pidAction)
else
{
// otherwise the throttle pedal action from the pid controller is scaled by a formula including the parameters (weight, velocity, maxPower) of the vehicle
- double throttleFactorDriverAction = (mWeight * mCurrentPosData.longVelocity) / (mMaxEnginePower * mDT); // (velocity * 0.02 / dT)
+ double throttleFactorDriverAction = (mWeight.value() * mCurrentPosData.longVelocity.value()) / (mMaxEnginePower * mDT); // (velocity * 0.02 / dT)
mThrottlePedal = pidAction * throttleFactorDriverAction;
}
// brakePedal is not pressed at all
@@ -495,7 +495,7 @@ void RouteControl::SetPedals(double pidAction)
else if (pidAction < 0.0) // when driving too fast, driver compensates with deceleration
{
// the brake pedal action from the pid controller is scaled by a formula including the parameters (weight, wheel radius, brakeTorque) of the vehicle
- double brakeFactorDriverAction = (mWheelRadius * mWeight) / (mDT * mMinBrakeTorque); // (-0.06 / dT)
+ double brakeFactorDriverAction = (mWheelRadius.value() * mWeight.value()) / (mDT * mMinBrakeTorque.value()); // (-0.06 / dT)
mBrakePedal = pidAction * brakeFactorDriverAction * GetBrakeSensitivity();
// Throttle pedal is not pressed at all
mThrottlePedal = C_MinThrottlePedal;
@@ -511,13 +511,13 @@ void RouteControl::SetPedals(double pidAction)
double RouteControl::GetBrakeSensitivity()
{
// by velocity equals 0, the brake sensitivity is 0
- if (mCurrentPosData.longVelocity == 0.0)
+ if (mCurrentPosData.longVelocity == 0.0_mps)
{
return 0.0;
}
else
{
// the higher the velocity, the smaller will be the brake sensitivity
- return (1 / mCurrentPosData.longVelocity * C_BrakeSensitivity);
+ return (1 / mCurrentPosData.longVelocity.value() * C_BrakeSensitivity);
}
}
diff --git a/sim/src/components/Algorithm_Routecontrol/routeControl.h b/sim/src/components/Algorithm_Routecontrol/routeControl.h
index c7911ff40a829c2362ea25813ac2af6e101eb361..e3ce6e08777d02617a40c49f66cf4c5000b276d7 100644
--- a/sim/src/components/Algorithm_Routecontrol/routeControl.h
+++ b/sim/src/components/Algorithm_Routecontrol/routeControl.h
@@ -11,25 +11,28 @@
#ifndef ROUTECONTROL_H
#define ROUTECONTROL_H
-#include <vector>
#include <iostream>
#include <math.h>
+#include <vector>
#include <QFile>
#include <QTextStream>
#include "common/vector2d.h"
+#include "units.h"
+
+using namespace units::literals;
//! Lightweight structure comprising all information on a way point within a trajectory
struct WaypointData
{
- Common::Vector2d position; //!< position (x- and y-coordinates)
- double longVelocity; //!< velocity
- double time; //!< timestamp
+ Common::Vector2d<units::length::meter_t> position; //!< position (x- and y-coordinates)
+ units::velocity::meters_per_second_t longVelocity; //!< velocity
+ units::time::second_t time; //!< timestamp
//! Standard constructor
- WaypointData():
- position(), longVelocity(0), time(0)
+ WaypointData() :
+ position(), longVelocity(0_mps), time(0_s)
{}
//! Constructor
@@ -38,7 +41,7 @@ struct WaypointData
//! @param[in] y y-coordinate
//! @param[in] velocity
//! @param[in] time
- WaypointData(double x, double y, double velocity, double time):
+ WaypointData(units::length::meter_t x, units::length::meter_t y, units::velocity::meters_per_second_t velocity, units::time::second_t time) :
position(x, y), longVelocity(velocity), time(time)
{}
};
@@ -46,19 +49,22 @@ struct WaypointData
//! Lightweight structure comprising all information on positioning a vehicle
struct PositionData
{
- Common::Vector2d position; //!< 2d vector with x- and y-coordinates
- double angle; //!< angle
- double longVelocity; //!< longitudinal velocity
+ Common::Vector2d<units::length::meter_t> position; //!< 2d vector with x- and y-coordinates
+ units::angle::radian_t angle; //!< angle
+ units::velocity::meters_per_second_t longVelocity; //!< longitudinal velocity
//! Standard constructor
- PositionData(): position(), angle(0), longVelocity(0) {}
+ PositionData() :
+ position(), angle(0_rad), longVelocity(0_mps)
+ {
+ }
//! Constructor
//!
//! @param[in] position 2d vector with x- and y-coordinates
//! @param[in] angle
//! @param[in] velocity
- PositionData(Common::Vector2d position, double angle, double velocity):
+ PositionData(Common::Vector2d<units::length::meter_t> position, units::angle::radian_t angle, units::velocity::meters_per_second_t velocity) :
position(position), angle(angle), longVelocity(velocity)
{}
@@ -68,7 +74,7 @@ struct PositionData
//! @param[in] y y-coordinate
//! @param[in] angle
//! @param[in] velocity
- PositionData(double x, double y, double angle, double velocity):
+ PositionData(units::length::meter_t x, units::length::meter_t y, units::angle::radian_t angle, units::velocity::meters_per_second_t velocity) :
angle(angle), longVelocity(velocity)
{
position.x = x;
@@ -93,8 +99,8 @@ class RouteControl
const double C_BrakeSensitivity = 1.5; //!< constant value used to scale the influence of the velocity in the brake sensitivity
const double C_SteeringWheelSensitivity = 1.0; //!< constant value to scale the steering PID control result, which is transfered to be used as steering action
- const double C_MaxSteeringAngle = M_PI_4; //!< typical maximal steering constant value, indicates the steering angle limit
- const double C_WheelRadius = 0.3; //!< typical wheel radius constant value
+ const units::angle::radian_t C_MaxSteeringAngle{M_PI_4}; //!< typical maximal steering constant value, indicates the steering angle limit
+ const units::length::meter_t C_WheelRadius{0.3}; //!< typical wheel radius constant value
const double C_PedalsKp = -2.0; //!< constant value for the Kp parameter of the pedals PID control
const double C_PedalsKi = -1.5; //!< constant value for the Ki parameter of the pedals PID control
@@ -115,11 +121,11 @@ public:
//! Constructor
//!
//! @param[in] dT cycletime used
- RouteControl(double dT = 0.01);
+ RouteControl(units::time::second_t dT = 0.01_s);
//! Function that triggers the algorithm logic, selecting the next relevant waypoint and executing the pedals and steering control
//!
- void Perform(int time, double positionX, double positionY, double yawAngle, double longVelocity);
+ void Perform(units::time::millisecond_t time, units::length::meter_t positionX, units::length::meter_t positionY, units::angle::radian_t yawAngle, units::velocity::meters_per_second_t longVelocity);
//! Function setting the vehicle properties needed for the calculations
//!
@@ -127,7 +133,7 @@ public:
//! @param[in] maxPower maximum engine power
//! @param[in] minTorque minimum brake torque
//! @param[in] drivingAggressivity driving aggressivity level
- void SetVehicleProperties(double weight, double maxPower, double minTorque, double drivingAggressivity);
+ void SetVehicleProperties(units::mass::kilogram_t weight, double maxPower, units::torque::newton_meter_t minTorque, double drivingAggressivity);
//! Function setting parameters needed for the PID controllers
//!
@@ -152,7 +158,7 @@ public:
//! Function returning the required front wheel angle
//!
//! @return the required front wheel angle
- double GetFrontWheelAngle();
+ units::angle::radian_t GetFrontWheelAngle();
//! Function setting the requested trajectory (route) to follow
//!
@@ -163,23 +169,23 @@ public:
//!
//! @param[in] goalWaypointAngle goal Waypoint position
//! @return angle to the given goal waypoint
- double GetAngleToGoalWaypoint(WaypointData& goalWaypointAngle);
+ units::angle::radian_t GetAngleToGoalWaypoint(WaypointData &goalWaypointAngle);
private:
- int mTime; //!< time of the current similuation cycle in ms
+ units::time::millisecond_t mTime; //!< time of the current similuation cycle in ms
double mDT; //!< cycle time
// Vehicle Properties
double mMaxEnginePower; //!< maximum engine power
- double mMinBrakeTorque; //!< minimum brake torque
- double mWeight; //!< weight of the vehicle
- double mWheelRadius; //!< wheel radius
+ units::torque::newton_meter_t mMinBrakeTorque; //!< minimum brake torque
+ units::mass::kilogram_t mWeight; //!< weight of the vehicle
+ units::length::meter_t mWheelRadius; //!< wheel radius
double mDrivingAggressivity; //!< driving aggressivity level
// Requested Trajectory
std::vector<WaypointData> mRequestedTrajectory; //!< vector of waypoints of the given trajectory
int mTrajectorySize; //!< number of waypoints that the requested trajectory contains
- double mlookAheadTime; //!< time to look ahead, relevant for calculating the next trajectory point to consider in the route (trajectory)
+ units::time::second_t mlookAheadTime; //!< time to look ahead, relevant for calculating the next trajectory point to consider in the route (trajectory)
// Current Position
PositionData mCurrentPosData; //!< the current position data
@@ -199,7 +205,7 @@ private:
double mPreVelocityError; //!< previous forward velocity error used in the pedals PID controller
// Steering Action
- double mFrontWheelAngle; //!< the required steering angle value
+ units::angle::radian_t mFrontWheelAngle; //!< the required steering angle value
double mSteeringFactorDriverAction; //!< scale factor applied to the steering PID control result
// Steering PID Controller
@@ -208,7 +214,7 @@ private:
double mSteeringKd; //!< derivative part of the steering PID controller
double mSteeringIntegralError; //!< angle-integral-error calculated for the steering controller
double mPrevAngleError; //!< previous angle-error used in the steering PID controller
- double mLimitSteeringAngle; //!< contains the value to indicate the limit angle of the steering
+ units::angle::radian_t mLimitSteeringAngle; //!< contains the value to indicate the limit angle of the steering
//! Function setting the current position data
//!
@@ -216,7 +222,7 @@ private:
//! @param[in] positionY position on the y axle of the vehicle in global CS
//! @param[in] yawAngle yaw angle of the vehicle in global CS
//! @param[in] longVelocity longitudinal velocity of the vehicle, in car's CS
- void SetCurrentPosition(double positionX, double positionY, double yawAngle, double longVelocity);
+ void SetCurrentPosition(units::length::meter_t positionX, units::length::meter_t positionY, units::angle::radian_t yawAngle, units::velocity::meters_per_second_t longVelocity);
//! Function returning the next relevant goal waypoint of the trajectory to use as a reference
//!
@@ -224,7 +230,7 @@ private:
//! @param[in] lastTrajectoryPoint flag that indicates if the returned waypoint is the last one of the requested trajectory
//! @param[in] endOfRoute flag that indicates if the vehicle is driving away from the last route (trajectory) point, because it was previously reached
//! @return the next relevant goal waypoint of the trajectory to use as a reference
- WaypointData& GetGoalWaypoint(double lookAheadTime, bool& lastTrajectoryPoint);
+ WaypointData &GetGoalWaypoint(units::time::second_t lookAheadTime, bool &lastTrajectoryPoint);
//! Function returning the next relevant goal waypoint of the trajectory to use as a reference for the Velocity control
//!
@@ -238,12 +244,12 @@ private:
//! @param[in] lastTrajectoryPoint flag that indicates if the returned waypoint is the last one of the requested trajectory
//! @param[in] endOfRoute flag that indicates if the vehicle is driving away from the last route (trajectory) point, because it was previously reached
//! @return the next relevant goal waypoint of the trajectory to use as a reference for the Steering Angle control
- WaypointData& GetGoalWaypointAngle(double lookAheadTime, bool& lastTrajectoryPoint);
+ WaypointData &GetGoalWaypointAngle(units::time::second_t lookAheadTime, bool &lastTrajectoryPoint);
//! Function executing the PID controller to compensate the forward velocity error
//!
//! @param[in] velFwError forward velocity error used in the pedals PID controller
- void PedalControl(double velocityError);
+ void PedalControl(units::velocity::meters_per_second_t velocityError);
//! Function executing the PID controller to compensate the steering error
//!
diff --git a/sim/src/components/CMakeLists.txt b/sim/src/components/CMakeLists.txt
index 03b36449874c3f9c75aea42a6d013f34d11f4ecf..a65aa756271fa0a269a7ac8a11eec32d335afaff 100644
--- a/sim/src/components/CMakeLists.txt
+++ b/sim/src/components/CMakeLists.txt
@@ -37,7 +37,6 @@ add_subdirectory(Dynamics_RegularTwoTrack)
add_subdirectory(Dynamics_TF)
add_subdirectory(Dynamics_TwoTrack)
add_subdirectory(LimiterAccVehComp)
-add_subdirectory(OpenScenarioActions)
add_subdirectory(Parameters_Vehicle)
add_subdirectory(SensorAggregation_OSI)
add_subdirectory(SensorFusionErrorless_OSI)
diff --git a/sim/src/components/ComponentController/componentController.cpp b/sim/src/components/ComponentController/componentController.cpp
index b94a8ebf4cbd97a8e16eee52aafb7889990dfa8e..441dd5f83d8c4cfb20e4521bc20c67156febc758 100644
--- a/sim/src/components/ComponentController/componentController.cpp
+++ b/sim/src/components/ComponentController/componentController.cpp
@@ -36,7 +36,7 @@ extern "C" COMPONENT_CONTROLLER_SHARED_EXPORT ModelInterface *OpenPASS_CreateIns
PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks,
- core::EventNetworkInterface * const eventNetwork)
+ std::shared_ptr<ControlStrategiesInterface> const controlStrategies)
{
Callbacks = callbacks;
@@ -55,7 +55,7 @@ extern "C" COMPONENT_CONTROLLER_SHARED_EXPORT ModelInterface *OpenPASS_CreateIns
publisher,
callbacks,
agent,
- eventNetwork));
+ controlStrategies));
}
catch(const std::runtime_error &ex)
{
diff --git a/sim/src/components/ComponentController/src/componentControllerImpl.cpp b/sim/src/components/ComponentController/src/componentControllerImpl.cpp
index dfb0c4a13eaf57e433011f0da094bdad8fe17905..78d4981d51499e6b3d6195d2a2fede590992e012 100644
--- a/sim/src/components/ComponentController/src/componentControllerImpl.cpp
+++ b/sim/src/components/ComponentController/src/componentControllerImpl.cpp
@@ -17,7 +17,6 @@
#include "common/agentCompToCompCtrlSignal.h"
#include "common/primitiveSignals.h"
#include "include/eventNetworkInterface.h"
-#include "common/events/componentStateChangeEvent.h"
ComponentControllerImplementation::ComponentControllerImplementation(std::string componentName,
bool isInit,
@@ -31,8 +30,8 @@ ComponentControllerImplementation::ComponentControllerImplementation(std::string
PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent,
- core::EventNetworkInterface* const eventNetwork) :
- UnrestrictedEventModelInterface(
+ std::shared_ptr<ControlStrategiesInterface> const controlStrategies) :
+ UnrestrictedControllStrategyModelInterface(
componentName,
isInit,
priority,
@@ -45,7 +44,7 @@ ComponentControllerImplementation::ComponentControllerImplementation(std::string
publisher,
callbacks,
agent,
- eventNetwork),
+ controlStrategies),
stateManager(callbacks)
{
}
@@ -118,36 +117,48 @@ void ComponentControllerImplementation::UpdateOutput(int localLinkId, std::share
}
}
-bool ComponentControllerImplementation::IsAgentAffectedByEvent(EventInterface const * event)
-{
- return std::find(event->GetActingAgents().entities.begin(),event->GetActingAgents().entities.end(),
- GetAgent()->GetId()) != event->GetActingAgents().entities.end();
-}
-
/*
- * Each trigger, pull ComponentStateChangeEvents for this agent and pass the list of them
+ * Each trigger, pull commands for this agent and pass the list of them
* to the stateManager for proper handling of changes of component max reachable state
*/
void ComponentControllerImplementation::Trigger([[maybe_unused]] int time)
{
- // get the event list and filter by ComponentStateChangeEvents and this agent's id
- const auto stateChangeEventList = GetEventNetwork()->GetTrigger(openpass::events::ComponentStateChangeEvent::TOPIC);
+ auto& customCommands = GetControlStrategies()->GetCustomCommands();
+ std::vector<std::pair<std::string, ComponentState>> componentStates{};
- std::vector<openpass::events::ComponentStateChangeEvent const *> componentStateChanges;
-
- // filter state change event list by this agentid
- for (const auto &stateChangeEvent : stateChangeEventList)
+ for (const auto customCommand : customCommands)
{
- const auto componentStateChangeEvent = dynamic_cast<openpass::events::ComponentStateChangeEvent const *>(stateChangeEvent);
- if (componentStateChangeEvent && IsAgentAffectedByEvent(componentStateChangeEvent))
+ auto commandTokens = CommonHelper::TokenizeString(customCommand, ' ');
+ auto commandTokensSize = commandTokens.size();
+ if (commandTokensSize == 3 && commandTokens.at(0) == "SetComponentState")
{
- componentStateChanges.push_back(componentStateChangeEvent);
+ const auto componentName = commandTokens.at(1);
+ const auto componentStateName = commandTokens.at(2);
+ ComponentState componentState;
+
+ if (componentStateName == "Acting")
+ {
+ componentState = ComponentState::Acting;
+ }
+ else if (componentStateName == "Disabled")
+ {
+ componentState = ComponentState::Disabled;
+ }
+ else if (componentStateName == "Armed")
+ {
+ componentState = ComponentState::Armed;
+ }
+ else
+ {
+ throw std::runtime_error("Component state not valid.");
+ }
+ componentStates.push_back({componentName, componentState});
}
- }
// Instruct the stateManager to updateMaxReachableStates
- // - this prioritizes the provided event list for event-triggered max reachable states
+ // - this prioritizes the provided componentStates for command-triggered max reachable states
// - this also uses registered conditions to determine each component's max reachable
// state dependent on each other component's current state
- stateManager.UpdateMaxReachableStatesForRegisteredComponents(componentStateChanges);
+ stateManager.UpdateMaxReachableStatesForRegisteredComponents(componentStates);
+ }
}
diff --git a/sim/src/components/ComponentController/src/componentControllerImpl.h b/sim/src/components/ComponentController/src/componentControllerImpl.h
index 8d9819211ca46a14cd1b4a069080f47068cf2075..8f71893f8968855b3c39ed81a4a27f96aca11c4f 100644
--- a/sim/src/components/ComponentController/src/componentControllerImpl.h
+++ b/sim/src/components/ComponentController/src/componentControllerImpl.h
@@ -28,7 +28,7 @@ using namespace ComponentControl;
*
* \ingroup ComponentController
*/
-class ComponentControllerImplementation : public UnrestrictedEventModelInterface
+class ComponentControllerImplementation : public UnrestrictedControllStrategyModelInterface
{
public:
const std::string COMPONENTNAME = "ComponentController";
@@ -45,7 +45,7 @@ public:
PublisherInterface * const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent,
- core::EventNetworkInterface * const eventNetwork);
+ std::shared_ptr<ControlStrategiesInterface> const controlStrategies);
ComponentControllerImplementation(const ComponentControllerImplementation&) = delete;
ComponentControllerImplementation(ComponentControllerImplementation&&) = delete;
ComponentControllerImplementation& operator=(const ComponentControllerImplementation&) = delete;
@@ -91,11 +91,6 @@ public:
virtual void Trigger(int time);
private:
- /// \brief Check if the associated agent is within the affected agents of the given id
- /// \param event
- /// \return True if affected
- bool IsAgentAffectedByEvent(EventInterface const * event);
-
template <typename T, typename Signal>
const std::shared_ptr<T const> SignalCast(Signal&& signal, int linkId)
{
diff --git a/sim/src/components/ComponentController/src/stateManager.cpp b/sim/src/components/ComponentController/src/stateManager.cpp
index 1a0484af9b3b0227a831ed9e1a12fe56f5a3475c..ca423aa84b612fc237ef61da838ef510bc5ca23d 100644
--- a/sim/src/components/ComponentController/src/stateManager.cpp
+++ b/sim/src/components/ComponentController/src/stateManager.cpp
@@ -101,24 +101,24 @@ void StateManager::FlagComponentMaxReachableStateSetByEvent(const int localLinkI
}
}
-void StateManager::UpdateMaxReachableStatesForRegisteredComponents(std::vector<const openpass::events::ComponentStateChangeEvent *> &componentStateChanges)
+void StateManager::UpdateMaxReachableStatesForRegisteredComponents(std::vector<std::pair<std::string, ComponentState>> componentStates)
{
- for (const auto& stateChangeEvent : componentStateChanges)
+ for (const auto& [componentName, componentState] : componentStates)
{
try
{
- const auto localLinkId = GetComponentLocalLinkIdByName(stateChangeEvent->componentName);
- UpdateComponentMaxReachableState(localLinkId, stateChangeEvent->componentState);
+ const auto localLinkId = GetComponentLocalLinkIdByName(componentName);
+ UpdateComponentMaxReachableState(localLinkId, componentState);
FlagComponentMaxReachableStateSetByEvent(localLinkId);
}
catch (const std::out_of_range& error)
{
const std::string errorMessage = error.what();
- const std::string warning = errorMessage + " The event will be ignored.";
+ const std::string warning = errorMessage + " The command will be ignored.";
LOG(CbkLogLevel::Warning, warning);
}
}
-
+
const auto componentNameToTypeAndStateMap = GetVehicleComponentNamesToTypeAndStateMap();
for (auto& vehicleComponentLocalLinkIdToStateInformationPair : vehicleComponentStateInformations)
{
diff --git a/sim/src/components/ComponentController/src/stateManager.h b/sim/src/components/ComponentController/src/stateManager.h
index 43cb543f679f7367a893bf5c3934cf629f106d94..a3bdf96b5f92ebadda6ba7e7100c9a5662a498b1 100644
--- a/sim/src/components/ComponentController/src/stateManager.h
+++ b/sim/src/components/ComponentController/src/stateManager.h
@@ -15,7 +15,6 @@
#include "include/callbackInterface.h"
#include "componentControllerCommon.h"
#include "componentStateInformation.h"
-#include "common/events/componentStateChangeEvent.h"
namespace ComponentControl {
@@ -102,12 +101,10 @@ public:
/*!
* \brief UpdateMaxReachableStatesForRegisteredComponents Calculates and updates the max reachable states for the registered components using the provided
- * event list (filtered to include only ComponentStateChangeEvents and only for the agentId of the ComponentController owning the statemanager) and registered
- * Condition-state pairs
- * \param componentStateChanges the event list from the event network, filtered to include only those events related to the agentId
- * of the controlling ComponentController and only including ComponentStateChangeEvents
+ * componentStates list and registered Condition-state pairs
+ * \param componentStates the componentStates list, filtered to include only valid commands of the correct size
*/
- void UpdateMaxReachableStatesForRegisteredComponents(std::vector<openpass::events::ComponentStateChangeEvent const *>& componentStateChanges);
+ void UpdateMaxReachableStatesForRegisteredComponents(std::vector<std::pair<std::string, ComponentState>> componentStates);
private:
//-----------------------------------------------------------------------------
//! Provides callback to LOG() macro
diff --git a/sim/src/components/Dynamics_Chassis/ForceWheelZ.cpp b/sim/src/components/Dynamics_Chassis/ForceWheelZ.cpp
index 189d9431d62a1a92baa3ea52015d027244f6916b..22545ef46091d8ddb5e314eca4830445ad02ae12 100644
--- a/sim/src/components/Dynamics_Chassis/ForceWheelZ.cpp
+++ b/sim/src/components/Dynamics_Chassis/ForceWheelZ.cpp
@@ -13,10 +13,10 @@
// Calculate the perpendicular force on wheels against inertia
// - the pitchZ is positive if pitching backward, otherwise negative
// - the rollZ is positive if rolling right, otherwise negative
-bool ForceWheelZ::CalForce(double fInertiaX, double fInertiaY, double pitchZ, double rollZ, VehicleBasics &carParam)
+bool ForceWheelZ::CalForce(units::force::newton_t fInertiaX, units::force::newton_t fInertiaY, units::length::meter_t pitchZ, units::length::meter_t rollZ, VehicleBasics &carParam)
{
- double pitchAngle = atan2(pitchZ, (carParam.lenFront + carParam.lenRear)); // the pitch angle is positive if pitching backward, otherwise negative
- double rollAngle = atan2(rollZ, (carParam.lenLeft + carParam.lenRight)); // the roll angle is positive if rolling right, otherwise negative
+ units::angle::radian_t pitchAngle = units::math::atan2(pitchZ, (carParam.lenFront + carParam.lenRear)); // the pitch angle is positive if pitching backward, otherwise negative
+ units::angle::radian_t rollAngle = units::math::atan2(rollZ, (carParam.lenLeft + carParam.lenRight)); // the roll angle is positive if rolling right, otherwise negative
carParam.Deformation(pitchAngle, rollAngle);
if(!CalForceInPitch(fInertiaX, pitchAngle, carParam))
@@ -35,28 +35,26 @@ bool ForceWheelZ::CalForce(double fInertiaX, double fInertiaY, double pitchZ, do
// Calculate the perpendicular force on front and rear wheels against the inertia force in X axis
// - the pitch angle is positive if pitching backward, otherwise negative
// - the roll angle is positive if rolling right, otherwise negative
-bool ForceWheelZ::CalForceInPitch(double fInertiaX, double pitchAngle, VehicleBasics &carParam)
+bool ForceWheelZ::CalForceInPitch(units::force::newton_t fInertiaX, units::angle::radian_t pitchAngle, VehicleBasics &carParam)
{
-
- double wheelBaseLen = carParam.lenFront + carParam.lenRear;
- double frontAngle = atan2(carParam.heightMC, carParam.lenFront) - pitchAngle;
- double rearAngle = atan2(carParam.heightMC, carParam.lenRear) + pitchAngle;
+ const auto wheelBaseLen = carParam.lenFront + carParam.lenRear;
+ units::angle::radian_t frontAngle = units::math::atan2(carParam.heightMC, carParam.lenFront) - pitchAngle;
+ units::angle::radian_t rearAngle = units::math::atan2(carParam.heightMC, carParam.lenRear) + pitchAngle;
// Calculate the perpendicular force on front wheels
- double dRear2MC = sqrt((carParam.lenRear * carParam.lenRear) + (carParam.heightMC * carParam.heightMC));
- double fZFront = dRear2MC * fInertiaX * sin(rearAngle) / wheelBaseLen;
+ units::length::meter_t dRear2MC = units::math::sqrt((carParam.lenRear * carParam.lenRear) + (carParam.heightMC * carParam.heightMC));
+ units::force::newton_t fZFront = dRear2MC * fInertiaX * units::math::sin(rearAngle) / wheelBaseLen;
// Calculate the perpendicular force on rear wheels
- double dFront2MC = sqrt((carParam.lenFront * carParam.lenFront) + (carParam.heightMC * carParam.heightMC));
- double fZRear = dFront2MC * (-fInertiaX) * sin(frontAngle) / wheelBaseLen;
-
+ units::length::meter_t dFront2MC = units::math::sqrt((carParam.lenFront * carParam.lenFront) + (carParam.heightMC * carParam.heightMC));
+ units::force::newton_t fZRear = dFront2MC * (-fInertiaX) * units::math::sin(frontAngle) / wheelBaseLen;
// separate front force to frontleft and frontright wheels
- forcesPitch[0] = fZFront / (1 + carParam.ratioY); // frontleft
+ forcesPitch[0] = fZFront / (1 + carParam.ratioY); // frontleft
forcesPitch[1] = carParam.ratioY * forcesPitch[0]; // frontright
// separate rear force to rearleft and rearright wheels
- forcesPitch[2] = fZRear / (1 + carParam.ratioY); // rearleft
+ forcesPitch[2] = fZRear / (1 + carParam.ratioY); // rearleft
forcesPitch[3] = carParam.ratioY * forcesPitch[2]; // rearright
return true;
@@ -65,27 +63,26 @@ bool ForceWheelZ::CalForceInPitch(double fInertiaX, double pitchAngle, VehicleBa
// Calculate the perpendicular force on left and right wheels against the inertia force in Y axis
// - the pitch angle is positive if pitching backward, otherwise negative
// - the roll angle is positive if rolling right, otherwise negative
-bool ForceWheelZ::CalForceInRoll(double fInertiaY, double rollAngle, VehicleBasics &carParam)
+bool ForceWheelZ::CalForceInRoll(units::force::newton_t fInertiaY, units::angle::radian_t rollAngle, VehicleBasics &carParam)
{
-
- double wheelBaseWid = carParam.lenLeft + carParam.lenRight;
- double leftAngle = atan2(carParam.heightMC, carParam.lenLeft) - rollAngle;
- double rightAngle = atan2(carParam.heightMC, carParam.lenRight) + rollAngle;
+ const auto wheelBaseWid = carParam.lenLeft + carParam.lenRight;
+ units::angle::radian_t leftAngle = units::math::atan2(carParam.heightMC, carParam.lenLeft) - rollAngle;
+ units::angle::radian_t rightAngle = units::math::atan2(carParam.heightMC, carParam.lenRight) + rollAngle;
// Calculate the perpendicular force on front wheels against the longitudinal inertia
- double dRight2MC = sqrt((carParam.lenRight * carParam.lenRight) + (carParam.heightMC * carParam.heightMC));
- double fZLeft = dRight2MC * fInertiaY * sin(rightAngle) / wheelBaseWid;
+ units::length::meter_t dRight2MC = units::math::sqrt((carParam.lenRight * carParam.lenRight) + (carParam.heightMC * carParam.heightMC));
+ units::force::newton_t fZLeft = dRight2MC * fInertiaY * units::math::sin(rightAngle) / wheelBaseWid;
// Calculate the perpendicular force on rear wheels against the longitudinal inertia
- double dLeft2MC = sqrt((carParam.lenLeft * carParam.lenLeft) + (carParam.heightMC * carParam.heightMC));
- double fZRight = dLeft2MC * (-fInertiaY) * sin(leftAngle) / wheelBaseWid;
+ units::length::meter_t dLeft2MC = units::math::sqrt((carParam.lenLeft * carParam.lenLeft) + (carParam.heightMC * carParam.heightMC));
+ units::force::newton_t fZRight = dLeft2MC * (-fInertiaY) * units::math::sin(leftAngle) / wheelBaseWid;
// separate left force to frontleft and rearleft wheels
- forcesRoll[0] = fZLeft / (1 + carParam.ratioX); // frontleft
+ forcesRoll[0] = fZLeft / (1 + carParam.ratioX); // frontleft
forcesRoll[2] = carParam.ratioX * forcesRoll[0]; // rearleft
// separate right force to frontright and rearright wheels
- forcesRoll[1] = fZRight / (1 + carParam.ratioX); // frontright
+ forcesRoll[1] = fZRight / (1 + carParam.ratioX); // frontright
forcesRoll[3] = carParam.ratioX * forcesRoll[1]; // rearright
return true;
diff --git a/sim/src/components/Dynamics_Chassis/ForceWheelZ.h b/sim/src/components/Dynamics_Chassis/ForceWheelZ.h
index 6553962c020f970568d0b60949f03491ae115086..68a28f08f46ea82d0721332d9b08fe8bdd31af52 100644
--- a/sim/src/components/Dynamics_Chassis/ForceWheelZ.h
+++ b/sim/src/components/Dynamics_Chassis/ForceWheelZ.h
@@ -11,9 +11,11 @@
#ifndef FORCEWHEELZ_H
#define FORCEWHEELZ_H
-#include "VehicleBasics.h"
#include <vector>
+#include "VehicleBasics.h"
+#include "common/globalDefinitions.h"
+
//! Wheel force perpendicular.
class ForceWheelZ
{
@@ -27,20 +29,23 @@ public:
virtual ~ForceWheelZ() = default;
// Calculate the perpendicular force on wheels against inertia
- bool CalForce(double fInertiaX, double fInertiaY, double pitchZ, double rollZ, VehicleBasics &carParam);
+ bool CalForce(units::force::newton_t fInertiaX, units::force::newton_t fInertiaY, units::length::meter_t pitchZ, units::length::meter_t rollZ, VehicleBasics &carParam);
- double GetForce(int i) const { return forces[i]; }
+ units::force::newton_t GetForce(int i) const
+ {
+ return forces[i];
+ }
private:
- double forces[NUMBER_WHEELS] = {0.0, 0.0, 0.0, 0.0};
- double forcesPitch[NUMBER_WHEELS] = {0.0, 0.0, 0.0, 0.0};
- double forcesRoll[NUMBER_WHEELS] = {0.0, 0.0, 0.0, 0.0};
+ units::force::newton_t forces[NUMBER_WHEELS] = {0.0_N, 0.0_N, 0.0_N, 0.0_N};
+ units::force::newton_t forcesPitch[NUMBER_WHEELS] = {0.0_N, 0.0_N, 0.0_N, 0.0_N};
+ units::force::newton_t forcesRoll[NUMBER_WHEELS] = {0.0_N, 0.0_N, 0.0_N, 0.0_N};
// Calculate the perpendicular force on front and rear wheels against the inertia force in X axis
- bool CalForceInPitch(double fInertiaX, double pitchAngle, VehicleBasics &carParam);
+ bool CalForceInPitch(units::force::newton_t fInertiaX, units::angle::radian_t pitchAngle, VehicleBasics &carParam);
// Calculate the perpendicular force on left and right wheels against the inertia force in Y axis
- bool CalForceInRoll(double fInertiaY, double rollAngle, VehicleBasics &carParam);
+ bool CalForceInRoll(units::force::newton_t fInertiaY, units::angle::radian_t rollAngle, VehicleBasics &carParam);
};
#endif //FORCEWHEELZ_H
diff --git a/sim/src/components/Dynamics_Chassis/VehicleBasics.h b/sim/src/components/Dynamics_Chassis/VehicleBasics.h
index 750d4107035751345991ad63e0c73e941a819626..64c2f5ed9450a62590504f7f0522670ca1c7bd0f 100644
--- a/sim/src/components/Dynamics_Chassis/VehicleBasics.h
+++ b/sim/src/components/Dynamics_Chassis/VehicleBasics.h
@@ -12,16 +12,21 @@
#define VEHICLEBASICS_H
#define NUMBER_WHEELS 4
-#define GRAVITY_ACC 9.81
#include <math.h>
+#include "units.h"
+
+const units::acceleration::meters_per_second_squared_t GRAVITY_ACC{9.81};
+
+using namespace units::literals;
+
class VehicleBasics
{
public:
VehicleBasics() = default;
- VehicleBasics(double lLeft, double lRight, double lFront, double lRear, double hMC, double m):
+ VehicleBasics(units::length::meter_t lLeft, units::length::meter_t lRight, units::length::meter_t lFront, units::length::meter_t lRear, units::length::meter_t hMC, units::mass::kilogram_t m) :
lenLeft(lLeft), lenRight(lRight), lenFront(lFront), lenRear(lRear), heightMC(hMC), mass(m)
{
CalculateRatio();
@@ -33,16 +38,16 @@ public:
// VehicleBasics &operator=(const VehicleBasics &) = delete;
// VehicleBasics &operator=(VehicleBasics &&) = delete;
- double lenLeft;
- double lenRight;
- double lenFront;
- double lenRear;
+ units::length::meter_t lenLeft;
+ units::length::meter_t lenRight;
+ units::length::meter_t lenFront;
+ units::length::meter_t lenRear;
double ratioX; // front length / rear length
- double ratioY; // left length / right length
+ double ratioY; // left length / right length
- double heightMC; // hight of mass center
- double mass;
+ units::length::meter_t heightMC; // hight of mass center
+ units::mass::kilogram_t mass;
void CalculateRatio()
{
@@ -52,8 +57,8 @@ public:
void CalculateWheelMass()
{
- double massFront = mass / (1 + ratioX);
- double massRear = ratioX * massFront;
+ units::mass::kilogram_t massFront = mass / (1 + ratioX);
+ units::mass::kilogram_t massRear = ratioX * massFront;
// separate front mass to frontleft and frontright wheels
wheelMass[0] = massFront / (1 + ratioY); // frontleft
@@ -64,37 +69,40 @@ public:
wheelMass[3] = ratioY * wheelMass[2]; // rearright
}
- void Deformation(double pitchAngle, double rollAngle)
+ void Deformation(units::angle::radian_t pitchAngle, units::angle::radian_t rollAngle)
{
- if(pitchAngle >= 0) // pitching backward, and mcOffsetX will be negative
+ if (pitchAngle >= 0_rad) // pitching backward, and mcOffsetX will be negative
{
- mcOffsetX = - sin(pitchAngle) * (heightMC + lenRear * tan(pitchAngle));
+ mcOffsetX = -units::math::sin(pitchAngle) * (heightMC + lenRear * units::math::tan(pitchAngle));
}
else // pitching foreward, and mcOffsetX will be positive
{
- mcOffsetX = sin(-pitchAngle) * (heightMC + lenFront * tan(-pitchAngle));
+ mcOffsetX = units::math::sin(-pitchAngle) * (heightMC + lenFront * units::math::tan(-pitchAngle));
}
- if(rollAngle >= 0) // rolling towards right, and mcOffsetY will be negative
+ if (rollAngle >= 0_rad) // rolling towards right, and mcOffsetY will be negative
{
- mcOffsetY = - sin(rollAngle) * (heightMC + lenRight* tan(rollAngle));
+ mcOffsetY = -units::math::sin(rollAngle) * (heightMC + lenRight * units::math::tan(rollAngle));
}
else // rolling towards left, and mcOffsetY will be positive
{
- mcOffsetY = sin(-rollAngle) * (heightMC + lenLeft * tan(-rollAngle));
+ mcOffsetY = units::math::sin(-rollAngle) * (heightMC + lenLeft * units::math::tan(-rollAngle));
}
CalculateRatio();
CalculateWheelMass();
}
- double GetWheelMass(int i) { return wheelMass[i]; }
+ units::mass::kilogram_t GetWheelMass(int i)
+ {
+ return wheelMass[i];
+ }
private:
- double mcOffsetX = 0.0;
- double mcOffsetY = 0.0;
+ units::length::meter_t mcOffsetX{0.0};
+ units::length::meter_t mcOffsetY{0.0};
- double wheelMass[NUMBER_WHEELS];
+ units::mass::kilogram_t wheelMass[NUMBER_WHEELS];
};
#endif //VEHICLEBASICS_H
diff --git a/sim/src/components/Dynamics_Chassis/WheelOscillation.cpp b/sim/src/components/Dynamics_Chassis/WheelOscillation.cpp
index 312170a024d34039bf583aed76828e8e38960c1d..bf38db2ef03ffcd9199e375081fa6304139b4a7a 100644
--- a/sim/src/components/Dynamics_Chassis/WheelOscillation.cpp
+++ b/sim/src/components/Dynamics_Chassis/WheelOscillation.cpp
@@ -20,7 +20,7 @@ void WheelOscillation::Init(int wId, double time_step, double k, double q)
coeffDamp = q;
}
-void WheelOscillation::Perform(double forceZ, double mass)
+void WheelOscillation::Perform(units::force::newton_t forceZ, units::mass::kilogram_t mass)
{
/*
* forceZ + counter_force = m * Az
@@ -32,7 +32,7 @@ void WheelOscillation::Perform(double forceZ, double mass)
* forceZ - K * prevZ - K * prevVz * dt - Q * prevVz = (m + 0.5 * K * dt^2 + Q * dt ) * Az
*/
- curAz = (forceZ - coeffSpring * curZ - coeffDamp * curVz) / (mass);
+ curAz = (forceZ.value() - coeffSpring * curZ - coeffDamp * curVz) / (mass.value());
curVz = prevVz + curAz * timeStep;
curZ += prevVz * timeStep + 0.5 * curAz * timeStep * timeStep;
diff --git a/sim/src/components/Dynamics_Chassis/WheelOscillation.h b/sim/src/components/Dynamics_Chassis/WheelOscillation.h
index bb6f8e085919fd483b2e7657a361d2a0accc9a50..3b2ee30e2ab125f9a6c1f6facac8a8dd6cb374df 100644
--- a/sim/src/components/Dynamics_Chassis/WheelOscillation.h
+++ b/sim/src/components/Dynamics_Chassis/WheelOscillation.h
@@ -11,6 +11,8 @@
#ifndef WHEELOSCILLATION_H
#define WHEELOSCILLATION_H
+#include "units.h"
+
//! Wheel force perpendicular.
class WheelOscillation
{
@@ -27,7 +29,7 @@ public:
void Init(int id, double time_step, double k, double q);
//! Perform simulation;
- void Perform(double forceZ, double mass);
+ void Perform(units::force::newton_t forceZ, units::mass::kilogram_t mass);
double GetCurZPos() const { return curZ; }
diff --git a/sim/src/components/Dynamics_Chassis/dynamics_Chassis_implementation.cpp b/sim/src/components/Dynamics_Chassis/dynamics_Chassis_implementation.cpp
index ea907d968b9c6bf980a69b7a4700d545b72f06f4..590f130d804985fd65452f6b7f07ab7cec1adebd 100644
--- a/sim/src/components/Dynamics_Chassis/dynamics_Chassis_implementation.cpp
+++ b/sim/src/components/Dynamics_Chassis/dynamics_Chassis_implementation.cpp
@@ -1,5 +1,6 @@
/********************************************************************************
* Copyright (c) 2020-2021 ITK Engineering GmbH
+ * 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -80,16 +81,22 @@ Dynamics_Chassis_Implementation::Dynamics_Chassis_Implementation(std::string com
/** @addtogroup init_3dc
* Get basic parameters of the ego vehicle.
*/
- double wheelBase = agent->GetVehicleModelParameters().frontAxle.positionX - agent->GetVehicleModelParameters().rearAxle.positionX;
- double lenFront = wheelBase / 2.0;
- double lenRear = wheelBase - lenFront;
- double trackWidth = GetAgent()->GetVehicleModelParameters().frontAxle.trackWidth;
- double hCOG = GetAgent()->GetVehicleModelParameters().boundingBoxDimensions.height/2.0;
- auto mass = helper::map::query(GetAgent()->GetVehicleModelParameters().properties, vehicle::properties::Mass);
- THROWIFFALSE(mass.has_value(), "Mass was not defined in VehicleCatalog");
+ if (agent->GetVehicleModelParameters()->type != mantle_api::EntityType::kVehicle)
+ {
+ throw std::runtime_error("Invalid EntityType for Component " + componentName + ". Component can only be used by vehicles.");
+ }
+
+ vehicleProperties = std::dynamic_pointer_cast<const mantle_api::VehicleProperties>(agent->GetVehicleModelParameters());
+
+ const auto wheelBase = vehicleProperties->front_axle.bb_center_to_axle_center.x - vehicleProperties->rear_axle.bb_center_to_axle_center.y;
+ const auto lenFront = wheelBase / 2.0;
+ const auto lenRear = wheelBase - lenFront;
+ const auto trackWidth = vehicleProperties->front_axle.track_width;
+ const auto hCOG = vehicleProperties->bounding_box.dimension.height / 2.0;
+ auto mass = GetAgent()->GetVehicleModelParameters()->mass;
// define car parameters including lLeft, lRight, lFront, lRear, hMC, mass
- carParam = VehicleBasics(trackWidth*0.5, trackWidth*0.5, lenFront, lenRear, hCOG, mass.value());
+ carParam = VehicleBasics(trackWidth * 0.5, trackWidth * 0.5, lenFront, lenRear, hCOG, mass);
/** @addtogroup init_3dc
* For each wheel, initialize the correspondig oscillation object for later simulation.
@@ -102,8 +109,8 @@ Dynamics_Chassis_Implementation::Dynamics_Chassis_Implementation(std::string com
LOGDEBUG(QString().sprintf("Chassis: agent info: DistanceCOGtoFrontAxle %.2f, DistanceCOGtoRearAxle %.2f, trackWidth %.2f, heightCOG %.2f, mass %.2f",
lenFront, lenRear, trackWidth, hCOG, mass).toStdString());
- pitchZ = 0.0;
- rollZ = 0.0;
+ pitchZ = 0.0_m;
+ rollZ = 0.0_m;
LOGINFO("Constructing Dynamics_Chassis successful");
@@ -145,12 +152,12 @@ void Dynamics_Chassis_Implementation::Trigger(int time)
/** @addtogroup sim_step_3dc
* Get the inputs of inertia forces.
*/
- double fInertiaX = 0.0;
- double fInertiaY = 0.0;
+ units::force::newton_t fInertiaX{0.0};
+ units::force::newton_t fInertiaY{0.0};
if(inertiaForce.GetValue().size() == 2)
{
- fInertiaX = inertiaForce.GetValue().at(0);
- fInertiaY = inertiaForce.GetValue().at(1);
+ fInertiaX = units::force::newton_t(inertiaForce.GetValue().at(0));
+ fInertiaY = units::force::newton_t(inertiaForce.GetValue().at(1));
}
/** @addtogroup sim_step_3dc_2
@@ -160,13 +167,13 @@ void Dynamics_Chassis_Implementation::Trigger(int time)
if(!wheelForces.CalForce(fInertiaX, fInertiaY, pitchZ, rollZ, carParam))
return;
- double originalForce = -carParam.mass / NUMBER_WHEELS * GRAVITY_ACC;
+ units::force::newton_t originalForce = -carParam.mass / NUMBER_WHEELS * GRAVITY_ACC;
/** @addtogroup sim_step_3dc_2
* For each wheel, calculate the total vertical force as well as the Z-position.
*/
- double forceZ;
- double wheelMass;
+ units::force::newton_t forceZ;
+ units::mass::kilogram_t wheelMass;
std::vector<double> resForces;
for(int i=0; i < NUMBER_WHEELS; i++)
{
@@ -174,11 +181,11 @@ void Dynamics_Chassis_Implementation::Trigger(int time)
// calculate deformation due to the vertical force
wheelMass = carParam.GetWheelMass(i); // the mass is distributed based on deformation
forceZ = -wheelMass * GRAVITY_ACC + wheelForces.GetForce(i);
- if (forceZ>-1.0)
+ if (forceZ > -1.0_N)
{
- forceZ = -1.0; // glue the tires to the ground and limit to at least 1N
+ forceZ = -1.0_N; // glue the tires to the ground and limit to at least 1N
}
- resForces.push_back(forceZ);
+ resForces.push_back(forceZ.value());
oscillations[i].Perform(forceZ, wheelMass);
}
@@ -198,8 +205,8 @@ void Dynamics_Chassis_Implementation::Trigger(int time)
*/
// the pitchZ is positive if pitching backward, otherwise negative
// the rollZ is positive if rolling right, otherwise negative
- pitchZ = (oscillations[0].GetCurZPos() + oscillations[1].GetCurZPos() - oscillations[2].GetCurZPos() - oscillations[3].GetCurZPos()) / 2.0;
- rollZ = (oscillations[0].GetCurZPos() + oscillations[2].GetCurZPos() - oscillations[1].GetCurZPos() - oscillations[3].GetCurZPos()) / 2.0;
+ pitchZ = units::length::meter_t((oscillations[0].GetCurZPos() + oscillations[1].GetCurZPos() - oscillations[2].GetCurZPos() - oscillations[3].GetCurZPos()) / 2.0);
+ rollZ = units::length::meter_t((oscillations[0].GetCurZPos() + oscillations[2].GetCurZPos() - oscillations[1].GetCurZPos() - oscillations[3].GetCurZPos()) / 2.0);
/** @addtogroup sim_step_3
* Output local vertical forces for the two-track dynamics.
diff --git a/sim/src/components/Dynamics_Chassis/dynamics_Chassis_implementation.h b/sim/src/components/Dynamics_Chassis/dynamics_Chassis_implementation.h
index 80b0427f35d61a88c146633da3b1c55c8961da63..8356e05b1539464192b2b0576b8f113c291912e2 100644
--- a/sim/src/components/Dynamics_Chassis/dynamics_Chassis_implementation.h
+++ b/sim/src/components/Dynamics_Chassis/dynamics_Chassis_implementation.h
@@ -165,11 +165,13 @@ private:
ForceWheelZ wheelForces;
WheelOscillation oscillations[NUMBER_WHEELS];
- double pitchZ;
- double rollZ;
+ units::length::meter_t pitchZ;
+ units::length::meter_t rollZ;
/**
* @}
*/
+
+ std::shared_ptr<const mantle_api::VehicleProperties> vehicleProperties;
};
#endif // DYNAMICS_CHASSIS_IMPLEMENTATION_H
diff --git a/sim/src/components/Dynamics_Collision/src/collisionImpl.cpp b/sim/src/components/Dynamics_Collision/src/collisionImpl.cpp
index 40e8c519082a8cc35d8be558df1af9322a325652..967382bcea5330ead5947bc180c8bdd1aa6189ea 100644
--- a/sim/src/components/Dynamics_Collision/src/collisionImpl.cpp
+++ b/sim/src/components/Dynamics_Collision/src/collisionImpl.cpp
@@ -1,7 +1,7 @@
/********************************************************************************
* Copyright (c) 2017-2018 ITK Engineering GmbH
* 2017-2020 in-tech GmbH
- * 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ * 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -95,12 +95,11 @@ void DynamicsCollisionImplementation::Trigger(int time)
bool collisionWithFixedObject = false;
//Calculate new velocity by inelastic collision
- auto weight = helper::map::query(GetAgent()->GetVehicleModelParameters().properties, vehicle::properties::Mass);
- THROWIFFALSE(weight.has_value(), "Mass was not defined in VehicleCatalog");
+ units::mass::kilogram_t weight = GetAgent()->GetVehicleModelParameters()->mass;
- double sumOfWeights = weight.value();
- double sumOfImpulsesX = GetAgent()->GetVelocity().x * weight.value();
- double sumOfImpulsesY = GetAgent()->GetVelocity().y * weight.value();
+ units::mass::kilogram_t sumOfWeights{weight};
+ auto sumOfImpulsesX = GetAgent()->GetVelocity().x * weight;
+ auto sumOfImpulsesY = GetAgent()->GetVelocity().y * weight;
auto collisionPartners = GetAgent()->GetCollisionPartners();
for (const auto &partner : collisionPartners)
@@ -113,68 +112,67 @@ void DynamicsCollisionImplementation::Trigger(int time)
const AgentInterface* partnerAgent = GetWorld()->GetAgent(partner.second);
if (partnerAgent != nullptr)
{
- weight = helper::map::query(partnerAgent->GetVehicleModelParameters().properties, vehicle::properties::Mass);
- THROWIFFALSE(weight.has_value(), "Mass was not defined in VehicleCatalog");
+ weight = partnerAgent->GetVehicleModelParameters()->mass;
- sumOfWeights += weight.value();
- sumOfImpulsesX += partnerAgent->GetVelocity().x * weight.value();
- sumOfImpulsesY += partnerAgent->GetVelocity().y * weight.value();
+ sumOfWeights += weight;
+ sumOfImpulsesX += partnerAgent->GetVelocity().x * weight;
+ sumOfImpulsesY += partnerAgent->GetVelocity().y * weight;
}
}
if (collisionWithFixedObject)
{
- velocity = 0.0;
+ velocity = 0.0_mps;
}
else
{
- double velocityX = sumOfImpulsesX / sumOfWeights;
- double velocityY = sumOfImpulsesY / sumOfWeights;
+ units::velocity::meters_per_second_t velocityX = sumOfImpulsesX / sumOfWeights;
+ units::velocity::meters_per_second_t velocityY = sumOfImpulsesY / sumOfWeights;
velocity = openpass::hypot(velocityX, velocityY);
- if (velocityY > 0.0)
+ if (velocityY > 0.0_mps)
{
- movingDirection = std::acos(velocityX / velocity);
+ movingDirection = units::math::acos(velocityX / velocity);
}
- else if (velocity != 0.0)
+ else if (velocity != 0.0_mps)
{
- movingDirection = -std::acos(velocityX / velocity);
+ movingDirection = -units::math::acos(velocityX / velocity);
}
else
{
- movingDirection = 0.0;
+ movingDirection = 0.0_rad;
}
}
- dynamicsSignal.yaw = GetAgent()->GetYaw();
- dynamicsSignal.yawRate = 0;
- dynamicsSignal.yawAcceleration = 0;
+ dynamicsSignal.dynamicsInformation.yaw = GetAgent()->GetYaw();
+ dynamicsSignal.dynamicsInformation.yawRate = 0.0_rad_per_s;
+ dynamicsSignal.dynamicsInformation.yawAcceleration = 0.0_rad_per_s_sq;
}
if (isActive)
{
- const double deceleration = 10.0;
- velocity -= deceleration * GetCycleTime() * 0.001;
+ const units::acceleration::meters_per_second_squared_t deceleration{10.0};
+ velocity -= deceleration * units::time::millisecond_t(GetCycleTime());
- if (velocity < 0.0)
+ if (velocity < 0.0_mps)
{
isActive = false;
}
- velocity = std::max(0.0, velocity);
+ velocity = std::max(0.0_mps, velocity);
// change of path coordinate since last time step [m]
- double ds = velocity * static_cast<double>(GetCycleTime()) * 0.001;
+ units::length::meter_t ds = velocity * units::time::millisecond_t(GetCycleTime());
// change of inertial x-position due to ds and yaw [m]
- double dx = ds * std::cos(movingDirection);
+ units::length::meter_t dx = ds * units::math::cos(movingDirection);
// change of inertial y-position due to ds and yaw [m]
- double dy = ds * std::sin(movingDirection);
+ units::length::meter_t dy = ds * units::math::sin(movingDirection);
// new inertial x-position [m]
- double x = GetAgent()->GetPositionX() + dx;
+ units::length::meter_t x = GetAgent()->GetPositionX() + dx;
// new inertial y-position [m]
- double y = GetAgent()->GetPositionY() + dy;
+ units::length::meter_t y = GetAgent()->GetPositionY() + dy;
- dynamicsSignal.velocity = velocity;
- dynamicsSignal.acceleration = isActive ? -deceleration : 0.0;
- dynamicsSignal.positionX = x;
- dynamicsSignal.positionY = y;
- dynamicsSignal.travelDistance = ds;
+ dynamicsSignal.dynamicsInformation.velocity = velocity;
+ dynamicsSignal.dynamicsInformation.acceleration = isActive ? -deceleration : 0.0_mps_sq;
+ dynamicsSignal.dynamicsInformation.positionX = x;
+ dynamicsSignal.dynamicsInformation.positionY = y;
+ dynamicsSignal.dynamicsInformation.travelDistance = ds;
}
}
diff --git a/sim/src/components/Dynamics_Collision/src/collisionImpl.h b/sim/src/components/Dynamics_Collision/src/collisionImpl.h
index 11943b4a31e1de53c766bad9214236c5cbaa3a67..af0fb487f04d5b8b16cca97f0dd76a5061787bfa 100644
--- a/sim/src/components/Dynamics_Collision/src/collisionImpl.h
+++ b/sim/src/components/Dynamics_Collision/src/collisionImpl.h
@@ -104,13 +104,13 @@ public:
virtual void Trigger(int time);
//for testing
- double GetVelocity ()
+ units::velocity::meters_per_second_t GetVelocity ()
{
return velocity;
}
//for testing
- double GetMovingDirection ()
+ units::angle::radian_t GetMovingDirection ()
{
return movingDirection;
}
@@ -118,8 +118,8 @@ public:
private:
DynamicsSignal dynamicsSignal;
- double velocity {};
- double movingDirection {};
+ units::velocity::meters_per_second_t velocity{};
+ units::angle::radian_t movingDirection {};
unsigned int numberOfCollisionPartners = 0;
bool isActive = false;
};
diff --git a/sim/src/components/Dynamics_CollisionPCM/dynamics_collision_implementation.cpp b/sim/src/components/Dynamics_CollisionPCM/dynamics_collision_implementation.cpp
index 3216a0e79afb554823d6469b897003c98d65b458..5e1a8fedf110c5f4f80ac34bf33d3aa0a687ae64 100644
--- a/sim/src/components/Dynamics_CollisionPCM/dynamics_collision_implementation.cpp
+++ b/sim/src/components/Dynamics_CollisionPCM/dynamics_collision_implementation.cpp
@@ -40,7 +40,7 @@ Dynamics_Collision_Implementation::Dynamics_Collision_Implementation(
agent)
{
LOGINFO("Constructing Dynamics_Collision");
- cycleTimeSec = (double)cycleTime / 1000;
+ cycleTimeSec = units::time::millisecond_t(cycleTime);
LOGINFO("Constructing Dynamics_Collision successful");
}
@@ -133,22 +133,22 @@ void Dynamics_Collision_Implementation::Trigger(int time)
GetAgent()->SetPositionY(GetAgent()->GetPositionY() + GetAgent()->GetVelocity().y * cycleTimeSec); // global CS
GetAgent()->SetYaw(GetAgent()->GetYaw() + GetAgent()->GetYawRate()*cycleTimeSec);
- Common::Vector2d velocityImpact(postCrashVel.velocityAbsolute, 0.0);
+ Common::Vector2d<units::velocity::meters_per_second_t> velocityImpact(postCrashVel.velocityAbsolute, 0.0_mps);
velocityImpact.Rotate(postCrashVel.velocityDirection);
- GetAgent()->SetVelocityVector(velocityImpact.x, velocityImpact.y, 0.0);
+ GetAgent()->SetVelocityVector({velocityImpact.x, velocityImpact.y, 0.0_mps});
GetAgent()->SetYawRate(postCrashVel.yawVelocity);
LOGDEBUG(QString().sprintf("Override Velocity by Dynamics_CollisionPCM for agent %d: %f, %f, %f",
GetAgent()->GetId(), velocityImpact.x, velocityImpact.y, postCrashVel.yawVelocity).toStdString());
}
Common::Vector2d accelerationImpact(0.0, 0.0);
- double yawAccel = 0.0;
- GetAgent()->SetTangentialAcceleration(accelerationImpact.x);
- GetAgent()->SetCentripetalAcceleration(accelerationImpact.y);
+ units::angular_acceleration::radians_per_second_squared_t yawAccel{0.0};
+ GetAgent()->SetTangentialAcceleration(units::acceleration::meters_per_second_squared_t(accelerationImpact.x));
+ GetAgent()->SetCentripetalAcceleration(units::acceleration::meters_per_second_squared_t(accelerationImpact.y));
GetAgent()->SetYawAcceleration(yawAccel);
// for logging purposes: only longitudinal acceleration in vehicle CS
- GetAgent()->SetAcceleration(accelerationImpact.x);
+ GetAgent()->SetAcceleration(units::acceleration::meters_per_second_squared_t(accelerationImpact.x));
// Application of acceleration instead of setting velocities is not possible:
// The acceleration values are far too high for a single simulation step (200g and above)
diff --git a/sim/src/components/Dynamics_CollisionPCM/dynamics_collision_implementation.h b/sim/src/components/Dynamics_CollisionPCM/dynamics_collision_implementation.h
index 46693052607c536782acec59b8d68c58cbe321a4..4882bc7864c6fc1563e018d6b1f511de92e7bdc3 100644
--- a/sim/src/components/Dynamics_CollisionPCM/dynamics_collision_implementation.h
+++ b/sim/src/components/Dynamics_CollisionPCM/dynamics_collision_implementation.h
@@ -143,7 +143,7 @@ private:
//! current postCrashDynamic
PostCrashDynamic *postCrashDynamic = nullptr;
- double cycleTimeSec;
+ units::time::second_t cycleTimeSec;
};
#endif // DYNAMICS_COLLISION_IMPLEMENTATION_H
diff --git a/sim/src/components/Dynamics_CollisionPostCrash/src/collisionPostCrash.cpp b/sim/src/components/Dynamics_CollisionPostCrash/src/collisionPostCrash.cpp
index 479e3f89a335bc53ff2da33cd68899a992b21825..e07afdf535b9cc1b3c32ff790835629d6542e465 100644
--- a/sim/src/components/Dynamics_CollisionPostCrash/src/collisionPostCrash.cpp
+++ b/sim/src/components/Dynamics_CollisionPostCrash/src/collisionPostCrash.cpp
@@ -132,28 +132,28 @@ void DynamicsPostCrashImplementation::Trigger(int time)
void DynamicsPostCrashImplementation::SetFadingDynamics()
{
- dynamicsSignal.yaw = GetAgent()->GetYaw();
- dynamicsSignal.yawRate = GetAgent()->GetYawRate(); // This should be zero if yaw is not changing anymore
- dynamicsSignal.yawAcceleration = GetAgent()->GetYawAcceleration(); // This should be zero if yaw and yaw rate are not changing anymore (except for the moment in which yawRate changes to zero)
- const double deceleration = 10.0;
- velocity -= deceleration * GetCycleTime() * 0.001;
- velocity = std::max(0.0, velocity);
+ dynamicsSignal.dynamicsInformation.yaw = GetAgent()->GetYaw();
+ dynamicsSignal.dynamicsInformation.yawRate = GetAgent()->GetYawRate(); // This should be zero if yaw is not changing anymore
+ dynamicsSignal.dynamicsInformation.yawAcceleration = GetAgent()->GetYawAcceleration(); // This should be zero if yaw and yaw rate are not changing anymore (except for the moment in which yawRate changes to zero)
+ const units::acceleration::meters_per_second_squared_t deceleration{10.0};
+ velocity -= deceleration * units::time::millisecond_t(GetCycleTime());
+ velocity = units::math::max(0.0_mps, velocity);
// change of path coordinate since last time step [m]
- double ds = velocity * static_cast<double>(GetCycleTime()) * 0.001;
+ units::length::meter_t ds = velocity * units::time::millisecond_t(GetCycleTime());
// change of inertial x-position due to ds and yaw [m]
- double dx = ds * std::cos(movingDirection);
+ units::length::meter_t dx = ds * units::math::cos(movingDirection);
// change of inertial y-position due to ds and yaw [m]
- double dy = ds * std::sin(movingDirection);
+ units::length::meter_t dy = ds * units::math::sin(movingDirection);
// new inertial x-position [m]
- double x = GetAgent()->GetPositionX() + dx;
+ units::length::meter_t x = GetAgent()->GetPositionX() + dx;
// new inertial y-position [m]
- double y = GetAgent()->GetPositionY() + dy;
+ units::length::meter_t y = GetAgent()->GetPositionY() + dy;
- dynamicsSignal.velocity = velocity;
- dynamicsSignal.acceleration = 0.0;
- dynamicsSignal.positionX = x;
- dynamicsSignal.positionY = y;
- dynamicsSignal.travelDistance = ds;
+ dynamicsSignal.dynamicsInformation.velocity = velocity;
+ dynamicsSignal.dynamicsInformation.acceleration = 0.0_mps_sq;
+ dynamicsSignal.dynamicsInformation.positionX = x;
+ dynamicsSignal.dynamicsInformation.positionY = y;
+ dynamicsSignal.dynamicsInformation.travelDistance = ds;
}
bool DynamicsPostCrashImplementation::TriggerPostCrashCheck(int time)
@@ -163,35 +163,35 @@ bool DynamicsPostCrashImplementation::TriggerPostCrashCheck(int time)
return false;
}
- double cycleTime = (double)GetCycleTime() / 1000;
- double yawAngle = GetAgent()->GetYaw();
- double posX = GetAgent()->GetPositionX() + GetAgent()->GetVelocity().x * cycleTime;//global CS
- double posY = GetAgent()->GetPositionY() + GetAgent()->GetVelocity().y * cycleTime;//global CS
- double yawRatePrevious = GetAgent()->GetYawRate();
+ units::time::millisecond_t cycleTime{double(GetCycleTime())};
+ auto yawAngle = GetAgent()->GetYaw();
+ auto posX = GetAgent()->GetPositionX() + GetAgent()->GetVelocity().x * cycleTime;//global CS
+ auto posY = GetAgent()->GetPositionY() + GetAgent()->GetVelocity().y * cycleTime;//global CS
+ auto yawRatePrevious = GetAgent()->GetYawRate();
yawAngle = yawAngle + yawRatePrevious * cycleTime;
velocity = postCrashVel.velocityAbsolute;
movingDirection = postCrashVel.velocityDirection;
- double yawRate = postCrashVel.yawVelocity;
- double yawAcceleration = (yawRate - yawRatePrevious) / cycleTime;
+ units::angular_velocity::radians_per_second_t yawRate = postCrashVel.yawVelocity;
+ auto yawAcceleration = (yawRate - yawRatePrevious) / cycleTime;
- Common::Vector2d velocityVector(velocity * std::cos(movingDirection),
- velocity * std::sin(movingDirection));
+ Common::Vector2d<units::velocity::meters_per_second_t> velocityVector((velocity * units::math::cos(movingDirection)),
+ (velocity * units::math::sin(movingDirection)));
velocityVector.Rotate(-yawAngle);
- double acceleration = 0.0;
- double travelDist = velocity * cycleTime;
+ units::acceleration::meters_per_second_squared_t acceleration{0.0};
+ units::length::meter_t travelDist = velocity * cycleTime;
- dynamicsSignal.yaw = yawAngle;
- dynamicsSignal.yawRate = yawRate;
- dynamicsSignal.yawAcceleration = yawAcceleration;
- dynamicsSignal.velocity = velocity;
- dynamicsSignal.acceleration = acceleration;
- dynamicsSignal.positionX = posX;
- dynamicsSignal.positionY = posY;
- dynamicsSignal.travelDistance = travelDist;
+ dynamicsSignal.dynamicsInformation.yaw = yawAngle;
+ dynamicsSignal.dynamicsInformation.yawRate = yawRate;
+ dynamicsSignal.dynamicsInformation.yawAcceleration = yawAcceleration;
+ dynamicsSignal.dynamicsInformation.velocity = velocity;
+ dynamicsSignal.dynamicsInformation.acceleration = acceleration;
+ dynamicsSignal.dynamicsInformation.positionX = posX;
+ dynamicsSignal.dynamicsInformation.positionY = posY;
+ dynamicsSignal.dynamicsInformation.travelDistance = travelDist;
- GetAgent()->SetPostCrashVelocity({false, 0.0, 0.0, 0.0});
+ GetAgent()->SetPostCrashVelocity({false, 0.0_mps, 0.0_rad, 0.0_rad_per_s});
return true;
}
diff --git a/sim/src/components/Dynamics_CollisionPostCrash/src/collisionPostCrash.h b/sim/src/components/Dynamics_CollisionPostCrash/src/collisionPostCrash.h
index 5de69953d2f2e3644d3038bb836335b39d8d1bad..7a121f2fdb7346df85b675d88ec787fbbcfcca8c 100644
--- a/sim/src/components/Dynamics_CollisionPostCrash/src/collisionPostCrash.h
+++ b/sim/src/components/Dynamics_CollisionPostCrash/src/collisionPostCrash.h
@@ -152,8 +152,8 @@ private:
/** \name Internal states
* @{ */
- double velocity {};//!< host velocity
- double movingDirection {};//!< host velocity direction
+ units::velocity::meters_per_second_t velocity{};//!< host velocity
+ units::angle::radian_t movingDirection {};//!< host velocity direction
unsigned int numberOfCollisionPartners = 0;//!< number of collision partners of host agent
bool isActive = false;//!< flag that shows if collision has occurred
diff --git a/sim/src/components/Dynamics_CopyTrajectory/dynamics_copyTrajectory_implementation.cpp b/sim/src/components/Dynamics_CopyTrajectory/dynamics_copyTrajectory_implementation.cpp
index c39afd7cbabf8754de85a693432b9c1aba9b017d..c26ffbe4bb58b3f3e3467b6180cb76dddcb58e17 100644
--- a/sim/src/components/Dynamics_CopyTrajectory/dynamics_copyTrajectory_implementation.cpp
+++ b/sim/src/components/Dynamics_CopyTrajectory/dynamics_copyTrajectory_implementation.cpp
@@ -40,7 +40,7 @@ Dynamics_CopyTrajectory_Implementation::Dynamics_CopyTrajectory_Implementation(
agent)
{
LOGINFO(QString().sprintf("Constructing Dynamics_CopyTrajectory for agent %d...", agent->GetId()).toStdString());
- timeStep = (double)cycleTime / 1000.0;
+ timeStep = units::time::millisecond_t(cycleTime);
LOGINFO("Constructing Dynamics_CopyTrajectory successful");
}
@@ -58,7 +58,11 @@ void Dynamics_CopyTrajectory_Implementation::UpdateInput(int localLinkId,
try
{
- trajectory = trajectorySignal->trajectory;
+ if (!std::holds_alternative<mantle_api::PolyLine>(trajectorySignal->trajectory.type))
+ {
+ throw std::runtime_error("Component: " + GetComponentName() + "can only use PolyLines as trajectory.");
+ }
+ trajectory = std::get<mantle_api::PolyLine>(trajectorySignal->trajectory.type);
ReadWayPointData();
LOGDEBUG(QString().sprintf("%s UpdateInput successful", COMPONENTNAME.c_str()).toStdString());
}
@@ -83,8 +87,11 @@ void Dynamics_CopyTrajectory_Implementation::Trigger(int time)
// LOGDEBUG("Triggering Dynamics_CopyTrajectory...");
- double timeSec = (double)time / 1000.0;
- double x, y, vx, vy, yaw, w;
+ units::time::second_t timeSec = units::time::millisecond_t(time);
+ units::length::meter_t x, y;
+ units::velocity::meters_per_second_t vx, vy;
+ units::angle::radian_t yaw;
+ units::angular_velocity::radians_per_second_t w;
if (timeSec <= timeVec.front())
{
@@ -112,10 +119,10 @@ void Dynamics_CopyTrajectory_Implementation::Trigger(int time)
timeVecNext = timeVec[indexVecNext];
}
unsigned int indexVecPassed = indexVecNext-1;
- double dT = (timeSec - timeVec[indexVecPassed]);
- if (dT<1e-6 && dT>-1e-6)
+ auto dT = (timeSec - timeVec[indexVecPassed]);
+ if (dT < units::time::second_t(1e-6) && dT > units::time::second_t(-1e-6))
{
- dT = 0.0;
+ dT = 0.0_s;
}
x = posX[indexVecPassed] + velX[indexVecPassed] * dT;
y = posY[indexVecPassed] + velY[indexVecPassed] * dT;
@@ -136,7 +143,7 @@ void Dynamics_CopyTrajectory_Implementation::Trigger(int time)
GetAgent()->SetPositionX(x);
GetAgent()->SetPositionY(y);
- GetAgent()->SetVelocityVector(vx, vy, 0.0);
+ GetAgent()->SetVelocityVector({vx, vy, 0.0_mps});
GetAgent()->SetYaw(yaw);
GetAgent()->SetYawRate(w);
@@ -145,34 +152,39 @@ void Dynamics_CopyTrajectory_Implementation::Trigger(int time)
void Dynamics_CopyTrajectory_Implementation::ReadWayPointData()
{
- unsigned int n = trajectory.points.size();
+ unsigned int n = trajectory.size();
- double vX = 0.0;
- double vY = 0.0;
- double w = 0.0;
+ units::velocity::meters_per_second_t vX{0.0};
+ units::velocity::meters_per_second_t vY{0.0};
+ units::angular_velocity::radians_per_second_t w{0.0};
- timeVec.resize(trajectory.points.size());
- posX.resize(trajectory.points.size());
- posY.resize(trajectory.points.size());
- velX.resize(trajectory.points.size());
- velY.resize(trajectory.points.size());
- angleYaw.resize(trajectory.points.size());
- rateYaw.resize(trajectory.points.size());
+ timeVec.resize(trajectory.size());
+ posX.resize(trajectory.size());
+ posY.resize(trajectory.size());
+ velX.resize(trajectory.size());
+ velY.resize(trajectory.size());
+ angleYaw.resize(trajectory.size());
+ rateYaw.resize(trajectory.size());
for (unsigned int i = 0; i < n; ++i)
{
- openScenario::TrajectoryPoint point = trajectory.points.at(i);
+ auto point = trajectory.at(i);
+
+ if (!point.time.has_value())
+ {
+ throw std::runtime_error("Timestamp is requried for PolyLinePoints in component: " + GetComponentName() + ".");
+ }
- timeVec[i] = point.time;
- posX[i] = point.x;
- posY[i] = point.y;
- angleYaw[i] = point.yaw;
+ timeVec[i] = point.time.value();
+ posX[i] = point.pose.position.x;
+ posY[i] = point.pose.position.y;
+ angleYaw[i] = point.pose.orientation.yaw;
if (i<n-1)
{
- openScenario::TrajectoryPoint pointNext = trajectory.points.at(i+1);
- vX = (pointNext.x-point.x) / timeStep; // uniform motion approximation
- vY = (pointNext.y-point.y) / timeStep; // uniform motion approximation
- w = (pointNext.yaw-point.yaw) / timeStep; // uniform motion approximation
+ auto pointNext = trajectory.at(i + 1);
+ vX = (pointNext.pose.position.x - point.pose.position.x) / timeStep; // uniform motion approximation
+ vY = (pointNext.pose.position.y - point.pose.position.y) / timeStep; // uniform motion approximation
+ w = (pointNext.pose.orientation.yaw - point.pose.orientation.yaw) / timeStep; // uniform motion approximation
}
velX[i] = vX;
velY[i] = vY;
diff --git a/sim/src/components/Dynamics_CopyTrajectory/dynamics_copyTrajectory_implementation.h b/sim/src/components/Dynamics_CopyTrajectory/dynamics_copyTrajectory_implementation.h
index b9ae3341070d14b09683e3352da524834ed29431..c8ef0b8dd23393cf4f34f4452cddc85b4fb99538 100644
--- a/sim/src/components/Dynamics_CopyTrajectory/dynamics_copyTrajectory_implementation.h
+++ b/sim/src/components/Dynamics_CopyTrajectory/dynamics_copyTrajectory_implementation.h
@@ -116,7 +116,7 @@ private:
* @{
*/
// InputPort<TrajectorySignal, openScenario::Trajectory> trajectory{0, &inputPorts}; //!< given trajectory to follow
- openScenario::Trajectory trajectory; //!< given trajectory to follow
+ mantle_api::PolyLine trajectory; //!< given trajectory to follow
/**
* @}
* @}
@@ -129,20 +129,19 @@ private:
* @{
*/
//local computation objects
- double timeStep; //!< Time step as double in s
- double timeVecNext;
+ units::time::second_t timeStep; //!< Time step as double in s
+ units::time::second_t timeVecNext;
unsigned int indexVecNext;
- std::vector<double> timeVec; //!< time vector of trajectory
- std::vector<double> posX; //!< x coordinate vector of trajectory
- std::vector<double> posY; //!< y coordinate vector of trajectory
- std::vector<double> velX; //!< velocity vector of trajectory
- std::vector<double> velY; //!< velocity vector of trajectory
- std::vector<double> angleYaw; //!< yaw angle vector of trajectory
- std::vector<double> rateYaw; //!< yaw angle vector of trajectory
+ std::vector<units::time::second_t> timeVec; //!< time vector of trajectory
+ std::vector<units::length::meter_t> posX; //!< x coordinate vector of trajectory
+ std::vector<units::length::meter_t> posY; //!< y coordinate vector of trajectory
+ std::vector<units::velocity::meters_per_second_t> velX; //!< velocity vector of trajectory
+ std::vector<units::velocity::meters_per_second_t> velY; //!< velocity vector of trajectory
+ std::vector<units::angle::radian_t> angleYaw; //!< yaw angle vector of trajectory
+ std::vector<units::angular_velocity::radians_per_second_t> rateYaw; //!< yaw angle vector of trajectory
/**
* @}
*/
-
};
#endif // DYNAMICS_COPYTRAJECTORY_IMPLEMENTATION_H
diff --git a/sim/src/components/Dynamics_Longitudinal_Basic/dynamics_longitudinal_basic_implementation.cpp b/sim/src/components/Dynamics_Longitudinal_Basic/dynamics_longitudinal_basic_implementation.cpp
index c407e9f4e086319643aafc053bcbf7427217b64f..e53520cc4e76e9bc7575a8b216d7157db5affad4 100644
--- a/sim/src/components/Dynamics_Longitudinal_Basic/dynamics_longitudinal_basic_implementation.cpp
+++ b/sim/src/components/Dynamics_Longitudinal_Basic/dynamics_longitudinal_basic_implementation.cpp
@@ -53,7 +53,7 @@ void Dynamics_Longitudinal_Basic_Implementation::Trigger(int time)
{
Q_UNUSED(time);
- double v = GetAgent()->GetVelocityX() + in_aVehicle*GetCycleTime()/1000.;
+ units::velocity::meters_per_second_t v = GetAgent()->GetVelocityX() + in_aVehicle * GetCycleTime() / 1000.;
if (v >= _VLowerLimit)
{
diff --git a/sim/src/components/Dynamics_RegularDriving/src/regularDriving.cpp b/sim/src/components/Dynamics_RegularDriving/src/regularDriving.cpp
index c64e987a1e33e4da2466f726afd359e993616d4f..3c131027761df495689f09096ecd87f6abc5fbb8 100644
--- a/sim/src/components/Dynamics_RegularDriving/src/regularDriving.cpp
+++ b/sim/src/components/Dynamics_RegularDriving/src/regularDriving.cpp
@@ -2,6 +2,7 @@
* Copyright (c) 2018-2019 AMFD GmbH
* 2020 HLRS, University of Stuttgart
* 2018-2020 in-tech GmbH
+ * 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -28,8 +29,8 @@
#include "common/longitudinalSignal.h"
#include "common/opMath.h"
#include "common/parametersVehicleSignal.h"
-#include "common/steeringSignal.h"
#include "common/rollSignal.h"
+#include "common/steeringSignal.h"
#include "components/common/vehicleProperties.h"
#include "include/worldInterface.h"
@@ -40,7 +41,7 @@ void DynamicsRegularDrivingImplementation::UpdateInput(int localLinkId, const st
if (localLinkId == 0)
{
const std::shared_ptr<ComponentStateSignalInterface const> stateSignal = std::dynamic_pointer_cast<ComponentStateSignalInterface const>(data);
- if(stateSignal->componentState == ComponentState::Acting)
+ if (stateSignal->componentState == ComponentState::Acting)
{
const std::shared_ptr<LongitudinalSignal const> signal = std::dynamic_pointer_cast<LongitudinalSignal const>(data);
if (!signal)
@@ -59,7 +60,7 @@ void DynamicsRegularDrivingImplementation::UpdateInput(int localLinkId, const st
else if (localLinkId == 1)
{
const std::shared_ptr<ComponentStateSignalInterface const> stateSignal = std::dynamic_pointer_cast<ComponentStateSignalInterface const>(data);
- if(stateSignal->componentState == ComponentState::Acting)
+ if (stateSignal->componentState == ComponentState::Acting)
{
const std::shared_ptr<SteeringSignal const> signal = std::dynamic_pointer_cast<SteeringSignal const>(data);
if (!signal)
@@ -74,7 +75,7 @@ void DynamicsRegularDrivingImplementation::UpdateInput(int localLinkId, const st
else if (localLinkId == 2)
{
const std::shared_ptr<ComponentStateSignalInterface const> stateSignal = std::dynamic_pointer_cast<ComponentStateSignalInterface const>(data);
- if(stateSignal->componentState == ComponentState::Acting)
+ if (stateSignal->componentState == ComponentState::Acting)
{
const std::shared_ptr<RollSignal const> signal = std::dynamic_pointer_cast<RollSignal const>(data);
if (!signal)
@@ -83,7 +84,7 @@ void DynamicsRegularDrivingImplementation::UpdateInput(int localLinkId, const st
LOG(CbkLogLevel::Debug, msg);
throw std::runtime_error(msg);
}
- dynamicsSignal.roll = signal->rollAngle;
+ dynamicsSignal.dynamicsInformation.roll = signal->rollAngle;
}
}
else if (localLinkId == 100)
@@ -111,12 +112,13 @@ void DynamicsRegularDrivingImplementation::UpdateOutput(int localLinkId, std::sh
{
Q_UNUSED(time);
- if(localLinkId == 0)
+ if (localLinkId == 0)
{
- try {
+ try
+ {
data = std::make_shared<DynamicsSignal const>(dynamicsSignal);
}
- catch(const std::bad_alloc&)
+ catch (const std::bad_alloc &)
{
const std::string msg = COMPONENTNAME + " could not instantiate signal";
LOG(CbkLogLevel::Debug, msg);
@@ -142,34 +144,33 @@ void DynamicsRegularDrivingImplementation::ApplyPedalPositionLimits()
in_brakePedalPos = std::min(std::max(in_brakePedalPos, 0.0), 1.0);
}
-double DynamicsRegularDrivingImplementation::GetEngineSpeedByVelocity(double xVel, int gear)
+units::angular_velocity::revolutions_per_minute_t DynamicsRegularDrivingImplementation::GetEngineSpeedByVelocity(units::velocity::meters_per_second_t xVel, int gear)
{
- 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
+ return 1_rad * (xVel * GetVehicleProperty(vehicle::properties::AxleRatio) * GetVehicleProperty(vehicle::properties::GearRatio + std::to_string(gear))) /
+ (vehicleModelParameters.rear_axle.wheel_diameter * 0.5); // an dynamic wheel radius rDyn must actually be used here
}
-double DynamicsRegularDrivingImplementation::GetEngineMomentMax(double engineSpeed)
+units::torque::newton_meter_t DynamicsRegularDrivingImplementation::GetEngineMomentMax(units::angular_velocity::revolutions_per_minute_t engineSpeed)
{
- const double maximumEngineTorque = GetVehicleProperty(vehicle::properties::MaximumEngineTorque);
- const double maximumEngineSpeed = GetVehicleProperty(vehicle::properties::MaximumEngineSpeed);
- const double minimumEngineSpeed = GetVehicleProperty(vehicle::properties::MinimumEngineSpeed);
+ const units::torque::newton_meter_t maximumEngineTorque{GetVehicleProperty(vehicle::properties::MaximumEngineTorque)};
+ const units::angular_velocity::revolutions_per_minute_t maximumEngineSpeed{GetVehicleProperty(vehicle::properties::MaximumEngineSpeed)};
+ const units::angular_velocity::revolutions_per_minute_t minimumEngineSpeed{GetVehicleProperty(vehicle::properties::MinimumEngineSpeed)};
- double torqueMax = maximumEngineTorque; // initial value at max
- double speed = engineSpeed;
+ auto torqueMax = maximumEngineTorque; // initial value at max
+ auto speed = engineSpeed;
- bool isLowerSection = engineSpeed < minimumEngineSpeed + 1000.;
+ bool isLowerSection = engineSpeed < minimumEngineSpeed + 1000.0_rpm;
bool isBeyondLowerSectionBorder = engineSpeed < minimumEngineSpeed;
- bool isUpperSection = engineSpeed > maximumEngineSpeed - 1000.;
+ bool isUpperSection = engineSpeed > maximumEngineSpeed - 1000.0_rpm;
bool isBeyondUpperSectionBorder = engineSpeed > maximumEngineSpeed;
-
if (isLowerSection)
{
if (isBeyondLowerSectionBorder) // not within limits
{
speed = minimumEngineSpeed;
}
- torqueMax = (1000 - (speed - minimumEngineSpeed)) * -0.1 + maximumEngineTorque;
+ torqueMax = units::inverse_radian(0.5 / M_PI) * (1000_rpm - (speed - minimumEngineSpeed)) * units::unit_t<units::compound_unit<units::torque::newton_meter, units::time::minute>>(-0.1) + maximumEngineTorque;
}
else if (isUpperSection)
{
@@ -178,27 +179,27 @@ double DynamicsRegularDrivingImplementation::GetEngineMomentMax(double engineSpe
speed = maximumEngineSpeed;
}
- torqueMax = (speed - maximumEngineSpeed + 1000) * -0.04 + maximumEngineTorque;
+ torqueMax = units::inverse_radian(0.5 / M_PI) * (speed - maximumEngineSpeed + 1000_rpm) * units::unit_t<units::compound_unit<units::torque::newton_meter, units::time::minute>>(-0.04) + maximumEngineTorque;
}
return torqueMax;
}
-double DynamicsRegularDrivingImplementation::GetAccelerationFromRollingResistance()
+units::acceleration::meters_per_second_squared_t DynamicsRegularDrivingImplementation::GetAccelerationFromRollingResistance()
{
- double rollingResistanceCoeff = .0125; // Dummy value, get via vehicle Parameters (vehicleModelParameters.rollingDragCoefficient)
- double accDueToRollingResistance = -rollingResistanceCoeff * _oneG;
+ double rollingResistanceCoeff = .0125; // Dummy value, get via vehicle Parameters (vehicleModelParameters.rollingDragCoefficient)
+ const units::acceleration::meters_per_second_squared_t accDueToRollingResistance = -rollingResistanceCoeff * _oneG;
return accDueToRollingResistance;
}
-double DynamicsRegularDrivingImplementation::GetAccelerationFromAirResistance(double velocity)
+units::acceleration::meters_per_second_squared_t DynamicsRegularDrivingImplementation::GetAccelerationFromAirResistance(units::velocity::meters_per_second_t velocity)
{
- double forceAirResistance = -.5 * _rho * GetVehicleProperty(vehicle::properties::AirDragCoefficient) *
- GetVehicleProperty(vehicle::properties::FrontSurface) * velocity * velocity;
- double accDueToAirResistance = forceAirResistance / GetVehicleProperty(vehicle::properties::Mass);
+ units::force::newton_t forceAirResistance = -.5 * _rho * GetVehicleProperty(vehicle::properties::AirDragCoefficient) *
+ units::area::square_meter_t(GetVehicleProperty(vehicle::properties::FrontSurface)) * velocity * velocity;
+ const units::acceleration::meters_per_second_squared_t accDueToAirResistance = forceAirResistance / GetAgent()->GetVehicleModelParameters()->mass;
return accDueToAirResistance;
}
-double DynamicsRegularDrivingImplementation::GetEngineMomentMin(double engineSpeed)
+units::torque::newton_meter_t DynamicsRegularDrivingImplementation::GetEngineMomentMin(units::angular_velocity::revolutions_per_minute_t engineSpeed)
{
return GetEngineMomentMax(engineSpeed) * -.1;
}
@@ -208,78 +209,78 @@ double DynamicsRegularDrivingImplementation::GetFrictionCoefficient()
return GetWorld()->GetFriction() * GetVehicleProperty(vehicle::properties::FrictionCoefficient);
}
-double DynamicsRegularDrivingImplementation::GetVehicleProperty(const std::string& propertyName)
+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();
+ return std::stod(property.value());
}
-double DynamicsRegularDrivingImplementation::GetEngineMoment(double gasPedalPos, int gear)
+units::torque::newton_meter_t DynamicsRegularDrivingImplementation::GetEngineMoment(double gasPedalPos, int gear)
{
- double xVel = GetAgent()->GetVelocity().Length();
+ const auto xVel = GetAgent()->GetVelocity().Length();
- double engineSpeedAtGear = GetEngineSpeedByVelocity(xVel, gear);
+ const auto engineSpeedAtGear = GetEngineSpeedByVelocity(xVel, gear);
GetAgent()->SetEngineSpeed(engineSpeedAtGear);
- double max = GetEngineMomentMax(engineSpeedAtGear);
- double maxAccAtGear = GetAccFromEngineMoment(xVel, max, gear, GetCycleTime());
+ const auto max = GetEngineMomentMax(engineSpeedAtGear);
+ const auto maxAccAtGear = GetAccFromEngineMoment(xVel, max, gear, GetCycleTime());
- GetAgent()->SetMaxAcceleration(maxAccAtGear*GetFrictionCoefficient());
+ GetAgent()->SetMaxAcceleration(maxAccAtGear * GetFrictionCoefficient());
- double min = GetEngineMomentMin(engineSpeedAtGear);
+ const auto min = GetEngineMomentMin(engineSpeedAtGear);
- return (std::fabs(min) + max) * gasPedalPos + min;
+ return (units::math::fabs(min) + max) * gasPedalPos + min;
}
-double DynamicsRegularDrivingImplementation::GetAccFromEngineMoment(double xVel, double engineMoment, int chosenGear, int cycleTime)
+units::acceleration::meters_per_second_squared_t DynamicsRegularDrivingImplementation::GetAccFromEngineMoment(units::velocity::meters_per_second_t xVel, units::torque::newton_meter_t engineMoment, int chosenGear, int cycleTime)
{
Q_UNUSED(xVel);
Q_UNUSED(cycleTime);
- double wheelSetMoment = engineMoment * (GetVehicleProperty(vehicle::properties::AxleRatio) * GetVehicleProperty(vehicle::properties::GearRatio+std::to_string(chosenGear)));
- double wheelSetForce = wheelSetMoment / (0.5 * vehicleModelParameters.rearAxle.wheelDiameter);
+ units::torque::newton_meter_t wheelSetMoment = engineMoment * (GetVehicleProperty(vehicle::properties::AxleRatio) * GetVehicleProperty(vehicle::properties::GearRatio + std::to_string(chosenGear)));
+ units::force::newton_t wheelSetForce = wheelSetMoment / (0.5 * vehicleModelParameters.rear_axle.wheel_diameter);
- double vehicleSetForce = wheelSetForce;
- double acc = vehicleSetForce / GetVehicleProperty(vehicle::properties::Mass);
+ const auto vehicleSetForce = wheelSetForce;
+ const units::acceleration::meters_per_second_squared_t acc = vehicleSetForce / GetAgent()->GetVehicleModelParameters()->mass;
return acc;
}
-double DynamicsRegularDrivingImplementation::GetAccVehicle(double accPedalPos, double brakePedalPos, int gear, int time)
+units::acceleration::meters_per_second_squared_t DynamicsRegularDrivingImplementation::GetAccVehicle(double accPedalPos, double brakePedalPos, int gear)
{
- double resultAcc = 0;
+ units::acceleration::meters_per_second_squared_t resultAcc{0};
- double xVel = GetAgent()->GetVelocity().Length();
+ const auto xVel = GetAgent()->GetVelocity().Length();
- if (brakePedalPos > 0.) // Brake
+ if (brakePedalPos > 0.) // Brake
{
- double accelerationDueToPedal {brakePedalPos * _oneG * -1.};
- double engineSpeed {GetEngineSpeedByVelocity(xVel, gear)};
- double engineDrag {GetEngineMomentMin(engineSpeed)};
- double accelerationDueToDrag {GetAccFromEngineMoment(xVel, engineDrag, gear, GetCycleTime())};
- if (accelerationDueToPedal > 0. || accelerationDueToDrag > 0.)
+ units::acceleration::meters_per_second_squared_t accelerationDueToPedal{brakePedalPos * _oneG * -1.};
+ units::angular_velocity::revolutions_per_minute_t engineSpeed{GetEngineSpeedByVelocity(xVel, gear)};
+ auto engineDrag{GetEngineMomentMin(engineSpeed)};
+ auto accelerationDueToDrag = GetAccFromEngineMoment(xVel, engineDrag, gear, GetCycleTime());
+ if (accelerationDueToPedal > 0.0_mps_sq || accelerationDueToDrag > 0.0_mps_sq)
{
throw std::runtime_error("DynamicsRegularDrivingImplementation - Wrong sign for acceleration!");
}
resultAcc = accelerationDueToPedal + accelerationDueToDrag;
- double maxDecel = GetAgent()->GetMaxDeceleration();
- resultAcc = std::fmax(maxDecel, resultAcc);
+ const auto maxDecel = GetAgent()->GetMaxDeceleration();
+ resultAcc = units::math::fmax(maxDecel, resultAcc);
}
- else // Gas
+ else // Gas
{
- double engineMoment = GetEngineMoment(accPedalPos, gear);
- GetPublisher()->Publish("EngineMoment", engineMoment);
+ const auto engineMoment = GetEngineMoment(accPedalPos, gear);
+ GetPublisher()->Publish("EngineMoment", engineMoment.value());
resultAcc = GetAccFromEngineMoment(xVel, engineMoment, gear, GetCycleTime());
}
- const double accelerationDueToAirResistance = GetAccelerationFromAirResistance(xVel);
- const double accelerationDueToRollingResistance = GetAccelerationFromRollingResistance();
+ const auto accelerationDueToAirResistance = GetAccelerationFromAirResistance(xVel);
+ const auto accelerationDueToRollingResistance = GetAccelerationFromRollingResistance();
- return resultAcc+accelerationDueToAirResistance + accelerationDueToRollingResistance;
+ return resultAcc + accelerationDueToAirResistance + accelerationDueToRollingResistance;
}
void DynamicsRegularDrivingImplementation::Trigger(int time)
@@ -289,53 +290,53 @@ void DynamicsRegularDrivingImplementation::Trigger(int time)
const auto agent = GetAgent();
//Lateral behavior
- double maxDecel = _oneG * GetFrictionCoefficient() * -1;
+ const units::acceleration::meters_per_second_squared_t maxDecel = _oneG * GetFrictionCoefficient() * -1;
agent->SetMaxDeceleration(maxDecel);
- double v;
- double yawAngle = agent->GetYaw();
+ units::velocity::meters_per_second_t v;
+ const auto yawAngle = agent->GetYaw();
- double accVehicle = GetAccVehicle(in_accPedalPos, in_brakePedalPos, in_gear, time);
+ auto accVehicle = GetAccVehicle(in_accPedalPos, in_brakePedalPos, in_gear);
- v = agent->GetVelocity().Length() + accVehicle*GetCycleTime()/1000.;
+ v = agent->GetVelocity().Length() + accVehicle * units::time::millisecond_t(GetCycleTime());
- if(v < VLowerLimit)
+ if (v < VLowerLimit)
{
- accVehicle = 0.0;
+ accVehicle = 0.0_mps_sq;
v = VLowerLimit;
}
// change of path coordinate since last time step [m]
- double ds = v * GetCycleTime() * 0.001;
+ const units::length::meter_t ds = v * units::time::millisecond_t(GetCycleTime());
// change of inertial x-position due to ds and yaw [m]
- double dx = ds * std::cos(yawAngle);
+ const units::length::meter_t dx = ds * units::math::cos(yawAngle);
// change of inertial y-position due to ds and yaw [m]
- double dy = ds * std::sin(yawAngle);
+ const units::length::meter_t dy = ds * units::math::sin(yawAngle);
// new inertial x-position [m]
- double x = agent->GetPositionX() + dx;
+ auto x = agent->GetPositionX() + dx;
// new inertial y-position [m]
- double y = agent->GetPositionY() + dy;
+ auto y = agent->GetPositionY() + dy;
- dynamicsSignal.acceleration = accVehicle;
- dynamicsSignal.velocity = v;
- dynamicsSignal.positionX = x;
- dynamicsSignal.positionY = y;
- dynamicsSignal.travelDistance = ds;
+ dynamicsSignal.dynamicsInformation.acceleration = accVehicle;
+ dynamicsSignal.dynamicsInformation.velocity = v;
+ dynamicsSignal.dynamicsInformation.positionX = x;
+ dynamicsSignal.dynamicsInformation.positionY = y;
+ dynamicsSignal.dynamicsInformation.travelDistance = ds;
// convert steering wheel angle to steering angle of front wheels [radian]
- const auto steering_angle = std::clamp(in_steeringWheelAngle / GetVehicleProperty(vehicle::properties::SteeringRatio), -vehicleModelParameters.frontAxle.maxSteering, 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;
+ const auto steering_angle = std::clamp(in_steeringWheelAngle / GetVehicleProperty(vehicle::properties::SteeringRatio), -vehicleModelParameters.front_axle.max_steering, vehicleModelParameters.front_axle.max_steering);
+ dynamicsSignal.dynamicsInformation.steeringWheelAngle = steering_angle * GetVehicleProperty(vehicle::properties::SteeringRatio);
+ GetPublisher()->Publish("SteeringAngle", steering_angle.value());
+ const auto wheelbase = vehicleModelParameters.front_axle.bb_center_to_axle_center.x - vehicleModelParameters.rear_axle.bb_center_to_axle_center.x;
// calculate curvature (Ackermann model; reference point of yawing = rear axle!) [radian]
- double steeringCurvature = std::tan(steering_angle) / wheelbase;
+ units::curvature::inverse_meter_t steeringCurvature = units::math::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);
- dynamicsSignal.yawAcceleration = (dynamicsSignal.yawRate - yawRatePrevious) / (GetCycleTime() * 0.001);
- yawRatePrevious = dynamicsSignal.yawRate;
- dynamicsSignal.centripetalAcceleration = dynamicsSignal.yawRate * v;
+ units::angle::radian_t dpsi{units::math::atan(steeringCurvature * ds)};
+ dynamicsSignal.dynamicsInformation.yawRate = dpsi / units::time::millisecond_t(GetCycleTime());
+ dynamicsSignal.dynamicsInformation.yawAcceleration = (dynamicsSignal.dynamicsInformation.yawRate - yawRatePrevious) / units::time::second_t(GetCycleTime() * 0.001);
+ yawRatePrevious = dynamicsSignal.dynamicsInformation.yawRate;
+ dynamicsSignal.dynamicsInformation.centripetalAcceleration = units::inverse_radian(1) * dynamicsSignal.dynamicsInformation.yawRate * v;
// new yaw angle in current time step [radian]
- double psi = agent->GetYaw() + dpsi;
- dynamicsSignal.yaw = psi;
+ const auto psi = agent->GetYaw() + dpsi;
+ dynamicsSignal.dynamicsInformation.yaw = psi;
}
diff --git a/sim/src/components/Dynamics_RegularDriving/src/regularDriving.h b/sim/src/components/Dynamics_RegularDriving/src/regularDriving.h
index e377629bf2025b33c17866a9fd7d9a42965da452..9fb3690dcbf18d5ed16a01e2336a0d7cc3d46559 100644
--- a/sim/src/components/Dynamics_RegularDriving/src/regularDriving.h
+++ b/sim/src/components/Dynamics_RegularDriving/src/regularDriving.h
@@ -56,7 +56,7 @@
* Init input variables:
* name | meaning
* --------------|------
-* vehicleModelParameters | VehicleModelParameters
+* vehicleModelParameters | mantle_api::VehicleProperties
*
*
* * Init input channel IDs:
@@ -195,20 +195,19 @@ private:
//! @param [in] accPedalPos current Gas pedal position [%]
//! @param [in] brakePedalPos current Brake pedal position [%]
//! @param [in] gear current Gear
- //! @param [in] carParameters parameters of the car
//! @return current acceleration
- double GetAccVehicle(double accPedalPos, double brakePedalPos, int gear, int time);
+ units::acceleration::meters_per_second_squared_t GetAccVehicle(double accPedalPos, double brakePedalPos, int gear);
//! Get the acceleration (negative) caused by the air resistance of the vehicle.
//! @param [in] velocity absolute vehicle speed [m/s]
//! @return acceleration due to rolling resistance [m/s^2]
//-----------------------------------------------------------------------------
- double GetAccelerationFromAirResistance(double velocity);
+ units::acceleration::meters_per_second_squared_t GetAccelerationFromAirResistance(units::velocity::meters_per_second_t velocity);
//! Get the acceleration (negative) caused by the rolling resistance of the wheels.
//! @return acceleration due to rolling resistance [m/s^2]
//-----------------------------------------------------------------------------
- double GetAccelerationFromRollingResistance();
+ units::acceleration::meters_per_second_squared_t GetAccelerationFromRollingResistance();
//! Get the moment of the engine from pedal position and gear.
//! @param [in] gasPedalPos current Gas pedal position. [%]
@@ -216,7 +215,7 @@ private:
//! @param [in] carParameters parameters of the car
//! @return engine moment [Nm]
//-----------------------------------------------------------------------------
- double GetEngineMoment(double gasPedalPos, int lastGear);
+ units::torque::newton_meter_t GetEngineMoment(double gasPedalPos, int lastGear);
@@ -224,14 +223,14 @@ private:
//! @param [in] engineSpeed the speed of the engine
//! @param [in] carParameters parameters of the car
//! @return drag moment [Nm]
- double GetEngineMomentMin(double engineSpeed);
+ units::torque::newton_meter_t GetEngineMomentMin(units::angular_velocity::revolutions_per_minute_t engineSpeed);
//! Get the maximum possible torque of the engine in the current state
//! @param [in] engineSpeed the speed of the engine
//! @param [in] carParameters parameters of the car
//! @return maximum moment in the current state [Nm]
- double GetEngineMomentMax(double engineSpeed);
+ units::torque::newton_meter_t GetEngineMomentMax(units::angular_velocity::revolutions_per_minute_t engineSpeed);
//! Calculate the engine speed coresponding to the current speed and gear of the car
@@ -239,7 +238,7 @@ private:
//! @param [in] gear current gear
//! @param [in] carParameters parameters of the car
//! @return engine speed [1/min]
- double GetEngineSpeedByVelocity(double xVel, int gear);
+ units::angular_velocity::revolutions_per_minute_t GetEngineSpeedByVelocity(units::velocity::meters_per_second_t xVel, int gear);
//! Calculate the resulting acceleration of the car with the delivered moment of the engine
@@ -249,14 +248,14 @@ private:
//! @param [in] carParameters parameters of the car
//! @param [in] cycleTime Cycle time of this components trigger task [ms] (unused)
//! @return resulting acceleration [m/s²]
- double GetAccFromEngineMoment(double xVel, double engineMoment, int chosenGear, int cycleTime);
+ units::acceleration::meters_per_second_squared_t GetAccFromEngineMoment(units::velocity::meters_per_second_t xVel, units::torque::newton_meter_t engineMoment, int chosenGear, int cycleTime);
//! Returns the friction coefficient according to enviroment and car conditions
//! @return friction coefficient (currently ALWAYS 1)
double GetFrictionCoefficient();
- //! Returns the property with given name in the VehicleModelParameters
+ //! Returns the property with given name in the mantle_api::VehicleProperties
//! or throws an error if the property is missing
double GetVehicleProperty(const std::string& propertyName);
@@ -268,7 +267,7 @@ private:
*/
//! The minimal velocity of the agent [m/s].
- const double VLowerLimit = 0;
+ const units::velocity::meters_per_second_t VLowerLimit{0};
/**
* @} */ // End of Internal Parameters
@@ -288,7 +287,7 @@ private:
int in_gear = 0;
//! The steering wheel angle [rad].
- double in_steeringWheelAngle = 0;
+ units::angle::radian_t in_steeringWheelAngle{0};
// --- Outputs
@@ -298,20 +297,20 @@ private:
// --- Init Inputs
//! Containing the vehicle parameters e.g. double carMass; double rDyn and more.
- VehicleModelParameters vehicleModelParameters;
+ mantle_api::VehicleProperties vehicleModelParameters;
// Constants
//! PI.
- double _twoPi = 2 * M_PI;
+ units::angle::radian_t _twoPi = 2_rad * M_PI;
//! value of earth gravity [m/s²].
- double _oneG = 9.81;
+ units::acceleration::meters_per_second_squared_t _oneG{9.81};
//! air density.
- double _rho = 1.23;
+ units::density::kilograms_per_cubic_meter_t _rho{1.23};
- double yawRatePrevious = 0.0;
+ units::angular_velocity::radians_per_second_t yawRatePrevious{0.0};
/**
* @} */ // End of External Parameters
/**
diff --git a/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_regularTwoTrackImpl.cpp b/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_regularTwoTrackImpl.cpp
index e87d9ca2701a2a67f739dec1f170e403b7b77b9e..cbbf3caea305dfa2f82714565fdcf3df5d01be4a 100644
--- a/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_regularTwoTrackImpl.cpp
+++ b/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_regularTwoTrackImpl.cpp
@@ -2,6 +2,7 @@
* Copyright (c) 2018-2019 AMFD GmbH
* 2019-2020 ITK Engineering GmbH
* 2018-2019 in-tech GmbH
+ * 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -94,7 +95,7 @@ void DynamicsRegularTwoTrackImplementation::UpdateInput(int localLinkId, const s
LOG(CbkLogLevel::Debug, msg);
throw std::runtime_error(msg);
}
- angleTireFront.SetDefaultValue(signal->steeringWheelAngle);
+ angleTireFront.SetDefaultValue(signal->steeringWheelAngle.value());
}
}
else if (localLinkId == 100)
@@ -145,7 +146,8 @@ void DynamicsRegularTwoTrackImplementation::Trigger(int time)
{
Q_UNUSED(time);
- if (timeStep <= std::numeric_limits<double>::epsilon()) {
+ if (timeStep <= units::time::second_t(std::numeric_limits<double>::epsilon()))
+ {
Init();
}
@@ -161,15 +163,9 @@ void DynamicsRegularTwoTrackImplementation::Trigger(int time)
ReadPreviousState();
#ifdef QT_DEBUG
- logFile << (std::to_string(time) + ";"
- + std::to_string(GetAgent()->GetId()) + ";"
- + std::to_string(positionCar.x) + ";"
- + std::to_string(positionCar.y) + ";"
- + std::to_string(velocityCar.x) + ";"
- + std::to_string(velocityCar.y) + ";"
- + std::to_string(GetAgent()->GetYaw()) + ";")
- << std::endl;
- #endif
+ logFile << (std::to_string(time) + ";" + std::to_string(GetAgent()->GetId()) + ";" + units::length::to_string(positionCar.x) + ";" + units::length::to_string(positionCar.y) + ";" + units::velocity::to_string(velocityCar.x) + ";" + units::velocity::to_string(velocityCar.y) + ";" + units::angle::to_string(GetAgent()->GetYaw()) + ";")
+ << std::endl;
+#endif
vehicle->SetVelocity(velocityCar, yawVelocity);
@@ -190,7 +186,7 @@ void DynamicsRegularTwoTrackImplementation::Trigger(int time)
* - calculate lateral tire slips and forces
* - calculate friction forces
*/
- vehicle->ForceLocal(timeStep, angleTireFront.GetValue(), forceWheelVertical);
+ vehicle->ForceLocal(timeStep, units::angle::radian_t(angleTireFront.GetValue()), forceWheelVertical);
/** @addtogroup sim_step_10_tt
* Combine local tire forces to a global force at the vehicle's body:
@@ -230,16 +226,14 @@ void DynamicsRegularTwoTrackImplementation::Trigger(int time)
NextStateSet();
}
-double DynamicsRegularTwoTrackImplementation::GetWheelbase() const
+units::length::meter_t DynamicsRegularTwoTrackImplementation::GetWheelbase() const
{
- return GetAgent()->GetVehicleModelParameters().frontAxle.positionX - GetAgent()->GetVehicleModelParameters().rearAxle.positionX;
+ return vehicleProperties->front_axle.bb_center_to_axle_center.x - vehicleProperties->rear_axle.bb_center_to_axle_center.x;
}
-double DynamicsRegularTwoTrackImplementation::GetWeight() const
+units::mass::kilogram_t 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();
+ return GetAgent()->GetVehicleModelParameters()->mass;
}
void DynamicsRegularTwoTrackImplementation::Init()
@@ -253,7 +247,7 @@ void DynamicsRegularTwoTrackImplementation::Init()
torqueBrakeMin.SetValue(-std::fabs(parameterMapDoubleExternal.find("torqueBrakeMin")->second));
- timeStep = (double)GetCycleTime() / 1000.0;
+ timeStep = units::time::millisecond_t(GetCycleTime());
vehicle = std::make_unique<VehicleSimpleTT>();
@@ -263,7 +257,7 @@ void DynamicsRegularTwoTrackImplementation::Init()
* - power
* - maximum brake torque
*/
- vehicle->InitSetEngine(GetWeight(), powerEngineMax.GetValue(), torqueBrakeMin.GetValue());
+ vehicle->InitSetEngine(GetWeight(), units::power::watt_t(powerEngineMax.GetValue()), units::torque::newton_meter_t(torqueBrakeMin.GetValue()));
/** @addtogroup init_tt
* Define vehicle's geometry:
@@ -272,8 +266,8 @@ void DynamicsRegularTwoTrackImplementation::Init()
* - set the wheelbase
* - set the track width
*/
- vehicle->InitSetGeometry(GetWheelbase(), 0.0,
- GetAgent()->GetVehicleModelParameters().rearAxle.trackWidth, 0.0);
+ vehicle->InitSetGeometry(GetWheelbase(), 0.0_m,
+ vehicleProperties->rear_axle.track_width, 0.0_m);
/** @addtogroup init_tt
* Define vehicle's tire properties:
@@ -285,12 +279,12 @@ void DynamicsRegularTwoTrackImplementation::Init()
* - set the road/tire friction coefficient
*/
- const auto frictionCoeff = helper::map::query(GetAgent()->GetVehicleModelParameters().properties, vehicle::properties::FrictionCoefficient);
+ 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().Projection(GetAgent()->GetYaw()),
muTireMax.GetValue(), muTireSlide.GetValue(),
- slipTireMax.GetValue(), radiusTire.GetValue(), frictionCoeff.value());
+ slipTireMax.GetValue(), units::length::meter_t(radiusTire.GetValue()), std::stod(frictionCoeff.value()));
forceWheelVertical = {
vehicle->forceTireVerticalStatic[0],
@@ -307,21 +301,20 @@ void DynamicsRegularTwoTrackImplementation::Init()
void DynamicsRegularTwoTrackImplementation::ReadPreviousState()
{
// actual state
- double midRearAxleX = GetAgent()->GetPositionX(); // reference point (rear axle) in global CS
- double midRearAxleY = GetAgent()->GetPositionY(); // reference point (rear axle) in global CS
+ const auto midRearAxleX = GetAgent()->GetPositionX(); // reference point (rear axle) in global CS
+ const auto midRearAxleY = GetAgent()->GetPositionY(); // reference point (rear axle) in global CS
yawAngle = GetAgent()->GetYaw(); // 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
+ const auto wheelbase = GetWheelbase();
+ positionCar.x = midRearAxleX + units::math::cos(yawAngle) * wheelbase / 2.0; // geometrical center of vehicle in global CS
+ positionCar.y = midRearAxleY + units::math::sin(yawAngle) * wheelbase / 2.0; // geometrical center of vehicle in global CS
velocityCar.x = GetAgent()->GetVelocity().Projection(GetAgent()->GetYaw()); // car's CS
- velocityCar.y = GetAgent()->GetVelocity().Projection(GetAgent()->GetYaw() + M_PI_2); // car's CS
+ velocityCar.y = GetAgent()->GetVelocity().Projection(GetAgent()->GetYaw() + 90_deg); // car's CS
yawVelocity = GetAgent()->GetYawRate();
yawAcceleration = GetAgent()->GetYawAcceleration();
accelerationCar.x = GetAgent()->GetAcceleration().Projection(GetAgent()->GetYaw()); // car's CS
-
}
void DynamicsRegularTwoTrackImplementation::NextStateTranslation()
@@ -329,32 +322,36 @@ void DynamicsRegularTwoTrackImplementation::NextStateTranslation()
// update position (constant velocity step)
velocityCar.Rotate(yawAngle); // global CS
- positionCar = positionCar + velocityCar*timeStep;
+ positionCar.x = positionCar.x + velocityCar.x * timeStep;
+ positionCar.y = positionCar.y + velocityCar.y * timeStep;
velocityCar.Rotate(- yawAngle); // vehicle CS
// update velocity
- Common::Vector2d velocityCarNew = velocityCar + accelerationCar*timeStep;
+ Common::Vector2d<units::velocity::meters_per_second_t> velocityCarNew = {velocityCar.x + accelerationCar.x * timeStep,
+ velocityCar.y + accelerationCar.y * timeStep};
// update acceleration
- const double weight = GetWeight();
- if (weight >= 1.0) {
- accelerationCar = vehicle->forceTotalXY * (1 / weight);
+ const units::mass::kilogram_t weight = GetWeight();
+ if (weight >= 1.0_kg)
+ {
+ accelerationCar.x = vehicle->forceTotalXY.x * (1 / weight);
+ accelerationCar.y = vehicle->forceTotalXY.y * (1 / weight);
}
// correct velocity and acceleration for zero-crossing
- if (velocityCarNew.x*velocityCar.x<0.0)
+ if (units::unit_cast<double>(velocityCarNew.x * velocityCar.x) < 0.0)
{
- velocityCar.x = 0.0;
- accelerationCar.x = 0.0;
+ velocityCar.x = 0.0_mps;
+ accelerationCar.x = 0.0_mps_sq;
}
else
{
velocityCar.x = velocityCarNew.x;
}
- if (velocityCarNew.y*velocityCar.y<0.0)
+ if (units::unit_cast<double>(velocityCarNew.y * velocityCar.y) < 0.0)
{
- velocityCar.y = 0.0;
- accelerationCar.y = 0.0;
+ velocityCar.y = 0.0_mps;
+ accelerationCar.y = 0.0_mps_sq;
}
else
{
@@ -374,21 +371,21 @@ void DynamicsRegularTwoTrackImplementation::NextStateRotation()
yawAngle = yawAngle + timeStep * yawVelocity;
// update yaw velocity
- double yawVelocityNew = yawVelocity + yawAcceleration * timeStep;
+ units::angular_velocity::radians_per_second_t yawVelocityNew = yawVelocity + yawAcceleration * timeStep;
// update acceleration
- double momentInertiaYaw = CommonHelper::CalculateMomentInertiaYaw(GetWeight(),
+ double momentInertiaYaw = CommonHelper::CalculateMomentInertiaYaw(units::mass::kilogram_t(GetWeight()),
GetAgent()->GetLength(),
- GetAgent()->GetWidth());
+ GetAgent()->GetWidth()).value();
if (momentInertiaYaw >= 1.0) {
- yawAcceleration = vehicle->momentTotalZ / momentInertiaYaw;
+ yawAcceleration = units::angular_acceleration::radians_per_second_squared_t(vehicle->momentTotalZ / momentInertiaYaw);
}
// correct velocity and acceleration for zero-crossing
- if (yawVelocityNew*yawVelocity<0.0)
+ if (units::unit_cast<double>(yawVelocityNew * yawVelocity) < 0.0)
{
- yawVelocity = 0.0;
- yawAcceleration = 0.0;
+ yawVelocity = 0.0_rad_per_s;
+ yawAcceleration = 0.0_rad_per_s_sq;
}
else
{
@@ -402,18 +399,18 @@ void DynamicsRegularTwoTrackImplementation::NextStateRotation()
void DynamicsRegularTwoTrackImplementation::NextStateSet()
{
- 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
+ const auto wheelbase = GetWheelbase();
+ const auto midRearAxleX = positionCar.x - units::math::cos(yawAngle) * wheelbase / 2.0; // reference point (rear axle) in global CS
+ const auto midRearAxleY = positionCar.y - units::math::sin(yawAngle) * wheelbase / 2.0; // reference point (rear axle) in global CS
// update position (constant acceleration step)
- dynamicsSignal.acceleration = accelerationCar.x;
- dynamicsSignal.velocity = velocityCar.x;
- dynamicsSignal.positionX = midRearAxleX;
- dynamicsSignal.positionY = midRearAxleY;
- dynamicsSignal.travelDistance = velocityCar.x * GetCycleTime() * 0.001;
- dynamicsSignal.steeringWheelAngle = angleTireFront.GetValue();
- dynamicsSignal.yawRate = yawVelocity;
- dynamicsSignal.yawAcceleration = yawAcceleration;
- dynamicsSignal.yaw = yawAngle;
+ dynamicsSignal.dynamicsInformation.acceleration = accelerationCar.x;
+ dynamicsSignal.dynamicsInformation.velocity = velocityCar.x;
+ dynamicsSignal.dynamicsInformation.positionX = midRearAxleX;
+ dynamicsSignal.dynamicsInformation.positionY = midRearAxleY;
+ dynamicsSignal.dynamicsInformation.travelDistance = velocityCar.x * units::time::millisecond_t(GetCycleTime());
+ dynamicsSignal.dynamicsInformation.steeringWheelAngle = units::angle::radian_t(angleTireFront.GetValue());
+ dynamicsSignal.dynamicsInformation.yawRate = yawVelocity;
+ dynamicsSignal.dynamicsInformation.yawAcceleration = yawAcceleration;
+ dynamicsSignal.dynamicsInformation.yaw = yawAngle;
}
diff --git a/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_regularTwoTrackImpl.h b/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_regularTwoTrackImpl.h
index f567c82e873164ed34ee207be24b3766925c56f9..e4dadd7155d4b628b8453218db451e3d6b076be7 100644
--- a/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_regularTwoTrackImpl.h
+++ b/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_regularTwoTrackImpl.h
@@ -12,14 +12,15 @@
#pragma once
#include <memory>
-#include "include/modelInterface.h"
-#include "include/parameterInterface.h"
-#include "include/observationInterface.h"
-#include "common/primitiveSignals.h"
+
+#include "common/componentPorts.h"
#include "common/dynamicsSignal.h"
#include "common/globalDefinitions.h"
-#include "common/componentPorts.h"
+#include "common/primitiveSignals.h"
#include "dynamics_twotrack_vehicle.h"
+#include "include/modelInterface.h"
+#include "include/observationInterface.h"
+#include "include/parameterInterface.h"
#ifdef QT_DEBUG
#include <fstream>
@@ -76,7 +77,6 @@
class DynamicsRegularTwoTrackImplementation : public DynamicsInterface
{
public:
-
//! Name of the current component
const std::string COMPONENTNAME = "DynamicRegularTwoTrack";
@@ -90,7 +90,7 @@ public:
StochasticsInterface *stochastics,
WorldInterface *world,
const ParameterInterface *parameters,
- PublisherInterface * const publisher,
+ PublisherInterface *const publisher,
const CallbackInterface *callbacks,
AgentInterface *agent) :
DynamicsInterface(
@@ -106,13 +106,21 @@ public:
publisher,
callbacks,
agent),
- dynamicsSignal {ComponentState::Acting}
+ dynamicsSignal{ComponentState::Acting}
{
+ if (agent->GetVehicleModelParameters()->type == mantle_api::EntityType::kVehicle)
+ {
+ vehicleProperties = std::dynamic_pointer_cast<const mantle_api::VehicleProperties>(agent->GetVehicleModelParameters());
+ }
+ else
+ {
+ throw std::runtime_error("Component " + componentName + " expects an entity of type Vehicle and VehicleProperties.");
+ }
}
- DynamicsRegularTwoTrackImplementation(const DynamicsRegularTwoTrackImplementation&) = delete;
- DynamicsRegularTwoTrackImplementation(DynamicsRegularTwoTrackImplementation&&) = delete;
- DynamicsRegularTwoTrackImplementation& operator=(const DynamicsRegularTwoTrackImplementation&) = delete;
- DynamicsRegularTwoTrackImplementation& operator=(DynamicsRegularTwoTrackImplementation&&) = delete;
+ DynamicsRegularTwoTrackImplementation(const DynamicsRegularTwoTrackImplementation &) = delete;
+ DynamicsRegularTwoTrackImplementation(DynamicsRegularTwoTrackImplementation &&) = delete;
+ DynamicsRegularTwoTrackImplementation &operator=(const DynamicsRegularTwoTrackImplementation &) = delete;
+ DynamicsRegularTwoTrackImplementation &operator=(DynamicsRegularTwoTrackImplementation &&) = delete;
virtual ~DynamicsRegularTwoTrackImplementation();
/*!
@@ -154,31 +162,30 @@ public:
virtual void Trigger(int time);
private:
-
//! Output Signal
DynamicsSignal dynamicsSignal;
+ std::shared_ptr<const mantle_api::VehicleProperties> vehicleProperties;
std::map<std::string, externalParameter<double> *> parameterMapDouble;
/** \name External Parameters
* Parameter which are set externally in configuration file.
* @{ */
- externalParameter<double> radiusTire {0, ¶meterMapDouble }; //!<
- externalParameter<double> muTireMax {1, ¶meterMapDouble }; //!<
- externalParameter<double> muTireSlide {2, ¶meterMapDouble }; //!<
- externalParameter<double> slipTireMax {3, ¶meterMapDouble }; //!<
- externalParameter<double> powerEngineMax {4, ¶meterMapDouble }; //!<
- externalParameter<double> torqueBrakeMin {5, ¶meterMapDouble }; //!<
+ externalParameter<double> radiusTire{0, ¶meterMapDouble}; //!<
+ externalParameter<double> muTireMax{1, ¶meterMapDouble}; //!<
+ externalParameter<double> muTireSlide{2, ¶meterMapDouble}; //!<
+ externalParameter<double> slipTireMax{3, ¶meterMapDouble}; //!<
+ externalParameter<double> powerEngineMax{4, ¶meterMapDouble}; //!<
+ externalParameter<double> torqueBrakeMin{5, ¶meterMapDouble}; //!<
/**
* @} */
-
std::map<int, ComponentPort *> inputPorts; //!< map for all InputPort
/** \name InputPorts
* All input ports with PortId
* @{ */
- InputPort<DoubleSignal, double> throttlePedal {0, &inputPorts}; //!< throttle pedal position in the range [0...1]
- InputPort<DoubleSignal, double> brakePedal {1, &inputPorts}; //!< brake pedal position in the range [0...1]
- InputPort<DoubleSignal, double> angleTireFront {2, &inputPorts}; //!< steering angle [radian]
+ InputPort<DoubleSignal, double> throttlePedal{0, &inputPorts}; //!< throttle pedal position in the range [0...1]
+ InputPort<DoubleSignal, double> brakePedal{1, &inputPorts}; //!< brake pedal position in the range [0...1]
+ InputPort<DoubleSignal, double> angleTireFront{2, &inputPorts}; //!< steering angle [radian]
/**
* @} */
@@ -186,23 +193,23 @@ private:
* @{ */
//! Time step as double in s
- double timeStep = 0.0;
+ units::time::second_t timeStep{0.0};
//! Yaw angle
- double yawAngle = 0.0;
+ units::angle::radian_t yawAngle{0.0};
//! Car's position
- Common::Vector2d positionCar = {0.0, 0.0};
+ Common::Vector2d<units::length::meter_t> positionCar = {0.0_m, 0.0_m};
//! Yaw rate
- double yawVelocity = 0.0;
+ units::angular_velocity::radians_per_second_t yawVelocity{0.0};
//! Car's velocity
- Common::Vector2d velocityCar = {0.0, 0.0};
+ Common::Vector2d<units::velocity::meters_per_second_t> velocityCar = {0.0_mps, 0.0_mps};
//! Yaw acceleration
- double yawAcceleration = 0.0;
+ units::angular_acceleration::radians_per_second_squared_t yawAcceleration{0.0};
//! Car's acceleration
- Common::Vector2d accelerationCar = {0.0, 0.0};
+ Common::Vector2d<units::acceleration::meters_per_second_squared_t> accelerationCar = {0.0_mps_sq, 0.0_mps_sq};
//! Brake position for each tire
std::vector<double> brakeSuperpose = {0.0, 0.0, 0.0, 0.0};
//! Vertical force on wheels
- std::vector<double> forceWheelVertical = {0.0, 0.0, 0.0, 0.0};
+ std::vector<units::force::newton_t> forceWheelVertical = {0.0_N, 0.0_N, 0.0_N, 0.0_N};
/**
* @} */
@@ -214,10 +221,10 @@ private:
* @} */
//! Returns the wheelbase from the VehicleModelParameter
- double GetWheelbase() const;
+ units::length::meter_t GetWheelbase() const;
//! Returns the weight from the VehicleModelParameter
- double GetWeight() const;
+ units::mass::kilogram_t GetWeight() const;
//! Update data on agent's actual position, velocity and acceleration
void ReadPreviousState();
diff --git a/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_twotrack_tire.cpp b/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_twotrack_tire.cpp
index 20edc8a45634eff1bb39277c80259859f05717bd..bd1204f0acd4fd52800b9342e47899b322f339c5 100644
--- a/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_twotrack_tire.cpp
+++ b/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_twotrack_tire.cpp
@@ -17,10 +17,10 @@ Tire::Tire(): radius(1.0), forceZ_static(-100.0), forcePeak_static(100.0), force
Rescale(forceZ_static);
}
-Tire::Tire(const double F_ref, const double mu_tire_max, const double mu_tire_slide, const double s_max,
- const double r, const double mu_scale):
- radius (r),
- forceZ_static (F_ref)
+Tire::Tire(const units::force::newton_t F_ref, const double mu_tire_max, const double mu_tire_slide, const double s_max,
+ const units::length::meter_t r, const double mu_scale) :
+ radius(r),
+ forceZ_static(F_ref)
{
// implicite roll friction scaling
forcePeak_static = -F_ref*mu_tire_max*mu_scale;
@@ -30,15 +30,15 @@ Tire::Tire(const double F_ref, const double mu_tire_max, const double mu_tire_sl
Rescale(forceZ_static);
}
-double Tire::GetForce(const double slip)
+units::force::newton_t Tire::GetForce(const double slip)
{
double slipAbs = std::fabs(slip);
- double force;
+ units::force::newton_t force;
double slipAbsNorm = std::clamp(slipAbs, 0.0, 1.0) / slipPeak;
if (qFuzzyIsNull(slip)) { // make it easy
- return 0.0;
+ return 0.0_N;
} else if (slipAbsNorm <= 1.0) { // adhesion
force = forcePeak *
stiffnessRoll * slipAbsNorm /
@@ -59,44 +59,49 @@ double Tire::GetForce(const double slip)
}
-double Tire::GetLongSlip(const double torque)
+double Tire::GetLongSlip(const units::torque::newton_meter_t torque)
{
- double force = torque / radius;
- double forceAbs = std::fabs(force);
+ units::force::newton_t force = torque / radius;
+ units::force::newton_t forceAbs = units::math::fabs(force);
- if (( qFuzzyIsNull(force) ))
+ if ((qFuzzyIsNull(force.value())))
{
return 0.0;
} else if ( forceAbs <= forcePeak ) { // moderate force in adhesion (slip limited)
double p_2 = 0.5 * ( stiffnessRoll * ( 1.0 - forcePeak / forceAbs ) - 2.0 );
double slip = slipPeak * ( -p_2 - std::sqrt( p_2 * p_2 - 1.0 ) );
- return force > 0.0 ? slip : -slip;
+ return force > 0.0_N ? slip : -slip;
} else { // slide
//return force > 0.0 ? 1.0 : -1.0;
- return force > 0.0 ? slipSat : -slipSat;
+ return force > 0.0_N ? slipSat : -slipSat;
}
}
-double Tire::CalcSlipY(double slipX, double vx, double vy)
+double Tire::CalcSlipY(double slipX, units::velocity::meters_per_second_t vx, units::velocity::meters_per_second_t vy)
{
- if (qFuzzyIsNull(vy) || (qAbs(vx)<velocityLimit && qAbs(vy)<velocityLimit)) {
+ if (qFuzzyIsNull(vy.value()) || (units::math::abs(vx) < velocityLimit && units::math::abs(vy) < velocityLimit))
+ {
return 0.0;
- } else if (qFuzzyIsNull(vx)) {
- return std::clamp(-vy, -1.0, 1.0); // non-ISO
- } else {
- return std::clamp((std::fabs(slipX) - 1) * vy / std::fabs(vx), -1.0, 1.0); // non-ISO
+ }
+ else if (qFuzzyIsNull(vx.value()))
+ {
+ return std::clamp(-vy.value(), -1.0, 1.0); // non-ISO
+ }
+ else
+ {
+ return std::clamp((std::fabs(slipX) - 1) * vy.value() / std::fabs(vx.value()), -1.0, 1.0); // non-ISO
}
}
-double Tire::GetRollFriction(const double velTireX)
+units::force::newton_t Tire::GetRollFriction(const units::velocity::meters_per_second_t velTireX)
{
- double forceFriction = forceZ * frictionRoll;
+ units::force::newton_t forceFriction = forceZ * frictionRoll;
- if (velTireX < 0.0)
+ if (velTireX < 0.0_mps)
{
forceFriction *= -1.0;
}
- if (std::fabs(velTireX) < velocityLimit)
+ if (units::math::fabs(velTireX) < velocityLimit)
{
forceFriction *= (velTireX/velocityLimit);
}
@@ -104,11 +109,11 @@ double Tire::GetRollFriction(const double velTireX)
return forceFriction;
}
-void Tire::Rescale(const double forceZ_update)
+void Tire::Rescale(const units::force::newton_t forceZ_update)
{
forceZ = forceZ_update;
- double scaling = std::clamp(forceZ/forceZ_static, 0.1, 2.0);
+ double scaling = std::clamp(units::unit_cast<double>(forceZ / forceZ_static), 0.1, 2.0);
forcePeak = forcePeak_static*scaling;
forceSat = forceSat_static*scaling;
diff --git a/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_twotrack_tire.h b/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_twotrack_tire.h
index 54259b43c16e1cd2d70afc96dd64b305c7eb70e2..2d2c1469553f877d8f723724095b666851aed413 100644
--- a/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_twotrack_tire.h
+++ b/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_twotrack_tire.h
@@ -18,35 +18,34 @@ class Tire
public:
Tire();
- Tire(const double F_ref, const double mu_tire_max, const double mu_tire_slide, const double s_max,
- const double r, const double mu_scale);
+ Tire(const units::force::newton_t F_ref, const double mu_tire_max, const double mu_tire_slide, const double s_max,
+ const units::length::meter_t r, const double mu_scale);
virtual ~Tire() = default;
- double radius;
+ units::length::meter_t radius;
const double inertia = 1.2;
- double GetForce(const double);
- double GetLongSlip(const double tq);
- double CalcSlipY(double slipX, double vx, double vy);
- double GetRollFriction(const double velTireX);
- void Rescale(const double forceZ_update);
+ units::force::newton_t GetForce(const double);
+ double GetLongSlip(const units::torque::newton_meter_t torque);
+ double CalcSlipY(double slipX, units::velocity::meters_per_second_t vx, units::velocity::meters_per_second_t vy);
+ units::force::newton_t GetRollFriction(const units::velocity::meters_per_second_t velTireX);
+ void Rescale(const units::force::newton_t forceZ_update);
private:
+ units::force::newton_t forceZ_static;
+ units::force::newton_t forceZ;
- double forceZ_static;
- double forceZ;
-
- double forcePeak_static;
- double forceSat_static;
+ units::force::newton_t forcePeak_static;
+ units::force::newton_t forceSat_static;
double slipPeak;
double slipSat;
- double forcePeak;
- double forceSat;
+ units::force::newton_t forcePeak;
+ units::force::newton_t forceSat;
const double frictionRoll = 0.01;
const double stiffnessRoll = 0.3;
- const double velocityLimit = 0.27; // ca. 1 km/h
+ const units::velocity::meters_per_second_t velocityLimit{0.27}; // ca. 1 km/h
const double s_slide = 0.4;
};
diff --git a/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_twotrack_vehicle.cpp b/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_twotrack_vehicle.cpp
index 2aec0f7972590fa95be146c8ecd05eb16b6216de..269245ac9c6d2dca93bf2279d3a81e67f4f6e7d6 100644
--- a/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_twotrack_vehicle.cpp
+++ b/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_twotrack_vehicle.cpp
@@ -29,31 +29,30 @@ VehicleSimpleTT::~VehicleSimpleTT()
}
}
-void VehicleSimpleTT::InitSetEngine(double weight, double P_engine, double T_brakeLimit)
+void VehicleSimpleTT::InitSetEngine(units::mass::kilogram_t weight, units::power::watt_t P_engine, units::torque::newton_meter_t T_brakeLimit)
{
- powerEngineLimit = std::fabs(P_engine);
- torqueBrakeLimit = std::fabs(T_brakeLimit);
+ powerEngineLimit = units::math::fabs(P_engine);
+ torqueBrakeLimit = units::math::fabs(T_brakeLimit);
massTotal = weight;
}
-void VehicleSimpleTT::InitSetGeometry(double x_wheelbase, double x_COG,
- double y_track, double y_COG)
+void VehicleSimpleTT::InitSetGeometry(units::length::meter_t x_wheelbase, units::length::meter_t x_COG,
+ units::length::meter_t y_track, units::length::meter_t y_COG)
{
+ yawVelocity = 0.0_rad_per_s;
- yawVelocity = 0.0;
+ positionTire[0].x = x_wheelbase / 2.0 - x_COG; // > 0
+ positionTire[1].x = positionTire[0].x; // > 0
+ positionTire[2].x = -x_wheelbase / 2.0 - x_COG; // < 0
+ positionTire[3].x = positionTire[2].x; // < 0
- positionTire[0].x = x_wheelbase/2.0 - x_COG; // > 0
- positionTire[1].x = positionTire[0].x; // > 0
- positionTire[2].x = -x_wheelbase/2.0 - x_COG; // < 0
- positionTire[3].x = positionTire[2].x; // < 0
+ positionTire[0].y = y_track / 2.0 - y_COG; // > 0
+ positionTire[1].y = -y_track / 2.0 - y_COG; // < 0
+ positionTire[2].y = positionTire[0].y; // > 0
+ positionTire[3].y = positionTire[1].y; // < 0
- positionTire[0].y = y_track/2.0 - y_COG; // > 0
- positionTire[1].y = -y_track/2.0 - y_COG; // < 0
- positionTire[2].y = positionTire[0].y; // > 0
- positionTire[3].y = positionTire[1].y; // < 0
-
- double massFront = -massTotal * positionTire[2].x / x_wheelbase;
- double massRear = massTotal * positionTire[0].x / x_wheelbase;
+ units::mass::kilogram_t massFront = -massTotal * positionTire[2].x / x_wheelbase;
+ units::mass::kilogram_t massRear = massTotal * positionTire[0].x / x_wheelbase;
forceTireVerticalStatic[0] = -accelVerticalEarth * massFront * positionTire[1].y / y_track;
forceTireVerticalStatic[1] = accelVerticalEarth * massFront * positionTire[0].y / y_track;
@@ -61,23 +60,22 @@ void VehicleSimpleTT::InitSetGeometry(double x_wheelbase, double x_COG,
forceTireVerticalStatic[3] = accelVerticalEarth * massRear * positionTire[2].y / y_track;
// RWD
- torqueTireXthrottle[0] = 0.0;
- torqueTireXthrottle[1] = 0.0;
-
+ torqueTireXthrottle[0] = 0.0_Nm;
+ torqueTireXthrottle[1] = 0.0_Nm;
}
-void VehicleSimpleTT::InitSetTire(double vel, double mu_tire_max, double mu_tire_slide, double s_max,
- double r_tire, double frictionScaleRoll)
+void VehicleSimpleTT::InitSetTire(units::velocity::meters_per_second_t vel, double mu_tire_max, double mu_tire_slide, double s_max,
+ units::length::meter_t r_tire, double frictionScaleRoll)
{
for (int i = 0; i < NUMBER_OF_WHEELS; ++i)
{
tires[i] = new Tire(forceTireVerticalStatic[i], mu_tire_max, mu_tire_slide, s_max, r_tire, frictionScaleRoll);
- rotationVelocityTireX[i] = vel / r_tire;
- rotationVelocityGradTireX[i] = 0.0;
+ rotationVelocityTireX[i] = 1_rad * vel / r_tire;
+ rotationVelocityGradTireX[i] = 0.0_rad_per_s_sq;
}
}
-void VehicleSimpleTT::SetVelocity(Common::Vector2d velocityCars, const double w)
+void VehicleSimpleTT::SetVelocity(Common::Vector2d<units::velocity::meters_per_second_t> velocityCars, const units::angular_velocity::radians_per_second_t w)
{
velocityCar = velocityCars; // car CS
yawVelocity = w;
@@ -86,23 +84,21 @@ void VehicleSimpleTT::SetVelocity(Common::Vector2d velocityCars, const double w)
void VehicleSimpleTT::DriveTrain(double throttlePedal, double brakePedal,
std::vector<double> brakeSuperpose)
{
-
- double torqueEngineMax;
- double rotVelMean = 0.5 * (rotationVelocityTireX[2] + rotationVelocityTireX[3]);
- if (!qFuzzyIsNull(rotVelMean))
+ units::torque::newton_meter_t torqueEngineMax;
+ units::angular_velocity::radians_per_second_t rotVelMean = 0.5 * (rotationVelocityTireX[2] + rotationVelocityTireX[3]);
+ if (!qFuzzyIsNull(rotVelMean.value()))
{
- torqueEngineMax = powerEngineLimit / rotVelMean;
+ torqueEngineMax = powerEngineLimit / rotVelMean * 1_rad;
}
else
{
- torqueEngineMax = powerEngineLimit / 0.001;
+ torqueEngineMax = powerEngineLimit / 0.001_rad_per_s * 1_rad;
}
- torqueEngineMax = std::clamp(torqueEngineMax, 0.0, torqueEngineLimit);
+ torqueEngineMax = std::clamp(torqueEngineMax, 0.0_Nm, torqueEngineLimit);
double brakePedalMod;
for (int i = 0; i < NUMBER_OF_WHEELS; ++i)
{
-
// brake balance
if (i < 2)
{
@@ -117,39 +113,40 @@ void VehicleSimpleTT::DriveTrain(double throttlePedal, double brakePedal,
// tire torque
torqueTireXbrake[i] = std::clamp(brakePedalMod, 0.0, 1.0) * torqueBrakeLimit;
- if (i > 1) // RWD with open differential
+ if (i > 1) // RWD with open differential
{
torqueTireXthrottle[i] = throttlePedal * torqueEngineMax / 2.0;
}
-
}
}
-void VehicleSimpleTT::ForceLocal(double timeStep, double angleTireFront, std::vector<double> forceVertical)
+void VehicleSimpleTT::ForceLocal(units::time::second_t timeStep, units::angle::radian_t angleTireFront, std::vector<units::force::newton_t> forceVertical)
{
-
- double angleTire[NUMBER_OF_WHEELS];
+ units::angle::radian_t angleTire[NUMBER_OF_WHEELS];
angleTire[0] = angleTireFront + anglePreSet;
angleTire[1] = angleTireFront - anglePreSet;
angleTire[2] = -anglePreSet;
angleTire[3] = anglePreSet;
Tire *tire_tmp;
- Common::Vector2d velocityTire(0.0, 0.0);
- double rotVelNew, forceAbs, torqueTireSum;
+ Common::Vector2d<units::velocity::meters_per_second_t> velocityTire(0.0_mps, 0.0_mps);
+ units::angular_velocity::radians_per_second_t rotVelNew;
+ units::force::newton_t forceAbs;
+ units::torque::newton_meter_t torqueTireSum;
// slips + forces
for (int i = 0; i < NUMBER_OF_WHEELS; ++i)
{
-
tire_tmp = tires[i];
tire_tmp->Rescale(forceVertical[i]); // here goes the delta_F_z scaling
slipTire[i].Scale(0.0);
// global rotation of the tire
- velocityTire = positionTire[i];
- velocityTire.Rotate(M_PI / 2.0);
- velocityTire.Scale(yawVelocity);
+ Common::Vector2d<units::length::meter_t> position = positionTire[i];
+ position.Rotate(units::angle::radian_t(M_PI / 2.0));
+
+ velocityTire.x = position.x * yawVelocity * units::inverse_radian(1);
+ velocityTire.x = position.y * yawVelocity * units::inverse_radian(1);
// translation superposition
velocityTire.Add(velocityCar);
@@ -158,17 +155,17 @@ void VehicleSimpleTT::ForceLocal(double timeStep, double angleTireFront, std::ve
// rotational inertia
//torqueTireX[i] -= tire_tmp->inertia * rotationVelocityGradTireX[i];
- if (qFuzzyIsNull(velocityTire.x))
+ if (qFuzzyIsNull(velocityTire.x.value()))
{
- torqueTireSum = 0.0;
+ torqueTireSum = 0.0_Nm;
}
- else if (velocityTire.x < 0.0)
+ else if (velocityTire.x < 0.0_mps)
{
torqueTireSum = torqueTireXbrake[i];
}
else
{
- torqueTireSum = - torqueTireXbrake[i];
+ torqueTireSum = -torqueTireXbrake[i];
}
torqueTireSum += torqueTireXthrottle[i];
@@ -180,16 +177,17 @@ void VehicleSimpleTT::ForceLocal(double timeStep, double angleTireFront, std::ve
// local tire force
forceAbs = tire_tmp->GetForce(slipTire[i].Length());
- forceTire[i] = slipTire[i]; // tire CS
- forceTire[i].Norm();
- forceTire[i].Scale(forceAbs);
+ Common::Vector2d<units::dimensionless::scalar_t> slipVector = slipTire[i];
+ auto normalizedSlipVector = slipVector.Norm();
+ forceTire[i].x = normalizedSlipVector.x * forceAbs;
+ forceTire[i].y = normalizedSlipVector.y * forceAbs;
// roll friction
- bool posForce = forceTire[i].x > 0.0;
+ bool posForce = forceTire[i].x > 0.0_N;
forceTire[i].x += tire_tmp->GetRollFriction(velocityTire.x);
- if ((forceTire[i].x < 0.0 && posForce) || (forceTire[i].x > 0.0 && !posForce))
+ if ((forceTire[i].x < 0.0_N && posForce) || (forceTire[i].x > 0.0_N && !posForce))
{
- forceTire[i].x = 0.0;
+ forceTire[i].x = 0.0_N;
}
forceTire[i].Rotate(angleTire[i]); // car's CS
@@ -198,16 +196,14 @@ void VehicleSimpleTT::ForceLocal(double timeStep, double angleTireFront, std::ve
momentTireZ[i] = positionTire[i].Cross(forceTire[i]);
// rotational velocity
- rotVelNew = velocityTire.x / (1 - slipTire[i].x) / tire_tmp->radius;
+ rotVelNew = 1_rad * velocityTire.x / (1 - slipTire[i].x) / tire_tmp->radius;
// memorize rotation velocity derivative for inertia torque
rotationVelocityGradTireX[i] = (rotVelNew - rotationVelocityTireX[i]) / timeStep;
// memorize rotation velocity
rotationVelocityTireX[i] = rotVelNew;
-
}
-
}
void VehicleSimpleTT::ForceGlobal()
@@ -225,8 +221,8 @@ void VehicleSimpleTT::ForceGlobal()
}
// air drag
- double forceAirDrag = -0.5 * densityAir * coeffDrag * areaFace * velocityCar.Length() * velocityCar.Length();
- double angleSlide = velocityCar.Angle(); // ISO
+ units::force::newton_t forceAirDrag = -0.5 * densityAir * coeffDrag * areaFace * velocityCar.Length() * velocityCar.Length();
+ const auto angleSlide = velocityCar.Angle(); // ISO
forceTotalXY.Rotate(-angleSlide); // traj. CS
forceTotalXY.Add(forceAirDrag); // traj. CS
@@ -234,12 +230,12 @@ void VehicleSimpleTT::ForceGlobal()
}
-double VehicleSimpleTT::GetTireForce(int tireNumber)
+units::force::newton_t VehicleSimpleTT::GetTireForce(int tireNumber)
{
- return sqrt((forceTire[tireNumber].x * forceTire[tireNumber].x) + (forceTire[tireNumber].y * forceTire[tireNumber].y));
+ return units::math::sqrt((forceTire[tireNumber].x * forceTire[tireNumber].x) + (forceTire[tireNumber].y * forceTire[tireNumber].y));
}
-double VehicleSimpleTT::GetForceTireVerticalStatic(int tireNumber)
+units::force::newton_t VehicleSimpleTT::GetForceTireVerticalStatic(int tireNumber)
{
return forceTireVerticalStatic[tireNumber];
}
diff --git a/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_twotrack_vehicle.h b/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_twotrack_vehicle.h
index 1abf3cf9593b664282e358b243eec6dedfe53338..071c94df0a63742f23658c036df1a2fb67c4740a 100644
--- a/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_twotrack_vehicle.h
+++ b/sim/src/components/Dynamics_RegularTwoTrack/src/dynamics_twotrack_vehicle.h
@@ -29,14 +29,14 @@ public:
* @{
*/
//! Initialize tire characteristics
- void InitSetEngine(double weight,
- double P_engine, double T_brakeLimit);
+ void InitSetEngine(units::mass::kilogram_t weight,
+ units::power::watt_t P_engine, units::torque::newton_meter_t T_brakeLimit);
//! Initialize car's physics
- void InitSetGeometry(double x_wheelbase, double x_COG, double y_track, double y_COG);
+ void InitSetGeometry(units::length::meter_t x_wheelbase, units::length::meter_t x_COG, units::length::meter_t y_track, units::length::meter_t y_COG);
//! Initialize car's velocity
- void InitSetTire(double vel,
+ void InitSetTire(units::velocity::meters_per_second_t vel,
double mu_tire_max, double mu_tire_slide,
- double s_max, double r_tire, double frictionScaleRoll);
+ double s_max, units::length::meter_t r_tire, double frictionScaleRoll);
/**
* @}
*/
@@ -48,7 +48,7 @@ public:
//! Refresh car's position
void UpdatePosition(double);
//! Refresh car's velocity
- void SetVelocity(Common::Vector2d, const double);
+ void SetVelocity(Common::Vector2d<units::velocity::meters_per_second_t> velocityCars, const units::angular_velocity::radians_per_second_t w);
/**
* @}
*/
@@ -60,13 +60,13 @@ public:
//! Calculate local tire torques
void DriveTrain(double throttlePedal, double brakePedal, std::vector<double> brakeSuperpose);
//! Local forces and moments transferred onto road
- void ForceLocal(double timeStep, double, std::vector<double> forceVertical);
+ void ForceLocal(units::time::second_t timeStep, units::angle::radian_t angleTireFront, std::vector<units::force::newton_t> forceVertical);
//! Global force and moment
void ForceGlobal();
- double GetTireForce(int tireNumber);
+ units::force::newton_t GetTireForce(int tireNumber);
- double GetForceTireVerticalStatic(int tireNumber);
+ units::force::newton_t GetForceTireVerticalStatic(int tireNumber);
/**
* @}
*/
@@ -76,7 +76,7 @@ public:
* @{
*/
//! Total force on vehicle's CoM
- Common::Vector2d forceTotalXY;
+ Common::Vector2d<units::force::newton_t> forceTotalXY;
//! Total momentum on the vehicle around the z-axes
double momentTotalZ;
/**
@@ -87,7 +87,7 @@ public:
* \name Parameters
* @{
*/
- double forceTireVerticalStatic[NUMBER_OF_WHEELS];
+ units::force::newton_t forceTireVerticalStatic[NUMBER_OF_WHEELS];
/**
* @}
*/
@@ -98,17 +98,17 @@ private:
* @{
*/
//! Inertial moment of tires [kg*m^2]
- double inertiaTireX[NUMBER_OF_WHEELS];
+ units::inertia inertiaTireX[NUMBER_OF_WHEELS];
//! Maximal engine power [W]
- double powerEngineLimit;
+ units::power::watt_t powerEngineLimit;
//! Brake force limit [N]
- double torqueBrakeLimit;
+ units::torque::newton_meter_t torqueBrakeLimit;
//! Mass of the car [kg]
- double massTotal;
+ units::mass::kilogram_t massTotal;
//! Tire positions in car CS [m]
- Common::Vector2d positionTire[NUMBER_OF_WHEELS];
+ Common::Vector2d<units::length::meter_t> positionTire[NUMBER_OF_WHEELS];
/**
* @}
*/
@@ -120,30 +120,30 @@ private:
//! Drag coefficient (Asbo from http://rc.opelgt.org/indexcw.php) []
const double coeffDrag = 0.34;
//! Face area (Asbo from http://rc.opelgt.org/indexcw.php) [m^2]
- const double areaFace = 1.94;
+ const units::area::square_meter_t areaFace{1.94};
//! Air density [kg/m^3]
- const double densityAir = 1.29;
+ const units::density::kilograms_per_cubic_meter_t densityAir{1.29};
//! Earth's gravitation acceleration
- const double accelVerticalEarth = -9.81;
+ const units::acceleration::meters_per_second_squared_t accelVerticalEarth{-9.81};
//! Toe-in/-out
- const double anglePreSet = 0.0;//0.003;
+ const units::angle::radian_t anglePreSet{0.0}; //0.003;
//! Brake balance
const double brakeBalance = 0.67;
//! Max. engine moment
- const double torqueEngineLimit = 10000.0;
+ const units::torque::newton_meter_t torqueEngineLimit{10000.0};
/**
* @}
*/
// Dynamics to remember
- double rotationVelocityTireX[NUMBER_OF_WHEELS];
- double rotationVelocityGradTireX[NUMBER_OF_WHEELS];
- double yawVelocity;
- Common::Vector2d velocityCar;
- Common::Vector2d forceTire[NUMBER_OF_WHEELS];
- Common::Vector2d slipTire[NUMBER_OF_WHEELS];
- double torqueTireXthrottle[NUMBER_OF_WHEELS];
- double torqueTireXbrake[NUMBER_OF_WHEELS];
+ units::angular_velocity::radians_per_second_t rotationVelocityTireX[NUMBER_OF_WHEELS];
+ units::angular_acceleration::radians_per_second_squared_t rotationVelocityGradTireX[NUMBER_OF_WHEELS];
+ units::angular_velocity::radians_per_second_t yawVelocity;
+ Common::Vector2d<units::velocity::meters_per_second_t> velocityCar;
+ Common::Vector2d<units::force::newton_t> forceTire[NUMBER_OF_WHEELS];
+ Common::Vector2d<units::dimensionless::scalar_t> slipTire[NUMBER_OF_WHEELS];
+ units::torque::newton_meter_t torqueTireXthrottle[NUMBER_OF_WHEELS];
+ units::torque::newton_meter_t torqueTireXbrake[NUMBER_OF_WHEELS];
double momentTireZ[NUMBER_OF_WHEELS];
/** \name Container
diff --git a/sim/src/components/Dynamics_TF/CMakeLists.txt b/sim/src/components/Dynamics_TF/CMakeLists.txt
index 0add8bec0023bfbdbb79e32644c3eb171e909211..8c6100ac6c34c7dceec02825638ad1a679e229aa 100644
--- a/sim/src/components/Dynamics_TF/CMakeLists.txt
+++ b/sim/src/components/Dynamics_TF/CMakeLists.txt
@@ -17,11 +17,12 @@ add_openpass_target(
HEADERS
dynamics_tf.h
src/tfImplementation.h
+ ${MANTLE_INCLUDE_DIR}/MantleAPI/Common/position.h
SOURCES
dynamics_tf.cpp
src/tfImplementation.cpp
-
+
LIBRARIES
Qt5::Core
Common
diff --git a/sim/src/components/Dynamics_TF/dynamics_tf.cpp b/sim/src/components/Dynamics_TF/dynamics_tf.cpp
index 5004676a381b2cbecb975881df2f455fcf68c011..40d3e2f2800a4434ba3d19a3ffb07ec293dd4f00 100644
--- a/sim/src/components/Dynamics_TF/dynamics_tf.cpp
+++ b/sim/src/components/Dynamics_TF/dynamics_tf.cpp
@@ -19,7 +19,7 @@
#include "include/parameterInterface.h"
#include "src/tfImplementation.h"
-const static std::string VERSION = "0.2.0";
+const static std::string VERSION = "0.1.0";
static const CallbackInterface *Callbacks = nullptr;
extern "C" DYNAMICS_TRAJECTORY_FOLLOWER_SHARED_EXPORT const std::string &OpenPASS_GetVersion()
@@ -39,7 +39,8 @@ extern "C" DYNAMICS_TRAJECTORY_FOLLOWER_SHARED_EXPORT ModelInterface *OpenPASS_C
const ParameterInterface *parameters,
PublisherInterface * const publisher,
AgentInterface *agent,
- const CallbackInterface *callbacks)
+ const CallbackInterface *callbacks,
+ std::shared_ptr<ControlStrategiesInterface> const controlStrategies)
{
Callbacks = callbacks;
@@ -57,7 +58,8 @@ extern "C" DYNAMICS_TRAJECTORY_FOLLOWER_SHARED_EXPORT ModelInterface *OpenPASS_C
parameters,
publisher,
callbacks,
- agent));
+ agent,
+ controlStrategies));
}
catch (const std::runtime_error &ex)
{
diff --git a/sim/src/components/Dynamics_TF/src/tfImplementation.cpp b/sim/src/components/Dynamics_TF/src/tfImplementation.cpp
index aae1dd616c207602c321e8756581055ac7068937..687c89228e4a7f08e427eb2c93e45987343b2d4c 100644
--- a/sim/src/components/Dynamics_TF/src/tfImplementation.cpp
+++ b/sim/src/components/Dynamics_TF/src/tfImplementation.cpp
@@ -34,8 +34,9 @@ TrajectoryFollowerImplementation::TrajectoryFollowerImplementation(std::string c
const ParameterInterface *parameters,
PublisherInterface * const publisher,
const CallbackInterface *callbacks,
- AgentInterface *agent) :
- UnrestrictedModelInterface(
+ AgentInterface *agent,
+ std::shared_ptr<ControlStrategiesInterface> const controlStrategies) :
+ UnrestrictedControllStrategyModelInterface(
componentName,
isInit,
priority,
@@ -47,8 +48,9 @@ TrajectoryFollowerImplementation::TrajectoryFollowerImplementation(std::string c
parameters,
publisher,
callbacks,
- agent),
- cycleTimeInSeconds{static_cast<double>(cycleTime) / 1000.0}
+ agent,
+ controlStrategies),
+ cycleTimeInSeconds(units::time::millisecond_t(cycleTime))
{
ParseParameters(parameters);
Init();
@@ -71,11 +73,15 @@ void TrajectoryFollowerImplementation::ParseParameters(const ParameterInterface
void TrajectoryFollowerImplementation::Init()
{
- lastWorldPosition = {0, GetAgent()->GetPositionX(), GetAgent()->GetPositionY(), GetAgent()->GetYaw()};
+ const mantle_api::Vec3<units::length::meter_t> position {GetAgent()->GetPositionX(), GetAgent()->GetPositionY(), 0.0_m};
+ const mantle_api::Orientation3<units::angle::radian_t> orientation {GetAgent()->GetYaw(), 0.0_rad, 0.0_rad};
+ const mantle_api::Pose pose {position, orientation};
+ const mantle_api::Time time {0};
+ lastWorldPosition = {pose, time};
lastVelocity = GetAgent()->GetVelocity().Length();
- nextTrajectoryIterator = trajectory.points.begin();
- currentTime = 0;
+ nextTrajectoryIterator = polyLine.begin();
+ currentTime = time;
}
void TrajectoryFollowerImplementation::UpdateInput(int localLinkId, const std::shared_ptr<SignalInterface const> &data,
@@ -123,21 +129,11 @@ void TrajectoryFollowerImplementation::UpdateInput(int localLinkId, const std::s
}
else
{
- inputAcceleration = 0;
+ inputAcceleration = 0_mps_sq;
}
}
}
- else if (localLinkId == 2)
- {
- const auto trajectorySignal = std::dynamic_pointer_cast<TrajectorySignal const>(data);
- if (trajectorySignal && trajectorySignal->componentState == ComponentState::Acting)
- {
- trajectory = trajectorySignal->trajectory;
- UpdateState(ComponentState::Acting);
- previousTrajectoryIterator = trajectory.points.begin();
- nextTrajectoryIterator = previousTrajectoryIterator + 1;
- }
- }
+
else
{
const std::string msg = std::string(COMPONENTNAME) + " invalid signaltype";
@@ -172,6 +168,37 @@ void TrajectoryFollowerImplementation::UpdateOutput(int localLinkId, std::shared
void TrajectoryFollowerImplementation::Trigger([[maybe_unused]]int time)
{
+ // TODO CK How to deal with multiple controlstrategies in the longrun? The newest should probably override the others.
+ // TODO CK How to ensure a trajectory is only triggered once? Should the module remove it from the strategies? once active?
+ for (auto strategy : GetControlStrategies()->GetStrategies(mantle_api::ControlStrategyType::kFollowTrajectory))
+ {
+ auto followTrajectoryStrategy = std::dynamic_pointer_cast<mantle_api::FollowTrajectoryControlStrategy>(strategy);
+
+ if (followTrajectoryStrategy != nullptr && GetState() != ComponentState::Acting)
+ {
+ trajectory = followTrajectoryStrategy->trajectory;
+
+ if (!std::holds_alternative<PolyLine>(trajectory.type))
+ {
+ LOGERRORANDTHROW("Trajectory: " + trajectory.name + " has invalid type. TrajectoryFollower currently only supports trajectories of the type PolyLine.");
+ }
+
+ polyLine = std::get<PolyLine>(trajectory.type);
+
+ for (auto& polyLinePoint : polyLine)
+ {
+ if (!polyLinePoint.time.has_value())
+ {
+ LOGERRORANDTHROW("Trajectory: " + trajectory.name + " is incomplete. Time stamp is required for each polyline point.");
+ }
+ }
+
+ SetComponentState(ComponentState::Acting);
+ previousTrajectoryIterator = polyLine.begin();
+ nextTrajectoryIterator = previousTrajectoryIterator + 1;
+ }
+ }
+
CalculateNextTimestep();
}
@@ -213,15 +240,14 @@ void TrajectoryFollowerImplementation::UpdateState(const ComponentState newState
bool TrajectoryFollowerImplementation::CheckEndOfTrajectory()
{
- constexpr double EPSILON = 1e-3;
- if (nextTrajectoryIterator == trajectory.points.end())
+ if (nextTrajectoryIterator == polyLine.end())
{
return true;
}
if (!inputAccelerationActive)
{
- if (nextTrajectoryIterator + 1 == trajectory.points.end()
- && nextTrajectoryIterator->time - lastCoordinateTimestamp < EPSILON)
+ if (nextTrajectoryIterator + 1 == polyLine.end()
+ && nextTrajectoryIterator->time.value() == lastCoordinateTimestamp)
{
return true;
}
@@ -245,11 +271,11 @@ bool TrajectoryFollowerImplementation::CheckEndOfTrajectory()
void TrajectoryFollowerImplementation::HandleEndOfTrajectory()
{
- dynamicsOutputSignal.velocity = 0;
- dynamicsOutputSignal.acceleration = 0;
- dynamicsOutputSignal.travelDistance = 0;
- dynamicsOutputSignal.yawRate = 0;
- dynamicsOutputSignal.yawAcceleration = 0;
+ dynamicsOutputSignal.dynamicsInformation.velocity = 0_mps;
+ dynamicsOutputSignal.dynamicsInformation.acceleration = 0_mps_sq;
+ dynamicsOutputSignal.dynamicsInformation.travelDistance = 0_m;
+ dynamicsOutputSignal.dynamicsInformation.yawRate = 0_rad_per_s;
+ dynamicsOutputSignal.dynamicsInformation.yawAcceleration = 0_rad_per_s_sq;
if (automaticDeactivation)
{
@@ -259,24 +285,24 @@ void TrajectoryFollowerImplementation::HandleEndOfTrajectory()
void TrajectoryFollowerImplementation::TriggerWithActiveAccelerationInput()
{
- TrajectoryPoint previousPosition = lastWorldPosition;
- TrajectoryPoint nextPosition = (*nextTrajectoryIterator);
+ PolyLinePoint previousPosition = lastWorldPosition;
+ PolyLinePoint nextPosition = (*nextTrajectoryIterator);
- const double velocity = lastVelocity + inputAcceleration * cycleTimeInSeconds;
+ const units::velocity::meters_per_second_t velocity = lastVelocity + inputAcceleration * cycleTimeInSeconds;
- if (velocity <= 0.0)
+ if (velocity <= 0.0_mps)
{
HandleEndOfTrajectory();
return;
}
- double remainingDistance = velocity * cycleTimeInSeconds;
- dynamicsOutputSignal.travelDistance = remainingDistance;
+ units::length::meter_t remainingDistance = velocity * cycleTimeInSeconds;
+ dynamicsOutputSignal.dynamicsInformation.travelDistance = remainingDistance;
double percentageTraveledBetweenCoordinates = 0.0;
- while (remainingDistance > 0.0)
+ while (remainingDistance > 0.0_m)
{
- double distanceBetweenPoints = CalculateDistanceBetweenWorldCoordinates(previousPosition, nextPosition);
+ const auto distanceBetweenPoints = CalculateDistanceBetweenWorldCoordinates(previousPosition, nextPosition);
if (distanceBetweenPoints < remainingDistance)
{
previousTrajectoryIterator++;
@@ -284,7 +310,7 @@ void TrajectoryFollowerImplementation::TriggerWithActiveAccelerationInput()
previousPosition = *previousTrajectoryIterator;
- if (nextTrajectoryIterator != trajectory.points.end())
+ if (nextTrajectoryIterator != polyLine.end())
{
nextPosition = *nextTrajectoryIterator;
}
@@ -300,38 +326,38 @@ void TrajectoryFollowerImplementation::TriggerWithActiveAccelerationInput()
remainingDistance -= distanceBetweenPoints;
}
- Common::Vector2d direction = CalculateScaledVector(previousPosition, nextPosition, percentageTraveledBetweenCoordinates);
- const double deltaYawAngle = CalculateScaledDeltaYawAngle(previousPosition, nextPosition, percentageTraveledBetweenCoordinates);
+ Common::Vector2d<units::length::meter_t> direction = CalculateScaledVector(previousPosition, nextPosition, percentageTraveledBetweenCoordinates);
+ const units::angle::radian_t deltaYawAngle = CalculateScaledDeltaYawAngle(previousPosition, nextPosition, percentageTraveledBetweenCoordinates);
UpdateDynamics(previousPosition, direction, deltaYawAngle, velocity, inputAcceleration);
}
void TrajectoryFollowerImplementation::TriggerWithInactiveAccelerationInput()
{
- double previousTimestamp = lastCoordinateTimestamp;
- TrajectoryPoint previousCoordinate = lastWorldPosition;
- TrajectoryPoint nextCoordinate = *nextTrajectoryIterator;
+ auto previousTimestamp = lastCoordinateTimestamp;
+ auto previousCoordinate = lastWorldPosition;
+ auto nextCoordinate = *nextTrajectoryIterator;
- double remainingTime = GetCycleTime() / 1000.0;
- double timeBetweenCoordinates = nextCoordinate.time - previousTimestamp;
- double deltaS{0};
+ units::time::millisecond_t remainingTime {GetCycleTime()};
+ auto timeBetweenCoordinates = nextCoordinate.time.value() - previousTimestamp;
+ units::length::meter_t deltaS{0};
while (timeBetweenCoordinates <= remainingTime &&
- nextTrajectoryIterator != trajectory.points.end())
+ nextTrajectoryIterator != polyLine.end())
{
previousTrajectoryIterator = nextTrajectoryIterator;
- previousTimestamp = previousTrajectoryIterator->time;
+ previousTimestamp = previousTrajectoryIterator->time.value();
lastCoordinateTimestamp = previousTimestamp;
nextTrajectoryIterator++;
- if (nextTrajectoryIterator != trajectory.points.end())
+ if (nextTrajectoryIterator != polyLine.end())
{
deltaS += CalculateDistanceBetweenWorldCoordinates(previousCoordinate, nextCoordinate);
previousCoordinate = *previousTrajectoryIterator;
nextCoordinate = *nextTrajectoryIterator;
remainingTime -= timeBetweenCoordinates;
- timeBetweenCoordinates = nextCoordinate.time - previousTimestamp;
+ timeBetweenCoordinates = nextCoordinate.time.value() - previousTimestamp;
}
}
@@ -339,14 +365,14 @@ void TrajectoryFollowerImplementation::TriggerWithInactiveAccelerationInput()
const auto &nextPosition = nextCoordinate;
percentageTraveledBetweenCoordinates = remainingTime / timeBetweenCoordinates;
- Common::Vector2d direction = CalculateScaledVector(previousPosition, nextPosition, percentageTraveledBetweenCoordinates);
- const double deltaYawAngle = CalculateScaledDeltaYawAngle(previousPosition, nextPosition, percentageTraveledBetweenCoordinates);
+ Common::Vector2d<units::length::meter_t> direction = CalculateScaledVector(previousPosition, nextPosition, percentageTraveledBetweenCoordinates);
+ const units::angle::radian_t deltaYawAngle = CalculateScaledDeltaYawAngle(previousPosition, nextPosition, percentageTraveledBetweenCoordinates);
deltaS += direction.Length();
- dynamicsOutputSignal.travelDistance = deltaS;
+ dynamicsOutputSignal.dynamicsInformation.travelDistance = deltaS;
- const double velocity = deltaS / cycleTimeInSeconds;
- const double acceleration = (velocity - lastVelocity) / cycleTimeInSeconds;
+ const units::velocity::meters_per_second_t velocity = deltaS / cycleTimeInSeconds;
+ const units::acceleration::meters_per_second_squared_t acceleration = (velocity - lastVelocity) / cycleTimeInSeconds;
UpdateDynamics(previousPosition, direction, deltaYawAngle, velocity, acceleration);
}
@@ -354,7 +380,7 @@ void TrajectoryFollowerImplementation::TriggerWithInactiveAccelerationInput()
void TrajectoryFollowerImplementation::CalculateNextTimestep()
{
lastCoordinateTimestamp = currentTime;
- currentTime += GetCycleTime() / 1000.0;
+ currentTime += units::time::millisecond_t{GetCycleTime()};
if (GetState() == ComponentState::Disabled)
{
@@ -378,46 +404,48 @@ void TrajectoryFollowerImplementation::CalculateNextTimestep()
}
}
-Common::Vector2d TrajectoryFollowerImplementation::CalculateScaledVector(const TrajectoryPoint &previousPosition, const TrajectoryPoint &nextPosition, const double &factor)
+Common::Vector2d<units::length::meter_t> TrajectoryFollowerImplementation::CalculateScaledVector(const PolyLinePoint &previousPosition, const PolyLinePoint &nextPosition, const double &factor)
{
- Common::Vector2d result(nextPosition.x - previousPosition.x, nextPosition.y - previousPosition.y);
- result.Scale(factor);
+ auto direction = nextPosition.pose.position - previousPosition.pose.position;
+ direction = direction * factor;
- return result;
+ return {direction.x, direction.y};
}
-double TrajectoryFollowerImplementation::CalculateScaledDeltaYawAngle(const TrajectoryPoint &previousPosition, const TrajectoryPoint &nextPosition, const double &factor)
+units::angle::radian_t TrajectoryFollowerImplementation::CalculateScaledDeltaYawAngle(const PolyLinePoint &previousPosition, const PolyLinePoint &nextPosition, const double &factor)
{
- return (nextPosition.yaw - previousPosition.yaw) * factor;
- ;
+ return (nextPosition.pose.orientation.yaw - previousPosition.pose.orientation.yaw) * factor;
}
-double TrajectoryFollowerImplementation::CalculateDistanceBetweenWorldCoordinates(TrajectoryPoint previousPosition, TrajectoryPoint nextPosition)
+units::length::meter_t TrajectoryFollowerImplementation::CalculateDistanceBetweenWorldCoordinates(PolyLinePoint previousPosition, PolyLinePoint nextPosition)
{
- return openpass::hypot(nextPosition.x - previousPosition.x, nextPosition.y - previousPosition.y);
+ const auto direction = nextPosition.pose.position - previousPosition.pose.position;
+ return openpass::hypot(direction.x, direction.y);
}
-void TrajectoryFollowerImplementation::UpdateDynamics(const TrajectoryPoint &previousPosition,
- const Common::Vector2d &direction,
- double deltaYawAngle,
- double velocity,
- double acceleration)
+void TrajectoryFollowerImplementation::UpdateDynamics(const PolyLinePoint &previousPosition,
+ const Common::Vector2d<units::length::meter_t> &direction,
+ units::angle::radian_t deltaYawAngle,
+ units::velocity::meters_per_second_t velocity,
+ units::acceleration::meters_per_second_squared_t acceleration)
{
- dynamicsOutputSignal.positionX = previousPosition.x + direction.x;
- dynamicsOutputSignal.positionY = previousPosition.y + direction.y;
- dynamicsOutputSignal.yaw = previousPosition.yaw + deltaYawAngle;
-
- dynamicsOutputSignal.yawRate = (dynamicsOutputSignal.yaw - lastWorldPosition.yaw) / cycleTimeInSeconds;
- dynamicsOutputSignal.yawAcceleration = (dynamicsOutputSignal.yawRate - lastYawVelocity) / cycleTimeInSeconds;
-
- dynamicsOutputSignal.velocity = velocity;
- dynamicsOutputSignal.acceleration = acceleration;
- dynamicsOutputSignal.centripetalAcceleration = dynamicsOutputSignal.yawRate * dynamicsOutputSignal.velocity;
-
- lastWorldPosition = {currentTime,
- dynamicsOutputSignal.positionX,
- dynamicsOutputSignal.positionY,
- dynamicsOutputSignal.yaw};
- lastVelocity = dynamicsOutputSignal.velocity;
- lastYawVelocity = dynamicsOutputSignal.yawRate;
+ dynamicsOutputSignal.dynamicsInformation.positionX = previousPosition.pose.position.x + units::length::meter_t(direction.x);
+ dynamicsOutputSignal.dynamicsInformation.positionY = previousPosition.pose.position.y + units::length::meter_t(direction.y);
+ dynamicsOutputSignal.dynamicsInformation.yaw = previousPosition.pose.orientation.yaw + deltaYawAngle;
+
+ dynamicsOutputSignal.dynamicsInformation.yawRate = (dynamicsOutputSignal.dynamicsInformation.yaw - lastWorldPosition.pose.orientation.yaw) / cycleTimeInSeconds;
+ dynamicsOutputSignal.dynamicsInformation.yawAcceleration = (dynamicsOutputSignal.dynamicsInformation.yawRate - lastYawVelocity) / cycleTimeInSeconds;
+
+ dynamicsOutputSignal.dynamicsInformation.velocity = velocity;
+ dynamicsOutputSignal.dynamicsInformation.acceleration = acceleration;
+ dynamicsOutputSignal.dynamicsInformation.centripetalAcceleration = units::inverse_radian(1) * dynamicsOutputSignal.dynamicsInformation.yawRate * dynamicsOutputSignal.dynamicsInformation.velocity;
+
+ const mantle_api::Vec3<units::length::meter_t> position {dynamicsOutputSignal.dynamicsInformation.positionX, dynamicsOutputSignal.dynamicsInformation.positionY, 0.0_m};
+ const mantle_api::Orientation3<units::angle::radian_t> orientation {dynamicsOutputSignal.dynamicsInformation.yaw, 0.0_rad, 0.0_rad};
+ const mantle_api::Pose pose {position, orientation};
+ const mantle_api::Time time {currentTime};
+
+ lastWorldPosition = {pose, time};
+ lastYawVelocity = dynamicsOutputSignal.dynamicsInformation.yawRate;
+ lastVelocity = dynamicsOutputSignal.dynamicsInformation.velocity;
}
diff --git a/sim/src/components/Dynamics_TF/src/tfImplementation.h b/sim/src/components/Dynamics_TF/src/tfImplementation.h
index 84e4bb7bccac43563bc5117400b57179c473a1e4..0ba7557c5aa6af3d9ee03d5057fb66237d84f992 100644
--- a/sim/src/components/Dynamics_TF/src/tfImplementation.h
+++ b/sim/src/components/Dynamics_TF/src/tfImplementation.h
@@ -58,21 +58,22 @@
#include "common/dynamicsSignal.h"
#include "common/globalDefinitions.h"
#include "common/steeringSignal.h"
-#include "common/openScenarioDefinitions.h"
#include "common/vector2d.h"
#include "include/eventNetworkInterface.h"
#include "include/modelInterface.h"
#include "include/publisherInterface.h"
+#include <MantleAPI/Common/trajectory.h>
-using openScenario::Trajectory;
-using openScenario::TrajectoryPoint;
+using mantle_api::Trajectory;
+using mantle_api::PolyLine;
+using mantle_api::PolyLinePoint;
/*!
* \brief Makes an agent strictly follow a predefined path.
*
* \ingroup Dynamics_TrajectoryFollower
*/
-class TrajectoryFollowerImplementation : public UnrestrictedModelInterface
+class TrajectoryFollowerImplementation : public UnrestrictedControllStrategyModelInterface
{
public:
static constexpr char COMPONENTNAME[] = "Dynamics_TrajectoryFollower";
@@ -88,7 +89,8 @@ public:
const ParameterInterface *parameters,
PublisherInterface * const publisher,
const CallbackInterface *callbacks,
- AgentInterface *agent);
+ AgentInterface *agent,
+ std::shared_ptr<ControlStrategiesInterface> const controlStrategies);
/*!
* \brief Update Inputs
@@ -136,27 +138,28 @@ public:
void CalculateNextTimestep();
private:
- const double cycleTimeInSeconds{0.0};
+ const units::time::second_t cycleTimeInSeconds{0.0};
bool initialization{true};
bool enforceTrajectory{false};
bool automaticDeactivation{false};
bool inputAccelerationActive{false};
- double currentTime{0};
+ units::time::millisecond_t currentTime{0};
- double inputAcceleration{0.0};
+ units::acceleration::meters_per_second_squared_t inputAcceleration{0.0};
DynamicsSignal dynamicsOutputSignal{};
Trajectory trajectory{};
- std::vector<TrajectoryPoint>::iterator previousTrajectoryIterator{};
- std::vector<TrajectoryPoint>::iterator nextTrajectoryIterator{};
-
- double lastCoordinateTimestamp{0};
- double lastVelocity{0.0};
- double lastYawVelocity{0.0};
- TrajectoryPoint lastWorldPosition;
+ PolyLine polyLine;
+ PolyLine::iterator previousTrajectoryIterator{};
+ PolyLine::iterator nextTrajectoryIterator{};
+
+ units::time::millisecond_t lastCoordinateTimestamp{0};
+ units::velocity::meters_per_second_t lastVelocity{0.0};
+ units::angular_velocity::radians_per_second_t lastYawVelocity{0.0};
+ PolyLinePoint lastWorldPosition;
double percentageTraveledBetweenCoordinates{0};
ComponentState componentState{ComponentState::Disabled};
@@ -176,19 +179,19 @@ private:
void ParseParameters(const ParameterInterface *parameters);
- Common::Vector2d CalculateScaledVector(const TrajectoryPoint &previousPosition, const TrajectoryPoint &nextPosition, const double &factor);
- double CalculateScaledDeltaYawAngle(const TrajectoryPoint &previousPosition, const TrajectoryPoint &nextPosition, const double &factor);
+ Common::Vector2d<units::length::meter_t> CalculateScaledVector(const PolyLinePoint &previousPosition, const PolyLinePoint &nextPosition, const double &factor);
+ units::angle::radian_t CalculateScaledDeltaYawAngle(const PolyLinePoint &previousPosition, const PolyLinePoint &nextPosition, const double &factor);
- double CalculateDistanceBetweenWorldCoordinates(TrajectoryPoint previousPosition, TrajectoryPoint nextPosition);
+ units::length::meter_t CalculateDistanceBetweenWorldCoordinates(PolyLinePoint previousPosition, PolyLinePoint nextPosition);
void TriggerWithActiveAccelerationInput();
void TriggerWithInactiveAccelerationInput();
void SetComponentState(const ComponentState newState);
- void UpdateDynamics(const TrajectoryPoint &previousPosition,
- const Common::Vector2d &direction,
- double deltaYawAngle,
- double velocity,
- double acceleration);
+ void UpdateDynamics(const PolyLinePoint &previousPosition,
+ const Common::Vector2d<units::length::meter_t> &direction,
+ units::angle::radian_t deltaYawAngle,
+ units::velocity::meters_per_second_t velocity,
+ units::acceleration::meters_per_second_squared_t acceleration);
};
diff --git a/sim/src/components/Dynamics_TwoTrack/dynamics_twotrack_implementation.cpp b/sim/src/components/Dynamics_TwoTrack/dynamics_twotrack_implementation.cpp
index 6fa1ea50ea8f6c2bc1f824fd6a6752f09b0e58d2..6cbafe0608c0baaee33e3cf43907818ca81fd502 100644
--- a/sim/src/components/Dynamics_TwoTrack/dynamics_twotrack_implementation.cpp
+++ b/sim/src/components/Dynamics_TwoTrack/dynamics_twotrack_implementation.cpp
@@ -1,5 +1,6 @@
/********************************************************************************
* Copyright (c) 2020-2021 ITK Engineering GmbH
+ * 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -75,7 +76,16 @@ Dynamics_TwoTrack_Implementation::Dynamics_TwoTrack_Implementation(
LOGINFO(QString().sprintf("Constructing Dynamics_TwoTrack for agent %d...", agent->GetId()).toStdString());
- timeStep = (double)GetCycleTime() / 1000.0;
+ if (agent->GetVehicleModelParameters()->type == mantle_api::EntityType::kVehicle)
+ {
+ vehicleProperties = std::dynamic_pointer_cast<const mantle_api::VehicleProperties>(agent->GetVehicleModelParameters());
+ }
+ else
+ {
+ throw std::runtime_error("Component " + componentName + " expects an entity of type Vehicle and VehicleProperties.");
+ }
+
+ timeStep = units::time::millisecond_t(GetCycleTime());
try
{
@@ -95,12 +105,11 @@ Dynamics_TwoTrack_Implementation::Dynamics_TwoTrack_Implementation(
torqueBrakeMin.SetValue(-std::fabs(torqueBrakeMin.GetValue()));
- yawVelocity = 0.0;
- yawAcceleration = 0.0;
+ yawVelocity = 0.0_rad_per_s;
+ yawAcceleration = 0.0_rad_per_s_sq;
vehicle = new VehicleSimpleTT();
- auto weight = helper::map::query(GetAgent()->GetVehicleModelParameters().properties, vehicle::properties::Mass);
- THROWIFFALSE(weight.has_value(), "Mass was not defined in VehicleCatalog");
+ auto weight = vehicleProperties->mass;
/** @addtogroup init_tt
* Define vehicle's body and engine characteristics:
@@ -108,7 +117,7 @@ Dynamics_TwoTrack_Implementation::Dynamics_TwoTrack_Implementation(
* - power
* - maximum brake torque
*/
- vehicle->InitSetEngine(weight.value(), powerEngineMax.GetValue(), torqueBrakeMin.GetValue());
+ vehicle->InitSetEngine(weight, units::power::watt_t(powerEngineMax.GetValue()), units::torque::newton_meter_t(torqueBrakeMin.GetValue()));
/** @addtogroup init_tt
* Define vehicle's geometry:
@@ -117,12 +126,12 @@ Dynamics_TwoTrack_Implementation::Dynamics_TwoTrack_Implementation(
* - set the wheelbase
* - set the track width
*/
- vehicle->InitSetGeometry(agent->GetVehicleModelParameters().frontAxle.positionX - agent->GetVehicleModelParameters().rearAxle.positionX,
- 0.0,//agent->GetVehicleModelParameters().wheelbase / 2.0 - agent->GetDistanceCOGtoFrontAxle(),
- agent->GetVehicleModelParameters().frontAxle.trackWidth,
- 0.0);
+ vehicle->InitSetGeometry(vehicleProperties->front_axle.bb_center_to_axle_center.x - vehicleProperties->rear_axle.bb_center_to_axle_center.x,
+ 0.0_m,//agent->GetVehicleModelParameters().wheelbase / 2.0 - agent->GetDistanceCOGtoFrontAxle(),
+ vehicleProperties->front_axle.track_width,
+ 0.0_m);
- auto frictionCoeff = helper::map::query(GetAgent()->GetVehicleModelParameters().properties, vehicle::properties::FrictionCoefficient);
+ auto frictionCoeff = helper::map::query(vehicleProperties->properties, vehicle::properties::FrictionCoefficient);
THROWIFFALSE(frictionCoeff.has_value(), "FrictionCoefficient was not defined in VehicleCatalog");
/** @addtogroup init_tt
@@ -136,7 +145,7 @@ Dynamics_TwoTrack_Implementation::Dynamics_TwoTrack_Implementation(
*/
vehicle->InitSetTire(agent->GetVelocity().Length(),
muTireMax.GetValue(), muTireSlide.GetValue(),
- slipTireMax.GetValue(), radiusTire.GetValue(), frictionCoeff.value());
+ slipTireMax.GetValue(), units::length::meter_t(radiusTire.GetValue()), std::stod(frictionCoeff.value()));
ControlData defaultControl = {0.0, 1.0, 0.0, {0.0, 0.0, 0.0, 0.0}};
if (!control.SetDefaultValue(defaultControl))
@@ -147,10 +156,10 @@ Dynamics_TwoTrack_Implementation::Dynamics_TwoTrack_Implementation(
}
std::vector<double> defaultForceVertical = {
- vehicle->forceTireVerticalStatic[0],
- vehicle->forceTireVerticalStatic[1],
- vehicle->forceTireVerticalStatic[2],
- vehicle->forceTireVerticalStatic[3]};
+ vehicle->forceTireVerticalStatic[0].value(),
+ vehicle->forceTireVerticalStatic[1].value(),
+ vehicle->forceTireVerticalStatic[2].value(),
+ vehicle->forceTireVerticalStatic[3].value()};
if (!forceWheelVertical.SetDefaultValue(defaultForceVertical))
{
std::stringstream log;
@@ -219,7 +228,7 @@ void Dynamics_TwoTrack_Implementation::UpdateOutput(int localLinkId,
void Dynamics_TwoTrack_Implementation::Trigger(int time)
{
- timeClock = (double)time;
+ timeClock = units::time::millisecond_t(time);
/** @addtogroup sim_step_00_tt
@@ -253,7 +262,7 @@ void Dynamics_TwoTrack_Implementation::Trigger(int time)
* - calculate lateral tire slips and forces
* - calculate friction forces
*/
- vehicle->ForceLocal(timeStep, control.GetValue().steer, forceWheelVertical.GetValue());
+ vehicle->ForceLocal(timeStep, units::angle::radian_t(control.GetValue().steer), forceWheelVertical.GetValue());
LOGDEBUG(QString().sprintf("Vertical Force for Dynamics_TwoTrack for agent %d: %f, %f, %f, %f",
GetAgent()->GetId(),
forceWheelVertical.GetValue().at(0),
@@ -327,18 +336,21 @@ void Dynamics_TwoTrack_Implementation::NextStateTranslation()
{
// update position (constant velocity step)
velocityCar.Rotate(yawAngle); // global CS
- positionCar = positionCar + velocityCar * timeStep;
+ positionCar.x = positionCar.x + velocityCar.x * timeStep;
+ positionCar.y = positionCar.y + velocityCar.y * timeStep;
velocityCar.Rotate(-yawAngle); // vehicle CS
// update velocity
- Vector2d velocityCarNew = velocityCar + accelerationCar * timeStep;
+ Vector2d<units::velocity::meters_per_second_t> velocityCarNew;
+ velocityCarNew.x = velocityCar.x + accelerationCar.x * timeStep;
+ velocityCarNew.y = velocityCar.y + accelerationCar.y * timeStep;
// update acceleration
- auto weight = helper::map::query(GetAgent()->GetVehicleModelParameters().properties, vehicle::properties::Mass);
- THROWIFFALSE(weight.has_value(), "Mass was not defined in VehicleCatalog");
+ auto weight = vehicleProperties->mass;
- accelerationCar = vehicle->forceTotalXY * (1 / weight.value());
+ accelerationCar.x = vehicle->forceTotalXY.x * (1 / weight);
+ accelerationCar.y = vehicle->forceTotalXY.y * (1 / weight);
// correct velocity and acceleration for zero-crossing
if (velocityCarNew.Dot(velocityCar) < 0.0)
@@ -362,23 +374,23 @@ void Dynamics_TwoTrack_Implementation::NextStateRotation()
accelerationCar.Rotate(yawAngle);
// update yaw angle
- yawAngle = std::fmod(yawAngle + timeStep * yawVelocity, 2*M_PI);
+ yawAngle = units::math::fmod(yawAngle + timeStep * yawVelocity, 2*units::angle::radian_t(M_PI));
// update yaw velocity
- double yawVelocityNew = yawVelocity + yawAcceleration * timeStep;
+ units::angular_velocity::radians_per_second_t yawVelocityNew = yawVelocity + yawAcceleration * timeStep;
// update acceleration
- auto momentInertiaYaw = helper::map::query(GetAgent()->GetVehicleModelParameters().properties, "MomentInertiaYaw");
+ auto momentInertiaYaw = helper::map::query(vehicleProperties->properties, "MomentInertiaYaw");
THROWIFFALSE(momentInertiaYaw.has_value(), "MomentInertiaYaw was not defined in VehicleCatalog");
- THROWIFFALSE(momentInertiaYaw != 0.0, "MomentInertiaYaw was defined as 0.0 in VehicleCatalog");
+ THROWIFFALSE(std::stod(momentInertiaYaw.value()) != 0.0, "MomentInertiaYaw was defined as 0.0 in VehicleCatalog");
- yawAcceleration = vehicle->momentTotalZ / momentInertiaYaw.value();
+ yawAcceleration = units::angular_acceleration::radians_per_second_squared_t(vehicle->momentTotalZ / std::stod(momentInertiaYaw.value()));
// correct velocity and acceleration for zero-crossing
- if (yawVelocityNew * yawVelocity < 0.0)
+ if (units::unit_cast<double>(yawVelocityNew * yawVelocity) < 0.0)
{
- yawVelocity = 0.0;
- yawAcceleration = 0.0;
+ yawVelocity = 0.0_rad_per_s;
+ yawAcceleration = 0.0_rad_per_s_sq;
LOGDEBUG(QString().sprintf("Zero crossing in w for agent %d!",
GetAgent()->GetId()).toStdString());
}
@@ -403,7 +415,7 @@ void Dynamics_TwoTrack_Implementation::NextStateSet()
// update velocity
velocityCar.Rotate(yawAngle); // global CS
- GetAgent()->SetVelocityVector(velocityCar.x, velocityCar.y, 0.0);
+ GetAgent()->SetVelocityVector({velocityCar.x, velocityCar.y, 0.0_mps});
GetAgent()->SetYawRate(yawVelocity);
velocityCar.Rotate(-yawAngle); // vehicle CS
@@ -417,7 +429,7 @@ void Dynamics_TwoTrack_Implementation::NextStateSet()
GetAgent()->SetAcceleration(accelerationCar.x);
// update outputs
- std::vector<double> forceInert = {-vehicle->forceTotalXY.x, -vehicle->forceTotalXY.y};
+ std::vector<double> forceInert = {-vehicle->forceTotalXY.x.value(), -vehicle->forceTotalXY.y.value()};
forceGlobalInertia.SetValue(forceInert);
LOGDEBUG(QString().sprintf("Setting Acceleration by Dynamics_TwoTrack for agent %d: %f, %f, %f",
diff --git a/sim/src/components/Dynamics_TwoTrack/dynamics_twotrack_implementation.h b/sim/src/components/Dynamics_TwoTrack/dynamics_twotrack_implementation.h
index 8a8158e89132c80541c12aaad04642f7960c49bd..b85587ac51bb3b369860d75b8cd016ac8f34eac6 100644
--- a/sim/src/components/Dynamics_TwoTrack/dynamics_twotrack_implementation.h
+++ b/sim/src/components/Dynamics_TwoTrack/dynamics_twotrack_implementation.h
@@ -103,6 +103,8 @@ public:
void Trigger(int time);
private:
+ std::shared_ptr<const mantle_api::VehicleProperties> vehicleProperties;
+
std::map<std::string, externalParameter<double>*> parameterMapDouble;
/** \addtogroup Dynamics_Two_Track
* @{
@@ -154,21 +156,21 @@ private:
* @{
*/
//! Time step as double in s
- double timeStep;
+ units::time::second_t timeStep;
//! Actual time double in s
- double timeClock;
+ units::time::second_t timeClock;
//! Yaw angle
- double yawAngle;
+ units::angle::radian_t yawAngle;
//! Car's position
- Common::Vector2d positionCar;
+ Common::Vector2d<units::length::meter_t> positionCar;
//! Yaw rate
- double yawVelocity;
+ units::angular_velocity::radians_per_second_t yawVelocity;
//! Car's velocity
- Common::Vector2d velocityCar;
+ Common::Vector2d<units::velocity::meters_per_second_t> velocityCar;
//! Yaw acceleration
- double yawAcceleration;
+ units::angular_acceleration::radians_per_second_squared_t yawAcceleration;
//! Car's acceleration
- Common::Vector2d accelerationCar;
+ Common::Vector2d<units::acceleration::meters_per_second_squared_t> accelerationCar;
/**
* @}
* @}
diff --git a/sim/src/components/Dynamics_TwoTrack/src/dynamics_twotrack_tire.cpp b/sim/src/components/Dynamics_TwoTrack/src/dynamics_twotrack_tire.cpp
index 9c6fc6d5b5a34463f54fbccb1ab44deb609cc245..bce127ede8eaad5477082282f91339637cfa7836 100644
--- a/sim/src/components/Dynamics_TwoTrack/src/dynamics_twotrack_tire.cpp
+++ b/sim/src/components/Dynamics_TwoTrack/src/dynamics_twotrack_tire.cpp
@@ -12,15 +12,17 @@
#include <cmath>
#include <QtGlobal>
+using namespace units::literals;
+
Tire::Tire(): radius(1.0), forceZ_static(-100.0), forcePeak_static(100.0), forceSat_static (50.0), slipPeak(0.1)
{
Rescale(forceZ_static);
}
-Tire::Tire(const double F_ref, const double mu_tire_max, const double mu_tire_slide, const double s_max,
- const double r, const double mu_scale):
- radius (r),
- forceZ_static (F_ref)
+Tire::Tire(const units::force::newton_t F_ref, const double mu_tire_max, const double mu_tire_slide, const double s_max,
+ const units::length::meter_t r, const double mu_scale) :
+ radius(r),
+ forceZ_static(F_ref)
{
// implicite roll friction scaling
forcePeak_static = -F_ref*mu_tire_max*mu_scale;
@@ -30,15 +32,15 @@ Tire::Tire(const double F_ref, const double mu_tire_max, const double mu_tire_sl
Rescale(forceZ_static);
}
-double Tire::GetForce(const double slip)
+units::force::newton_t Tire::GetForce(const double slip)
{
double slipAbs = std::fabs(slip);
- double force;
+ units::force::newton_t force;
double slipAbsNorm = std::clamp(slipAbs, 0.0, 1.0) / slipPeak;
if (qFuzzyIsNull(slip)) { // make it easy
- return 0.0;
+ return 0.0_N;
} else if (slipAbsNorm <= 1.0) { // adhesion
force = forcePeak *
stiffnessRoll * slipAbsNorm /
@@ -59,44 +61,49 @@ double Tire::GetForce(const double slip)
}
-double Tire::GetLongSlip(const double torque)
+double Tire::GetLongSlip(const units::torque::newton_meter_t torque)
{
- double force = torque / radius;
- double forceAbs = std::fabs(force);
+ units::force::newton_t force = torque / radius;
+ units::force::newton_t forceAbs = units::math::fabs(force);
- if (( qFuzzyIsNull(force) ))
+ if (( qFuzzyIsNull(force.value()) ))
{
return 0.0;
} else if ( forceAbs <= forcePeak ) { // moderate force in adhesion (slip limited)
double p_2 = 0.5 * ( stiffnessRoll * ( 1.0 - forcePeak / forceAbs ) - 2.0 );
double slip = slipPeak * ( -p_2 - std::sqrt( p_2 * p_2 - 1.0 ) );
- return force > 0.0 ? slip : -slip;
+ return force > 0.0_N ? slip : -slip;
} else { // slide
//return force > 0.0 ? 1.0 : -1.0;
- return force > 0.0 ? slipSat : -slipSat;
+ return force > 0.0_N ? slipSat : -slipSat;
}
}
-double Tire::CalcSlipY(double slipX, double vx, double vy)
+double Tire::CalcSlipY(double slipX, units::velocity::meters_per_second_t vx, units::velocity::meters_per_second_t vy)
{
- if (qFuzzyIsNull(vy) || (qAbs(vx)<velocityLimit && qAbs(vy)<velocityLimit)) {
+ if (qFuzzyIsNull(vy.value()) || (units::math::abs(vx) < velocityLimit && units::math::abs(vy) < velocityLimit))
+ {
return 0.0;
- } else if (qFuzzyIsNull(vx)) {
- return std::clamp(-vy, -1.0, 1.0); // non-ISO
- } else {
- return std::clamp((std::fabs(slipX) - 1) * vy / std::fabs(vx), -1.0, 1.0); // non-ISO
+ }
+ else if (qFuzzyIsNull(vx.value()))
+ {
+ return std::clamp(-vy.value(), -1.0, 1.0); // non-ISO
+ }
+ else
+ {
+ return std::clamp((std::fabs(slipX) - 1) * vy.value() / std::fabs(vx.value()), -1.0, 1.0); // non-ISO
}
}
-double Tire::GetRollFriction(const double velTireX)
+units::force::newton_t Tire::GetRollFriction(const units::velocity::meters_per_second_t velTireX)
{
- double forceFriction = forceZ * frictionRoll;
+ units::force::newton_t forceFriction = forceZ * frictionRoll;
- if (velTireX < 0.0)
+ if (velTireX < 0.0_mps)
{
forceFriction *= -1.0;
}
- if (std::fabs(velTireX) < velocityLimit)
+ if (units::math::fabs(velTireX) < velocityLimit)
{
forceFriction *= (velTireX/velocityLimit);
}
@@ -104,11 +111,11 @@ double Tire::GetRollFriction(const double velTireX)
return forceFriction;
}
-void Tire::Rescale(const double forceZ_update)
+void Tire::Rescale(const units::force::newton_t forceZ_update)
{
forceZ = forceZ_update;
- double scaling = std::clamp(forceZ/forceZ_static, 0.1, 2.0);
+ double scaling = std::clamp(units::unit_cast<double>(forceZ / forceZ_static), 0.1, 2.0);
forcePeak = forcePeak_static*scaling;
forceSat = forceSat_static*scaling;
diff --git a/sim/src/components/Dynamics_TwoTrack/src/dynamics_twotrack_tire.h b/sim/src/components/Dynamics_TwoTrack/src/dynamics_twotrack_tire.h
index 4b7efeb1661a068ff9f7aac33750b3fb94f83081..4b32b15d932e87c15119926f3413b8561c89d440 100644
--- a/sim/src/components/Dynamics_TwoTrack/src/dynamics_twotrack_tire.h
+++ b/sim/src/components/Dynamics_TwoTrack/src/dynamics_twotrack_tire.h
@@ -11,43 +11,43 @@
#ifndef TIRE_H
#define TIRE_H
+#include "units.h"
+
//! Static tire model based on TMEASY by Rill et al.
class Tire
{
public:
Tire();
- Tire(const double F_ref, const double mu_tire_max, const double mu_tire_slide, const double s_max,
- const double r, const double mu_scale);
+ Tire(const units::force::newton_t F_ref, const double mu_tire_max, const double mu_tire_slide, const double s_max,
+ const units::length::meter_t r, const double mu_scale);
virtual ~Tire() = default;
- double radius;
+ units::length::meter_t radius;
const double inertia = 1.2;
- double GetForce(const double);
- double GetLongSlip(const double tq);
- double CalcSlipY(double slipX, double vx, double vy);
- double GetRollFriction(const double velTireX);
- void Rescale(const double forceZ_update);
+ units::force::newton_t GetForce(const double);
+ double GetLongSlip(const units::torque::newton_meter_t tq);
+ double CalcSlipY(double slipX, units::velocity::meters_per_second_t vx, units::velocity::meters_per_second_t vy);
+ units::force::newton_t GetRollFriction(const units::velocity::meters_per_second_t velTireX);
+ void Rescale(const units::force::newton_t forceZ_update);
private:
+ units::force::newton_t forceZ_static;
+ units::force::newton_t forceZ;
- double forceZ_static;
- double forceZ;
-
- double forcePeak_static;
- double forceSat_static;
+ units::force::newton_t forcePeak_static;
+ units::force::newton_t forceSat_static;
double slipPeak;
double slipSat;
- double forcePeak;
- double forceSat;
+ units::force::newton_t forcePeak;
+ units::force::newton_t forceSat;
const double frictionRoll = 0.01;
const double stiffnessRoll = 0.3;
- const double velocityLimit = 0.27; // ca. 1 km/h
+ const units::velocity::meters_per_second_t velocityLimit{0.27}; // ca. 1 km/h
const double s_slide = 0.4;
-
};
#endif // TIRE_H
diff --git a/sim/src/components/Dynamics_TwoTrack/src/dynamics_twotrack_vehicle.cpp b/sim/src/components/Dynamics_TwoTrack/src/dynamics_twotrack_vehicle.cpp
index 08eb28f76c11ecf5efeda11874e89a9d919135a9..405925576d2f1719ff5aa462ecb82a7fe8a90a5d 100644
--- a/sim/src/components/Dynamics_TwoTrack/src/dynamics_twotrack_vehicle.cpp
+++ b/sim/src/components/Dynamics_TwoTrack/src/dynamics_twotrack_vehicle.cpp
@@ -28,31 +28,30 @@ VehicleSimpleTT::~VehicleSimpleTT()
}
}
-void VehicleSimpleTT::InitSetEngine(double weight, double P_engine, double T_brakeLimit)
+void VehicleSimpleTT::InitSetEngine(units::mass::kilogram_t weight, units::power::watt_t P_engine, units::torque::newton_meter_t T_brakeLimit)
{
- powerEngineLimit = std::fabs(P_engine);
- torqueBrakeLimit = std::fabs(T_brakeLimit);
+ powerEngineLimit = units::math::fabs(P_engine);
+ torqueBrakeLimit = units::math::fabs(T_brakeLimit);
massTotal = weight;
}
-void VehicleSimpleTT::InitSetGeometry(double x_wheelbase, double x_COG,
- double y_track, double y_COG)
+void VehicleSimpleTT::InitSetGeometry(units::length::meter_t x_wheelbase, units::length::meter_t x_COG,
+ units::length::meter_t y_track, units::length::meter_t y_COG)
{
+ yawVelocity = 0.0_rad_per_s;
- yawVelocity = 0.0;
+ positionTire[0].x = x_wheelbase / 2.0 - x_COG; // > 0
+ positionTire[1].x = positionTire[0].x; // > 0
+ positionTire[2].x = -x_wheelbase / 2.0 - x_COG; // < 0
+ positionTire[3].x = positionTire[2].x; // < 0
- positionTire[0].x = x_wheelbase/2.0 - x_COG; // > 0
- positionTire[1].x = positionTire[0].x; // > 0
- positionTire[2].x = -x_wheelbase/2.0 - x_COG; // < 0
- positionTire[3].x = positionTire[2].x; // < 0
+ positionTire[0].y = y_track / 2.0 - y_COG; // > 0
+ positionTire[1].y = -y_track / 2.0 - y_COG; // < 0
+ positionTire[2].y = positionTire[0].y; // > 0
+ positionTire[3].y = positionTire[1].y; // < 0
- positionTire[0].y = y_track/2.0 - y_COG; // > 0
- positionTire[1].y = -y_track/2.0 - y_COG; // < 0
- positionTire[2].y = positionTire[0].y; // > 0
- positionTire[3].y = positionTire[1].y; // < 0
-
- double massFront = -massTotal * positionTire[2].x / x_wheelbase;
- double massRear = massTotal * positionTire[0].x / x_wheelbase;
+ units::mass::kilogram_t massFront = -massTotal * positionTire[2].x / x_wheelbase;
+ units::mass::kilogram_t massRear = massTotal * positionTire[0].x / x_wheelbase;
forceTireVerticalStatic[0] = -accelVerticalEarth * massFront * positionTire[1].y / y_track;
forceTireVerticalStatic[1] = accelVerticalEarth * massFront * positionTire[0].y / y_track;
@@ -60,23 +59,22 @@ void VehicleSimpleTT::InitSetGeometry(double x_wheelbase, double x_COG,
forceTireVerticalStatic[3] = accelVerticalEarth * massRear * positionTire[2].y / y_track;
// RWD
- torqueTireXthrottle[0] = 0.0;
- torqueTireXthrottle[1] = 0.0;
-
+ torqueTireXthrottle[0] = 0.0_Nm;
+ torqueTireXthrottle[1] = 0.0_Nm;
}
-void VehicleSimpleTT::InitSetTire(double vel, double mu_tire_max, double mu_tire_slide, double s_max,
- double r_tire, double frictionScaleRoll)
+void VehicleSimpleTT::InitSetTire(units::velocity::meters_per_second_t vel, double mu_tire_max, double mu_tire_slide, double s_max,
+ units::length::meter_t r_tire, double frictionScaleRoll)
{
for (int i = 0; i < NUMBER_OF_WHEELS; ++i)
{
tires[i] = new Tire(forceTireVerticalStatic[i], mu_tire_max, mu_tire_slide, s_max, r_tire, frictionScaleRoll);
- rotationVelocityTireX[i] = vel / r_tire;
- rotationVelocityGradTireX[i] = 0.0;
+ rotationVelocityTireX[i] = vel / r_tire * 1_rad;
+ rotationVelocityGradTireX[i] = 0.0_rad_per_s_sq;
}
}
-void VehicleSimpleTT::SetVelocity(Common::Vector2d velocityCars, const double w)
+void VehicleSimpleTT::SetVelocity(Common::Vector2d<units::velocity::meters_per_second_t> velocityCars, const units::angular_velocity::radians_per_second_t w)
{
velocityCar = velocityCars; // car CS
yawVelocity = w;
@@ -85,23 +83,21 @@ void VehicleSimpleTT::SetVelocity(Common::Vector2d velocityCars, const double w)
void VehicleSimpleTT::DriveTrain(double throttlePedal, double brakePedal,
std::array<double, NUMBER_OF_WHEELS> brakeSuperpose)
{
-
- double torqueEngineMax;
- double rotVelMean = 0.5 * (rotationVelocityTireX[2] + rotationVelocityTireX[3]);
- if (!qFuzzyIsNull(rotVelMean))
+ units::torque::newton_meter_t torqueEngineMax;
+ units::angular_velocity::radians_per_second_t rotVelMean = 0.5 * (rotationVelocityTireX[2] + rotationVelocityTireX[3]);
+ if (!qFuzzyIsNull(rotVelMean.value()))
{
- torqueEngineMax = powerEngineLimit / rotVelMean;
+ torqueEngineMax = powerEngineLimit / rotVelMean * 1_rad;
}
else
{
- torqueEngineMax = powerEngineLimit / 0.001;
+ torqueEngineMax = powerEngineLimit / 0.001_rad_per_s * 1_rad;
}
- torqueEngineMax = std::clamp(torqueEngineMax, 0.0, torqueEngineLimit);
+ torqueEngineMax = std::clamp(torqueEngineMax, 0.0_Nm, torqueEngineLimit);
double brakePedalMod;
for (int i = 0; i < NUMBER_OF_WHEELS; ++i)
{
-
// brake balance
if (i < 2)
{
@@ -116,39 +112,40 @@ void VehicleSimpleTT::DriveTrain(double throttlePedal, double brakePedal,
// tire torque
torqueTireXbrake[i] = std::clamp(brakePedalMod, 0.0, 1.0) * torqueBrakeLimit;
- if (i > 1) // RWD with open differential
+ if (i > 1) // RWD with open differential
{
torqueTireXthrottle[i] = throttlePedal * torqueEngineMax / 2.0;
}
-
}
}
-void VehicleSimpleTT::ForceLocal(double timeStep, double angleTireFront, std::vector<double> forceVertical)
+void VehicleSimpleTT::ForceLocal(units::time::second_t timeStep, units::angle::radian_t angleTireFront, std::vector<double> forceVertical)
{
-
- double angleTire[NUMBER_OF_WHEELS];
+ units::angle::radian_t angleTire[NUMBER_OF_WHEELS];
angleTire[0] = angleTireFront + anglePreSet;
angleTire[1] = angleTireFront - anglePreSet;
angleTire[2] = -anglePreSet;
angleTire[3] = anglePreSet;
Tire *tire_tmp;
- Common::Vector2d velocityTire(0.0, 0.0);
- double rotVelNew, forceAbs, torqueTireSum;
+ Common::Vector2d<units::velocity::meters_per_second_t> velocityTire(0.0_mps, 0.0_mps);
+ units::angular_velocity::radians_per_second_t rotVelNew;
+ units::force::newton_t forceAbs;
+ units::torque::newton_meter_t torqueTireSum;
// slips + forces
for (int i = 0; i < NUMBER_OF_WHEELS; ++i)
{
-
tire_tmp = tires[i];
- tire_tmp->Rescale(forceVertical[i]); // here goes the delta_F_z scaling
+ tire_tmp->Rescale(units::force::newton_t(forceVertical[i])); // here goes the delta_F_z scaling
slipTire[i].Scale(0.0);
// global rotation of the tire
- velocityTire = positionTire[i];
- velocityTire.Rotate(M_PI / 2.0);
- velocityTire.Scale(yawVelocity);
+ Common::Vector2d<units::length::meter_t> position = positionTire[i];
+ position.Rotate(units::angle::radian_t(M_PI / 2.0));
+
+ velocityTire.x = position.x * yawVelocity * units::inverse_radian(1);
+ velocityTire.x = position.y * yawVelocity * units::inverse_radian(1);
// translation superposition
velocityTire.Add(velocityCar);
@@ -157,11 +154,11 @@ void VehicleSimpleTT::ForceLocal(double timeStep, double angleTireFront, std::ve
// rotational inertia
//torqueTireX[i] -= tire_tmp->inertia * rotationVelocityGradTireX[i];
- if (qFuzzyIsNull(velocityTire.x))
+ if (qFuzzyIsNull(velocityTire.x.value()))
{
- torqueTireSum = 0.0;
+ torqueTireSum = 0.0_Nm;
}
- else if (velocityTire.x < 0.0)
+ else if (velocityTire.x < 0.0_mps)
{
torqueTireSum = torqueTireXbrake[i];
}
@@ -179,16 +176,18 @@ void VehicleSimpleTT::ForceLocal(double timeStep, double angleTireFront, std::ve
// local tire force
forceAbs = tire_tmp->GetForce(slipTire[i].Length());
- forceTire[i] = slipTire[i]; // tire CS
- forceTire[i].Norm();
- forceTire[i].Scale(forceAbs);
+
+ Common::Vector2d<units::dimensionless::scalar_t> slipVector = slipTire[i];
+ auto normalizedSlipVector = slipVector.Norm();
+ forceTire[i].x = normalizedSlipVector.x * forceAbs;
+ forceTire[i].y = normalizedSlipVector.y * forceAbs;
// roll friction
- bool posForce = forceTire[i].x > 0.0;
+ bool posForce = forceTire[i].x > 0.0_N;
forceTire[i].x += tire_tmp->GetRollFriction(velocityTire.x);
- if ((forceTire[i].x < 0.0 && posForce) || (forceTire[i].x > 0.0 && !posForce))
+ if ((forceTire[i].x < 0.0_N && posForce) || (forceTire[i].x > 0.0_N && !posForce))
{
- forceTire[i].x = 0.0;
+ forceTire[i].x = 0.0_N;
}
forceTire[i].Rotate(angleTire[i]); // car's CS
@@ -197,21 +196,18 @@ void VehicleSimpleTT::ForceLocal(double timeStep, double angleTireFront, std::ve
momentTireZ[i] = positionTire[i].Cross(forceTire[i]);
// rotational velocity
- rotVelNew = velocityTire.x / (1 - slipTire[i].x) / tire_tmp->radius;
+ rotVelNew = 1_rad * velocityTire.x / (1 - slipTire[i].x) / tire_tmp->radius;
// memorize rotation velocity derivative for inertia torque
rotationVelocityGradTireX[i] = (rotVelNew - rotationVelocityTireX[i]) / timeStep;
// memorize rotation velocity
rotationVelocityTireX[i] = rotVelNew;
-
}
-
}
void VehicleSimpleTT::ForceGlobal()
{
-
forceTotalXY.Scale(0.0);
momentTotalZ = 0.0;
for (int i = 0; i < NUMBER_OF_WHEELS; ++i)
@@ -224,21 +220,20 @@ void VehicleSimpleTT::ForceGlobal()
}
// air drag
- double forceAirDrag = -0.5 * densityAir * coeffDrag * areaFace * velocityCar.Length() * velocityCar.Length();
- double angleSlide = velocityCar.Angle(); // ISO
+ units::force::newton_t forceAirDrag = -0.5 * densityAir * coeffDrag * areaFace * velocityCar.Length() * velocityCar.Length();
+ const auto angleSlide = velocityCar.Angle(); // ISO
forceTotalXY.Rotate(-angleSlide); // traj. CS
forceTotalXY.Add(forceAirDrag); // traj. CS
forceTotalXY.Rotate(angleSlide); // car CS
-
}
-double VehicleSimpleTT::GetTireForce(int tireNumber)
+units::force::newton_t VehicleSimpleTT::GetTireForce(int tireNumber)
{
- return sqrt((forceTire[tireNumber].x * forceTire[tireNumber].x) + (forceTire[tireNumber].y * forceTire[tireNumber].y));
+ return units::math::sqrt((forceTire[tireNumber].x * forceTire[tireNumber].x) + (forceTire[tireNumber].y * forceTire[tireNumber].y));
}
-double VehicleSimpleTT::GetForceTireVerticalStatic(int tireNumber)
+units::force::newton_t VehicleSimpleTT::GetForceTireVerticalStatic(int tireNumber)
{
return forceTireVerticalStatic[tireNumber];
}
diff --git a/sim/src/components/Dynamics_TwoTrack/src/dynamics_twotrack_vehicle.h b/sim/src/components/Dynamics_TwoTrack/src/dynamics_twotrack_vehicle.h
index 342b69742b47402b586dd39cada3f224ac6eedb4..d0008b1688c50f36c21b29bd4b5f8d8e17e3a8ba 100644
--- a/sim/src/components/Dynamics_TwoTrack/src/dynamics_twotrack_vehicle.h
+++ b/sim/src/components/Dynamics_TwoTrack/src/dynamics_twotrack_vehicle.h
@@ -18,8 +18,13 @@
#include "common/vector2d.h"
#include "dynamics_twotrack_tire.h"
+#include "common/globalDefinitions.h"
+#include "MantleAPI/Common/orientation.h"
+
#define NUMBER_OF_WHEELS 4
+using namespace units::literals;
+
class Tire;
//! Simple STATIC two-track vehicle model
@@ -34,14 +39,14 @@ public:
* @{
*/
//! Initialize tire characteristics
- void InitSetEngine(double weight,
- double P_engine, double T_brakeLimit);
+ void InitSetEngine(units::mass::kilogram_t weight,
+ units::power::watt_t P_engine, units::torque::newton_meter_t T_brakeLimit);
//! Initialize car's physics
- void InitSetGeometry(double x_wheelbase, double x_COG, double y_track, double y_COG);
+ void InitSetGeometry(units::length::meter_t x_wheelbase, units::length::meter_t x_COG, units::length::meter_t y_track, units::length::meter_t y_COG);
//! Initialize car's velocity
- void InitSetTire(double vel,
+ void InitSetTire(units::velocity::meters_per_second_t vel,
double mu_tire_max, double mu_tire_slide,
- double s_max, double r_tire, double frictionScaleRoll);
+ double s_max, units::length::meter_t r_tire, double frictionScaleRoll);
/**
* @}
*/
@@ -53,7 +58,7 @@ public:
//! Refresh car's position
void UpdatePosition(double);
//! Refresh car's velocity
- void SetVelocity(Common::Vector2d, const double);
+ void SetVelocity(Common::Vector2d<units::velocity::meters_per_second_t> velocityCars, const units::angular_velocity::radians_per_second_t w);
/**
* @}
*/
@@ -65,13 +70,13 @@ public:
//! Calculate local tire torques
void DriveTrain(double throttlePedal, double brakePedal, std::array<double, NUMBER_OF_WHEELS> brakeSuperpose);
//! Local forces and moments transferred onto road
- void ForceLocal(double timeStep, double, std::vector<double> forceVertical);
+ void ForceLocal(units::time::second_t timeStep, units::angle::radian_t angleTireFront, std::vector<double> forceVertical);
//! Global force and moment
void ForceGlobal();
- double GetTireForce(int tireNumber);
+ units::force::newton_t GetTireForce(int tireNumber);
- double GetForceTireVerticalStatic(int tireNumber);
+ units::force::newton_t GetForceTireVerticalStatic(int tireNumber);
/**
* @}
*/
@@ -81,7 +86,7 @@ public:
* @{
*/
//! Total force on vehicle's CoM
- Common::Vector2d forceTotalXY;
+ Common::Vector2d<units::force::newton_t> forceTotalXY;
//! Total momentum on the vehicle around the z-axes
double momentTotalZ;
/**
@@ -92,7 +97,7 @@ public:
* \name Parameters
* @{
*/
- std::array<double, NUMBER_OF_WHEELS> forceTireVerticalStatic;
+ std::array<units::force::newton_t, NUMBER_OF_WHEELS> forceTireVerticalStatic;
/**
* @}
*/
@@ -103,17 +108,17 @@ private:
* @{
*/
//! Inertial moment of tires [kg*m^2]
- std::array<double, NUMBER_OF_WHEELS> inertiaTireX;
+ std::array<units::inertia, NUMBER_OF_WHEELS> inertiaTireX;
//! Maximal engine power [W]
- double powerEngineLimit;
+ units::power::watt_t powerEngineLimit;
//! Brake force limit [N]
- double torqueBrakeLimit;
+ units::torque::newton_meter_t torqueBrakeLimit;
//! Mass of the car [kg]
- double massTotal;
+ units::mass::kilogram_t massTotal;
//! Tire positions in car CS [m]
- std::array<Common::Vector2d, NUMBER_OF_WHEELS> positionTire;
+ std::array<Common::Vector2d<units::length::meter_t>, NUMBER_OF_WHEELS> positionTire;
/**
* @}
*/
@@ -125,30 +130,30 @@ private:
//! Drag coefficient (Asbo from http://rc.opelgt.org/indexcw.php) []
const double coeffDrag = 0.34;
//! Face area (Asbo from http://rc.opelgt.org/indexcw.php) [m^2]
- const double areaFace = 1.94;
+ const units::area::square_meter_t areaFace{1.94};
//! Air density [kg/m^3]
- const double densityAir = 1.29;
+ const units::density::kilograms_per_cubic_meter_t densityAir{1.29};
//! Earth's gravitation acceleration
- const double accelVerticalEarth = -9.81;
+ const units::acceleration::meters_per_second_squared_t accelVerticalEarth{-9.81};
//! Toe-in/-out
- const double anglePreSet = 0.0;//0.003;
+ const units::angle::radian_t anglePreSet{0.0}; //0.003;
//! Brake balance
const double brakeBalance = 0.67;
//! Max. engine moment
- const double torqueEngineLimit = 10000.0;
+ const units::torque::newton_meter_t torqueEngineLimit{10000.0};
/**
* @}
*/
// Dynamics to remember
- std::array<double, NUMBER_OF_WHEELS> rotationVelocityTireX;
- std::array<double, NUMBER_OF_WHEELS> rotationVelocityGradTireX;
- double yawVelocity;
- Common::Vector2d velocityCar;
- std::array<Common::Vector2d, NUMBER_OF_WHEELS> forceTire;
- std::array<Common::Vector2d, NUMBER_OF_WHEELS> slipTire;
- std::array<double, NUMBER_OF_WHEELS> torqueTireXthrottle;
- std::array<double, NUMBER_OF_WHEELS> torqueTireXbrake;
+ std::array<units::angular_velocity::radians_per_second_t, NUMBER_OF_WHEELS> rotationVelocityTireX;
+ std::array<units::angular_acceleration::radians_per_second_squared_t, NUMBER_OF_WHEELS> rotationVelocityGradTireX;
+ units::angular_velocity::radians_per_second_t yawVelocity;
+ Common::Vector2d<units::velocity::meters_per_second_t> velocityCar;
+ std::array<Common::Vector2d<units::force::newton_t>, NUMBER_OF_WHEELS> forceTire;
+ std::array<Common::Vector2d<units::dimensionless::scalar_t>, NUMBER_OF_WHEELS> slipTire;
+ std::array<units::torque::newton_meter_t, NUMBER_OF_WHEELS> torqueTireXthrottle;
+ std::array<units::torque::newton_meter_t, NUMBER_OF_WHEELS> torqueTireXbrake;
std::array<double, NUMBER_OF_WHEELS> momentTireZ;
/** \name Container
diff --git a/sim/src/components/LimiterAccVehComp/src/limiterAccVehCompImpl.cpp b/sim/src/components/LimiterAccVehComp/src/limiterAccVehCompImpl.cpp
index 8b16c381b6a4f32d0163695aa7e29f0e9f9de087..edc100442d3d9bd90dd928f4073e0b8259826626 100644
--- a/sim/src/components/LimiterAccVehComp/src/limiterAccVehCompImpl.cpp
+++ b/sim/src/components/LimiterAccVehComp/src/limiterAccVehCompImpl.cpp
@@ -1,6 +1,7 @@
/********************************************************************************
* Copyright (c) 2020 HLRS, University of Stuttgart
* 2017-2020 in-tech GmbH
+ * 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -94,20 +95,20 @@ void LimiterAccelerationVehicleComponentsImplementation::Trigger(int time)
{
Q_UNUSED(time);
- const double &accelerationLimit = CalculateAccelerationLimit();
- const double &decelerationLimit = CalculateDecelerationLimit();
+ const auto &accelerationLimit = CalculateAccelerationLimit();
+ const auto &decelerationLimit = CalculateDecelerationLimit();
- outgoingAcceleration = std::max(std::min(incomingAcceleration, accelerationLimit), decelerationLimit);
+ outgoingAcceleration = units::math::max(units::math::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();
+ return std::stod(property.value());
}
-double LimiterAccelerationVehicleComponentsImplementation::InterpolateEngineTorqueBasedOnSpeed(const double &engineSpeed)
+units::torque::newton_meter_t LimiterAccelerationVehicleComponentsImplementation::InterpolateEngineTorqueBasedOnSpeed(const units::angular_velocity::revolutions_per_minute_t &engineSpeed)
{
if(engineSpeedReferences.size() != engineTorqueReferences.size() || engineSpeedReferences.empty())
{
@@ -128,12 +129,12 @@ double LimiterAccelerationVehicleComponentsImplementation::InterpolateEngineTorq
{
if(engineSpeedReferences.at(i) >= engineSpeed)
{
- const double differenceBetweenEngineSpeedReferencePoints = engineSpeedReferences.at(i) - engineSpeedReferences.at(i-1);
+ const auto differenceBetweenEngineSpeedReferencePoints = engineSpeedReferences.at(i) - engineSpeedReferences.at(i-1);
const double percentage = (engineSpeed - engineSpeedReferences.at(i-1)) / differenceBetweenEngineSpeedReferencePoints;
- const double differenceBetweenEngineTorqueReferencePoints = engineTorqueReferences.at(i) - engineTorqueReferences.at(i-1);
+ const auto differenceBetweenEngineTorqueReferencePoints = engineTorqueReferences.at(i) - engineTorqueReferences.at(i-1);
- const double interpolatedTorque = engineTorqueReferences.at(i-1) + (differenceBetweenEngineTorqueReferencePoints * percentage);
+ const units::torque::newton_meter_t interpolatedTorque = engineTorqueReferences.at(i-1) + (differenceBetweenEngineTorqueReferencePoints * percentage);
return interpolatedTorque;
}
@@ -142,9 +143,9 @@ double LimiterAccelerationVehicleComponentsImplementation::InterpolateEngineTorq
throw std::runtime_error("Could not interpolate torque.");
}
-std::vector<double> LimiterAccelerationVehicleComponentsImplementation::PrepareEngineTorqueVectorBasedOnGearRatios()
+std::vector<units::torque::newton_meter_t> LimiterAccelerationVehicleComponentsImplementation::PrepareEngineTorqueVectorBasedOnGearRatios()
{
- std::vector<double> engineTorquesBasedOnGearRatios {};
+ std::vector<units::torque::newton_meter_t> engineTorquesBasedOnGearRatios {};
if(GetVehicleProperty(vehicle::properties::NumberOfGears) < 1)
{
@@ -153,50 +154,50 @@ std::vector<double> LimiterAccelerationVehicleComponentsImplementation::PrepareE
for(size_t i = 1; i <= GetVehicleProperty(vehicle::properties::NumberOfGears); i++)
{
- const double engineSpeedBasedOnGear = CalculateEngineSpeedBasedOnGear(GetAgent()->GetVelocity().Length(), i);
+ const auto engineSpeedBasedOnGear = CalculateEngineSpeedBasedOnGear(GetAgent()->GetVelocity().Length(), i);
- if(engineSpeedBasedOnGear > GetVehicleProperty(vehicle::properties::MaximumEngineSpeed) || engineSpeedBasedOnGear < GetVehicleProperty(vehicle::properties::MinimumEngineSpeed))
+ if(engineSpeedBasedOnGear > units::angular_velocity::revolutions_per_minute_t(GetVehicleProperty(vehicle::properties::MaximumEngineSpeed)) || engineSpeedBasedOnGear < units::angular_velocity::revolutions_per_minute_t(GetVehicleProperty(vehicle::properties::MinimumEngineSpeed)))
{
continue;
}
- const double interpolatedEngineTorque = InterpolateEngineTorqueBasedOnSpeed(engineSpeedBasedOnGear);
+ const auto interpolatedEngineTorque = InterpolateEngineTorqueBasedOnSpeed(engineSpeedBasedOnGear);
- double engineTorqueBasedOnGearRatio = interpolatedEngineTorque * GetVehicleProperty(vehicle::properties::GearRatio+std::to_string(i));
+ const units::torque::newton_meter_t engineTorqueBasedOnGearRatio = interpolatedEngineTorque * GetVehicleProperty(vehicle::properties::GearRatio+std::to_string(i));
engineTorquesBasedOnGearRatios.push_back(engineTorqueBasedOnGearRatio);
}
return engineTorquesBasedOnGearRatios;
}
-double LimiterAccelerationVehicleComponentsImplementation::CalculateEngineSpeedBasedOnGear(const double ¤tVelocity, const size_t &gear)
+units::angular_velocity::revolutions_per_minute_t LimiterAccelerationVehicleComponentsImplementation::CalculateEngineSpeedBasedOnGear(const units::velocity::meters_per_second_t ¤tVelocity, const size_t &gear)
{
- const double engineSpeed = currentVelocity * GetVehicleProperty(vehicle::properties::AxleRatio) * GetVehicleProperty(vehicle::properties::GearRatio+std::to_string(gear)) / (M_PI * vehicleModelParameters.rearAxle.wheelDiameter) * 60.0;
+ const units::angular_velocity::revolutions_per_minute_t engineSpeed = 1_rad * currentVelocity * GetVehicleProperty(vehicle::properties::AxleRatio) * GetVehicleProperty(vehicle::properties::GearRatio+std::to_string(gear)) / (0.5 * vehicleModelParameters.rear_axle.wheel_diameter);
return engineSpeed;
}
void LimiterAccelerationVehicleComponentsImplementation::PrepareReferences()
{
- const double& maxEngineTorque = GetVehicleProperty(vehicle::properties::MaximumEngineTorque);
- const double& maxEngineSpeed = GetVehicleProperty(vehicle::properties::MaximumEngineSpeed);
- const double& minEngineSpeed = GetVehicleProperty(vehicle::properties::MinimumEngineSpeed);
+ const auto& maxEngineTorque = units::torque::newton_meter_t(GetVehicleProperty(vehicle::properties::MaximumEngineTorque));
+ const auto& maxEngineSpeed = units::angular_velocity::revolutions_per_minute_t(GetVehicleProperty(vehicle::properties::MaximumEngineSpeed));
+ const auto& minEngineSpeed = units::angular_velocity::revolutions_per_minute_t(GetVehicleProperty(vehicle::properties::MinimumEngineSpeed));
engineTorqueReferences = {0.5 * maxEngineTorque,
1.0 * maxEngineTorque,
1.0 * maxEngineTorque,
1.0 * maxEngineTorque,
- 1.0 * maxEngineTorque / maxEngineSpeed * 5000.0};
+ 1.0 * maxEngineTorque / maxEngineSpeed * 5000.0_rpm};
engineSpeedReferences = {minEngineSpeed,
- 1350,
- 4600,
- 5000,
+ 1350_rpm,
+ 4600_rpm,
+ 5000_rpm,
maxEngineSpeed};
}
-double LimiterAccelerationVehicleComponentsImplementation::CalculateAccelerationLimit()
+units::acceleration::meters_per_second_squared_t LimiterAccelerationVehicleComponentsImplementation::CalculateAccelerationLimit()
{
- const double currentVelocity = GetAgent()->GetVelocity().Length();
+ const auto currentVelocity = GetAgent()->GetVelocity().Length();
const auto &engineTorquesBasedOnGearRatios = PrepareEngineTorqueVectorBasedOnGearRatios();
@@ -205,20 +206,20 @@ double LimiterAccelerationVehicleComponentsImplementation::CalculateAcceleration
return oneG;
}
- const double &engineTorqueBasedOnVelocity = *(std::max_element(engineTorquesBasedOnGearRatios.begin(), engineTorquesBasedOnGearRatios.end()));
+ const auto &engineTorqueBasedOnVelocity = *(std::max_element(engineTorquesBasedOnGearRatios.begin(), engineTorquesBasedOnGearRatios.end()));
- 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 units::force::newton_t forceAtWheel = engineTorqueBasedOnVelocity * GetVehicleProperty(vehicle::properties::AxleRatio) / (0.5 * vehicleModelParameters.rear_axle.wheel_diameter);
+ const units::force::newton_t forceRoll = vehicleModelParameters.mass * oneG * rollFrictionCoefficient;
+ const units::force::newton_t forceAir = (airResistance / 2) * units::area::square_meter_t(GetVehicleProperty(vehicle::properties::FrontSurface)) * GetVehicleProperty(vehicle::properties::AirDragCoefficient) * units::math::pow<2>(currentVelocity);
- const double accelerationLimit = (forceAtWheel - forceRoll - forceAir) / GetVehicleProperty(vehicle::properties::Mass);
+ const units::acceleration::meters_per_second_squared_t accelerationLimit = (forceAtWheel - forceRoll - forceAir) / vehicleModelParameters.mass;
return accelerationLimit;
}
-double LimiterAccelerationVehicleComponentsImplementation::CalculateDecelerationLimit()
+units::acceleration::meters_per_second_squared_t LimiterAccelerationVehicleComponentsImplementation::CalculateDecelerationLimit()
{
- const double decelerationLimit = GetWorld()->GetFriction() * GetVehicleProperty(vehicle::properties::FrictionCoefficient) * (-oneG);
+ const units::acceleration::meters_per_second_squared_t 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 7662ecda1fded2fa3edeb945519fb370755211ce..37d8e973fe9fc3cc16f9183952024721ec6606c4 100644
--- a/sim/src/components/LimiterAccVehComp/src/limiterAccVehCompImpl.h
+++ b/sim/src/components/LimiterAccVehComp/src/limiterAccVehCompImpl.h
@@ -106,29 +106,29 @@ public:
private:
double GetVehicleProperty(const std::string& propertyName);
- double InterpolateEngineTorqueBasedOnSpeed(const double &engineSpeed);
+ units::torque::newton_meter_t InterpolateEngineTorqueBasedOnSpeed(const units::angular_velocity::revolutions_per_minute_t &engineSpeed);
- std::vector<double> PrepareEngineTorqueVectorBasedOnGearRatios();
+ std::vector<units::torque::newton_meter_t> PrepareEngineTorqueVectorBasedOnGearRatios();
- double CalculateEngineSpeedBasedOnGear(const double ¤tVelocity,
+ units::angular_velocity::revolutions_per_minute_t CalculateEngineSpeedBasedOnGear(const units::velocity::meters_per_second_t ¤tVelocity,
const size_t &gear);
void PrepareReferences();
- double CalculateAccelerationLimit();
- double CalculateDecelerationLimit();
+ units::acceleration::meters_per_second_squared_t CalculateAccelerationLimit();
+ units::acceleration::meters_per_second_squared_t CalculateDecelerationLimit();
ComponentState componentState {ComponentState::Armed};
const double twoPI {2.0 * M_PI};
- const double oneG {9.81}; //mps^2
+ const units::acceleration::meters_per_second_squared_t oneG {9.81}; //mps^2
const double rollFrictionCoefficient {0.015};
- const double airResistance {1.2};
+ const units::density::kilograms_per_cubic_meter_t airResistance {1.2};
- VehicleModelParameters vehicleModelParameters;
+ mantle_api::VehicleProperties vehicleModelParameters;
- std::vector<double> engineTorqueReferences;
- std::vector<double> engineSpeedReferences;
+ std::vector<units::torque::newton_meter_t> engineTorqueReferences;
+ std::vector<units::angular_velocity::revolutions_per_minute_t> engineSpeedReferences;
- double incomingAcceleration {0.0};
- double outgoingAcceleration {0.0};
+ units::acceleration::meters_per_second_squared_t incomingAcceleration {0.0};
+ units::acceleration::meters_per_second_squared_t outgoingAcceleration {0.0};
};
diff --git a/sim/src/components/OpenScenarioActions/CMakeLists.txt b/sim/src/components/OpenScenarioActions/CMakeLists.txt
deleted file mode 100644
index 7208621c304fbbce9192b316400c15a132f8ff77..0000000000000000000000000000000000000000
--- a/sim/src/components/OpenScenarioActions/CMakeLists.txt
+++ /dev/null
@@ -1,42 +0,0 @@
-################################################################################
-# Copyright (c) 2020-2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-#
-# This program and the accompanying materials are made available under the
-# terms of the Eclipse Public License 2.0 which is available at
-# http://www.eclipse.org/legal/epl-2.0.
-#
-# SPDX-License-Identifier: EPL-2.0
-################################################################################
-set(COMPONENT_NAME OpenScenarioActions)
-
-add_compile_definitions(OPENSCENARIO_ACTIONS_LIBRARY)
-
-add_openpass_target(
- NAME ${COMPONENT_NAME} TYPE library LINKAGE shared COMPONENT module
-
- HEADERS
- openScenarioActions.h
- src/oscActionsCalculation.h
- src/openScenarioActionsImpl.h
- src/oscActionsCalculation.h
- src/actionTransformRepository.h
- src/transformerBase.h
- src/transformTrajectory.h
- src/transformLaneChange.h
- src/transformSpeedAction.h
- src/transformAcquirePosition.h
- src/transformDefaultCustomCommandAction.h
-
- SOURCES
- openScenarioActions.cpp
- src/oscActionsCalculation.cpp
- src/openScenarioActionsImpl.cpp
- src/oscActionsCalculation.cpp
- src/transformLaneChange.cpp
- src/transformSpeedAction.cpp
- src/transformAcquirePosition.cpp
- src/transformDefaultCustomCommandAction.cpp
-
- LIBRARIES
- Qt5::Core
-)
diff --git a/sim/src/components/OpenScenarioActions/openScenarioActions.cpp b/sim/src/components/OpenScenarioActions/openScenarioActions.cpp
deleted file mode 100644
index f3a1d398f9d5d40086a6daa6f8549e800001ec1f..0000000000000000000000000000000000000000
--- a/sim/src/components/OpenScenarioActions/openScenarioActions.cpp
+++ /dev/null
@@ -1,175 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-//-----------------------------------------------------------------------------
-/** @file OpenScenarioActions.cpp */
-//-----------------------------------------------------------------------------
-
-#include "openScenarioActions.h"
-
-#include "src/openScenarioActionsImpl.h"
-
-const std::string Version = "0.1.0";
-static const CallbackInterface *Callbacks = nullptr;
-
-extern "C" OPENSCENARIO_ACTIONS_SHARED_EXPORT const std::string &OpenPASS_GetVersion()
-{
- return Version;
-}
-
-extern "C" OPENSCENARIO_ACTIONS_SHARED_EXPORT ModelInterface *OpenPASS_CreateInstance(
- std::string componentName,
- bool isInit,
- int priority,
- int offsetTime,
- int responseTime,
- int cycleTime,
- StochasticsInterface *stochastics,
- WorldInterface *world,
- const ParameterInterface *parameters,
- PublisherInterface *const publisher,
- AgentInterface *agent,
- const CallbackInterface *callbacks,
- core::EventNetworkInterface *const eventNetwork)
-{
- Callbacks = callbacks;
-
- try
- {
- return (ModelInterface *)(new (std::nothrow) OpenScenarioActionsImplementation(
- componentName,
- isInit,
- priority,
- offsetTime,
- responseTime,
- cycleTime,
- stochastics,
- world,
- parameters,
- publisher,
- callbacks,
- agent,
- eventNetwork));
- }
- catch (const std::runtime_error &ex)
- {
- if (Callbacks != nullptr)
- {
- Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, ex.what());
- }
-
- return nullptr;
- }
- catch (...)
- {
- if (Callbacks != nullptr)
- {
- Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, "unexpected exception");
- }
-
- return nullptr;
- }
-}
-
-extern "C" OPENSCENARIO_ACTIONS_SHARED_EXPORT void OpenPASS_DestroyInstance(ModelInterface *implementation)
-{
- delete (OpenScenarioActionsImplementation *)implementation;
-}
-
-extern "C" OPENSCENARIO_ACTIONS_SHARED_EXPORT bool OpenPASS_UpdateInput(ModelInterface *implementation,
- int localLinkId,
- const std::shared_ptr<SignalInterface const> &data,
- int time)
-{
- try
- {
- implementation->UpdateInput(localLinkId, data, time);
- }
- catch (const std::runtime_error &ex)
- {
- if (Callbacks != nullptr)
- {
- Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, ex.what());
- }
-
- return false;
- }
- catch (...)
- {
- if (Callbacks != nullptr)
- {
- Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, "unexpected exception");
- }
-
- return false;
- }
-
- return true;
-}
-
-extern "C" OPENSCENARIO_ACTIONS_SHARED_EXPORT bool OpenPASS_UpdateOutput(ModelInterface *implementation,
- int localLinkId,
- std::shared_ptr<SignalInterface const> &data,
- int time)
-{
- try
- {
- implementation->UpdateOutput(localLinkId, data, time);
- }
- catch (const std::runtime_error &ex)
- {
- if (Callbacks != nullptr)
- {
- Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, ex.what());
- }
-
- return false;
- }
- catch (...)
- {
- if (Callbacks != nullptr)
- {
- Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, "unexpected exception");
- }
-
- return false;
- }
-
- return true;
-}
-
-extern "C" OPENSCENARIO_ACTIONS_SHARED_EXPORT bool OpenPASS_Trigger(ModelInterface *implementation,
- int time)
-{
- try
- {
- implementation->Trigger(time);
- }
- catch (const std::runtime_error &ex)
- {
- if (Callbacks != nullptr)
- {
- Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, ex.what());
- }
-
- return false;
- }
- catch (...)
- {
- if (Callbacks != nullptr)
- {
- Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, "unexpected exception");
- }
-
- return false;
- }
-
- return true;
-}
diff --git a/sim/src/components/OpenScenarioActions/openScenarioActions.h b/sim/src/components/OpenScenarioActions/openScenarioActions.h
deleted file mode 100644
index 1a42986f8bba5468a929f0d7e76d6ceadb60e174..0000000000000000000000000000000000000000
--- a/sim/src/components/OpenScenarioActions/openScenarioActions.h
+++ /dev/null
@@ -1,28 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-//-----------------------------------------------------------------------------
-/** @file OpenScenarioActions.h
-* @brief This file provides the exported methods.
-*
-* This file provides the exported methods which are available outside of the library. */
-//-----------------------------------------------------------------------------
-
-#pragma once
-
-#include <QtCore/qglobal.h>
-
-#if defined(OPENSCENARIO_ACTIONS_LIBRARY)
-#define OPENSCENARIO_ACTIONS_SHARED_EXPORT Q_DECL_EXPORT
-#else
-#define OPENSCENARIO_ACTIONS_SHARED_EXPORT Q_DECL_IMPORT
-#endif
-
-#include "include/modelInterface.h"
diff --git a/sim/src/components/OpenScenarioActions/src/actionTransformRepository.h b/sim/src/components/OpenScenarioActions/src/actionTransformRepository.h
deleted file mode 100644
index d5c1d6263bdb835712792111265860bdd067923a..0000000000000000000000000000000000000000
--- a/sim/src/components/OpenScenarioActions/src/actionTransformRepository.h
+++ /dev/null
@@ -1,86 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#pragma once
-
-#include <map>
-#include <memory>
-#include <tuple>
-
-#include "include/agentInterface.h"
-#include "include/eventNetworkInterface.h"
-#include "include/signalInterface.h"
-#include "include/worldInterface.h"
-
-using Identifier = const std::string;
-using LinkId = int;
-using AgentAffected = bool;
-using Signal_ptr = std::shared_ptr<SignalInterface const>;
-using TransformResult = std::tuple<Identifier, bool, Signal_ptr>;
-using TransformResults = std::vector<TransformResult>;
-
-/// \brief Use this class as mixed set for fixed and auto registering transformations
-///
-/// When used as fixed resource simply call:
-/// ActionTransformRepository::Register(customTransformer);
-///
-/// This class can be used in conjunction with automatic compile time registration.
-/// Note that registration happens automatically without additional construction code,
-/// when the register method is used in a static assignment. This means that registering
-/// will be done if the translation unit holds an accodring statement (!)
-///
-/// Example:
-/// SomeClass.h -> static inline bool registered = ActionTransformRepository::Register(Transform);
-/// SomeClass.cpp is part of the translation unit
-///
-/// Effect:
-/// SomeOtherFile.cpp -> ActionTransformRepository::Register(customTransformer);
-class ActionTransformRepository final
-{
- using TransformSignature = TransformResult (*)(const core::EventNetworkInterface *eventNetwork,
- WorldInterface *world,
- AgentInterface *agent,
- int cycleTime);
-
-public:
- /// \brief Applies an event to signal transformation on each event for the internally defined identifier
- /// \param args Relayed to the registered transformer
- /// \return TransformResult holding a list of
- /// identifiers (for link id assignment),
- /// update state (does the current agent need an update),
- /// and signal (must not be nullptr)
- template <typename... Args>
- static TransformResults Transform(Args... args)
- {
- TransformResults transformedActions;
- for (const auto &transform : repository())
- {
- auto [identifier, agent_is_affected, signal] = transform(std::forward<Args>(args)...);
- transformedActions.emplace_back(identifier, agent_is_affected, signal);
- }
- return transformedActions;
- }
-
- /// \brief Register a new transformation
- /// \param transform
- /// \return true
- static bool Register(TransformSignature transform)
- {
- repository().emplace_back(transform);
- return true;
- }
-
-private:
- static std::vector<TransformSignature> &repository()
- {
- static std::vector<TransformSignature> repository;
- return repository;
- }
-};
diff --git a/sim/src/components/OpenScenarioActions/src/openScenarioActionsImpl.cpp b/sim/src/components/OpenScenarioActions/src/openScenarioActionsImpl.cpp
deleted file mode 100644
index f9406d600e2598c42b6c6b268a1c547fe8fb6df1..0000000000000000000000000000000000000000
--- a/sim/src/components/OpenScenarioActions/src/openScenarioActionsImpl.cpp
+++ /dev/null
@@ -1,149 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
- * 2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-//-----------------------------------------------------------------------------
-//! @file ComponentControllerImplementation.cpp
-//! @brief This file contains the implementation of the header file
-//-----------------------------------------------------------------------------
-
-#include "openScenarioActionsImpl.h"
-
-#include "include/parameterInterface.h"
-
-OpenScenarioActionsImplementation::OpenScenarioActionsImplementation(std::string componentName,
- bool isInit,
- int priority,
- int offsetTime,
- int responseTime,
- int cycleTime,
- StochasticsInterface *stochastics,
- WorldInterface *world,
- const ParameterInterface *parameters,
- PublisherInterface *const publisher,
- const CallbackInterface *callbacks,
- AgentInterface *agent,
- core::EventNetworkInterface *const eventNetwork) :
- UnrestrictedEventModelInterface(
- componentName,
- isInit,
- priority,
- offsetTime,
- responseTime,
- cycleTime,
- stochastics,
- world,
- parameters,
- publisher,
- callbacks,
- agent,
- eventNetwork)
-{
- if (parameters)
- {
- const auto customTransformerLinkAssignment = parameters->GetParametersInt();
- for (auto [key, value] : customTransformerLinkAssignment)
- {
- linkIdMapping.emplace(key, value);
- }
- }
-}
-
-void OpenScenarioActionsImplementation::UpdateInput(int, const std::shared_ptr<const SignalInterface> &, int)
-{
-}
-
-void OpenScenarioActionsImplementation::UpdateOutput(LinkId localLinkId, std::shared_ptr<SignalInterface const> &data, [[maybe_unused]] int time)
-{
- bool link_validated{false};
- bool update_sent{false};
- std::shared_ptr<SignalInterface const> unchanged_state{nullptr};
-
- // Transformers are allowed to write onto the same link ids
- // Yet, they are not allowed to write at the same time
- // Further, on every update, data needs to be sent, even if there is no action available
- // This data needs to carry the correct subtype of the SignalInterface (e.g TrajectorySignal)
- // So every transformer delivers also an empty type, if nothing is to
- // Case 1: Transformer1 and Transformer2 has nothing to do = 2 entries, each with an empty object => relay only one
- // Case 2: Only one Transformer has something to do = still 2 entries => send only the active one
- // Case 3: Transformer1 and Transformer2 has something to do = 2 entries => report error
- for (auto [identifier, update_for_current_agent, signal] : pendingSignals)
- {
- if (linkIdMapping.find(identifier) == linkIdMapping.end())
- {
- if (update_for_current_agent)
- {
- ThrowUnregisteredIdentifier(identifier);
- }
- else
- {
- continue;
- }
- }
-
- if (localLinkId != linkIdMapping[identifier])
- {
- continue;
- }
-
- if (!link_validated)
- {
- unchanged_state = signal;
- link_validated = true;
- }
-
- if (update_for_current_agent)
- {
- if (update_sent)
- {
- ThrowOnTooManySignals(localLinkId);
- }
-
- update_sent = true;
- data = signal;
- }
- }
-
- if (link_validated && !update_sent)
- {
- data = unchanged_state;
- }
-
- if (!link_validated)
- {
- ThrowOnInvalidLinkId(localLinkId);
- }
-}
-
-void OpenScenarioActionsImplementation::Trigger([[maybe_unused]] int time)
-{
- pendingSignals = ActionTransformRepository::Transform(GetEventNetwork(), GetWorld(), GetAgent(), GetCycleTime());
-}
-
-void OpenScenarioActionsImplementation::ThrowUnregisteredIdentifier(const std::string& identifier)
-{
- const std::string msg = std::string(COMPONENTNAME) + " Cannot find linkId assignment for identifier " + identifier;
- LOG(CbkLogLevel::Error, msg);
- throw std::runtime_error(msg);
-}
-
-void OpenScenarioActionsImplementation::ThrowOnTooManySignals(int localLinkId)
-{
- const std::string msg = std::string(COMPONENTNAME) + " More than one signal for localLinkId " + std::to_string(localLinkId);
- LOG(CbkLogLevel::Error, msg);
- throw std::runtime_error(msg);
-}
-
-void OpenScenarioActionsImplementation::ThrowOnInvalidLinkId(int localLinkId)
-{
- const std::string msg = std::string(COMPONENTNAME) + " No signal for localLinkId " + std::to_string(localLinkId);
- LOG(CbkLogLevel::Error, msg);
- throw std::runtime_error(msg);
-}
diff --git a/sim/src/components/OpenScenarioActions/src/openScenarioActionsImpl.h b/sim/src/components/OpenScenarioActions/src/openScenarioActionsImpl.h
deleted file mode 100644
index 3b9351e1abd30b8a62e463f564b15130bc280675..0000000000000000000000000000000000000000
--- a/sim/src/components/OpenScenarioActions/src/openScenarioActionsImpl.h
+++ /dev/null
@@ -1,89 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
- * 2020-2021 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#pragma once
-
-#include <map>
-
-#include "include/modelInterface.h"
-#include "transformAcquirePosition.h"
-#include "transformDefaultCustomCommandAction.h"
-#include "transformLaneChange.h"
-#include "transformSpeedAction.h"
-#include "transformTrajectory.h"
-/**
-* \brief Relays triggered OpenScenario actions as signals to other components
-*
-* When used in conjunction with autoregistering transformers (\sa actionTransformRepository),
-* the linkIdMapping has to be provided via the parameter interface.
-*
-* That means that when a transformer for e.g. event X is autoregistered,
-* a parameter for mapping X::Topic to a linkId needs to be defined.
-*
-* Syntax:
-* <parameter>
-* <id>THE_TOPIC</id>
-* <type>int</type>
-* <unit/>
-* <value>THE_LINK_ID</value>
-* </parameter>
-*
-* \ingroup OpenScenarioActions
-*/
-class OpenScenarioActionsImplementation : public UnrestrictedEventModelInterface
-{
-public:
- static constexpr char COMPONENTNAME[]{"OpenScenarioActions"};
-
- OpenScenarioActionsImplementation(std::string componentName,
- bool isInit,
- int priority,
- int offsetTime,
- int responseTime,
- int cycleTime,
- StochasticsInterface *stochastics,
- WorldInterface *world,
- const ParameterInterface *parameters,
- PublisherInterface *const publisher,
- const CallbackInterface *callbacks,
- AgentInterface *agent,
- core::EventNetworkInterface *const eventNetwork);
-
- void UpdateInput(int, const std::shared_ptr<SignalInterface const> &, int) override;
- void UpdateOutput(int localLinkId, std::shared_ptr<SignalInterface const> &data, int time) override;
- void Trigger(int time) override;
-
- using TrajectorySignalLinkId = std::integral_constant<LinkId, 0>;
- using SpeedActionSignalLinkId = std::integral_constant<LinkId, 3>;
- using AcquirePositionSignalLinkId = std::integral_constant<LinkId, 4>;
- using StringSignalLinkId = std::integral_constant<LinkId, 5>;
-
-private:
- [[noreturn]] void ThrowUnregisteredIdentifier(const std::string &identifier);
- [[noreturn]] void ThrowOnTooManySignals(LinkId localLinkId);
- [[noreturn]] void ThrowOnInvalidLinkId(LinkId localLinkId);
-
- TransformResults pendingSignals;
-
- inline static std::vector<bool> registeredActions{
- ActionTransformRepository::Register(openScenario::transformation::Trajectory::Transform),
- ActionTransformRepository::Register(openScenario::transformation::LaneChange::Transform),
- ActionTransformRepository::Register(openScenario::transformation::SpeedAction::Transform),
- ActionTransformRepository::Register(openScenario::transformation::AcquirePosition::Transform),
- ActionTransformRepository::Register(openScenario::transformation::DefaultCustomCommandAction::Transform)};
-
- std::map<const std::string, LinkId> linkIdMapping{
- {openpass::events::TrajectoryEvent::TOPIC, TrajectorySignalLinkId::value},
- {openpass::events::LaneChangeEvent::TOPIC, TrajectorySignalLinkId::value},
- {openpass::events::SpeedActionEvent::TOPIC, SpeedActionSignalLinkId::value},
- {openpass::events::AcquirePositionEvent::TOPIC, AcquirePositionSignalLinkId::value},
- {openpass::events::DefaultCustomCommandActionEvent::TOPIC, StringSignalLinkId::value}};
-};
diff --git a/sim/src/components/OpenScenarioActions/src/oscActionsCalculation.cpp b/sim/src/components/OpenScenarioActions/src/oscActionsCalculation.cpp
deleted file mode 100644
index 7bde36824fee5a50564e41c1d1cdf529961d53bb..0000000000000000000000000000000000000000
--- a/sim/src/components/OpenScenarioActions/src/oscActionsCalculation.cpp
+++ /dev/null
@@ -1,48 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#include "oscActionsCalculation.h"
-
-OscActionsCalculation::OscActionsCalculation(const WorldInterface *world) :
- world(world)
-{
-}
-
-openScenario::Trajectory OscActionsCalculation::CalculateSinusiodalLaneChange(double deltaS, double deltaT, double deltaTime, double timeStep, GlobalRoadPosition startPosition, double startTime) const
-{
- openScenario::Trajectory trajectory;
- double startT = startPosition.roadPosition.t + (startPosition.laneId > 0 ? 0.5 : -0.5) * world->GetLaneWidth(startPosition.roadId, startPosition.laneId, startPosition.roadPosition.s);
- if (startPosition.laneId > 0)
- {
- for (int laneId = 1; laneId < startPosition.laneId; ++laneId)
- {
- startT += world->GetLaneWidth(startPosition.roadId, laneId, startPosition.roadPosition.s);
- }
- }
- else
- {
- for (int laneId = -1; laneId > startPosition.laneId; --laneId)
- {
- startT -= world->GetLaneWidth(startPosition.roadId, laneId, startPosition.roadPosition.s);
- }
- }
- for (double timeSinceStart = 0; timeSinceStart <= deltaTime + 0.5 * timeStep; timeSinceStart += timeStep)
- {
- timeSinceStart = std::min(timeSinceStart, deltaTime); //For reducing rounding errors we also consider an additional point if difference of last time to deltaTime was at most half a timeStep
- double alpha = timeSinceStart / deltaTime; // Position on the sinus curve (0 = start, 1 = end)
- double s = startPosition.roadPosition.s + alpha * deltaS;
- double t = startT + deltaT * 0.5 * (1 - std::cos(alpha * M_PI));
- double yaw = deltaT / deltaS * M_PI * 0.5 * std::sin(alpha * M_PI);
- auto worldPosition = world->RoadCoord2WorldCoord({s, t, yaw}, startPosition.roadId);
- openScenario::TrajectoryPoint nextPoint{startTime + timeSinceStart, worldPosition.xPos, worldPosition.yPos, worldPosition.yawAngle};
- trajectory.points.push_back(nextPoint);
- }
- return trajectory;
-}
diff --git a/sim/src/components/OpenScenarioActions/src/oscActionsCalculation.h b/sim/src/components/OpenScenarioActions/src/oscActionsCalculation.h
deleted file mode 100644
index 52d1ec7d437f8bc155c6231d3ec19a4d84926fd9..0000000000000000000000000000000000000000
--- a/sim/src/components/OpenScenarioActions/src/oscActionsCalculation.h
+++ /dev/null
@@ -1,36 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#pragma once
-
-#include "common/openScenarioDefinitions.h"
-#include "include/worldInterface.h"
-
-//! This class makes calculations for the OpenScenarioActions module
-class OscActionsCalculation
-{
-public:
- OscActionsCalculation(const WorldInterface *world);
-
- //! Calculates a trajectory for a lane change with shape "sinusiodal"
- //! The result has constant speed in s
- //!
- //! \param deltaS length of the trajectory in s
- //! \param deltaT length of the trajectory in t
- //! \param deltaTime time of the trajectory
- //! \param timeStep delta time between two trajectory points
- //! \param startPosition start point of the trajectory
- //! \param startTime time of the first trajectory point
- //! \return sinusiodal lane change trajectory in world coordinates
- openScenario::Trajectory CalculateSinusiodalLaneChange(double deltaS, double deltaT, double deltaTime, double timeStep, GlobalRoadPosition startPosition, double startTime) const;
-
-private:
- const WorldInterface *world;
-};
diff --git a/sim/src/components/OpenScenarioActions/src/transformAcquirePosition.cpp b/sim/src/components/OpenScenarioActions/src/transformAcquirePosition.cpp
deleted file mode 100644
index 5d9ca4eb16cca6b2b7b4376af9125cbffde927bf..0000000000000000000000000000000000000000
--- a/sim/src/components/OpenScenarioActions/src/transformAcquirePosition.cpp
+++ /dev/null
@@ -1,20 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
- *
- * This program and the accompanying materials are made available under the
- * terms of the Eclipse Public License 2.0 which is available at
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#include "transformAcquirePosition.h"
-
-std::shared_ptr<AcquirePositionSignal>
-openScenario::transformation::AcquirePosition::ConvertToSignal(const openpass::events::AcquirePositionEvent &event,
- WorldInterface *world,
- AgentInterface *agent,
- int cycleTime)
-{
- return std::make_shared<AcquirePositionSignal>(ComponentState::Acting, event.position);
-}
diff --git a/sim/src/components/OpenScenarioActions/src/transformAcquirePosition.h b/sim/src/components/OpenScenarioActions/src/transformAcquirePosition.h
deleted file mode 100644
index a387fae883e734ccf2753dd910628012f5087133..0000000000000000000000000000000000000000
--- a/sim/src/components/OpenScenarioActions/src/transformAcquirePosition.h
+++ /dev/null
@@ -1,28 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
- *
- * This program and the accompanying materials are made available under the
- * terms of the Eclipse Public License 2.0 which is available at
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#pragma once
-
-#include <src/common/acquirePositionSignal.h>
-#include <src/common/events/acquirePositionEvent.h>
-
-#include "transformerBase.h"
-
-namespace openScenario::transformation {
-
-struct AcquirePosition : public TransformerBase<AcquirePosition, AcquirePositionSignal, openpass::events::AcquirePositionEvent>
-{
- static std::shared_ptr<AcquirePositionSignal> ConvertToSignal(const openpass::events::AcquirePositionEvent &event,
- WorldInterface *world,
- AgentInterface *agent,
- int cycleTime);
-};
-
-} // namespace openScenario::transformation
diff --git a/sim/src/components/OpenScenarioActions/src/transformDefaultCustomCommandAction.cpp b/sim/src/components/OpenScenarioActions/src/transformDefaultCustomCommandAction.cpp
deleted file mode 100644
index aa52abd0dfb518b5cda55fac9528793130c773b9..0000000000000000000000000000000000000000
--- a/sim/src/components/OpenScenarioActions/src/transformDefaultCustomCommandAction.cpp
+++ /dev/null
@@ -1,20 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020-2021 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#include "transformDefaultCustomCommandAction.h"
-
-namespace openScenario::transformation {
-
-std::shared_ptr<StringSignal> DefaultCustomCommandAction::ConvertToSignal(const openpass::events::DefaultCustomCommandActionEvent &event, WorldInterface *, AgentInterface *, int)
-{
- return std::make_shared<StringSignal>(ComponentState::Acting, event.command);
-}
-
-} // namespace openScenario::transformation
diff --git a/sim/src/components/OpenScenarioActions/src/transformDefaultCustomCommandAction.h b/sim/src/components/OpenScenarioActions/src/transformDefaultCustomCommandAction.h
deleted file mode 100644
index 65b038c1ced7adac230b46e1235527fa98e1dfb8..0000000000000000000000000000000000000000
--- a/sim/src/components/OpenScenarioActions/src/transformDefaultCustomCommandAction.h
+++ /dev/null
@@ -1,27 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020-2021 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#pragma once
-
-#include "common/events/defaultCustomCommandActionEvent.h"
-#include "common/stringSignal.h"
-#include "transformerBase.h"
-
-namespace openScenario::transformation {
-
-struct DefaultCustomCommandAction : public TransformerBase<DefaultCustomCommandAction, StringSignal, openpass::events::DefaultCustomCommandActionEvent>
-{
- static std::shared_ptr<StringSignal> ConvertToSignal(const openpass::events::DefaultCustomCommandActionEvent &event,
- WorldInterface *,
- AgentInterface *,
- int);
-};
-
-} // namespace openScenario::transformation
diff --git a/sim/src/components/OpenScenarioActions/src/transformLaneChange.h b/sim/src/components/OpenScenarioActions/src/transformLaneChange.h
deleted file mode 100644
index ab44c7e500deab890d9993005fe430bd376847b1..0000000000000000000000000000000000000000
--- a/sim/src/components/OpenScenarioActions/src/transformLaneChange.h
+++ /dev/null
@@ -1,27 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#pragma once
-
-#include "common/events/laneChangeEvent.h"
-#include "common/trajectorySignal.h"
-#include "transformerBase.h"
-
-namespace openScenario::transformation {
-
-struct LaneChange : public TransformerBase<LaneChange, TrajectorySignal, openpass::events::LaneChangeEvent>
-{
- static std::shared_ptr<TrajectorySignal> ConvertToSignal(const openpass::events::LaneChangeEvent &event,
- WorldInterface *world,
- AgentInterface *agent,
- int cycleTime);
-};
-
-} // namespace openScenario::transformation
diff --git a/sim/src/components/OpenScenarioActions/src/transformSpeedAction.h b/sim/src/components/OpenScenarioActions/src/transformSpeedAction.h
deleted file mode 100644
index 553c3c26c1ec3e620d2dc3e719651d54ba57b1d4..0000000000000000000000000000000000000000
--- a/sim/src/components/OpenScenarioActions/src/transformSpeedAction.h
+++ /dev/null
@@ -1,27 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#pragma once
-
-#include "common/events/speedActionEvent.h"
-#include "common/speedActionSignal.h"
-#include "transformerBase.h"
-
-namespace openScenario::transformation {
-
-struct SpeedAction : public TransformerBase<SpeedAction, SpeedActionSignal, openpass::events::SpeedActionEvent>
-{
- static std::shared_ptr<SpeedActionSignal> ConvertToSignal(const openpass::events::SpeedActionEvent &event,
- WorldInterface *world,
- AgentInterface *agent,
- int cycleTime);
-};
-
-} // namespace openScenario::transformation
diff --git a/sim/src/components/OpenScenarioActions/src/transformTrajectory.h b/sim/src/components/OpenScenarioActions/src/transformTrajectory.h
deleted file mode 100644
index 836aa29a0df2a4e38c99b4736bc06878755c25ac..0000000000000000000000000000000000000000
--- a/sim/src/components/OpenScenarioActions/src/transformTrajectory.h
+++ /dev/null
@@ -1,27 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#pragma once
-
-#include "common/events/trajectoryEvent.h"
-#include "common/trajectorySignal.h"
-#include "transformerBase.h"
-
-namespace openScenario::transformation {
-
-struct Trajectory : public TransformerBase<Trajectory, TrajectorySignal, openpass::events::TrajectoryEvent>
-{
- static std::shared_ptr<TrajectorySignal> ConvertToSignal(const openpass::events::TrajectoryEvent &event, WorldInterface *, AgentInterface *, int)
- {
- return std::make_shared<TrajectorySignal>(ComponentState::Acting, event.trajectory);
- }
-};
-
-} // namespace openScenario::transformation
diff --git a/sim/src/components/OpenScenarioActions/src/transformerBase.h b/sim/src/components/OpenScenarioActions/src/transformerBase.h
deleted file mode 100644
index e33935688fcbe333d35091c109de7ec7c342ccfb..0000000000000000000000000000000000000000
--- a/sim/src/components/OpenScenarioActions/src/transformerBase.h
+++ /dev/null
@@ -1,67 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#pragma once
-
-#include <tuple>
-
-#include "include/agentInterface.h"
-#include "include/eventNetworkInterface.h"
-#include "include/worldInterface.h"
-#include "actionTransformRepository.h"
-
-namespace openScenario::transformation {
-
-/// \brief CRTP Base class for Transformer
-///
-/// This class encapsulates the extraction of a specific TriggeringEvent from the eventNetwork,
-/// so that the derived classes only need to take care of the tranformation to the Signal itself
-template <typename T, typename Signal, typename TriggeringEvent>
-class TransformerBase
-{
-public:
- /// \brief Entry point for the transformation
- /// \param eventNetwork Necessary for extracting the TriggeringEvent
- /// \param world Releayed to the actual transformer
- /// \param agent Releayed to the actual transformer
- /// \param cycleTime Releayed to the actual transformer
- /// \return Transform result for the given triggering event
- static TransformResult Transform(const core::EventNetworkInterface *eventNetwork,
- WorldInterface *world,
- AgentInterface *agent,
- int cycleTime)
- {
- const auto agentId = agent->GetId();
- const auto triggers = eventNetwork->GetTrigger(TriggeringEvent::TOPIC);
-
- for (const auto &trigger : triggers)
- {
- if (TriggeringEvent const *genericTrigger = dynamic_cast<TriggeringEvent const *>(trigger);
- genericTrigger && AgentIsAffected(agentId, genericTrigger))
- {
- return {TriggeringEvent::TOPIC, true, T::ConvertToSignal(*genericTrigger, world, agent, cycleTime)};
- }
- }
- return {TriggeringEvent::TOPIC, false, std::make_shared<Signal const>()};
- }
-
-private:
- /// \brief Checks if the agentId is affected of the triggering event
- /// \param agentId the current agent id
- /// \param event the triggering event
- /// \return true if the agentId is contained in the acting agents
- static bool AgentIsAffected(const int agentId, EventInterface const *event)
- {
- const auto &actingEntities = event->GetActingAgents().entities;
- return std::find(actingEntities.cbegin(), actingEntities.cend(), agentId) != actingEntities.end();
- }
-};
-
-} // namespace openScenario::transformation
diff --git a/sim/src/components/Parameters_Vehicle/src/parameters_vehicleImpl.cpp b/sim/src/components/Parameters_Vehicle/src/parameters_vehicleImpl.cpp
index a61ddc4b082740ef5c130abc0d0a020af4f827f6..07608255ee8ec6414bd5c6b61fcf6b3ae6a8c1ed 100644
--- a/sim/src/components/Parameters_Vehicle/src/parameters_vehicleImpl.cpp
+++ b/sim/src/components/Parameters_Vehicle/src/parameters_vehicleImpl.cpp
@@ -46,6 +46,10 @@ ParametersVehicleImplementation::ParametersVehicleImplementation(
callbacks,
agent)
{
+ if (agent->GetVehicleModelParameters()->type != mantle_api::EntityType::kVehicle)
+ {
+ throw std::runtime_error("Component " + componentName + " expects an entity of type Vehicle and VehicleProperties.");
+ }
}
void ParametersVehicleImplementation::UpdateInput(int localLinkId, const std::shared_ptr<SignalInterface const>& data,
@@ -67,7 +71,7 @@ void ParametersVehicleImplementation::UpdateOutput(int localLinkId, std::shared_
{
case 1:
// vehicle parameters
- data = std::make_shared<ParametersVehicleSignal const>(GetAgent()->GetVehicleModelParameters());
+ data = std::make_shared<ParametersVehicleSignal const>(*(std::dynamic_pointer_cast<const mantle_api::VehicleProperties>(GetAgent()->GetVehicleModelParameters())));
break;
default:
diff --git a/sim/src/components/Sensor_Distance/sensor_distance_implementation.h b/sim/src/components/Sensor_Distance/sensor_distance_implementation.h
index cf2405d9c46a73dba33d50d44b2f7550397a3a43..95e37620d485ccfb7e0be107c60e89509af9720a 100644
--- a/sim/src/components/Sensor_Distance/sensor_distance_implementation.h
+++ b/sim/src/components/Sensor_Distance/sensor_distance_implementation.h
@@ -129,7 +129,7 @@ private:
//! The distance to the next agent in front.
double out_distanceToNextAgent = 0;
//! The velocity of the agent.
- double out_agentVelocity = 0;
+ units::velocity::meters_per_second_t out_agentVelocity = 0;
};
#endif // SENSOR_DISTANCE_IMPLEMENTATION_H
diff --git a/sim/src/components/Sensor_Driver/src/Signals/sensor_driverDefinitions.h b/sim/src/components/Sensor_Driver/src/Signals/sensor_driverDefinitions.h
index 971cb97d104944ee6129bad288a584505f886efd..f99fef1b4885918b8f6fe3765e16338835e85e20 100644
--- a/sim/src/components/Sensor_Driver/src/Signals/sensor_driverDefinitions.h
+++ b/sim/src/components/Sensor_Driver/src/Signals/sensor_driverDefinitions.h
@@ -28,21 +28,21 @@ struct ObjectInformation
//! true if stationary object, false if agent
bool isStatic {false};
//! Absolute velocity of the agent (default if object is not an agent)
- double absoluteVelocity {-999.0};
+ units::velocity::meters_per_second_t absoluteVelocity {-999.0};
//! Acceleration of the agent (default if object is not an agent)
- double acceleration {-999.0};
+ units::acceleration::meters_per_second_squared_t acceleration{-999.0};
//! Heading relative to the street (default if not existing)
- double heading {-999.0};
+ units::angle::radian_t heading {-999.0};
//! Length of object (default if not existing)
- double length {-999.0};
+ units::length::meter_t length {-999.0};
//! Width of object (default if not existing)
- double width {-999.0};
+ units::length::meter_t width {-999.0};
//! Height of object (default if not existing)
- double height {-999.0};
+ units::length::meter_t height {-999.0};
//! Relative distance along the road (i.e in direction s) between own agent and object (default if not existing)
- double relativeLongitudinalDistance {-999.0};
+ units::length::meter_t relativeLongitudinalDistance {-999.0};
//! Relative distance at right angle to the road (i.e. in direction t) between own agent and object (default if not existing)
- double relativeLateralDistance {-999.0};
+ units::length::meter_t relativeLateralDistance {-999.0};
};
//! This struct is used to trasport data of a lane concerning traffic rules as seen by the driver
@@ -60,30 +60,30 @@ struct LaneInformationGeometry
//! Wether there is a lane on this position
bool exists {false};
//! Curvature at current s position (default if not existing)
- double curvature {-999.0};
+ units::curvature::inverse_meter_t curvature {-999.0};
//! Width at current s position (default if not existing)
- double width {-999.0};
+ units::length::meter_t width {-999.0};
//! Distance from current position to the end of the lane or infinity if the end is farther away than the visibility distance
- double distanceToEndOfLane {-999.0};
+ units::length::meter_t distanceToEndOfLane {-999.0};
};
//! Data about the lane to left (in driving direction) of the mainLane
struct OwnVehicleInformation
{
//! Absolute velocity of agent
- double absoluteVelocity {-999.0};
+ units::velocity::meters_per_second_t absoluteVelocity {-999.0};
//! Acceleration of agent
- double acceleration {-999.0};
+ units::acceleration::meters_per_second_squared_t acceleration{-999.0};
//! t-coordinate
- double lateralPosition {-999.0};
+ units::length::meter_t lateralPosition {-999.0};
//! Heading relative to lane
- double heading {-999.0};
+ units::angle::radian_t heading {-999.0};
//! Angle of the steering wheel
- double steeringWheelAngle {-999.0};
+ units::angle::radian_t steeringWheelAngle {-999.0};
//! Distance between the left front point and the left boundary of the lane it is in.
- double distanceToLaneBoundaryLeft {-999.0};
+ units::length::meter_t distanceToLaneBoundaryLeft {-999.0};
//! Distance between the right front point and the right boundary of the lane it is in.
- double distanceToLaneBoundaryRight {-999.0};
+ units::length::meter_t distanceToLaneBoundaryRight {-999.0};
//! Wether this agent has collided with another object
bool collision {false};
};
@@ -129,7 +129,7 @@ struct TrafficRuleInformation
struct GeometryInformation
{
//! Current maximum visibility distance as specified by the world
- double visibilityDistance {-999.0};
+ units::length::meter_t visibilityDistance {-999.0};
//! Data about the lane to left (in driving direction) of the mainLane
LaneInformationGeometry laneLeft;
//! Data about the lane the where the middle of the front of the agent is (i.e. mainLane)
diff --git a/sim/src/components/Sensor_Driver/src/sensor_driverCalculations.cpp b/sim/src/components/Sensor_Driver/src/sensor_driverCalculations.cpp
index 6938281eec520f8a5ad0bf6b34ad29e88bdfd35b..31559c0e4743a6c0fdc147f24a955cf3021f2bbe 100644
--- a/sim/src/components/Sensor_Driver/src/sensor_driverCalculations.cpp
+++ b/sim/src/components/Sensor_Driver/src/sensor_driverCalculations.cpp
@@ -9,15 +9,15 @@
********************************************************************************/
#include "sensor_driverCalculations.h"
-double SensorDriverCalculations::GetLateralDistanceToObject(const std::string& roadId, const AgentInterface *otherObject)
+units::length::meter_t SensorDriverCalculations::GetLateralDistanceToObject(const std::string& roadId, const AgentInterface *otherObject)
{
if (otherObject == nullptr)
{
- return INFINITY;
+ return units::length::meter_t(INFINITY);
}
const auto& otherReferencePoint = otherObject->GetRoadPosition(ObjectPointPredefined::Reference);
- double lateralPositionOfOtherObject = otherReferencePoint.at(roadId).roadPosition.t;
+ const auto lateralPositionOfOtherObject = otherReferencePoint.at(roadId).roadPosition.t;
if (otherReferencePoint.at(roadId).laneId == egoAgent.GetLaneIdFromRelative(0))
{
return lateralPositionOfOtherObject - egoAgent.GetPositionLateral();
@@ -30,5 +30,5 @@ double SensorDriverCalculations::GetLateralDistanceToObject(const std::string& r
{
return lateralPositionOfOtherObject - egoAgent.GetPositionLateral() - 0.5 * egoAgent.GetLaneWidth() - 0.5 * egoAgent.GetLaneWidth(-1);
}
- return INFINITY;
+ return units::length::meter_t(INFINITY);
}
diff --git a/sim/src/components/Sensor_Driver/src/sensor_driverCalculations.h b/sim/src/components/Sensor_Driver/src/sensor_driverCalculations.h
index dfde155d91879efb3588fe4c3a72e90282f39ff8..d779f5782b188cdf036428972f86274c79c3fa6d 100644
--- a/sim/src/components/Sensor_Driver/src/sensor_driverCalculations.h
+++ b/sim/src/components/Sensor_Driver/src/sensor_driverCalculations.h
@@ -23,7 +23,7 @@ public:
//! \brief Calculates the lateral distance (i.e. distance in t) between the own
//! agent and another agent
//!
- double GetLateralDistanceToObject(const std::string& roadId, const AgentInterface *otherObject);
+ units::length::meter_t GetLateralDistanceToObject(const std::string& roadId, const AgentInterface *otherObject);
private:
const EgoAgentInterface& egoAgent;
diff --git a/sim/src/components/Sensor_Driver/src/sensor_driverImpl.cpp b/sim/src/components/Sensor_Driver/src/sensor_driverImpl.cpp
index d400f3ff426197d50540310b380471aabe5e248a..1190a586202a4b0fb55d1a14ee5ec435b0271373 100644
--- a/sim/src/components/Sensor_Driver/src/sensor_driverImpl.cpp
+++ b/sim/src/components/Sensor_Driver/src/sensor_driverImpl.cpp
@@ -13,27 +13,29 @@
/** \file SensorDriverImplementation.cpp */
//-----------------------------------------------------------------------------
+#include "sensor_driverImpl.h"
+
#include <memory>
+
#include <qglobal.h>
-#include "include/worldInterface.h"
-#include "common/RoutePlanning/RouteCalculation.h"
-#include "sensor_driverImpl.h"
#include "Signals/sensorDriverSignal.h"
+#include "common/RoutePlanning/RouteCalculation.h"
+#include "include/worldInterface.h"
SensorDriverImplementation::SensorDriverImplementation(
- std::string componentName,
- bool isInit,
- int priority,
- int offsetTime,
- int responseTime,
- int cycleTime,
- StochasticsInterface *stochastics,
- WorldInterface *world,
- const ParameterInterface *parameters,
- PublisherInterface * const publisher,
- const CallbackInterface *callbacks,
- AgentInterface *agent) :
+ std::string componentName,
+ bool isInit,
+ int priority,
+ int offsetTime,
+ int responseTime,
+ int cycleTime,
+ StochasticsInterface *stochastics,
+ WorldInterface *world,
+ const ParameterInterface *parameters,
+ PublisherInterface *const publisher,
+ const CallbackInterface *callbacks,
+ AgentInterface *agent) :
SensorInterface(
componentName,
isInit,
@@ -70,7 +72,7 @@ void SensorDriverImplementation::UpdateOutput(int localLinkId,
try
{
- switch(localLinkId)
+ switch (localLinkId)
{
case 0:
// driver sensor data
@@ -82,7 +84,7 @@ void SensorDriverImplementation::UpdateOutput(int localLinkId,
throw std::runtime_error(msg);
}
}
- catch(const std::bad_alloc&)
+ catch (const std::bad_alloc &)
{
const std::string msg = COMPONENTNAME + " could not instantiate signal";
LOG(CbkLogLevel::Debug, msg);
@@ -114,7 +116,7 @@ bool SensorDriverImplementation::UpdateGraphPosition()
const auto& referencePosition = egoAgent.GetReferencePointPosition();
if (referencePosition)
{
- lastReferenceRoad = std::make_optional<RouteElement>(referencePosition->roadId, std::abs(referencePosition->roadPosition.hdg) <= M_PI_2);
+ lastReferenceRoad = std::make_optional<RouteElement>(referencePosition->roadId, std::abs(referencePosition->roadPosition.hdg.value()) <= M_PI_2);
if (!world->IsDirectionalRoadExisting(lastReferenceRoad->roadId, lastReferenceRoad->inOdDirection))
{
lastReferenceRoad->inOdDirection = !lastReferenceRoad->inOdDirection;
@@ -130,26 +132,26 @@ bool SensorDriverImplementation::UpdateGraphPosition()
void SensorDriverImplementation::GetOwnVehicleInformation()
{
- ownVehicleInformation.absoluteVelocity = GetAgent()->GetVelocity().Length();
- ownVehicleInformation.acceleration = GetAgent()->GetAcceleration().Projection(GetAgent()->GetYaw());
- ownVehicleInformation.lateralPosition = egoAgent.GetPositionLateral();
- ownVehicleInformation.heading = egoAgent.GetRelativeYaw();
- ownVehicleInformation.steeringWheelAngle = GetAgent()->GetSteeringWheelAngle();
- ownVehicleInformation.distanceToLaneBoundaryLeft = egoAgent.GetLaneRemainder(Side::Left);
- ownVehicleInformation.distanceToLaneBoundaryRight = egoAgent.GetLaneRemainder(Side::Right);
- ownVehicleInformation.collision = GetAgent()->GetCollisionPartners().size() > 0;
+ ownVehicleInformation.absoluteVelocity = GetAgent()->GetVelocity().Length();
+ ownVehicleInformation.acceleration = GetAgent()->GetAcceleration().Projection(GetAgent()->GetYaw());
+ ownVehicleInformation.lateralPosition = egoAgent.GetPositionLateral();
+ ownVehicleInformation.heading = egoAgent.GetRelativeYaw();
+ ownVehicleInformation.steeringWheelAngle = GetAgent()->GetSteeringWheelAngle();
+ ownVehicleInformation.distanceToLaneBoundaryLeft = egoAgent.GetLaneRemainder(Side::Left);
+ ownVehicleInformation.distanceToLaneBoundaryRight = egoAgent.GetLaneRemainder(Side::Right);
+ ownVehicleInformation.collision = GetAgent()->GetCollisionPartners().size() > 0;
}
void SensorDriverImplementation::GetTrafficRuleInformation()
{
- const double visibilityDistance = GetWorld()->GetVisibilityDistance();
- trafficRuleInformation.laneEgo = GetTrafficRuleLaneInformationEgo();
- trafficRuleInformation.laneLeft = GetTrafficRuleLaneInformationLeft();
- trafficRuleInformation.laneRight = GetTrafficRuleLaneInformationRight();
+ const auto visibilityDistance = GetWorld()->GetVisibilityDistance();
+ trafficRuleInformation.laneEgo = GetTrafficRuleLaneInformationEgo();
+ trafficRuleInformation.laneLeft = GetTrafficRuleLaneInformationLeft();
+ trafficRuleInformation.laneRight = GetTrafficRuleLaneInformationRight();
trafficRuleInformation.laneMarkingsLeft = egoAgent.GetLaneMarkingsInRange(visibilityDistance, Side::Left);
trafficRuleInformation.laneMarkingsRight = egoAgent.GetLaneMarkingsInRange(visibilityDistance, Side::Right);
- const auto laneIntervals = egoAgent.GetRelativeLanes(0.0);
+ const auto laneIntervals = egoAgent.GetRelativeLanes(0.0_m);
if (laneIntervals.size() > 0)
{
@@ -157,13 +159,13 @@ void SensorDriverImplementation::GetTrafficRuleInformation()
for (auto relativeLane : relativeLanes)
{
- if(relativeLane.relativeId == 1)
+ if (relativeLane.relativeId == 1)
{
trafficRuleInformation.laneMarkingsLeftOfLeftLane = egoAgent.GetLaneMarkingsInRange(visibilityDistance, Side::Left, 1);
}
- if(relativeLane.relativeId == -1)
+ if (relativeLane.relativeId == -1)
{
- trafficRuleInformation.laneMarkingsRightOfRightLane = egoAgent.GetLaneMarkingsInRange(visibilityDistance,Side::Right, -1);
+ trafficRuleInformation.laneMarkingsRightOfRightLane = egoAgent.GetLaneMarkingsInRange(visibilityDistance, Side::Right, -1);
}
}
}
@@ -172,10 +174,10 @@ void SensorDriverImplementation::GetTrafficRuleInformation()
LaneInformationTrafficRules SensorDriverImplementation::GetTrafficRuleLaneInformationEgo()
{
LaneInformationTrafficRules laneInformation;
- const double visibilityDistance = GetWorld()->GetVisibilityDistance();
+ const auto visibilityDistance = GetWorld()->GetVisibilityDistance();
- laneInformation.trafficSigns = egoAgent.GetTrafficSignsInRange(visibilityDistance);
- laneInformation.trafficLights = egoAgent.GetTrafficLightsInRange(visibilityDistance);
+ laneInformation.trafficSigns = egoAgent.GetTrafficSignsInRange(visibilityDistance);
+ laneInformation.trafficLights = egoAgent.GetTrafficLightsInRange(visibilityDistance);
return laneInformation;
}
@@ -184,10 +186,10 @@ LaneInformationTrafficRules SensorDriverImplementation::GetTrafficRuleLaneInform
{
LaneInformationTrafficRules laneInformation;
const int relativeLaneId = 1;
- const double visibilityDistance = GetWorld()->GetVisibilityDistance();
+ const auto visibilityDistance = GetWorld()->GetVisibilityDistance();
- laneInformation.trafficSigns = egoAgent.GetTrafficSignsInRange(visibilityDistance, relativeLaneId);
- laneInformation.trafficLights = egoAgent.GetTrafficLightsInRange(visibilityDistance, relativeLaneId);
+ laneInformation.trafficSigns = egoAgent.GetTrafficSignsInRange(visibilityDistance, relativeLaneId);
+ laneInformation.trafficLights = egoAgent.GetTrafficLightsInRange(visibilityDistance, relativeLaneId);
return laneInformation;
}
@@ -196,31 +198,31 @@ LaneInformationTrafficRules SensorDriverImplementation::GetTrafficRuleLaneInform
{
LaneInformationTrafficRules laneInformation;
const int relativeLaneId = -1;
- const double visibilityDistance = GetWorld()->GetVisibilityDistance();
+ const auto visibilityDistance = GetWorld()->GetVisibilityDistance();
- laneInformation.trafficSigns = egoAgent.GetTrafficSignsInRange(visibilityDistance, relativeLaneId);
- laneInformation.trafficLights = egoAgent.GetTrafficLightsInRange(visibilityDistance, relativeLaneId);
+ laneInformation.trafficSigns = egoAgent.GetTrafficSignsInRange(visibilityDistance, relativeLaneId);
+ laneInformation.trafficLights = egoAgent.GetTrafficLightsInRange(visibilityDistance, relativeLaneId);
return laneInformation;
}
void SensorDriverImplementation::GetGeometryInformation()
{
- geometryInformation.visibilityDistance = GetWorld()->GetVisibilityDistance();
- geometryInformation.laneEgo = GetGeometryLaneInformationEgo();
- geometryInformation.laneLeft = GetGeometryLaneInformation(1);
- geometryInformation.laneRight = GetGeometryLaneInformation(-1);
+ geometryInformation.visibilityDistance = GetWorld()->GetVisibilityDistance();
+ geometryInformation.laneEgo = GetGeometryLaneInformationEgo();
+ geometryInformation.laneLeft = GetGeometryLaneInformation(1);
+ geometryInformation.laneRight = GetGeometryLaneInformation(-1);
}
LaneInformationGeometry SensorDriverImplementation::GetGeometryLaneInformationEgo()
{
LaneInformationGeometry laneInformation;
- const double visibilityDistance = GetWorld()->GetVisibilityDistance();
+ const auto visibilityDistance = GetWorld()->GetVisibilityDistance();
- laneInformation.exists = true; // Ego lane must exist by definition, or else vehicle would have despawned by now. Information not necessary atm!
- laneInformation.curvature = egoAgent.GetLaneCurvature();
- laneInformation.width = egoAgent.GetLaneWidth();
- laneInformation.distanceToEndOfLane = egoAgent.GetDistanceToEndOfLane(visibilityDistance);
+ laneInformation.exists = true; // Ego lane must exist by definition, or else vehicle would have despawned by now. Information not necessary atm!
+ laneInformation.curvature = egoAgent.GetLaneCurvature();
+ laneInformation.width = egoAgent.GetLaneWidth();
+ laneInformation.distanceToEndOfLane = egoAgent.GetDistanceToEndOfLane(visibilityDistance);
return laneInformation;
}
@@ -228,26 +230,26 @@ LaneInformationGeometry SensorDriverImplementation::GetGeometryLaneInformationEg
LaneInformationGeometry SensorDriverImplementation::GetGeometryLaneInformation(int relativeLaneId)
{
LaneInformationGeometry laneInformation;
- const double visibilityDistance = GetWorld()->GetVisibilityDistance();
+ const auto visibilityDistance = GetWorld()->GetVisibilityDistance();
laneInformation.exists = false;
- const auto laneIntervals = egoAgent.GetRelativeLanes(0.0);
+ const auto laneIntervals = egoAgent.GetRelativeLanes(0.0_m);
if (!laneIntervals.empty())
{
- const auto& relativeLanes = laneIntervals.front().lanes;
+ const auto &relativeLanes = laneIntervals.front().lanes;
if (std::find_if(relativeLanes.cbegin(),
relativeLanes.cend(),
- [relativeLaneId](const auto& relativeLane) {
+ [relativeLaneId](const auto &relativeLane) {
return relativeLane.relativeId == relativeLaneId;
}) != relativeLanes.cend())
{
laneInformation.exists = true;
- laneInformation.curvature = egoAgent.GetLaneCurvature(relativeLaneId);
- laneInformation.width = egoAgent.GetLaneWidth(relativeLaneId);
- laneInformation.distanceToEndOfLane = egoAgent.GetDistanceToEndOfLane(visibilityDistance, relativeLaneId);
+ laneInformation.curvature = egoAgent.GetLaneCurvature(relativeLaneId);
+ laneInformation.width = egoAgent.GetLaneWidth(relativeLaneId);
+ laneInformation.distanceToEndOfLane = egoAgent.GetDistanceToEndOfLane(visibilityDistance, relativeLaneId);
}
}
@@ -256,7 +258,7 @@ LaneInformationGeometry SensorDriverImplementation::GetGeometryLaneInformation(i
void SensorDriverImplementation::GetSurroundingObjectsInformation()
{
- const double visibilityDistance = GetWorld()->GetVisibilityDistance();
+ const auto visibilityDistance = GetWorld()->GetVisibilityDistance();
surroundingObjects.objectFront = GetOtherObjectInformation(GetObject(visibilityDistance, 0, true));
surroundingObjects.objectRear = GetOtherObjectInformation(GetObject(visibilityDistance, 0, false));
@@ -268,10 +270,10 @@ void SensorDriverImplementation::GetSurroundingObjectsInformation()
GetPublisher()->Publish("AgentInFront", surroundingObjects.objectFront.exist ? surroundingObjects.objectFront.id : -1);
}
-const WorldObjectInterface* SensorDriverImplementation::GetObject(double visibilityDistance, int relativeLane, bool forwardSearch)
+const WorldObjectInterface *SensorDriverImplementation::GetObject(units::length::meter_t visibilityDistance, int relativeLane, bool forwardSearch)
{
- const auto objectsInRange = egoAgent.GetObjectsInRange(forwardSearch ? 0 : visibilityDistance,
- forwardSearch ? visibilityDistance : 0,
+ const auto objectsInRange = egoAgent.GetObjectsInRange(forwardSearch ? 0_m : visibilityDistance,
+ forwardSearch ? visibilityDistance : 0_m,
relativeLane);
if (objectsInRange.empty())
{
@@ -280,11 +282,11 @@ const WorldObjectInterface* SensorDriverImplementation::GetObject(double visibil
return forwardSearch ? objectsInRange.front() : objectsInRange.back();
}
-ObjectInformation SensorDriverImplementation::GetOtherObjectInformation(const WorldObjectInterface* surroundingObject)
+ObjectInformation SensorDriverImplementation::GetOtherObjectInformation(const WorldObjectInterface *surroundingObject)
{
ObjectInformation objectInformation;
- auto surroundingVehicle = dynamic_cast<const AgentInterface*>(surroundingObject);
+ auto surroundingVehicle = dynamic_cast<const AgentInterface *>(surroundingObject);
if (!surroundingObject)
{
@@ -306,10 +308,10 @@ ObjectInformation SensorDriverImplementation::GetOtherObjectInformation(const Wo
else
{
objectInformation.isStatic = false;
-// objectInformation.heading = surroundingVehicle->GetRelativeYaw(get(RouteElement(), route, currentPositionInGraph).roadId);
+ // objectInformation.heading = surroundingVehicle->GetRelativeYaw(get(RouteElement(), route, currentPositionInGraph).roadId);
objectInformation.absoluteVelocity = surroundingVehicle->GetVelocity().Length();
objectInformation.acceleration = surroundingVehicle->GetAcceleration().Projection(GetAgent()->GetYaw());
-// objectInformation.relativeLateralDistance = sensorDriverCalculations.GetLateralDistanceToObject(get(RouteElement(), route, currentPositionInGraph).roadId, surroundingVehicle);
+ // objectInformation.relativeLateralDistance = sensorDriverCalculations.GetLateralDistanceToObject(get(RouteElement(), route, currentPositionInGraph).roadId, surroundingVehicle);
}
}
diff --git a/sim/src/components/Sensor_Driver/src/sensor_driverImpl.h b/sim/src/components/Sensor_Driver/src/sensor_driverImpl.h
index 4223cbe773ab317c11091eda200796135290b4c5..37641d2bfa315e6cae43c5440739fd3f28b0d851 100644
--- a/sim/src/components/Sensor_Driver/src/sensor_driverImpl.h
+++ b/sim/src/components/Sensor_Driver/src/sensor_driverImpl.h
@@ -135,7 +135,7 @@ private:
//! \brief Returns the objects in the specified lane in front of (if forwardSearch) or behind (if
//! not forwardSearch) the agent.
- const WorldObjectInterface* GetObject(double visibilityDistance, int relativeLane, bool forwardSearch);
+ const WorldObjectInterface* GetObject(units::length::meter_t visibilityDistance, int relativeLane, bool forwardSearch);
//! \brief Get sensor data of surrounding objects.
virtual void GetSurroundingObjectsInformation();
diff --git a/sim/src/components/Sensor_OSI/src/objectDetectorBase.cpp b/sim/src/components/Sensor_OSI/src/objectDetectorBase.cpp
index a0a98760b897e91aaa1a5369a5bc8e2728d99c64..dfbce72d5e50b306dfa881ea23f907940b624c7c 100644
--- a/sim/src/components/Sensor_OSI/src/objectDetectorBase.cpp
+++ b/sim/src/components/Sensor_OSI/src/objectDetectorBase.cpp
@@ -148,12 +148,12 @@ Position ObjectDetectorBase::GetAbsolutePosition()
{
Position absolutePosition;
- double posX = GetAgent()->GetPositionX();
- double posY = GetAgent()->GetPositionY();
- double yaw = GetAgent()->GetYaw();
+ const auto posX = GetAgent()->GetPositionX();
+ const auto posY = GetAgent()->GetPositionY();
+ const auto yaw = GetAgent()->GetYaw();
- absolutePosition.xPos = posX + position.longitudinal * std::cos(yaw) - position.lateral * std::sin(yaw);
- absolutePosition.yPos = posY + position.longitudinal * std::sin(yaw) + position.lateral * std::cos(yaw);
+ absolutePosition.xPos = posX + position.pose.position.x * units::math::cos(yaw) - position.pose.position.y * units::math::sin(yaw);
+ absolutePosition.yPos = posY + position.pose.position.x * units::math::sin(yaw) + position.pose.position.y * units::math::cos(yaw);
absolutePosition.yawAngle = yaw;
return absolutePosition;
@@ -189,13 +189,13 @@ osi3::SensorViewConfiguration ObjectDetectorBase::GenerateSensorViewConfiguratio
viewConfiguration.mutable_sensor_id()->set_value(static_cast<unsigned int>(id));
- viewConfiguration.mutable_mounting_position()->mutable_orientation()->set_pitch(position.pitch);
- viewConfiguration.mutable_mounting_position()->mutable_orientation()->set_roll(position.roll);
- viewConfiguration.mutable_mounting_position()->mutable_orientation()->set_yaw(position.yaw);
+ viewConfiguration.mutable_mounting_position()->mutable_orientation()->set_pitch(units::unit_cast<double>(position.pose.orientation.pitch));
+ viewConfiguration.mutable_mounting_position()->mutable_orientation()->set_roll(units::unit_cast<double>(position.pose.orientation.roll));
+ viewConfiguration.mutable_mounting_position()->mutable_orientation()->set_yaw(units::unit_cast<double>(position.pose.orientation.yaw));
- viewConfiguration.mutable_mounting_position()->mutable_position()->set_x(position.longitudinal);
- viewConfiguration.mutable_mounting_position()->mutable_position()->set_y(position.lateral);
- viewConfiguration.mutable_mounting_position()->mutable_position()->set_z(position.height);
+ viewConfiguration.mutable_mounting_position()->mutable_position()->set_x(units::unit_cast<double>(position.pose.position.x));
+ viewConfiguration.mutable_mounting_position()->mutable_position()->set_y(units::unit_cast<double>(position.pose.position.y));
+ viewConfiguration.mutable_mounting_position()->mutable_position()->set_z(units::unit_cast<double>(position.pose.position.z));
return viewConfiguration;
}
@@ -261,7 +261,7 @@ polygon_t ObjectDetectorBase::TransformPolygonToGlobalCoordinates(polygon_t poly
point_t ObjectDetectorBase::CalculateGlobalSensorPosition(point_t vehiclePosition, double yaw) const
{
- point_t sensorPositionVehicle{position.longitudinal, position.lateral};
+ point_t sensorPositionVehicle{units::unit_cast<double>(position.pose.position.x), units::unit_cast<double>(position.pose.position.y)};
point_t sensorPositionGlobal;
point_t tempPoint;
bt::rotate_transformer<bg::radian, double, 2, 2> vehicleRotation(-yaw);
@@ -293,12 +293,9 @@ void ObjectDetectorBase::ParseBasicParameter()
latency = doubleParameters.at("Latency");
latencyInMs = static_cast<int>(latency * 1000.0);
- position.longitudinal = doubleParameters.at("Longitudinal");
- position.lateral = doubleParameters.at("Lateral");
- position.height = doubleParameters.at("Height");
- position.pitch = doubleParameters.at("Pitch");
- position.yaw = doubleParameters.at("Yaw");
- position.roll = doubleParameters.at("Roll");
+ const auto vehicleProperties = std::dynamic_pointer_cast<const mantle_api::VehicleProperties>(GetAgent()->GetVehicleModelParameters());
+ position = openpass::sensors::GetPosition(parameters->GetParametersString().at("Position"), *vehicleProperties);
+
}
const osi3::MovingObject* ObjectDetectorBase::FindHostVehicleInSensorView(const osi3::SensorView& sensorView)
@@ -320,7 +317,7 @@ const osi3::MovingObject* ObjectDetectorBase::FindHostVehicleInSensorView(const
point_t ObjectDetectorBase::GetSensorPosition() const
{
- const ObjectPointCustom mountingPosition{position.longitudinal, position.lateral};
+ const ObjectPointCustom mountingPosition{position.pose.position.x, position.pose.position.y};
const auto sensorPosition = GetAgent()->GetAbsolutePosition(mountingPosition);
- return {sensorPosition.x, sensorPosition.y};
+ return {sensorPosition.x.value(), sensorPosition.y.value()};
}
diff --git a/sim/src/components/Sensor_OSI/src/sensorGeometric2D.cpp b/sim/src/components/Sensor_OSI/src/sensorGeometric2D.cpp
index 2aa2dbcdca58d49ad7ccfc4116943da01baafcc2..8cfc6eb89a97af64b26173d226f55b057e04d482 100644
--- a/sim/src/components/Sensor_OSI/src/sensorGeometric2D.cpp
+++ b/sim/src/components/Sensor_OSI/src/sensorGeometric2D.cpp
@@ -21,6 +21,8 @@
#include "common/osiUtils.h"
#include "common/hypot.h"
+using namespace units::literals;
+
SensorGeometric2D::SensorGeometric2D(
std::string componentName,
bool isInit,
@@ -50,9 +52,9 @@ SensorGeometric2D::SensorGeometric2D(
{
try
{
- openingAngleH = parameters->GetParametersDouble().at("OpeningAngleH");
+ openingAngleH = units::angle::radian_t(parameters->GetParametersDouble().at("OpeningAngleH"));
enableVisualObstruction = parameters->GetParametersBool().at("EnableVisualObstruction");
- detectionRange = parameters->GetParametersDouble().at("DetectionRange");
+ detectionRange = units::length::meter_t(parameters->GetParametersDouble().at("DetectionRange"));
if (parameters->GetParametersDouble().count("RequiredPercentageOfVisibleArea") == 1)
{
@@ -162,27 +164,27 @@ SensorDetectionResults SensorGeometric2D::ApplyLatencyToResults(const int time,
bool SensorGeometric2D::OpeningAngleWithinHalfCircle() const
{
- return openingAngleH < M_PI;
+ return openingAngleH < 1_rad * M_PI;
}
bool SensorGeometric2D::OpeningAngleWithinFullCircle() const
{
- return openingAngleH < 2 * M_PI;
+ return openingAngleH < 2_rad * M_PI;
}
polygon_t SensorGeometric2D::CreateFourPointDetectionField() const
{
polygon_t detectionField;
- double cosResult = std::cos(openingAngleH/2.0);
- double upperPointX = detectionRange * cosResult ;
- double upperPointY = detectionRange * std::sin(openingAngleH/2);
- double frontPointX = detectionRange / cosResult;
+ auto cosResult = units::math::cos(openingAngleH/2.0);
+ units::length::meter_t upperPointX = detectionRange * cosResult ;
+ units::length::meter_t upperPointY = detectionRange * units::math::sin(openingAngleH/2);
+ units::length::meter_t frontPointX = detectionRange / cosResult;
bg::append(detectionField, point_t{0, 0});
- bg::append(detectionField, point_t{upperPointX, upperPointY});
- bg::append(detectionField, point_t{frontPointX, 0});
- bg::append(detectionField, point_t{upperPointX, -upperPointY});
+ bg::append(detectionField, point_t{units::unit_cast<double>(upperPointX), units::unit_cast<double>(upperPointY)});
+ bg::append(detectionField, point_t{units::unit_cast<double>(frontPointX), 0});
+ bg::append(detectionField, point_t{units::unit_cast<double>(upperPointX), units::unit_cast<double>(-upperPointY)});
bg::append(detectionField, point_t{0, 0});
return detectionField;
@@ -192,15 +194,15 @@ polygon_t SensorGeometric2D::CreateFivePointDetectionField() const
{
polygon_t detectionField;
- double leftUpperPointX = detectionRange * std::cos(openingAngleH/2.0);
- double leftUpperPointY = detectionRange * std::sin(openingAngleH/2.0);
- double righttUpperPointY = detectionRange * std::tan(openingAngleH/4.0);
+ units::length::meter_t leftUpperPointX = detectionRange * units::math::cos(openingAngleH/2.0);
+ units::length::meter_t leftUpperPointY = detectionRange * units::math::sin(openingAngleH/2.0);
+ units::length::meter_t righttUpperPointY = detectionRange * units::math::tan(openingAngleH/4.0);
bg::append(detectionField, point_t{0, 0});
- bg::append(detectionField, point_t{leftUpperPointX, leftUpperPointY});
- bg::append(detectionField, point_t{detectionRange, righttUpperPointY});
- bg::append(detectionField, point_t{detectionRange, -righttUpperPointY});
- bg::append(detectionField, point_t{leftUpperPointX, -leftUpperPointY});
+ bg::append(detectionField, point_t{units::unit_cast<double>(leftUpperPointX), units::unit_cast<double>(leftUpperPointY)});
+ bg::append(detectionField, point_t{units::unit_cast<double>(detectionRange), units::unit_cast<double>(righttUpperPointY)});
+ bg::append(detectionField, point_t{units::unit_cast<double>(detectionRange), units::unit_cast<double>(-righttUpperPointY)});
+ bg::append(detectionField, point_t{units::unit_cast<double>(leftUpperPointX), units::unit_cast<double>(-leftUpperPointY)});
bg::append(detectionField, point_t{0, 0});
return detectionField;
@@ -224,7 +226,7 @@ std::pair<point_t, polygon_t> SensorGeometric2D::CreateSensorDetectionField(cons
}
const auto sensorPosition = GetSensorPosition();
- double yaw = hostVehicle->base().orientation().yaw() + position.yaw;
+ double yaw = hostVehicle->base().orientation().yaw() + position.pose.orientation.yaw.value();
detectionField = TransformPolygonToGlobalCoordinates(detectionField, sensorPosition, yaw);
@@ -285,10 +287,12 @@ SensorDetectionResults SensorGeometric2D::DetectObjects()
}
const auto sensorPosition = GetSensorPosition();
- const auto yaw = hostVehicle->base().orientation().yaw() + position.yaw;
+ const auto yawHost = hostVehicle->base().orientation().yaw();
+ const auto yawSensor = position.pose.orientation.yaw.value();
+ const auto yaw = hostVehicle->base().orientation().yaw() + position.pose.orientation.yaw.value();
const auto yawRate = hostVehicle->base().orientation_rate().yaw();
const auto yawAcceleration = hostVehicle->base().orientation_acceleration().yaw();
- const ObjectPointCustom mountingPosition{position.longitudinal, position.lateral};
+ const ObjectPointCustom mountingPosition{position.pose.position.x, position.pose.position.y};
const auto ownVelocity = GetAgent()->GetVelocity(mountingPosition);
const auto ownAcceleration = GetAgent()->GetAcceleration(mountingPosition);
@@ -299,7 +303,7 @@ SensorDetectionResults SensorGeometric2D::DetectObjects()
continue;
}
results.detectedMovingObjects.push_back(object);
- AddMovingObjectToSensorData(object, {ownVelocity.x, ownVelocity.y}, {ownAcceleration.x, ownAcceleration.y}, sensorPosition, yaw, yawRate, yawAcceleration);
+ AddMovingObjectToSensorData(object, {ownVelocity.x.value(), ownVelocity.y.value()}, {ownAcceleration.x.value(), ownAcceleration.y.value()}, sensorPosition, yaw, yawRate, yawAcceleration);
}
for (const auto &object : detectedStationaryObjectsWithoutFailure)
{
@@ -347,22 +351,22 @@ bool SensorGeometric2D::ObjectIsInDetectionArea(const T& object,
polygon_t objectBoundingBox = CalculateBoundingBox(object.base().dimension(), object.base().position(),
object.base().orientation());
- double distanceToObjectBoundary = bg::distance(sensorPositionGlobal, objectBoundingBox);
+ units::length::meter_t distanceToObjectBoundary{bg::distance(sensorPositionGlobal, objectBoundingBox)};
return distanceToObjectBoundary <= detectionRange &&
- (openingAngleH >= 2 * M_PI || bg::intersects(detectionField, objectBoundingBox));
+ (openingAngleH >= 2_rad * M_PI || bg::intersects(detectionField, objectBoundingBox));
}
osi3::SensorViewConfiguration SensorGeometric2D::GenerateSensorViewConfiguration()
{
// The sensor has to specify an area which contains all objects of interest. To take objects on the edge of this area into account,
// an arbitrary margin is added deliberately, as no other specification is available at the moment.
- constexpr double rangeBuffer = 20.0;
+ const units::length::meter_t rangeBuffer{20.0};
constexpr double fieldOfViewBuffer = 0.2;
osi3::SensorViewConfiguration viewConfiguration = ObjectDetectorBase::GenerateSensorViewConfiguration();
- viewConfiguration.set_field_of_view_horizontal(openingAngleH + fieldOfViewBuffer);
- viewConfiguration.set_range(detectionRange + rangeBuffer);
+ viewConfiguration.set_field_of_view_horizontal(units::unit_cast<double>(openingAngleH) + fieldOfViewBuffer);
+ viewConfiguration.set_range(units::unit_cast<double>(detectionRange + rangeBuffer));
return viewConfiguration;
}
@@ -412,26 +416,26 @@ std::pair<std::vector<T>, std::vector<T>> SensorGeometric2D::CalcVisualObstructi
polygon_t SensorGeometric2D::CalcInitialBrightArea(point_t sensorPosition)
{
- const double stepSize = 0.1;
- double sensorX = sensorPosition.x();
- double sensorY = sensorPosition.y();
+ const units::angle::radian_t stepSize{0.1};
+ units::length::meter_t sensorX{sensorPosition.x()};
+ units::length::meter_t sensorY{sensorPosition.y()};
polygon_t brightArea;
bg::append(brightArea, sensorPosition);
- double angle = position.yaw + GetAgent()->GetYaw() - 0.5 * openingAngleH;
- double maxAngle = position.yaw + GetAgent()->GetYaw() + 0.5 * openingAngleH;
+ auto angle = position.pose.orientation.yaw + GetAgent()->GetYaw() - 0.5 * openingAngleH;
+ auto maxAngle = position.pose.orientation.yaw + GetAgent()->GetYaw() + 0.5 * openingAngleH;
while (angle < maxAngle)
{
- double x = sensorX + detectionRange * std::cos(angle);
- double y = sensorY + detectionRange * std::sin(angle);
- bg::append(brightArea, point_t{x,y});
+ units::length::meter_t x = sensorX + detectionRange * units::math::cos(angle);
+ units::length::meter_t y = sensorY + detectionRange * units::math::sin(angle);
+ bg::append(brightArea, point_t{units::unit_cast<double>(x),units::unit_cast<double>(y)});
angle += stepSize;
}
- double x = sensorX + detectionRange * std::cos(maxAngle);
- double y = sensorY + detectionRange * std::sin(maxAngle);
- bg::append(brightArea, point_t{x,y});
+ units::length::meter_t x = sensorX + detectionRange * units::math::cos(maxAngle);
+ units::length::meter_t y = sensorY + detectionRange * units::math::sin(maxAngle);
+ bg::append(brightArea, point_t{units::unit_cast<double>(x),units::unit_cast<double>(y)});
bg::append(brightArea, sensorPosition);
return brightArea;
@@ -481,7 +485,7 @@ multi_polygon_t SensorGeometric2D::CalcObjectShadow(const polygon_t& boundingBox
const auto leftVectorLength = openpass::hypot(leftVector.x(), leftVector.y());
const auto rightVectorLength = openpass::hypot(rightVector.x(), rightVector.y());
const auto height = std::min(leftVectorLength, rightVectorLength) * std::cos(0.5 * (maxRightAngle + maxLeftAngle));
- const auto scale = detectionRange / height;
+ const auto scale = units::unit_cast<double>(detectionRange) / height;
if(scale > WARNING_THRESHOLD_SCALE)
{
diff --git a/sim/src/components/Sensor_OSI/src/sensorGeometric2D.h b/sim/src/components/Sensor_OSI/src/sensorGeometric2D.h
index 4099958bad481d2749f4e0e987b4dc778b713092..d7c802852fbe7886570dc4de04bb2944e3e45999 100644
--- a/sim/src/components/Sensor_OSI/src/sensorGeometric2D.h
+++ b/sim/src/components/Sensor_OSI/src/sensorGeometric2D.h
@@ -27,7 +27,7 @@ struct ObjectView
long objectId;
double minAngle;
double maxAngle;
- double distance;
+ units::length::meter_t distance;
};
struct SensorDetectionResults
@@ -165,8 +165,8 @@ private:
bool enableVisualObstruction = false;
double requiredPercentageOfVisibleArea = 0.001;
- double detectionRange;
- double openingAngleH;
+ units::length::meter_t detectionRange;
+ units::angle::radian_t openingAngleH;
std::map<int, SensorDetectionResults> latentSensorDetectionResultsBuffer;
static constexpr double MIN_VISIBLE_UNOBSTRUCTED_PERCENTAGE = 0.0001;
diff --git a/sim/src/components/common/vehicleProperties.h b/sim/src/components/common/vehicleProperties.h
index 35f3c40383fb6b5ee36d66d9ec07375984262b94..1b6cb5b6bd2167a958d21206c94bb60e3f68d624 100644
--- a/sim/src/components/common/vehicleProperties.h
+++ b/sim/src/components/common/vehicleProperties.h
@@ -1,5 +1,6 @@
/********************************************************************************
* Copyright (c) 2021 in-tech GmbH
+ * 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -19,7 +20,6 @@ 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"};
diff --git a/sim/src/core/opSimulation/CMakeLists.txt b/sim/src/core/opSimulation/CMakeLists.txt
index 7962ac20b764771ac1e7997f3363230ce9852ec8..2491c1568432a8c3ba5d12e824eda8b0b51759e6 100644
--- a/sim/src/core/opSimulation/CMakeLists.txt
+++ b/sim/src/core/opSimulation/CMakeLists.txt
@@ -11,6 +11,53 @@ set(COMPONENT_NAME SimulationCore)
add_subdirectory(modules)
+################################################################
+# openScenarioParser specific content
+# Set path to the OpenSCENARIO libs
+set( CMAKE_LIBRARY_PATH "${CMAKE_LIBRARY_PATH}; ${CMAKE_SOURCE_DIR}/openScenario.v1_0.API" )
+set(BUILD_STATIC_LIBS OFF)
+
+# Add OpenSCENARIO lib
+set( LIB_PREFIX "" )
+set( LIB_SUFFIX "" )
+if( BUILD_STATIC_LIBS STREQUAL "ON" )
+ if( WIN32 )
+ set( LIB_SUFFIX ".lib" )
+ elseif( UNIX )
+ set( LIB_PREFIX "lib" )
+ set( LIB_SUFFIX ".a" )
+ endif()
+else()
+ if( WIN32 )
+ set( LIB_SUFFIX ".dll" )
+ elseif( UNIX )
+ set( LIB_PREFIX "lib" )
+ set( LIB_SUFFIX ".so" )
+ endif()
+endif()
+
+unset( XOSC_LIB CACHE )
+unset( ANTLR4_LIB CACHE )
+unset( EXP_LIB CACHE )
+find_library( XOSC_LIB name "${LIB_PREFIX}OpenScenarioLib${LIB_SUFFIX}" HINTS "${OPENSCENARIOPARSER_INCLUDE_DIR}/../lib/Linux" )
+find_library( ANTLR4_LIB name "${LIB_PREFIX}antlr4-runtime${LIB_SUFFIX}" HINTS "${OPENSCENARIOPARSER_INCLUDE_DIR}/../lib/Linux" )
+find_library( EXP_LIB name "${LIB_PREFIX}ExpressionsLib${LIB_SUFFIX}" HINTS "${OPENSCENARIOPARSER_INCLUDE_DIR}/../lib/Linux" )
+
+if(NOT XOSC_LIB)
+ message(FATAL_ERROR "XOSC_LIB library not found")
+endif()
+
+if(NOT ANTLR4_LIB)
+ message(FATAL_ERROR "ANTLR4_LIB library not found")
+endif()
+
+if(NOT EXP_LIB)
+ message(FATAL_ERROR "EXP_LIB library not found")
+endif()
+#add_subdirectory(${OPENSCENARIOPARSER_INCLUDE_DIR}/externalLibs/ANTLR4-Cpp-src ${PROJECT_BINARY_DIR}/deps/openScenarioEngine/deps/openScenarioParser)
+
+
+
add_openpass_target(
NAME ${COMPONENT_NAME} TYPE library LINKAGE shared COMPONENT common
@@ -40,17 +87,26 @@ add_openpass_target(
framework/agentFactory.h
framework/commandLineParser.h
framework/configurationContainer.h
+ framework/controlStrategies.h
framework/directories.h
framework/dynamicAgentTypeGenerator.h
framework/dynamicParametersSampler.h
framework/dynamicProfileSampler.h
+ framework/entity.h
+ framework/entityRepository.h
+ framework/controllerRepository.h
+ framework/environment.h
framework/eventNetwork.h
framework/frameworkModuleContainer.h
+ framework/laneLocationQueryService.h
framework/observationModule.h
framework/observationNetwork.h
framework/parameterbuilder.h
+ framework/pedestrian.h
+ framework/routeSampler.h
framework/runInstantiator.h
framework/sampler.h
+ framework/vehicle.h
framework/scheduler/agentParser.h
framework/scheduler/runResult.h
framework/scheduler/scheduler.h
@@ -61,31 +117,23 @@ add_openpass_target(
importer/configurationFiles.h
importer/connection.h
importer/csvParser.h
- importer/eventDetectorImporter.h
importer/frameworkModules.h
importer/importerLoggingHelper.h
importer/junction.h
- importer/oscImporterCommon.h
importer/parameterImporter.h
importer/profiles.h
importer/profilesImporter.h
importer/road.h
- importer/scenario.h
- importer/scenarioImporter.h
- importer/scenarioImporterHelper.h
importer/scenery.h
- importer/sceneryDynamics.h
importer/sceneryImporter.h
importer/simulationConfig.h
importer/simulationConfigImporter.h
importer/systemConfig.h
importer/systemConfigImporter.h
importer/vehicleModels.h
- importer/vehicleModelsImporter.h
importer/road/roadObject.h
importer/road/roadSignal.h
modelElements/agent.h
- modelElements/agentBlueprint.h
modelElements/agentType.h
modelElements/channel.h
modelElements/channelBuffer.h
@@ -100,6 +148,71 @@ add_openpass_target(
modelElements/spawnPoint.h
modelElements/spawnPointNetwork.h
../common/log.h
+ ${MANTLE_INCLUDE_DIR}/MantleAPI/Execution/i_environment.h
+ ${MANTLE_INCLUDE_DIR}/MantleAPI/EnvironmentalConditions/road_condition.h
+ ${MANTLE_INCLUDE_DIR}/MantleAPI/EnvironmentalConditions/weather.h
+ ${MANTLE_INCLUDE_DIR}/MantleAPI/Map/i_coord_converter.h
+ ${MANTLE_INCLUDE_DIR}/MantleAPI/Map/i_lane_location_query_service.h
+ ${MANTLE_INCLUDE_DIR}/MantleAPI/Traffic/i_entity_repository.h
+ ${MANTLE_INCLUDE_DIR}/MantleAPI/Traffic/entity_properties.h
+ ${MANTLE_INCLUDE_DIR}/MantleAPI/Common/position.h
+ ${OPENSCENARIOENGINE_INCLUDE_DIR}/OpenScenarioEngine/OpenScenarioEngine.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Constants.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/ControllerCreator.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/EntityCreator.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/StateMachine/StateMachine.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/StateMachine/StateMachineBuilder.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Act.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Event.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Maneuver.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/ManeuverGroup.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Story.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Storyboard.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/StoryboardElement.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/Action.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/CustomCommandAction.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/FollowTrajectoryAction.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/GlobalAction.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/LaneChangeAction.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/LongitudinalDistanceAction.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/MotionControlAction.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/PrivateAction.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/SpeedAction.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/TeleportAction.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/TrafficSignalStateAction.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/UserDefinedAction.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/VisibilityAction.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/Condition.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ConditionGroup.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/Trigger.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/AccelerationCondition.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/CollisionCondition.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/DistanceCondition.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/EndOfRoadCondition.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/OffroadCondition.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/ReachPositionCondition.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/RelativeDistanceCondition.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/RelativeSpeedCondition.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/SpeedCondition.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/StandStillCondition.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/TimeHeadwayCondition.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/TimeToCollisionCondition.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/TraveledDistanceCondition.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByValueConditions/ParameterCondition.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByValueConditions/SimulationTimeCondition.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByValueConditions/StoryboardElementStateCondition.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByValueConditions/TimeOfDayCondition.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByValueConditions/TrafficSignalCondition.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByValueConditions/TrafficSignalControllerCondition.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByValueConditions/UserDefinedValueCondition.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/Common/EdgeEvaluators.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Utils/ConvertScenarioPosition.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Utils/EntityUtils.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/StoryboardElementStates/StandbyState.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/StoryboardElementStates/StoryboardStandbyState.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/StoryboardElementStates/RunningState.h
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/StoryboardElementStates/StoryboardRunningState.h
+ ${UNITS_INCLUDE_DIR}/units.h
SOURCES
bindings/dataBufferBinding.cpp
@@ -123,48 +236,48 @@ add_openpass_target(
framework/agentFactory.cpp
framework/commandLineParser.cpp
framework/configurationContainer.cpp
+ framework/controlStrategies.cpp
framework/directories.cpp
framework/dynamicAgentTypeGenerator.cpp
framework/dynamicParametersSampler.cpp
framework/dynamicProfileSampler.cpp
+ framework/entity.cpp
+ framework/entityRepository.cpp
+ framework/controllerRepository.cpp
+ framework/environment.cpp
framework/eventNetwork.cpp
framework/frameworkModuleContainer.cpp
+ framework/laneLocationQueryService.cpp
framework/observationModule.cpp
framework/observationNetwork.cpp
+ framework/pedestrian.cpp
framework/runInstantiator.cpp
framework/sampler.cpp
+ framework/vehicle.cpp
framework/scheduler/agentParser.cpp
framework/scheduler/runResult.cpp
framework/scheduler/scheduler.cpp
framework/scheduler/schedulerTasks.cpp
framework/scheduler/taskBuilder.cpp
framework/scheduler/tasks.cpp
+ importer/importerCommon.cpp
importer/connection.cpp
importer/csvParser.cpp
- importer/eventDetectorImporter.cpp
- importer/importerCommon.cpp
importer/junction.cpp
- importer/oscImporterCommon.cpp
importer/parameterImporter.cpp
importer/profiles.cpp
importer/profilesImporter.cpp
importer/road.cpp
- importer/scenario.cpp
- importer/scenarioImporter.cpp
- importer/scenarioImporterHelper.cpp
importer/scenery.cpp
- importer/sceneryDynamics.cpp
importer/sceneryImporter.cpp
importer/simulationConfig.cpp
importer/simulationConfigImporter.cpp
importer/systemConfig.cpp
importer/systemConfigImporter.cpp
importer/vehicleModels.cpp
- importer/vehicleModelsImporter.cpp
importer/road/roadObject.cpp
importer/road/roadSignal.cpp
modelElements/agent.cpp
- modelElements/agentBlueprint.cpp
modelElements/agentType.cpp
modelElements/channel.cpp
modelElements/component.cpp
@@ -175,11 +288,105 @@ add_openpass_target(
modelElements/parameters.cpp
modelElements/spawnPointNetwork.cpp
../common/log.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/OpenScenarioEngine.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/ControllerCreator.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/EntityCreator.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/StateMachine/StateMachine.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/StateMachine/StateMachineBuilder.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Act.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Event.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Maneuver.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/ManeuverGroup.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Story.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Storyboard.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/StoryboardElement.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/Action.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/CustomCommandAction.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/FollowTrajectoryAction.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/GlobalAction.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/LaneChangeAction.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/LongitudinalDistanceAction.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/MotionControlAction.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/PrivateAction.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/SpeedAction.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/TeleportAction.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/TrafficSignalStateAction.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/UserDefinedAction.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Actions/VisibilityAction.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/Condition.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ConditionGroup.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/Trigger.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/AccelerationCondition.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/CollisionCondition.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/DistanceCondition.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/EndOfRoadCondition.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/OffroadCondition.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/ReachPositionCondition.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/RelativeDistanceCondition.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/RelativeSpeedCondition.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/SpeedCondition.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/StandStillCondition.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/TimeHeadwayCondition.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/TimeToCollisionCondition.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByEntityConditions/TraveledDistanceCondition.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByValueConditions/ParameterCondition.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByValueConditions/SimulationTimeCondition.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByValueConditions/StoryboardElementStateCondition.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByValueConditions/TimeOfDayCondition.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByValueConditions/TrafficSignalCondition.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByValueConditions/TrafficSignalControllerCondition.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/ByValueConditions/UserDefinedValueCondition.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Conditions/Common/EdgeEvaluators.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Utils/ConvertScenarioPosition.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/Storyboard/Utils/EntityUtils.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/StoryboardElementStates/StandbyState.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/StoryboardElementStates/StoryboardStandbyState.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/StoryboardElementStates/RunningState.cpp
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}/StoryboardElementStates/StoryboardRunningState.cpp
INCDIRS
.
../..
../../../..
+ ${MANTLE_INCLUDE_DIR}
+ ${OPENSCENARIOENGINE_INCLUDE_DIR}
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}
+ # OPENSCENARIOPARSER
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/common
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/expressionsLib/inc
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/externalLibs/Filesystem
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/externalLibs/TinyXML2
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/generated/v1_0/api
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/generated/v1_1/api
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/generated/v1_1/api/writer
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/generated/v1_1/common
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/generated/v1_1/checker
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/generated/v1_1/checker/impl
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/generated/v1_1/catalog
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/generated/v1_1/impl
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/api
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/checker
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/checker/tree
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/common
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/export
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/impl
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/loader
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/parameter
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/expression
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/parser
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/parser/modelgroup
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/parser/type
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/simple/struct
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/xmlIndexer
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/v1_1/catalog
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/v1_1/checker
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/v1_1/loader
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/v1_1/parameter
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/v1_1/expression
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/v1_1/parser
+ #
+ ${UNITS_INCLUDE_DIR}
../common
framework
importer
@@ -195,6 +402,8 @@ add_openpass_target(
CoreCommon
)
+target_link_libraries( ${COMPONENT_NAME} ${XOSC_LIB} ${ANTLR4_LIB} ${EXP_LIB} )
+
set(COMPONENT_NAME opSimulation)
add_openpass_target(
@@ -211,10 +420,50 @@ add_openpass_target(
INCDIRS
.
../../../..
+ ${MANTLE_INCLUDE_DIR}
+ ${OPENSCENARIOENGINE_INCLUDE_DIR}
+ ${OPENSCENARIOENGINE_SRC_INCLUDE_DIR}
+ # OPENSCENARIOPARSER
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/common
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/expressionsLib/inc
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/externalLibs/Filesystem
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/externalLibs/TinyXML2
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/generated/v1_0/api
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/generated/v1_1/api
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/generated/v1_1/api/writer
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/generated/v1_1/common
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/generated/v1_1/checker
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/generated/v1_1/checker/impl
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/generated/v1_1/catalog
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/generated/v1_1/impl
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/api
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/checker
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/checker/tree
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/common
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/export
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/impl
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/loader
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/parameter
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/expression
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/parser
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/parser/modelgroup
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/parser/type
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/simple/struct
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/xmlIndexer
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/v1_1/catalog
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/v1_1/checker
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/v1_1/loader
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/v1_1/parameter
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/v1_1/expression
+ ${OPENSCENARIOPARSER_INCLUDE_DIR}/openScenarioLib/src/v1_1/parser
+ ${UNITS_INCLUDE_DIR}
../common
+ ../../common
bindings
framework
importer
modelElements
modules
)
+
diff --git a/sim/src/core/opSimulation/bindings/eventDetectorBinding.cpp b/sim/src/core/opSimulation/bindings/eventDetectorBinding.cpp
index 13057afc7b2f65ddaad1fa7fd7b5073f4c34042a..d06668159fdd2da93be0b16e78bad48dc80c5eae 100644
--- a/sim/src/core/opSimulation/bindings/eventDetectorBinding.cpp
+++ b/sim/src/core/opSimulation/bindings/eventDetectorBinding.cpp
@@ -25,7 +25,6 @@ EventDetectorBinding::~EventDetectorBinding()
}
std::vector<const EventDetector*> EventDetectorBinding::Instantiate(const std::string libraryPath,
- const ScenarioInterface *scenario,
EventNetworkInterface* eventNetwork,
WorldInterface *world,
StochasticsInterface *stochastics)
@@ -54,16 +53,6 @@ std::vector<const EventDetector*> EventDetectorBinding::Instantiate(const std::s
stochastics);
eventDetectors.push_back(eventDetector);
- //Instantiates an eventdetector for each true flag
- for(const auto eventDetectorInformation : scenario->GetEventDetectorInformations())
- {
- const auto eventDetector = library->CreateConditionalDetector(eventDetectorInformation,
- eventNetwork,
- world,
- stochastics);
- eventDetectors.push_back(eventDetector);
- }
-
return eventDetectors;
}
diff --git a/sim/src/core/opSimulation/bindings/eventDetectorBinding.h b/sim/src/core/opSimulation/bindings/eventDetectorBinding.h
index 926bd8c8b2ec42d2e07772a3ffbdbaa3b20929f7..d2681eda5834396c08be7363567f32e198a7a3ca 100644
--- a/sim/src/core/opSimulation/bindings/eventDetectorBinding.h
+++ b/sim/src/core/opSimulation/bindings/eventDetectorBinding.h
@@ -18,7 +18,6 @@
#include "common/callbacks.h"
#include "common/opExport.h"
#include "include/worldInterface.h"
-#include "include/scenarioInterface.h"
#include "include/stochasticsInterface.h"
namespace core
@@ -45,14 +44,12 @@ public:
//! detector using the provided parameters.
//!
//! @param[in] libraryPath Path to the library
- //! @param[in] scenario Scenario
//! @param[in] eventNetwork Interface of the eventNetwork
//! @param[in] world World instance
//! @param[in] stochastics The stochastics object
//! @return Vector of created EventDetectors from the library
//-----------------------------------------------------------------------------
std::vector<const EventDetector *> Instantiate(const std::string libraryPath,
- const ScenarioInterface *scenario,
EventNetworkInterface *eventNetwork,
WorldInterface *world,
StochasticsInterface *stochastics);
diff --git a/sim/src/core/opSimulation/bindings/eventDetectorLibrary.cpp b/sim/src/core/opSimulation/bindings/eventDetectorLibrary.cpp
index cfc131389cd550b754a8020a02ec6e7dc27ea483..9d544a627f077a8b564ca201f7267c9aa2753090 100644
--- a/sim/src/core/opSimulation/bindings/eventDetectorLibrary.cpp
+++ b/sim/src/core/opSimulation/bindings/eventDetectorLibrary.cpp
@@ -9,29 +9,31 @@
* SPDX-License-Identifier: EPL-2.0
********************************************************************************/
-#include <iostream>
+#include "bindings/eventDetectorLibrary.h"
+
#include <algorithm>
-#include <QLibrary>
+#include <iostream>
#include <sstream>
-#include "bindings/eventDetectorLibrary.h"
+
+#include <QLibrary>
+
#include "bindings/observationBinding.h"
-#include "eventDetector.h"
#include "common/log.h"
+#include "eventDetector.h"
-namespace core
-{
+namespace core {
bool EventDetectorLibrary::Init()
{
std::string suffix = DEBUG_POSTFIX;
- library = new (std::nothrow) QLibrary(QString::fromStdString(libraryPath+suffix));
- if(!library)
+ library = new (std::nothrow) QLibrary(QString::fromStdString(libraryPath + suffix));
+ if (!library)
{
return false;
}
- if(!library->load())
+ if (!library->load())
{
LOG_INTERN(LogLevel::Error) << library->errorString().toStdString();
delete library;
@@ -40,27 +42,21 @@ bool EventDetectorLibrary::Init()
}
getVersionFunc = (EventDetectorInterface_GetVersion)library->resolve(DllGetVersionId.c_str());
- if(!getVersionFunc)
+ if (!getVersionFunc)
{
LOG_INTERN(LogLevel::Error) << "could not retrieve version information from DLL";
return false;
}
createCollisionDetectorInstanceFunc = (EventDetectorInterface_CreateCollisionDetectorInstanceType)library->resolve(DllCreateCollisionDetectorInstanceId.c_str());
- if(!createCollisionDetectorInstanceFunc)
- {
- LOG_INTERN(LogLevel::Error) << "could not instantiate class from DLL";
- return false;
- }
- createConditionalDetectorInstanceFunc = (EventDetectorInterface_CreateConditionalDetectorInstanceType)library->resolve(DllCreateConditionalDetectorInstanceId.c_str());
- if(!createConditionalDetectorInstanceFunc)
+ if (!createCollisionDetectorInstanceFunc)
{
LOG_INTERN(LogLevel::Error) << "could not instantiate class from DLL";
return false;
}
destroyInstanceFunc = (EventDetectorInterface_DestroyInstanceType)library->resolve(DllDestroyInstanceId.c_str());
- if(!destroyInstanceFunc)
+ if (!destroyInstanceFunc)
{
LOG_INTERN(LogLevel::Warning) << "event detector could not be released";
return false;
@@ -71,12 +67,12 @@ bool EventDetectorLibrary::Init()
LOG_INTERN(LogLevel::DebugCore) << "loaded event detector library " << library->fileName().toStdString()
<< ", version " << getVersionFunc();
}
- catch(std::runtime_error const &ex)
+ catch (std::runtime_error const &ex)
{
LOG_INTERN(LogLevel::Error) << "could not retrieve version information from DLL: " << ex.what();
return false;
}
- catch(...)
+ catch (...)
{
LOG_INTERN(LogLevel::Error) << "could not retrieve version information from DLL";
return false;
@@ -87,14 +83,14 @@ bool EventDetectorLibrary::Init()
EventDetectorLibrary::~EventDetectorLibrary()
{
- if(!(eventDetectors.empty()))
+ if (!(eventDetectors.empty()))
{
LOG_INTERN(LogLevel::Warning) << "unloading library which is still in use";
}
- if(library)
+ if (library)
{
- if(library->isLoaded())
+ if (library->isLoaded())
{
LOG_INTERN(LogLevel::DebugCore) << "unloading event detector library ";
library->unload();
@@ -107,13 +103,13 @@ EventDetectorLibrary::~EventDetectorLibrary()
bool EventDetectorLibrary::ReleaseEventDetector(EventDetector *eventDetector)
{
- if(!library)
+ if (!library)
{
return false;
}
auto findIter = std::find(eventDetectors.begin(), eventDetectors.end(), eventDetector);
- if(eventDetectors.end() == findIter)
+ if (eventDetectors.end() == findIter)
{
LOG_INTERN(LogLevel::Warning) << "event detector doesn't belong to library";
return false;
@@ -123,12 +119,12 @@ bool EventDetectorLibrary::ReleaseEventDetector(EventDetector *eventDetector)
{
destroyInstanceFunc(eventDetector->GetImplementation());
}
- catch(std::runtime_error const &ex)
+ catch (std::runtime_error const &ex)
{
LOG_INTERN(LogLevel::Error) << "event detector could not be released: " << ex.what();
return false;
}
- catch(...)
+ catch (...)
{
LOG_INTERN(LogLevel::Error) << "event detector could not be released";
return false;
@@ -139,18 +135,18 @@ bool EventDetectorLibrary::ReleaseEventDetector(EventDetector *eventDetector)
return true;
}
-EventDetector *EventDetectorLibrary::CreateCollisionDetector(EventNetworkInterface* eventNetwork,
+EventDetector *EventDetectorLibrary::CreateCollisionDetector(EventNetworkInterface *eventNetwork,
WorldInterface *world,
StochasticsInterface *stochastics)
{
- if(!library)
+ if (!library)
{
return nullptr;
}
- if(!library->isLoaded())
+ if (!library->isLoaded())
{
- if(!library->load())
+ if (!library->load())
{
return nullptr;
}
@@ -161,7 +157,7 @@ EventDetector *EventDetectorLibrary::CreateCollisionDetector(EventNetworkInterfa
callbacks,
stochastics);
- if(!eventDetectorInterface)
+ if (!eventDetectorInterface)
{
throw std::runtime_error("Could not create CollisionEventDetector");
}
@@ -173,40 +169,4 @@ EventDetector *EventDetectorLibrary::CreateCollisionDetector(EventNetworkInterfa
return eventDetector;
}
-EventDetector *EventDetectorLibrary::CreateConditionalDetector(const openScenario::ConditionalEventDetectorInformation &eventDetectorInformation,
- EventNetworkInterface *eventNetwork,
- WorldInterface *world,
- StochasticsInterface *stochastics)
-{
- if(!library)
- {
- return nullptr;
- }
-
- if(!library->isLoaded())
- {
- if(!library->load())
- {
- return nullptr;
- }
- }
-
- auto eventDetectorInterface = createConditionalDetectorInstanceFunc(world,
- eventDetectorInformation,
- eventNetwork,
- callbacks,
- stochastics);
-
- if(!eventDetectorInterface)
- {
- throw std::runtime_error("Could not create Conditional Event Detector");
- }
-
- EventDetector *eventDetector = new EventDetector(eventDetectorInterface,
- this);
-
- eventDetectors.push_back(eventDetector);
- return eventDetector;
-}
-
} // namespace core
diff --git a/sim/src/core/opSimulation/bindings/eventDetectorLibrary.h b/sim/src/core/opSimulation/bindings/eventDetectorLibrary.h
index 1e6d826063139d7811811ce84f06d89114dda424..f1f37cd2b8f2a29ee0368168a3fd5dd0fc1bae95 100644
--- a/sim/src/core/opSimulation/bindings/eventDetectorLibrary.h
+++ b/sim/src/core/opSimulation/bindings/eventDetectorLibrary.h
@@ -32,11 +32,6 @@ public:
EventNetworkInterface* eventNetwork,
const CallbackInterface *callbacks,
StochasticsInterface *stochastics);
- typedef EventDetectorInterface *(*EventDetectorInterface_CreateConditionalDetectorInstanceType)(WorldInterface *world,
- const openScenario::ConditionalEventDetectorInformation &eventDetectorInformation,
- EventNetworkInterface* eventNetwork,
- const CallbackInterface *callbacks,
- StochasticsInterface *stochastics);
typedef void (*EventDetectorInterface_DestroyInstanceType)(EventDetectorInterface *implementation);
EventDetectorLibrary(const std::string &libraryPath,
@@ -91,15 +86,9 @@ public:
WorldInterface *world,
StochasticsInterface *stochastics);
- EventDetector *CreateConditionalDetector(const openScenario::ConditionalEventDetectorInformation &eventDetectorInformation,
- EventNetworkInterface *eventNetwork,
- WorldInterface *world,
- StochasticsInterface *stochastics);
-
private:
const std::string DllGetVersionId = "OpenPASS_GetVersion";
const std::string DllCreateCollisionDetectorInstanceId = "OpenPASS_CreateCollisionDetectorInstance";
- const std::string DllCreateConditionalDetectorInstanceId = "OpenPASS_CreateConditionalDetectorInstance";
const std::string DllDestroyInstanceId = "OpenPASS_DestroyInstance";
std::string libraryPath;
@@ -108,7 +97,6 @@ private:
CallbackInterface *callbacks;
EventDetectorInterface_GetVersion getVersionFunc{nullptr};
EventDetectorInterface_CreateCollisionDetectorInstanceType createCollisionDetectorInstanceFunc{nullptr};
- EventDetectorInterface_CreateConditionalDetectorInstanceType createConditionalDetectorInstanceFunc{nullptr};
EventDetectorInterface_DestroyInstanceType destroyInstanceFunc{nullptr};
};
diff --git a/sim/src/core/opSimulation/bindings/manipulatorBinding.cpp b/sim/src/core/opSimulation/bindings/manipulatorBinding.cpp
index fc95a87910049a23b041173bf4f2efe1b3c53069..52e23481fe356400a60029ee696f70b0f0c65c4e 100644
--- a/sim/src/core/opSimulation/bindings/manipulatorBinding.cpp
+++ b/sim/src/core/opSimulation/bindings/manipulatorBinding.cpp
@@ -25,7 +25,6 @@ ManipulatorBinding::~ManipulatorBinding()
}
std::vector<const Manipulator*> ManipulatorBinding::Instantiate(const std::string libraryPath,
- const ScenarioInterface *scenario,
EventNetworkInterface* eventNetwork,
WorldInterface *world,
PublisherInterface *publisher)
@@ -59,15 +58,6 @@ std::vector<const Manipulator*> ManipulatorBinding::Instantiate(const std::strin
manipulators.push_back(manipulator);
}
- //Instantiates all manipulators
- for(const auto& action : scenario->GetActions())
- {
- const auto manipulator = library->CreateManipulator(action,
- eventNetwork,
- world);
- manipulators.push_back(manipulator);
- }
-
return manipulators;
}
diff --git a/sim/src/core/opSimulation/bindings/manipulatorBinding.h b/sim/src/core/opSimulation/bindings/manipulatorBinding.h
index b4292a98d45b90373476c04867da590433140064..9cae8d5d8eb99c42bd69b58295561fc9ea2e3cb0 100644
--- a/sim/src/core/opSimulation/bindings/manipulatorBinding.h
+++ b/sim/src/core/opSimulation/bindings/manipulatorBinding.h
@@ -18,7 +18,6 @@
#include "common/opExport.h"
#include "common/callbacks.h"
#include "include/worldInterface.h"
-#include "include/scenarioInterface.h"
class PublisherInterface;
@@ -43,13 +42,11 @@ public:
//! Creates all manipulators and returns them as a vector
//!
//! @param[in] libraryPath Path to the library
- //! @param[in] scenario Scenario
//! @param[in] eventNetwork Interface of the eventNetwork
//! @param[in] world World instance
//! @return Vector of created manipulators
//-----------------------------------------------------------------------------
std::vector<const Manipulator *> Instantiate(const std::string libraryPath,
- const ScenarioInterface *scenario,
EventNetworkInterface *eventNetwork,
WorldInterface *world,
PublisherInterface* publisher);
diff --git a/sim/src/core/opSimulation/bindings/manipulatorLibrary.cpp b/sim/src/core/opSimulation/bindings/manipulatorLibrary.cpp
index 7e3f0824a6fcd140d2b114774d3097428d922c21..4081896c3c0296414316356425591e7627f3719a 100644
--- a/sim/src/core/opSimulation/bindings/manipulatorLibrary.cpp
+++ b/sim/src/core/opSimulation/bindings/manipulatorLibrary.cpp
@@ -46,13 +46,6 @@ bool ManipulatorLibrary::Init()
return false;
}
- createInstanceFunc = (ManipulatorInterface_CreateInstanceType)library->resolve(DllCreateInstanceId.c_str());
- if(!createInstanceFunc)
- {
- LOG_INTERN(LogLevel::Error) << "could not instantiate class from DLL";
- return false;
- }
-
createDefaultInstanceFunc = (ManipulatorInterface_CreateDefaultInstanceType)library->resolve(DllCreateDefaultInstanceId.c_str());
if(!createDefaultInstanceFunc)
{
@@ -140,34 +133,6 @@ bool ManipulatorLibrary::ReleaseManipulator(Manipulator *manipulator)
return true;
}
-Manipulator *ManipulatorLibrary::CreateManipulator(const openScenario::ManipulatorInformation manipulatorInformation,
- EventNetworkInterface* eventNetwork,
- WorldInterface* world)
-{
- if(!library)
- {
- return nullptr;
- }
-
- if(!library->isLoaded())
- {
- if(!library->load())
- {
- return nullptr;
- }
- }
-
- auto manipulatorInterface = createInstanceFunc(world,
- manipulatorInformation,
- eventNetwork,
- callbacks);
-
- Manipulator *manipulator = new Manipulator(manipulatorInterface,
- this);
- manipulators.push_back(manipulator);
- return manipulator;
-}
-
Manipulator *ManipulatorLibrary::CreateManipulator(const std::string& manipulatorType,
EventNetworkInterface* eventNetwork,
WorldInterface* world,
diff --git a/sim/src/core/opSimulation/bindings/manipulatorLibrary.h b/sim/src/core/opSimulation/bindings/manipulatorLibrary.h
index 92039dd456665b0f374e3821536b74fcf6968784..daf535280a200afc6f717dee6d3fe42614e0c6ea 100644
--- a/sim/src/core/opSimulation/bindings/manipulatorLibrary.h
+++ b/sim/src/core/opSimulation/bindings/manipulatorLibrary.h
@@ -30,10 +30,6 @@ class ManipulatorLibrary
{
public:
typedef const std::string &(*ManipulatorInterface_GetVersion)();
- typedef ManipulatorInterface *(*ManipulatorInterface_CreateInstanceType)(WorldInterface *world,
- openScenario::ManipulatorInformation manipulatorInformation,
- EventNetworkInterface* eventNetwork,
- const CallbackInterface *callbacks);
typedef ManipulatorInterface *(*ManipulatorInterface_CreateDefaultInstanceType)(WorldInterface *world,
std::string manipulatorType,
EventNetworkInterface* eventNetwork,
@@ -81,20 +77,13 @@ public:
//! function pointer using the parameters from either the action interface
//! or the ManipulatorParameters to get a manipulator
//!
- //! @param[in] action Action interface containing manipulator
- //! parameters
//! @param[in] manipulatorType The type of the manipulator to be instantiated;
//! this is only necessary if no action is passed
- //! @param[in] parameters The parameters for the manipulator; this is
- //! only necessary if no action is passed
//! @param[in] eventNetwork The event network within which the manipulator inserts events
//! @param[in] world World instance
+ //! @param[in] publisher Publisher
//! @return Manipulator created
//-----------------------------------------------------------------------------
- Manipulator *CreateManipulator(const openScenario::ManipulatorInformation manipulatorInformation,
- EventNetworkInterface* eventNetwork,
- WorldInterface* world);
-
Manipulator *CreateManipulator(const std::string& manipulatorType,
EventNetworkInterface* eventNetwork,
WorldInterface* world,
@@ -102,7 +91,6 @@ public:
private:
const std::string DllGetVersionId = "OpenPASS_GetVersion";
- const std::string DllCreateInstanceId = "OpenPASS_CreateInstance";
const std::string DllCreateDefaultInstanceId = "OpenPASS_CreateDefaultInstance";
const std::string DllDestroyInstanceId = "OpenPASS_DestroyInstance";
@@ -111,7 +99,6 @@ private:
QLibrary *library = nullptr;
CallbackInterface *callbacks;
ManipulatorInterface_GetVersion getVersionFunc;
- ManipulatorInterface_CreateInstanceType createInstanceFunc;
ManipulatorInterface_CreateDefaultInstanceType createDefaultInstanceFunc;
ManipulatorInterface_DestroyInstanceType destroyInstanceFunc;
};
diff --git a/sim/src/core/opSimulation/bindings/modelBinding.cpp b/sim/src/core/opSimulation/bindings/modelBinding.cpp
index 27d8552f8e180debf3fd161912dd1ffa3344626e..71de4918dd5bbbe77ee50f6b2e89e867e31d1eb6 100644
--- a/sim/src/core/opSimulation/bindings/modelBinding.cpp
+++ b/sim/src/core/opSimulation/bindings/modelBinding.cpp
@@ -38,7 +38,7 @@ ComponentInterface *ModelBinding::Instantiate(std::shared_ptr<ComponentType> com
WorldInterface *world,
ObservationNetworkInterface *observationNetwork,
Agent *agent,
- EventNetworkInterface *eventNetwork,
+ std::shared_ptr<ControlStrategiesInterface> const controlStrategies,
PublisherInterface *publisher)
{
const std::string name = componentType->GetModelLibrary();
@@ -83,7 +83,7 @@ ComponentInterface *ModelBinding::Instantiate(std::shared_ptr<ComponentType> com
world,
observationNetwork,
agent,
- eventNetwork,
+ controlStrategies,
publisher);
}
diff --git a/sim/src/core/opSimulation/bindings/modelBinding.h b/sim/src/core/opSimulation/bindings/modelBinding.h
index b00b36f75168f16c161c46720e42f547d7f015d1..ff4508896661779ffc28f8481c4c19a96b79fbc5 100644
--- a/sim/src/core/opSimulation/bindings/modelBinding.h
+++ b/sim/src/core/opSimulation/bindings/modelBinding.h
@@ -74,7 +74,7 @@ public:
WorldInterface *world,
ObservationNetworkInterface *observationNetwork,
Agent *agent,
- EventNetworkInterface *eventNetwork,
+ std::shared_ptr<ControlStrategiesInterface> const controlStrategies,
PublisherInterface *publisher);
//-----------------------------------------------------------------------------
diff --git a/sim/src/core/opSimulation/bindings/modelLibrary.cpp b/sim/src/core/opSimulation/bindings/modelLibrary.cpp
index 9bf27a1c2a0479173fadf31e7f09dd398f7a5639..ef8b7f614806076c16749136c482504c8d768f3e 100644
--- a/sim/src/core/opSimulation/bindings/modelLibrary.cpp
+++ b/sim/src/core/opSimulation/bindings/modelLibrary.cpp
@@ -184,7 +184,7 @@ ComponentInterface* ModelLibrary::CreateComponent(std::shared_ptr<ComponentType>
WorldInterface* world,
ObservationNetworkInterface* observationNetwork,
Agent* agent,
- EventNetworkInterface* eventNetwork,
+ std::shared_ptr<ControlStrategiesInterface> const controlStrategies,
PublisherInterface* publisher)
{
if (!library)
@@ -255,7 +255,7 @@ ComponentInterface* ModelLibrary::CreateComponent(std::shared_ptr<ComponentType>
}
else*/ if (version == "0.1.0")
{
- implementation = reinterpret_cast<UnrestrictedEventModelInterface_CreateInstanceType>(createInstanceFunc)(
+ implementation = reinterpret_cast<UnrestrictedControllStrategyModelInterface_CreateInstanceType>(createInstanceFunc)(
componentName,
componentType->GetInit(),
componentType->GetPriority(),
@@ -268,7 +268,7 @@ ComponentInterface* ModelLibrary::CreateComponent(std::shared_ptr<ComponentType>
publisher,
agent->GetAgentAdapter(),
callbacks,
- eventNetwork);
+ controlStrategies);
}
else
{
diff --git a/sim/src/core/opSimulation/bindings/modelLibrary.h b/sim/src/core/opSimulation/bindings/modelLibrary.h
index 52de56ecf8dc744da40b795faf570b8812336f1d..50444021ac4ad7fb3aba17eab08f124287a0621a 100644
--- a/sim/src/core/opSimulation/bindings/modelLibrary.h
+++ b/sim/src/core/opSimulation/bindings/modelLibrary.h
@@ -49,7 +49,7 @@ public:
PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks);
- typedef ModelInterface *(*UnrestrictedEventModelInterface_CreateInstanceType)(std::string componentName,
+ typedef ModelInterface *(*UnrestrictedControllStrategyModelInterface_CreateInstanceType)(std::string componentName,
bool isInit,
int priority,
int offsetTime,
@@ -61,7 +61,7 @@ public:
PublisherInterface * const publisher,
AgentInterface *agent,
const CallbackInterface *callbacks,
- const core::EventNetworkInterface *eventNetwork);
+ std::shared_ptr<ControlStrategiesInterface> const controlStrategies);
typedef void (*ModelInterface_DestroyInstanceType)(ModelInterface *implementation);
typedef bool (*ModelInterface_UpdateInputType)(ModelInterface *implementation,
int localLinkId,
@@ -119,7 +119,7 @@ public:
//! @param[in] world The world interface
//! @param[in] observationNetwork Network of the observation modules
//! @param[in] agent Agent instance
- //! @param[in] eventNetwork Instance of the internal event logic
+ //! @param[in] controlStrategies Contrl strategies of the entity
//! @param[in] publisher Publisher instance
//! @return
//-----------------------------------------------------------------------------
@@ -130,7 +130,7 @@ public:
WorldInterface *world,
ObservationNetworkInterface *observationNetwork,
Agent *agent,
- EventNetworkInterface *eventNetwork,
+ std::shared_ptr<ControlStrategiesInterface> const controlStrategies,
PublisherInterface *publisher);
//-----------------------------------------------------------------------------
diff --git a/sim/src/core/opSimulation/bindings/spawnPointLibrary.h b/sim/src/core/opSimulation/bindings/spawnPointLibrary.h
index b37116508254e95fa65f42dd6c4402a4601300ea..b2c8a2575235b6f6e324afd4acc8bb253158a755 100644
--- a/sim/src/core/opSimulation/bindings/spawnPointLibrary.h
+++ b/sim/src/core/opSimulation/bindings/spawnPointLibrary.h
@@ -25,7 +25,6 @@
#include "include/callbackInterface.h"
#include "include/agentBlueprintInterface.h"
#include "include/agentBlueprintProviderInterface.h"
-#include "include/scenarioInterface.h"
#include "common/spawnPointLibraryDefinitions.h"
namespace core
diff --git a/sim/src/core/opSimulation/bindings/world.h b/sim/src/core/opSimulation/bindings/world.h
index 81d2f3a6cc1274b7660caea4ec7767fea642adce..204083ce242209c2e599e6bde9ebbcd7d9d69596 100644
--- a/sim/src/core/opSimulation/bindings/world.h
+++ b/sim/src/core/opSimulation/bindings/world.h
@@ -88,7 +88,7 @@ public:
return implementation->GetTimeOfDay();
}
- double GetVisibilityDistance() const override
+ units::length::meter_t GetVisibilityDistance() const override
{
return implementation->GetVisibilityDistance();
}
@@ -133,9 +133,14 @@ public:
return implementation->SyncGlobalData(timestamp);
}
- bool CreateScenery(const SceneryInterface* scenery, const SceneryDynamicsInterface& sceneryDynamics, const TurningRates& turningRates) override
+ bool CreateScenery(const SceneryInterface* scenery, const TurningRates& turningRates) override
{
- return implementation->CreateScenery(scenery, sceneryDynamics, turningRates);
+ return implementation->CreateScenery(scenery, turningRates);
+ }
+
+ void SetWeather(const mantle_api::Weather& weather) override
+ {
+ return implementation->SetWeather(weather);
}
AgentInterface* CreateAgentAdapterForAgent() override
@@ -143,7 +148,7 @@ public:
return implementation->CreateAgentAdapterForAgent();
}
- AgentInterface& CreateAgentAdapter(const AgentBlueprintInterface& agentBlueprint) override
+ AgentInterface &CreateAgentAdapter(const AgentBuildInstructions &agentBlueprint) override
{
return implementation->CreateAgentAdapter(agentBlueprint);
}
@@ -159,44 +164,44 @@ public:
return implementation->ResolveRelativePoint(roadGraph, startNode, relativePoint, object);
}
- RouteQueryResult<AgentInterfaces> GetAgentsInRange(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double startDistance,
- double backwardRange, double forwardRange) const override
+ RouteQueryResult<AgentInterfaces> GetAgentsInRange(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t startDistance,
+ units::length::meter_t backwardRange, units::length::meter_t forwardRange) const override
{
return implementation->GetAgentsInRange(roadGraph, startNode, laneId, startDistance, backwardRange, forwardRange);
}
- RouteQueryResult<std::vector<const WorldObjectInterface*>> GetObjectsInRange(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double startDistance,
- double backwardRange, double forwardRange) const override
+ RouteQueryResult<std::vector<const WorldObjectInterface*>> GetObjectsInRange(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t startDistance,
+ units::length::meter_t backwardRange, units::length::meter_t forwardRange) const override
{
return implementation->GetObjectsInRange(roadGraph, startNode, laneId, startDistance, backwardRange, forwardRange);
}
- AgentInterfaces GetAgentsInRangeOfJunctionConnection(std::string connectingRoadId, double range) const override
+ AgentInterfaces GetAgentsInRangeOfJunctionConnection(std::string connectingRoadId, units::length::meter_t range) const override
{
return implementation->GetAgentsInRangeOfJunctionConnection(connectingRoadId, range);
}
- double GetDistanceToConnectorEntrance(/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const override
+ units::length::meter_t GetDistanceToConnectorEntrance(/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const override
{
return implementation->GetDistanceToConnectorEntrance(/*position,*/ intersectingConnectorId, intersectingLaneId, ownConnectorId);
}
- double GetDistanceToConnectorDeparture(/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const override
+ units::length::meter_t GetDistanceToConnectorDeparture(/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const override
{
return implementation->GetDistanceToConnectorDeparture(/*position,*/ intersectingConnectorId, intersectingLaneId, ownConnectorId);
}
- Position LaneCoord2WorldCoord(double distance, double offset, std::string roadId, int laneId) const override
+ Position LaneCoord2WorldCoord(units::length::meter_t distance, units::length::meter_t offset, std::string roadId, int laneId) const override
{
return implementation->LaneCoord2WorldCoord(distance, offset, roadId, laneId);
}
- GlobalRoadPositions WorldCoord2LaneCoord(double x, double y, double heading) const override
+ GlobalRoadPositions WorldCoord2LaneCoord(units::length::meter_t x, units::length::meter_t y, units::angle::radian_t heading) const override
{
return implementation->WorldCoord2LaneCoord(x, y, heading);
}
- bool IsSValidOnLane(std::string roadId, int laneId, double distance) override
+ bool IsSValidOnLane(std::string roadId, int laneId, units::length::meter_t distance) override
{
return implementation->IsSValidOnLane(roadId, laneId, distance);
}
@@ -206,49 +211,49 @@ public:
return implementation->IsDirectionalRoadExisting(roadId, inOdDirection);
}
- bool IsLaneTypeValid(const std::string &roadId, const int laneId, const double distanceOnLane, const LaneTypes& validLaneTypes) override
+ bool IsLaneTypeValid(const std::string &roadId, const int laneId, const units::length::meter_t distanceOnLane, const LaneTypes& validLaneTypes) override
{
return implementation->IsLaneTypeValid(roadId, laneId, distanceOnLane, validLaneTypes);
}
- double GetLaneCurvature(std::string roadId, int laneId, double position) const override
+ units::curvature::inverse_meter_t GetLaneCurvature(std::string roadId, int laneId, units::length::meter_t position) const override
{
return implementation->GetLaneCurvature(roadId, laneId, position);
}
- RouteQueryResult<std::optional<double> > GetLaneCurvature(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double position, double distance) const override
+ RouteQueryResult<std::optional<units::curvature::inverse_meter_t> > GetLaneCurvature(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t position, units::length::meter_t distance) const override
{
return implementation->GetLaneCurvature(roadGraph, startNode, laneId, position, distance);
}
- double GetLaneWidth(std::string roadId, int laneId, double position) const override
+ units::length::meter_t GetLaneWidth(std::string roadId, int laneId, units::length::meter_t position) const override
{
return implementation->GetLaneWidth(roadId, laneId, position);
}
- RouteQueryResult<std::optional<double> > GetLaneWidth(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double position, double distance) const override
+ RouteQueryResult<std::optional<units::length::meter_t> > GetLaneWidth(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t position, units::length::meter_t distance) const override
{
return implementation->GetLaneWidth(roadGraph, startNode, laneId, position, distance);
}
- double GetLaneDirection(std::string roadId, int laneId, double position) const override
+ units::angle::radian_t GetLaneDirection(std::string roadId, int laneId, units::length::meter_t position) const override
{
return implementation->GetLaneDirection(roadId, laneId, position);
}
- RouteQueryResult<std::optional<double> > GetLaneDirection(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double position, double distance) const override
+ RouteQueryResult<std::optional<units::angle::radian_t> > GetLaneDirection(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t position, units::length::meter_t distance) const override
{
return implementation->GetLaneDirection(roadGraph, startNode, laneId, position, distance);
}
- RouteQueryResult<double> GetDistanceToEndOfLane(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double initialSearchDistance,
- double maximumSearchLength) const override
+ RouteQueryResult<units::length::meter_t> GetDistanceToEndOfLane(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t initialSearchDistance,
+ units::length::meter_t maximumSearchLength) const override
{
return implementation->GetDistanceToEndOfLane(roadGraph, startNode, laneId, initialSearchDistance, maximumSearchLength);
}
- RouteQueryResult<double> GetDistanceToEndOfLane(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double initialSearchDistance,
- double maximumSearchLength, const LaneTypes& laneTypes) const override
+ RouteQueryResult<units::length::meter_t> GetDistanceToEndOfLane(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t initialSearchDistance,
+ units::length::meter_t maximumSearchLength, const LaneTypes& laneTypes) const override
{
return implementation->GetDistanceToEndOfLane(roadGraph, startNode, laneId, initialSearchDistance, maximumSearchLength, laneTypes);
}
@@ -258,7 +263,7 @@ public:
return implementation->GetLaneSections(roadId);
}
- bool IntersectsWithAgent(double x, double y, double rotation, double length, double width, double center) override
+ bool IntersectsWithAgent(units::length::meter_t x, units::length::meter_t y, units::angle::radian_t rotation, units::length::meter_t length, units::length::meter_t width, units::length::meter_t center) override
{
return implementation->IntersectsWithAgent(x, y, rotation, length, width, center);
}
@@ -268,7 +273,7 @@ public:
return implementation->RoadCoord2WorldCoord(roadCoord, roadID);
}
- double GetRoadLength (const std::string& roadId) const override
+ units::length::meter_t GetRoadLength (const std::string& roadId) const override
{
return implementation->GetRoadLength(roadId);
}
@@ -307,45 +312,45 @@ public:
}
RouteQueryResult<std::vector<CommonTrafficSign::Entity>> GetTrafficSignsInRange(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId,
- double startDistance, double searchRange) const override
+ units::length::meter_t startDistance, units::length::meter_t searchRange) const override
{
return implementation->GetTrafficSignsInRange(roadGraph, startNode, laneId, startDistance, searchRange);
}
RouteQueryResult<std::vector<CommonTrafficSign::Entity>> GetRoadMarkingsInRange(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId,
- double startDistance, double searchRange) const override
+ units::length::meter_t startDistance, units::length::meter_t searchRange) const override
{
return implementation->GetRoadMarkingsInRange(roadGraph, startNode, laneId, startDistance, searchRange);
}
RouteQueryResult<std::vector<CommonTrafficLight::Entity>> GetTrafficLightsInRange(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId,
- double startDistance, double searchRange) const override
+ units::length::meter_t startDistance, units::length::meter_t searchRange) const override
{
return implementation->GetTrafficLightsInRange(roadGraph, startNode, laneId, startDistance, searchRange);
}
RouteQueryResult<std::vector<LaneMarking::Entity>> GetLaneMarkings(const RoadGraph& roadGraph, RoadGraphVertex startNode,
- int laneId, double startDistance, double range, Side side) const override
+ int laneId, units::length::meter_t startDistance, units::length::meter_t range, Side side) const override
{
return implementation->GetLaneMarkings(roadGraph, startNode,laneId, startDistance, range, side);
}
- [[deprecated]] RouteQueryResult<RelativeWorldView::Roads> GetRelativeJunctions(const RoadGraph &roadGraph, RoadGraphVertex startNode, double startDistance, double range) const override
+ [[deprecated]] RouteQueryResult<RelativeWorldView::Roads> GetRelativeJunctions(const RoadGraph &roadGraph, RoadGraphVertex startNode, units::length::meter_t startDistance, units::length::meter_t range) const override
{
return implementation->GetRelativeJunctions(roadGraph, startNode, startDistance, range);
}
- RouteQueryResult<RelativeWorldView::Roads> GetRelativeRoads(const RoadGraph& roadGraph, RoadGraphVertex startNode, double startDistance, double range) const override
+ RouteQueryResult<RelativeWorldView::Roads> GetRelativeRoads(const RoadGraph& roadGraph, RoadGraphVertex startNode, units::length::meter_t startDistance, units::length::meter_t range) const override
{
return implementation->GetRelativeRoads(roadGraph, startNode, startDistance, range);
}
- RouteQueryResult<RelativeWorldView::Lanes> GetRelativeLanes(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double distance, double range, bool includeOncoming = true) const override
+ RouteQueryResult<RelativeWorldView::Lanes> GetRelativeLanes(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t distance, units::length::meter_t range, bool includeOncoming = true) const override
{
return implementation->GetRelativeLanes(roadGraph, startNode, laneId, distance, range, includeOncoming);
}
- RouteQueryResult<std::optional<int>> GetRelativeLaneId(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double distance, GlobalRoadPositions targetPosition) const override
+ RouteQueryResult<std::optional<int>> GetRelativeLaneId(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t distance, GlobalRoadPositions targetPosition) const override
{
return implementation->GetRelativeLaneId(roadGraph, startNode, laneId, distance, targetPosition);
}
@@ -391,7 +396,7 @@ public:
}
virtual RouteQueryResult<Obstruction> GetObstruction(const RoadGraph &roadGraph, RoadGraphVertex startNode, const GlobalRoadPosition &ownPosition,
- const std::map<ObjectPoint, Common::Vector2d> &points, const RoadIntervals &touchedRoads) const override
+ const std::map<ObjectPoint, Common::Vector2d<units::length::meter_t>> &points, const RoadIntervals &touchedRoads) const override
{
return implementation->GetObstruction(roadGraph, startNode, ownPosition, points, touchedRoads);
}
@@ -445,7 +450,7 @@ public:
{
return implementation->CreateWorldScenario(scenarioFilename);
}
- RouteQueryResult<std::optional<double>> GetDistanceBetweenObjects(const RoadGraph& roadGraph, RoadGraphVertex startNode, double ownPosition, const GlobalRoadPositions &target) const override
+ RouteQueryResult<std::optional<units::length::meter_t>> GetDistanceBetweenObjects(const RoadGraph& roadGraph, RoadGraphVertex startNode, units::length::meter_t ownPosition, const GlobalRoadPositions &target) const override
{
return implementation->GetDistanceBetweenObjects(roadGraph, startNode, ownPosition, target);
}
@@ -453,6 +458,10 @@ public:
{
return implementation->GetRadio();
}
+ virtual uint64_t GetUniqueLaneId(std::string roadId, int laneId, units::length::meter_t position) const override
+ {
+ return implementation->GetUniqueLaneId(roadId, laneId, position);
+ }
private:
WorldBinding* worldBinding = nullptr;
diff --git a/sim/src/core/opSimulation/framework/agentBlueprintProvider.cpp b/sim/src/core/opSimulation/framework/agentBlueprintProvider.cpp
index 50d9ef7225f424e1a3179f8fd6206e0d5b0b3065..577d8c8f91ed4011d573d75f86afd92ad0d762aa 100644
--- a/sim/src/core/opSimulation/framework/agentBlueprintProvider.cpp
+++ b/sim/src/core/opSimulation/framework/agentBlueprintProvider.cpp
@@ -12,26 +12,48 @@
#include "systemConfigImporter.h"
#include "dynamicProfileSampler.h"
#include "dynamicParametersSampler.h"
-#include "agentBlueprint.h"
+#include "sampler.h"
#include "common/log.h"
-AgentBlueprintProvider::AgentBlueprintProvider(ConfigurationContainerInterface *configurationContainer, StochasticsInterface& stochastics) :
+AgentBlueprintProvider::AgentBlueprintProvider(ConfigurationContainerInterface *configurationContainer, StochasticsInterface* stochastics) :
stochastics(stochastics),
profiles(configurationContainer->GetProfiles()),
- agentProfiles(configurationContainer->GetProfiles()->GetAgentProfiles()),
- vehicleModels(configurationContainer->GetVehicleModels()),
+ agentProfiles(&(configurationContainer->GetProfiles()->GetAgentProfiles())),
systemConfigBlueprint(configurationContainer->GetSystemConfigBlueprint()),
- systemConfigs(configurationContainer->GetSystemConfigs())
+ systemConfigs(&(configurationContainer->GetSystemConfigs()))
{
}
-AgentBlueprint AgentBlueprintProvider::SampleAgent(const std::string& agentProfileName, const openScenario::Parameters& assignedParameters) const
+void AgentBlueprintProvider::Init(ConfigurationContainerInterface *configurationContainer, StochasticsInterface* stochastics)
{
- AgentBlueprint agentBlueprint;
+ profiles = configurationContainer->GetProfiles();
+ agentProfiles = &(configurationContainer->GetProfiles()->GetAgentProfiles());
+ systemConfigBlueprint = configurationContainer->GetSystemConfigBlueprint();
+ systemConfigs = &(configurationContainer->GetSystemConfigs());
+ this->stochastics = stochastics;
+}
+
+std::string AgentBlueprintProvider::SampleVehicleModelName(const std::string &agentProfileName) const
+{
+ auto agentProfile = agentProfiles->at(agentProfileName);
+
+ if (agentProfile.type == AgentProfileType::Dynamic)
+ {
+ auto probabilities = profiles->GetVehicleModelsProbabilities(agentProfileName);
+ return Sampler::Sample(probabilities, stochastics);
+ }
+ else
+ {
+ return agentProfile.vehicleModel;
+ }
+}
+
+System AgentBlueprintProvider::SampleSystem(const std::string &agentProfileName) const
+{
try
{
- const auto agentProfile = agentProfiles.at(agentProfileName);
+ const auto agentProfile = agentProfiles->at(agentProfileName);
if (agentProfile.type == AgentProfileType::Dynamic)
{
if(systemConfigBlueprint == nullptr)
@@ -39,27 +61,22 @@ AgentBlueprint AgentBlueprintProvider::SampleAgent(const std::string& agentProfi
LogErrorAndThrow("Couldn't instantiate AgentProfile:" + agentProfileName + ". SystemConfigBlueprint is either missing or invalid.");
}
- SampledProfiles sampledProfiles = SampledProfiles::make(agentProfileName, stochastics, profiles)
+ SampledProfiles sampledProfiles = SampledProfiles::make(agentProfileName, *stochastics, profiles)
.SampleDriverProfile()
- .SampleVehicleProfile()
+ .SampleSystemProfile()
.SampleVehicleComponentProfiles();
- DynamicParameters dynamicParameters = DynamicParameters::make(stochastics, sampledProfiles.vehicleProfileName, profiles)
+ DynamicParameters dynamicParameters = DynamicParameters::make(*stochastics, sampledProfiles.systemProfileName, profiles)
.SampleSensorLatencies();
- AgentBuildInformation agentBuildInformation = AgentBuildInformation::make(sampledProfiles, dynamicParameters, systemConfigBlueprint, profiles, vehicleModels)
- .SetVehicleModelParameters(assignedParameters)
+ AgentBuildInformation agentBuildInformation = AgentBuildInformation::make(sampledProfiles, dynamicParameters, systemConfigBlueprint, profiles)
.GatherBasicComponents()
.GatherDriverComponents()
.GatherVehicleComponents()
.GatherSensors();
- GenerateDynamicAgentBlueprint(agentBlueprint, agentBuildInformation, sampledProfiles.driverProfileName);
-
- return agentBlueprint;
+ return GenerateDynamicAgentBlueprint(agentBuildInformation, agentProfileName, sampledProfiles.driverProfileName);
}
else
{
- GenerateStaticAgentBlueprint(agentBlueprint, agentProfile.systemConfigFile, agentProfile.systemId, agentProfile.vehicleModel);
-
- return agentBlueprint;
+ return GenerateStaticAgentBlueprint(agentProfile.systemConfigFile, agentProfile.systemId, agentProfileName);
}
}
catch (const std::out_of_range& e)
@@ -76,25 +93,28 @@ AgentBlueprint AgentBlueprintProvider::SampleAgent(const std::string& agentProfi
}
}
-void AgentBlueprintProvider::GenerateDynamicAgentBlueprint(AgentBlueprintInterface &agentBlueprint, AgentBuildInformation agentBuildInformation, std::string &driverProfileName) const
+System AgentBlueprintProvider::GenerateDynamicAgentBlueprint(AgentBuildInformation agentBuildInformation,
+ const std::string agentProfileName,
+ const std::string& driverProfileName) const
{
- agentBlueprint.SetVehicleModelName(agentBuildInformation.vehicleModelName);
- agentBlueprint.SetVehicleModelParameters(agentBuildInformation.vehicleModelParameters);
- agentBlueprint.SetDriverProfileName(driverProfileName);
- agentBlueprint.SetAgentType(agentBuildInformation.agentType);
-
- for(const auto& sensor : agentBuildInformation.sensorParameters)
- {
- agentBlueprint.AddSensor(sensor);
- }
+ System system;
+ system.agentProfileName = agentProfileName;
+ system.driverProfileName = driverProfileName;
+ system.agentType = agentBuildInformation.agentType;
+ system.sensorParameters = agentBuildInformation.sensorParameters;
+ return system;
}
-void AgentBlueprintProvider::GenerateStaticAgentBlueprint(AgentBlueprintInterface &agentBlueprint, std::string systemConfigName, int systemId, std::string vehicleModelName) const
+System AgentBlueprintProvider::GenerateStaticAgentBlueprint(std::string systemConfigName,
+ int systemId,
+ const std::string& agentProfileName) const
{
+ System system;
+ system.agentProfileName = agentProfileName;
try
{
- const auto& systems = systemConfigs.at(systemConfigName)->GetSystems();
- agentBlueprint.SetAgentType(systems.at(systemId));
+ const auto& systems = systemConfigs->at(systemConfigName)->GetSystems();
+ system.agentType = systems.at(systemId);
}
catch (const std::out_of_range& e)
{
@@ -102,8 +122,5 @@ void AgentBlueprintProvider::GenerateStaticAgentBlueprint(AgentBlueprintInterfac
LOG_INTERN(LogLevel::Error) << message;
throw std::runtime_error(message);
}
-
- agentBlueprint.SetVehicleModelName(vehicleModelName);
- const auto vehicleModelParameters = vehicleModels->GetVehicleModel(vehicleModelName);
- agentBlueprint.SetVehicleModelParameters(vehicleModelParameters);
+ return system;
}
diff --git a/sim/src/core/opSimulation/framework/agentBlueprintProvider.h b/sim/src/core/opSimulation/framework/agentBlueprintProvider.h
index 2458c54f1a54ea070f7fae1592427329c8344b2d..e5ac6998cd0cbec1f5fff935ab3f97d7e9323e1a 100644
--- a/sim/src/core/opSimulation/framework/agentBlueprintProvider.h
+++ b/sim/src/core/opSimulation/framework/agentBlueprintProvider.h
@@ -24,7 +24,11 @@
class SIMULATIONCOREEXPORT AgentBlueprintProvider : public AgentBlueprintProviderInterface
{
public:
- AgentBlueprintProvider(ConfigurationContainerInterface* configurationContainer, StochasticsInterface& stochastics);
+ AgentBlueprintProvider() = default;
+
+ AgentBlueprintProvider(ConfigurationContainerInterface* configurationContainer, StochasticsInterface* stochastics);
+
+ void Init(ConfigurationContainerInterface *configurationContainer, StochasticsInterface* stochastics);
/*!
* \brief Samples an entire agent
@@ -33,11 +37,12 @@ public:
* profiles and builds an AgentType from this or loads the AgentType from the specified SystemConfig
*
* \param agentProfileName name of agent profile to sample
- * \param assignedParameters parameters assigned by a catalog reference if appropriate
*
* \return sampled AgentBlueprint if successful
*/
- virtual AgentBlueprint SampleAgent(const std::string& agentProfileName, const openScenario::Parameters& assignedParameters) const override;
+ virtual System SampleSystem(const std::string &agentProfileName) const override;
+
+ std::string SampleVehicleModelName(const std::string &agentProfileName) const override;
/*!
* \brief Store sampled information in AgentBlueprint for dynamic AgentProfile
@@ -45,9 +50,9 @@ public:
* \param agentBuildInformation AgentBuildInformation with information to store into the agentBlueprint
* \param driverProfileName name of sampled DriverProfile
*/
- void GenerateDynamicAgentBlueprint(AgentBlueprintInterface& agentBlueprint,
- AgentBuildInformation agentBuildInformation,
- std::string& driverProfileName) const;
+ System GenerateDynamicAgentBlueprint(AgentBuildInformation agentBuildInformation,
+ const std::string agentProfileName,
+ const std::string& driverProfileName) const;
/*!
* \brief Store sampled information in AgentBlueprint for static AgentProfile
@@ -57,17 +62,15 @@ public:
* @param[in] systemId Id of system to build (referes to given systemConfig
* @param[in] vehicleModelName Name of vehicle model for system
*/
- void GenerateStaticAgentBlueprint(AgentBlueprintInterface& agentBlueprint,
- std::string systemConfigName,
- int systemId,
- std::string vehicleModelName) const;
+ System GenerateStaticAgentBlueprint(std::string systemConfigName,
+ int systemId,
+ const std::string& agentProfileName) const;
private:
- StochasticsInterface& stochastics;
+ StochasticsInterface* stochastics {nullptr};
const ProfilesInterface* profiles {nullptr};
- const std::unordered_map<std::string, AgentProfile>& agentProfiles;
- const VehicleModelsInterface* vehicleModels {nullptr};
- std::shared_ptr<SystemConfigInterface> systemConfigBlueprint;
- const std::map<std::string, std::shared_ptr<SystemConfigInterface>>& systemConfigs;
+ const std::unordered_map<std::string, AgentProfile>* agentProfiles {nullptr};
+ std::shared_ptr<SystemConfigInterface> systemConfigBlueprint {nullptr};
+ const std::map<std::string, std::shared_ptr<SystemConfigInterface>>* systemConfigs {nullptr};
};
diff --git a/sim/src/core/opSimulation/framework/agentFactory.cpp b/sim/src/core/opSimulation/framework/agentFactory.cpp
index 4a8ecb6d770b73fc06f085f3a55c9d9a08e2f104..020c4d82e02c167e1af722298ebdc8395a222069 100644
--- a/sim/src/core/opSimulation/framework/agentFactory.cpp
+++ b/sim/src/core/opSimulation/framework/agentFactory.cpp
@@ -9,50 +9,45 @@
* SPDX-License-Identifier: EPL-2.0
********************************************************************************/
+#include "agentFactory.h"
+
#include <algorithm>
#include <list>
#include <sstream>
#include "agent.h"
-#include "agentFactory.h"
-#include "agentType.h"
-#include "channel.h"
-#include "channelBuffer.h"
-
#include "agentDataPublisher.h"
+#include "agentType.h"
#include "bindings/modelBinding.h"
-#include "spawnPoint.h"
#include "bindings/stochastics.h"
-
+#include "channel.h"
+#include "channelBuffer.h"
#include "common/log.h"
-#include "modelElements/parameters.h"
#include "include/componentInterface.h"
#include "include/observationNetworkInterface.h"
#include "include/worldInterface.h"
+#include "modelElements/parameters.h"
+#include "spawnPoint.h"
const std::string AgentCategoryStrings[] =
-{
- "Ego",
- "Scenario",
- "Common"
-};
+ {
+ "Ego",
+ "Scenario",
+ "Common"};
class DataBufferInterface;
-namespace core
-{
+namespace core {
AgentFactory::AgentFactory(ModelBinding *modelBinding,
WorldInterface *world,
Stochastics *stochastics,
ObservationNetworkInterface *observationNetwork,
- EventNetworkInterface *eventNetwork,
- DataBufferWriteInterface* dataBuffer) :
+ DataBufferWriteInterface *dataBuffer) :
modelBinding(modelBinding),
world(world),
stochastics(stochastics),
observationNetwork(observationNetwork),
- eventNetwork(eventNetwork),
dataBuffer(dataBuffer)
{
}
@@ -62,27 +57,27 @@ void AgentFactory::Clear()
agentList.clear();
}
-Agent* AgentFactory::AddAgent(AgentBlueprintInterface* agentBlueprint)
+Agent *AgentFactory::AddAgent(const AgentBuildInstructions &agentBuildInstructions)
{
try
{
- auto agent = CreateAgent(*agentBlueprint);
- PublishProperties(*agent);
+ auto agent = CreateAgent(agentBuildInstructions);
+ PublishProperties(agentBuildInstructions, agent->GetId());
agentList.push_back(std::move(agent));
return agentList.back().get();
}
- catch (const std::runtime_error& e)
+ catch (const std::runtime_error &e)
{
LOG_INTERN(LogLevel::Error) << "could not create agent: " << e.what();
return nullptr;
}
}
-std::unique_ptr<Agent> AgentFactory::CreateAgent(const AgentBlueprintInterface& agentBlueprint)
+std::unique_ptr<Agent> AgentFactory::CreateAgent(const AgentBuildInstructions &agentBuildInstructions)
{
LOG_INTERN(LogLevel::DebugCore) << "create new agent";
- auto agent = std::make_unique<Agent>(world, agentBlueprint);
+ auto agent = std::make_unique<Agent>(world, agentBuildInstructions);
if (!agent)
{
@@ -94,11 +89,10 @@ std::unique_ptr<Agent> AgentFactory::CreateAgent(const AgentBlueprintInterface&
LOG_INTERN(LogLevel::DebugCore) << "agent created (" << agent->GetId() << ")";
}
- if (!agent->Instantiate(agentBlueprint,
+ if (!agent->Instantiate(agentBuildInstructions,
modelBinding,
stochastics,
observationNetwork,
- eventNetwork,
dataBuffer))
{
LOG_INTERN(LogLevel::Error) << "agent could not be instantiated";
@@ -117,36 +111,36 @@ std::unique_ptr<Agent> AgentFactory::CreateAgent(const AgentBlueprintInterface&
bool AgentFactory::ConnectAgentLinks(Agent *agent)
{
- for(const std::pair<const std::string, ComponentInterface*> &itemComponent : agent->GetComponents())
+ for (const std::pair<const std::string, ComponentInterface *> &itemComponent : agent->GetComponents())
{
- if(!itemComponent.second)
+ if (!itemComponent.second)
{
return false;
}
- for(const std::pair<const int, Channel*> &itemChannel : itemComponent.second->GetOutputLinks())
+ for (const std::pair<const int, Channel *> &itemChannel : itemComponent.second->GetOutputLinks())
{
int outputLinkId = itemChannel.first;
Channel *channel = itemChannel.second;
- if(!channel)
+ if (!channel)
{
return false;
}
ComponentInterface *source = channel->GetSource();
- if(!source)
+ if (!source)
{
return false;
}
ChannelBuffer *buffer = source->CreateOutputBuffer(outputLinkId);
- if(!buffer || !(channel->AttachSourceBuffer(buffer)))
+ if (!buffer || !(channel->AttachSourceBuffer(buffer)))
{
return false;
}
// channel buffer is now attached to channel and will be released when deleting the agent
- for(const std::tuple<int, ComponentInterface*> &item : channel->GetTargets())
+ for (const std::tuple<int, ComponentInterface *> &item : channel->GetTargets())
{
int targetLinkId = std::get<static_cast<size_t>(Channel::TargetLinkType::LinkId)>(item);
ComponentInterface *targetComponent = std::get<static_cast<size_t>(Channel::TargetLinkType::Component)>(item);
@@ -158,34 +152,39 @@ bool AgentFactory::ConnectAgentLinks(Agent *agent)
return true;
}
-void AgentFactory::PublishProperties(const Agent& agent)
+void AgentFactory::PublishProperties(const AgentBuildInstructions &agentBuildInstructions, int agentId)
{
- const auto adapter = agent.GetAgentAdapter();
- const std::string keyPrefix = "Agents/" + std::to_string(agent.GetId()) + "/";
- dataBuffer->PutStatic(keyPrefix + "AgentTypeGroupName", AgentCategoryStrings[static_cast<int>(adapter->GetAgentCategory())]);
- dataBuffer->PutStatic(keyPrefix + "AgentTypeName", adapter->GetAgentTypeName());
- dataBuffer->PutStatic(keyPrefix + "VehicleModelType", adapter->GetVehicleModelType());
- dataBuffer->PutStatic(keyPrefix + "DriverProfileName", adapter->GetDriverProfileName());
- dataBuffer->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();
- dataBuffer->PutStatic(keyPrefix + "Vehicle/Width", vehicleModelParameters.boundingBoxDimensions.width);
- dataBuffer->PutStatic(keyPrefix + "Vehicle/Length", vehicleModelParameters.boundingBoxDimensions.length);
- dataBuffer->PutStatic(keyPrefix + "Vehicle/Height", vehicleModelParameters.boundingBoxDimensions.height);
- dataBuffer->PutStatic(keyPrefix + "Vehicle/LongitudinalPivotOffset", -vehicleModelParameters.boundingBoxCenter.x);
-
- for (const auto& sensor : adapter->GetSensorParameters())
+ const std::string keyPrefix = "Agents/" + std::to_string(agentId) + "/";
+ dataBuffer->PutStatic(keyPrefix + "AgentTypeGroupName", AgentCategoryStrings[static_cast<int>(agentBuildInstructions.agentCategory)]);
+ dataBuffer->PutStatic(keyPrefix + "AgentTypeName", agentBuildInstructions.system.agentProfileName);
+ dataBuffer->PutStatic(keyPrefix + "VehicleModelType", agentBuildInstructions.entityProperties->model);
+ dataBuffer->PutStatic(keyPrefix + "DriverProfileName", agentBuildInstructions.system.driverProfileName);
+ dataBuffer->PutStatic(keyPrefix + "EntityType", std::string(openpass::utils::to_cstr(agentBuildInstructions.entityProperties->type))); // std::string for compatibility with gcc-9 std::ariant
+
+ const auto &entityProperties = agentBuildInstructions.entityProperties;
+ if (entityProperties->type == mantle_api::EntityType::kVehicle)
+ {
+ dataBuffer->PutStatic(keyPrefix + "VehicleClassification", std::string(openpass::utils::to_cstr(std::dynamic_pointer_cast<const mantle_api::VehicleProperties>(entityProperties)->classification))); // std::string for compatibility with gcc-9 std::ariant
+ }
+
+ dataBuffer->PutStatic(keyPrefix + "Vehicle/Width", units::unit_cast<double>(entityProperties->bounding_box.dimension.width));
+ dataBuffer->PutStatic(keyPrefix + "Vehicle/Length", units::unit_cast<double>(entityProperties->bounding_box.dimension.length));
+ dataBuffer->PutStatic(keyPrefix + "Vehicle/Height", units::unit_cast<double>(entityProperties->bounding_box.dimension.height));
+ dataBuffer->PutStatic(keyPrefix + "Vehicle/LongitudinalPivotOffset", units::unit_cast<double>(-entityProperties->bounding_box.geometric_center.x));
+
+ for (const auto &sensor : agentBuildInstructions.system.sensorParameters)
{
+ const auto sensorPosition = openpass::sensors::GetPosition(sensor.positionName, *std::dynamic_pointer_cast<const mantle_api::VehicleProperties>(entityProperties));
const std::string sensorKeyPrefix = keyPrefix + "Vehicle/Sensors/" + std::to_string(sensor.id) + "/";
dataBuffer->PutStatic(sensorKeyPrefix + "Type", sensor.profile.type);
- dataBuffer->PutStatic(sensorKeyPrefix + "Mounting/Position/Longitudinal", sensor.position.longitudinal);
- dataBuffer->PutStatic(sensorKeyPrefix + "Mounting/Position/Lateral", sensor.position.lateral);
- dataBuffer->PutStatic(sensorKeyPrefix + "Mounting/Position/Height", sensor.position.height);
- dataBuffer->PutStatic(sensorKeyPrefix + "Mounting/Orientation/Yaw", sensor.position.yaw);
- dataBuffer->PutStatic(sensorKeyPrefix + "Mounting/Orientation/Pitch", sensor.position.pitch);
- dataBuffer->PutStatic(sensorKeyPrefix + "Mounting/Orientation/Roll", sensor.position.roll);
-
- const auto& parameters = sensor.profile.parameter;
+ dataBuffer->PutStatic(sensorKeyPrefix + "Mounting/Position/Longitudinal", units::unit_cast<double>(sensorPosition.pose.position.x));
+ dataBuffer->PutStatic(sensorKeyPrefix + "Mounting/Position/Lateral", units::unit_cast<double>(sensorPosition.pose.position.y));
+ dataBuffer->PutStatic(sensorKeyPrefix + "Mounting/Position/Height", units::unit_cast<double>(sensorPosition.pose.position.z));
+ dataBuffer->PutStatic(sensorKeyPrefix + "Mounting/Orientation/Yaw", units::unit_cast<double>(sensorPosition.pose.orientation.yaw));
+ dataBuffer->PutStatic(sensorKeyPrefix + "Mounting/Orientation/Pitch", units::unit_cast<double>(sensorPosition.pose.orientation.pitch));
+ dataBuffer->PutStatic(sensorKeyPrefix + "Mounting/Orientation/Roll", units::unit_cast<double>(sensorPosition.pose.orientation.roll));
+
+ const auto ¶meters = sensor.profile.parameter;
if (auto latency = openpass::parameter::Get<double>(parameters, "Latency"))
{
diff --git a/sim/src/core/opSimulation/framework/agentFactory.h b/sim/src/core/opSimulation/framework/agentFactory.h
index 7ef2adb625dd715b1977cfeb57c6cd78b9870122..2cc78f01cf685f37edc0551b2bb479d8616081f4 100644
--- a/sim/src/core/opSimulation/framework/agentFactory.h
+++ b/sim/src/core/opSimulation/framework/agentFactory.h
@@ -26,7 +26,6 @@
#include <memory>
#include "include/agentFactoryInterface.h"
-#include "include/eventNetworkInterface.h"
#include "include/worldInterface.h"
#include "common/opExport.h"
@@ -48,12 +47,11 @@ public:
WorldInterface *world,
Stochastics *stochastics,
ObservationNetworkInterface *observationNetwork,
- core::EventNetworkInterface *eventNetwork,
DataBufferWriteInterface* dataBuffer);
virtual ~AgentFactory() override = default;
virtual void Clear() override;
- virtual Agent *AddAgent(AgentBlueprintInterface* agentBlueprint) override;
+ virtual Agent *AddAgent(const AgentBuildInstructions &agentBuildInstructions) override;
private:
//-----------------------------------------------------------------------------
@@ -78,15 +76,14 @@ private:
//! informations to create an agent
//! @return The created agent
//-----------------------------------------------------------------------------
- std::unique_ptr<Agent> CreateAgent(const AgentBlueprintInterface& agentBlueprint);
+ std::unique_ptr<Agent> CreateAgent(const AgentBuildInstructions &agentBuildInstructions);
- void PublishProperties(const Agent& agent);
+ void PublishProperties(const AgentBuildInstructions &agentBuildInstructions, int agentId);
ModelBinding *modelBinding;
WorldInterface *world;
Stochastics *stochastics;
ObservationNetworkInterface *observationNetwork;
- EventNetworkInterface *eventNetwork;
DataBufferWriteInterface *dataBuffer;
std::vector<std::unique_ptr<Agent>> agentList;
diff --git a/sim/src/core/opSimulation/framework/configurationContainer.cpp b/sim/src/core/opSimulation/framework/configurationContainer.cpp
index 6ffb7c7af22b65afd8e4367fd65ec7a2d8a49731..2e62c9637fdcc6705f7a29ad70ac922bcd57d86a 100644
--- a/sim/src/core/opSimulation/framework/configurationContainer.cpp
+++ b/sim/src/core/opSimulation/framework/configurationContainer.cpp
@@ -13,9 +13,10 @@
/** \file ConfigurationContainer.cpp */
//-----------------------------------------------------------------------------
-#include "directories.h"
#include "configurationContainer.h"
+#include "directories.h"
+
using namespace Importer;
bool ConfigurationContainer::ImportAllConfigurations()
@@ -30,8 +31,8 @@ bool ConfigurationContainer::ImportAllConfigurations()
//Import SimulationConfig
if (!SimulationConfigImporter::Import(configurationFiles.configurationDir,
- configurationFiles.simulationConfigFile,
- simulationConfig))
+ configurationFiles.simulationConfigFile,
+ simulationConfig))
{
LOG_INTERN(LogLevel::Error) << "could not import simulation configuration '" << configurationFiles.simulationConfigFile << "'";
return false;
@@ -44,44 +45,12 @@ bool ConfigurationContainer::ImportAllConfigurations()
return false;
}
- //Import Scenario
- if (!ScenarioImporter::Import(simulationConfig.GetScenarioConfig().scenarioPath, &scenario))
- {
- LOG_INTERN(LogLevel::Error) << "could not import scenario";
- return false;
- }
-
- //Import Scenery
- if (!SceneryImporter::Import(openpass::core::Directories::Concat(configurationFiles.configurationDir, scenario.GetSceneryPath()),
- &scenery))
- {
- LOG_INTERN(LogLevel::Error) << "could not import scenery";
- return false;
- }
-
- //Import VehicleModels
- std::string vehicleCatalogPath = "";
- if (!scenario.GetVehicleCatalogPath().empty())
- {
- vehicleCatalogPath = openpass::core::Directories::Concat(configurationFiles.configurationDir, scenario.GetVehicleCatalogPath());
- }
- std::string pedestrianCatalogPath = "";
- if (!scenario.GetPedestrianCatalogPath().empty())
- {
- pedestrianCatalogPath = openpass::core::Directories::Concat(configurationFiles.configurationDir, scenario.GetPedestrianCatalogPath());
- }
- if (!VehicleModelsImporter::Import(vehicleCatalogPath,pedestrianCatalogPath,vehicleModels))
- {
- LOG_INTERN(LogLevel::Error) << "could not import vehicle models";
- return false;
- }
-
std::set<std::string> systemConfigFiles;
std::transform(profiles.GetAgentProfiles().begin(), profiles.GetAgentProfiles().end(), std::inserter(systemConfigFiles, systemConfigFiles.begin()),
- [](const auto& agentProfile){return agentProfile.second.systemConfigFile;});
+ [](const auto &agentProfile) { return agentProfile.second.systemConfigFile; });
//Import SystemConfigs
- for (const auto& systemConfigFile : systemConfigFiles)
+ for (const auto &systemConfigFile : systemConfigFiles)
{
if (systemConfigFile == "")
{
@@ -89,7 +58,7 @@ bool ConfigurationContainer::ImportAllConfigurations()
}
auto systemConfig = std::make_shared<SystemConfig>();
- if(!SystemConfigImporter::Import(openpass::core::Directories::Concat(configurationFiles.configurationDir, systemConfigFile), systemConfig))
+ if (!SystemConfigImporter::Import(openpass::core::Directories::Concat(configurationFiles.configurationDir, systemConfigFile), systemConfig))
{
LOG_INTERN(LogLevel::Error) << "could not import system configs";
return false;
@@ -105,37 +74,22 @@ std::shared_ptr<SystemConfigInterface> ConfigurationContainer::GetSystemConfigBl
return systemConfigBlueprint;
}
-const SimulationConfigInterface* ConfigurationContainer::GetSimulationConfig() const
+const SimulationConfigInterface *ConfigurationContainer::GetSimulationConfig() const
{
return &simulationConfig;
}
-const ProfilesInterface* ConfigurationContainer::GetProfiles() const
+const ProfilesInterface *ConfigurationContainer::GetProfiles() const
{
return &profiles;
}
-const SceneryInterface* ConfigurationContainer::GetScenery() const
-{
- return &scenery;
-}
-
-const ScenarioInterface* ConfigurationContainer::GetScenario() const
-{
- return &scenario;
-}
-
-const std::map<std::string, std::shared_ptr<SystemConfigInterface>>& ConfigurationContainer::GetSystemConfigs() const
+const std::map<std::string, std::shared_ptr<SystemConfigInterface>> &ConfigurationContainer::GetSystemConfigs() const
{
return systemConfigs;
}
-const VehicleModelsInterface* ConfigurationContainer::GetVehicleModels() const
-{
- return &vehicleModels;
-}
-
-const openpass::common::RuntimeInformation& ConfigurationContainer::GetRuntimeInformation() const
+const openpass::common::RuntimeInformation &ConfigurationContainer::GetRuntimeInformation() const
{
return runtimeInformation;
-}
+}
\ No newline at end of file
diff --git a/sim/src/core/opSimulation/framework/configurationContainer.h b/sim/src/core/opSimulation/framework/configurationContainer.h
index da7487b3529e0b51780448ef4cb2c53cf6d057af..c6cb747e5fe0c99b7fdae64e4d6359da27cbf9cf 100644
--- a/sim/src/core/opSimulation/framework/configurationContainer.h
+++ b/sim/src/core/opSimulation/framework/configurationContainer.h
@@ -19,20 +19,14 @@
#include <unordered_map>
-#include "simulationConfig.h"
-#include "simulationConfigImporter.h"
+#include "configurationFiles.h"
#include "include/configurationContainerInterface.h"
#include "profilesImporter.h"
-#include "scenery.h"
#include "sceneryImporter.h"
-#include "systemConfigImporter.h"
+#include "simulationConfig.h"
+#include "simulationConfigImporter.h"
#include "systemConfig.h"
-#include "scenario.h"
-#include "scenarioImporter.h"
#include "systemConfigImporter.h"
-#include "vehicleModels.h"
-#include "vehicleModelsImporter.h"
-#include "configurationFiles.h"
namespace Configuration {
@@ -44,10 +38,11 @@ namespace Configuration {
class SIMULATIONCOREEXPORT ConfigurationContainer : public ConfigurationContainerInterface
{
public:
- ConfigurationContainer(const ConfigurationFiles& configurationFiles, const openpass::common::RuntimeInformation& runtimeInformation) :
+ ConfigurationContainer(const ConfigurationFiles &configurationFiles, const openpass::common::RuntimeInformation &runtimeInformation) :
configurationFiles{configurationFiles},
runtimeInformation(runtimeInformation)
- {}
+ {
+ }
virtual ~ConfigurationContainer() override = default;
@@ -72,59 +67,35 @@ public:
*
* @return SimulationConfig pointer
*/
- const SimulationConfigInterface* GetSimulationConfig() const override;
+ const SimulationConfigInterface *GetSimulationConfig() const override;
/*!
* \brief Returns a pointer to the Profiles
*
* @return Profiles pointer
*/
- const ProfilesInterface* GetProfiles() const override;
-
- /*!
- * \brief Returns a pointer to the Scenery
- *
- * @return Scenery pointer
- */
- const SceneryInterface* GetScenery() const override;
-
- /*!
- * \brief Returns a pointer to the Scenario
- *
- * @return Scenario pointer
- */
- const ScenarioInterface* GetScenario() const override;
+ const ProfilesInterface *GetProfiles() const override;
/*!
* \brief Returns imported systemConfigs
*
* @return systemConfigs map
*/
- const std::map<std::string, std::shared_ptr<SystemConfigInterface>>& GetSystemConfigs() const override;
-
- /*!
- * \brief Returns a pointer to the VehicleModels
- *
- * @return VehicleModels pointer
- */
- const VehicleModelsInterface* GetVehicleModels() const override;
+ const std::map<std::string, std::shared_ptr<SystemConfigInterface>> &GetSystemConfigs() const override;
/*!
* \brief Returns the RunTimeInformation
*
* @return RunTimeInformation
*/
- const openpass::common::RuntimeInformation& GetRuntimeInformation() const override;
+ const openpass::common::RuntimeInformation &GetRuntimeInformation() const override;
private:
- const ConfigurationFiles& configurationFiles;
+ const ConfigurationFiles &configurationFiles;
std::shared_ptr<SystemConfig> systemConfigBlueprint;
SimulationConfig simulationConfig;
- Scenery scenery;
- Scenario scenario;
std::map<std::string, std::shared_ptr<SystemConfigInterface>> systemConfigs;
- VehicleModels vehicleModels;
Profiles profiles;
openpass::common::RuntimeInformation runtimeInformation;
};
diff --git a/sim/src/core/opSimulation/framework/controlStrategies.cpp b/sim/src/core/opSimulation/framework/controlStrategies.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5b6572be21f14f5d382437df2df9c8948d7c4a82
--- /dev/null
+++ b/sim/src/core/opSimulation/framework/controlStrategies.cpp
@@ -0,0 +1,54 @@
+/********************************************************************************
+ * 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
+ * http://www.eclipse.org/legal/epl-2.0.
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ ********************************************************************************/
+
+//-----------------------------------------------------------------------------
+//! @file controlStrategies.cpp
+//! @brief This class holds all control strategies for a single entity
+//-----------------------------------------------------------------------------
+
+#include "controlStrategies.h"
+
+ControlStrategies::~ControlStrategies()
+{}
+
+std::vector<std::shared_ptr<mantle_api::ControlStrategy>> ControlStrategies::GetStrategies(mantle_api::ControlStrategyType type)
+{
+ std::vector<std::shared_ptr<mantle_api::ControlStrategy>> result {};
+
+ for (auto strategy : strategies)
+ {
+ if (type == strategy->type)
+ {
+ result.push_back(strategy);
+ }
+ }
+
+ return result;
+}
+
+void ControlStrategies::SetStrategies(std::vector<std::shared_ptr<mantle_api::ControlStrategy>> strategies)
+{
+ this->strategies = strategies;
+}
+
+const std::vector<std::string>& ControlStrategies::GetCustomCommands()
+{
+ return customCommands;
+}
+
+void ControlStrategies::AddCustomCommand(const std::string& command)
+{
+ customCommands.push_back(command);
+}
+
+void ControlStrategies::ResetCustomCommands()
+{
+ customCommands.clear();
+}
\ No newline at end of file
diff --git a/sim/src/core/opSimulation/framework/controlStrategies.h b/sim/src/core/opSimulation/framework/controlStrategies.h
new file mode 100644
index 0000000000000000000000000000000000000000..ad86de1b4065b555089a21ef1721acbf602f2117
--- /dev/null
+++ b/sim/src/core/opSimulation/framework/controlStrategies.h
@@ -0,0 +1,40 @@
+/********************************************************************************
+ * 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
+ * http://www.eclipse.org/legal/epl-2.0.
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ ********************************************************************************/
+
+//-----------------------------------------------------------------------------
+//! @file controlStrategies.h
+//! @brief This class holds all control strategies for a single entity
+//-----------------------------------------------------------------------------
+
+#include "../../../../include/controlStrategiesInterface.h"
+
+class ControlStrategies : public ControlStrategiesInterface
+{
+public:
+ ControlStrategies() = default;
+ ~ControlStrategies() override;
+
+ std::vector<std::shared_ptr<mantle_api::ControlStrategy>> GetStrategies(mantle_api::ControlStrategyType type) override;
+
+ void SetStrategies(std::vector<std::shared_ptr<mantle_api::ControlStrategy>> strategies) override;
+
+ const std::vector<std::string>& GetCustomCommands() override;
+
+ void AddCustomCommand(const std::string& command) override;
+
+ void ResetCustomCommands() override;
+
+ // TODO CK Extend this for methods to set controlstrategies to finished. And probably utilize a map instead of a vector based on type.
+ // TODO CK also we should tag controlstrategies with unique ids
+
+private:
+ std::vector<std::shared_ptr<mantle_api::ControlStrategy>> strategies {};
+ std::vector<std::string> customCommands;
+};
\ No newline at end of file
diff --git a/sim/src/core/opSimulation/framework/controller.h b/sim/src/core/opSimulation/framework/controller.h
new file mode 100644
index 0000000000000000000000000000000000000000..90fbced6e237dd478dfe4bc63fc9492f115951f6
--- /dev/null
+++ b/sim/src/core/opSimulation/framework/controller.h
@@ -0,0 +1,56 @@
+/*******************************************************************************
+* 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
+
+#include "MantleAPI/Traffic/i_controller.h"
+#include "include/agentBlueprintInterface.h"
+
+namespace core {
+
+class Controller : public virtual mantle_api::IController
+{
+public:
+ Controller(const mantle_api::UniqueId id,
+ const mantle_api::ExternalControllerConfig& config,
+ const System& system):
+ id(id),
+ config(config),
+ system(system)
+ {}
+
+ virtual mantle_api::UniqueId GetUniqueId() const override final
+ {
+ return id;
+ }
+
+ virtual void SetName(const std::string& name) final
+ {
+ this->name = name;
+ }
+
+ virtual const std::string& GetName() const final
+ {
+ return name;
+ }
+
+ const System& GetSystem() const
+ {
+ return system;
+ }
+
+private:
+ const mantle_api::UniqueId id;
+ const mantle_api::ExternalControllerConfig config;
+ const System system;
+
+ std::string name = "";
+};
+} // namespace core
diff --git a/sim/src/core/opSimulation/framework/controllerRepository.cpp b/sim/src/core/opSimulation/framework/controllerRepository.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..aa53daaeeb2f788c32f8c3822b60aafa8415e78a
--- /dev/null
+++ b/sim/src/core/opSimulation/framework/controllerRepository.cpp
@@ -0,0 +1,65 @@
+/*******************************************************************************
+* 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
+*******************************************************************************/
+
+#include "controllerRepository.h"
+#include "common/commonTools.h"
+#include "common/log.h"
+
+#include <stdexcept>
+
+namespace core {
+
+ mantle_api::IController& ControllerRepository::Create(std::unique_ptr<mantle_api::IControllerConfig> config)
+ {
+ try
+ {
+ const auto externalControllerConfig = dynamic_cast<mantle_api::ExternalControllerConfig*>(config.get());
+ auto agentProfile = helper::map::query(externalControllerConfig->parameters, "AgentProfile");
+ ThrowIfFalse(agentProfile.has_value(), "Missing property AgentProfile");
+
+ auto controller = std::make_shared<Controller>(nextId, *externalControllerConfig, agentBlueprintProvider.get().SampleSystem(agentProfile.value()));
+ controllers.emplace(std::make_pair(nextId, controller));
+ nextId++;
+
+ return *(std::dynamic_pointer_cast<mantle_api::IController>(controller));
+ }
+ catch (std::bad_cast error)
+ {
+ LogErrorAndThrow(error.what());
+ }
+ }
+
+ mantle_api::IController& ControllerRepository::Create(mantle_api::UniqueId id, std::unique_ptr<mantle_api::IControllerConfig> config)
+ {
+ throw std::runtime_error("Deprecated function Create of ControllerRepository is not supported.");
+ }
+
+ std::optional<std::reference_wrapper<mantle_api::IController>> ControllerRepository::Get(mantle_api::UniqueId id)
+ {
+ if (!Contains(id))
+ {
+ return std::nullopt;
+ }
+ else
+ {
+ return *((std::static_pointer_cast<mantle_api::IController>(controllers.at(id))));
+ }
+ }
+
+ bool ControllerRepository::Contains(mantle_api::UniqueId id) const
+ {
+ return controllers.find(id) != controllers.end();
+ }
+
+ void ControllerRepository::Delete(mantle_api::UniqueId id)
+ {
+ }
+
+} // namespace core
diff --git a/sim/src/core/opSimulation/framework/controllerRepository.h b/sim/src/core/opSimulation/framework/controllerRepository.h
new file mode 100644
index 0000000000000000000000000000000000000000..77687c9a726d81ca9deb617ea6d20f795997a0a9
--- /dev/null
+++ b/sim/src/core/opSimulation/framework/controllerRepository.h
@@ -0,0 +1,44 @@
+/*******************************************************************************
+* 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
+
+#include <map>
+
+#include "MantleAPI/Traffic/i_controller_repository.h"
+#include "agentBlueprintProvider.h"
+#include "controller.h"
+#include <functional>
+
+//TODO CK add an additional class UniqueId Generator, which delivers a set of id regardless of the object being instantiated. Simmilar to the current state.
+
+namespace core {
+class ControllerRepository final : public mantle_api::IControllerRepository
+{
+public:
+ ControllerRepository(const AgentBlueprintProvider &agentBlueprintProvider):
+ agentBlueprintProvider(agentBlueprintProvider)
+ {}
+
+ virtual mantle_api::IController& Create(std::unique_ptr<mantle_api::IControllerConfig> config) override final;
+ virtual mantle_api::IController& Create(mantle_api::UniqueId id, std::unique_ptr<mantle_api::IControllerConfig> config) override final;
+
+ virtual std::optional<std::reference_wrapper<mantle_api::IController>> Get(mantle_api::UniqueId id) override final;
+ virtual bool Contains(mantle_api::UniqueId id) const override final;
+
+ virtual void Delete(mantle_api::UniqueId id) override final;
+
+ mantle_api::UniqueId nextId{0};
+ std::map<mantle_api::UniqueId, std::shared_ptr<Controller>> controllers;
+
+private:
+ std::reference_wrapper<const AgentBlueprintProvider> agentBlueprintProvider;
+};
+} // namespace core
diff --git a/sim/src/core/opSimulation/framework/coordConverter.h b/sim/src/core/opSimulation/framework/coordConverter.h
new file mode 100644
index 0000000000000000000000000000000000000000..065c0309e2e229d8da449a8c5d26e19cb67f5955
--- /dev/null
+++ b/sim/src/core/opSimulation/framework/coordConverter.h
@@ -0,0 +1,54 @@
+/*******************************************************************************
+* Copyright (c) 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+*
+* 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 "include/worldInterface.h"
+#include "MantleAPI/Map/i_coord_converter.h"
+
+using namespace units::literals;
+
+namespace core {
+
+class SIMULATIONCOREEXPORT CoordConverter final : public mantle_api::ICoordConverter
+{
+public:
+ CoordConverter() = default;
+ ~CoordConverter() = default;
+
+ // This class could potentially be added to the world and directly utilize localizer + worldDataquery.
+ void Init(WorldInterface* world)
+ {
+ this->world = world;
+ }
+
+ mantle_api::Vec3<units::length::meter_t> Convert(mantle_api::Position position) const final
+ {
+ if (std::holds_alternative<mantle_api::OpenDrivePosition>(position))
+ {
+ const auto openDrivePosition = std::get<mantle_api::OpenDrivePosition>(position);
+ std::string roadId = std::to_string(openDrivePosition.referenced_object.road); //TODO Change RoadId in mantle to string;
+ const auto worldPosition = world->LaneCoord2WorldCoord(openDrivePosition.s_offset, openDrivePosition.t_offset, roadId, openDrivePosition.referenced_object.lane);
+ return {worldPosition.xPos, worldPosition.yPos, 0.0_m};
+ }
+
+ return {};
+ }
+
+ mantle_api::Position Convert(const mantle_api::Vec3<units::length::meter_t>& vec) const final
+ {
+ // TODO
+ return {};
+ }
+
+private:
+ WorldInterface* world;
+};
+}
\ No newline at end of file
diff --git a/sim/src/core/opSimulation/framework/dynamicAgentTypeGenerator.cpp b/sim/src/core/opSimulation/framework/dynamicAgentTypeGenerator.cpp
index ca23e32593a572d41c8371dfd66182d5292a9dd5..adbdb49433771a3c6ad9e5d4aaa221205c65ffd4 100644
--- a/sim/src/core/opSimulation/framework/dynamicAgentTypeGenerator.cpp
+++ b/sim/src/core/opSimulation/framework/dynamicAgentTypeGenerator.cpp
@@ -13,13 +13,11 @@
constexpr char DRIVER[] = "Driver";
DynamicAgentTypeGenerator::DynamicAgentTypeGenerator(SampledProfiles& sampledProfiles,
- DynamicParameters& dynamicParameters, std::shared_ptr<SystemConfigInterface> systemConfigBlueprint, const ProfilesInterface* profiles,
- const VehicleModelsInterface* vehicleModels) :
+ DynamicParameters& dynamicParameters, std::shared_ptr<SystemConfigInterface> systemConfigBlueprint, const ProfilesInterface* profiles) :
sampledProfiles(sampledProfiles),
dynamicParameters(dynamicParameters),
systemConfigBlueprint(systemConfigBlueprint),
- profiles(profiles),
- vehicleModels(vehicleModels)
+ profiles(profiles)
{
}
@@ -83,14 +81,14 @@ DynamicAgentTypeGenerator& DynamicAgentTypeGenerator::GatherVehicleComponents()
{
auto parameters = profiles->CloneProfile(vehicleComponentProfile.first, vehicleComponentProfile.second);
- if (profiles->GetVehicleProfiles().count(sampledProfiles.vehicleProfileName) == 0)
+ if (profiles->GetSystemProfiles().count(sampledProfiles.systemProfileName) == 0)
{
- throw std::logic_error("No vehicle profile of type " + sampledProfiles.vehicleProfileName);
+ throw std::logic_error("No vehicle profile of type " + sampledProfiles.systemProfileName);
}
- auto vehicleProfile = profiles->GetVehicleProfiles().at(sampledProfiles.vehicleProfileName); // Existence checked by DynamicProfileSampler
+ auto systemProfile = profiles->GetSystemProfiles().at(sampledProfiles.systemProfileName); // Existence checked by DynamicProfileSampler
- auto matchedComponent = std::find_if(vehicleProfile.vehicleComponents.begin(),
- vehicleProfile.vehicleComponents.end(), [vehicleComponentProfile](VehicleComponent curComponent)
+ auto matchedComponent = std::find_if(systemProfile.vehicleComponents.begin(),
+ systemProfile.vehicleComponents.end(), [vehicleComponentProfile](VehicleComponent curComponent)
{ return curComponent.type == vehicleComponentProfile.first; });
openpass::parameter::internal::ParameterListLevel2 parameterList;
@@ -118,9 +116,9 @@ DynamicAgentTypeGenerator& DynamicAgentTypeGenerator::GatherSensors()
int inputIdSensorAggregation = systemConfigBlueprint->GetSystems().at(0)->GetComponents().at(sensorAggregationModulName)->GetInputLinks().at(0);
int sensorNumber = 0;
- const auto vehicleProfile = profiles->GetVehicleProfiles().at(sampledProfiles.vehicleProfileName); // Existence checked by DynamicProfileSampler
+ const auto systemProfile = profiles->GetSystemProfiles().at(sampledProfiles.systemProfileName); // Existence checked by DynamicProfileSampler
- for (const auto& sensor : vehicleProfile.sensors)
+ for (const auto& sensor : systemProfile.sensors)
{
auto sensorParam = profiles->CloneProfile(sensor.profile.type, sensor.profile.name);
@@ -128,12 +126,7 @@ DynamicAgentTypeGenerator& DynamicAgentTypeGenerator::GatherSensors()
sensorParam.emplace_back("Name", sensor.profile.name);
sensorParam.emplace_back("Type", sensor.profile.type);
sensorParam.emplace_back("Id", sensor.id);
- sensorParam.emplace_back("Longitudinal", sensor.position.longitudinal);
- sensorParam.emplace_back("Lateral", sensor.position.lateral);
- sensorParam.emplace_back("Height", sensor.position.height);
- sensorParam.emplace_back("Pitch", sensor.position.pitch);
- sensorParam.emplace_back("Yaw", sensor.position.yaw);
- sensorParam.emplace_back("Roll", sensor.position.roll);
+ sensorParam.emplace_back("Position", sensor.positionName);
sensorParam.emplace_back("Latency", dynamicParameters.sensorLatencies.at(sensor.id));
const std::string uniqueSensorName = "Sensor_" + std::to_string(sensor.id);
@@ -157,15 +150,6 @@ DynamicAgentTypeGenerator& DynamicAgentTypeGenerator::GatherSensors()
return *this;
}
-DynamicAgentTypeGenerator& DynamicAgentTypeGenerator::SetVehicleModelParameters(const openScenario::Parameters& assignedParameters)
-{
- const VehicleProfile vehicleProfile = profiles->GetVehicleProfiles().at(sampledProfiles.vehicleProfileName); // Existence checked by DynamicProfileSampler
- agentBuildInformation.vehicleModelName = vehicleProfile.vehicleModel;
- agentBuildInformation.vehicleModelParameters = vehicleModels->GetVehicleModel(vehicleProfile.vehicleModel, assignedParameters);
-
- return *this;
-}
-
void DynamicAgentTypeGenerator::GatherComponent(const std::string componentName,
std::shared_ptr<core::AgentType> agentType)
{
@@ -236,8 +220,7 @@ void DynamicAgentTypeGenerator::GatherComponentWithParameters(std::string compon
DynamicAgentTypeGenerator AgentBuildInformation::make(SampledProfiles& sampledProfiles,
DynamicParameters& dynamicParameters,
std::shared_ptr<SystemConfigInterface> systemConfigBlueprint,
- const ProfilesInterface* profiles,
- const VehicleModelsInterface* vehicleModels)
+ const ProfilesInterface* profiles)
{
- return DynamicAgentTypeGenerator(sampledProfiles, dynamicParameters, systemConfigBlueprint, profiles, vehicleModels);
+ return DynamicAgentTypeGenerator(sampledProfiles, dynamicParameters, systemConfigBlueprint, profiles);
}
diff --git a/sim/src/core/opSimulation/framework/dynamicAgentTypeGenerator.h b/sim/src/core/opSimulation/framework/dynamicAgentTypeGenerator.h
index 338aa4d9234eed1b31b8b1e923e3bc3d14b7a515..d1a827fec01a7573bb513c63b4f21bece8e5c98e 100644
--- a/sim/src/core/opSimulation/framework/dynamicAgentTypeGenerator.h
+++ b/sim/src/core/opSimulation/framework/dynamicAgentTypeGenerator.h
@@ -10,13 +10,12 @@
#pragma once
-#include "include/profilesInterface.h"
#include "agentType.h"
#include "componentType.h"
-#include "dynamicProfileSampler.h"
#include "dynamicParametersSampler.h"
+#include "dynamicProfileSampler.h"
+#include "include/profilesInterface.h"
#include "include/systemConfigInterface.h"
-#include "include/vehicleModelsInterface.h"
/*!
* \brief Defines the default components that all agents need
@@ -24,37 +23,30 @@
struct DefaultComponents
{
// Basic components that are always needed
- const std::vector<std::string> basicComponentNames
- {
+ const std::vector<std::string> basicComponentNames{
"AgentUpdater",
"ComponentController",
"Dynamics_Collision",
"Dynamics_RegularDriving",
- "OpenScenarioActions",
"Parameters_Vehicle",
"PrioritizerDynamics",
"PrioritizerLongitudinal",
"PrioritizerSteering",
- "Sensor_RecordState"
- };
+ "Sensor_RecordState"};
//Components that are needed, if at least one driver is present
- const std::vector<std::string> driverComponentNames
- {
+ const std::vector<std::string> driverComponentNames{
"Action_LongitudinalDriver",
"Action_SecondaryDriverTasks",
- "PrioritizerTurningIndicator"
- };
+ "PrioritizerTurningIndicator"};
//Components that are needed, if at least one vehicle component is present
- const std::vector<std::string> vehicleComponentNames
- {
+ const std::vector<std::string> vehicleComponentNames{
"Algorithm_LongitudinalVehicleComponents",
"PrioritizerAccelerationVehicleComponents",
"PrioritizerSteeringVehicleComponents",
"LimiterAccelerationVehicleComponents",
- "SensorFusionErrorless"
- };
+ "SensorFusionErrorless"};
};
class DynamicAgentTypeGenerator;
@@ -70,8 +62,6 @@ struct AgentBuildInformation
{
friend class DynamicAgentTypeGenerator;
std::shared_ptr<core::AgentType> agentType = std::make_shared<core::AgentType>();
- std::string vehicleModelName;
- VehicleModelParameters vehicleModelParameters;
openpass::sensors::Parameters sensorParameters;
/*!
@@ -81,11 +71,10 @@ struct AgentBuildInformation
* \param dynamicParameters Parameters samplied by the DynamicParametersSampler
* \param systemConfigBlueprint Imported SystemConfigBlueprint
* \param profiles Imported profiles from the ProfilesCatalog
- * \param vehicleModels Imported vehicleModels from the VehiclesModelCatalog
*
* \return new instance of DynamicAgentTypeGenerator
*/
- static DynamicAgentTypeGenerator make(SampledProfiles& sampledProfiles, DynamicParameters& dynamicParameters, std::shared_ptr<SystemConfigInterface> systemConfigBlueprint, const ProfilesInterface* profiles, const VehicleModelsInterface* vehicleModels);
+ static DynamicAgentTypeGenerator make(SampledProfiles &sampledProfiles, DynamicParameters &dynamicParameters, std::shared_ptr<SystemConfigInterface> systemConfigBlueprint, const ProfilesInterface *profiles);
private:
/*! Private constructor to be called by the DynamicAgentTypeGenerator
@@ -103,12 +92,12 @@ private:
class DynamicAgentTypeGenerator
{
public:
- DynamicAgentTypeGenerator(SampledProfiles& sampledProfiles, DynamicParameters& dynamicParameters, std::shared_ptr<SystemConfigInterface> systemConfigBlueprint, const ProfilesInterface* profiles, const VehicleModelsInterface* vehicleModels);
+ DynamicAgentTypeGenerator(SampledProfiles &sampledProfiles, DynamicParameters &dynamicParameters, std::shared_ptr<SystemConfigInterface> systemConfigBlueprint, const ProfilesInterface *profiles);
/*!
* \brief Returns the generated AgentBuildInformation;
*/
- operator AgentBuildInformation&&()
+ operator AgentBuildInformation &&()
{
return std::move(agentBuildInformation);
}
@@ -119,7 +108,7 @@ public:
*
* \return reference to itself
*/
- DynamicAgentTypeGenerator& GatherBasicComponents();
+ DynamicAgentTypeGenerator &GatherBasicComponents();
/*!
* \brief Creates a new ComponentType for all default driver components defined in DefaultComponents.basicComponents, the ParametersAgents and
@@ -127,7 +116,7 @@ public:
*
* \return reference to itself
*/
- DynamicAgentTypeGenerator& GatherDriverComponents();
+ DynamicAgentTypeGenerator &GatherDriverComponents();
/*!
* \brief Creates a new ComponentType for all default vehicle components defined in DefaultComponents.basicComponents and
@@ -135,7 +124,7 @@ public:
*
* \return reference to itself
*/
- DynamicAgentTypeGenerator& GatherVehicleComponents();
+ DynamicAgentTypeGenerator &GatherVehicleComponents();
/*!
* \brief Creates a new ComponentType for all sensor defined by the VehicleModel and the SensorFusion module if needed
@@ -143,13 +132,7 @@ public:
*
* \return reference to itself
*/
- DynamicAgentTypeGenerator& GatherSensors();
-
- /*!
- * \brief Sets the VehicleModelParameters in the AgentBuildInformation depending on the vehicle model name.
- * \return reference to itself
- */
- DynamicAgentTypeGenerator& SetVehicleModelParameters(const openScenario::Parameters& assignedParameters);
+ DynamicAgentTypeGenerator &GatherSensors();
/*!
* \brief Gathers a component and adds it to the AgentType
@@ -188,7 +171,7 @@ public:
* @param[in] channelIncrease Increase in the ids of the output channels (currently used for sensors)
*/
void GatherComponentWithParameters(std::string componentName, std::shared_ptr<core::AgentType> agentType, const openpass::parameter::ParameterSetLevel1 ¶meters,
- std::string componentNameInSystemConfigBlueprint, int channelOffset);
+ std::string componentNameInSystemConfigBlueprint, int channelOffset);
/*!
* \brief Samples the latency of a sensor
@@ -199,13 +182,13 @@ public:
* @return latency in s
*/
double SampleSensorLatency(std::shared_ptr<ParameterInterface> curParameters);
+
private:
AgentBuildInformation agentBuildInformation;
- SampledProfiles& sampledProfiles;
- DynamicParameters& dynamicParameters;
+ SampledProfiles &sampledProfiles;
+ DynamicParameters &dynamicParameters;
std::shared_ptr<SystemConfigInterface> systemConfigBlueprint;
- const ProfilesInterface* profiles;
- const VehicleModelsInterface* vehicleModels;
+ const ProfilesInterface *profiles;
DefaultComponents defaultComponents;
};
diff --git a/sim/src/core/opSimulation/framework/dynamicParametersSampler.cpp b/sim/src/core/opSimulation/framework/dynamicParametersSampler.cpp
index 36f9cbedb28b043b5a4fb3dac2ffc6f4c3412388..6522e9c2cfef766b64116ab9a2c40ada34debd2a 100644
--- a/sim/src/core/opSimulation/framework/dynamicParametersSampler.cpp
+++ b/sim/src/core/opSimulation/framework/dynamicParametersSampler.cpp
@@ -23,7 +23,7 @@ DynamicParameterSampler::DynamicParameterSampler(StochasticsInterface& stochasti
DynamicParameterSampler &DynamicParameterSampler::SampleSensorLatencies()
{
- const auto& vehicleProfiles = profiles->GetVehicleProfiles();
+ const auto& vehicleProfiles = profiles->GetSystemProfiles();
if (vehicleProfiles.find(vehicleProfileName) != vehicleProfiles.end())
{
diff --git a/sim/src/core/opSimulation/framework/dynamicProfileSampler.cpp b/sim/src/core/opSimulation/framework/dynamicProfileSampler.cpp
index ab1606a05841ffbd9902f463df7ca1a7ff5d8c77..84a4ea6b442b82c5b1a48f43a6d807fdce738e1e 100644
--- a/sim/src/core/opSimulation/framework/dynamicProfileSampler.cpp
+++ b/sim/src/core/opSimulation/framework/dynamicProfileSampler.cpp
@@ -18,22 +18,22 @@ DynamicProfileSampler& DynamicProfileSampler::SampleDriverProfile()
return *this;
}
-DynamicProfileSampler& DynamicProfileSampler::SampleVehicleProfile()
+DynamicProfileSampler& DynamicProfileSampler::SampleSystemProfile()
{
- const auto probabilities = profiles->GetVehicleProfileProbabilities(agentProfileName);
- sampledProfiles.vehicleProfileName = Sampler::Sample(probabilities, &stochastics);
+ const auto probabilities = profiles->GetSystemProfileProbabilities(agentProfileName);
+ sampledProfiles.systemProfileName = Sampler::Sample(probabilities, &stochastics);
return *this;
}
DynamicProfileSampler& DynamicProfileSampler::SampleVehicleComponentProfiles()
{
- const auto find_result = profiles->GetVehicleProfiles().find(sampledProfiles.vehicleProfileName);
- if (find_result == profiles->GetVehicleProfiles().end())
+ const auto find_result = profiles->GetSystemProfiles().find(sampledProfiles.systemProfileName);
+ if (find_result == profiles->GetSystemProfiles().end())
{
- throw std::runtime_error("No vehicle profile with name \""+sampledProfiles.vehicleProfileName+"\" defined");
+ throw std::runtime_error("No vehicle profile with name \""+sampledProfiles.systemProfileName+"\" defined");
}
- const VehicleProfile& vehicleProfile = find_result->second;
- for (VehicleComponent vehicleComponentInProfile : vehicleProfile.vehicleComponents)
+ const SystemProfile& systemProfile = find_result->second;
+ for (VehicleComponent vehicleComponentInProfile : systemProfile.vehicleComponents)
{
std::string vehicleComponentName = Sampler::Sample(vehicleComponentInProfile.componentProfiles, &stochastics);
if (vehicleComponentName != "")
diff --git a/sim/src/core/opSimulation/framework/dynamicProfileSampler.h b/sim/src/core/opSimulation/framework/dynamicProfileSampler.h
index b6a87a7a1e827682959b31307e31cb9e4f4e4680..f09dd4c32d6b557edbeddce7961d3f73ea5107de 100644
--- a/sim/src/core/opSimulation/framework/dynamicProfileSampler.h
+++ b/sim/src/core/opSimulation/framework/dynamicProfileSampler.h
@@ -25,7 +25,7 @@ struct SampledProfiles
{
friend class DynamicProfileSampler;
std::string driverProfileName;
- std::string vehicleProfileName;
+ std::string systemProfileName;
std::unordered_map<std::string, std::string> vehicleComponentProfileNames;
/*!
@@ -64,11 +64,11 @@ public:
* \brief Samples the vehicle profile name based on the agent profile name.
* \return reference to itself
*/
- DynamicProfileSampler &SampleVehicleProfile();
+ DynamicProfileSampler &SampleSystemProfile();
/*!
* \brief Samples all vehicle component profile names based on the vehicle profile name.
- * Therefore SampleVehicleProfile has to be called before this method.
+ * Therefore SampleSystemProfile has to be called before this method.
*
* \return reference to itself
*/
diff --git a/sim/src/core/opSimulation/framework/entity.cpp b/sim/src/core/opSimulation/framework/entity.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..eb6c2188511da5af4ae555770b7c6bb5397f4747
--- /dev/null
+++ b/sim/src/core/opSimulation/framework/entity.cpp
@@ -0,0 +1,235 @@
+#include "entity.h"
+
+#include "agent.h"
+#include "controlStrategies.h"
+#include "geometryHelper.h"
+
+namespace core {
+Entity::Entity(mantle_api::UniqueId id,
+ const std::string &name,
+ const RouteSamplerInterface *routeSampler,
+ std::shared_ptr<mantle_api::EntityProperties> properties,
+ AgentCategory agentCategory) :
+ id(id),
+ name(name),
+ routeSampler(routeSampler),
+ properties(properties),
+ agentCategory(agentCategory),
+ controlStrategies(std::make_shared<ControlStrategies>())
+{
+}
+
+mantle_api::UniqueId Entity::GetUniqueId() const
+{
+ return id;
+}
+
+void Entity::SetName(const std::string &name)
+{
+ this->name = name;
+}
+
+const std::string &Entity::GetName() const
+{
+ return name;
+}
+
+void Entity::SetPosition(const mantle_api::Vec3<units::length::meter_t> &inert_pos)
+{
+ GeometryHelper geometryHelper;
+ if (!agent)
+ {
+ auto position = geometryHelper.TranslateGlobalPositionLocally(inert_pos, spawnParameter.orientation, -properties->bounding_box.geometric_center);
+ spawnParameter.position = position;
+ spawnParameter.route = routeSampler->Sample(inert_pos, spawnParameter.orientation.yaw);
+ shouldBeSpawned = true;
+ }
+ else
+ {
+ auto position = geometryHelper.TranslateGlobalPositionLocally(inert_pos, {agent->GetYaw(), 0_rad, 0_rad}, -properties->bounding_box.geometric_center);
+ agent->SetPositionX(inert_pos.x);
+ agent->SetPositionY(inert_pos.y);
+ }
+}
+
+mantle_api::Vec3<units::length::meter_t> Entity::GetPosition() const
+{
+ GeometryHelper geometryHelper;
+ if (!agent)
+ {
+ return geometryHelper.TranslateGlobalPositionLocally(spawnParameter.position, spawnParameter.orientation, properties->bounding_box.geometric_center);
+ }
+ else
+ {
+ return geometryHelper.TranslateGlobalPositionLocally({agent->GetPositionX(), agent->GetPositionY(), 0_m}, {agent->GetYaw(), 0_rad, 0_rad}, properties->bounding_box.geometric_center);
+ }
+}
+
+void Entity::SetVelocity(const mantle_api::Vec3<units::velocity::meters_per_second_t> &velocity)
+{
+ if (!agent)
+ {
+ spawnParameter.velocity = velocity.Length();
+ }
+ else
+ {
+ agent->SetVelocityVector(velocity);
+ }
+}
+
+mantle_api::Vec3<units::velocity::meters_per_second_t> Entity::GetVelocity() const
+{
+ if (!agent)
+ {
+ return {spawnParameter.velocity * units::math::cos(spawnParameter.orientation.yaw), spawnParameter.velocity * units::math::sin(spawnParameter.orientation.yaw), 0_mps};
+ }
+ else
+ {
+ const auto velocity = agent->GetVelocity();
+ return {velocity.x, velocity.y, 0_mps};
+ }
+}
+
+void Entity::SetAcceleration(const mantle_api::Vec3<units::acceleration::meters_per_second_squared_t> &acceleration)
+{
+ if (!agent)
+ {
+ //spawn acceleration not implemented
+ }
+ else
+ {
+ //TODO SetAccelerationX/Y is not implemented
+ const auto absAcceleration = units::math::hypot(acceleration.x, acceleration.y);
+ agent->SetAcceleration(absAcceleration);
+ }
+}
+
+mantle_api::Vec3<units::acceleration::meters_per_second_squared_t> Entity::GetAcceleration() const
+{
+ if (!agent)
+ {
+ return {0_mps_sq, 0_mps_sq, 0_mps_sq};
+ }
+ else
+ {
+ const auto acceleration = agent->GetAcceleration();
+ return {acceleration.x, acceleration.y, 0_mps_sq};
+ }
+}
+
+void Entity::SetOrientation(const mantle_api::Orientation3<units::angle::radian_t> &orientation)
+{
+ if (!agent)
+ {
+ spawnParameter.orientation = orientation;
+ GeometryHelper geometryHelper;
+ auto position = geometryHelper.TranslateGlobalPositionLocally(spawnParameter.position, orientation, -properties->bounding_box.geometric_center);
+ spawnParameter.position = position;
+ }
+ else
+ {
+ agent->SetYaw(orientation.yaw);
+ }
+}
+
+mantle_api::Orientation3<units::angle::radian_t> Entity::GetOrientation() const
+{
+ if (!agent)
+ {
+ return spawnParameter.orientation;
+ }
+ else
+ {
+ return {agent->GetYaw(), 0_rad, 0_rad};
+ }
+}
+
+void Entity::SetOrientationRate(const mantle_api::Orientation3<units::angular_velocity::radians_per_second_t> &orientation_rate)
+{
+ if (!agent)
+ {
+ }
+ else
+ {
+ agent->SetYawRate(orientation_rate.yaw);
+ }
+}
+
+mantle_api::Orientation3<units::angular_velocity::radians_per_second_t> Entity::GetOrientationRate() const
+{
+ if (!agent)
+ {
+ return {0_rad_per_s, 0_rad_per_s, 0_rad_per_s};
+ }
+ else
+ {
+ return {agent->GetYawRate(), 0_rad_per_s, 0_rad_per_s};
+ }
+}
+
+void Entity::SetOrientationAcceleration(const mantle_api::Orientation3<units::angular_acceleration::radians_per_second_squared_t> &orientation_acceleration)
+{
+ if (!agent)
+ {
+ }
+ else
+ {
+ agent->SetYawAcceleration(orientation_acceleration.yaw);
+ }
+}
+
+mantle_api::Orientation3<units::angular_acceleration::radians_per_second_squared_t> Entity::GetOrientationAcceleration() const
+{
+ if (!agent)
+ {
+ return {0_rad_per_s_sq, 0_rad_per_s_sq, 0_rad_per_s_sq};
+ }
+ else
+ {
+ return {agent->GetYawAcceleration(), 0_rad_per_s_sq, 0_rad_per_s_sq};
+ }
+}
+
+void Entity::SetAssignedLaneIds(const std::vector<uint64_t> &assigned_lane_ids)
+{
+}
+
+std::vector<uint64_t> Entity::GetAssignedLaneIds() const
+{
+ return {};
+}
+
+void Entity::SetVisibility(const mantle_api::EntityVisibilityConfig &visibility)
+{
+}
+
+mantle_api::EntityVisibilityConfig Entity::GetVisibility() const
+{
+ return {};
+}
+
+void Entity::SetSystem(const System &system)
+{
+ this->system = system;
+}
+
+AgentBuildInstructions Entity::GetAgentBuildInstructions()
+{
+ return {name, agentCategory, properties, system, spawnParameter, controlStrategies};
+}
+
+void Entity::SetAgent(AgentInterface *agent)
+{
+ this->agent = agent;
+}
+
+std::shared_ptr<ControlStrategiesInterface> const Entity::GetControlStrategies()
+{
+ return controlStrategies;
+}
+
+bool Entity::ShouldBeSpawned()
+{
+ return shouldBeSpawned;
+}
+} // namespace core
diff --git a/sim/src/core/opSimulation/framework/entity.h b/sim/src/core/opSimulation/framework/entity.h
new file mode 100644
index 0000000000000000000000000000000000000000..e926fb1c11f15aa67d55eba05e9c5ea3f12ec1c4
--- /dev/null
+++ b/sim/src/core/opSimulation/framework/entity.h
@@ -0,0 +1,79 @@
+/*******************************************************************************
+* 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
+
+#include "MantleAPI/Traffic/i_entity.h"
+#include "include/agentBlueprintInterface.h"
+#include "include/agentFactoryInterface.h"
+#include "include/agentInterface.h"
+#include "routeSampler.h"
+
+namespace core {
+class Entity : public virtual mantle_api::IEntity
+{
+public:
+ Entity(mantle_api::UniqueId id,
+ const std::string &name,
+ const RouteSamplerInterface *routeSampler,
+ std::shared_ptr<mantle_api::EntityProperties> properties,
+ const AgentCategory agentCategory);
+
+ virtual mantle_api::UniqueId GetUniqueId() const override;
+
+ virtual void SetName(const std::string &name) override;
+ virtual const std::string &GetName() const override;
+
+ virtual void SetPosition(const mantle_api::Vec3<units::length::meter_t> &inert_pos) override;
+ virtual mantle_api::Vec3<units::length::meter_t> GetPosition() const override;
+
+ virtual void SetVelocity(const mantle_api::Vec3<units::velocity::meters_per_second_t> &velocity) override;
+ virtual mantle_api::Vec3<units::velocity::meters_per_second_t> GetVelocity() const override;
+
+ virtual void SetAcceleration(const mantle_api::Vec3<units::acceleration::meters_per_second_squared_t> &acceleration) override;
+ virtual mantle_api::Vec3<units::acceleration::meters_per_second_squared_t> GetAcceleration() const override;
+
+ virtual void SetOrientation(const mantle_api::Orientation3<units::angle::radian_t> &orientation) override;
+ virtual mantle_api::Orientation3<units::angle::radian_t> GetOrientation() const override;
+
+ virtual void SetOrientationRate(const mantle_api::Orientation3<units::angular_velocity::radians_per_second_t> &orientation_rate) override;
+ virtual mantle_api::Orientation3<units::angular_velocity::radians_per_second_t> GetOrientationRate() const override;
+
+ virtual void SetOrientationAcceleration(const mantle_api::Orientation3<units::angular_acceleration::radians_per_second_squared_t> &orientation_acceleration) override;
+ virtual mantle_api::Orientation3<units::angular_acceleration::radians_per_second_squared_t> GetOrientationAcceleration() const override;
+
+ virtual void SetAssignedLaneIds(const std::vector<std::uint64_t> &assigned_lane_ids) override;
+ virtual std::vector<std::uint64_t> GetAssignedLaneIds() const override;
+
+ virtual void SetVisibility(const mantle_api::EntityVisibilityConfig &visibility) override;
+ virtual mantle_api::EntityVisibilityConfig GetVisibility() const override;
+
+ void SetSystem(const System &system);
+ AgentBuildInstructions GetAgentBuildInstructions();
+
+ void SetAgent(AgentInterface *agent);
+
+ std::shared_ptr<ControlStrategiesInterface> const GetControlStrategies();
+
+ bool ShouldBeSpawned();
+
+private:
+ mantle_api::UniqueId id;
+ std::string name;
+ AgentCategory agentCategory;
+ SpawnParameter spawnParameter;
+ System system;
+ AgentInterface *agent{nullptr};
+ const RouteSamplerInterface *routeSampler;
+ std::shared_ptr<mantle_api::EntityProperties> properties;
+ bool shouldBeSpawned{false};
+ std::shared_ptr<ControlStrategiesInterface> const controlStrategies;
+};
+} // namespace core
diff --git a/sim/src/core/opSimulation/framework/entityRepository.cpp b/sim/src/core/opSimulation/framework/entityRepository.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a1d8260e692adab1c7069a4d3b2183be82209ad9
--- /dev/null
+++ b/sim/src/core/opSimulation/framework/entityRepository.cpp
@@ -0,0 +1,188 @@
+/*******************************************************************************
+* 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
+*******************************************************************************/
+
+#include "entityRepository.h"
+#include "modelElements/agent.h"
+#include <stdexcept>
+
+namespace core {
+EntityRepository::EntityRepository(AgentFactoryInterface *agentFactory, const RouteSamplerInterface *routeSampler) :
+ agentFactory(agentFactory),
+ routeSampler(routeSampler)
+{
+
+}
+
+mantle_api::IVehicle &EntityRepository::Create(const std::string &name, const mantle_api::VehicleProperties &properties)
+{
+ // This is to verify if scenarioEngine set the correct EntityType when creating Entities
+ if (properties.type != mantle_api::EntityType::kVehicle)
+ {
+ throw std::runtime_error("Vehicle could not be created. Vehicle requires EntityType: Vehicle.");
+ }
+
+ bool success{false};
+ std::map<mantle_api::UniqueId, std::shared_ptr<Entity>>::iterator entry;
+ while(!success)
+ {
+ std::tie(entry, success) = entitiesById.try_emplace(nextId, std::make_shared<Vehicle>(nextId, name, std::make_shared<mantle_api::VehicleProperties>(properties), routeSampler));
+ ++nextId;
+ }
+
+ // entitiesByName.insert({name, entry->second});
+ // unspawnedEntities.push_back(entry->second);
+ // return *(entry->second);
+ return CreateHelper<mantle_api::IVehicle>(name, entry->second);
+}
+
+mantle_api::IVehicle &EntityRepository::Create(mantle_api::UniqueId id, const std::string &name, const mantle_api::VehicleProperties &properties)
+{
+ // This is to verify if scenarioEngine set the correct EntityType when creating Entities
+ if (properties.type != mantle_api::EntityType::kVehicle)
+ {
+ throw std::runtime_error("Vehicle could not be created. Vehicle requires EntityType: Vehicle.");
+ }
+
+ auto [entry, success] = entitiesById.try_emplace(id, std::make_shared<Vehicle>(nextId, name, std::make_shared<mantle_api::VehicleProperties>(properties), routeSampler));
+ if(!success)
+ {
+ throw std::runtime_error("Id \"" + std::to_string(id) + "\" is already in use");
+ }
+
+ return CreateHelper<mantle_api::IVehicle>(name, entry->second);
+}
+
+mantle_api::IPedestrian &EntityRepository::Create(const std::string &name, const mantle_api::PedestrianProperties &properties)
+{
+ // This is to verify if scenarioEngine set the correct EntityType when creating Entities
+ if (properties.type != mantle_api::EntityType::kPedestrian)
+ {
+ throw std::runtime_error("Pedestrian could not be created. Pedestrian requires EntityType: Pedestrian.");
+ }
+
+ bool success{false};
+ std::map<mantle_api::UniqueId, std::shared_ptr<Entity>>::iterator entry;
+ while (!success)
+ {
+ std::tie(entry, success) = entitiesById.try_emplace(nextId, std::make_shared<Pedestrian>(nextId, name, std::make_shared<mantle_api::PedestrianProperties>(properties), routeSampler));
+ ++nextId;
+ }
+
+ return CreateHelper<mantle_api::IPedestrian>(name, entry->second);
+}
+
+mantle_api::IPedestrian &EntityRepository::Create(mantle_api::UniqueId id, const std::string &name, const mantle_api::PedestrianProperties &properties)
+{
+ // This is to verify if scenarioEngine set the correct EntityType when creating Entities
+ if (properties.type != mantle_api::EntityType::kPedestrian)
+ {
+ throw std::runtime_error("Pedestrian could not be created. Pedestrian requires EntityType: Pedestrian.");
+ }
+
+ auto [entry, success] = entitiesById.try_emplace(id, std::make_shared<Pedestrian>(nextId, name, std::make_shared<mantle_api::PedestrianProperties>(properties), routeSampler));
+ if (!success)
+ {
+ throw std::runtime_error("Id \"" + std::to_string(id) + "\" is already in use");
+ }
+ return CreateHelper<mantle_api::IPedestrian>(name, entry->second);
+}
+
+mantle_api::IStaticObject &EntityRepository::Create(const std::string &name, const mantle_api::StaticObjectProperties &properties)
+{
+
+}
+
+mantle_api::IStaticObject &EntityRepository::Create(mantle_api::UniqueId id, const std::string &name, const mantle_api::StaticObjectProperties &properties)
+{
+
+}
+
+mantle_api::IVehicle &EntityRepository::GetHost()
+{
+
+}
+
+std::optional<std::reference_wrapper<mantle_api::IEntity>> EntityRepository::Get(const std::string &name)
+{
+ return *entitiesByName.at(name);
+}
+
+std::optional<std::reference_wrapper<mantle_api::IEntity>> EntityRepository::Get(mantle_api::UniqueId id)
+{
+ if (entitiesById.find(id) == entitiesById.end())
+ {
+ return std::nullopt;
+ }
+ else
+ {
+ return *((std::static_pointer_cast<mantle_api::IEntity>(entitiesById.at(id))));
+ }
+}
+
+bool EntityRepository::Contains(mantle_api::UniqueId id) const
+{
+
+}
+
+void EntityRepository::Delete(const std::string &name)
+{
+
+}
+
+void EntityRepository::Delete(mantle_api::UniqueId id)
+{
+
+}
+
+const std::vector<std::unique_ptr<mantle_api::IEntity> > &EntityRepository::GetEntities() const
+{
+}
+
+Entity &EntityRepository::GetEntity(mantle_api::UniqueId id)
+{
+ return *((std::static_pointer_cast<Entity>(entitiesById.at(id))));
+}
+
+bool EntityRepository::SpawnReadyAgents()
+{
+ bool successfullySpawnedAgents = true;
+ std::vector<std::shared_ptr<Entity>> stillUnspawnedVehicles;
+ for (auto vehicle : unspawnedEntities)
+ {
+ if (vehicle->ShouldBeSpawned())
+ {
+ auto newAgent = agentFactory->AddAgent(vehicle->GetAgentBuildInstructions());
+
+ if (newAgent == nullptr)
+ {
+ successfullySpawnedAgents = false;
+ }
+ else
+ {
+ newAgents.push_back(newAgent);
+ vehicle->SetAgent(newAgent->GetAgentAdapter());
+ }
+ }
+ else
+ {
+ stillUnspawnedVehicles.push_back(vehicle);
+ }
+ }
+ unspawnedEntities = stillUnspawnedVehicles;
+ return successfullySpawnedAgents;
+}
+
+std::vector<Agent *> EntityRepository::ConsumeNewAgents()
+{
+ std::vector<Agent*> tmpAgents;
+ std::swap(tmpAgents, newAgents);
+ return tmpAgents;
+}
+} // namespace core
diff --git a/sim/src/core/opSimulation/framework/entityRepository.h b/sim/src/core/opSimulation/framework/entityRepository.h
new file mode 100644
index 0000000000000000000000000000000000000000..e0a680a29ca808d3d222c23774905f2d25bb733f
--- /dev/null
+++ b/sim/src/core/opSimulation/framework/entityRepository.h
@@ -0,0 +1,82 @@
+/*******************************************************************************
+* 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
+
+#include <map>
+
+#include "include/agentFactoryInterface.h"
+#include "include/entityRepositoryInterface.h"
+#include "pedestrian.h"
+#include "vehicle.h"
+
+namespace core {
+class EntityRepository final : public EntityRepositoryInterface
+{
+public:
+ EntityRepository(core::AgentFactoryInterface *agentFactory, const RouteSamplerInterface *routeSampler);
+
+ virtual mantle_api::IVehicle &Create(const std::string &name, const mantle_api::VehicleProperties &properties) override;
+ virtual mantle_api::IVehicle &Create(mantle_api::UniqueId id, const std::string &name, const mantle_api::VehicleProperties &properties) override;
+ virtual mantle_api::IPedestrian &Create(const std::string &name, const mantle_api::PedestrianProperties &properties) override;
+ virtual mantle_api::IPedestrian &Create(mantle_api::UniqueId id, const std::string &name, const mantle_api::PedestrianProperties &properties) override;
+ virtual mantle_api::IStaticObject &Create(const std::string &name, const mantle_api::StaticObjectProperties &properties) override;
+ virtual mantle_api::IStaticObject &Create(mantle_api::UniqueId id, const std::string &name, const mantle_api::StaticObjectProperties &properties) override;
+
+ virtual mantle_api::IVehicle &GetHost() override;
+ virtual std::optional<std::reference_wrapper<mantle_api::IEntity>> Get(const std::string &name) override;
+ virtual std::optional<std::reference_wrapper<mantle_api::IEntity>> Get(mantle_api::UniqueId id) override;
+ virtual bool Contains(mantle_api::UniqueId id) const override;
+
+ virtual void Delete(const std::string &name) override;
+ virtual void Delete(mantle_api::UniqueId id) override;
+
+ virtual const std::vector<std::unique_ptr<mantle_api::IEntity>> &GetEntities() const override;
+
+ virtual void RegisterEntityCreatedCallback(const std::function<void(mantle_api::IEntity &)> &callback)
+ {
+ }
+ virtual void RegisterEntityDeletedCallback(const std::function<void(const std::string &)> &callback)
+ {
+ }
+ virtual void RegisterEntityDeletedCallback(const std::function<void(mantle_api::UniqueId)> &callback)
+ {
+ }
+
+ Entity &GetEntity(mantle_api::UniqueId id);
+
+ std::map<mantle_api::UniqueId, std::shared_ptr<Entity>> &GetEntitiesById()
+ {
+ return entitiesById;
+ }
+
+ bool SpawnReadyAgents();
+
+ std::vector<Agent *> ConsumeNewAgents();
+
+private:
+ template <typename T>
+ T &CreateHelper(const std::string &name, std::shared_ptr<Entity> entity)
+ {
+ entitiesByName.insert({name, entity});
+ unspawnedEntities.push_back(entity);
+
+ return *(std::dynamic_pointer_cast<T>(entity));
+ }
+
+ mantle_api::UniqueId nextId{0};
+ std::map<mantle_api::UniqueId, std::shared_ptr<Entity>> entitiesById;
+ std::map<std::string, std::shared_ptr<Entity>> entitiesByName;
+ std::vector<std::shared_ptr<Entity>> unspawnedEntities;
+ core::AgentFactoryInterface *agentFactory{nullptr};
+ const RouteSamplerInterface* routeSampler;
+ std::vector<Agent*> newAgents;
+};
+} // namespace core
diff --git a/sim/src/core/opSimulation/modules/Spawners/Scenario/SpawnerScenarioGlobal.h b/sim/src/core/opSimulation/framework/environment.cpp
similarity index 63%
rename from sim/src/core/opSimulation/modules/Spawners/Scenario/SpawnerScenarioGlobal.h
rename to sim/src/core/opSimulation/framework/environment.cpp
index 84fc8438bef2ff4e3193e033b0c30f8cdadb5a3b..d43537a8a6c5d83022e525c732542a8e9b5609ed 100644
--- a/sim/src/core/opSimulation/modules/Spawners/Scenario/SpawnerScenarioGlobal.h
+++ b/sim/src/core/opSimulation/framework/environment.cpp
@@ -1,5 +1,5 @@
/********************************************************************************
- * Copyright (c) 2017-2019 in-tech GmbH
+ * 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
@@ -9,18 +9,11 @@
********************************************************************************/
//-----------------------------------------------------------------------------
-/** @file SpawnpointGlobal.h
-* @brief This file contains DLL export declarations
-**/
+/** \file environment.cpp */
//-----------------------------------------------------------------------------
-#pragma once
+#include "environment.h"
-#include <QtCore/qglobal.h>
-
-#if defined(SPAWNER_SCENARIO_LIBRARY)
-# define SPAWNPOINT_SHARED_EXPORT Q_DECL_EXPORT
-#else
-# define SPAWNPOINT_SHARED_EXPORT Q_DECL_IMPORT
-#endif
+namespace core {
+} //namespace core
diff --git a/sim/src/core/opSimulation/framework/environment.h b/sim/src/core/opSimulation/framework/environment.h
new file mode 100644
index 0000000000000000000000000000000000000000..014d0c60bdb7432091208215e48c0e66d75e9f2a
--- /dev/null
+++ b/sim/src/core/opSimulation/framework/environment.h
@@ -0,0 +1,215 @@
+/*******************************************************************************
+* 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
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** \addtogroup Environment
+* @{
+* \file environment.h
+* @} */
+//-----------------------------------------------------------------------------
+
+#pragma once
+
+#include "include/environmentInterface.h"
+#include "agentBlueprintProvider.h"
+#include "directories.h"
+#include "entityRepository.h"
+#include "controllerRepository.h"
+#include "coordConverter.h"
+#include "geometryHelper.h"
+#include "importer/scenery.h"
+#include "importer/sceneryImporter.h"
+#include "include/worldInterface.h"
+#include "laneLocationQueryService.h"
+
+using namespace units::literals;
+
+namespace core {
+
+//-----------------------------------------------------------------------------
+/** \brief Implements the functionality of the interface.
+*
+* \ingroup EventNetwork */
+//-----------------------------------------------------------------------------
+class SIMULATIONCOREEXPORT Environment final : public EnvironmentInterface
+{
+public:
+ Environment(const std::string &configurationDir,
+ AgentBlueprintProvider &agentBlueprintProvider,
+ core::AgentFactoryInterface *agentFactory,
+ StochasticsInterface *stochastics,
+ const TurningRates& turningRates) :
+ configurationDir(configurationDir),
+ agentBlueprintProvider(agentBlueprintProvider),
+ agentFactory(agentFactory),
+ routeSampler(stochastics),
+ entityRepository(agentFactory, &routeSampler),
+ controllerRepository(agentBlueprintProvider),
+ turningRates(turningRates)
+ {}
+
+ ~Environment() = default;
+
+ void Step(const mantle_api::Time &simulationTime)
+ {
+ world->SyncGlobalData(int(simulationTime.value()));
+
+ this->simulationTime = simulationTime;
+
+ for ( const auto& [id, entity] : entityRepository.GetEntitiesById() )
+ {
+ entity->GetControlStrategies()->ResetCustomCommands();
+ }
+ }
+
+ void CreateMap(const std::string &map_file_path, const mantle_api::MapDetails &map_details) final
+ {
+ if (world->isInstantiated())
+ {
+ return;
+ }
+ auto concaternated_path = openpass::core::Directories::Concat(configurationDir, map_file_path);
+ ThrowIfFalse(world, "World has not been set");
+
+ ThrowIfFalse(Importer::SceneryImporter::Import(concaternated_path, &scenery),
+ "Could not import scenery");
+
+ ThrowIfFalse(world->Instantiate(),
+ "Failed to instantiate World");
+ world->CreateScenery(&scenery, turningRates);
+ }
+
+ void AddEntityToController(mantle_api::IEntity& entity, std::uint64_t controller_id) final
+ {
+ const Controller& controller = dynamic_cast<Controller &>(controllerRepository.Get(controller_id).value().get());
+
+ entityRepository.GetEntity(entity.GetUniqueId()).SetSystem(controller.GetSystem());
+ }
+
+ void RemoveControllerFromEntity(std::uint64_t entity_id) final
+ {
+
+ }
+
+ void UpdateControlStrategies(std::uint64_t entity_id, std::vector<std::shared_ptr<mantle_api::ControlStrategy>> control_strategies) final
+ {
+ // TODO CK Implement reasonable strategy to add and remove control strategies regarding movement domain.
+ entityRepository.GetEntity(entity_id).GetControlStrategies()->SetStrategies(control_strategies);
+ }
+
+ // TODO CK: This IQueryService needs to be derived by the worlddataquery
+ const mantle_api::ILaneLocationQueryService& GetQueryService() const final
+ {
+ return laneLocationQueryService;
+ }
+
+ const mantle_api::ICoordConverter* GetConverter() const final
+ {
+ return &coordConverter;
+ }
+
+ const mantle_api::IGeometryHelper* GetGeometryHelper() const final
+ {
+ return &geometryHelper;
+ }
+
+ EntityRepository& GetEntityRepository() final
+ {
+ return entityRepository;
+ }
+
+ ControllerRepository& GetControllerRepository() final
+ {
+ return controllerRepository;
+ }
+
+ void SetDateTime(mantle_api::Time date_time) final
+ {
+
+ }
+
+ mantle_api::Time GetDateTime() final
+ {
+ return {};
+ }
+
+ void SetWeather(mantle_api::Weather weather) final
+ {
+ world->SetWeather(weather);
+ }
+
+ void SetRoadCondition(std::vector<mantle_api::FrictionPatch> friction_patches) final
+ {
+
+ }
+
+ void SetTrafficSignalState(const std::string& traffic_signal_name, const std::string& traffic_signal_state) final
+ {
+
+ }
+
+ bool HasControlStrategyGoalBeenReached(std::uint64_t controller_id,
+ mantle_api::ControlStrategyType type) const final
+ {
+
+ }
+
+ // This needs to be called before calling create map
+ // This should actually be part of the init function to ensure correct usage. WorldBinding & library might need to move into this class
+ void SetWorld(WorldInterface* world)
+ {
+ this->world = world;
+ laneLocationQueryService.Init(world);
+ coordConverter.Init(world);
+ routeSampler.SetWorld(world);
+ }
+
+ mantle_api::Time GetSimulationTime() final
+ {
+ return simulationTime;
+ }
+
+ virtual void ExecuteCustomCommand(const std::vector<std::string>& actors, const std::string& type, const std::string& command)
+ {
+ for (const auto& actor : actors)
+ {
+ auto entity = entityRepository.Get(actor);
+ if (!entity.has_value())
+ {
+ continue;
+ }
+ entityRepository.GetEntity(entity.value().get().GetUniqueId()).GetControlStrategies()->AddCustomCommand(command);
+ }
+ }
+
+ void Reset()
+ {
+ entityRepository = {agentFactory, &routeSampler};
+ controllerRepository = {agentBlueprintProvider};
+ world->Reset();
+ }
+
+ Scenery scenery;
+ WorldInterface* world {nullptr};
+ LaneLocationQueryService laneLocationQueryService;
+ CoordConverter coordConverter;
+ GeometryHelper geometryHelper;
+ const std::string& configurationDir;
+ AgentBlueprintProvider& agentBlueprintProvider;
+ core::AgentFactoryInterface *agentFactory{nullptr};
+ const TurningRates& turningRates;
+ RouteSampler routeSampler;
+ EntityRepository entityRepository;
+ ControllerRepository controllerRepository;
+
+ mantle_api::Time simulationTime{};
+};
+
+} //namespace core
diff --git a/sim/src/core/opSimulation/framework/frameworkModuleContainer.cpp b/sim/src/core/opSimulation/framework/frameworkModuleContainer.cpp
index faa543e2c8c477d11764e5d5d119f19d26dcdaf2..d6d5ebd8190ef56b607ea5fe47cf0db77c8b5acb 100644
--- a/sim/src/core/opSimulation/framework/frameworkModuleContainer.cpp
+++ b/sim/src/core/opSimulation/framework/frameworkModuleContainer.cpp
@@ -16,7 +16,6 @@ namespace core {
FrameworkModuleContainer::FrameworkModuleContainer(
FrameworkModules frameworkModules,
- ConfigurationContainerInterface *configurationContainer,
const openpass::common::RuntimeInformation &runtimeInformation,
CallbackInterface *callbacks) :
dataBufferBinding(frameworkModules.dataBufferLibrary, runtimeInformation, callbacks),
@@ -32,8 +31,7 @@ FrameworkModuleContainer::FrameworkModuleContainer(
manipulatorBinding(callbacks),
manipulatorNetwork(&manipulatorBinding, &world, &coreDataPublisher),
modelBinding(frameworkModules.libraryDir, runtimeInformation, callbacks),
- agentFactory(&modelBinding, &world, &stochastics, &observationNetwork, &eventNetwork, &dataBuffer),
- agentBlueprintProvider(configurationContainer, stochastics),
+ agentFactory(&modelBinding, &world, &stochastics, &observationNetwork, &dataBuffer),
eventNetwork(&dataBuffer),
spawnPointNetwork(&spawnPointBindings, &world, runtimeInformation)
{
@@ -48,11 +46,6 @@ FrameworkModuleContainer::FrameworkModuleContainer(
}
}
-const AgentBlueprintProviderInterface *FrameworkModuleContainer::GetAgentBlueprintProvider() const
-{
- return &agentBlueprintProvider;
-}
-
AgentFactoryInterface *FrameworkModuleContainer::GetAgentFactory()
{
return &agentFactory;
diff --git a/sim/src/core/opSimulation/framework/frameworkModuleContainer.h b/sim/src/core/opSimulation/framework/frameworkModuleContainer.h
index 3c7705a54c8792041a3300e56a3021ff2c6ddb93..46d6499d0f82609695a1087f43438cad1ddb528d 100644
--- a/sim/src/core/opSimulation/framework/frameworkModuleContainer.h
+++ b/sim/src/core/opSimulation/framework/frameworkModuleContainer.h
@@ -48,11 +48,9 @@ class SIMULATIONCOREEXPORT FrameworkModuleContainer final : public FrameworkModu
{
public:
FrameworkModuleContainer(FrameworkModules frameworkModules,
- ConfigurationContainerInterface *configurationContainer,
const openpass::common::RuntimeInformation &runtimeInformation,
CallbackInterface *callbacks);
- const AgentBlueprintProviderInterface *GetAgentBlueprintProvider() const override;
AgentFactoryInterface *GetAgentFactory() override;
DataBufferInterface *GetDataBuffer() override;
EventDetectorNetworkInterface *GetEventDetectorNetwork() override;
@@ -87,8 +85,6 @@ private:
AgentFactory agentFactory;
- AgentBlueprintProvider agentBlueprintProvider;
-
EventNetwork eventNetwork;
std::map<std::string, SpawnPointBinding> spawnPointBindings;
diff --git a/sim/src/core/opSimulation/framework/geometryHelper.h b/sim/src/core/opSimulation/framework/geometryHelper.h
new file mode 100644
index 0000000000000000000000000000000000000000..a90e310053a09dbe2778c37edac06ef5fdf6b18c
--- /dev/null
+++ b/sim/src/core/opSimulation/framework/geometryHelper.h
@@ -0,0 +1,55 @@
+/*******************************************************************************
+* Copyright (c) 2022 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
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** \addtogroup Environment
+* @{
+* \file geometryHelper.h
+* @} */
+//-----------------------------------------------------------------------------
+
+#pragma once
+
+#include "MantleAPI/Common/i_geometry_helper.h"
+
+using namespace units::literals;
+
+namespace core {
+class SIMULATIONCOREEXPORT GeometryHelper final : public mantle_api::IGeometryHelper
+{
+public:
+ mantle_api::Vec3<units::length::meter_t> TranslateGlobalPositionLocally(
+ const mantle_api::Vec3<units::length::meter_t>& global_position,
+ const mantle_api::Orientation3<units::angle::radian_t>& local_orientation,
+ const mantle_api::Vec3<units::length::meter_t>& local_translation) const override
+ {
+ const units::length::meter_t x = global_position.x + units::math::cos(local_orientation.yaw) * local_translation.x - units::math::sin(local_orientation.yaw) * local_translation.y;
+ const units::length::meter_t y = global_position.y + units::math::sin(local_orientation.yaw) * local_translation.x + units::math::cos(local_orientation.yaw) * local_translation.y;
+ const units::length::meter_t z = global_position.z;
+ return{x, y, z};
+ }
+
+ std::vector<mantle_api::Vec3<units::length::meter_t>> TransformPolylinePointsFromWorldToLocal(
+ const std::vector<mantle_api::Vec3<units::length::meter_t>>& polyline_points,
+ const mantle_api::Vec3<units::length::meter_t>& local_origin,
+ const mantle_api::Orientation3<units::angle::radian_t>& local_orientation) const override
+ {
+
+ }
+
+ mantle_api::Vec3<units::length::meter_t> TransformPositionFromWorldToLocal(
+ const mantle_api::Vec3<units::length::meter_t>& world_position,
+ const mantle_api::Vec3<units::length::meter_t>& local_origin,
+ const mantle_api::Orientation3<units::angle::radian_t>& local_orientation) const override
+ {
+
+ }
+};
+}
\ No newline at end of file
diff --git a/sim/src/core/opSimulation/framework/laneLocationQueryService.cpp b/sim/src/core/opSimulation/framework/laneLocationQueryService.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..7e1444e00a78fb307b294853c2ca8738b171623b
--- /dev/null
+++ b/sim/src/core/opSimulation/framework/laneLocationQueryService.cpp
@@ -0,0 +1,108 @@
+/*******************************************************************************
+* Copyright (c) 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+*
+* 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 "laneLocationQueryService.h"
+
+using namespace units::literals;
+
+namespace core {
+
+ mantle_api::Orientation3<units::angle::radian_t> LaneLocationQueryService::GetLaneOrientation(
+ const mantle_api::Vec3<units::length::meter_t>& position) const
+ {
+ const auto lanePosition = world->WorldCoord2LaneCoord(position.x, position.y, 0_rad);
+ if(lanePosition.empty())
+ {
+ throw std::runtime_error("Position is outside of road network!");
+ }
+
+ const auto direction = world->GetLaneDirection(lanePosition.cbegin()->second.roadId, lanePosition.cbegin()->second.laneId, lanePosition.cbegin()->second.roadPosition.s);
+ return {direction, 0_rad, 0_rad};
+ }
+
+ mantle_api::Vec3<units::length::meter_t> LaneLocationQueryService::GetUpwardsShiftedLanePosition(const mantle_api::Vec3<units::length::meter_t>& position,
+ double upwards_shift,
+ bool allow_invalid_positions) const
+ {}
+
+ bool LaneLocationQueryService::IsPositionOnLane(const mantle_api::Vec3<units::length::meter_t>& position) const
+ {
+ const auto lanePosition = world->WorldCoord2LaneCoord(position.x, position.y, 0_rad);
+ return !lanePosition.empty();
+ }
+
+ std::vector<mantle_api::UniqueId> LaneLocationQueryService::GetLaneIdsAtPosition(const mantle_api::Vec3<units::length::meter_t>& position) const
+ {
+ const auto lanePositions = world->WorldCoord2LaneCoord(position.x, position.y, 0_rad);
+
+ std::vector<mantle_api::UniqueId> laneIds{};
+ for(const auto& lanePosition : lanePositions)
+ {
+ auto laneId = world->GetUniqueLaneId(lanePosition.second.roadId, lanePosition.second.laneId, lanePosition.second.roadPosition.s);
+ laneIds.push_back(laneId);
+ }
+ return laneIds;
+ }
+
+ std::optional<mantle_api::Pose> LaneLocationQueryService::FindLanePoseAtDistanceFrom(const mantle_api::Pose& reference_pose_on_lane, units::length::meter_t distance, mantle_api::Direction direction) const
+ {
+ if(IsPositionOnLane(reference_pose_on_lane.position))
+ {
+ const auto lanePosition = world->WorldCoord2LaneCoord(reference_pose_on_lane.position.x, reference_pose_on_lane.position.y, reference_pose_on_lane.orientation.yaw);
+
+ bool forwardDirection = (direction == mantle_api::Direction::kForward);
+ auto roadStream = world->GetRoadStream({{lanePosition.cbegin()->second.roadId, forwardDirection}});
+ auto laneStream = roadStream->GetLaneStream(lanePosition.cbegin()->second);
+ auto laneStreamPosition = laneStream->GetStreamPosition(lanePosition.cbegin()->second);
+ StreamPosition targetStreamPosition = {laneStreamPosition.s + distance, laneStreamPosition.t};
+ auto targetRoadPosition = laneStream->GetRoadPosition(targetStreamPosition);
+
+ mantle_api::Pose newPose;
+ auto worldPosition = world->LaneCoord2WorldCoord(targetRoadPosition.roadPosition.s, targetRoadPosition.roadPosition.t, targetRoadPosition.roadId, targetRoadPosition.laneId);
+ newPose.position = {worldPosition.xPos, worldPosition.yPos, 0.0_m};
+ newPose.orientation.yaw = CommonHelper::SetAngleToValidRange(worldPosition.yawAngle + reference_pose_on_lane.orientation.yaw);
+ return newPose;
+ }
+ return std::nullopt;
+ }
+
+ std::optional<mantle_api::Pose> LaneLocationQueryService::FindRelativeLanePoseAtDistanceFrom(const mantle_api::Pose& reference_pose_on_lane, int relative_target_lane, units::length::meter_t distance, units::length::meter_t lateral_offset) const
+ {
+
+ if(IsPositionOnLane(reference_pose_on_lane.position))
+ {
+ const auto lanePosition = world->WorldCoord2LaneCoord(reference_pose_on_lane.position.x, reference_pose_on_lane.position.y, reference_pose_on_lane.orientation.yaw);
+
+ bool direction = (std::abs(lanePosition.cbegin()->second.roadPosition.hdg.value()) <= M_PI_2);
+ auto roadStream = world->GetRoadStream({{lanePosition.cbegin()->second.roadId, direction}});
+ auto laneStream = roadStream->GetLaneStream(lanePosition.cbegin()->second);
+ auto laneStreamPosition = laneStream->GetStreamPosition(lanePosition.cbegin()->second);
+ StreamPosition targetStreamPosition = {laneStreamPosition.s + distance, laneStreamPosition.t};
+ auto targetRoadPosition = laneStream->GetRoadPosition(targetStreamPosition);
+
+ mantle_api::Pose newPose;
+ auto worldPosition = world->LaneCoord2WorldCoord(targetRoadPosition.roadPosition.s, lateral_offset, targetRoadPosition.roadId, targetRoadPosition.laneId + relative_target_lane);
+ newPose.position = {worldPosition.xPos, worldPosition.yPos, 0.0_m};
+ newPose.orientation.yaw = CommonHelper::SetAngleToValidRange(worldPosition.yawAngle + reference_pose_on_lane.orientation.yaw);
+ return newPose;
+ }
+ return std::nullopt;
+ }
+
+ std::optional<mantle_api::UniqueId> LaneLocationQueryService::GetRelativeLaneId(const mantle_api::Pose& reference_pose_on_lane, int relative_lane_target) const
+ {
+ if(IsPositionOnLane(reference_pose_on_lane.position))
+ {
+ const auto lanePosition = world->WorldCoord2LaneCoord(reference_pose_on_lane.position.x, reference_pose_on_lane.position.y, 0_rad);
+ return world->GetUniqueLaneId(lanePosition.cbegin()->second.roadId, lanePosition.cbegin()->second.laneId, lanePosition.cbegin()->second.roadPosition.s) + relative_lane_target;
+ }
+ return std::nullopt;
+ }
+} // namespace core
\ No newline at end of file
diff --git a/sim/src/core/opSimulation/framework/laneLocationQueryService.h b/sim/src/core/opSimulation/framework/laneLocationQueryService.h
new file mode 100644
index 0000000000000000000000000000000000000000..e7e47f2dc61f0438a981f3a8be112e336627208f
--- /dev/null
+++ b/sim/src/core/opSimulation/framework/laneLocationQueryService.h
@@ -0,0 +1,46 @@
+/*******************************************************************************
+* Copyright (c) 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+*
+* 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 <limits> // workaround for missing includes in MantleAPI headers
+
+#include "MantleAPI/Map/i_lane_location_query_service.h"
+#include "include/worldInterface.h"
+
+namespace core {
+class LaneLocationQueryService : public mantle_api::ILaneLocationQueryService
+{
+public:
+
+ LaneLocationQueryService() = default;
+ ~LaneLocationQueryService() = default;
+
+ void Init(WorldInterface* world)
+ {
+ this->world = world;
+ }
+
+ virtual mantle_api::Orientation3<units::angle::radian_t> GetLaneOrientation(
+ const mantle_api::Vec3<units::length::meter_t>& position) const override;
+ virtual mantle_api::Vec3<units::length::meter_t> GetUpwardsShiftedLanePosition(const mantle_api::Vec3<units::length::meter_t>& position,
+ double upwards_shift,
+ bool allow_invalid_positions = false) const override;
+ virtual bool IsPositionOnLane(const mantle_api::Vec3<units::length::meter_t>& position) const override;
+ virtual std::vector<mantle_api::UniqueId> GetLaneIdsAtPosition(const mantle_api::Vec3<units::length::meter_t>& position) const override;
+
+ virtual std::optional<mantle_api::Pose> FindLanePoseAtDistanceFrom(const mantle_api::Pose& reference_pose_on_lane, units::length::meter_t distance, mantle_api::Direction direction) const override;
+ virtual std::optional<mantle_api::Pose> FindRelativeLanePoseAtDistanceFrom(const mantle_api::Pose& reference_pose_on_lane, int relative_target_lane, units::length::meter_t distance, units::length::meter_t lateral_offset) const override;
+ virtual std::optional<mantle_api::UniqueId> GetRelativeLaneId(const mantle_api::Pose& reference_pose_on_lane, int relative_lane_target) const override;
+
+private:
+ WorldInterface* world;
+};
+} // namespace core
diff --git a/sim/src/core/opSimulation/framework/main.cpp b/sim/src/core/opSimulation/framework/main.cpp
index 38ca394fb37f610ab7c5ce89f4790ffe0fcc1fb5..5b7171aef35ed85c12f706bec2bc5825250bf05b 100644
--- a/sim/src/core/opSimulation/framework/main.cpp
+++ b/sim/src/core/opSimulation/framework/main.cpp
@@ -126,7 +126,6 @@ int main(int argc, char* argv[])
SimulationCommon::Callbacks callbacks;
FrameworkModuleContainer frameworkModuleContainer(frameworkModules,
- &configurationContainer,
runtimeInformation,
&callbacks);
diff --git a/sim/src/core/opSimulation/framework/pedestrian.cpp b/sim/src/core/opSimulation/framework/pedestrian.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..9d2236918b9c502e41ba16c34378f4fa68476761
--- /dev/null
+++ b/sim/src/core/opSimulation/framework/pedestrian.cpp
@@ -0,0 +1,21 @@
+#include "pedestrian.h"
+
+#include "agent.h"
+
+namespace core {
+Pedestrian::Pedestrian(mantle_api::UniqueId id,
+ const std::string &name,
+ const std::shared_ptr<mantle_api::PedestrianProperties> properties,
+ const RouteSamplerInterface *routeSampler) :
+ Entity(id, name, routeSampler, properties, AgentCategory::Scenario)
+{
+}
+
+void Pedestrian::SetProperties(std::unique_ptr<mantle_api::EntityProperties> properties)
+{
+}
+
+mantle_api::PedestrianProperties *Pedestrian::GetProperties() const
+{
+}
+} // namespace core
diff --git a/sim/src/core/opSimulation/framework/pedestrian.h b/sim/src/core/opSimulation/framework/pedestrian.h
new file mode 100644
index 0000000000000000000000000000000000000000..fa99b6a895bdc1bde93052d3addca2ad33dac7bc
--- /dev/null
+++ b/sim/src/core/opSimulation/framework/pedestrian.h
@@ -0,0 +1,32 @@
+/*******************************************************************************
+* 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
+
+#include "MantleAPI/Traffic/i_entity.h"
+#include "entity.h"
+#include "include/agentBlueprintInterface.h"
+#include "include/agentFactoryInterface.h"
+#include "include/agentInterface.h"
+#include "routeSampler.h"
+
+namespace core {
+class Pedestrian : public Entity, public mantle_api::IPedestrian
+{
+public:
+ Pedestrian(mantle_api::UniqueId id,
+ const std::string &name,
+ const std::shared_ptr<mantle_api::PedestrianProperties> properties,
+ const RouteSamplerInterface *routeSampler);
+
+ virtual void SetProperties(std::unique_ptr<mantle_api::EntityProperties> properties) override;
+ virtual mantle_api::PedestrianProperties *GetProperties() const override;
+};
+} // namespace core
diff --git a/sim/src/core/opSimulation/framework/routeSampler.h b/sim/src/core/opSimulation/framework/routeSampler.h
new file mode 100644
index 0000000000000000000000000000000000000000..c28ad36d7e38ef9a81fc72b1b55d1671f508ef29
--- /dev/null
+++ b/sim/src/core/opSimulation/framework/routeSampler.h
@@ -0,0 +1,60 @@
+/*******************************************************************************
+* 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
+*******************************************************************************/
+
+//-----------------------------------------------------------------------------
+/** \addtogroup Environment
+* @{
+* \file environment.h
+* @} */
+//-----------------------------------------------------------------------------
+
+#pragma once
+
+#include "include/agentBlueprintInterface.h"
+#include "include/stochasticsInterface.h"
+#include "include/worldInterface.h"
+#include "MantleAPI/Common/vector.h"
+#include "common/commonTools.h"
+#include "common/RoutePlanning/RouteCalculation.h"
+
+constexpr size_t MAX_DEPTH = 10; //! Limits search depths in case of cyclic network
+
+class RouteSamplerInterface
+{
+public:
+ virtual Route Sample(const mantle_api::Vec3<units::length::meter_t>& inert_pos, units::angle::radian_t yaw) const = 0;
+};
+
+class RouteSampler : public RouteSamplerInterface
+{
+public:
+ RouteSampler(StochasticsInterface* stochastics) :
+ stochastics(stochastics)
+ {}
+
+ void SetWorld(const WorldInterface* world)
+ {
+ this->world = world;
+ }
+
+ Route Sample(const mantle_api::Vec3<units::length::meter_t>& inert_pos, units::angle::radian_t yaw) const override
+ {
+ const auto& roadPositions = world->WorldCoord2LaneCoord(inert_pos.x, inert_pos.y, yaw);
+ auto [roadGraph, root] = world->GetRoadGraph(CommonHelper::GetRoadWithLowestHeading(roadPositions, *world), MAX_DEPTH);
+ std::map<RoadGraph::edge_descriptor, double> weights = world->GetEdgeWeights(roadGraph);
+ auto target = RouteCalculation::SampleRoute(roadGraph, root, weights, *stochastics);
+
+ return Route{roadGraph, root, target};
+ }
+
+private:
+ const WorldInterface* world;
+ StochasticsInterface* stochastics;
+};
diff --git a/sim/src/core/opSimulation/framework/runInstantiator.cpp b/sim/src/core/opSimulation/framework/runInstantiator.cpp
index 41760fbdf01902244b0b086cf157de8208b18da3..ce2a69ba0d857e676fb0088ca9c17eca8cb578fb 100644
--- a/sim/src/core/opSimulation/framework/runInstantiator.cpp
+++ b/sim/src/core/opSimulation/framework/runInstantiator.cpp
@@ -13,25 +13,31 @@
#include <functional>
#include <sstream>
+#include <QDir>
-#include "common/log.h"
-#include "include/agentBlueprintProviderInterface.h"
-#include "include/observationNetworkInterface.h"
-#include "include/eventDetectorNetworkInterface.h"
-#include "include/manipulatorNetworkInterface.h"
#include "agentFactory.h"
#include "agentType.h"
+#include "bindings/dataBuffer.h"
+#include "bindings/stochastics.h"
#include "channel.h"
+#include "common/log.h"
#include "component.h"
-#include "bindings/dataBuffer.h"
-#include "observationModule.h"
+#include "directories.h"
+#include "importer/entityPropertiesImporter.h"
+#include "include/eventDetectorNetworkInterface.h"
+#include "include/manipulatorNetworkInterface.h"
+#include "include/observationNetworkInterface.h"
#include "modelElements/parameters.h"
+#include "observationModule.h"
+#include "parameterbuilder.h"
+#include "sampler.h"
#include "scheduler/runResult.h"
#include "scheduler/scheduler.h"
#include "spawnPointNetwork.h"
-#include "bindings/stochastics.h"
-#include "parameterbuilder.h"
-#include "sampler.h"
+
+const std::string SCENERYPATH = "full_map_path";
+const std::string VEHICLEMODELSFILENAME = "VehicleModelsCatalog.xosc";
+
constexpr char SPAWNER[] = {"Spawner"};
@@ -46,24 +52,41 @@ bool RunInstantiator::ExecuteRun()
stopped = false;
stopMutex.unlock();
- const auto &scenario = *configurationContainer.GetScenario();
- const auto &scenery = *configurationContainer.GetScenery();
const auto &simulationConfig = *configurationContainer.GetSimulationConfig();
const auto &profiles = *configurationContainer.GetProfiles();
const auto &experimentConfig = simulationConfig.GetExperimentConfig();
const auto &environmentConfig = simulationConfig.GetEnvironmentConfig();
- if (!InitPreRun(scenario, scenery, simulationConfig))
+ ThrowIfFalse(dataBuffer.Instantiate(), "Failed to instantiate DataBuffer");
+
+ ThrowIfFalse(stochastics.Instantiate(frameworkModules.stochasticsLibrary),
+ "Failed to instantiate Stochastics");
+
+ agentBlueprintProvider.Init(&configurationContainer,
+ &stochastics);
+
+ environment->SetWorld(&world);
+ scenarioEngine->Init();
+
+ const auto configurationDir = QString::fromStdString(configurationContainer.GetRuntimeInformation().directories.configuration) + QDir::separator();
+ const QDir sceneryPath = configurationDir + QString::fromStdString(scenarioEngine->GetScenarioInfo().additional_information.at(SCENERYPATH));
+ const QDir vehicleCatalogFilepath = configurationDir + QString::fromStdString(scenarioEngine->GetScenarioInfo().additional_information.at("vehicle_catalog_path")) + QDir::separator() + QString::fromStdString(VEHICLEMODELSFILENAME);
+
+ Importer::EntityPropertiesImporter entityPropertiesImporter;
+ entityPropertiesImporter.Import(vehicleCatalogFilepath.absolutePath().toStdString());
+ vehicles = entityPropertiesImporter.GetVehicleProperties();
+
+ if (!InitPreRun(sceneryPath.absolutePath().toStdString()))
{
LOG_INTERN(LogLevel::DebugCore) << std::endl
<< "### initialization failed ###";
return false;
}
- dataBuffer.PutStatic("SceneryFile", scenario.GetSceneryPath(), true);
+ dataBuffer.PutStatic("SceneryFile", sceneryPath.absolutePath().toStdString(), true);
ThrowIfFalse(observationNetwork.InitAll(), "Failed to initialize ObservationNetwork");
- core::scheduling::Scheduler scheduler(world, spawnPointNetwork, eventDetectorNetwork, manipulatorNetwork, observationNetwork, dataBuffer);
+ core::scheduling::Scheduler scheduler(world, spawnPointNetwork, eventDetectorNetwork, manipulatorNetwork, observationNetwork, dataBuffer, *environment);
bool scheduler_state{false};
for (auto invocation = 0; invocation < experimentConfig.numberOfInvocations; invocation++)
@@ -73,6 +96,10 @@ bool RunInstantiator::ExecuteRun()
LOG_INTERN(LogLevel::DebugCore) << std::endl
<< "### run number: " << invocation << " ###";
auto seed = static_cast<std::uint32_t>(experimentConfig.randomSeed + invocation);
+ if (invocation != 0)
+ {
+ ResetScenarioEngine();
+ }
if (!InitRun(seed, environmentConfig, profiles, runResult))
{
LOG_INTERN(LogLevel::DebugCore) << std::endl
@@ -82,7 +109,7 @@ bool RunInstantiator::ExecuteRun()
LOG_INTERN(LogLevel::DebugCore) << std::endl
<< "### run started ###";
- scheduler_state = scheduler.Run(0, scenario.GetEndTime(), runResult, eventNetwork);
+ scheduler_state = scheduler.Run(0, runResult, eventNetwork, std::move(scenarioEngine));
if (scheduler_state == core::scheduling::Scheduler::FAILURE)
{
LOG_INTERN(LogLevel::DebugCore) << std::endl
@@ -103,12 +130,17 @@ bool RunInstantiator::ExecuteRun()
return (scheduler_state && observations_state);
}
-bool RunInstantiator::InitPreRun(const ScenarioInterface& scenario, const SceneryInterface& scenery, const SimulationConfigInterface& simulationConfig)
+bool RunInstantiator::InitPreRun(const std::string &sceneryPath)
{
try
{
- InitializeFrameworkModules(scenario);
- world.CreateScenery(&scenery, scenario.GetSceneryDynamics(), simulationConfig.GetEnvironmentConfig().turningRates);
+ ThrowIfFalse(eventDetectorNetwork.Instantiate(frameworkModules.eventDetectorLibrary, &eventNetwork, &stochastics),
+ "Failed to instantiate EventDetectorNetwork");
+ ThrowIfFalse(manipulatorNetwork.Instantiate(frameworkModules.manipulatorLibrary, &eventNetwork),
+ "Failed to instantiate ManipulatorNetwork");
+ ThrowIfFalse(observationNetwork.Instantiate(frameworkModules.observationLibraries, &stochastics, &world, &eventNetwork, sceneryPath, &dataBuffer),
+ "Failed to instantiate ObservationNetwork");
+
return true;
}
catch (const std::exception &error)
@@ -123,22 +155,6 @@ bool RunInstantiator::InitPreRun(const ScenarioInterface& scenario, const Scener
return false;
}
-void RunInstantiator::InitializeFrameworkModules(const ScenarioInterface& scenario)
-{
- ThrowIfFalse(dataBuffer.Instantiate(),
- "Failed to instantiate DataBuffer");
- ThrowIfFalse(stochastics.Instantiate(frameworkModules.stochasticsLibrary),
- "Failed to instantiate Stochastics");
- ThrowIfFalse(world.Instantiate(),
- "Failed to instantiate World");
- ThrowIfFalse(eventDetectorNetwork.Instantiate(frameworkModules.eventDetectorLibrary, &scenario, &eventNetwork, &stochastics),
- "Failed to instantiate EventDetectorNetwork");
- ThrowIfFalse(manipulatorNetwork.Instantiate(frameworkModules.manipulatorLibrary, &scenario, &eventNetwork),
- "Failed to instantiate ManipulatorNetwork");
- ThrowIfFalse(observationNetwork.Instantiate(frameworkModules.observationLibraries, &stochastics, &world, &eventNetwork, scenario.GetSceneryPath(), &dataBuffer),
- "Failed to instantiate ObservationNetwork");
-}
-
void RunInstantiator::InitializeSpawnPointNetwork()
{
const auto &profileGroups = configurationContainer.GetProfiles()->GetProfileGroups();
@@ -146,14 +162,15 @@ void RunInstantiator::InitializeSpawnPointNetwork()
ThrowIfFalse(spawnPointNetwork.Instantiate(frameworkModules.spawnPointLibraries,
&agentFactory,
- &agentBlueprintProvider,
&stochastics,
- configurationContainer.GetScenario(),
- existingSpawnProfiles ? std::make_optional(profileGroups.at(SPAWNER)) : std::nullopt),
+ existingSpawnProfiles ? std::make_optional(profileGroups.at(SPAWNER)) : std::nullopt,
+ &configurationContainer,
+ environment,
+ vehicles),
"Failed to instantiate SpawnPointNetwork");
}
-std::unique_ptr<ParameterInterface> RunInstantiator::SampleWorldParameters(const EnvironmentConfig& environmentConfig, const ProfileGroup& trafficRules, StochasticsInterface* stochastics, const openpass::common::RuntimeInformation& runtimeInformation)
+std::unique_ptr<ParameterInterface> RunInstantiator::SampleWorldParameters(const EnvironmentConfig &environmentConfig, const ProfileGroup &trafficRules, StochasticsInterface *stochastics, const openpass::common::RuntimeInformation &runtimeInformation)
{
auto trafficRule = helper::map::query(trafficRules, environmentConfig.trafficRules);
ThrowIfFalse(trafficRule.has_value(), "No traffic rule set with name " + environmentConfig.trafficRules + " defined in ProfilesCatalog");
@@ -165,7 +182,7 @@ std::unique_ptr<ParameterInterface> RunInstantiator::SampleWorldParameters(const
return openpass::parameter::make<SimulationCommon::Parameters>(runtimeInformation, parameters);
}
-bool RunInstantiator::InitRun(std::uint32_t seed, const EnvironmentConfig &environmentConfig, const ProfilesInterface& profiles, RunResult &runResult)
+bool RunInstantiator::InitRun(std::uint32_t seed, const EnvironmentConfig &environmentConfig, const ProfilesInterface &profiles, RunResult &runResult)
{
try
{
@@ -194,9 +211,15 @@ bool RunInstantiator::InitRun(std::uint32_t seed, const EnvironmentConfig &envir
return false;
}
+void RunInstantiator::ResetScenarioEngine()
+{
+ scenarioEngine = std::make_unique<OPENSCENARIO::OpenScenarioEngine>(configurationContainer.GetSimulationConfig()->GetScenarioConfig().scenarioPath, environment);
+ scenarioEngine->Init();
+}
+
void RunInstantiator::ClearRun()
{
- world.Reset();
+ environment->Reset();
agentFactory.Clear();
spawnPointNetwork.Clear();
eventNetwork.Clear();
diff --git a/sim/src/core/opSimulation/framework/runInstantiator.h b/sim/src/core/opSimulation/framework/runInstantiator.h
index 42614b650bc8846a42ae24383cc5174bdeb518b8..cea4abbad212455703a26ba9afd3882d7fdaf186 100644
--- a/sim/src/core/opSimulation/framework/runInstantiator.h
+++ b/sim/src/core/opSimulation/framework/runInstantiator.h
@@ -17,14 +17,16 @@
#pragma once
-#include <QMutex>
-
-#include "common/opExport.h"
#include <map>
#include <string>
-#include "frameworkModules.h"
+#include <QMutex>
+#include "OpenScenarioEngine/OpenScenarioEngine.h"
+#include "agentBlueprintProvider.h"
+#include "common/opExport.h"
+#include "environment.h"
+#include "frameworkModules.h"
#include "include/agentFactoryInterface.h"
#include "include/configurationContainerInterface.h"
#include "include/dataBufferInterface.h"
@@ -32,19 +34,19 @@
#include "include/observationNetworkInterface.h"
#include "include/parameterInterface.h"
#include "include/stochasticsInterface.h"
+#include "vehicleModels.h"
namespace core {
class SIMULATIONCOREEXPORT RunInstantiator
{
public:
- RunInstantiator(ConfigurationContainerInterface& configurationContainer,
- FrameworkModuleContainerInterface& frameworkModuleContainer,
- FrameworkModules& frameworkModules) :
+ RunInstantiator(ConfigurationContainerInterface &configurationContainer,
+ FrameworkModuleContainerInterface &frameworkModuleContainer,
+ FrameworkModules &frameworkModules) :
configurationContainer(configurationContainer),
observationNetwork(*frameworkModuleContainer.GetObservationNetwork()),
agentFactory(*frameworkModuleContainer.GetAgentFactory()),
- agentBlueprintProvider(*frameworkModuleContainer.GetAgentBlueprintProvider()),
eventNetwork(*frameworkModuleContainer.GetEventNetwork()),
world(*frameworkModuleContainer.GetWorld()),
spawnPointNetwork(*frameworkModuleContainer.GetSpawnPointNetwork()),
@@ -52,8 +54,15 @@ public:
eventDetectorNetwork(*frameworkModuleContainer.GetEventDetectorNetwork()),
manipulatorNetwork(*frameworkModuleContainer.GetManipulatorNetwork()),
dataBuffer(*frameworkModuleContainer.GetDataBuffer()),
- frameworkModules{frameworkModules}
- {}
+ frameworkModules(frameworkModules),
+ environment(std::make_shared<Environment>(configurationContainer.GetRuntimeInformation().directories.configuration,
+ agentBlueprintProvider,
+ &agentFactory,
+ &stochastics,
+ configurationContainer.GetSimulationConfig()->GetEnvironmentConfig().turningRates)),
+ scenarioEngine(std::make_unique<OPENSCENARIO::OpenScenarioEngine>(configurationContainer.GetSimulationConfig()->GetScenarioConfig().scenarioPath, environment))
+ {
+ }
//-----------------------------------------------------------------------------
//! @brief Executes the run by preparing the stochastics, world and observation
@@ -86,31 +95,38 @@ public:
//void StopRun();
private:
- bool InitPreRun(const ScenarioInterface& scenario, const SceneryInterface& scenery, const SimulationConfigInterface& simulationConfig);
- bool InitRun(std::uint32_t seed, const EnvironmentConfig& environmentConfig, const ProfilesInterface &profiles, RunResult& runResult);
- void InitializeFrameworkModules(const ScenarioInterface &scenario);
+ bool InitPreRun(const std::string &sceneryPath);
+ void ResetScenarioEngine();
+ bool InitRun(std::uint32_t seed, const EnvironmentConfig &environmentConfig, const ProfilesInterface &profiles, RunResult &runResult);
void InitializeSpawnPointNetwork();
- std::unique_ptr<ParameterInterface> SampleWorldParameters(const EnvironmentConfig& environmentConfig, const ProfileGroup& trafficRules, StochasticsInterface* stochastics, const openpass::common::RuntimeInformation& runtimeInformation);
+ std::unique_ptr<ParameterInterface> SampleWorldParameters(const EnvironmentConfig &environmentConfig, const ProfileGroup &trafficRules, StochasticsInterface *stochastics, const openpass::common::RuntimeInformation &runtimeInformation);
void ClearRun();
QMutex stopMutex;
bool stopped = true;
- ConfigurationContainerInterface& configurationContainer;
- ObservationNetworkInterface& observationNetwork;
- AgentFactoryInterface& agentFactory;
- const AgentBlueprintProviderInterface& agentBlueprintProvider;
- EventNetworkInterface& eventNetwork;
- WorldInterface& world;
- SpawnPointNetworkInterface& spawnPointNetwork;
- StochasticsInterface& stochastics;
- EventDetectorNetworkInterface& eventDetectorNetwork;
- ManipulatorNetworkInterface& manipulatorNetwork;
- DataBufferInterface& dataBuffer;
- FrameworkModules& frameworkModules;
+ ConfigurationContainerInterface &configurationContainer;
+ ObservationNetworkInterface &observationNetwork;
+ AgentFactoryInterface &agentFactory;
+ EventNetworkInterface &eventNetwork;
+
+ SpawnPointNetworkInterface &spawnPointNetwork;
+ StochasticsInterface &stochastics;
+ EventDetectorNetworkInterface &eventDetectorNetwork;
+ WorldInterface &world;
+ ManipulatorNetworkInterface &manipulatorNetwork;
+ DataBufferInterface &dataBuffer;
+ FrameworkModules &frameworkModules;
+
+ AgentBlueprintProvider agentBlueprintProvider;
std::unique_ptr<ParameterInterface> worldParameter;
+
+ std::shared_ptr<Environment> environment{nullptr};
+
+ std::unique_ptr<mantle_api::IScenarioEngine> scenarioEngine;
+ std::shared_ptr<Vehicles> vehicles{};
};
} // namespace core
diff --git a/sim/src/core/opSimulation/framework/scheduler/scheduler.cpp b/sim/src/core/opSimulation/framework/scheduler/scheduler.cpp
index 0520c125b431f2f82c52ffbaca13b7a06724c718..a77d27324ab8f48755119da98ce04a0d4cdaa77d 100644
--- a/sim/src/core/opSimulation/framework/scheduler/scheduler.cpp
+++ b/sim/src/core/opSimulation/framework/scheduler/scheduler.cpp
@@ -27,22 +27,25 @@ Scheduler::Scheduler(WorldInterface &world,
EventDetectorNetworkInterface &eventDetectorNetwork,
ManipulatorNetworkInterface &manipulatorNetwork,
ObservationNetworkInterface &observationNetwork,
- DataBufferInterface &dataInterface) :
+ DataBufferInterface &dataInterface,
+ EnvironmentInterface &environment) :
world(world),
spawnPointNetwork(spawnPointNetwork),
eventDetectorNetwork(eventDetectorNetwork),
manipulatorNetwork(manipulatorNetwork),
observationNetwork(observationNetwork),
- dataInterface(dataInterface)
+ dataInterface(dataInterface),
+ environment(environment)
{
}
bool Scheduler::Run(
int startTime,
- int endTime,
RunResult &runResult,
- EventNetworkInterface &eventNetwork)
+ EventNetworkInterface &eventNetwork,
+ std::unique_ptr<mantle_api::IScenarioEngine> scenarioEngine)
{
+ auto endTime = units::unit_cast<int>(scenarioEngine->GetScenarioInfo().scenario_timeout_duration);
if (startTime > endTime)
{
LOG_INTERN(LogLevel::Error) << "start time greater than end time";
@@ -59,7 +62,8 @@ bool Scheduler::Run(
&observationNetwork,
&eventDetectorNetwork,
&manipulatorNetwork,
- &dataInterface);
+ &dataInterface,
+ &environment);
auto bootstrapTasks = taskBuilder.CreateBootstrapTasks();
auto spawningTasks = taskBuilder.CreateSpawningTasks();
@@ -75,13 +79,19 @@ bool Scheduler::Run(
finalizeTasks,
FRAMEWORK_UPDATE_RATE);
+ // TODO CK Add ScenarioEngine->Step() to tasks
+ scenarioEngine->Step();
+
if (ExecuteTasks(taskList.GetBootstrapTasks()) == false)
{
return Scheduler::FAILURE;
}
- while (currentTime <= endTime)
+ while (currentTime <= endTime && !scenarioEngine->IsFinished())
{
+ // TODO CK Add ScenarioEngine->Step() to tasks
+ scenarioEngine->Step();
+
if (!ExecuteTasks(taskList.GetSpawningTasks(currentTime)))
{
return Scheduler::FAILURE;
@@ -132,7 +142,7 @@ bool Scheduler::ExecuteTasks(T tasks)
void Scheduler::UpdateAgents(SchedulerTasks &taskList, WorldInterface &world)
{
- for (const auto &agent : spawnPointNetwork.ConsumeNewAgents())
+ for (const auto &agent : environment.GetEntityRepository().ConsumeNewAgents())
{
agent->LinkSchedulerTime(¤tTime);
ScheduleAgentTasks(taskList, *agent);
diff --git a/sim/src/core/opSimulation/framework/scheduler/scheduler.h b/sim/src/core/opSimulation/framework/scheduler/scheduler.h
index 6f803ec7374ee1a5aa328da025829abb2338e00c..0bb6f4ef1b610f05dc02c1600d3361e02b85f753 100644
--- a/sim/src/core/opSimulation/framework/scheduler/scheduler.h
+++ b/sim/src/core/opSimulation/framework/scheduler/scheduler.h
@@ -11,11 +11,13 @@
#pragma once
+#include <chrono>
#include <functional>
#include <memory>
#include "include/worldInterface.h"
#include "schedulerTasks.h"
+#include "MantleAPI/Execution/i_scenario_engine.h"
class DataBufferInterface;
@@ -28,6 +30,7 @@ class ManipulatorNetworkInterface;
class ObservationNetworkInterface;
class SchedulePolicy;
class SpawnPointNetworkInterface;
+class EnvironmentInterface;
namespace scheduling {
@@ -52,7 +55,8 @@ public:
core::EventDetectorNetworkInterface &eventDetectorNetwork,
core::ManipulatorNetworkInterface &manipulatorNetwork,
core::ObservationNetworkInterface &observationNetwork,
- DataBufferInterface& dataInterface);
+ DataBufferInterface &dataInterface,
+ EnvironmentInterface &environment);
/*!
* \brief Run
@@ -60,15 +64,15 @@ public:
* \details execute all tasks for one simulation run
*
* @param[in] startTime simulation start
- * @param[in] endTime simulation end
* @param[out] runResult RunResult
* @param[in,out] EventNetwork EventNetwork
+ * @param[in] ScenarioEngine ScenarioEngine
* @returns true if simulation ends withuot error
*/
bool Run(int startTime,
- int endTime,
RunResult &runResult,
- EventNetworkInterface &eventNetwork);
+ EventNetworkInterface &eventNetwork,
+ std::unique_ptr<mantle_api::IScenarioEngine> scenarioEngine);
/*!
* \brief ScheduleAgentTasks
@@ -87,7 +91,8 @@ private:
EventDetectorNetworkInterface &eventDetectorNetwork;
ManipulatorNetworkInterface &manipulatorNetwork;
ObservationNetworkInterface &observationNetwork;
- DataBufferInterface& dataInterface;
+ DataBufferInterface &dataInterface;
+ EnvironmentInterface &environment;
int currentTime;
diff --git a/sim/src/core/opSimulation/framework/scheduler/taskBuilder.cpp b/sim/src/core/opSimulation/framework/scheduler/taskBuilder.cpp
index f40224c498f73f49b013cc3b92749b39a8a1c0b3..41476fb41570847073864d750ab8201a0d21cc08 100644
--- a/sim/src/core/opSimulation/framework/scheduler/taskBuilder.cpp
+++ b/sim/src/core/opSimulation/framework/scheduler/taskBuilder.cpp
@@ -30,7 +30,8 @@ TaskBuilder::TaskBuilder(const int ¤tTime,
ObservationNetworkInterface *const observationNetwork,
EventDetectorNetworkInterface *const eventDetectorNetwork,
ManipulatorNetworkInterface *const manipulatorNetwork,
- DataBufferInterface * const dataInterface) :
+ DataBufferInterface * const dataInterface,
+ EnvironmentInterface* environment) :
currentTime{currentTime},
runResult{runResult},
frameworkUpdateRate{frameworkUpdateRate},
@@ -39,7 +40,8 @@ TaskBuilder::TaskBuilder(const int ¤tTime,
observationNetwork{observationNetwork},
eventDetectorNetwork{eventDetectorNetwork},
manipulatorNetwork{manipulatorNetwork},
- dataInterface{dataInterface}
+ dataInterface{dataInterface},
+ environment{environment}
{
BuildEventDetectorTasks();
BuildManipulatorTasks();
@@ -56,6 +58,7 @@ std::vector<TaskItem> TaskBuilder::CreateSpawningTasks()
{
return {
SpawningTaskItem(frameworkUpdateRate, [&] { return spawnPointNetwork->TriggerRuntimeSpawnPoints(currentTime); }),
+ SpawningTaskItem(frameworkUpdateRate, [&] { return environment->GetEntityRepository().SpawnReadyAgents(); }),
SyncWorldTaskItem(ScheduleAtEachCycle, [&] { dataInterface->ClearTimeStep(); })};
}
diff --git a/sim/src/core/opSimulation/framework/scheduler/taskBuilder.h b/sim/src/core/opSimulation/framework/scheduler/taskBuilder.h
index 02a09377d86799d19aedb70860279869d71209c5..bd68b2897cd843184287ed677756a2669ac99501 100644
--- a/sim/src/core/opSimulation/framework/scheduler/taskBuilder.h
+++ b/sim/src/core/opSimulation/framework/scheduler/taskBuilder.h
@@ -20,12 +20,13 @@
#include <list>
#include <vector>
-#include "include/spawnPointNetworkInterface.h"
-#include "include/worldInterface.h"
#include "include/dataBufferInterface.h"
+#include "include/environmentInterface.h"
#include "include/eventDetectorNetworkInterface.h"
#include "include/manipulatorNetworkInterface.h"
#include "include/observationNetworkInterface.h"
+#include "include/spawnPointNetworkInterface.h"
+#include "include/worldInterface.h"
#include "runResult.h"
#include "tasks.h"
@@ -68,6 +69,7 @@ private:
core::EventDetectorNetworkInterface *const eventDetectorNetwork;
core::ManipulatorNetworkInterface *const manipulatorNetwork;
DataBufferInterface *const dataInterface;
+ EnvironmentInterface *environment;
std::vector<TaskItem> eventDetectorTasks;
std::vector<TaskItem> manipulatorTasks;
@@ -98,7 +100,8 @@ public:
core::ObservationNetworkInterface *const observationNetwork,
core::EventDetectorNetworkInterface *const eventDetectorNetwork,
core::ManipulatorNetworkInterface *const manipulatorNetwork,
- DataBufferInterface *const dataInterface);
+ DataBufferInterface *const dataInterface,
+ EnvironmentInterface *environment);
virtual ~TaskBuilder() = default;
/*!
@@ -144,4 +147,4 @@ public:
std::vector<TaskItem> CreateFinalizeTasks() override;
};
-} // namespace openpass::scheduling
+} // namespace core::scheduling
diff --git a/sim/src/core/opSimulation/framework/vehicle.cpp b/sim/src/core/opSimulation/framework/vehicle.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d65f02de0c4bf87b230b7943a485df7351f65056
--- /dev/null
+++ b/sim/src/core/opSimulation/framework/vehicle.cpp
@@ -0,0 +1,32 @@
+#include "vehicle.h"
+#include "agent.h"
+
+namespace core {
+Vehicle::Vehicle(mantle_api::UniqueId id,
+ const std::string &name,
+ std::shared_ptr<mantle_api::VehicleProperties> properties,
+ const RouteSamplerInterface *routeSampler) :
+ Entity(id, name, routeSampler, properties, properties->is_host ? AgentCategory::Ego : AgentCategory::Scenario),
+ properties(properties)
+{
+}
+
+void Vehicle::SetProperties(std::unique_ptr<mantle_api::EntityProperties> properties)
+{
+
+}
+
+mantle_api::VehicleProperties *Vehicle::GetProperties() const
+{
+ return properties.get();
+}
+
+void Vehicle::SetIndicatorState(mantle_api::IndicatorState state)
+{
+
+}
+
+mantle_api::IndicatorState Vehicle::GetIndicatorState() const
+{
+}
+} // namespace core
diff --git a/sim/src/core/opSimulation/framework/vehicle.h b/sim/src/core/opSimulation/framework/vehicle.h
new file mode 100644
index 0000000000000000000000000000000000000000..f5b53a04cd9c7b73e901fa611502f11688292b08
--- /dev/null
+++ b/sim/src/core/opSimulation/framework/vehicle.h
@@ -0,0 +1,38 @@
+/*******************************************************************************
+* 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
+
+#include "MantleAPI/Traffic/i_entity.h"
+#include "entity.h"
+#include "include/agentBlueprintInterface.h"
+#include "include/agentFactoryInterface.h"
+#include "include/agentInterface.h"
+#include "routeSampler.h"
+
+namespace core {
+class Vehicle : public Entity, public mantle_api::IVehicle
+{
+public:
+ Vehicle(mantle_api::UniqueId id,
+ const std::string &name,
+ std::shared_ptr<mantle_api::VehicleProperties> properties,
+ const RouteSamplerInterface *routeSampler);
+
+ virtual void SetProperties(std::unique_ptr<mantle_api::EntityProperties> properties) override;
+ virtual mantle_api::VehicleProperties* GetProperties() const override;
+
+ virtual void SetIndicatorState(mantle_api::IndicatorState state) override;
+ virtual mantle_api::IndicatorState GetIndicatorState() const override;
+
+private:
+ std::shared_ptr<mantle_api::VehicleProperties> properties;
+};
+} // namespace core
diff --git a/sim/tests/fakes/gmock/fakeSceneryDynamics.h b/sim/src/core/opSimulation/importer/entityPropertiesImporter.cpp
similarity index 55%
rename from sim/tests/fakes/gmock/fakeSceneryDynamics.h
rename to sim/src/core/opSimulation/importer/entityPropertiesImporter.cpp
index 728a5ea51711fa7b66967d62a7b2d515d459ca9f..9ee2608dfcd3e09935f19c7c418919784726603f 100644
--- a/sim/tests/fakes/gmock/fakeSceneryDynamics.h
+++ b/sim/src/core/opSimulation/importer/entityPropertiesImporter.cpp
@@ -8,14 +8,6 @@
* SPDX-License-Identifier: EPL-2.0
********************************************************************************/
-#pragma once
+namespace Importer {
-#include "gmock/gmock.h"
-#include "include/sceneryDynamicsInterface.h"
-
-class FakeSceneryDynamics : public SceneryDynamicsInterface
-{
-public:
- MOCK_CONST_METHOD0(GetEnvironment, openScenario::EnvironmentAction ());
- MOCK_CONST_METHOD0(GetTrafficSignalControllers, std::vector<openScenario::TrafficSignalController> ());
-};
+} //namespace Importer
diff --git a/sim/src/core/opSimulation/importer/entityPropertiesImporter.h b/sim/src/core/opSimulation/importer/entityPropertiesImporter.h
new file mode 100644
index 0000000000000000000000000000000000000000..1d3865c8c741627e8d9069ff859ed5cfb978e536
--- /dev/null
+++ b/sim/src/core/opSimulation/importer/entityPropertiesImporter.h
@@ -0,0 +1,162 @@
+/********************************************************************************
+ * Copyright (c) 2021 in-tech GmbH
+ * 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0.
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ ********************************************************************************/
+
+#pragma once
+
+#include <openScenarioLib/generated/v1_1/api/ApiClassInterfacesV1_1.h>
+#include <openScenarioLib/src/common/SimpleMessageLogger.h>
+#include <openScenarioLib/src/loader/FileResourceLocator.h>
+#include <openScenarioLib/src/v1_1/loader/XmlScenarioLoaderFactoryV1_1.h>
+
+#include "MantleAPI/Traffic/entity_properties.h"
+
+using Vehicles = std::map<std::string, std::shared_ptr<const mantle_api::VehicleProperties>>;
+
+namespace Importer {
+
+std::map<NET_ASAM_OPENSCENARIO::v1_1::VehicleCategory::VehicleCategoryEnum, mantle_api::VehicleClass> map_vehicle_class{
+ {NET_ASAM_OPENSCENARIO::v1_1::VehicleCategory::UNKNOWN, mantle_api::VehicleClass::kOther},
+ {NET_ASAM_OPENSCENARIO::v1_1::VehicleCategory::BICYCLE, mantle_api::VehicleClass::kBicycle},
+ {NET_ASAM_OPENSCENARIO::v1_1::VehicleCategory::BUS, mantle_api::VehicleClass::kBus},
+ {NET_ASAM_OPENSCENARIO::v1_1::VehicleCategory::CAR, mantle_api::VehicleClass::kMedium_car},
+ {NET_ASAM_OPENSCENARIO::v1_1::VehicleCategory::MOTORBIKE, mantle_api::VehicleClass::kMotorbike},
+ {NET_ASAM_OPENSCENARIO::v1_1::VehicleCategory::SEMITRAILER, mantle_api::VehicleClass::kSemitrailer},
+ {NET_ASAM_OPENSCENARIO::v1_1::VehicleCategory::TRAILER, mantle_api::VehicleClass::kTrailer},
+ {NET_ASAM_OPENSCENARIO::v1_1::VehicleCategory::TRAIN, mantle_api::VehicleClass::kTrain},
+ {NET_ASAM_OPENSCENARIO::v1_1::VehicleCategory::TRAM, mantle_api::VehicleClass::kTram},
+ {NET_ASAM_OPENSCENARIO::v1_1::VehicleCategory::TRUCK, mantle_api::VehicleClass::kHeavy_truck},
+ {NET_ASAM_OPENSCENARIO::v1_1::VehicleCategory::VAN, mantle_api::VehicleClass::kDelivery_van}};
+
+class EntityPropertiesImporter
+{
+public:
+ bool Import(const std::string &filepath)
+ {
+ auto messageLogger =
+ std::make_shared<NET_ASAM_OPENSCENARIO::SimpleMessageLogger>(NET_ASAM_OPENSCENARIO::ErrorLevel::INFO);
+ auto loaderFactory = NET_ASAM_OPENSCENARIO::v1_1::XmlScenarioLoaderFactory(filepath);
+ auto loader = loaderFactory.CreateLoader(std::make_shared<NET_ASAM_OPENSCENARIO::FileResourceLocator>());
+
+ auto scenarioPointer = std::static_pointer_cast<NET_ASAM_OPENSCENARIO::v1_1::IOpenScenario>(
+ loader->Load(messageLogger)->GetAdapter(typeid(NET_ASAM_OPENSCENARIO::v1_1::IOpenScenario).name()));
+
+ if (!(scenarioPointer && scenarioPointer->GetOpenScenarioCategory() && scenarioPointer->GetOpenScenarioCategory()->GetCatalogDefinition()))
+ {
+ throw std::runtime_error("Scenario file not found or file does not contain scenario definition.");
+ }
+
+ // TODO Verify all GetMethods to return != nullptr
+ auto vehicleCatalog = scenarioPointer->GetOpenScenarioCategory()->GetCatalogDefinition()->GetCatalog();
+ if (!vehicleCatalog)
+ {
+ throw std::runtime_error("VehiclesCatalog does not exist.");
+ }
+ const auto &vehicles = vehicleCatalog->GetVehicles();
+
+ for (const auto &vehicle : vehicles)
+ {
+ const auto& name{vehicle->GetName()};
+
+ mantle_api::VehicleProperties properties;
+ properties.type = mantle_api::EntityType::kVehicle;
+ properties.mass = units::mass::kilogram_t(vehicle->GetMass());
+
+ // TODO CK Use openScenarioEngine Methods of the EntityCreator or create separate method
+ const auto& vehicle_category = vehicle->GetVehicleCategory();
+ if (map_vehicle_class.find(vehicle_category.GetFromLiteral(vehicle_category.GetLiteral())) != map_vehicle_class.end())
+ {
+ properties.classification = map_vehicle_class[vehicle_category.GetFromLiteral(vehicle_category.GetLiteral())];
+ }
+ else
+ {
+ throw std::runtime_error(std::string("No vehicle class for vehicle category " + vehicle_category.GetLiteral()));
+ }
+
+ // TODO: set "model" property once "model3d" attribute is available in OSC 1.1
+
+ const auto& bounding_box = vehicle->GetBoundingBox();
+ if (!bounding_box)
+ {
+ throw std::runtime_error(std::string("Entity " + name + " without bounding box."));
+ }
+ const auto& dimensions = bounding_box->GetDimensions();
+ if (!dimensions)
+ {
+ throw std::runtime_error(std::string("Bounding box of entity " + name + " without Dimensions."));
+ }
+
+ properties.bounding_box.dimension.length = units::length::meter_t(dimensions->GetLength());
+ properties.bounding_box.dimension.width = units::length::meter_t(dimensions->GetWidth());
+ properties.bounding_box.dimension.height = units::length::meter_t(dimensions->GetHeight());
+
+ const auto& center = bounding_box->GetCenter();
+ if (!center)
+ {
+ throw std::runtime_error(std::string("Bounding box of entity " + name + " without Center."));
+ }
+
+ properties.bounding_box.geometric_center.x = units::length::meter_t(center->GetX());
+ properties.bounding_box.geometric_center.y = units::length::meter_t(center->GetY());
+ properties.bounding_box.geometric_center.z = units::length::meter_t(center->GetZ());
+
+ for (const auto &property : vehicle->GetProperties()->GetProperties())
+ {
+ properties.properties.emplace(property->GetName(), property->GetValue());
+ }
+
+ properties.performance.max_acceleration =
+ units::acceleration::meters_per_second_squared_t(vehicle->GetPerformance()->GetMaxAcceleration());
+ properties.performance.max_deceleration =
+ units::acceleration::meters_per_second_squared_t(vehicle->GetPerformance()->GetMaxDeceleration());
+ properties.performance.max_speed = units::velocity::meters_per_second_t(vehicle->GetPerformance()->GetMaxSpeed());
+
+ const auto& openScenarioFrontAxle = vehicle->GetAxles()->GetFrontAxle();
+ if (openScenarioFrontAxle == nullptr)
+ {
+ throw std::runtime_error(std::string("Entity " + name + " is missing axle information."));
+ }
+
+ properties.front_axle.bb_center_to_axle_center = {units::length::meter_t(openScenarioFrontAxle->GetPositionX()),
+ 0.0_m,
+ units::length::meter_t(openScenarioFrontAxle->GetPositionZ())};
+ properties.front_axle.max_steering = units::angle::radian_t(openScenarioFrontAxle->GetMaxSteering());
+ properties.front_axle.track_width = units::length::meter_t(openScenarioFrontAxle->GetTrackWidth());
+ properties.front_axle.wheel_diameter = units::length::meter_t(openScenarioFrontAxle->GetWheelDiameter());
+
+ const auto& openScenarioRearAxle = vehicle->GetAxles()->GetRearAxle();
+ if (openScenarioRearAxle == nullptr)
+ {
+ throw std::runtime_error(std::string("Entity " + name + " is missing axle information."));
+ }
+
+ properties.rear_axle.bb_center_to_axle_center = {units::length::meter_t(openScenarioRearAxle->GetPositionX()),
+ 0.0_m,
+ units::length::meter_t(openScenarioRearAxle->GetPositionZ())};
+ properties.rear_axle.max_steering = units::angle::radian_t(openScenarioRearAxle->GetMaxSteering());
+ properties.rear_axle.track_width = units::length::meter_t(openScenarioRearAxle->GetTrackWidth());
+ properties.rear_axle.wheel_diameter = units::length::meter_t(openScenarioRearAxle->GetWheelDiameter());
+
+ vehicleProperties->insert({name, std::make_shared<const mantle_api::VehicleProperties>(properties)});
+ }
+
+ return true;
+ }
+
+ std::shared_ptr<Vehicles> GetVehicleProperties()
+ {
+ return vehicleProperties;
+ }
+
+private:
+ std::shared_ptr<Vehicles> vehicleProperties{std::make_shared<Vehicles>()};
+};
+
+} // namespace Importer
\ No newline at end of file
diff --git a/sim/src/core/opSimulation/importer/eventDetectorImporter.cpp b/sim/src/core/opSimulation/importer/eventDetectorImporter.cpp
deleted file mode 100644
index 78469381cddd83782862527c861f6f639e375e00..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/importer/eventDetectorImporter.cpp
+++ /dev/null
@@ -1,215 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2017-2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#include "eventDetectorImporter.h"
-#include "scenarioImporterHelper.h"
-#include "importer/importerCommon.h"
-
-namespace TAG = openpass::importer::xml::eventDetectorImporter::tag;
-namespace ATTRIBUTE = openpass::importer::xml::eventDetectorImporter::attribute;
-
-namespace Importer
-{
-openScenario::ConditionalEventDetectorInformation EventDetectorImporter::ImportEventDetector(QDomElement &eventElement,
- const std::string &eventName,
- const int numberOfExecutions,
- const openScenario::ActorInformation &actorInformation,
- const std::vector<ScenarioEntity> &entities,
- openScenario::Parameters& parameters)
-{
- QDomElement startConditionsElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(eventElement, TAG::startTrigger, startConditionsElement),
- eventElement, "Tag " + std::string(TAG::startTrigger) + " missing.");
-
- QDomElement conditionGroupElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(startConditionsElement, TAG::conditionGroup, conditionGroupElement),
- startConditionsElement, "Tag " + std::string(TAG::conditionGroup) + " missing.");
-
- QDomElement conditionElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(conditionGroupElement, TAG::condition, conditionElement),
- conditionGroupElement, "Tag " + std::string(TAG::condition) + " missing.");
-
- openScenario::ConditionGroup conditions{};
-
- while (!conditionElement.isNull())
- {
- conditions.emplace_back(ImportConditionElement(conditionElement, entities, parameters));
- conditionElement = conditionElement.nextSiblingElement(TAG::condition);
- }
-
- return openScenario::ConditionalEventDetectorInformation{actorInformation,
- numberOfExecutions,
- eventName,
- conditions};
-}
-
- openScenario::Condition EventDetectorImporter::ImportConditionElement(QDomElement& conditionElement,
- const std::vector<ScenarioEntity>& entities,
- openScenario::Parameters& parameters)
- {
- QDomElement byEntityElement;
-
- //Parse specific entity
- if (SimulationCommon::GetFirstChildElement(conditionElement, TAG::byEntityCondition, byEntityElement))
- {
- return ImportByEntityElement(byEntityElement, entities, parameters);
- }
-
- QDomElement byValueElement;
- if (SimulationCommon::GetFirstChildElement(conditionElement, TAG::byValueCondition, byValueElement))
- {
- return ImportConditionByValueElement(byValueElement, parameters);
- }
-
- LogErrorAndThrow("No valid Condition found.");
- }
-
- openScenario::Condition EventDetectorImporter::ImportByEntityElement(QDomElement byEntityConditionElement,
- const std::vector<ScenarioEntity>& entities,
- openScenario::Parameters& parameters)
- {
- std::vector<std::string> triggeringEntities;
-
- QDomElement triggeringEntitiesElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(byEntityConditionElement, TAG::triggeringEntities, triggeringEntitiesElement),
- byEntityConditionElement, "Tag " + std::string(TAG::triggeringEntities) + " is missing.");
-
- QDomElement entityElement;
- SimulationCommon::GetFirstChildElement(triggeringEntitiesElement, TAG::entityRef, entityElement);
-
- while (!entityElement.isNull())
- {
- std::string entityName = ParseAttribute<std::string>(entityElement, ATTRIBUTE::entityRef, parameters);
-
- ThrowIfFalse(ContainsEntity(entities, entityName),
- entityElement, "TriggeringEntity '" + entityName + "' not declared in 'Entities'");
-
- triggeringEntities.push_back(entityName);
- entityElement = entityElement.nextSiblingElement(TAG::entityRef);
- }
-
-
- QDomElement entityConditionElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(byEntityConditionElement, TAG::entityCondition, entityConditionElement),
- byEntityConditionElement, "Tag " + std::string(TAG::entityCondition) + " is missing.");
-
- QDomElement reachPositionElement;
- if (SimulationCommon::GetFirstChildElement(entityConditionElement, TAG::reachPositionCondition, reachPositionElement))
- {
- double tolerance = ParseAttribute<double>(reachPositionElement, ATTRIBUTE::tolerance, parameters);
-
- const auto position = openScenario::ScenarioImporterHelper::ImportPosition(reachPositionElement, parameters);
-
- auto condition = openScenario::ReachPositionCondition(triggeringEntities,
- tolerance,
- position);
-
- return condition;
- }
-
- QDomElement relativeSpeedElement;
- if (SimulationCommon::GetFirstChildElement(entityConditionElement, TAG::relativeSpeedCondition, relativeSpeedElement))
- {
- std::string referenceEntityName = ParseAttribute<std::string>(relativeSpeedElement, ATTRIBUTE::entityRef, parameters);
-
- double value = ParseAttribute<double>(relativeSpeedElement, ATTRIBUTE::value, parameters);
-
- std::string ruleString = ParseAttribute<std::string>(relativeSpeedElement, ATTRIBUTE::rule, parameters);
-
- auto condition = openScenario::RelativeSpeedCondition(triggeringEntities,
- referenceEntityName,
- value,
- ruleConversionMap.at(ruleString));
- return condition;
- }
-
- QDomElement timeToCollisionElement;
- if (SimulationCommon::GetFirstChildElement(entityConditionElement, TAG::timeToCollisionCondition, timeToCollisionElement))
- {
- double targetTTC = ParseAttribute<double>(timeToCollisionElement, ATTRIBUTE::value, parameters);
-
- std::string ruleString = ParseAttribute<std::string>(timeToCollisionElement, ATTRIBUTE::rule, parameters);
-
- QDomElement targetElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(timeToCollisionElement, TAG::timeToCollisionConditionTarget, targetElement),
- timeToCollisionElement, "Tag " + std::string(TAG::timeToCollisionConditionTarget) + " is missing.");
-
- QDomElement entityElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(targetElement, TAG::entityRef, entityElement),
- targetElement, "Tag " + std::string(TAG::entityRef) + " is missing.");
-
- std::string targetEntityName = ParseAttribute<std::string>(entityElement, ATTRIBUTE::entityRef, parameters);
-
- auto condition = openScenario::TimeToCollisionCondition(triggeringEntities,
- targetEntityName,
- targetTTC,
- ruleConversionMap.at(ruleString));
-
- return condition;
- }
-
- QDomElement timeHeadwayElement;
- if (SimulationCommon::GetFirstChildElement(entityConditionElement, TAG::timeHeadwayCondition, timeHeadwayElement))
- {
- std::string targetEntityName = ParseAttribute<std::string>(timeHeadwayElement, ATTRIBUTE::entityRef, parameters);
-
- double targetTHW = ParseAttribute<double>(timeHeadwayElement, ATTRIBUTE::value, parameters);
-
- bool freeSpace = ParseAttribute<bool>(timeHeadwayElement, ATTRIBUTE::freespace, parameters);
-
- std::string ruleString = ParseAttribute<std::string>(timeHeadwayElement, ATTRIBUTE::rule, parameters);
-
- bool alongRoute = ParseAttribute<bool>(timeHeadwayElement, ATTRIBUTE::alongRoute, parameters);
- ThrowIfFalse(alongRoute, timeHeadwayElement, "Attribute alongRoute=\"false\" in TimeHeadway condition is currently not supported.");
-
- auto condition = openScenario::TimeHeadwayCondition(triggeringEntities,
- targetEntityName,
- targetTHW,
- freeSpace,
- ruleConversionMap.at(ruleString));
-
- return condition;
- }
-
- // if no element was parsed successfully
- LogErrorAndThrow("No valid ByEntity Condition found.");
- }
-
- openScenario::Condition EventDetectorImporter::ImportConditionByValueElement(QDomElement& byValueElement, openScenario::Parameters& parameters)
- {
- QDomElement simulationTimeElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(byValueElement, TAG::simulationTimeCondition, simulationTimeElement),
- byValueElement, "Tag " + std::string(TAG::simulationTimeCondition) + " is missing.");
-
- double value = ParseAttribute<double>(simulationTimeElement, ATTRIBUTE::value, parameters);
-
- std::string ruleString = ParseAttribute<std::string>(simulationTimeElement, ATTRIBUTE::rule, parameters);
-
- openScenario::Rule rule = ruleConversionMap.at(ruleString);
-
- // this return must occur across two lines to appropriately construct the std::variant
- openScenario::SimulationTimeCondition condition = openScenario::SimulationTimeCondition(rule,
- value);
- return condition;
- }
-
- bool EventDetectorImporter::ContainsEntity(const std::vector<ScenarioEntity>& entities,
- const std::string& entityName)
- {
- auto entitiesFound = std::find_if(entities.cbegin(),
- entities.cend(),
- [entityName](const ScenarioEntity& elem)
- {
- return elem.name == entityName;
- });
-
- return entitiesFound != entities.cend();
- }
-} // Importer
diff --git a/sim/src/core/opSimulation/importer/eventDetectorImporter.h b/sim/src/core/opSimulation/importer/eventDetectorImporter.h
deleted file mode 100644
index 950e91d29a075bf45fa35a7a1c3f9742ee522011..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/importer/eventDetectorImporter.h
+++ /dev/null
@@ -1,126 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2017-2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#pragma once
-
-#include <QDomDocument>
-#include "include/scenarioInterface.h"
-#include "common/eventDetectorDefinitions.h"
-#include "importerLoggingHelper.h"
-#include "oscImporterCommon.h"
-
-namespace RULE = openpass::importer::xml::openScenario::rule;
-
-namespace Importer
-{
-
-const std::map<std::string, openScenario::Rule> ruleConversionMap = {{RULE::greaterThan, openScenario::Rule::GreaterThan},
- {RULE::lessThan, openScenario::Rule::LessThan},
- {RULE::equalTo, openScenario::Rule::EqualTo}};
-
-class EventDetectorImporter
-{
-public:
- EventDetectorImporter() = default;
- EventDetectorImporter(const EventDetectorImporter&) = delete;
- EventDetectorImporter(EventDetectorImporter&&) = delete;
- EventDetectorImporter& operator=(const EventDetectorImporter&) = delete;
- EventDetectorImporter& operator=(EventDetectorImporter&&) = delete;
- virtual ~EventDetectorImporter() = default;
-
- /*!
- * ------------------------------------------------------------------------
- * \brief ImportEventDetector parses information from an EventElement for
- * instantiation of a ConditionalEventDetector.
- *
- * \param[in] eventElement the element from which to parse
- * ConditionalEventDetector instantiation
- * information
- * \param[in] eventName Name of the event used for identification
- * e.g. "MyStory/MyAct/MySequence/MyManeuver/MyEvent"
- * \param[in] numberOfExecutions the maximum number of times the
- * ConditionalEventDetector is to emit an
- * event
- * \param[in] actorInformation information detailing what entities are the
- * actors to be targeted by the
- * ConditionalEventDetector's emitted events
- * \param[in] entities entities defined in openScenario Entities
- *
- * \return a struct containing all information relevant for the
- * instantiation of a ConditionalEventDetector
- * ------------------------------------------------------------------------
- */
- static openScenario::ConditionalEventDetectorInformation ImportEventDetector(QDomElement &eventElement,
- const std::string &eventName,
- const int numberOfExecutions,
- const openScenario::ActorInformation &actorInformation,
- const std::vector<ScenarioEntity>& entities,
- openScenario::Parameters& parameters);
-
-private:
- /*!
- * \brief Imports a condition element of a OpenSCENARIO storyboard DOM
- *
- * \param[in] conditionElement The DOM root of the condition element
- * \param[in] entities Objects from 'Entities' tag
- * \param[in] parameters Declared parameters
- */
- static openScenario::Condition ImportConditionElement(QDomElement& conditionElement,
- const std::vector<ScenarioEntity>& entities,
- openScenario::Parameters& parameters);
-
- /*!
- * \brief Imports a ByEntity condition element of a OpenSCENARIO storyboard DOM
- *
- * \param[in] byEntityElement The DOM root of the by-entity element
- * \param[in] entities Objects from 'Entities' tag
- * \param[in] parameters Declared parameters
- */
- static openScenario::Condition ImportByEntityElement(QDomElement byEntityElement,
- const std::vector<ScenarioEntity>& entities,
- openScenario::Parameters& parameters);
-
- /*!
- * \brief Imports a EntityCondition element of a OpenSCENARIO storyboard DOM
- *
- * \param[in] byEntityCondition The DOM root of the byEntityCondition element
- * \param[in] triggeringEntities Objects from 'Entities' tag
- *
- * return Condition
- */
- static openScenario::Condition ImportEntityCondition(QDomElement byEntityCondition,
- std::vector<std::string> triggeringEntities);
-
- /*!
- * ------------------------------------------------------------------------
- * \brief ImportConditionByValueElement Imports a Condition ByValue element
- * into a condition parameter interface.
- *
- * \param[in] byValueElement the ByValue element to parse for condition
- * details.
- * \param[in] parameters Declared parameters
- * \return openScenario Condition
- * ------------------------------------------------------------------------
- */
- static openScenario::Condition ImportConditionByValueElement(QDomElement& byValueElement, openScenario::Parameters& parameters);
-
- /*!
- * \brief Tests, if a entity with a given name is included in the provided vector of scenario entities
- *
- * \param[in] entities Vector of entities to test against
- * \param[in] entityName Name of the entity to check for existence
- *
- * \return true, if entityName is included in entities, false otherwise.
- */
- static bool ContainsEntity(const std::vector<ScenarioEntity>& entities,
- const std::string& entityName);
-};
-
-}; // Importer
diff --git a/sim/src/core/opSimulation/importer/importerLoggingHelper.h b/sim/src/core/opSimulation/importer/importerLoggingHelper.h
index fe051a8b314e760a9817d484225a011bd4c25d48..30fad7b07889d4199fbfed9c95fa543e6abd6cd2 100644
--- a/sim/src/core/opSimulation/importer/importerLoggingHelper.h
+++ b/sim/src/core/opSimulation/importer/importerLoggingHelper.h
@@ -10,88 +10,6 @@
#pragma once
-namespace openpass::importer::xml::openScenario::rule
-{
- constexpr char greaterThan[] {"greaterThan"};
- constexpr char lessThan[] {"lessThan"};
- constexpr char equalTo[] {"equalTo"};
-}
-
-namespace openpass::importer::xml::openScenario::dynamicsShape
-{
- constexpr char linear[] {"linear"};
- constexpr char step[] {"step"};
-}
-
-namespace openpass::importer::xml::openScenario::speedTargetValueType
-{
- constexpr char delta[] {"delta"};
- constexpr char factor[] {"factor"};
-}
-
-namespace openpass::importer::xml::openScenario::dynamicsDimension
-{
- constexpr char rate[] {"rate"};
-}
-
-namespace openpass::importer::xml::eventDetectorImporter::tag
-{
- constexpr char byEntityCondition[] {"ByEntityCondition"};
- constexpr char byValueCondition[] {"ByValueCondition"};
- constexpr char condition[] {"Condition"};
- constexpr char conditionGroup[] {"ConditionGroup"};
- constexpr char entityRef[] {"EntityRef"};
- constexpr char entityCondition[] {"EntityCondition"};
- constexpr char position[] {"Position"};
- constexpr char reachPositionCondition[] {"ReachPositionCondition"};
- constexpr char relativeLanePosition[] {"RelativeLanePosition"};
- constexpr char relativeSpeedCondition[] {"RelativeSpeedCondition"};
- constexpr char roadPosition[] {"RoadPosition"};
- constexpr char simulationTimeCondition[] {"SimulationTimeCondition"};
- constexpr char startTrigger[] {"StartTrigger"};
- constexpr char timeToCollisionConditionTarget[] {"TimeToCollisionConditionTarget"};
- constexpr char timeHeadwayCondition[] {"TimeHeadwayCondition"};
- constexpr char timeToCollisionCondition[] {"TimeToCollisionCondition"};
- constexpr char triggeringEntities[] {"TriggeringEntities"};
-}
-
-namespace openpass::importer::xml::eventDetectorImporter::attribute
-{
- constexpr char alongRoute[] {"alongRoute"};
- constexpr char entityRef[] {"entityRef"};
- constexpr char freespace[] {"freespace"};
- constexpr char name[] {"name"};
- constexpr char rule[] {"rule"};
- constexpr char tolerance[] {"tolerance"};
- constexpr char value[] {"value"};
-}
-
-namespace openpass::importer::xml::manipulatorImporter::tag
-{
- constexpr char addEntityAction[] {"AddEntityAction"};
- constexpr char catalogReference[] {"CatalogReference"};
- constexpr char position[] {"Position"};
- constexpr char routingAction[] {"RoutingAction"};
- constexpr char worldPosition[] {"WorldPosition"};
-}
-
-namespace openpass::importer::xml::manipulatorImporter::attribute
-{
- constexpr char catalogName[] {"catalogName"};
- constexpr char distance[] {"distance"};
- constexpr char dynamicsDimension[] {"dynamicsDimension"};
- constexpr char entityRef[] {"entityRef"};
- constexpr char entryName[] {"entryName"};
- constexpr char h[] {"h"};
- constexpr char name[] {"name"};
- constexpr char object[] {"object"};
- constexpr char dynamicsShape[] {"dynamicsShape"};
- constexpr char time[] {"time"};
- constexpr char value[] {"value"};
- constexpr char x[] {"x"};
- constexpr char y[] {"y"};
-}
-
namespace openpass::importer::xml::parameterImporter::tag
{
constexpr char Bool[] {"Bool"};
@@ -148,26 +66,23 @@ namespace openpass::importer::xml::profilesImporter::tag
constexpr char sensorLink[] {"SensorLink"};
constexpr char sensorLinks[] {"SensorLinks"};
constexpr char system[] {"System"};
- constexpr char vehicleProfile[] {"VehicleProfile"};
- constexpr char vehicleProfiles[] {"VehicleProfiles"};
+ constexpr char systemProfile[] {"SystemProfile"};
+ constexpr char systemProfiles[] {"SystemProfiles"};
+ constexpr char vehicleModel[] {"VehicleModel"};
+ constexpr char vehicleModels[] {"VehicleModels"};
}
namespace openpass::importer::xml::profilesImporter::attribute
{
constexpr char file[] {"File"};
- constexpr char height[] {"Height"};
constexpr char id[] {"Id"};
constexpr char inputId[] {"InputId"};
- constexpr char lateral[] {"Lateral"};
- constexpr char longitudinal[] {"Longitudinal"};
constexpr char name[] {"Name"};
- constexpr char pitch[] {"Pitch"};
- constexpr char roll[] {"Roll"};
+ constexpr char position[] {"Position"};
constexpr char schemaVersion[] {"SchemaVersion"};
constexpr char sensorId[] {"SensorId"};
constexpr char type[] {"Type"};
constexpr char vehicleModel[] {"VehicleModel"};
- constexpr char yaw[] {"Yaw"};
constexpr char latency[] {"Latency"};
}
diff --git a/sim/src/core/opSimulation/importer/oscImporterCommon.cpp b/sim/src/core/opSimulation/importer/oscImporterCommon.cpp
deleted file mode 100644
index 2e2b4e68f150d0a050b7f62c65d611d90ba10a67..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/importer/oscImporterCommon.cpp
+++ /dev/null
@@ -1,72 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#include "oscImporterCommon.h"
-#include "importerLoggingHelper.h"
-
-namespace TAG = openpass::importer::xml::scenarioImporter::tag;
-namespace ATTRIBUTE = openpass::importer::xml::scenarioImporter::attribute;
-
-void Importer::ImportParameterElement(QDomElement& parameterElement, openScenario::Parameters& parameters)
-{
- std::string parameterName;
- ThrowIfFalse(SimulationCommon::ParseAttribute(parameterElement, ATTRIBUTE::name, parameterName),
- parameterElement, "Attribute " + std::string(ATTRIBUTE::name) + " is missing.");
-
- std::string parameterType;
- ThrowIfFalse(SimulationCommon::ParseAttribute(parameterElement, ATTRIBUTE::parameterType, parameterType),
- parameterElement, "Attribute " + std::string(ATTRIBUTE::parameterType) + " is missing.");
-
- if (parameterType == "bool")
- {
- bool parameterValueBool;
- ThrowIfFalse(SimulationCommon::ParseAttribute(parameterElement, ATTRIBUTE::value, parameterValueBool),
- parameterElement, "Attribute " + std::string(ATTRIBUTE::value) + " is missing.");
- parameters.insert({parameterName, parameterValueBool});
- }
- else if (parameterType == "integer")
- {
- int parameterValueInt;
- ThrowIfFalse(SimulationCommon::ParseAttribute(parameterElement, ATTRIBUTE::value, parameterValueInt),
- parameterElement, "Attribute " + std::string(ATTRIBUTE::value) + " is missing.");
- parameters.insert({parameterName, parameterValueInt});
- }
- else if (parameterType == "double")
- {
- double parameterValueDouble;
- ThrowIfFalse(SimulationCommon::ParseAttribute(parameterElement, ATTRIBUTE::value, parameterValueDouble),
- parameterElement, "Attribute " + std::string(ATTRIBUTE::value) + " is missing.");
- parameters.insert({parameterName, parameterValueDouble});
- }
- else if (parameterType == "string")
- {
- std::string parameterValueString;
- ThrowIfFalse(SimulationCommon::ParseAttribute(parameterElement, ATTRIBUTE::value, parameterValueString),
- parameterElement, "Attribute " + std::string(ATTRIBUTE::value) + " is missing.");
- parameters.insert({parameterName, parameterValueString});
- }
- else
- {
- ThrowIfFalse(false, parameterElement, "Unknown parameter type "+ parameterType);
- }
-}
-
-void Importer::ImportParameterDeclarationElement(QDomElement& parameterDeclarationElement, openScenario::Parameters& parameters)
-{
- QDomElement parameterElement;
- if (SimulationCommon::GetFirstChildElement(parameterDeclarationElement, TAG::parameterDeclaration, parameterElement))
- {
- while (!parameterElement.isNull())
- {
- ImportParameterElement(parameterElement, parameters);
- parameterElement = parameterElement.nextSiblingElement(TAG::parameterDeclaration);
- }
- }
-}
diff --git a/sim/src/core/opSimulation/importer/oscImporterCommon.h b/sim/src/core/opSimulation/importer/oscImporterCommon.h
deleted file mode 100644
index c2a667f716f7e04286994f7e33f7a66d4e72a6cd..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/importer/oscImporterCommon.h
+++ /dev/null
@@ -1,126 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#pragma once
-
-#include <QDomDocument>
-#include <optional>
-
-#include "importer/importerCommon.h"
-#include "common/openScenarioDefinitions.h"
-
-namespace Importer
-{
-
-//! Parse an XML attribute from a .xosc file, which is either given by value or by referencing a parameter declared before
-//!
-//! \param element xml element
-//! \param attributeName name of the attribute to parse
-//! \param parameters parameters declared by the ParameterDeclarations element
-//! \param assignedParameters if the element is from a referenced catalog, these are the parameters declared by the ParameterAssignments element
-template<typename T>
-T ParseAttribute(const QDomElement& element, const char attributeName[], openScenario::Parameters& parameters, const openScenario::Parameters& assignedParameters = {})
-{
- std::string valueString;
- ThrowIfFalse(SimulationCommon::ParseAttribute(element, attributeName, valueString), element,
- "Attribute " + std::string(attributeName) + " is missing");
- if constexpr (!std::is_same_v<T, std::string>)
- {
- ThrowIfFalse(!valueString.empty(), element,
- "Attribute " + std::string(attributeName) + " is empty");
- }
- if (!valueString.empty() && valueString[0] == '$')
- {
- auto foundAssignedValue = assignedParameters.find(valueString.substr(1));
- if (foundAssignedValue != assignedParameters.cend())
- {
- ThrowIfFalse(std::holds_alternative<T>(foundAssignedValue->second), element,
- "Parameter " + valueString + " has wrong type.");
- return std::get<T>(foundAssignedValue->second);
- }
- auto foundValue = parameters.find(valueString.substr(1));
- ThrowIfFalse(foundValue != parameters.end(), element,
- "No parameter " + valueString + " defined.");
- ThrowIfFalse(std::holds_alternative<T>(foundValue->second), element,
- "Parameter " + valueString + " has wrong type.");
- return std::get<T>(foundValue->second);
- }
- else
- {
- T value;
- SimulationCommon::ParseAttribute(element, attributeName, value);
- return value;
- }
-}
-
-//! Parse an optional XML attribute from a .xosc file, which is either given by value or by referencing a parameter declared before
-//!
-//! \param element xml element
-//! \param attributeName name of the attribute to parse
-//! \param parameters parameters declared by the ParameterDeclarations element
-//! \param assignedParameters if the element is from a referenced catalog, these are the parameters declared by the ParameterAssignments element
-template<typename T>
-std::optional<T> ParseOptionalAttribute(const QDomElement& element, const char attributeName[], openScenario::Parameters& parameters, const openScenario::Parameters& assignedParameters = {})
-{
- if(SimulationCommon::HasAttribute(element, attributeName))
- {
- return ParseAttribute<T>(element, attributeName, parameters);
- }
-
- return std::nullopt;
-}
-
-//! Parse an XML attribute from a .xosc file, which is either given by value or by reference a parameter declared before.
-//! This variant is for attributes in catalog that may later be overruled by parameter assignments
-//!
-//! \param element xml element
-//! \param attributeName name of the attribute to parse
-//! \param parameters parameters declared by the ParameterDeclarations element
-template<typename T>
-openScenario::ParameterizedAttribute<T> ParseParametrizedAttribute(const QDomElement& element, const char attributeName[], const openScenario::Parameters& defaultParameters)
-{
- std::string valueString;
- ThrowIfFalse(SimulationCommon::ParseAttribute(element, attributeName, valueString), element,
- "Attribute " + std::string(attributeName) + " is missing");
- if constexpr (!std::is_same_v<T, std::string>)
- {
- ThrowIfFalse(!valueString.empty(), element,
- "Attribute " + std::string(attributeName) + " is empty");
- }
- if (!valueString.empty() && valueString.at(0) == '$')
- {
- auto foundDefaultValue = defaultParameters.find(valueString.substr(1));
- ThrowIfFalse(foundDefaultValue != defaultParameters.end(), element,
- "No parameter " + valueString + " defined.");
- ThrowIfFalse(std::holds_alternative<T>(foundDefaultValue->second), element,
- "Parameter " + valueString + " has wrong type.");
- return {valueString.substr(1), std::get<T>(foundDefaultValue->second)};
- }
- else
- {
- T value;
- SimulationCommon::ParseAttribute(element, attributeName, value);
- return openScenario::ParameterizedAttribute<T>{attributeName,value};
- }
-}
-
-//! Import a ParameterElement from an .xosc file
-//!
-//! \param parameterElement element to parse
-//! \param parameters map where result is stored
-void ImportParameterElement(QDomElement& parameterElement, openScenario::Parameters& parameters);
-
-
-//! Import a ParameterDeclarationElement from an .xosc file
-//!
-//! \param parameterDeclarationElement element to parse
-//! \param parameters map where result is stored
-void ImportParameterDeclarationElement(QDomElement& parameterDeclarationElement, openScenario::Parameters& parameters);
-}
diff --git a/sim/src/core/opSimulation/importer/profiles.cpp b/sim/src/core/opSimulation/importer/profiles.cpp
index 8b4bedb726d329981dddfdc653baf3facde5384c..ffc863647816c2fa4decee430d7f47b85a10075d 100644
--- a/sim/src/core/opSimulation/importer/profiles.cpp
+++ b/sim/src/core/opSimulation/importer/profiles.cpp
@@ -24,14 +24,14 @@ bool Profiles::AddAgentProfile(std::string agentProfileName, AgentProfile agentP
return agentProfiles.insert({agentProfileName, agentProfile}).second;
}
-const std::unordered_map<std::string, VehicleProfile>& Profiles::GetVehicleProfiles() const
+const std::unordered_map<std::string, SystemProfile>& Profiles::GetSystemProfiles() const
{
- return vehicleProfiles;
+ return systemProfiles;
}
-void Profiles::AddVehicleProfile(const std::string& profileName, const VehicleProfile& vehicleProfile)
+void Profiles::AddSystemProfile(const std::string& profileName, const SystemProfile& systemProfile)
{
- vehicleProfiles.insert({profileName, vehicleProfile});
+ systemProfiles.insert({profileName, systemProfile});
}
const ProfileGroups& Profiles::GetProfileGroups() const
@@ -56,11 +56,23 @@ const StringProbabilities& Profiles::GetDriverProbabilities(std::string agentPro
}
}
-const StringProbabilities& Profiles::GetVehicleProfileProbabilities(std::string agentProfileName) const
+const StringProbabilities& Profiles::GetSystemProfileProbabilities(std::string agentProfileName) const
{
try
{
- return agentProfiles.at(agentProfileName).vehicleProfiles;
+ return agentProfiles.at(agentProfileName).systemProfiles;
+ }
+ catch (const std::out_of_range&)
+ {
+ throw std::runtime_error("Cannot retrieve vehicle probabilities. Unknown agent profile " + agentProfileName);
+ }
+}
+
+const StringProbabilities &Profiles::GetVehicleModelsProbabilities(std::string agentProfileName) const
+{
+ try
+ {
+ return agentProfiles.at(agentProfileName).vehicleModels;
}
catch (const std::out_of_range&)
{
diff --git a/sim/src/core/opSimulation/importer/profiles.h b/sim/src/core/opSimulation/importer/profiles.h
index d436802ec6c4a73f5b09a8c36711326f0b86759e..be5c729ab422dd3d541b5be8309b0aee285a2f83 100644
--- a/sim/src/core/opSimulation/importer/profiles.h
+++ b/sim/src/core/opSimulation/importer/profiles.h
@@ -22,9 +22,9 @@ public:
virtual bool AddAgentProfile(std::string agentProfileName, AgentProfile agentProfile) override;
- virtual const std::unordered_map<std::string, VehicleProfile>& GetVehicleProfiles() const override;
+ virtual const std::unordered_map<std::string, SystemProfile>& GetSystemProfiles() const override;
- virtual void AddVehicleProfile(const std::string& profileName, const VehicleProfile& vehicleProfile) override;
+ virtual void AddSystemProfile(const std::string& profileName, const SystemProfile& systemProfile) override;
virtual const ProfileGroups& GetProfileGroups() const override;
@@ -32,7 +32,9 @@ public:
virtual const StringProbabilities& GetDriverProbabilities(std::string agentProfileName) const override;
- virtual const StringProbabilities& GetVehicleProfileProbabilities(std::string agentProfileName) const override;
+ virtual const StringProbabilities& GetSystemProfileProbabilities(std::string agentProfileName) const override;
+
+ virtual const StringProbabilities& GetVehicleModelsProbabilities(std::string agentProfileName) const override;
virtual const openpass::parameter::ParameterSetLevel1& GetProfile(const std::string& type, const std::string& name) const override;
@@ -40,6 +42,6 @@ public:
private:
std::unordered_map<std::string, AgentProfile> agentProfiles {};
- std::unordered_map<std::string, VehicleProfile> vehicleProfiles {};
+ std::unordered_map<std::string, SystemProfile> systemProfiles {};
ProfileGroups profileGroups;
};
diff --git a/sim/src/core/opSimulation/importer/profilesImporter.cpp b/sim/src/core/opSimulation/importer/profilesImporter.cpp
index 5fe60a079215eebb3555568e15d7937b339f3f69..5864985f18aa123d03af952800537c123698dfd2 100644
--- a/sim/src/core/opSimulation/importer/profilesImporter.cpp
+++ b/sim/src/core/opSimulation/importer/profilesImporter.cpp
@@ -49,11 +49,18 @@ void ProfilesImporter::ImportAgentProfiles(QDomElement agentProfilesElement,
driverProfilesElement, "Invalid probalities");
//Parses all vehicle profiles
- QDomElement vehicleProfilesElement;
- ThrowIfFalse(GetFirstChildElement(agentProfileElement, TAG::vehicleProfiles, vehicleProfilesElement),
- agentProfileElement, "Tag " + std::string(TAG::vehicleProfiles) + " is missing.");
- ThrowIfFalse(ImportProbabilityMap(vehicleProfilesElement, ATTRIBUTE::name, TAG::vehicleProfile, agentProfile.vehicleProfiles, LogErrorAndThrow),
- vehicleProfilesElement, "Invalid probalities");
+ QDomElement systemProfilesElement;
+ ThrowIfFalse(GetFirstChildElement(agentProfileElement, TAG::systemProfiles, systemProfilesElement),
+ agentProfileElement, "Tag " + std::string(TAG::systemProfiles) + " is missing.");
+ ThrowIfFalse(ImportProbabilityMap(systemProfilesElement, ATTRIBUTE::name, TAG::systemProfile, agentProfile.systemProfiles, LogErrorAndThrow),
+ systemProfilesElement, "Invalid probalities");
+
+ //Parses all vehicle profiles
+ QDomElement vehicleModelsElement;
+ ThrowIfFalse(GetFirstChildElement(agentProfileElement, TAG::vehicleModels, vehicleModelsElement),
+ agentProfileElement, "Tag " + std::string(TAG::vehicleModels) + " is missing.");
+ ThrowIfFalse(ImportProbabilityMap(vehicleModelsElement, ATTRIBUTE::name, TAG::vehicleModel, agentProfile.vehicleModels, LogErrorAndThrow),
+ vehicleModelsElement, "Invalid probalities");
}
else
{
@@ -78,7 +85,7 @@ void ProfilesImporter::ImportAgentProfiles(QDomElement agentProfilesElement,
std::string vehicleModel;
ThrowIfFalse(ParseString(agentProfileElement, ATTRIBUTE::vehicleModel, vehicleModel),
- agentProfileElement, "Attribute " + std::string(ATTRIBUTE::vehicleModel) + " is missing.");
+ agentProfileElement, "Attribute " + std::string(ATTRIBUTE::vehicleModel) + " is missing.");
agentProfile.vehicleModel = vehicleModel;
}
@@ -168,12 +175,12 @@ void ProfilesImporter::ImportVehicleComponent(QDomElement vehicleComponentElemen
ImportSensorLinksOfComponent(sensorLinksElement, vehicleComponent.sensorLinks);
}
-void ProfilesImporter::ImportAllVehicleComponentsOfVehicleProfile(QDomElement vehicleProfileElement,
- VehicleProfile& vehicleProfile)
+void ProfilesImporter::ImportAllVehicleComponentsOfSystemProfile(QDomElement systemProfileElement,
+ SystemProfile& systemProfile)
{
QDomElement vehicleComponentsElement;
- ThrowIfFalse(GetFirstChildElement(vehicleProfileElement, TAG::components, vehicleComponentsElement),
- vehicleProfileElement, "Tag " + std::string(TAG::components) + " is missing.");
+ ThrowIfFalse(GetFirstChildElement(systemProfileElement, TAG::components, vehicleComponentsElement),
+ systemProfileElement, "Tag " + std::string(TAG::components) + " is missing.");
QDomElement componentElement;
GetFirstChildElement(vehicleComponentsElement, TAG::component, componentElement);
@@ -183,7 +190,7 @@ void ProfilesImporter::ImportAllVehicleComponentsOfVehicleProfile(QDomElement ve
VehicleComponent vehicleComponent;
ImportVehicleComponent(componentElement, vehicleComponent);
- vehicleProfile.vehicleComponents.push_back(vehicleComponent);
+ systemProfile.vehicleComponents.push_back(vehicleComponent);
componentElement = componentElement.nextSiblingElement(TAG::component);
}
}
@@ -192,24 +199,8 @@ void ProfilesImporter::ImportSensorParameters(QDomElement sensorElement, openpas
{
ThrowIfFalse(ParseAttributeInt(sensorElement, ATTRIBUTE::id, sensor.id),
sensorElement, "Attribute " + std::string(ATTRIBUTE::id) + " is missing.");
-
- QDomElement positionElement;
- ThrowIfFalse(GetFirstChildElement(sensorElement, TAG::position, positionElement),
- sensorElement, "Tag " + std::string(TAG::position) + " is missing.");
- ThrowIfFalse(ParseAttributeString(positionElement, ATTRIBUTE::name, sensor.position.name),
- positionElement, "Attribute " + std::string(ATTRIBUTE::name) + " is missing.");
- ThrowIfFalse(ParseAttributeDouble(positionElement, ATTRIBUTE::longitudinal, sensor.position.longitudinal),
- positionElement, "Attribute " + std::string(ATTRIBUTE::longitudinal) + " is missing.");
- ThrowIfFalse(ParseAttributeDouble(positionElement, ATTRIBUTE::lateral, sensor.position.lateral),
- positionElement, "Attribute " + std::string(ATTRIBUTE::lateral) + " is missing.");
- ThrowIfFalse(ParseAttributeDouble(positionElement, ATTRIBUTE::height, sensor.position.height),
- positionElement, "Attribute " + std::string(ATTRIBUTE::height) + " is missing.");
- ThrowIfFalse(ParseAttributeDouble(positionElement, ATTRIBUTE::pitch, sensor.position.pitch),
- positionElement, "Attribute " + std::string(ATTRIBUTE::pitch) + " is missing.");
- ThrowIfFalse(ParseAttributeDouble(positionElement, ATTRIBUTE::yaw, sensor.position.yaw),
- positionElement, "Attribute " + std::string(ATTRIBUTE::yaw) + " is missing.");
- ThrowIfFalse(ParseAttributeDouble(positionElement, ATTRIBUTE::roll, sensor.position.roll),
- positionElement, "Attribute " + std::string(ATTRIBUTE::roll) + " is missing.");
+ ThrowIfFalse(ParseAttributeString(sensorElement, ATTRIBUTE::position, sensor.positionName),
+ sensorElement, "Attribute " + std::string(ATTRIBUTE::position) + " is missing.");
QDomElement profileElement;
ThrowIfFalse(GetFirstChildElement(sensorElement, TAG::profile, profileElement),
@@ -220,12 +211,12 @@ void ProfilesImporter::ImportSensorParameters(QDomElement sensorElement, openpas
profileElement, "Attribute " + std::string(ATTRIBUTE::name) + " is missing.");
}
-void ProfilesImporter::ImportAllSensorsOfVehicleProfile(QDomElement vehicleProfileElement,
- VehicleProfile& vehicleProfile)
+void ProfilesImporter::ImportAllSensorsOfSystemProfile(QDomElement systemProfileElement,
+ SystemProfile& systemProfile)
{
QDomElement sensorsElement;
- ThrowIfFalse(GetFirstChildElement(vehicleProfileElement, TAG::sensors, sensorsElement),
- vehicleProfileElement, "Tag " + std::string(TAG::sensors) + " is missing.");
+ ThrowIfFalse(GetFirstChildElement(systemProfileElement, TAG::sensors, sensorsElement),
+ systemProfileElement, "Tag " + std::string(TAG::sensors) + " is missing.");
QDomElement sensorElement;
GetFirstChildElement(sensorsElement, TAG::sensor, sensorElement);
@@ -235,43 +226,37 @@ void ProfilesImporter::ImportAllSensorsOfVehicleProfile(QDomElement vehicleProfi
openpass::sensors::Parameter sensor;
ImportSensorParameters(sensorElement, sensor);
- vehicleProfile.sensors.push_back(sensor);
+ systemProfile.sensors.push_back(sensor);
sensorElement = sensorElement.nextSiblingElement(TAG::sensor);
}
}
-VehicleProfile ProfilesImporter::ImportVehicleProfile(QDomElement vehicleProfileElement)
+SystemProfile ProfilesImporter::ImportSystemProfile(QDomElement systemProfileElement)
{
- VehicleProfile vehicleProfile;
-
- QDomElement vehicleModelElement;
- ThrowIfFalse(GetFirstChildElement(vehicleProfileElement, TAG::model, vehicleModelElement),
- vehicleProfileElement, "Tag " + std::string(TAG::model) + " is missing.");
- ThrowIfFalse(ParseAttributeString(vehicleModelElement, ATTRIBUTE::name, vehicleProfile.vehicleModel),
- vehicleModelElement, "Attribute " + std::string(ATTRIBUTE::name) + " is missing.");
+ SystemProfile systemProfile;
- ImportAllVehicleComponentsOfVehicleProfile(vehicleProfileElement, vehicleProfile);
- ImportAllSensorsOfVehicleProfile(vehicleProfileElement, vehicleProfile);
+ ImportAllVehicleComponentsOfSystemProfile(systemProfileElement, systemProfile);
+ ImportAllSensorsOfSystemProfile(systemProfileElement, systemProfile);
- return vehicleProfile;
+ return systemProfile;
}
-void ProfilesImporter::ImportVehicleProfiles(QDomElement vehicleProfilesElement,
+void ProfilesImporter::ImportSystemProfiles(QDomElement systemProfilesElement,
Profiles& profiles)
{
- QDomElement vehicleProfileElement;
- GetFirstChildElement(vehicleProfilesElement, TAG::vehicleProfile, vehicleProfileElement);
+ QDomElement systemProfileElement;
+ GetFirstChildElement(systemProfilesElement, TAG::systemProfile, systemProfileElement);
- while (!vehicleProfileElement.isNull())
+ while (!systemProfileElement.isNull())
{
std::string profileName;
- ThrowIfFalse(ParseAttributeString(vehicleProfileElement, ATTRIBUTE::name, profileName),
- vehicleProfileElement, "Attribute " + std::string(ATTRIBUTE::name) + " is missing.");
+ ThrowIfFalse(ParseAttributeString(systemProfileElement, ATTRIBUTE::name, profileName),
+ systemProfileElement, "Attribute " + std::string(ATTRIBUTE::name) + " is missing.");
- auto vehicleProfile = ImportVehicleProfile(vehicleProfileElement);
- profiles.AddVehicleProfile(profileName, vehicleProfile);
+ auto systemProfile = ImportSystemProfile(systemProfileElement);
+ profiles.AddSystemProfile(profileName, systemProfile);
- vehicleProfileElement = vehicleProfileElement.nextSiblingElement(TAG::vehicleProfile);
+ systemProfileElement = systemProfileElement.nextSiblingElement(TAG::systemProfile);
}
}
@@ -304,10 +289,10 @@ bool ProfilesImporter::Import(const std::string& filename, Profiles& profiles)
"AgentProfiles element is missing.");
ImportAgentProfiles(agentProfilesElement, profiles);
- QDomElement vehicleProfilesElement;
- if(GetFirstChildElement(documentRoot, TAG::vehicleProfiles, vehicleProfilesElement))
+ QDomElement systemProfilesElement;
+ if(GetFirstChildElement(documentRoot, TAG::systemProfiles, systemProfilesElement))
{
- ImportVehicleProfiles(vehicleProfilesElement, profiles);
+ ImportSystemProfiles(systemProfilesElement, profiles);
}
ImportProfileGroups(profiles, documentRoot);
diff --git a/sim/src/core/opSimulation/importer/profilesImporter.h b/sim/src/core/opSimulation/importer/profilesImporter.h
index 5d27a8c92d4e7f626315528c324db7aec82e3db5..4bee47c937dc59c0782578fb12e4924ca1f6d32a 100644
--- a/sim/src/core/opSimulation/importer/profilesImporter.h
+++ b/sim/src/core/opSimulation/importer/profilesImporter.h
@@ -43,28 +43,28 @@ public:
* @param[out] profiles Class into which the values get saved
* @return true, if successful
*/
- static void ImportVehicleProfiles(QDomElement vehicleProfilesElement,
+ static void ImportSystemProfiles(QDomElement systemProfilesElement,
Profiles& profiles);
/*!
- * \brief Imports a single VehicleProfile
- * \param vehicleProfileElement Element containing the information
- * \param vehicleProfile VehicleProfile to fill
+ * \brief Imports a single SystemProfile
+ * \param systemProfileElement Element containing the information
+ * \param systemProfile SystemProfile to fill
* \return
*/
- static VehicleProfile ImportVehicleProfile(QDomElement vehicleProfileElement);
+ static SystemProfile ImportSystemProfile(QDomElement systemProfileElement);
/*!
- * \brief Imports all VehicleComponentes contained in one VehicleProfile
- * \param vehicleProfileElement Element containing the information
- * \param vehicleProfile VehicleProfile to fill
+ * \brief Imports all VehicleComponentes contained in one SystemProfile
+ * \param systemProfileElement Element containing the information
+ * \param systemProfile SystemProfile to fill
* \return
*/
- static void ImportAllVehicleComponentsOfVehicleProfile(QDomElement vehicleProfileElement,
- VehicleProfile &vehicleProfile);
+ static void ImportAllVehicleComponentsOfSystemProfile(QDomElement systemProfileElement,
+ SystemProfile &systemProfile);
/*!
- * \brief Imports a single VehicleComponentes contained in one VehicleProfile
+ * \brief Imports a single VehicleComponentes contained in one SystemProfile
* \param vehicleComponentElement Element containing the information
* \param vehicleComponent VehicleComponent to fill
* \return
@@ -74,7 +74,7 @@ public:
/*!
- * \brief Imports all SensorLinks of a VehicleComponents contained in one VehicleProfile
+ * \brief Imports all SensorLinks of a VehicleComponents contained in one SystemProfile
* \param sensorLinksElement Element containing the information
* \param sensorLinksElement Map into which SensorLinks are saved
* \return
@@ -83,16 +83,16 @@ public:
std::vector<SensorLink> &sensorLinks);
/*!
- * \brief Imports all Sensor contained in one VehicleProfiles
- * \param vehicleProfileElement Element containing the information
- * \param vehicleProfile VehicleProfile to fill
+ * \brief Imports all Sensor contained in one SystemProfiles
+ * \param systemProfileElement Element containing the information
+ * \param systemProfile SystemProfile to fill
* \return
*/
- static void ImportAllSensorsOfVehicleProfile(QDomElement vehicleProfileElement,
- VehicleProfile &vehicleProfile);
+ static void ImportAllSensorsOfSystemProfile(QDomElement systemProfileElement,
+ SystemProfile &systemProfile);
/*!
- * \brief Imports a single Sensor contained in one VehicleProfile
+ * \brief Imports a single Sensor contained in one SystemProfile
* \param sensorElement Element containing the information
* \param sensorParameter SensorParameter to fill
* \return
@@ -114,7 +114,7 @@ public:
private:
static constexpr auto profilesCatalogFile = "ProfilesCatalog.xml";
- static constexpr auto supportedConfigVersion = "0.4.8";
+ static constexpr auto supportedConfigVersion = "0.5";
};
} //namespace Importer
diff --git a/sim/src/core/opSimulation/importer/road.cpp b/sim/src/core/opSimulation/importer/road.cpp
index 5388ca0f0670ef6dce9c0fc3c58941c39dfcba06..772297374a5176df5703c2d1c93090dbb6a25ace 100644
--- a/sim/src/core/opSimulation/importer/road.cpp
+++ b/sim/src/core/opSimulation/importer/road.cpp
@@ -42,7 +42,7 @@ RoadLane::~RoadLane()
}
}
-bool RoadLane::AddWidth(double sOffset, double a, double b, double c, double d)
+bool RoadLane::AddWidth(units::length::meter_t sOffset, units::length::meter_t a, double b, units::unit_t<units::inverse<units::length::meter>> c, units::unit_t<units::inverse<units::squared<units::length::meter>>> d)
{
RoadLaneWidth *laneWidth = new (std::nothrow) RoadLaneWidth(sOffset, a, b, c, d);
if (!laneWidth)
@@ -55,7 +55,7 @@ bool RoadLane::AddWidth(double sOffset, double a, double b, double c, double d)
return true;
}
-bool RoadLane::AddBorder(double sOffset, double a, double b, double c, double d)
+bool RoadLane::AddBorder(units::length::meter_t sOffset, units::length::meter_t a, double b, units::unit_t<units::inverse<units::length::meter>> c, units::unit_t<units::inverse<units::squared<units::length::meter>>> d)
{
RoadLaneWidth *laneWidth = new (std::nothrow) RoadLaneWidth(sOffset, a, b, c, d);
if (!laneWidth)
@@ -84,7 +84,7 @@ bool RoadLane::AddPredecessor(int id)
return true;
}
-bool RoadLane::AddRoadMark(double sOffset, RoadLaneRoadDescriptionType type, RoadLaneRoadMarkType roadMark,
+bool RoadLane::AddRoadMark(units::length::meter_t sOffset, RoadLaneRoadDescriptionType type, RoadLaneRoadMarkType roadMark,
RoadLaneRoadMarkColor color, RoadLaneRoadMarkLaneChange laneChange,
RoadLaneRoadMarkWeight weight)
{
@@ -125,11 +125,11 @@ RoadLane *RoadLaneSection::AddRoadLane(int id, RoadLaneType type)
return lane;
}
-Common::Vector2d RoadGeometry::GetCoordLine(double sOffset, double tOffset) const
+Common::Vector2d<units::length::meter_t> RoadGeometry::GetCoordLine(units::length::meter_t sOffset, units::length::meter_t tOffset) const
{
if (sOffset > length)
{
- if (!CommonHelper::DoubleEquality(sOffset, length))
+ if (!mantle_api::IsEqual(sOffset, length))
{
LOG_INTERN(LogLevel::Warning)
<< "cummulative s-offset exceeds length of line geometry by " << (sOffset - length) << " m. "
@@ -139,7 +139,7 @@ Common::Vector2d RoadGeometry::GetCoordLine(double sOffset, double tOffset) cons
}
// unrotated road initially pointing to east
- Common::Vector2d offset(sOffset, tOffset);
+ Common::Vector2d<units::length::meter_t> offset(sOffset, tOffset);
offset.Rotate(hdg);
@@ -149,17 +149,17 @@ Common::Vector2d RoadGeometry::GetCoordLine(double sOffset, double tOffset) cons
return offset;
}
-double RoadGeometry::GetDirLine(double sOffset) const
+units::angle::radian_t RoadGeometry::GetDirLine(units::length::meter_t sOffset) const
{
Q_UNUSED(sOffset);
return hdg;
}
-Common::Vector2d RoadGeometry::GetCoordArc(double sOffset, double tOffset, double curvature) const
+Common::Vector2d<units::length::meter_t> RoadGeometry::GetCoordArc(units::length::meter_t sOffset, units::length::meter_t tOffset, units::curvature::inverse_meter_t curvature) const
{
if (sOffset > length)
{
- if (!CommonHelper::DoubleEquality(sOffset, length))
+ if (!mantle_api::IsEqual(sOffset, length))
{
LOG_INTERN(LogLevel::Warning)
<< "cummulative s-offset exceeds length of arc geometry by " << (sOffset - length) << " m. "
@@ -169,15 +169,15 @@ Common::Vector2d RoadGeometry::GetCoordArc(double sOffset, double tOffset, doubl
sOffset = length;
}
- double radius = 1 / curvature;
- double circumference = 2 * M_PI / curvature;
+ units::length::meter_t radius{1 / curvature};
+ units::length::meter_t circumference{2 * M_PI / curvature};
// account for sOffset beyond circumference
// fractionRad = fractionCircumference * 2 * PI / circumference
- double fractionRad = fmod(sOffset, circumference) * curvature;
+ units::angle::radian_t fractionRad = 1_rad * units::math::fmod(sOffset, circumference) * curvature;
// shift by radius to rotate around center at origin
- Common::Vector2d offset(0, -radius + tOffset);
+ Common::Vector2d<units::length::meter_t> offset(0_m, -radius + tOffset);
offset.Rotate(fractionRad);
// shift back
@@ -191,30 +191,30 @@ Common::Vector2d RoadGeometry::GetCoordArc(double sOffset, double tOffset, doubl
return offset;
}
-double RoadGeometry::GetDirArc(double sOffset, double curvature) const
+units::angle::radian_t RoadGeometry::GetDirArc(units::length::meter_t sOffset, units::curvature::inverse_meter_t curvature) const
{
- double circumference = 2 * M_PI / curvature;
+ units::length::meter_t circumference = (2 * M_PI) / curvature;
// account for sOffset beyond circumference
// fractionRad = fractionCircumference * 2 * PI / circumference
- double fractionRad = fmod(sOffset, circumference) * curvature;
+ units::angle::radian_t fractionRad{units::unit_cast<double>(units::math::fmod(sOffset, circumference) * curvature)};
return hdg + fractionRad;
}
-Common::Vector2d RoadGeometryLine::GetCoord(double sOffset, double tOffset) const
+Common::Vector2d<units::length::meter_t> RoadGeometryLine::GetCoord(units::length::meter_t sOffset, units::length::meter_t tOffset) const
{
return GetCoordLine(sOffset, tOffset);
}
-double RoadGeometryLine::GetDir(double sOffset) const
+units::angle::radian_t RoadGeometryLine::GetDir(units::length::meter_t sOffset) const
{
return GetDirLine(sOffset);
}
-Common::Vector2d RoadGeometryArc::GetCoord(double sOffset, double tOffset) const
+Common::Vector2d<units::length::meter_t> RoadGeometryArc::GetCoord(units::length::meter_t sOffset, units::length::meter_t tOffset) const
{
- if (0.0 == curvature)
+ if (0.0_i_m == curvature)
{
return GetCoordLine(sOffset, tOffset);
}
@@ -222,9 +222,9 @@ Common::Vector2d RoadGeometryArc::GetCoord(double sOffset, double tOffset) const
return GetCoordArc(sOffset, tOffset, curvature);
}
-double RoadGeometryArc::GetDir(double sOffset) const
+units::angle::radian_t RoadGeometryArc::GetDir(units::length::meter_t sOffset) const
{
- if (0.0 == curvature)
+ if (0.0_i_m == curvature)
{
return GetDirLine(sOffset);
}
@@ -232,114 +232,121 @@ double RoadGeometryArc::GetDir(double sOffset) const
return GetDirArc(sOffset, curvature);
}
-RoadGeometrySpiral::RoadGeometrySpiral(double s, double x, double y, double hdg, double length, double curvStart, double curvEnd)
+RoadGeometrySpiral::RoadGeometrySpiral(units::length::meter_t s, units::length::meter_t x, units::length::meter_t y, units::angle::radian_t hdg, units::length::meter_t length, units::curvature::inverse_meter_t curvStart, units::curvature::inverse_meter_t curvEnd)
: RoadGeometry{s, x, y, hdg, length}, c_start{curvStart}, c_end{curvEnd}
{
- if (length != 0.0)
+ if (length != 0.0_m)
{
c_dot = (c_end - c_start) / length;
}
else
{
- c_dot = 0.0;
+ c_dot = units::unit_t<units::inverse<units::squared<units::length::meter>>>(0.0);
}
- if (c_dot != 0.0)
+ if (c_dot != units::unit_t<units::inverse<units::squared<units::length::meter>>>(0.0))
{
l_start = c_start / c_dot;
}
else
{
- l_start = 0.0;
+ l_start = 0.0_m;
}
- double l_end = l_start + length;
- double rl; // helper constant R * L
+ const auto l_end = l_start + length;
+ units::area::square_meter_t rl; // helper constant R * L
- if (c_start != 0.0)
+ if (c_start != 0.0_i_m)
{
rl = l_start / c_start;
}
- else if (c_end != 0.0)
+ else if (c_end != 0.0_i_m)
{
rl = l_end / c_end;
}
else
{
- t_start = 0.0;
- a = 0.0;
+ t_start = 0.0_rad;
+ a = 0.0_m;
sign = 0.0;
return;
}
- t_start = 0.5 * l_start * curvStart;
- a = std::sqrt(std::abs(rl));
- sign = std::signbit(rl) ? -1.0 : 1.0;
+ t_start = 1_rad * 0.5 * l_start * curvStart;
+ a = units::math::sqrt(units::math::abs(rl));
+ sign = std::signbit(rl.value()) ? -1.0 : 1.0;
}
-Common::Vector2d RoadGeometrySpiral::FullCoord(double sOffset, double tOffset) const
+Common::Vector2d<units::length::meter_t> RoadGeometrySpiral::FullCoord(units::length::meter_t sOffset, units::length::meter_t tOffset) const
{
// curvature of the spiral at sOffset
- double curvAtsOffet = c_start + c_dot * sOffset;
+ units::curvature::inverse_meter_t curvAtsOffet = c_start + c_dot * sOffset;
// start and end coordinates of spiral
- Common::Vector2d start, end;
+ Common::Vector2d<units::length::meter_t> start, end;
+
+ double tmpYValue{};
+ double tmpXValue{};
// calculate x and y of spiral start, assuming sOffset = 0 means start of spiral with curvature curvStart
- (void)fresnl(l_start / a / SQRT_PI, &start.y, &start.x);
- start.Scale(a * SQRT_PI);
+ (void)fresnl(l_start.value() / a.value() / SQRT_PI, &tmpYValue, &tmpXValue);
+ start.y = units::length::meter_t(tmpYValue);
+ start.x = units::length::meter_t(tmpXValue);
+ start.Scale(a.value() * SQRT_PI);
start.y *= sign;
// calculate x and y of spiral end, assuming l_start + sOffset means end of spiral with curvature curvEnd
- (void)fresnl((l_start + sOffset) / a / SQRT_PI, &end.y, &end.x);
- end.Scale(a * SQRT_PI);
+ (void)fresnl(units::unit_cast<double>(l_start + sOffset) / a.value() / SQRT_PI, &tmpYValue, &tmpXValue);
+ end.y = units::length::meter_t(tmpYValue);
+ end.x = units::length::meter_t(tmpXValue);
+ end.Scale(a.value() * SQRT_PI);
end.y *= sign;
// delta x, y from start of spiral to end of spiral
auto diff = end - start;
// tangent angle at end of spiral
- double t_end = (l_start + sOffset) * curvAtsOffet / 2.0;
+ units::angle::radian_t t_end{units::unit_cast<double>((l_start + sOffset) * curvAtsOffet / 2.0)};
// heading change of spiral
- double dHdg = t_end - t_start;
+ const auto dHdg = t_end - t_start;
// rotate delta x, y to match starting direction and origin heading
- diff.Rotate(-t_start+hdg);
+ diff.Rotate(-t_start + hdg);
// heading at end of spiral
auto endHdg = hdg + dHdg;
// calculate t-offset to spiral
- Common::Vector2d unit{1.0,0};
- unit.Rotate(endHdg + M_PI_2);
- unit.Scale(tOffset);
+ Common::Vector2d<units::length::meter_t> unit{1.0_m, 0_m};
+ unit.Rotate(endHdg + units::angle::radian_t(M_PI_2));
+ unit.Scale(tOffset.value());
- return diff + unit + Common::Vector2d(x, y);
+ return diff + unit + Common::Vector2d<units::length::meter_t>(x, y);
}
-double RoadGeometrySpiral::FullCurvature(double sOffset) const
+units::curvature::inverse_meter_t RoadGeometrySpiral::FullCurvature(units::length::meter_t sOffset) const
{
return c_start + c_dot * sOffset;
}
-double RoadGeometrySpiral::FullDir(double sOffset) const
+units::angle::radian_t RoadGeometrySpiral::FullDir(units::length::meter_t sOffset) const
{
// tangent_angle = L / (2 * R) = 0.5 * L * curv
// direction change in spiral = tangent_end - tangent_start
- double curvEnd = FullCurvature(sOffset);
- return hdg + 0.5 * (curvEnd * (l_start + sOffset) - c_start * l_start);
+ const auto curvEnd = FullCurvature(sOffset);
+ return hdg + 0.5_rad * (curvEnd * (l_start + sOffset) - c_start * l_start);
}
-Common::Vector2d RoadGeometrySpiral::GetCoord(double sOffset, double tOffset) const
+Common::Vector2d<units::length::meter_t> RoadGeometrySpiral::GetCoord(units::length::meter_t sOffset, units::length::meter_t tOffset) const
{
- if (0.0 == c_start && 0.0 == c_end)
+ if (0.0_i_m == c_start && 0.0_i_m == c_end)
{
return GetCoordLine(sOffset, tOffset);
}
- if (std::abs(c_start - c_end) < 1e-6 /* assumed to be equal */)
+ if (mantle_api::IsEqual(c_start, c_end, 1e-6))
{
return GetCoordArc(sOffset, tOffset, c_start);
}
@@ -347,14 +354,14 @@ Common::Vector2d RoadGeometrySpiral::GetCoord(double sOffset, double tOffset) co
return FullCoord(sOffset, tOffset);
}
-double RoadGeometrySpiral::GetDir(double sOffset) const
+units::angle::radian_t RoadGeometrySpiral::GetDir(units::length::meter_t sOffset) const
{
- if (0.0 == c_start && 0.0 == c_end)
+ if (0.0_i_m == c_start && 0.0_i_m == c_end)
{
return GetDirLine(sOffset);
}
- if (std::abs(c_start - c_end) < 1e-6 /* assumed to be equal */)
+ if (mantle_api::IsEqual(c_start, c_end, 1e-6))
{
return GetDirArc(sOffset, c_start);
}
@@ -362,37 +369,37 @@ double RoadGeometrySpiral::GetDir(double sOffset) const
return FullDir(sOffset);
}
-Common::Vector2d RoadGeometryPoly3::GetCoord(double sOffset, double tOffset) const
+Common::Vector2d<units::length::meter_t> RoadGeometryPoly3::GetCoord(units::length::meter_t sOffset, units::length::meter_t tOffset) const
{
- if (0.0 == a && 0.0 == b && 0.0 == c && 0.0 == d)
+ if (0.0_m == a && 0.0 == b && 0.0_i_m == c && units::unit_t<units::inverse<units::squared<units::length::meter>>>(0.0) == d)
{
return GetCoordLine(sOffset, tOffset);
}
- double s = 0.0;
- Common::Vector2d lastPos;
- Common::Vector2d delta;
- Common::Vector2d pos(0.0, a);
+ units::length::meter_t s = 0.0_m;
+ Common::Vector2d<units::length::meter_t> lastPos;
+ Common::Vector2d<units::length::meter_t> delta;
+ Common::Vector2d<units::length::meter_t> pos(0.0_m, a);
while (s < sOffset)
{
lastPos = pos;
- pos.x += 1.0;
+ pos.x += 1.0_m;
pos.y = a + b * pos.x + c * pos.x * pos.x + d * pos.x * pos.x * pos.x;
delta = pos - lastPos;
- double deltaLength = delta.Length();
+ units::length::meter_t deltaLength{delta.Length()};
- if (0.0 == deltaLength)
+ if (0.0_m == deltaLength)
{
LOG_INTERN(LogLevel::Warning) << "could not calculate road geometry correctly";
- return Common::Vector2d();
+ return Common::Vector2d<units::length::meter_t>();
}
if (s + deltaLength > sOffset)
{
// rescale last step
- double scale = (sOffset - s) / deltaLength;
+ units::dimensionless::scalar_t scale = (sOffset - s) / deltaLength;
delta.Scale(scale);
deltaLength = sOffset - s;
@@ -401,25 +408,35 @@ Common::Vector2d RoadGeometryPoly3::GetCoord(double sOffset, double tOffset) con
s += deltaLength;
}
- Common::Vector2d offset(lastPos + delta);
+ Common::Vector2d<units::length::meter_t> offset(lastPos + delta);
- Common::Vector2d norm;
- if (0 < sOffset)
+ Common::Vector2d<units::length::meter_t> norm;
+ if (0_m < sOffset)
{
norm = delta;
}
else // account for start point
{
- norm.x = 1.0;
+ norm.x = 1.0_m;
}
- norm.Rotate(-M_PI_2); // pointing to right side
- if (!norm.Norm())
+ norm.Rotate(units::angle::radian_t(-M_PI_2)); // pointing to right side
+
+ Common::Vector2d<units::dimensionless::scalar_t> normalizedVector;
+
+ try
+ {
+ normalizedVector = norm.Norm();
+ }
+ catch (...)
{
LOG_INTERN(LogLevel::Error) << "division by 0";
}
- offset.Add(norm * -tOffset);
+ norm.x = normalizedVector.x * -tOffset;
+ norm.y = normalizedVector.y * -tOffset;
+
+ offset.Add(norm);
offset.Rotate(hdg);
@@ -428,37 +445,37 @@ Common::Vector2d RoadGeometryPoly3::GetCoord(double sOffset, double tOffset) con
return offset;
}
-double RoadGeometryPoly3::GetDir(double sOffset) const
+units::angle::radian_t RoadGeometryPoly3::GetDir(units::length::meter_t sOffset) const
{
- if (0.0 == a && 0.0 == b && 0.0 == c && 0.0 == d)
+ if (0.0_m == a && 0.0 == b && 0.0_i_m == c && units::unit_t<units::inverse<units::squared<units::length::meter>>>(0.0) == d)
{
return GetDirLine(sOffset);
}
- double s = 0.0;
- Common::Vector2d lastPos;
- Common::Vector2d delta;
- Common::Vector2d pos(0.0, a);
+ units::length::meter_t s = 0.0_m;
+ Common::Vector2d<units::length::meter_t> lastPos;
+ Common::Vector2d<units::length::meter_t> delta;
+ Common::Vector2d<units::length::meter_t> pos(0.0_m, a);
while (s < sOffset)
{
lastPos = pos;
- pos.x += 1.0;
+ pos.x += 1.0_m;
pos.y = a + b * pos.x + c * pos.x * pos.x + d * pos.x * pos.x * pos.x;
delta = pos - lastPos;
- double deltaLength = delta.Length();
+ units::length::meter_t deltaLength{delta.Length()};
- if (0.0 == deltaLength)
+ if (0.0_m == deltaLength)
{
LOG_INTERN(LogLevel::Warning) << "could not calculate road geometry correctly";
- return 0.0;
+ return 0.0_rad;
}
if (s + deltaLength > sOffset)
{
// rescale last step
- double scale = (sOffset - s) / deltaLength;
+ units::dimensionless::scalar_t scale = (sOffset - s) / deltaLength;
delta.Scale(scale);
deltaLength = sOffset - s;
@@ -467,83 +484,91 @@ double RoadGeometryPoly3::GetDir(double sOffset) const
s += deltaLength;
}
- Common::Vector2d direction;
- if (0 < sOffset)
+ Common::Vector2d<units::length::meter_t> direction;
+ if (0_m < sOffset)
{
direction = delta;
}
else // account for start point
{
- direction.x = 1.0;
+ direction.x = 1.0_m;
}
direction.Rotate(hdg);
- if (!direction.Norm())
+
+ Common::Vector2d<units::dimensionless::scalar_t> normalizedDirection;
+
+ try
+ {
+ normalizedDirection = direction.Norm();
+ }
+ catch (...)
{
LOG_INTERN(LogLevel::Error) << "division by 0";
}
- if (1.0 < direction.y)
+ if (1.0 < normalizedDirection.y)
{
- direction.y = 1.0;
+ normalizedDirection.y = 1.0;
}
-
- if (-1.0 > direction.y)
+ else if (-1.0 > normalizedDirection.y)
{
- direction.y = -1.0;
+ normalizedDirection.y = -1.0;
}
- double angle = std::asin(direction.y);
+ direction.y = units::length::meter_t(normalizedDirection.y.value());
- if (0.0 <= direction.x)
+ auto angle = units::math::asin(normalizedDirection.y);
+
+ if (0.0 <= normalizedDirection.x)
{
return angle;
}
else
{
- return M_PI - angle;
+ return 1_rad * M_PI - angle;
}
}
//!Maximum distance between two steps for ParamPoly3 calculations
-constexpr double MAXIMUM_DELTALENGTH = 0.1;
+const units::length::meter_t MAXIMUM_DELTALENGTH{0.1};
-Common::Vector2d RoadGeometryParamPoly3::GetCoord(double sOffset, double tOffset) const
+Common::Vector2d<units::length::meter_t> RoadGeometryParamPoly3::GetCoord(units::length::meter_t sOffset, units::length::meter_t tOffset) const
{
- if (0.0 == parameters.aV && 0.0 == parameters.bV && 0.0 == parameters.cV && 0.0 == parameters.dV)
+ if (0.0_m == parameters.aV && 0.0 == parameters.bV && 0.0_i_m == parameters.cV && units::unit_t<units::inverse<units::squared<units::length::meter>>>(0.0) == parameters.dV)
{
return GetCoordLine(sOffset, tOffset);
}
- double s = 0.0;
- Common::Vector2d lastPos;
- Common::Vector2d delta;
- double p = 0.0;
- Common::Vector2d pos(parameters.aU, parameters.aV);
+ units::length::meter_t s{0.0};
+ Common::Vector2d<units::length::meter_t> lastPos;
+ Common::Vector2d<units::length::meter_t> delta;
+ units::length::meter_t p{0.0};
+ Common::Vector2d<units::length::meter_t> pos(parameters.aU, parameters.aV);
while (s < sOffset)
{
lastPos = pos;
- double stepSize = 1.0;
- double deltaLength = std::numeric_limits<double>::max();
+ units::length::meter_t stepSize{1.0};
+ units::length::meter_t deltaLength{std::numeric_limits<double>::max()};
while(deltaLength > MAXIMUM_DELTALENGTH)
{
- double p_new = p + stepSize;
+ auto p_new = p + stepSize;
pos.x = parameters.aU + parameters.bU * p_new + parameters.cU * p_new * p_new + parameters.dU * p_new * p_new * p_new;
pos.y = parameters.aV + parameters.bV * p_new + parameters.cV * p_new * p_new + parameters.dV * p_new * p_new * p_new;
delta = pos - lastPos;
- deltaLength = delta.Length();
+ deltaLength = units::length::meter_t(delta.Length());
stepSize *= 0.5;
}
p += stepSize;
- if (0.0 == deltaLength)
+ if (0.0_m == deltaLength)
{
LOG_INTERN(LogLevel::Warning) << "could not calculate road geometry correctly";
- return Common::Vector2d();
+ return Common::Vector2d<units::length::meter_t>();
}
if (s + deltaLength > sOffset)
@@ -558,25 +583,35 @@ Common::Vector2d RoadGeometryParamPoly3::GetCoord(double sOffset, double tOffset
s += deltaLength;
}
- Common::Vector2d offset(lastPos + delta);
+ Common::Vector2d<units::length::meter_t> offset(lastPos + delta);
- Common::Vector2d norm;
- if (0 < sOffset)
+ Common::Vector2d<units::length::meter_t> norm;
+ if (0_m < sOffset)
{
norm = delta;
}
else // account for start point
{
- norm.x = 1.0;
+ norm.x = 1.0_m;
}
- norm.Rotate(-M_PI_2); // pointing to right side
- if (!norm.Norm())
+ norm.Rotate(units::angle::radian_t(-M_PI_2)); // pointing to right side
+
+ Common::Vector2d<units::dimensionless::scalar_t> normalizedVector;
+
+ try
+ {
+ normalizedVector = norm.Norm();
+ }
+ catch (...)
{
LOG_INTERN(LogLevel::Error) << "division by 0";
}
- offset.Add(norm * -tOffset);
+ norm.x = normalizedVector.x * -tOffset;
+ norm.y = normalizedVector.y * -tOffset;
+
+ offset.Add(norm);
offset.Rotate(hdg);
@@ -585,43 +620,43 @@ Common::Vector2d RoadGeometryParamPoly3::GetCoord(double sOffset, double tOffset
return offset;
}
-double RoadGeometryParamPoly3::GetDir(double sOffset) const
+units::angle::radian_t RoadGeometryParamPoly3::GetDir(units::length::meter_t sOffset) const
{
- double s = 0.0;
- Common::Vector2d lastPos;
- Common::Vector2d delta;
- double p = 0.0;
- Common::Vector2d pos(parameters.aU, parameters.aV);
+ units::length::meter_t s{0.0};
+ Common::Vector2d<units::length::meter_t> lastPos;
+ Common::Vector2d<units::length::meter_t> delta;
+ units::length::meter_t p{0.0};
+ Common::Vector2d<units::length::meter_t> pos(parameters.aU, parameters.aV);
while (s < sOffset)
{
lastPos = pos;
- double stepSize = 1.0;
- double deltaLength = std::numeric_limits<double>::max();
+ units::length::meter_t stepSize{1.0};
+ units::length::meter_t deltaLength{std::numeric_limits<double>::max()};
while(deltaLength > MAXIMUM_DELTALENGTH)
{
- double p_new = p + stepSize;
+ auto p_new = p + stepSize;
pos.x = parameters.aU + parameters.bU * p_new + parameters.cU * p_new * p_new + parameters.dU * p_new * p_new * p_new;
pos.y = parameters.aV + parameters.bV * p_new + parameters.cV * p_new * p_new + parameters.dV * p_new * p_new * p_new;
delta = pos - lastPos;
- deltaLength = delta.Length();
+ deltaLength = units::length::meter_t(delta.Length());
stepSize *= 0.5;
}
p += stepSize;
- if (0.0 == deltaLength)
+ if (0.0_m == deltaLength)
{
LOG_INTERN(LogLevel::Warning) << "could not calculate road geometry correctly";
- return 0.;
+ return 0.0_rad;
}
if (s + deltaLength > sOffset)
{
// rescale last step
- double scale = (sOffset - s) / deltaLength;
+ units::dimensionless::scalar_t scale = (sOffset - s) / deltaLength;
delta.Scale(scale);
deltaLength = sOffset - s;
@@ -630,10 +665,10 @@ double RoadGeometryParamPoly3::GetDir(double sOffset) const
s += deltaLength;
}
- double dU = parameters.bU + 2 * parameters.cU * p + 3 * parameters.dU * p * p;
- double dV = parameters.bV + 2 * parameters.cV * p + 3 * parameters.dV * p * p;
+ units::dimensionless::scalar_t dU = parameters.bU + 2 * parameters.cU * p + 3 * parameters.dU * p * p;
+ units::dimensionless::scalar_t dV = parameters.bV + 2 * parameters.cV * p + 3 * parameters.dV * p * p;
- return GetHdg() + atan2(dV, dU);
+ return GetHdg() + units::math::atan2(dV, dU);
}
Road::~Road()
@@ -674,7 +709,7 @@ Road::~Road()
}
}
-bool Road::AddGeometryLine(double s, double x, double y, double hdg, double length)
+bool Road::AddGeometryLine(units::length::meter_t s, units::length::meter_t x, units::length::meter_t y, units::angle::radian_t hdg, units::length::meter_t length)
{
RoadGeometry *roadGeometry = new (std::nothrow) RoadGeometryLine(s, x, y, hdg, length);
if (!roadGeometry)
@@ -687,7 +722,7 @@ bool Road::AddGeometryLine(double s, double x, double y, double hdg, double leng
return true;
}
-bool Road::AddGeometryArc(double s, double x, double y, double hdg, double length, double curvature)
+bool Road::AddGeometryArc(units::length::meter_t s, units::length::meter_t x, units::length::meter_t y, units::angle::radian_t hdg, units::length::meter_t length, units::curvature::inverse_meter_t curvature)
{
RoadGeometry *roadGeometry = new (std::nothrow) RoadGeometryArc(s, x, y, hdg, length, curvature);
if (!roadGeometry)
@@ -700,7 +735,7 @@ bool Road::AddGeometryArc(double s, double x, double y, double hdg, double lengt
return true;
}
-bool Road::AddGeometrySpiral(double s, double x, double y, double hdg, double length, double curvStart, double curvEnd)
+bool Road::AddGeometrySpiral(units::length::meter_t s, units::length::meter_t x, units::length::meter_t y, units::angle::radian_t hdg, units::length::meter_t length, units::curvature::inverse_meter_t curvStart, units::curvature::inverse_meter_t curvEnd)
{
RoadGeometry *roadGeometry = new (std::nothrow) RoadGeometrySpiral(s, x, y, hdg, length, curvStart, curvEnd);
if (!roadGeometry)
@@ -713,8 +748,8 @@ bool Road::AddGeometrySpiral(double s, double x, double y, double hdg, double le
return true;
}
-bool Road::AddGeometryPoly3(double s, double x, double y, double hdg, double length, double a, double b, double c,
- double d)
+bool Road::AddGeometryPoly3(units::length::meter_t s, units::length::meter_t x, units::length::meter_t y, units::angle::radian_t hdg, units::length::meter_t length, units::length::meter_t a, double b, units::unit_t<units::inverse<units::length::meter>> c,
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> d)
{
RoadGeometry *roadGeometry = new (std::nothrow) RoadGeometryPoly3(s, x, y, hdg, length, a, b, c, d);
if (!roadGeometry)
@@ -727,7 +762,7 @@ bool Road::AddGeometryPoly3(double s, double x, double y, double hdg, double len
return true;
}
-bool Road::AddGeometryParamPoly3(double s, double x, double y, double hdg, double length,
+bool Road::AddGeometryParamPoly3(units::length::meter_t s, units::length::meter_t x, units::length::meter_t y, units::angle::radian_t hdg, units::length::meter_t length,
ParamPoly3Parameters parameters)
{
RoadGeometry *roadGeometry = new (std::nothrow) RoadGeometryParamPoly3(s, x, y, hdg, length, parameters);
@@ -741,7 +776,7 @@ bool Road::AddGeometryParamPoly3(double s, double x, double y, double hdg, doubl
return true;
}
-bool Road::AddElevation(double s, double a, double b, double c, double d)
+bool Road::AddElevation(units::length::meter_t s, units::length::meter_t a, double b, units::unit_t<units::inverse<units::length::meter>> c, units::unit_t<units::inverse<units::squared<units::length::meter>>> d)
{
RoadElevation *roadElevation = new (std::nothrow) RoadElevation(s, a, b, c, d);
if (!roadElevation)
@@ -754,7 +789,7 @@ bool Road::AddElevation(double s, double a, double b, double c, double d)
return true;
}
-bool Road::AddLaneOffset(double s, double a, double b, double c, double d)
+bool Road::AddLaneOffset(units::length::meter_t s, units::length::meter_t a, double b, units::unit_t<units::inverse<units::length::meter>> c, units::unit_t<units::inverse<units::squared<units::length::meter>>> d)
{
RoadLaneOffset *roadLaneOffset = new (std::nothrow) RoadLaneOffset(s, a, b, c, d);
if (!roadLaneOffset)
@@ -781,7 +816,7 @@ bool Road::AddLink(RoadLinkType type, RoadLinkElementType elementType, const std
return true;
}
-RoadLaneSection *Road::AddRoadLaneSection(double start)
+RoadLaneSection *Road::AddRoadLaneSection(units::length::meter_t start)
{
RoadLaneSection *laneSection = new (std::nothrow) RoadLaneSection(this, start);
laneSections.push_back(laneSection);
@@ -806,11 +841,11 @@ void Road::AddRoadType(const RoadTypeSpecification &info)
roadTypes.push_back(info);
}
-RoadTypeInformation Road::GetRoadType(double start) const
+RoadTypeInformation Road::GetRoadType(units::length::meter_t start) const
{
for (RoadTypeSpecification roadTypeSpec : roadTypes)
{
- if (std::abs(roadTypeSpec.s - start) < 1e-6 /* assumed to be equal*/)
+ if (mantle_api::IsEqual(roadTypeSpec.s, start, 1e-6))
{
return roadTypeSpec.roadType;
}
diff --git a/sim/src/core/opSimulation/importer/road.h b/sim/src/core/opSimulation/importer/road.h
index 484aa8c9e23796bc6aba3cd5e40f73dafb8219e9..7e6d23bbad32efb43d631e2f7818b384291acbf7 100644
--- a/sim/src/core/opSimulation/importer/road.h
+++ b/sim/src/core/opSimulation/importer/road.h
@@ -121,7 +121,7 @@ class RoadLane : public RoadLaneInterface
//!
//! @return False if an error occurred, true otherwise
//-----------------------------------------------------------------------------
- bool AddWidth(double sOffset, double a, double b, double c, double d) override;
+ bool AddWidth(units::length::meter_t sOffset, units::length::meter_t a, double b, units::unit_t<units::inverse<units::length::meter>> c, units::unit_t<units::inverse<units::squared<units::length::meter>>> d) override;
//-----------------------------------------------------------------------------
//! Adds a new polynomial calculating the border of a lane to a road lane.
@@ -134,7 +134,7 @@ class RoadLane : public RoadLaneInterface
//!
//! @return False if an error occurred, true otherwise
//-----------------------------------------------------------------------------
- bool AddBorder(double sOffset, double a, double b, double c, double d) override;
+ bool AddBorder(units::length::meter_t sOffset, units::length::meter_t a, double b, units::unit_t<units::inverse<units::length::meter>> c, units::unit_t<units::inverse<units::squared<units::length::meter>>> d) override;
//-----------------------------------------------------------------------------
//! Adds the ID of a successor lane to a road lane.
@@ -258,7 +258,7 @@ class RoadLane : public RoadLaneInterface
//!
//! @return False if an error occurred, true otherwise
//-----------------------------------------------------------------------------
- bool AddRoadMark(double sOffset, RoadLaneRoadDescriptionType type, RoadLaneRoadMarkType roadMark,
+ bool AddRoadMark(units::length::meter_t sOffset, RoadLaneRoadDescriptionType type, RoadLaneRoadMarkType roadMark,
RoadLaneRoadMarkColor color, RoadLaneRoadMarkLaneChange laneChange,
RoadLaneRoadMarkWeight weight) override;
@@ -284,7 +284,7 @@ class RoadLane : public RoadLaneInterface
bool inDirection = true;
RoadLaneRoadMarkType roadMarkType = RoadLaneRoadMarkType::Undefined;
- double roadMarkTypeSOffset;
+ units::length::meter_t roadMarkTypeSOffset;
std::vector<RoadLaneRoadMark *> roadMarks;
};
@@ -295,7 +295,7 @@ class RoadLane : public RoadLaneInterface
class RoadLaneSection : public RoadLaneSectionInterface
{
public:
- RoadLaneSection(RoadInterface *road, double start) : road(road), start(start)
+ RoadLaneSection(RoadInterface *road, units::length::meter_t start) : road(road), start(start)
{
}
virtual ~RoadLaneSection() override;
@@ -326,7 +326,7 @@ class RoadLaneSection : public RoadLaneSectionInterface
//!
//! @return Starting offset of the road lane section
//-----------------------------------------------------------------------------
- double GetStart() const override
+ units::length::meter_t GetStart() const override
{
return start;
}
@@ -405,7 +405,7 @@ class RoadLaneSection : public RoadLaneSectionInterface
private:
RoadInterface *road;
- const double start;
+ const units::length::meter_t start;
std::map<int, RoadLaneInterface *> lanes; // use map for sorted ids
bool inDirection = true;
int laneIndexOffset = 0;
@@ -419,7 +419,7 @@ class RoadLaneSection : public RoadLaneSectionInterface
class RoadGeometry : public RoadGeometryInterface
{
public:
- RoadGeometry(double s, double x, double y, double hdg, double length) : s{s}, x{x}, y{y}, hdg{hdg}, length{length}
+ RoadGeometry(units::length::meter_t s, units::length::meter_t x, units::length::meter_t y, units::angle::radian_t hdg, units::length::meter_t length) : s{s}, x{x}, y{y}, hdg{hdg}, length{length}
{
}
virtual ~RoadGeometry() override = default;
@@ -431,7 +431,7 @@ class RoadGeometry : public RoadGeometryInterface
//! @param[in] tOffset offset to the left
//! @return coordinates with the x/y coordinates
//-----------------------------------------------------------------------------
- virtual Common::Vector2d GetCoord(double sOffset, double tOffset) const override = 0;
+ virtual Common::Vector2d<units::length::meter_t> GetCoord(units::length::meter_t sOffset, units::length::meter_t tOffset) const override = 0;
//-----------------------------------------------------------------------------
//! Calculates the heading.
@@ -439,14 +439,14 @@ class RoadGeometry : public RoadGeometryInterface
//! @param[in] sOffset s offset within geometry section
//! @return heading
//-----------------------------------------------------------------------------
- virtual double GetDir(double sOffset) const override = 0;
+ virtual units::angle::radian_t GetDir(units::length::meter_t sOffset) const override = 0;
//-----------------------------------------------------------------------------
//! Retrieves the s offset within the OpenDrive road.
//!
//! @return s offset
//-----------------------------------------------------------------------------
- double GetS() const override
+ units::length::meter_t GetS() const override
{
return s;
}
@@ -456,7 +456,7 @@ class RoadGeometry : public RoadGeometryInterface
//!
//! @return initial heading of geometry
//-----------------------------------------------------------------------------
- double GetHdg() const override
+ units::angle::radian_t GetHdg() const override
{
return hdg;
}
@@ -466,7 +466,7 @@ class RoadGeometry : public RoadGeometryInterface
//!
//! @return length of geometry section
//-----------------------------------------------------------------------------
- double GetLength() const override
+ units::length::meter_t GetLength() const override
{
return length;
}
@@ -479,7 +479,7 @@ class RoadGeometry : public RoadGeometryInterface
//! @param[in] tOffset offset to the left
//! @return coordinates with the x/y coordinates
//-----------------------------------------------------------------------------
- Common::Vector2d GetCoordLine(double sOffset, double tOffset) const;
+ Common::Vector2d<units::length::meter_t> GetCoordLine(units::length::meter_t sOffset, units::length::meter_t tOffset) const;
//-----------------------------------------------------------------------------
//! Returns the direction of the line, i.e. the start orientation.
@@ -487,7 +487,7 @@ class RoadGeometry : public RoadGeometryInterface
//! @param[in] sOffset offset within geometry section; unused
//! @return direction
//-----------------------------------------------------------------------------
- double GetDirLine(double sOffset) const;
+ units::angle::radian_t GetDirLine(units::length::meter_t sOffset) const;
//-----------------------------------------------------------------------------
//! Gets the coordinate at the s and t offest if the road is an arc.
@@ -497,7 +497,7 @@ class RoadGeometry : public RoadGeometryInterface
//! @param[in] curvature curvature of the arc
//! @return coordinates with the x/y coordinates
//-----------------------------------------------------------------------------
- Common::Vector2d GetCoordArc(double sOffset, double tOffset, double curvature) const;
+ Common::Vector2d<units::length::meter_t> GetCoordArc(units::length::meter_t sOffset, units::length::meter_t tOffset, units::curvature::inverse_meter_t curvature) const;
//-----------------------------------------------------------------------------
//! Returns the heading of an arc, i.e. the initial heading plus the fraction
@@ -507,13 +507,13 @@ class RoadGeometry : public RoadGeometryInterface
//! @param[in] curvature curvature of the arc
//! @return heading of the arc
//-----------------------------------------------------------------------------
- double GetDirArc(double sOffset, double curvature) const;
+ units::angle::radian_t GetDirArc(units::length::meter_t sOffset, units::curvature::inverse_meter_t curvature) const;
- double s;
- double x;
- double y;
- double hdg;
- double length;
+ units::length::meter_t s;
+ units::length::meter_t x;
+ units::length::meter_t y;
+ units::angle::radian_t hdg;
+ units::length::meter_t length;
};
//-----------------------------------------------------------------------------
@@ -522,12 +522,12 @@ class RoadGeometry : public RoadGeometryInterface
class RoadGeometryLine : public RoadGeometry
{
public:
- RoadGeometryLine(double s, double x, double y, double hdg, double length) : RoadGeometry(s, x, y, hdg, length)
+ RoadGeometryLine(units::length::meter_t s, units::length::meter_t x, units::length::meter_t y, units::angle::radian_t hdg, units::length::meter_t length) : RoadGeometry(s, x, y, hdg, length)
{
}
virtual ~RoadGeometryLine() override = default;
- virtual Common::Vector2d GetCoord(double sOffset, double tOffset) const override;
- virtual double GetDir(double sOffset) const override;
+ virtual Common::Vector2d<units::length::meter_t> GetCoord(units::length::meter_t sOffset, units::length::meter_t tOffset) const override;
+ virtual units::angle::radian_t GetDir(units::length::meter_t sOffset) const override;
};
//-----------------------------------------------------------------------------
@@ -536,26 +536,26 @@ class RoadGeometryLine : public RoadGeometry
class RoadGeometryArc : public RoadGeometry
{
public:
- RoadGeometryArc(double s, double x, double y, double hdg, double length, double curvature)
+ RoadGeometryArc(units::length::meter_t s, units::length::meter_t x, units::length::meter_t y, units::angle::radian_t hdg, units::length::meter_t length, units::curvature::inverse_meter_t curvature)
: RoadGeometry{s, x, y, hdg, length}, curvature{curvature}
{
}
virtual ~RoadGeometryArc() override = default;
- virtual Common::Vector2d GetCoord(double sOffset, double tOffset) const override;
- virtual double GetDir(double sOffset) const override;
+ virtual Common::Vector2d<units::length::meter_t> GetCoord(units::length::meter_t sOffset, units::length::meter_t tOffset) const override;
+ virtual units::angle::radian_t GetDir(units::length::meter_t sOffset) const override;
//-----------------------------------------------------------------------------
//! Returns the stored curvature.
//!
//! @return curvature
//-----------------------------------------------------------------------------
- double GetCurvature() const
+ units::curvature::inverse_meter_t GetCurvature() const
{
return curvature;
}
private:
- double curvature;
+ units::curvature::inverse_meter_t curvature;
};
//-----------------------------------------------------------------------------
@@ -564,10 +564,10 @@ class RoadGeometryArc : public RoadGeometry
class RoadGeometrySpiral : public RoadGeometry
{
public:
- RoadGeometrySpiral(double s, double x, double y, double hdg, double length, double curvStart, double curvEnd);
+ RoadGeometrySpiral(units::length::meter_t s, units::length::meter_t x, units::length::meter_t y, units::angle::radian_t hdg, units::length::meter_t length, units::curvature::inverse_meter_t curvStart, units::curvature::inverse_meter_t curvEnd);
virtual ~RoadGeometrySpiral() override = default;
- virtual Common::Vector2d GetCoord(double sOffset, double tOffset) const override;
- virtual double GetDir(double sOffset) const override;
+ virtual Common::Vector2d<units::length::meter_t> GetCoord(units::length::meter_t sOffset, units::length::meter_t tOffset) const override;
+ virtual units::angle::radian_t GetDir(units::length::meter_t sOffset) const override;
private:
//-----------------------------------------------------------------------------
@@ -577,7 +577,7 @@ private:
//! @param[in] tOffset offset to the left
//! @return vector with the x/y coordinates
//-----------------------------------------------------------------------------
- Common::Vector2d FullCoord(double sOffset, double tOffset) const;
+ Common::Vector2d<units::length::meter_t> FullCoord(units::length::meter_t sOffset, units::length::meter_t tOffset) const;
//-----------------------------------------------------------------------------
//! Calculates the curvature.
@@ -585,7 +585,7 @@ private:
//! @param[in] sOffset s offset within geometry section
//! @return curvature
//-----------------------------------------------------------------------------
- double FullCurvature(double sOffset) const;
+ units::curvature::inverse_meter_t FullCurvature(units::length::meter_t sOffset) const;
//-----------------------------------------------------------------------------
//! Calculates the direction.
@@ -593,16 +593,16 @@ private:
//! @param[in] sOffset s offset within geometry section
//! @return direction
//-----------------------------------------------------------------------------
- double FullDir(double sOffset) const;
+ units::angle::radian_t FullDir(units::length::meter_t sOffset) const;
- double c_start; //!< spiral starting curvature
- double c_end; //!< spiral end curvature
- double a; //!< clothoid parameter of spiral
+ units::curvature::inverse_meter_t c_start; //!< spiral starting curvature
+ units::curvature::inverse_meter_t c_end; //!< spiral end curvature
+ units::length::meter_t a; //!< clothoid parameter of spiral
double sign; //!< direction of curvature change (needes to correct Fresnel integral results)
- double c_dot; //!< change of curvature per unit
- double l_start; //!< offset of starting point along spiral
- double t_start; //!< tangent angle at start point
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> c_dot; //!< change of curvature per unit
+ units::length::meter_t l_start; //!< offset of starting point along spiral
+ units::angle::radian_t t_start; //!< tangent angle at start point
};
//-----------------------------------------------------------------------------
@@ -611,20 +611,20 @@ private:
class RoadGeometryPoly3 : public RoadGeometry
{
public:
- RoadGeometryPoly3(double s, double x, double y, double hdg, double length, double a, double b, double c, double d)
+ RoadGeometryPoly3(units::length::meter_t s, units::length::meter_t x, units::length::meter_t y, units::angle::radian_t hdg, units::length::meter_t length, units::length::meter_t a, double b, units::unit_t<units::inverse<units::length::meter>> c, units::unit_t<units::inverse<units::squared<units::length::meter>>> d)
: RoadGeometry(s, x, y, hdg, length), a(a), b(b), c(c), d(d)
{
}
virtual ~RoadGeometryPoly3() override = default;
- virtual Common::Vector2d GetCoord(double sOffset, double tOffset) const override;
- virtual double GetDir(double sOffset) const override;
+ virtual Common::Vector2d<units::length::meter_t> GetCoord(units::length::meter_t sOffset, units::length::meter_t tOffset) const override;
+ virtual units::angle::radian_t GetDir(units::length::meter_t sOffset) const override;
//-----------------------------------------------------------------------------
//! Returns the constant factor of the polynomial.
//!
//! @return constant factor of the polynomial
//-----------------------------------------------------------------------------
- double GetA() const
+ units::length::meter_t GetA() const
{
return a;
}
@@ -644,7 +644,7 @@ class RoadGeometryPoly3 : public RoadGeometry
//!
//! @return quadratic factor of the polynomial
//-----------------------------------------------------------------------------
- double GetC() const
+ units::unit_t<units::inverse<units::length::meter>> GetC() const
{
return c;
}
@@ -654,16 +654,16 @@ class RoadGeometryPoly3 : public RoadGeometry
//!
//! @return cubic factor of the polynomial
//-----------------------------------------------------------------------------
- double GetD() const
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> GetD() const
{
return d;
}
private:
- double a;
+ units::length::meter_t a;
double b;
- double c;
- double d;
+ units::unit_t<units::inverse<units::length::meter>> c;
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> d;
};
//-----------------------------------------------------------------------------
@@ -672,20 +672,20 @@ class RoadGeometryPoly3 : public RoadGeometry
class RoadGeometryParamPoly3 : public RoadGeometry
{
public:
- RoadGeometryParamPoly3(double s, double x, double y, double hdg, double length, ParamPoly3Parameters parameters)
+ RoadGeometryParamPoly3(units::length::meter_t s, units::length::meter_t x, units::length::meter_t y, units::angle::radian_t hdg, units::length::meter_t length, ParamPoly3Parameters parameters)
: RoadGeometry(s, x, y, hdg, length), parameters(parameters)
{
}
virtual ~RoadGeometryParamPoly3() override = default;
- virtual Common::Vector2d GetCoord(double sOffset, double tOffset) const override;
- virtual double GetDir(double sOffset) const override;
+ virtual Common::Vector2d<units::length::meter_t> GetCoord(units::length::meter_t sOffset, units::length::meter_t tOffset) const override;
+ virtual units::angle::radian_t GetDir(units::length::meter_t sOffset) const override;
//-----------------------------------------------------------------------------
//! Returns the constant factor of the polynomial for the u coordinate.
//!
//! @return constant factor of the polynomial
//-----------------------------------------------------------------------------
- double GetAU() const
+ units::length::meter_t GetAU() const
{
return parameters.aU;
}
@@ -695,7 +695,7 @@ class RoadGeometryParamPoly3 : public RoadGeometry
//!
//! @return linear factor of the polynomial
//-----------------------------------------------------------------------------
- double GetBU() const
+ units::dimensionless::scalar_t GetBU() const
{
return parameters.bU;
}
@@ -705,7 +705,7 @@ class RoadGeometryParamPoly3 : public RoadGeometry
//!
//! @return quadratic factor of the polynomial
//-----------------------------------------------------------------------------
- double GetCU() const
+ units::curvature::inverse_meter_t GetCU() const
{
return parameters.cU;
}
@@ -715,7 +715,7 @@ class RoadGeometryParamPoly3 : public RoadGeometry
//!
//! @return cubic factor of the polynomial
//-----------------------------------------------------------------------------
- double GetD() const
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> GetD() const
{
return parameters.dU;
}
@@ -725,7 +725,7 @@ class RoadGeometryParamPoly3 : public RoadGeometry
//!
//! @return constant factor of the polynomial
//-----------------------------------------------------------------------------
- double GetAV() const
+ units::length::meter_t GetAV() const
{
return parameters.aV;
}
@@ -735,7 +735,7 @@ class RoadGeometryParamPoly3 : public RoadGeometry
//!
//! @return linear factor of the polynomial
//-----------------------------------------------------------------------------
- double GetBV() const
+ units::dimensionless::scalar_t GetBV() const
{
return parameters.bV;
}
@@ -745,7 +745,7 @@ class RoadGeometryParamPoly3 : public RoadGeometry
//!
//! @return quadratic factor of the polynomial
//-----------------------------------------------------------------------------
- double GetCV() const
+ units::curvature::inverse_meter_t GetCV() const
{
return parameters.cV;
}
@@ -755,7 +755,7 @@ class RoadGeometryParamPoly3 : public RoadGeometry
//!
//! @return cubic factor of the polynomial
//-----------------------------------------------------------------------------
- double GetDV() const
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> GetDV() const
{
return parameters.dV;
}
@@ -786,7 +786,7 @@ class Road : public RoadInterface
//! @param[in] length length of the element's reference line
//! @return false if an error has occurred, true otherwise
//-----------------------------------------------------------------------------
- bool AddGeometryLine(double s, double x, double y, double hdg, double length) override;
+ bool AddGeometryLine(units::length::meter_t s, units::length::meter_t x, units::length::meter_t y, units::angle::radian_t hdg, units::length::meter_t length) override;
//-----------------------------------------------------------------------------
//! Adds an arc geometry to a road by creating a new RoadGeometryArc object and
@@ -800,7 +800,7 @@ class Road : public RoadInterface
//! @param[in] curvature constant curvature throughout the element
//! @return false if an error has occurred, true otherwise
//-----------------------------------------------------------------------------
- bool AddGeometryArc(double s, double x, double y, double hdg, double length, double curvature) override;
+ bool AddGeometryArc(units::length::meter_t s, units::length::meter_t x, units::length::meter_t y, units::angle::radian_t hdg, units::length::meter_t length, units::curvature::inverse_meter_t curvature) override;
//-----------------------------------------------------------------------------
//! Adds a spiral geometry to a road by creating a new RoadGeometrySpiral object and
@@ -815,8 +815,8 @@ class Road : public RoadInterface
//! @param[in] curvEnd curvature at the end of the element
//! @return false if an error has occurred, true otherwise
//-----------------------------------------------------------------------------
- bool AddGeometrySpiral(double s, double x, double y, double hdg, double length, double curvStart,
- double curvEnd) override;
+ bool AddGeometrySpiral(units::length::meter_t s, units::length::meter_t x, units::length::meter_t y, units::angle::radian_t hdg, units::length::meter_t length, units::curvature::inverse_meter_t curvStart,
+ units::curvature::inverse_meter_t curvEnd) override;
//-----------------------------------------------------------------------------
//! Adds a cubic polynomial geometry to a road by creating a new RoadGeometryPoly3
@@ -833,8 +833,8 @@ class Road : public RoadInterface
//! @param[in] d cubic factor of the polynomial
//! @return false if an error has occurred, true otherwise
//-----------------------------------------------------------------------------
- bool AddGeometryPoly3(double s, double x, double y, double hdg, double length, double a, double b, double c,
- double d) override;
+ bool AddGeometryPoly3(units::length::meter_t s, units::length::meter_t x, units::length::meter_t y, units::angle::radian_t hdg, units::length::meter_t length, units::length::meter_t a, double b, units::unit_t<units::inverse<units::length::meter>> c,
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> d) override;
//-----------------------------------------------------------------------------
//! Adds a parametric cubic polynomial geometry to a road by creating a new
@@ -849,7 +849,7 @@ class Road : public RoadInterface
//! @param[in] parameters Factors of the two polynomials describing the road
//! @return false if an error has occurred, true otherwise
//-----------------------------------------------------------------------------
- bool AddGeometryParamPoly3(double s, double x, double y, double hdg, double length,
+ bool AddGeometryParamPoly3(units::length::meter_t s, units::length::meter_t x, units::length::meter_t y, units::angle::radian_t hdg, units::length::meter_t length,
ParamPoly3Parameters parameters) override;
//-----------------------------------------------------------------------------
@@ -863,7 +863,7 @@ class Road : public RoadInterface
//! @param[in] d cubic factor of the polynomial
//! @return false if an error has occurred, true otherwise
//-----------------------------------------------------------------------------
- bool AddElevation(double s, double a, double b, double c, double d) override;
+ bool AddElevation(units::length::meter_t s, units::length::meter_t a, double b, units::unit_t<units::inverse<units::length::meter>> c, units::unit_t<units::inverse<units::squared<units::length::meter>>> d) override;
//-----------------------------------------------------------------------------
//! Adds a lane offset defined via a cubic polynomial to a road by creating a new
@@ -876,7 +876,7 @@ class Road : public RoadInterface
//! @param[in] d cubic factor of the polynomial
//! @return false if an error has occurred, true otherwise
//-----------------------------------------------------------------------------
- bool AddLaneOffset(double s, double a, double b, double c, double d) override;
+ bool AddLaneOffset(units::length::meter_t s, units::length::meter_t a, double b, units::unit_t<units::inverse<units::length::meter>> c, units::unit_t<units::inverse<units::squared<units::length::meter>>> d) override;
//-----------------------------------------------------------------------------
//! Adds a new link to a road by creating a new RoadLink object and adding it
@@ -902,7 +902,7 @@ class Road : public RoadInterface
//! @param[in] start start position s-coordinate
//! @return created road lane section
//-----------------------------------------------------------------------------
- RoadLaneSection *AddRoadLaneSection(double start) override;
+ RoadLaneSection *AddRoadLaneSection(units::length::meter_t start) override;
//-----------------------------------------------------------------------------
//! Adds a new signal a road by creating a new RoadSignal object
@@ -916,7 +916,7 @@ class Road : public RoadInterface
void AddRoadObject(const RoadObjectSpecification &object) override;
- RoadTypeInformation GetRoadType(double start) const override;
+ RoadTypeInformation GetRoadType(units::length::meter_t start) const override;
//-----------------------------------------------------------------------------
//! Returns the ID of the road.
diff --git a/sim/src/core/opSimulation/importer/road/roadObject.cpp b/sim/src/core/opSimulation/importer/road/roadObject.cpp
index e4c51db05c8d2cb265b6411f1b9825c34c0997e8..ac3913c88fb1b16b2e59d4c7503dcf2658eee011 100644
--- a/sim/src/core/opSimulation/importer/road/roadObject.cpp
+++ b/sim/src/core/opSimulation/importer/road/roadObject.cpp
@@ -15,12 +15,12 @@ RoadObjectType RoadObject::GetType() const
return object.type;
}
-double RoadObject::GetLength() const
+units::length::meter_t RoadObject::GetLength() const
{
return object.length;
}
-double RoadObject::GetWidth() const
+units::length::meter_t RoadObject::GetWidth() const
{
return object.width;
}
@@ -30,22 +30,22 @@ bool RoadObject::IsContinuous() const
return object.continuous;
}
-double RoadObject::GetHdg() const
+units::angle::radian_t RoadObject::GetHdg() const
{
return object.hdg;
}
-double RoadObject::GetHeight() const
+units::length::meter_t RoadObject::GetHeight() const
{
return object.height;
}
-double RoadObject::GetPitch() const
+units::angle::radian_t RoadObject::GetPitch() const
{
return object.pitch;
}
-double RoadObject::GetRoll() const
+units::angle::radian_t RoadObject::GetRoll() const
{
return object.roll;
}
@@ -55,17 +55,17 @@ std::string RoadObject::GetId() const
return object.id;
}
-double RoadObject::GetS() const
+units::length::meter_t RoadObject::GetS() const
{
return object.s;
}
-double RoadObject::GetT() const
+units::length::meter_t RoadObject::GetT() const
{
return object.t;
}
-double RoadObject::GetZOffset() const
+units::length::meter_t RoadObject::GetZOffset() const
{
return object.zOffset;
}
diff --git a/sim/src/core/opSimulation/importer/road/roadObject.h b/sim/src/core/opSimulation/importer/road/roadObject.h
index d04151a207e53a9dd84abbd124f48f07f05bb428..28f5862794ea0efa1f31eaa3650e8109814c0be1 100644
--- a/sim/src/core/opSimulation/importer/road/roadObject.h
+++ b/sim/src/core/opSimulation/importer/road/roadObject.h
@@ -32,29 +32,29 @@ public:
//! @brief Returns the s coordinate of the road object
//! @return s coordinate [m]
//-----------------------------------------------------------------------------
- double GetS() const;
+ units::length::meter_t GetS() const;
//-----------------------------------------------------------------------------
//! @brief Returns the t coordinate of the road object
//! @return t coordinate [m]
//-----------------------------------------------------------------------------
- double GetT() const;
+ units::length::meter_t GetT() const;
//-----------------------------------------------------------------------------
//! @brief Returns the zOffset of the road object
//! @return zOffset [m]
//-----------------------------------------------------------------------------
- double GetZOffset() const;
+ units::length::meter_t GetZOffset() const;
//-----------------------------------------------------------------------------
//! @brief Returns the heading of the road object (relative to road direction)
//! @return heading [rad]
//-----------------------------------------------------------------------------
- double GetHdg() const;
+ units::angle::radian_t GetHdg() const;
- virtual double GetHeight() const;
- virtual double GetPitch() const;
- virtual double GetRoll() const;
+ virtual units::length::meter_t GetHeight() const;
+ virtual units::angle::radian_t GetPitch() const;
+ virtual units::angle::radian_t GetRoll() const;
//-----------------------------------------------------------------------------
//! @brief Check, if road object is valid for provided lane id
@@ -75,13 +75,13 @@ public:
//! @brief Returns the length of the road object
//! @return length [m]
//-----------------------------------------------------------------------------
- double GetLength() const;
+ units::length::meter_t GetLength() const;
//-----------------------------------------------------------------------------
//! @brief Returns the width of the road object
//! @return width [m]
//-----------------------------------------------------------------------------
- double GetWidth() const;
+ units::length::meter_t GetWidth() const;
bool IsContinuous() const override;
diff --git a/sim/src/core/opSimulation/importer/road/roadSignal.cpp b/sim/src/core/opSimulation/importer/road/roadSignal.cpp
index 16249039b8a05e3f34e7f94a6abc088c1dffdd8a..0b5632e187bd5af9e20d11518e343dc03ce2b442 100644
--- a/sim/src/core/opSimulation/importer/road/roadSignal.cpp
+++ b/sim/src/core/opSimulation/importer/road/roadSignal.cpp
@@ -45,12 +45,12 @@ std::string RoadSignal::GetText() const
return signal.text;
}
-double RoadSignal::GetS() const
+units::length::meter_t RoadSignal::GetS() const
{
return signal.s;
}
-double RoadSignal::GetT() const
+units::length::meter_t RoadSignal::GetT() const
{
return signal.t;
}
@@ -61,22 +61,22 @@ bool RoadSignal::IsValidForLane(int laneId) const
( std::find( signal.validity.lanes.begin(), signal.validity.lanes.end(), laneId) != signal.validity.lanes.end() );
}
-double RoadSignal::GetHeight() const
+units::length::meter_t RoadSignal::GetHeight() const
{
return signal.height;
}
-double RoadSignal::GetWidth() const
+units::length::meter_t RoadSignal::GetWidth() const
{
return signal.width;
}
-double RoadSignal::GetPitch() const
+units::angle::radian_t RoadSignal::GetPitch() const
{
return signal.pitch;
}
-double RoadSignal::GetRoll() const
+units::angle::radian_t RoadSignal::GetRoll() const
{
return signal.roll;
}
@@ -91,7 +91,7 @@ std::vector<std::string> RoadSignal::GetDependencies() const
return signal.dependencyIds;
}
-double RoadSignal::GetZOffset() const
+units::length::meter_t RoadSignal::GetZOffset() const
{
return signal.zOffset;
}
@@ -101,7 +101,7 @@ bool RoadSignal::GetOrientation() const
return signal.orientation == "+";
}
-double RoadSignal::GetHOffset() const
+units::angle::radian_t RoadSignal::GetHOffset() const
{
return signal.hOffset;
}
diff --git a/sim/src/core/opSimulation/importer/road/roadSignal.h b/sim/src/core/opSimulation/importer/road/roadSignal.h
index 103e2a473b650dea5f0c40a35777b364f470ebf0..492b5cde41b57471493f34dee61e514ec1eac90a 100644
--- a/sim/src/core/opSimulation/importer/road/roadSignal.h
+++ b/sim/src/core/opSimulation/importer/road/roadSignal.h
@@ -30,8 +30,8 @@ public:
double GetValue() const override;
RoadSignalUnit GetUnit() const override;
std::string GetText() const override;
- double GetS() const override;
- double GetT() const override;
+ units::length::meter_t GetS() const override;
+ units::length::meter_t GetT() const override;
//-----------------------------------------------------------------------------
//! Returns the road from which this section is a part of.
@@ -44,19 +44,19 @@ public:
}
bool IsValidForLane(int laneId) const override;
- virtual double GetHeight() const override;
- virtual double GetWidth() const override;
- virtual double GetPitch() const;
- virtual double GetRoll() const;
+ virtual units::length::meter_t GetHeight() const override;
+ virtual units::length::meter_t GetWidth() const override;
+ virtual units::angle::radian_t GetPitch() const;
+ virtual units::angle::radian_t GetRoll() const;
virtual bool GetIsDynamic() const override;
virtual std::vector<std::string> GetDependencies() const override;
- virtual double GetZOffset() const override;
+ virtual units::length::meter_t GetZOffset() const override;
virtual bool GetOrientation() const override;
- virtual double GetHOffset() const override;
+ virtual units::angle::radian_t GetHOffset() const override;
private:
RoadInterface* road;
diff --git a/sim/src/core/opSimulation/importer/scenario.cpp b/sim/src/core/opSimulation/importer/scenario.cpp
deleted file mode 100644
index 147a15e5f3eb56e779b841fbc2d7725b5ced19cd..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/importer/scenario.cpp
+++ /dev/null
@@ -1,151 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2017-2021 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-#include "scenario.h"
-#include <algorithm>
-#include <qglobal.h>
-
-namespace Configuration {
-
-const std::string& Scenario::GetVehicleCatalogPath() const
-{
- return vehicleCatalogPath;
-}
-
-void Scenario::SetVehicleCatalogPath(const std::string& catalogPath)
-{
- this->vehicleCatalogPath = catalogPath;
-}
-
-const std::string& Scenario::GetPedestrianCatalogPath() const
-{
- return pedestrianCatalogPath;
-}
-
-void Scenario::SetPedestrianCatalogPath(const std::string& catalogPath)
-{
- this->pedestrianCatalogPath = catalogPath;
-}
-
-const std::string& Scenario::GetTrajectoryCatalogPath() const
-{
- return trajectoryCatalogPath;
-}
-
-void Scenario::SetTrajectoryCatalogPath(const std::string& catalogPath)
-{
- trajectoryCatalogPath = catalogPath;
-}
-
-const std::string& Scenario::GetSceneryPath() const
-{
- return sceneryPath;
-}
-
-void Scenario::SetSceneryPath(const std::string& sceneryPath)
-{
- this->sceneryPath = sceneryPath;
-}
-
-const SceneryDynamicsInterface &Scenario::GetSceneryDynamics() const
-{
- return sceneryDynamics;
-}
-
-void Scenario::AddTrafficSignalController(const openScenario::TrafficSignalController &controller)
-{
- sceneryDynamics.AddTrafficSignalController(controller);
-}
-
-void Scenario::AddScenarioEntity(const ScenarioEntity& entity)
-{
- entities.push_back(entity);
-}
-
-void Scenario::AddScenarioGroupsByEntityNames(const std::map<std::string, std::vector<std::string>> &groupDefinitions)
-{
- std::vector<ScenarioEntity*> groupEntities;
- for (auto groupDefinition : groupDefinitions)
- {
- for (const auto &memberName : groupDefinition.second)
- {
- const auto groupEntityIterator = std::find_if(entities.begin(),
- entities.end(),
- [&memberName](const auto entity)
- {
- return entity.name == memberName;
- });
- groupEntities.push_back(&(*groupEntityIterator));
- }
-
- scenarioGroups.insert({groupDefinition.first, groupEntities});
- }
-}
-
-const std::vector<ScenarioEntity> &Scenario::GetEntities() const
-{
- return entities;
-}
-
-const std::vector<ScenarioEntity*> &Scenario::GetScenarioEntities() const
-{
- try
- {
- return scenarioGroups.at("ScenarioAgents");
- }
- catch (const std::out_of_range& err)
- {
- Q_UNUSED(err);
- throw std::runtime_error("ScenarioAgents group not found.");
- }
-}
-
-const std::map<std::string, std::vector<ScenarioEntity*>> &Scenario::GetScenarioGroups() const
-{
- return scenarioGroups;
-}
-
-void Scenario::AddConditionalEventDetector(const openScenario::ConditionalEventDetectorInformation &eventDetectorInformation)
-{
- eventDetectorInformations.emplace_back(eventDetectorInformation);
-}
-
-void Scenario::AddAction(const openScenario::Action action, const std::string eventName)
-{
- actions.emplace_back(action, eventName);
-}
-
-const std::vector<openScenario::ConditionalEventDetectorInformation>& Scenario::GetEventDetectorInformations() const
-{
- return eventDetectorInformations;
-}
-
-std::vector<openScenario::ManipulatorInformation> Scenario::GetActions() const
-{
- return actions;
-}
-
-int Scenario::GetEndTime() const
-{
- // we add plus one here to align with the "greater_than" rule
- // Time is parsed in seconds, but we use ms internally (* 1000)
- return static_cast<int>((std::rint(endTimeInSeconds * 1000))) + 1;
-}
-
-void Scenario::SetEndTime(const double endTime)
-{
- this->endTimeInSeconds = endTime;
-}
-
-void Scenario::SetEnvironment(const openScenario::EnvironmentAction& environment)
-{
- sceneryDynamics.SetEnvironment(environment);
-}
-
-} // namespace core
diff --git a/sim/src/core/opSimulation/importer/scenario.h b/sim/src/core/opSimulation/importer/scenario.h
deleted file mode 100644
index ffdfba00721f9b221b4a0e1ae2524749db0efc39..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/importer/scenario.h
+++ /dev/null
@@ -1,137 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2017-2021 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-//-----------------------------------------------------------------------------
-//! @file Scenario.h
-//! @brief This file contains all information for the choosen scenario
-//-----------------------------------------------------------------------------
-
-#pragma once
-
-#include <string>
-#include "common/globalDefinitions.h"
-#include "common/eventDetectorDefinitions.h"
-#include "common/opExport.h"
-#include "include/scenarioInterface.h"
-#include "sceneryDynamics.h"
-
-namespace Configuration {
-
-class SIMULATIONCOREEXPORT Scenario : public ScenarioInterface
-{
-public:
- Scenario() = default;
- Scenario(const Scenario&) = delete;
- Scenario(Scenario&&) = delete;
- Scenario& operator=(const Scenario&) = delete;
- Scenario& operator=(Scenario&&) = delete;
- virtual ~Scenario() override = default;
-
- /*!
- * \brief Getter for vehicle catalog path
- *
- * \return The relative file path to the OpenSCENARIO vehicle catalog in use
- */
- const std::string& GetVehicleCatalogPath() const override;
-
- /*!
- * \brief Setter for vehicle catalog path
- *
- * \param[in] catalogPath Relative file path to the OpenSCENARIO vehicle catalog to use
- */
- void SetVehicleCatalogPath(const std::string& catalogPath) override;
-
- /*!
- * \brief Getter for pedestrian catalog path
- *
- * \return The relative file path to the OpenSCENARIO pedestrian catalog in use
- */
- const std::string& GetPedestrianCatalogPath() const override;
-
- /*!
- * \brief Setter for pedestrian catalog path
- *
- * \param[in] catalogPath Relative file path to the OpenSCENARIO pedestrian catalog to use
- */
- void SetPedestrianCatalogPath(const std::string& catalogPath) override;
-
- //-----------------------------------------------------------------------------
- //! \brief Retreives the path to the trajectory catalog file
- //!
- //! \return Relative path to the trajectory catalog
- //-----------------------------------------------------------------------------
- const std::string& GetTrajectoryCatalogPath() const override;
-
- //-----------------------------------------------------------------------------
- //! Sets the path to the trajectory catalog file
- //!
- //! \param[in] catalogPath Relative path to the trajectory catalog file
- //-----------------------------------------------------------------------------
- void SetTrajectoryCatalogPath(const std::string& catalogPath) override;
-
- /*!
- * \brief Getter for scenery path
- *
- * \return The relative file path to the OpenDRIVE scenery in use
- */
- const std::string& GetSceneryPath() const override;
-
- /*!
- * \brief Setter for scenery path
- *
- * \param[in] sceneryPath Relative file path to the OpenDRIVE scenery to use
- */
- void SetSceneryPath(const std::string& sceneryPath) override;
-
- const SceneryDynamicsInterface& GetSceneryDynamics() const override;
-
- void AddTrafficSignalController (const openScenario::TrafficSignalController& controller) override;
-
- void AddScenarioEntity(const ScenarioEntity& entity) override;
- void AddScenarioGroupsByEntityNames(const std::map<std::string, std::vector<std::string>> &groupDefinitions) override;
-
- const std::vector<ScenarioEntity> &GetEntities() const override;
- const std::vector<ScenarioEntity*> &GetScenarioEntities() const override;
- const std::map<std::string, std::vector<ScenarioEntity*>> &GetScenarioGroups() const override;
-
- void AddConditionalEventDetector(const openScenario::ConditionalEventDetectorInformation &eventDetectorInformation) override;
- void AddAction(const openScenario::Action action, const std::string eventName) override;
-
- std::string GetEventDetectorLibraryName();
- const std::vector<openScenario::ConditionalEventDetectorInformation>& GetEventDetectorInformations() const override;
-
- std::string GetManipulatorLibraryName();
- std::vector<openScenario::ManipulatorInformation> GetActions() const override;
-
- int GetEndTime() const override;
- void SetEndTime(const double endTime) override;
-
- void SetEnvironment(const openScenario::EnvironmentAction &environment) override;
-
-private:
- ScenarioEntity egoEntity;
- std::vector<ScenarioEntity> entities;
- std::map<std::string, std::vector<ScenarioEntity*>> scenarioGroups;
-
- std::vector<openScenario::ConditionalEventDetectorInformation> eventDetectorInformations;
- std::vector<openScenario::ManipulatorInformation> actions;
- SceneryDynamics sceneryDynamics;
-
- std::string vehicleCatalogPath; //!< The path of the vehicle catalog (relative to Scenario.xosc)
- std::string pedestrianCatalogPath; //!< The path of the pedestrian catalog (relative to Scenario.xosc)
- std::string trajectoryCatalogPath; //!< The path of the trajectory catalog (relative to Scenario.xosc)
- std::string sceneryPath; //!< The path of the scenery file (relative to Scenario.xosc)
-
- double endTimeInSeconds; //!< The simulationTime at which the simulation should end
-};
-
-
-} // namespace core
-
-
diff --git a/sim/src/core/opSimulation/importer/scenarioImporter.cpp b/sim/src/core/opSimulation/importer/scenarioImporter.cpp
deleted file mode 100644
index c14889268665ef0fbe9aa27eb4cef8bf122e25c2..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/importer/scenarioImporter.cpp
+++ /dev/null
@@ -1,704 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2017-2018 ITK Engineering GmbH
- * 2017-2021 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#include <memory>
-#include <iostream>
-#include <queue>
-#include <QDomDocument>
-#include <QDir>
-#include <QFile>
-#include <QFileInfo>
-
-#include "eventDetectorImporter.h"
-#include "scenario.h"
-#include "scenarioImporter.h"
-#include "importer/importerCommon.h"
-#include "directories.h"
-#include "common/openPassUtils.h"
-#include "scenarioImporterHelper.h"
-
-namespace TAG = openpass::importer::xml::scenarioImporter::tag;
-namespace ATTRIBUTE = openpass::importer::xml::scenarioImporter::attribute;
-namespace RULE = openpass::importer::xml::openScenario::rule;
-namespace DYNAMICSSHAPE = openpass::importer::xml::openScenario::dynamicsShape;
-namespace DYNAMICSDIMENSION = openpass::importer::xml::openScenario::dynamicsDimension;
-
-using Directories = openpass::core::Directories;
-
-using namespace openScenario;
-
-namespace Importer {
-
-bool ScenarioImporter::Import(const std::string& filename, ScenarioInterface* scenario)
-{
- try
- {
- std::locale::global(std::locale("C"));
-
- QFile xmlFile(filename.c_str()); // automatic object will be closed on destruction
- ThrowIfFalse(xmlFile.open(QIODevice::ReadOnly), "Could not open scenario (" + filename + ")");
-
- QByteArray xmlData(xmlFile.readAll());
- QDomDocument document;
- QString errorMsg{};
- int errorLine{};
- ThrowIfFalse(document.setContent(xmlData, &errorMsg, &errorLine), "Invalid xml format (" + filename + ") in line " + std::to_string(errorLine) + ": " + errorMsg.toStdString());
-
- QDomElement documentRoot = document.documentElement();
- ThrowIfFalse(!documentRoot.isNull(), "Scenario xml has no document root");
-
- openScenario::Parameters parameters;
-
- QDomElement parameterDeclarationElement;
-
- if (SimulationCommon::GetFirstChildElement(documentRoot, TAG::parameterDeclarations, parameterDeclarationElement))
- {
- ImportParameterDeclarationElement(parameterDeclarationElement, parameters);
- }
-
- ImportAndValidateVersion(parameters);
-
- ImportRoadNetwork(documentRoot, scenario, parameters);
-
- auto path = Directories::StripFile(filename);
- ImportCatalogs(documentRoot, scenario, path, parameters);
-
- std::vector<ScenarioEntity> entities;
- std::map<std::string, std::vector<std::string>> groups;
- ImportEntities(documentRoot, entities, groups, parameters);
-
- ImportStoryboard(documentRoot, entities, scenario, parameters);
- CategorizeEntities(entities, groups, scenario);
-
- return true;
- }
- catch(std::runtime_error& e)
- {
- LOG_INTERN(LogLevel::Error) << "Scenario import failed: " + std::string(e.what());
- return false;
- }
-}
-
-void ScenarioImporter::ImportAndValidateVersion(openScenario::Parameters& parameters)
-{
- const std::string VERSION_ATTRIBUTE{"OP_OSC_SchemaVersion"};
- ThrowIfFalse(parameters.count(VERSION_ATTRIBUTE), "Cannot determine scenario version");
- const auto version = std::get<std::string>(parameters.at(VERSION_ATTRIBUTE));
- ThrowIfFalse(version == supportedScenarioVersion,
- "Scenario version not supported (" + version + "). Supported version is " + supportedScenarioVersion);
-}
-
-void ScenarioImporter::ImportCatalogs(QDomElement& documentRoot, ScenarioInterface* scenario, const std::string& path, openScenario::Parameters& parameters)
-{
- QDomElement catalogsElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(documentRoot, TAG::catalogLocations, catalogsElement),
- documentRoot, "Tag " + std::string(TAG::catalogLocations) + " is missing.");
-
- const auto vehicleCatalogPath = ImportCatalog(TAG::vehicleCatalog, catalogsElement, parameters);
- scenario->SetVehicleCatalogPath(vehicleCatalogPath);
-
- const auto pedestrianCatalogPath = ImportCatalog(TAG::pedestrianCatalog, catalogsElement, parameters);
- scenario->SetPedestrianCatalogPath(pedestrianCatalogPath);
-
- auto trajectoryCatalogPath = ImportCatalog(TAG::trajectoryCatalog, catalogsElement, parameters);
-
- if (Directories::IsRelative(trajectoryCatalogPath))
- {
- trajectoryCatalogPath = Directories::Concat(path, trajectoryCatalogPath);
- }
-
- scenario->SetTrajectoryCatalogPath(trajectoryCatalogPath);
-}
-
-void ScenarioImporter::ImportRoadNetwork(QDomElement& documentRoot, ScenarioInterface *scenario, openScenario::Parameters& parameters)
-{
- QDomElement roadNetworkElement;
- QDomElement logicsElement;
- QDomElement trafficSignalsElement;
- QDomElement trafficSignalControllerElement;
-
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(documentRoot, TAG::roadNetwork, roadNetworkElement),
- documentRoot, "Tag " + std::string(TAG::roadNetwork) + " is missing.");
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(roadNetworkElement, TAG::logicFile, logicsElement),
- roadNetworkElement, "Tag " + std::string(TAG::logicFile) + " is missing.");
- scenario->SetSceneryPath(ParseAttribute<std::string>(logicsElement, ATTRIBUTE::filepath, parameters));
-
- if(SimulationCommon::GetFirstChildElement(roadNetworkElement, TAG::trafficSignals, trafficSignalsElement));
- {
- SimulationCommon::GetFirstChildElement(trafficSignalsElement, TAG::trafficSignalController, trafficSignalControllerElement);
- while (!trafficSignalControllerElement.isNull())
- {
- openScenario::TrafficSignalController controller;
- ImportTrafficSignalsElement(trafficSignalControllerElement, controller, parameters);
- scenario->AddTrafficSignalController(controller);
-
- trafficSignalControllerElement = trafficSignalControllerElement.nextSiblingElement(TAG::trafficSignalController);
- }
- }
-}
-
-void ScenarioImporter::ImportTrafficSignalsElement(QDomElement &trafficSignalControllerElement, openScenario::TrafficSignalController &controller, Parameters ¶meters)
-{
- controller.name = ParseAttribute<std::string>(trafficSignalControllerElement, ATTRIBUTE::name, parameters);
- controller.delay = ParseOptionalAttribute<double>(trafficSignalControllerElement, ATTRIBUTE::delay, parameters).value_or(0.0);
-
- QDomElement phaseElement;
-
- SimulationCommon::GetFirstChildElement(trafficSignalControllerElement, TAG::phase, phaseElement);
- while (!phaseElement.isNull())
- {
- TrafficSignalControllerPhase phase;
- phase.name = ParseAttribute<std::string>(phaseElement, ATTRIBUTE::name, parameters);
- phase.duration = ParseAttribute<double>(phaseElement, ATTRIBUTE::duration, parameters);
-
- QDomElement trafficSignalStateElement;
- SimulationCommon::GetFirstChildElement(phaseElement, TAG::trafficSignalState, trafficSignalStateElement);
-
- while (!trafficSignalStateElement.isNull())
- {
- auto trafficSignalId = ParseAttribute<std::string>(trafficSignalStateElement, ATTRIBUTE::trafficSignalId, parameters);
- auto state = ParseAttribute<std::string>(trafficSignalStateElement, ATTRIBUTE::state, parameters);
-
- phase.states[trafficSignalId] = state;
-
- trafficSignalStateElement = trafficSignalStateElement.nextSiblingElement(TAG::trafficSignalState);
- }
-
- controller.phases.push_back(phase);
-
- phaseElement = phaseElement.nextSiblingElement(TAG::phase);
- }
-}
-
-void ScenarioImporter::ImportStoryboard(QDomElement& documentRoot, std::vector<ScenarioEntity>& entities,
- ScenarioInterface* scenario, openScenario::Parameters& parameters)
-{
- QDomElement storyboardElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(documentRoot, TAG::storyboard, storyboardElement),
- documentRoot, "Tag " + std::string(TAG::storyboard) + " is missing.");
-
- //Import Init
- QDomElement initElement;
- // for initial entity parameters we just use first child "Init" --> others will be ignore
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(storyboardElement, TAG::init, initElement),
- storyboardElement, "Tag " + std::string(TAG::init) + " is missing.");
- ImportInitElement(initElement, entities, scenario, parameters);
-
- // Import Story
- QDomElement storyElement;
-
- SimulationCommon::GetFirstChildElement(storyboardElement, TAG::story, storyElement);
-
- while (!storyElement.isNull())
- {
- ImportStoryElement(storyElement, entities, scenario, parameters);
- storyElement = storyElement.nextSiblingElement(TAG::story);
- }
-
- // Import EndCondition
- ImportEndConditionsFromStoryboard(storyboardElement, scenario, parameters);
-}
-
-void ScenarioImporter::ImportStoryElement(QDomElement &storyElement,
- const std::vector<ScenarioEntity> &entities,
- ScenarioInterface* scenario,
- openScenario::Parameters& parameters)
-{
- QDomElement actElement;
- if(!SimulationCommon::GetFirstChildElement(storyElement, TAG::act, actElement))
- {
- return;
- }
-
- // Story name is mandatory unless story is empty tag
- std::string storyName{};
- ThrowIfFalse(SimulationCommon::ParseAttribute(storyElement, ATTRIBUTE::name, storyName),
- storyElement, "Attribute " + std::string(ATTRIBUTE::name) + " is missing.");
-
- while (!actElement.isNull())
- {
- // Act name is mandatory
- std::string actName;
- ThrowIfFalse(SimulationCommon::ParseAttribute(actElement, ATTRIBUTE::name, actName),
- actElement, "Attribute " + std::string(ATTRIBUTE::name) + " is missing.");
-
- QDomElement maneuverGroupElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(actElement, TAG::maneuverGroup, maneuverGroupElement),
- actElement, std::string(TAG::act) + " requries " + TAG::maneuverGroup);
-
- while (!maneuverGroupElement.isNull())
- {
- std::string maneuverGroupName;
- ThrowIfFalse(SimulationCommon::ParseAttribute(maneuverGroupElement, ATTRIBUTE::name, maneuverGroupName),
- maneuverGroupElement, "Attribute " + std::string(ATTRIBUTE::name) + " is missing.");
- int numberOfExecutions;
- numberOfExecutions = ParseAttribute<int>(maneuverGroupElement, ATTRIBUTE::maximumExecutionCount, parameters);
-
- QDomElement actorsElement;
- openScenario::ActorInformation actorInformation;
- if (SimulationCommon::GetFirstChildElement(maneuverGroupElement, TAG::actors, actorsElement)) // just one actors per sequence
- {
- actorInformation = ImportActors(actorsElement, entities, parameters);
- }
-
- QDomElement maneuverElement;
- if (SimulationCommon::GetFirstChildElement(maneuverGroupElement, TAG::maneuver, maneuverElement)) // just one maneuver per sequence
- {
- ImportManeuverElement(maneuverElement, entities, scenario, actorInformation,
- {storyName, actName, maneuverGroupName},
- numberOfExecutions, parameters);
- }
-
- maneuverGroupElement = maneuverGroupElement.nextSiblingElement(TAG::maneuverGroup);
- }
-
- actElement = actElement.nextSiblingElement(TAG::act);
- }
-}
-
-openScenario::ActorInformation ScenarioImporter::ImportActors(QDomElement &actorsElement,
- const std::vector<ScenarioEntity>& entities,
- openScenario::Parameters& parameters)
-{
- openScenario::ActorInformation actorInformation;
-
- QDomElement entityElement;
- SimulationCommon::GetFirstChildElement(actorsElement, TAG::entityRef, entityElement);
-
- while (!entityElement.isNull())
- {
- std::string entityRef = ParseAttribute<std::string>(entityElement, ATTRIBUTE::entityRef, parameters);
- ThrowIfFalse(ContainsEntity(entities, entityRef),
- entityElement, "Element references entity '" + entityRef + "' which isn't declared in 'Entities'");
-
- if (actorInformation.actors.has_value())
- {
- actorInformation.actors.value().push_back(entityRef);
- }
- else
- {
- actorInformation.actors.emplace({entityRef});
- }
-
- entityElement = entityElement.nextSiblingElement(TAG::entityRef);
- }
-
- ThrowIfFalse(SimulationCommon::ParseAttributeBool(actorsElement, ATTRIBUTE::selectTriggeringEntities, actorInformation.actorIsTriggeringEntity),
- actorsElement, "Attribute " + std::string(ATTRIBUTE::selectTriggeringEntities) + " is missing.");
- return actorInformation;
-}
-
-
-Action ScenarioImporter::ImportAction(QDomElement eventElement, openScenario::Parameters& parameters, const std::string catalogPath)
-{
- Action action;
-
- QDomElement actionElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(eventElement, TAG::action, actionElement),
- eventElement, "Tag " + std::string(TAG::action) + " is missing.");
-
- QDomElement actionTypeElement;
- if (SimulationCommon::GetFirstChildElement(actionElement, TAG::userDefinedAction, actionTypeElement))
- {
- action = ScenarioImporterHelper::ImportUserDefinedAction(actionTypeElement);
- }
-
- else if (SimulationCommon::GetFirstChildElement(actionElement, TAG::privateAction, actionTypeElement))
- {
- action = ScenarioImporterHelper::ImportPrivateAction(actionTypeElement,
- parameters,
- catalogPath);
- }
-
- else if (SimulationCommon::GetFirstChildElement(actionElement, TAG::globalAction, actionTypeElement))
- {
- action = ScenarioImporterHelper::ImportGlobalAction(actionTypeElement,
- parameters);
- }
- else
- {
- LogErrorAndThrow("Invalid Action Type in OpenSCENARIO file");
- }
-
- return action;
-}
-
-void ScenarioImporter::ImportManeuverElement(QDomElement &maneuverElement,
- const std::vector<ScenarioEntity> &entities,
- ScenarioInterface *scenario,
- const openScenario::ActorInformation &actorInformation,
- const std::vector<std::string> &nameStack,
- const int numberOfExecutions,
- openScenario::Parameters& parameters)
-{
- std::string maneuverName;
- ThrowIfFalse(SimulationCommon::ParseAttribute(maneuverElement, ATTRIBUTE::name, maneuverName),
- maneuverElement, "Attribute " + std::string(ATTRIBUTE::name) + " is missing.");
-
- // handle event element
- QDomElement eventElement;
- SimulationCommon::GetFirstChildElement(maneuverElement, TAG::event, eventElement);
-
- while (!eventElement.isNull())
- {
- std::string eventName = ParseAttribute<std::string>(eventElement, ATTRIBUTE::name, parameters);
-
- std::vector<std::string> eventNameStack{nameStack};
- eventNameStack.emplace_back(maneuverName);
- eventNameStack.emplace_back(eventName);
-
- const auto stackedEventName = openpass::utils::vector::to_string(eventNameStack, "/");
-
- auto metaInfo = EventDetectorImporter::ImportEventDetector(eventElement, stackedEventName, numberOfExecutions, actorInformation, entities, parameters);
- scenario->AddConditionalEventDetector(metaInfo);
-
- const auto action = ImportAction(eventElement,
- parameters,
- scenario->GetTrajectoryCatalogPath());
-
- // Adjust action to hold eventname + action
- scenario->AddAction(action, stackedEventName);
-
- eventElement = eventElement.nextSiblingElement(TAG::event);
- }
-}
-
-void ScenarioImporter::ImportInitElement(QDomElement& initElement, std::vector<ScenarioEntity>& entities, ScenarioInterface *scenario, openScenario::Parameters& parameters)
-{
- // for initial entity parameters we just use first child "Actions" --> others will be ignore
- QDomElement actionsElement;
- SimulationCommon::GetFirstChildElement(initElement, TAG::actions, actionsElement);
-
- QDomElement privateElement;
- SimulationCommon::GetFirstChildElement(actionsElement, TAG::Private, privateElement);
-
- while (!privateElement.isNull())
- {
- std::string entityRef = ParseAttribute<std::string>(privateElement, ATTRIBUTE::entityRef, parameters);
-
- ScenarioEntity* scenarioEntity = GetEntityByName(entities, entityRef);
-
- ThrowIfFalse(scenarioEntity, privateElement,
- (std::string("Action object '") + entityRef + "' not declared in 'Entities'"));
-
- QDomElement privateActionElement;
- SimulationCommon::GetFirstChildElement(privateElement, TAG::privateAction, privateActionElement);
- while (!privateActionElement.isNull())
- {
- const auto &action = ScenarioImporterHelper::ImportPrivateAction(privateActionElement, parameters);
- if (std::holds_alternative<LongitudinalAction>(action))
- {
- const auto &longitudinalAction = std::get<LongitudinalAction>(action);
- if (std::holds_alternative<SpeedAction>(longitudinalAction))
- {
- const auto &speedAction = std::get<SpeedAction>(longitudinalAction);
- scenarioEntity->spawnInfo.acceleration = speedAction.transitionDynamics.value;
-
- if (std::holds_alternative<AbsoluteTargetSpeed>(speedAction.target))
- {
- scenarioEntity->spawnInfo.velocity = std::get<AbsoluteTargetSpeed>(speedAction.target).value;
- }
- else
- {
- LogErrorAndThrow("Simulator only supports AbsoluteTargetSpeed for Init SpeedAction.");
- }
-
- scenarioEntity->spawnInfo.stochasticVelocity = speedAction.stochasticValue;
- scenarioEntity->spawnInfo.stochasticAcceleration = speedAction.stochasticDynamics;
- }
- else
- {
- LogErrorAndThrow("Simulator only supports SpeedAction for Init LongitudinalAction.");
- }
- }
- else if (std::holds_alternative<TeleportAction>(action))
- {
- scenarioEntity->spawnInfo.position = std::get<TeleportAction>(action);
- }
- else if (std::holds_alternative<RoutingAction>(action))
- {
- const auto &routingAction = std::get<RoutingAction>(action);
- if (std::holds_alternative<AssignRouteAction>(routingAction))
- {
- std::vector<RouteElement> route;
-
- for (const auto& roadPosition : std::get<AssignRouteAction>(routingAction))
- {
- bool inRoadDirection = roadPosition.t <= 0;
- route.push_back({roadPosition.roadId, inRoadDirection});
- }
-
- scenarioEntity->spawnInfo.route = route;
- }
- else
- {
- LogErrorAndThrow("Simulator only supports AssignRouteAction for Init RoutingAction.");
- }
- }
- else if (std::holds_alternative<VisibilityAction>(action))
- {
- const auto &visibilityAction = std::get<VisibilityAction>(action);
- scenarioEntity->spawnInfo.spawning = visibilityAction.traffic;
- }
- else
- {
- LOG_INTERN(LogLevel::Error) << "Unsupported PrivateAction in openScenario Init.";
- }
-
- privateActionElement = privateActionElement.nextSiblingElement(TAG::privateAction);
- }
-
- privateElement = privateElement.nextSiblingElement(TAG::Private);
- }
-
- QDomElement globalActionElement;
- SimulationCommon::GetFirstChildElement(actionsElement, TAG::globalAction, globalActionElement);
- while (!globalActionElement.isNull())
- {
- const auto action = ScenarioImporterHelper::ImportGlobalAction(globalActionElement, parameters);
- if (std::holds_alternative<EnvironmentAction>(action))
- {
- scenario->SetEnvironment(std::get<EnvironmentAction>(action));
- }
-
- globalActionElement = globalActionElement.nextSiblingElement(TAG::globalAction);
- }
-}
-
-void ScenarioImporter::ImportEndConditionsFromStoryboard(const QDomElement& storyboardElement, ScenarioInterface* scenario, openScenario::Parameters& parameters)
-{
- bool endConditionProvided = false;
-
- QDomElement stopTriggerElement;
- if (SimulationCommon::GetFirstChildElement(storyboardElement, TAG::stopTrigger, stopTriggerElement))
- {
- QDomElement conditionGroupElement;
- if (SimulationCommon::GetFirstChildElement(stopTriggerElement, TAG::conditionGroup, conditionGroupElement))
- {
- QDomElement conditionElement;
- if (SimulationCommon::GetFirstChildElement(conditionGroupElement, TAG::condition, conditionElement))
- {
- // these attributes are required by OpenSCENARIO standard, but have no impact on behaviour
- std::string conditionName;
- double conditionDelay;
- std::string conditionEdge;
-
- ParseConditionAttributes(conditionElement, conditionName, conditionDelay, conditionEdge, parameters);
- ThrowIfFalse(conditionDelay == 0.0, conditionElement,
- "Stop Trigger specifies unsupported delay value. Condition delay attribute not equal to zero not currently supported.");
-
- ThrowIfFalse(conditionEdge == "rising", conditionElement,
- "Stop Trigger specifies unsupported edge value. Condition edge attribute not equal to 'rising' not currently supported.");
-
- QDomElement byValueElement;
- if (SimulationCommon::GetFirstChildElement(conditionElement, TAG::byValueCondition, byValueElement))
- {
- double endTime;
- std::string rule;
-
- ParseSimulationTime(byValueElement, endTime, rule, parameters);
- ThrowIfFalse(rule == RULE::greaterThan, byValueElement,
- "End Condition specifies unsupported rule. SimulationTime rule attribute value '" + rule + "' not supported; defaulting to 'greater_than'.");
-
- scenario->SetEndTime(endTime);
- endConditionProvided = true;
- }
- }
- }
- }
-
- ThrowIfFalse(endConditionProvided, "Scenario provides no StopTrigger for the simulation");
-}
-
-void ScenarioImporter::ParseConditionAttributes(const QDomElement& conditionElement, std::string& name, double& delay, std::string& edge, openScenario::Parameters& parameters)
-{
- name = ParseAttribute<std::string>(conditionElement, ATTRIBUTE::name, parameters);
- delay = ParseAttribute<double>(conditionElement, ATTRIBUTE::delay, parameters);
- ThrowIfFalse(delay >= 0.0,
- conditionElement, "Invalid delay value specified for condition");
- edge = ParseAttribute<std::string>(conditionElement, ATTRIBUTE::conditionEdge, parameters);
-}
-
-void ScenarioImporter::ParseSimulationTime(const QDomElement& byValueElement, double& value, std::string& rule, openScenario::Parameters& parameters)
-{
- QDomElement simulationTimeElement;
- if(SimulationCommon::GetFirstChildElement(byValueElement, "SimulationTimeCondition", simulationTimeElement))
- {
- value = ParseAttribute<double>(simulationTimeElement, ATTRIBUTE::value, parameters);
-
- rule = ParseAttribute<std::string>(simulationTimeElement, ATTRIBUTE::rule, parameters);
- {
- ThrowIfFalse((rule == RULE::greaterThan
- || rule == RULE::lessThan
- || rule == RULE::equalTo),
- simulationTimeElement, "Simulation rule attribute value '" + rule + "' not valid");
- }
- }
-}
-
-std::string ScenarioImporter::ImportCatalog(const std::string& catalogName,
- QDomElement& catalogsElement,
- openScenario::Parameters& parameters)
-{
- QDomElement catalogElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(catalogsElement, catalogName, catalogElement),
- catalogsElement, "Tag " + catalogName + " is missing.");
-
- QDomElement directoryElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(catalogElement, TAG::directory, directoryElement),
- catalogElement, "Tag " + std::string(TAG::directory) + " is missing.");
-
- std::string catalogPath = ParseAttribute<std::string>(directoryElement, ATTRIBUTE::path, parameters);
-
- return catalogPath;
-}
-
-void ScenarioImporter::ImportEntities(QDomElement& documentRoot, std::vector<ScenarioEntity>& entities, std::map<std::string, std::vector<std::string>> &groups, openScenario::Parameters& parameters)
-{
- QDomElement entitiesElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(documentRoot, TAG::entities, entitiesElement),
- documentRoot, "Tag " + std::string(TAG::entities) + " is missing.");
-
- QDomElement entityElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(entitiesElement, TAG::scenarioObject, entityElement),
- entitiesElement, "Tag " + std::string(TAG::scenarioObject) + " is missing.");
-
- while (!entityElement.isNull())
- {
- ScenarioEntity entity;
-
- ImportEntity(entityElement, entity, parameters);
-
- entities.push_back(entity);
- entityElement = entityElement.nextSiblingElement(TAG::scenarioObject);
- }
-
- // Parse selection elements (there can be as few as zero and as many as one wants)
- ImportSelectionElements(entitiesElement, groups, parameters);
-}
-
-void ScenarioImporter::ImportSelectionElements(QDomElement &entitiesElement, std::map<std::string, std::vector<std::string>> &groups, openScenario::Parameters& parameters)
-{
- QDomElement selectionElement;
- if(SimulationCommon::GetFirstChildElement(entitiesElement, TAG::entitySelection, selectionElement))
- {
- QDomElement membersElement;
- std::vector<std::string> members;
- while (!selectionElement.isNull())
- {
- std::string selectionName = ParseAttribute<std::string>(selectionElement, ATTRIBUTE::name, parameters);
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(selectionElement, TAG::members, membersElement),
- selectionElement, "Tag " + std::string(TAG::members) + " is missing.");
-
- ImportMembers(membersElement, members, parameters);
- groups.insert({selectionName, members});
-
- selectionElement = selectionElement.nextSiblingElement(TAG::entitySelection);
- }
- }
-
- if (groups.find("ScenarioAgents") == groups.cend())
- {
- LOG_INTERN(LogLevel::Info) << "ScenarioAgents selection is not defined. Adding empty one.";
- groups.insert({"ScenarioAgents", {}});
- }
-}
-
-void ScenarioImporter::ImportEntity(QDomElement& entityElement, ScenarioEntity& entity, openScenario::Parameters& parameters)
-{
- entity.name = ParseAttribute<std::string>(entityElement, ATTRIBUTE::name, parameters);
- ThrowIfFalse(entity.name.size() > 0,
- entityElement, "Length of entity object name has to be greater than 0");
-
- QDomElement catalogReferenceElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(entityElement, TAG::catalogReference, catalogReferenceElement),
- entityElement, "Tag " + std::string(TAG::catalogReference) + " is missing.");
- ImportEntityCatalogReference(catalogReferenceElement, entity, parameters);
-}
-
-void ScenarioImporter::ImportMembers(const QDomElement &membersElement, std::vector<std::string> &members, openScenario::Parameters& parameters)
-{
- QDomElement byEntityElement;
- if(SimulationCommon::GetFirstChildElement(membersElement, TAG::entityRef, byEntityElement))
- {
- while(!byEntityElement.isNull())
- {
- std::string memberName = ParseAttribute<std::string>(byEntityElement, ATTRIBUTE::entityRef, parameters);
- members.push_back(memberName);
-
- byEntityElement = byEntityElement.nextSiblingElement(TAG::entityRef);
- }
- }
-}
-
-void ScenarioImporter::ImportEntityCatalogReference(QDomElement& catalogReferenceElement, ScenarioEntity& entity, openScenario::Parameters& parameters)
-{
- entity.catalogReference.catalogName = ParseAttribute<std::string>(catalogReferenceElement, ATTRIBUTE::catalogName, parameters);
- ThrowIfFalse(entity.catalogReference.catalogName.size() > 0,
- catalogReferenceElement, "Length of 'catalogName' has to be greater than 0");
- entity.catalogReference.entryName = ParseAttribute<std::string>(catalogReferenceElement, ATTRIBUTE::entryName, parameters);
- ThrowIfFalse(entity.catalogReference.entryName.size() > 0,
- catalogReferenceElement, "Length of 'entryName' has to be greater than 0");
- QDomElement parameterAssignmentsElement;
- if(SimulationCommon::GetFirstChildElement(catalogReferenceElement, TAG::parameterAssignments, parameterAssignmentsElement))
- {
- QDomElement parameterAssignmentElement;
- SimulationCommon::GetFirstChildElement(parameterAssignmentsElement, TAG::parameterAssignment, parameterAssignmentElement);
- while (!parameterAssignmentElement.isNull())
- {
- auto name = ParseAttribute<std::string>(parameterAssignmentElement, ATTRIBUTE::parameterRef, parameters);
- auto value = ParseAttribute<std::string>(parameterAssignmentElement, ATTRIBUTE::value, parameters);
- entity.assignedParameters.insert({name, value});
- parameterAssignmentElement = parameterAssignmentElement.nextSiblingElement(TAG::parameterAssignment);
- }
- }
-}
-
-ScenarioEntity* ScenarioImporter::GetEntityByName(std::vector<ScenarioEntity>& entities, const std::string& entityName)
-{
- auto entitiesFound = std::find_if(entities.begin(),
- entities.end(),
- [entityName](ScenarioEntity & elem)
- {
- return elem.name == entityName;
- });
-
- if (entitiesFound != entities.end())
- {
- return &(*entitiesFound);
- }
-
- return nullptr;
-}
-
-void ScenarioImporter::CategorizeEntities(const std::vector<ScenarioEntity>& entities, const std::map<std::string, std::vector<std::string>> &groups, ScenarioInterface* scenario)
-{
- for (const auto& entity : entities)
- {
- scenario->AddScenarioEntity(entity);
- }
-
- scenario->AddScenarioGroupsByEntityNames(groups);
-}
-
-bool ScenarioImporter::ContainsEntity(const std::vector<ScenarioEntity>& entities,
- const std::string& entityName)
-{
- auto entitiesFound = std::find_if(entities.cbegin(),
- entities.cend(),
- [entityName](const ScenarioEntity &elem) {
- return elem.name == entityName;
- });
-
- return entitiesFound != entities.cend();
-}
-
-} //namespace Importer
diff --git a/sim/src/core/opSimulation/importer/scenarioImporter.h b/sim/src/core/opSimulation/importer/scenarioImporter.h
deleted file mode 100644
index 233c816a97e0f485865d6c98900fc6e4006d4460..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/importer/scenarioImporter.h
+++ /dev/null
@@ -1,337 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2017-2018 ITK Engineering GmbH
- * 2017-2021 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-//-----------------------------------------------------------------------------
-//! @file ScenarioImporter.h
-//! @brief This file contains the importer of the scenario.
-//-----------------------------------------------------------------------------
-
-#pragma once
-
-#include <string>
-#include <QDomDocument>
-#include "include/scenarioInterface.h"
-#include "modelElements/parameters.h"
-#include "common/openScenarioDefinitions.h"
-#include "oscImporterCommon.h"
-
-namespace Importer
-{
-
-class ScenarioImporter
-{
-public:
- ScenarioImporter() = default;
- ScenarioImporter(const ScenarioImporter&) = delete;
- ScenarioImporter(ScenarioImporter&&) = delete;
- ScenarioImporter& operator=(const ScenarioImporter&) = delete;
- ScenarioImporter& operator=(ScenarioImporter&&) = delete;
- virtual ~ScenarioImporter() = default;
-
- static bool Import(const std::string &filename, ScenarioInterface *scenario);
-
- //Public for testing only
- /*!
- * \brief Imports an entity of a OpenSCENARIO Entities DOM
- *
- * \param[in] entityElement The DOM root of the entity element
- * \param[out] entity Entity element data is imported into this container
- * \param[in] parameters declared parameters
- */
- static void ImportEntity(QDomElement& entityElement, ScenarioEntity& entity, openScenario::Parameters& parameters);
-
- /*!
- * \brief Imports the storyboard from OpenSCENARIO DOM
- *
- * \param[in] documentRoot The DOM root of the scenario file
- * \param[in] entities Objects from 'Entities' tag
- * \param[out] scenario The storyboard is imported into this scenario
- * \param[in] parameters declared parameters
- */
- static void ImportStoryboard(QDomElement& documentRoot, std::vector<ScenarioEntity>& entities, ScenarioInterface* scenario, openScenario::Parameters& parameters);
-
- /*!
- * \brief Imports a catalog tag
- *
- * \param[in] catalogName Name of the catalog to import
- * \param[in] catatalogsElement DOM element holding all available catalogs
- * \param[in] parameters declared parameters
- *
- * \return True on successful parsing, false otherwise.
- */
- static std::string ImportCatalog(const std::string& catalogName, QDomElement& catalogsElement, openScenario::Parameters& parameters);
-
- /*!
- * \brief Imports the roadnetwork information from OpenSCENARIO DOM
- *
- * Currently, the path to the OpenDRIVE scenery file is extracted.
- *
- * \param[in] roadNetworkElement DOM element of the roadnetwork tag
- * \param[out] scenario roadnetwork information are imported into this scenario
- * \param[in] parameters declared parameters
- */
- static void ImportRoadNetwork(QDomElement& roadNetworkElement, ScenarioInterface* scenario, openScenario::Parameters& parameters);
-
-private:
- /*!
- * \brief Imports and validates the internally used OpenSCENARIO schema version
- *
- * \param[in] parameters declared parameters
- *
- * \return true if import succeeds and version matches, falso otherwise
- */
- static void ImportAndValidateVersion(openScenario::Parameters& parameters);
-
- /*!
- * \brief Imports catalogs from OpenSCENARIO DOM
- *
- * Currently, vehicle and pedestrian catalogs are imported.
- *
- * \param[in] documentRoot The DOM root of the scenario file
- * \param[out] scenario Catalogs are imported into this scenario
- * \param[in] parameters declared parameters
- */
- static void ImportCatalogs(QDomElement& documentRoot, ScenarioInterface* scenario, const std::string& filePath, openScenario::Parameters& parameters);
-
- /*!
- * \brief Imports a TrafficSignalController element from OpenSCENARIO
- *
- * \param[in] trafficSignalControllerElement The element to import
- * \param[out] controller result is parsed into this
- * \param[in] parameters declared parameters
- */
- static void ImportTrafficSignalsElement(QDomElement& trafficSignalControllerElement, openScenario::TrafficSignalController &controller, openScenario::Parameters& parameters);
-
- /*!
- * \brief Imports the init element of a OpenSCENARIO storyboard DOM
- *
- * \param[in] initElement The DOM of the storyboard init element
- * \param[in] entities Objects from 'Entities' tag
- * \param[in] parameters declared parameters
- */
- static void ImportInitElement(QDomElement& initElement, std::vector<ScenarioEntity>& entities, ScenarioInterface *scenario, openScenario::Parameters& parameters);
-
- /*!
- * \brief Imports the simulation end conditions
- * \param[in] storyboardElement The storyboard DOM element
- * \param[out] scenario End conditions data is imported into this scenario
- * \param[in] parameters declared parameters
- */
- static void ImportEndConditionsFromStoryboard(const QDomElement &storyboardElement, ScenarioInterface *scenario, openScenario::Parameters& parameters);
-
- /*!
- * \brief ParseConditionAttributes parses the attributes for a condition
- * element
- *
- * \param[in] conditionElement
- * \param[out] name the value of the name attribute is parsed into this
- * std::string
- * \param[out] delay the value of the delay attribute is parsed into this
- * double
- * \param[out] edge the value of the edge attribute is parsed into this
- * std::string
- * \param[in] parameters declared parameters
- *
- * \throw std::runtime_exception If name, delay, or edge is not specified,
- * or if a negative delay is provided
- */
- static void ParseConditionAttributes(const QDomElement& conditionElement, std::string& name, double& delay, std::string& edge, openScenario::Parameters& parameters);
-
- /*!
- * \brief ParseSimulationTime parses the simulation time tag according to
- * the OpenSCENARIO standard
- *
- * \param[in] byValueElement the byValueElement containing the
- * SimulationTime element
- * \param[out] value the value of the value attribute of the SimulationTime
- * element
- * \param[out] rule the value of the rule attribute of the SimulationTime
- * element
- * \param[in] parameters declared parameters
- *
- * \throw std::runtime_exception If value or rule is not specified, or an
- * invalid rule is provided
- */
- static void ParseSimulationTime(const QDomElement &byValueElement, double& value, std::string& rule, openScenario::Parameters& parameters);
-
- /*!
- * \brief Imports the entities element of a OpenSCENARIO DOM
- *
- * \param[in] documentRoot The DOM root of the scenario file
- * \param[out] entities Entity element data is imported into this container
- * \param[in] parameters declared parameters
- */
- static void ImportEntities(QDomElement& documentRoot, std::vector<ScenarioEntity>& entities, std::map<std::string, std::vector<std::string> > &groups, openScenario::Parameters& parameters);
-
- /*!
- * \brief Imports a group definition of a OpenSCENARIO Selection DOM
- *
- * \param[in] selectionElement The DOM node of the selection element
- * \param[out] groups Groups element data is imported into this container
- * \param[in] parameters declared parameters
- */
- static void ImportSelectionElements(QDomElement &entitiesElement, std::map<std::string, std::vector<std::string> > &groups, openScenario::Parameters& parameters);
-
- /*!
- * \brief Imports a list of members of a OpenSCENARIO Members DOM
- *
- * \param[in] membersElement The DOM root of the members element
- * \param[out] members Members element data is imported into this container
- */
- static void ImportMembers(const QDomElement &membersElement, std::vector<std::string> &members, openScenario::Parameters& parameters);
-
- /*!
- * \brief Imports a catalog reference of an entity of a OpenSCENARIO Entities DOM
- *
- * \param[in] catalogReferenceElement The DOM root of the catalog reference element
- * \param[out] entity Catalog refrence data is imported into this container
- * \param[in] parameters declared parameters
- */
- static void ImportEntityCatalogReference(QDomElement& catalogReferenceElement, ScenarioEntity& entity, openScenario::Parameters& parameters);
-
- /*!
- * \brief Imports a story element of a OpenSCENARIO storyboard DOM
- *
- * \param[in] storyElement The DOM root of the catalog reference element
- * \param[in] entities Objects from 'Entities' tag
- * \param[out] scenario The story data is imported into this scenario
- * \param[in] parameters declared parameters
- */
- static void ImportStoryElement(QDomElement& storyElement, const std::vector<ScenarioEntity>& entities, ScenarioInterface *scenario, openScenario::Parameters& parameters);
-
- /*!
- * \brief Imports actors from of a OpenSCENARIO story DOM
- *
- * \param[in] actorsElement The DOM root of the actors element
- * \param[in] entities Objects from 'Entities' tag
- * \param[in] parameters declared parameters
- *
- * \return Actor names referenced in the DOM
- */
- static openScenario::ActorInformation ImportActors(QDomElement& actorsElement,
- const std::vector<ScenarioEntity>& entities,
- openScenario::Parameters& parameters);
-
- /*!
- * \brief Imports a maneuvre element of a OpenSCENARIO storyboard DOM
- *
- * \param[in] maneuverElement The DOM root of the maneuver element
- * \param[in] entities Objects from 'Entities' tag
- * \param[out] scenario The maneuver data is imported into this scenario
- * \param[out] actors Actors from the maneuver are imported into this container
- * \param[in] parameters declared parameters
- */
-
- /*!
- * \brief ImportManeuverElement
- * \param maneuverElement The DOM root of the maneuver element
- * \param entities Objects from 'Entities' tag
- * \param scenario The maneuver data is imported into this scenario
- * \param actorInformation Information of actors from the maneuver
- * \param nameStack List of names from tree structure e.g. {"myStory", "myAct", "myManeuver"}
- * \param numberOfExecutions Number of executions
- */
- static void ImportManeuverElement(QDomElement& maneuverElement,
- const std::vector<ScenarioEntity>& entities,
- ScenarioInterface *scenario,
- const openScenario::ActorInformation &actorInformation,
- const std::vector<std::string> &nameStack,
- const int numberOfExecutions,
- openScenario::Parameters& parameters);
-
- /*!
- * \brief Imports a orientation element of a OpenSCENARIO entity
- *
- * \param[in] orientationElement The DOM root of the orientation element
- * \param[in] parameters declared parameters
- * \return orientation
- */
- static openScenario::Orientation ImportOrientation(QDomElement& orientationElement, openScenario::Parameters& parameters);
-
- /*!
- * \brief Imports a private element of a OpenSCENARIO Storyboard/Init/Actions DOM
- *
- * \param[in] privateElement The DOM root of the storyboard/init/action element
- * \param[inout] entities Objects from 'Entities' tag. Containing spawn information will be set by this method call.
- * \param[in] parameters declared parameters
- */
- static void ImportPrivateElement(QDomElement& privateElement, std::vector<ScenarioEntity>& entities, openScenario::Parameters& parameters);
-
- /*!
- * \brief Imports all private elements of a OpenSCENARIO actions DOM
- *
- * \param[in] privateElement The DOM root of the actions element
- * \param[inout] entities Objects from 'Entities' tag. Containing spawn information will be set by this method call.
- * \param[in] parameters declared parameters
- */
- static void ImportPrivateElements(QDomElement& actionsElement, std::vector<ScenarioEntity>& entities, openScenario::Parameters& parameters);
-
- /*!
- * \brief Tests, if a entity with a given name is included in the provided vector of scenario entities
- *
- * \param[in] entities Vector of entities to test against
- * \param entityName Name of the entity to check for existence
- *
- * \return true, if entityName is included in entities, false otherwise
- */
- static bool ContainsEntity(const std::vector<ScenarioEntity>& entities,
- const std::string& entityName);
- /*!
- * \brief Returns the entity object contained in a vector of entities, selected by its name
- *
- * \param[in] entities Vector of entities to search
- * \param[in] entityName Name of entity to look up
- *
- * \return Pointer to found entity if name exists, nullptr otherwise
- */
- static ScenarioEntity* GetEntityByName(std::vector<ScenarioEntity>& entities, const std::string& entityName);
-
- /*!
- * \brief Categorizes the provided entities and adds them to the scenario either as scanario entity or ego entity.
- *
- * \param[in] entities Entities to check for being Ego or of other type
- * \param[out] scenario Ego and Scenario entities are added to this scenario
- */
- static void CategorizeEntities(const std::vector<ScenarioEntity>& entities, const std::map<std::string, std::vector<std::string> > &groups, ScenarioInterface* scenario);
-
- /*!
- * \brief Imports an openScenario Lane-Position element
- *
- * \param[in] positionElement XML-Element containing position
- * \param[in] parameters declared parameters
- * \return lanePosition
- */
- static openScenario::LanePosition ImportLanePosition(QDomElement positionElement, openScenario::Parameters& parameters);
-
- /*!
- * \brief Imports an openScenario World-Position element
- *
- * \param[in] positionElement XML-Element containing position
- * \param[in] parameters declared parameters
- * \return worldPosition
- */
- static openScenario::WorldPosition ImportWorldPosition(QDomElement positionElement, openScenario::Parameters& parameters);
-
- /*!
- * \brief Imports an openScenario Action element
- *
- * \param[in] eventElement XML-Element containing Event
- * \param[in] parameters declared parameters
- * \param[in] catalogPath catalog path
- * \return action
- */
- static openScenario::Action ImportAction(QDomElement eventElement, openScenario::Parameters& parameters, const std::string catalogPath);
-
- //! Currently supported "internal" OpenSCENARIO version
- static constexpr auto supportedScenarioVersion = "0.4.0";
-};
-
-} // namespace Importer
diff --git a/sim/src/core/opSimulation/importer/scenarioImporterHelper.cpp b/sim/src/core/opSimulation/importer/scenarioImporterHelper.cpp
deleted file mode 100644
index 69be0c47fc4f17924c0dcc718c9f32512f1a8d6c..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/importer/scenarioImporterHelper.cpp
+++ /dev/null
@@ -1,765 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2019-2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#include "scenarioImporterHelper.h"
-
-#include "importerLoggingHelper.h"
-#include "oscImporterCommon.h"
-
-namespace TAG = openpass::importer::xml::scenarioImporter::tag;
-namespace ATTRIBUTE = openpass::importer::xml::scenarioImporter::attribute;
-namespace RULE = openpass::importer::xml::openScenario::rule;
-
-namespace DYNAMICSSHAPE = openpass::importer::xml::openScenario::dynamicsShape;
-namespace DYNAMICSDIMENSION = openpass::importer::xml::openScenario::dynamicsDimension;
-namespace SPEEDTARGETVALUETYPE = openpass::importer::xml::openScenario::speedTargetValueType;
-
-using namespace Importer;
-
-template <typename T>
-T ParseAttributeHelper(const QDomElement& element, const char attributeName[], openScenario::Parameters& parameters, T&)
-{
- return Importer::ParseAttribute<T>(element, attributeName, parameters);
-}
-
-namespace openScenario
-{
-
-const std::map<std::string, Shape> shapeConversionMap = {{DYNAMICSSHAPE::linear, Shape::Linear},
- {DYNAMICSSHAPE::step, Shape::Step}};
-
-const std::map<std::string, SpeedTargetValueType> speedTargetValueTypeConversionMap = {{SPEEDTARGETVALUETYPE::delta, SpeedTargetValueType::Delta},
- {SPEEDTARGETVALUETYPE::factor, SpeedTargetValueType::Factor}};
-
-Position ScenarioImporterHelper::ImportPosition(QDomElement root, Parameters& parameters)
-{
- QDomElement positionElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(root, TAG::position, positionElement),
- root, std::string("Tag ") + TAG::position + " is missing.");
- QDomElement childOfPositionElement;
- if(SimulationCommon::GetFirstChildElement(positionElement, TAG::lanePosition, childOfPositionElement))
- {
- return ImportLanePosition(childOfPositionElement, parameters);
- }
- else if (SimulationCommon::GetFirstChildElement(positionElement, TAG::relativeLanePosition, childOfPositionElement))
- {
- return ImportRelativeLanePosition(childOfPositionElement, parameters);
- }
- else if (SimulationCommon::GetFirstChildElement(positionElement, TAG::roadPosition, childOfPositionElement))
- {
- return ImportRoadPosition(childOfPositionElement, parameters);
- }
- else if (SimulationCommon::GetFirstChildElement(positionElement, TAG::worldPosition, childOfPositionElement))
- {
- return ImportWorldPosition(childOfPositionElement, parameters);
- }
- else if (SimulationCommon::GetFirstChildElement(positionElement, TAG::relativeObjectPosition, childOfPositionElement))
- {
- return ImportRelativeObjectPosition(childOfPositionElement, parameters);
- }
- else if (SimulationCommon::GetFirstChildElement(positionElement, TAG::relativeWorldPosition, childOfPositionElement))
- {
- return ImportRelativeWorldPosition(childOfPositionElement, parameters);
- }
- else
- {
- LogErrorAndThrow(std::string("Position type not supported. Currently supported are: ") + TAG::lanePosition + ", " + TAG::roadPosition + ", " + TAG::worldPosition + ".");
- }
-}
-
-GlobalAction ScenarioImporterHelper::ImportGlobalAction(QDomElement globalActionElement, Parameters& parameters)
-{
- QDomElement childOfGlobalActionElement;
- if (SimulationCommon::GetFirstChildElement(globalActionElement, TAG::entityAction, childOfGlobalActionElement))
- {
- return ImportEntityAction(childOfGlobalActionElement, parameters);
- }
- else if (SimulationCommon::GetFirstChildElement(globalActionElement, TAG::environmentAction, childOfGlobalActionElement))
- {
- return ImportEnvironmentAction(childOfGlobalActionElement, parameters);
- }
- else
- {
- LogErrorAndThrow("Invalid GlobalAction type.");
- }
-}
-
-PrivateAction ScenarioImporterHelper::ImportPrivateAction(QDomElement privateActionElement, Parameters& parameters, const std::string catalogPath)
-{
- QDomElement childOfPrivateActionElement;
- if (SimulationCommon::GetFirstChildElement(privateActionElement, TAG::lateralAction, childOfPrivateActionElement))
- {
- return ImportLateralAction(childOfPrivateActionElement, parameters);
- }
- else if (SimulationCommon::GetFirstChildElement(privateActionElement, TAG::longitudinalAction, childOfPrivateActionElement))
- {
- return ImportLongitudinalAction(childOfPrivateActionElement, parameters);
- }
- else if (SimulationCommon::GetFirstChildElement(privateActionElement, TAG::teleportAction, childOfPrivateActionElement))
- {
- return ImportTeleportAction(childOfPrivateActionElement, parameters);
- }
- else if (SimulationCommon::GetFirstChildElement(privateActionElement, TAG::routingAction, childOfPrivateActionElement))
- {
- return ImportRoutingAction(childOfPrivateActionElement, parameters, catalogPath);
- }
- else if (SimulationCommon::GetFirstChildElement(privateActionElement, TAG::visibilityAction, childOfPrivateActionElement))
- {
- return ImportVisibilityAction(childOfPrivateActionElement, parameters);
- }
- else
- {
- LogErrorAndThrow(std::string("PrivateAction type invalid."));
- }
-}
-
-UserDefinedAction ScenarioImporterHelper::ImportUserDefinedAction(QDomElement userDefinedActionElement)
-{
- QDomElement userDefinedChildElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(userDefinedActionElement, TAG::customCommandAction, userDefinedChildElement),
- userDefinedActionElement, "Tag " + std::string(TAG::customCommandAction) + " is missing.");
-
- std::string command = userDefinedChildElement.text().toStdString();
- boost::algorithm::trim(command);
-
- return CustomCommandAction {command};
-}
-
-LanePosition ScenarioImporterHelper::ImportLanePosition(QDomElement positionElement, Parameters& parameters)
-{
- LanePosition lanePosition;
- lanePosition.s = ParseAttribute<double>(positionElement, ATTRIBUTE::s, parameters);
- const auto laneIdString = ParseAttribute<std::string>(positionElement, ATTRIBUTE::laneId, parameters);
- try
- {
- lanePosition.laneId = std::stoi(laneIdString);
- }
- catch(std::invalid_argument)
- {
- ThrowIfFalse(false, positionElement, "LaneId must be integer");
- }
- catch(std::out_of_range)
- {
- ThrowIfFalse(false, positionElement, "LaneId is out of range");
- }
- lanePosition.roadId = ParseAttribute<std::string>(positionElement, ATTRIBUTE::roadId, parameters);
-
- lanePosition.offset = ParseOptionalAttribute<double>(positionElement, ATTRIBUTE::offset, parameters);
-
- //Parse optional stochastics
- QDomElement stochasticElement;
- SimulationCommon::GetFirstChildElement(positionElement, TAG::stochastics, stochasticElement);
- while (!stochasticElement.isNull())
- {
- const auto& stochasticInformation = ImportStochastics(stochasticElement, parameters);
-
- if (stochasticInformation.first == "offset")
- {
- ThrowIfFalse(lanePosition.offset.has_value(), stochasticElement, "The offset attribute is required in order to use stochastic offsets.");
-
- lanePosition.stochasticOffset = stochasticInformation.second;
- lanePosition.stochasticOffset->mean = lanePosition.offset.value();
- }
- else if (stochasticInformation.first == "s")
- {
- lanePosition.stochasticS = stochasticInformation.second;
- lanePosition.stochasticS->mean = lanePosition.s;
- }
- stochasticElement = stochasticElement.nextSiblingElement(TAG::stochastics);
- }
-
- QDomElement orientationElement;
- if(SimulationCommon::GetFirstChildElement(positionElement, TAG::orientation, orientationElement))
- {
- lanePosition.orientation = ImportOrientation(orientationElement, parameters);
- }
-
- return lanePosition;
-}
-
-RelativeLanePosition ScenarioImporterHelper::ImportRelativeLanePosition(QDomElement positionElement, Parameters& parameters)
-{
- RelativeLanePosition relativeLanePosition;
- relativeLanePosition.entityRef = ParseAttribute<std::string>(positionElement, ATTRIBUTE::entityRef, parameters);
- relativeLanePosition.dLane = ParseAttribute<int>(positionElement, ATTRIBUTE::dLane, parameters);
- relativeLanePosition.ds = ParseAttribute<double>(positionElement, ATTRIBUTE::ds, parameters);
- relativeLanePosition.offset = ParseOptionalAttribute<double>(positionElement, ATTRIBUTE::offset, parameters);
-
- QDomElement orientationElement;
- if(SimulationCommon::GetFirstChildElement(positionElement, TAG::orientation, orientationElement))
- {
- relativeLanePosition.orientation = ImportOrientation(orientationElement, parameters);
- }
-
- return relativeLanePosition;
-}
-
-RoadPosition ScenarioImporterHelper::ImportRoadPosition(QDomElement positionElement, Parameters& parameters)
-{
- RoadPosition roadPosition;
- roadPosition.s = ParseAttribute<double>(positionElement, ATTRIBUTE::s, parameters);
- roadPosition.t = ParseAttribute<double>(positionElement, ATTRIBUTE::t, parameters);
- roadPosition.roadId = ParseAttribute<std::string>(positionElement, ATTRIBUTE::roadId, parameters);
-
- QDomElement orientationElement;
- if(SimulationCommon::GetFirstChildElement(positionElement, TAG::orientation, orientationElement))
- {
- roadPosition.orientation = ImportOrientation(orientationElement, parameters);
- }
-
- return roadPosition;
-}
-
-WorldPosition ScenarioImporterHelper::ImportWorldPosition(QDomElement positionElement, Parameters& parameters)
-{
- WorldPosition worldPosition;
- worldPosition.x = ParseAttribute<double>(positionElement, ATTRIBUTE::x, parameters);
- worldPosition.y= ParseAttribute<double>(positionElement, ATTRIBUTE::y, parameters);
-
- worldPosition.z = ParseOptionalAttribute<double>(positionElement, ATTRIBUTE::z, parameters);
- worldPosition.h = ParseOptionalAttribute<double>(positionElement, ATTRIBUTE::h, parameters);
- worldPosition.p = ParseOptionalAttribute<double>(positionElement, ATTRIBUTE::p, parameters);
- worldPosition.r = ParseOptionalAttribute<double>(positionElement, ATTRIBUTE::r, parameters);
-
- return worldPosition;
-}
-
-Orientation ScenarioImporterHelper::ImportOrientation(QDomElement& orientationElement, Parameters& parameters)
-{
- Orientation orientation;
-
- std::string type = ParseAttribute<std::string>(orientationElement, ATTRIBUTE::type, parameters);
- ThrowIfFalse(type == "relative", orientationElement, "Scenario Importer: only relative orientation is allowed.");
- orientation.type = OrientationType::Relative;
-
- double heading = ParseAttribute<double>(orientationElement, ATTRIBUTE::h, parameters);
- orientation.h = heading;
-
- return orientation;
-}
-
-std::pair<std::string, StochasticAttribute> ScenarioImporterHelper::ImportStochastics(QDomElement& stochasticsElement, Parameters& parameters)
-{
- std::string attributeName = ParseAttribute<std::string>(stochasticsElement, ATTRIBUTE::value, parameters);
-
- StochasticAttribute stochasticAttribute;
- stochasticAttribute.stdDeviation = ParseAttribute<double>(stochasticsElement, ATTRIBUTE::stdDeviation, parameters);
- stochasticAttribute.lowerBoundary = ParseAttribute<double>(stochasticsElement, ATTRIBUTE::lowerBound, parameters);
- stochasticAttribute.upperBoundary = ParseAttribute<double>(stochasticsElement, ATTRIBUTE::upperBound, parameters);
-
- return {attributeName, stochasticAttribute};
-}
-
-EntityAction ScenarioImporterHelper::ImportEntityAction(QDomElement entityActionElement, Parameters& parameters)
-{
- const auto entityRef = ParseAttribute<std::string>(entityActionElement, ATTRIBUTE::entityRef, parameters);
-
- EntityActionType type;
- QDomElement childOfEntityAction;
- if (SimulationCommon::GetFirstChildElement(entityActionElement, TAG::addEntityAction, childOfEntityAction))
- {
- type = EntityActionType::Add;
- }
- else if (SimulationCommon::GetFirstChildElement(entityActionElement, TAG::deleteEntityAction, childOfEntityAction))
- {
- type = EntityActionType::Delete;
- }
- else
- {
- LogErrorAndThrow(std::string("Invalid ") + TAG::entityAction + " type.");
- }
-
- return {entityRef, type};
-}
-
-EnvironmentAction ScenarioImporterHelper::ImportEnvironmentAction(QDomElement environmentActionElement, Parameters& parameters)
-{
- EnvironmentAction environmentAction;
-
- QDomElement environmentElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(environmentActionElement, TAG::environment, environmentElement),
- environmentActionElement, "Tag " + std::string(TAG::environment) + " is missing.");
-
- QDomElement weatherElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(environmentElement, TAG::weather, weatherElement),
- environmentElement, "Tag " + std::string(TAG::weather) + " is missing.");
-
- auto cloudState = ParseAttribute<std::string>(weatherElement, ATTRIBUTE::cloudState, parameters);
- if (cloudState == "skyOff")
- {
- environmentAction.weather.cloudState = Weather::CloudState::skyOff;
- }
- else if (cloudState == "free")
- {
- environmentAction.weather.cloudState = Weather::CloudState::free;
- }
- else if (cloudState == "cloudy")
- {
- environmentAction.weather.cloudState = Weather::CloudState::cloudy;
- }
- else if (cloudState == "overcast")
- {
- environmentAction.weather.cloudState = Weather::CloudState::overcast;
- }
- else
- {
- ThrowIfFalse(cloudState == "rainy", environmentElement, "Unknown cloudState " + cloudState);
- environmentAction.weather.cloudState = Weather::CloudState::rainy;
- }
-
- QDomElement fogElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(weatherElement, TAG::fog, fogElement),
- weatherElement, "Tag " + std::string(TAG::fog) + " is missing.");
- environmentAction.weather.fog.visualRange = ParseAttribute<double>(fogElement, ATTRIBUTE::visualRange, parameters);
-
- QDomElement sunElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(weatherElement, TAG::sun, sunElement),
- weatherElement, "Tag " + std::string(TAG::sun) + " is missing.");
- environmentAction.weather.sun.azimuth = ParseAttribute<double>(sunElement, ATTRIBUTE::azimuth, parameters);
- environmentAction.weather.sun.elevation = ParseAttribute<double>(sunElement, ATTRIBUTE::elevation, parameters);
- environmentAction.weather.sun.intensity = ParseAttribute<double>(sunElement, ATTRIBUTE::intensity, parameters);
-
- QDomElement precipitationElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(weatherElement, TAG::precipitation, precipitationElement),
- weatherElement, "Tag " + std::string(TAG::precipitation) + " is missing.");
- environmentAction.weather.precipitation.intensity = ParseAttribute<double>(precipitationElement, ATTRIBUTE::intensity, parameters);
- auto precipitationType = ParseAttribute<std::string>(precipitationElement, ATTRIBUTE::precipitationType, parameters);
- if (precipitationType == "dry")
- {
- environmentAction.weather.precipitation.type = Precipitation::Type::dry;
- }
- else if (precipitationType == "rain")
- {
- environmentAction.weather.precipitation.type = Precipitation::Type::rain;
- }
- else
- {
- ThrowIfFalse(precipitationType == "snow", precipitationElement, "Unknown precipitation type " + precipitationType);
- environmentAction.weather.precipitation.type = Precipitation::Type::snow;
- }
-
- return environmentAction;
-}
-
-LateralAction ScenarioImporterHelper::ImportLateralAction(QDomElement lateralActionElement, Parameters& parameters)
-{
-
- QDomElement lateralChildElement;
- if (SimulationCommon::GetFirstChildElement(lateralActionElement, TAG::laneChangeAction, lateralChildElement))
- {
- QDomElement dynamicsElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(lateralChildElement, TAG::laneChangeActionDynamics, dynamicsElement),
- lateralChildElement, "Tag " + std::string(TAG::laneChangeActionDynamics) + " is missing.");
-
-
- double transitionDynamicsValue = ParseAttribute<double>(dynamicsElement, ATTRIBUTE::value, parameters);
- std::string dynamicsDimension = ParseAttribute<std::string>(dynamicsElement, ATTRIBUTE::dynamicsDimension, parameters);
-
- openScenario::LaneChangeParameter::DynamicsType dynamicsType;
-
- if (dynamicsDimension == "time")
- {
- dynamicsType = openScenario::LaneChangeParameter::DynamicsType::Time;
- }
- else if (dynamicsDimension == "distance")
- {
- dynamicsType = openScenario::LaneChangeParameter::DynamicsType::Distance;
- }
- else
- {
- LogErrorAndThrow("Invalid " + std::string(ATTRIBUTE::dynamicsDimension) + " in " + std::string(TAG::laneChangeActionDynamics) + " .");
- }
-
- std::string shape = ParseAttribute<std::string>(dynamicsElement, ATTRIBUTE::dynamicsShape, parameters);
- ThrowIfFalse(shape == "sinusoidal", dynamicsElement, "Currently only shape sinusoidal supported for LaneChangeAction");
-
- QDomElement targetElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(lateralChildElement, TAG::laneChangeTarget, targetElement),
- lateralChildElement, "Tag " + std::string(TAG::laneChangeTarget) + " is missing.");
-
- QDomElement typeElement;
- if (SimulationCommon::GetFirstChildElement(targetElement, TAG::relativeTargetLane, typeElement))
- {
- std::string entityRef = ParseAttribute<std::string>(typeElement, ATTRIBUTE::entityRef, parameters);
- int value = ParseAttribute<int>(typeElement, ATTRIBUTE::value, parameters);
-
- LaneChangeParameter laneChangeParameter {openScenario::LaneChangeParameter::Type::Relative,
- value,
- entityRef,
- transitionDynamicsValue,
- dynamicsType};
-
- return LaneChangeAction{laneChangeParameter};
- }
- else
- {
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(targetElement, TAG::absoluteTargetLane, typeElement),
- targetElement, "Tag " + std::string(TAG::absoluteTargetLane) + " is missing.");
-
- const auto value = ParseAttribute<int>(typeElement, ATTRIBUTE::value, parameters);
-
- LaneChangeParameter laneChangeParameter {openScenario::LaneChangeParameter::Type::Absolute,
- value,
- "",
- transitionDynamicsValue,
- dynamicsType};
-
- return LaneChangeAction {laneChangeParameter};
- }
- }
- else
- {
- LogErrorAndThrow("Invalid LateralAction Type.");
- }
-}
-
-LongitudinalAction ScenarioImporterHelper::ImportLongitudinalAction(QDomElement longitudinalActionElement, Parameters& parameters)
-{
- QDomElement childOfLongitudinalActionElement;
- if (SimulationCommon::GetFirstChildElement(longitudinalActionElement, TAG::speedAction, childOfLongitudinalActionElement))
- {
- SpeedAction speedAction;
-
- QDomElement dynamicsElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(childOfLongitudinalActionElement, TAG::speedActionDynamics, dynamicsElement),
- childOfLongitudinalActionElement, std::string("Error while importing ") + TAG::speedAction + ". Tag" + TAG::speedActionDynamics + " is missing.");
-
- speedAction.transitionDynamics.value = ParseAttribute<double>(dynamicsElement, ATTRIBUTE::value, parameters);
- ThrowIfFalse(speedAction.transitionDynamics.value >= 0.0,
- dynamicsElement, "TransitionDynamics value must greater or equal to 0.");
-
- // DynamicsShape
- const auto shape = ParseAttribute<std::string>(dynamicsElement, ATTRIBUTE::dynamicsShape, parameters);
-
- if (shapeConversionMap.find(shape) == shapeConversionMap.cend())
- {
- LogErrorAndThrow(std::string("Error while importing ") + TAG::speedActionDynamics + ". " + ATTRIBUTE::dynamicsShape + ": " + shape + " not supported.");
- }
-
- speedAction.transitionDynamics.shape = shapeConversionMap.at(shape);
-
- // DynamicsDimensions
- speedAction.transitionDynamics.dimension = ParseAttribute<std::string>(dynamicsElement, ATTRIBUTE::dynamicsDimension, parameters);
-
- if(speedAction.transitionDynamics.dimension != DYNAMICSDIMENSION::rate)
- {
- LogErrorAndThrow(std::string("Error while importing ") + TAG::speedActionDynamics + ". " + ATTRIBUTE::dynamicsDimension + ": " + speedAction.transitionDynamics.dimension + " not supported.");
- }
-
- // Handle <Target> attributes
- QDomElement targetElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(childOfLongitudinalActionElement, TAG::speedActionTarget, targetElement),
- childOfLongitudinalActionElement, std::string("Error while importing ") + TAG::speedAction + ". Tag" + TAG::speedActionTarget + " is missing.");
-
- // Handle <Target> internal tags - currently ignoring <Relative> tags
- QDomElement targetSpeedElement;
- if (SimulationCommon::GetFirstChildElement(targetElement, TAG::absoluteTargetSpeed, targetSpeedElement))
- {
- if (SimulationCommon::HasAttribute(targetSpeedElement, ATTRIBUTE::value))
- {
- AbsoluteTargetSpeed absoluteTargetSpeed {ParseAttribute<double>(targetSpeedElement, ATTRIBUTE::value, parameters)};
- speedAction.target = absoluteTargetSpeed;
- }
- }
- else if (SimulationCommon::GetFirstChildElement(targetElement, TAG::relativeTargetSpeed, targetSpeedElement))
- {
- RelativeTargetSpeed relativeTargetSpeed;
- relativeTargetSpeed.entityRef = ParseAttribute<std::string>(targetSpeedElement, ATTRIBUTE::entityRef, parameters);
- relativeTargetSpeed.value = ParseAttribute<double>(targetSpeedElement, ATTRIBUTE::value, parameters);
-
- const auto speedTargetValueType = ParseAttribute<std::string>(targetSpeedElement, ATTRIBUTE::speedTargetValueType, parameters);
-
- ThrowIfFalse(speedTargetValueTypeConversionMap.find(speedTargetValueType) != speedTargetValueTypeConversionMap.cend(),
- targetSpeedElement, std::string("Error while importing ") + ATTRIBUTE::speedTargetValueType + ". Invalid choice.");
-
- relativeTargetSpeed.speedTargetValueType = speedTargetValueTypeConversionMap.at(speedTargetValueType);
-
- relativeTargetSpeed.continuous = ParseAttribute<bool>(targetSpeedElement, ATTRIBUTE::continuous, parameters);
-
- speedAction.target = relativeTargetSpeed;
- }
- else
- {
- LogErrorAndThrow(std::string("Error while importing ") + TAG::speedActionTarget + ". Invalid choice.");
- }
-
- // Parse stochastics if available
- QDomElement stochasticElement;
- SimulationCommon::GetFirstChildElement(childOfLongitudinalActionElement, TAG::stochastics, stochasticElement);
- while (!stochasticElement.isNull())
- {
- const auto& [attributeName, stochasticInformation] = ImportStochastics(stochasticElement, parameters);
- if (attributeName == "velocity")
- {
- speedAction.stochasticValue = stochasticInformation;
- speedAction.stochasticValue.value().mean = std::get<AbsoluteTargetSpeed>(speedAction.target).value;
- }
- else if (attributeName == "rate")
- {
- speedAction.stochasticDynamics = stochasticInformation;
- speedAction.stochasticDynamics.value().mean = speedAction.transitionDynamics.value;
- }
-
- stochasticElement = stochasticElement.nextSiblingElement(TAG::stochastics);
- }
-
- return speedAction;
- }
- else
- {
- LogErrorAndThrow("Invalid LongitudinalAction Type.");
- }
-}
-
-TeleportAction ScenarioImporterHelper::ImportTeleportAction(QDomElement teleportActionElement, Parameters& parameters)
-{
- return ImportPosition(teleportActionElement, parameters);
-}
-
-RoutingAction ScenarioImporterHelper::ImportRoutingAction(QDomElement routingActionElement, Parameters& parameters, const std::string catalogPath)
-{
-
- QDomElement childOfRoutingActionElement;
- if(SimulationCommon::GetFirstChildElement(routingActionElement, TAG::assignRouteAction, childOfRoutingActionElement))
- {
- AssignRouteAction assignRouteAction;
-
- QDomElement routeElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(childOfRoutingActionElement, TAG::route, routeElement),
- childOfRoutingActionElement, "Tag " + std::string(TAG::route) + " is missing.");
-
- QDomElement waypointElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(routeElement, TAG::waypoint, waypointElement),
- routeElement, "Tag " + std::string(TAG::waypoint) + " is missing.");
-
- while (!waypointElement.isNull())
- {
- const auto position = ScenarioImporterHelper::ImportPosition(waypointElement, parameters);
-
- if (std::holds_alternative<RoadPosition>(position))
- {
- assignRouteAction.push_back(std::get<RoadPosition>(position));
- }
- else
- {
- LogErrorAndThrow(std::string(TAG::assignRouteAction) + " currently only supports " + TAG::roadPosition + ".");
- }
-
- waypointElement = waypointElement.nextSiblingElement(TAG::waypoint);
- }
-
- return assignRouteAction;
- }
- else if (SimulationCommon::GetFirstChildElement(routingActionElement, TAG::followTrajectoryAction, childOfRoutingActionElement))
- {
- Trajectory trajectory;
-
- Parameters defaultParameters;
- Parameters assignedParameters;
-
- QDomElement trajectoryElement;
- if(!SimulationCommon::GetFirstChildElement(childOfRoutingActionElement, TAG::trajectory, trajectoryElement))
- {
- QDomElement catalogReferenceElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(childOfRoutingActionElement, TAG::catalogReference, catalogReferenceElement),
- childOfRoutingActionElement, "Tag " + std::string(TAG::trajectory) + " or " + std::string(TAG::catalogReference) + " is missing.");
- std::string catalogName = ParseAttribute<std::string>(catalogReferenceElement, ATTRIBUTE::catalogName, parameters);
- std::string entryName = ParseAttribute<std::string>(catalogReferenceElement, ATTRIBUTE::entryName, parameters);
- trajectoryElement = GetTrajectoryElementFromCatalog(catalogName, catalogPath, entryName, parameters);
-
- QDomElement parameterDeclarationElement;
- SimulationCommon::GetFirstChildElement(trajectoryElement, TAG::parameterDeclarations, parameterDeclarationElement);
- if (!parameterDeclarationElement.isNull())
- {
- ImportParameterDeclarationElement(parameterDeclarationElement, defaultParameters);
- }
- QDomElement parameterAssignmentsElement;
- SimulationCommon::GetFirstChildElement(catalogReferenceElement, TAG::parameterAssignments, parameterAssignmentsElement);
-
- QDomElement parameterAssignmentElement;
- SimulationCommon::GetFirstChildElement(parameterAssignmentsElement, TAG::parameterAssignment, parameterAssignmentElement);
- while (!parameterAssignmentElement.isNull())
- {
- auto parameterName = ParseAttribute<std::string>(parameterAssignmentElement, ATTRIBUTE::parameterRef, parameters);
- auto foundParameter = defaultParameters.find(parameterName);
- ThrowIfFalse(foundParameter != defaultParameters.cend(), parameterAssignmentElement, "Can not assign parameter \"" + parameterName + "\". No parameter with this name declared.");
- std::visit([&](auto& value){
- assignedParameters.insert({parameterName, ParseAttributeHelper(parameterAssignmentElement, ATTRIBUTE::value, parameters, value)});
- },
- foundParameter->second);
- parameterAssignmentElement = parameterAssignmentElement.nextSiblingElement(TAG::parameterAssignment);
- }
- }
- else
- {
- defaultParameters = parameters;
- }
- trajectory.name = ParseAttribute<std::string>(trajectoryElement, ATTRIBUTE::name, defaultParameters, assignedParameters);
-
- QDomElement timeReferenceElement;
- if(SimulationCommon::GetFirstChildElement(childOfRoutingActionElement, TAG::timeReference, timeReferenceElement))
- {
- QDomElement timingElement;
- if(SimulationCommon::GetFirstChildElement(timeReferenceElement, TAG::timing, timingElement)) {
- TrajectoryTimeReference timeReference;
-
- ThrowIfFalse(SimulationCommon::HasAttribute(timingElement, ATTRIBUTE::domainAbsoluteRelative),
- timingElement,"Attribute " + std::string(ATTRIBUTE::domainAbsoluteRelative) + " is missing.");
- ThrowIfFalse(SimulationCommon::HasAttribute(timingElement, ATTRIBUTE::scale),
- timingElement,"Attribute " + std::string(ATTRIBUTE::scale) + " is missing.");
- ThrowIfFalse(SimulationCommon::HasAttribute(timingElement, ATTRIBUTE::offset),
- timingElement,"Attribute " + std::string(ATTRIBUTE::offset) + " is missing.");
-
- timeReference.domainAbsoluteRelative = ParseAttribute<std::string>(timingElement, ATTRIBUTE::domainAbsoluteRelative, parameters);
- timeReference.scale = ParseAttribute<double>(timingElement, ATTRIBUTE::scale, parameters);
- timeReference.offset = ParseAttribute<double>(timingElement, ATTRIBUTE::offset, parameters);
-
- trajectory.timeReference = timeReference;
- }
- }
-
- QDomElement shapeElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(trajectoryElement, TAG::shape, shapeElement),
- trajectoryElement, "Tag " + std::string(TAG::shape) + " is missing.");
-
- QDomElement polylineElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(shapeElement, TAG::polyline, polylineElement),
- shapeElement, "Tag " + std::string(TAG::polyline) + " is missing.");
-
- QDomElement vertexElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(polylineElement, TAG::vertex, vertexElement),
- trajectoryElement, "Tag " + std::string(TAG::vertex) + " is missing.");
- while (!vertexElement.isNull())
- {
- const auto position = openScenario::ScenarioImporterHelper::ImportPosition(vertexElement, parameters);
-
- if(std::holds_alternative<openScenario::WorldPosition>(position))
- {
- const auto worldPosition = std::get<openScenario::WorldPosition>(position);
-
- openScenario::TrajectoryPoint trajectoryPoint;
- trajectoryPoint.time = ParseAttribute<double>(vertexElement, ATTRIBUTE::time, defaultParameters, assignedParameters);
- trajectoryPoint.x = worldPosition.x;
- trajectoryPoint.y = worldPosition.y;
-
- if (worldPosition.h.has_value())
- {
- trajectoryPoint.yaw = worldPosition.h.value();
- }
- else
- {
- LogErrorAndThrow("TrajectoryPoint requires WorldPosition to contain heading.");
- }
- trajectory.points.push_back(trajectoryPoint);
-
- vertexElement = vertexElement.nextSiblingElement(TAG::vertex);
- }
- else
- {
- LogErrorAndThrow("FollowTrajectoryAction only supports WorldPositions in Vertexes.");
- }
- }
-
- return FollowTrajectoryAction{trajectory};
- }
- else if (SimulationCommon::GetFirstChildElement(routingActionElement, TAG::acquirePositionAction, childOfRoutingActionElement))
- {
- AcquirePositionAction acquirePositionAction{ScenarioImporterHelper::ImportPosition(childOfRoutingActionElement, parameters)};
- return acquirePositionAction;
- }
- else
- {
- LogErrorAndThrow("Invalid RoutingAction type.");
- }
-}
-
-VisibilityAction ScenarioImporterHelper::ImportVisibilityAction(QDomElement visibilityActionElement, Parameters& parameters)
-{
- VisibilityAction visibilityAction;
- visibilityAction.graphics = ParseAttribute<bool>(visibilityActionElement, ATTRIBUTE::graphics, parameters);
- visibilityAction.traffic = ParseAttribute<bool>(visibilityActionElement, ATTRIBUTE::traffic, parameters);
- visibilityAction.sensors = ParseAttribute<bool>(visibilityActionElement, ATTRIBUTE::sensors, parameters);
-
- return visibilityAction;
-}
-
-QDomElement ScenarioImporterHelper::GetTrajectoryElementFromCatalog(const std::string& catalogName, const std::string& catalogPath, const std::string& entryName, openScenario::Parameters& parameters)
-{
- std::locale::global(std::locale("C"));
-
- QFile xmlFile(QString::fromStdString(catalogPath)); // automatic object will be closed on destruction
- ThrowIfFalse(xmlFile.open(QIODevice::ReadOnly), "Could not open TrajectoryCatalog (" + catalogName + ")");
-
- QByteArray xmlData(xmlFile.readAll());
- QDomDocument document;
- QString errorMsg;
- int errorLine;
- ThrowIfFalse(document.setContent(xmlData, &errorMsg, &errorLine), "Invalid xml format (" + catalogName + ") in line " + std::to_string(errorLine) + ": " + errorMsg.toStdString());
-
- QDomElement documentRoot = document.documentElement();
- ThrowIfFalse(!documentRoot.isNull(), "TrajectoryCatalog has no document root");
-
- QDomElement catalogElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(documentRoot, TAG::catalog, catalogElement),
- documentRoot, "Tag " + std::string(TAG::catalog) + " is missing.");
-
- QDomElement trajectoryElement;
- ThrowIfFalse(SimulationCommon::GetFirstChildElement(catalogElement, TAG::trajectory, trajectoryElement),
- catalogElement, "Tag " + std::string(TAG::trajectory) + " is missing.");
- while (!trajectoryElement.isNull())
- {
- std::string name = ParseAttribute<std::string>(trajectoryElement, ATTRIBUTE::name, parameters);
- if (name == entryName)
- {
- return trajectoryElement;
- }
- trajectoryElement = trajectoryElement.nextSiblingElement(TAG::trajectory);
- }
-
- LogErrorAndThrow("Entry " + entryName + " not found in TrajectoryCatalog " + catalogName);
-}
-
-RelativeWorldPosition ScenarioImporterHelper::ImportRelativeWorldPosition(const QDomElement &positionElement, Parameters ¶meters)
-{
- RelativeWorldPosition relativeWorldPosition;
-
- relativeWorldPosition.entityRef = ParseAttribute<std::string>(positionElement, ATTRIBUTE::entityRef, parameters);
- relativeWorldPosition.dx = ParseAttribute<double>(positionElement, ATTRIBUTE::dx, parameters);
- relativeWorldPosition.dy = ParseAttribute<double>(positionElement, ATTRIBUTE::dy, parameters);
- relativeWorldPosition.dz = ParseOptionalAttribute<double>(positionElement, ATTRIBUTE::dz, parameters);
-
- QDomElement orientationElement;
- if (SimulationCommon::GetFirstChildElement(positionElement, TAG::orientation, orientationElement))
- {
- relativeWorldPosition.orientation = ImportOrientation(orientationElement, parameters);
- }
-
- return relativeWorldPosition;
-}
-
-RelativeObjectPosition ScenarioImporterHelper::ImportRelativeObjectPosition(const QDomElement &positionElement, Parameters ¶meters)
-{
- RelativeObjectPosition relativeObjectPosition;
-
- relativeObjectPosition.entityRef = ParseAttribute<std::string>(positionElement, ATTRIBUTE::entityRef, parameters);
- relativeObjectPosition.dx = ParseAttribute<double>(positionElement, ATTRIBUTE::dx, parameters);
- relativeObjectPosition.dy = ParseAttribute<double>(positionElement, ATTRIBUTE::dy, parameters);
- relativeObjectPosition.dz = ParseOptionalAttribute<double>(positionElement, ATTRIBUTE::dz, parameters);
-
- QDomElement orientationElement;
- if (SimulationCommon::GetFirstChildElement(positionElement, TAG::orientation, orientationElement))
- {
- relativeObjectPosition.orientation = ImportOrientation(orientationElement, parameters);
- }
-
- return relativeObjectPosition;
-}
-
-} // namespace openScenario
diff --git a/sim/src/core/opSimulation/importer/scenarioImporterHelper.h b/sim/src/core/opSimulation/importer/scenarioImporterHelper.h
deleted file mode 100644
index 2549c0bddd6c10f922377da4d0297692f547c9a6..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/importer/scenarioImporterHelper.h
+++ /dev/null
@@ -1,239 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-//-----------------------------------------------------------------------------
-//! @file ScenarioImporterHelper.h
-//! @brief This file contains the helper class of the scenario importer.
-//-----------------------------------------------------------------------------
-
-#pragma once
-
-#include <string>
-#include <QDomDocument>
-#include "include/scenarioInterface.h"
-#include "modelElements/parameters.h"
-#include "common/openScenarioDefinitions.h"
-#include "oscImporterCommon.h"
-
-namespace openScenario
-{
-
-class ScenarioImporterHelper
-{
-public:
- /*!
- * \brief Import an openscenario Position Element
- *
- * @param[in] root Root of the xml Element
- * @param[in] parameters Parametersset for openScenario parameter references
- *
- * return Position
- */
- static Position ImportPosition(QDomElement root, Parameters& parameters);
-
- /*!
- * \brief Import an openscenario GlobalAction Element
- *
- * @param[in] globalActionElement GlobalAction xml Element
- * @param[in] parameters Parametersset for openScenario parameter references
- *
- * return GlobalAction
- */
- static GlobalAction ImportGlobalAction(QDomElement globalActionElement, Parameters& parameters);
-
- /*!
- * \brief Import an openscenario PrivateAction Element
- *
- * @param[in] privateActionElement PrivatAction xml Element
- * @param[in] parameters Parametersset for openScenario parameter references
- * @param[in] catalogPath Catalogpath used by some sub functions
- *
- * return PrivateAction
- */
- static PrivateAction ImportPrivateAction(QDomElement privateActionElement, Parameters& parameters, const std::string catalogPath = "");
-
- /*!
- * \brief Import an openscenario UserDefinedAction Element
- *
- * @param[in] userDefinedActionElement Root of the xml Element
- * @param[in] parameters Parametersset for openScenario parameter references
- *
- * return UserDefinedAction
- */
- static UserDefinedAction ImportUserDefinedAction(QDomElement userDefinedActionElement);
-
-private:
- /*!
- * \brief Import an openscenario Orientation Element
- *
- * @param[in] orientationElement Orientation xml Element
- * @param[in] parameters Parametersset for openScenario parameter references
- *
- * return Orientation
- */
- static Orientation ImportOrientation(QDomElement& orientationElement, Parameters& parameters);
-
- /*!
- * \brief Import an openscenario LanePosition Element
- *
- * @param[in] positionElement Position xml Element
- * @param[in] parameters Parametersset for openScenario parameter references
- *
- * return LanePosition
- */
- static LanePosition ImportLanePosition(QDomElement positionElement, Parameters& parameters);
-
- /*!
- * \brief Import an openscenario RelativeLanePosition Element
- *
- * @param[in] positionElement Position xml Element
- * @param[in] parameters Parametersset for openScenario parameter references
- *
- * return RelativeLanePosition
- */
- static RelativeLanePosition ImportRelativeLanePosition(QDomElement positionElement, Parameters& parameters);
-
- /*!
- * \brief Import an openscenario RoadPosition Element
- *
- * @param[in] positionElement Position xml Element
- * @param[in] parameters Parametersset for openScenario parameter references
- *
- * return RoadPosition
- */
- static RoadPosition ImportRoadPosition(QDomElement positionElement, Parameters& parameters);
-
- /*!
- * \brief Import an openscenario WorldPosition Element
- *
- * @param[in] positionElement Position xml Element
- * @param[in] parameters Parametersset for openScenario parameter references
- *
- * return WorldPosition
- */
- static WorldPosition ImportWorldPosition(QDomElement positionElement, Parameters& parameters);
-
- /*!
- * \brief Import an openscenario RelativeWorldPosition Element
- *
- * @param[in] positionElement Position xml Element
- * @param[in] parameters Parametersset for openScenario parameter references
- *
- * return RelativeWorldPosition
- */
- static RelativeWorldPosition ImportRelativeWorldPosition(const QDomElement& positionElement, Parameters& parameters);
-
- /*!
- * \brief Import an openscenario RelativeObjectPosition Element
- *
- * @param[in] positionElement Position xml Element
- * @param[in] parameters Parametersset for openScenario parameter references
- *
- * return RelativeObjectPosition
- */
- static RelativeObjectPosition ImportRelativeObjectPosition(const QDomElement& positionElement, Parameters& parameters);
-
- /*!
- * \brief Import an openPASS custom Stochastic Element
- *
- * @param[in] stochasticsElement Stochastics xml Element
- * @param[in] parameters Parametersset for openScenario parameter references
- *
- * return attributeName, Stochastic
- */
- static std::pair<std::string, StochasticAttribute> ImportStochastics(QDomElement& stochasticsElement, Parameters& parameters);
-
- /*!
- * \brief Import an openscenario EntityAction Element
- *
- * @param[in] entityActionElement EntityAction xml Element
- * @param[in] parameters Parametersset for openScenario parameter references
- *
- * return EntityAction
- */
- static EntityAction ImportEntityAction(QDomElement entityActionElement, Parameters& parameters);
-
- /*!
- * \brief Import an openscenario EnvironmentAction Element
- *
- * @param[in] environmentActionElement EnvironmentAction xml Element
- * @param[in] parameters Parametersset for openScenario parameter references
- *
- * return EnvironmentAction
- */
- static EnvironmentAction ImportEnvironmentAction(QDomElement environmentActionElement, Parameters& parameters);
-
- /*!
- * \brief Import an openscenario LateralAction Element
- *
- * @param[in] lateralActionElement LateralAction xml Element
- * @param[in] parameters Parametersset for openScenario parameter references
- *
- * return LateralAction
- */
- static LateralAction ImportLateralAction(QDomElement lateralActionElement, Parameters& parameters);
-
- /*!
- * \brief Import an openscenario LongitudinalAction Element
- *
- * @param[in] longitudinalActionElement LongitudinalAction xml Element
- * @param[in] parameters Parametersset for openScenario parameter references
- *
- * return LongitudinalAction
- */
- static LongitudinalAction ImportLongitudinalAction(QDomElement longitudinalActionElement, Parameters& parameters);
-
- /*!
- * \brief Import an openscenario TeleportAction Element
- *
- * @param[in] teleportActionElement TeleportAction xml Element
- * @param[in] parameters Parametersset for openScenario parameter references
- *
- * return TeleportAction
- */
- static TeleportAction ImportTeleportAction(QDomElement teleportActionElement, Parameters& parameters);
-
- /*!
- * \brief Import an openscenario RoutingAction Element
- *
- * @param[in] routingActionElement RoutingAction xml Element
- * @param[in] parameters Parametersset for openScenario parameter references
- * @param[in] catalogPath CatalogPath
- *
- * return RoutingAction
- */
- static RoutingAction ImportRoutingAction(QDomElement routingActionElement, Parameters& parameters, const std::string catalogPath);
-
- /*!
- * \brief Import an openscenario VisibilityAction Element
- *
- * @param[in] visbilityActionElement VisibilityAction xml Element
- * @param[in] parameters Parametersset for openScenario parameter references
- *
- * return VisibilityAction
- */
- static VisibilityAction ImportVisibilityAction(QDomElement visibilityActionElement, Parameters& parameters);
-
- /*!
- * \brief Gets the Trajectory xml Element from a specified catalog
- *
- * @param[in] catalogName Name of the catalog
- * @param[in] catalogPath Path of the catalog
- * @param[in] entryName Name of the catalog entry
- * @param[in] parameters Parametersset for openScenario parameter references
- *
- * return TrajectoryElement
- */
- static QDomElement GetTrajectoryElementFromCatalog(const std::string& catalogName,
- const std::string& catalogPath,
- const std::string& entryName,
- openScenario::Parameters& parameters);
-};
-} // namespace openScenario
diff --git a/sim/src/core/opSimulation/importer/sceneryDynamics.cpp b/sim/src/core/opSimulation/importer/sceneryDynamics.cpp
deleted file mode 100644
index a5daffc091f568cf36fa665cf463753bd41961bf..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/importer/sceneryDynamics.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
- *
- * This program and the accompanying materials are made available under the
- * terms of the Eclipse Public License 2.0 which is available at
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-#include "sceneryDynamics.h"
-
-SceneryDynamics::SceneryDynamics()
-{
-}
-
-openScenario::EnvironmentAction SceneryDynamics::GetEnvironment() const
-{
- return environment;
-}
-
-void SceneryDynamics::SetEnvironment(const openScenario::EnvironmentAction &environment)
-{
- this->environment = environment;
-}
-
-std::vector<openScenario::TrafficSignalController> SceneryDynamics::GetTrafficSignalControllers() const
-{
- return trafficSignalControllers;
-}
-
-void SceneryDynamics::AddTrafficSignalController(const openScenario::TrafficSignalController &controller)
-{
- trafficSignalControllers.push_back(controller);
-}
diff --git a/sim/src/core/opSimulation/importer/sceneryDynamics.h b/sim/src/core/opSimulation/importer/sceneryDynamics.h
deleted file mode 100644
index ecac15270bc9f132f5fb486843b061b5a7e27ca8..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/importer/sceneryDynamics.h
+++ /dev/null
@@ -1,37 +0,0 @@
-/********************************************************************************
- * 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#pragma once
-
-#include "include/sceneryDynamicsInterface.h"
-#include "common/opExport.h"
-
-class SIMULATIONCOREEXPORT SceneryDynamics : public SceneryDynamicsInterface
-{
-public:
- SceneryDynamics();
- virtual ~SceneryDynamics() = default;
-
- openScenario::EnvironmentAction GetEnvironment() const override;
-
- //! Sets the environment from the scenario
- void SetEnvironment(const openScenario::EnvironmentAction& environment);
-
- std::vector<openScenario::TrafficSignalController> GetTrafficSignalControllers() const override;
-
- //! Adds a new controller to the list of traffic signal controllers
- //!
- //! \param controller controller to add
- void AddTrafficSignalController(const openScenario::TrafficSignalController &controller);
-
-private:
- openScenario::EnvironmentAction environment;
- std::vector<openScenario::TrafficSignalController> trafficSignalControllers;
-};
diff --git a/sim/src/core/opSimulation/importer/sceneryImporter.cpp b/sim/src/core/opSimulation/importer/sceneryImporter.cpp
index be7eb27c6fcedb6cb718ba4b0d15a0e77d603457..c6bca03d2cb82cf642cfc4fdf05c660b6df255d5 100644
--- a/sim/src/core/opSimulation/importer/sceneryImporter.cpp
+++ b/sim/src/core/opSimulation/importer/sceneryImporter.cpp
@@ -144,7 +144,12 @@ void SceneryImporter::ParseLanes(QDomElement& rootElement,
{
while (!widthOrBorderElement.isNull())
{
- double sOffset, a, b, c, d;
+ units::length::meter_t sOffset;
+ units::length::meter_t a;
+ double b;
+ units::unit_t<units::inverse<units::length::meter>> c;
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> d;
+
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(widthOrBorderElement, ATTRIBUTE::sOffset, sOffset),
widthOrBorderElement, "Attribute " + std::string(ATTRIBUTE::sOffset) + " is missing.");
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(widthOrBorderElement, ATTRIBUTE::a, a),
@@ -169,7 +174,12 @@ void SceneryImporter::ParseLanes(QDomElement& rootElement,
{
while (!widthOrBorderElement.isNull())
{
- double sOffset, a, b, c, d;
+ units::length::meter_t sOffset;
+ units::length::meter_t a;
+ double b;
+ units::unit_t<units::inverse<units::length::meter>> c;
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> d;
+
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(widthOrBorderElement, ATTRIBUTE::sOffset, sOffset),
widthOrBorderElement, "Attribute " + std::string(ATTRIBUTE::sOffset) + " is missing.");
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(widthOrBorderElement, ATTRIBUTE::a, a),
@@ -238,8 +248,9 @@ void SceneryImporter::ParseLaneRoadMark(std::string leftCenterRight, QDomElement
while (!roadLaneRoadMarkElement.isNull())
{
- double roadLaneSOffset;
- ThrowIfFalse(SimulationCommon::ParseAttributeDouble(roadLaneRoadMarkElement, ATTRIBUTE::sOffset, roadLaneSOffset, 0.0),
+ units::length::meter_t roadLaneSOffset;
+
+ ThrowIfFalse(SimulationCommon::ParseAttributeDouble(roadLaneRoadMarkElement, ATTRIBUTE::sOffset, roadLaneSOffset, {0.0_m}),
roadLaneRoadMarkElement, "Attribute " + std::string(ATTRIBUTE::sOffset) + " is missing.");
std::string roadMarkTypeStr;
@@ -350,27 +361,27 @@ void SceneryImporter::ParseGeometries(QDomElement& roadElement,
roadPlanView, "Tag " + std::string(TAG::geometry) + " is missing.");
while (!roadGeometryHeaderElement.isNull())
{
- double roadGeometryS;
+ units::length::meter_t roadGeometryS;
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(roadGeometryHeaderElement, ATTRIBUTE::s, roadGeometryS),
roadGeometryHeaderElement, "Attribute " + std::string(ATTRIBUTE::s) + " is missing.");
roadGeometryS = CommonHelper::roundDoubleWithDecimals(roadGeometryS, 3);
- double roadGeometryX;
+ units::length::meter_t roadGeometryX;
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(roadGeometryHeaderElement, ATTRIBUTE::x, roadGeometryX),
roadGeometryHeaderElement, "Attribute " + std::string(ATTRIBUTE::x) + " is missing.");
roadGeometryX = CommonHelper::roundDoubleWithDecimals(roadGeometryX, 3);
- double roadGeometryY;
+ units::length::meter_t roadGeometryY;
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(roadGeometryHeaderElement, ATTRIBUTE::y, roadGeometryY),
roadGeometryHeaderElement, "Attribute " + std::string(ATTRIBUTE::y) + " is missing.");
roadGeometryY = CommonHelper::roundDoubleWithDecimals(roadGeometryY, 3);
- double roadGeometryHdg;
+ units::angle::radian_t roadGeometryHdg;
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(roadGeometryHeaderElement, ATTRIBUTE::hdg, roadGeometryHdg),
roadGeometryHeaderElement, "Attribute " + std::string(ATTRIBUTE::hdg) + " is missing.");
roadGeometryHdg = CommonHelper::roundDoubleWithDecimals(roadGeometryHdg, 6);
- double roadGeometryLength;
+ units::length::meter_t roadGeometryLength;
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(roadGeometryHeaderElement, ATTRIBUTE::length, roadGeometryLength),
roadGeometryHeaderElement, "Attribute " + std::string(ATTRIBUTE::length) + " is missing.");
roadGeometryLength = CommonHelper::roundDoubleWithDecimals(roadGeometryLength, 3);
@@ -388,7 +399,7 @@ void SceneryImporter::ParseGeometries(QDomElement& roadElement,
}
else if (SimulationCommon::GetFirstChildElement(roadGeometryHeaderElement, TAG::arc, roadGeometryElement))
{
- double roadGeometryCurvature;
+ units::curvature::inverse_meter_t roadGeometryCurvature;
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(roadGeometryElement, ATTRIBUTE::curvature, roadGeometryCurvature),
roadGeometryElement, "Attribute " + std::string(ATTRIBUTE::curvature) + " is missing.");
ThrowIfFalse(road->AddGeometryArc(roadGeometryS,
@@ -402,22 +413,22 @@ void SceneryImporter::ParseGeometries(QDomElement& roadElement,
}
else if (SimulationCommon::GetFirstChildElement(roadGeometryHeaderElement, TAG::spiral, roadGeometryElement))
{
- double roadGeometryCurvStart;
+ units::curvature::inverse_meter_t roadGeometryCurvStart;
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(roadGeometryElement, ATTRIBUTE::curvStart, roadGeometryCurvStart),
roadGeometryElement, "Attribute " + std::string(ATTRIBUTE::curvStart) + " is missing.");
- double roadGeometryCurvEnd;
+ units::curvature::inverse_meter_t roadGeometryCurvEnd;
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(roadGeometryElement, ATTRIBUTE::curvEnd, roadGeometryCurvEnd),
roadGeometryElement, "Attribute " + std::string(ATTRIBUTE::curvEnd) + " is missing.");
- if (roadGeometryCurvStart < 1e-7 && roadGeometryCurvStart > -1e-7)
+ if (roadGeometryCurvStart < 1e-7_i_m && roadGeometryCurvStart > -1e-7_i_m)
{
- roadGeometryCurvStart = 0;
+ roadGeometryCurvStart = 0_i_m;
}
- if (roadGeometryCurvEnd < 1e-7 && roadGeometryCurvEnd > -1e-7)
+ if (roadGeometryCurvEnd < 1e-7_i_m && roadGeometryCurvEnd > -1e-7_i_m)
{
- roadGeometryCurvEnd = 0;
+ roadGeometryCurvEnd = 0_i_m;
}
ThrowIfFalse(road->AddGeometrySpiral(roadGeometryS,
roadGeometryX,
@@ -431,7 +442,7 @@ void SceneryImporter::ParseGeometries(QDomElement& roadElement,
}
else if (SimulationCommon::GetFirstChildElement(roadGeometryHeaderElement, TAG::poly3, roadGeometryElement))
{
- double roadGeometryA;
+ units::length::meter_t roadGeometryA;
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(roadGeometryElement, ATTRIBUTE::a, roadGeometryA),
roadGeometryElement, "Attribute " + std::string(ATTRIBUTE::a) + " is missing.");
@@ -439,11 +450,11 @@ void SceneryImporter::ParseGeometries(QDomElement& roadElement,
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(roadGeometryElement, ATTRIBUTE::b, roadGeometryB),
roadGeometryElement, "Attribute " + std::string(ATTRIBUTE::b) + " is missing.");
- double roadGeometryC;
+ units::unit_t<units::inverse<units::length::meter>> roadGeometryC;
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(roadGeometryElement, ATTRIBUTE::c, roadGeometryC),
roadGeometryElement, "Attribute " + std::string(ATTRIBUTE::c) + " is missing.");
- double roadGeometryD;
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> roadGeometryD;
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(roadGeometryElement, ATTRIBUTE::d, roadGeometryD),
roadGeometryElement, "Attribute " + std::string(ATTRIBUTE::d) + " is missing.");
ThrowIfFalse(road->AddGeometryPoly3(roadGeometryS,
@@ -460,35 +471,35 @@ void SceneryImporter::ParseGeometries(QDomElement& roadElement,
}
else if (SimulationCommon::GetFirstChildElement(roadGeometryHeaderElement, TAG::paramPoly3, roadGeometryElement))
{
- double roadGeometryaU;
+ units::length::meter_t roadGeometryaU;
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(roadGeometryElement, ATTRIBUTE::aU, roadGeometryaU),
roadGeometryElement, "Attribute " + std::string(ATTRIBUTE::aU) + " is missing.");
- double roadGeometrybU;
+ units::dimensionless::scalar_t roadGeometrybU;
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(roadGeometryElement, ATTRIBUTE::bU, roadGeometrybU),
roadGeometryElement, "Attribute " + std::string(ATTRIBUTE::bU) + " is missing.");
- double roadGeometrycU;
+ units::curvature::inverse_meter_t roadGeometrycU;
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(roadGeometryElement, ATTRIBUTE::cU, roadGeometrycU),
roadGeometryElement, "Attribute " + std::string(ATTRIBUTE::cU) + " is missing.");
- double roadGeometrydU;
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> roadGeometrydU;
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(roadGeometryElement, ATTRIBUTE::dU, roadGeometrydU),
roadGeometryElement, "Attribute " + std::string(ATTRIBUTE::dU) + " is missing.");
- double roadGeometryaV;
+ units::length::meter_t roadGeometryaV;
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(roadGeometryElement, ATTRIBUTE::aV, roadGeometryaV),
roadGeometryElement, "Attribute " + std::string(ATTRIBUTE::aV) + " is missing.");
- double roadGeometrybV;
+ units::dimensionless::scalar_t roadGeometrybV;
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(roadGeometryElement, ATTRIBUTE::bV, roadGeometrybV),
roadGeometryElement, "Attribute " + std::string(ATTRIBUTE::bV) + " is missing.");
- double roadGeometrycV;
+ units::curvature::inverse_meter_t roadGeometrycV;
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(roadGeometryElement, ATTRIBUTE::cV, roadGeometrycV),
roadGeometryElement, "Attribute " + std::string(ATTRIBUTE::cV) + " is missing.");
- double roadGeometrydV;
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> roadGeometrydV;
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(roadGeometryElement, ATTRIBUTE::dV, roadGeometrydV),
roadGeometryElement, "Attribute " + std::string(ATTRIBUTE::dV) + " is missing.");
@@ -529,7 +540,11 @@ void SceneryImporter::ParseElevationProfile(QDomElement& roadElement,
{
while (!elevationElement.isNull())
{
- double elevationS, elevationA, elevationB, elevationC, elevationD;
+ units::length::meter_t elevationS;
+ units::length::meter_t elevationA;
+ double elevationB;
+ units::unit_t<units::inverse<units::length::meter>> elevationC;
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> elevationD;
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(elevationElement, ATTRIBUTE::s, elevationS),
elevationElement, "Attribute " + std::string(ATTRIBUTE::s) + " is missing.");
@@ -644,11 +659,11 @@ void SceneryImporter::ParseRoadLinks(QDomElement& roadElement,
void SceneryImporter::checkRoadSignalBoundaries(RoadSignalSpecification signal)
{
- ThrowIfFalse((signal.s >= 0 &&
+ ThrowIfFalse((signal.s >= 0_m &&
(signal.dynamic == "yes" || signal.dynamic == "no") &&
(signal.orientation == "+" || signal.orientation == "-" || signal.orientation == "none") &&
- signal.height >= 0 &&
- signal.width >= 0),
+ signal.height >= 0_m &&
+ signal.width >= 0_m),
"Invalid road signal boundaries.");
}
@@ -776,7 +791,7 @@ void SceneryImporter::ParseObject(QDomElement& objectElement, RoadInterface* roa
ThrowIfFalse(object.checkStandardCompliance(), objectElement,
"limits of object are not valid for openDrive standard");
- if (object.radius > 0)
+ if (object.radius > 0_m)
{
ConvertRadius(object);
}
@@ -797,7 +812,7 @@ void SceneryImporter::ConvertRadius(RoadObjectSpecification& object)
{
object.width = 2.0 * object.radius;
object.length = 2.0 * object.radius;
- object.radius = 0.0;
+ object.radius = 0.0_m;
}
void SceneryImporter::AddParsedObjectsToRoad(std::vector<RoadObjectSpecification> parsedObjects, RoadInterface* road)
@@ -872,7 +887,7 @@ void SceneryImporter::ParseRepeat(QDomElement& repeatElement, RoadObjectSpecific
void SceneryImporter::ApplyRepeat(ObjectRepeat repeat, RoadObjectSpecification object,
std::vector<RoadObjectSpecification>& objectRepitions)
{
- const auto isRepeating = (repeat.distance == 0);
+ const auto isRepeating = (repeat.distance == 0_m);
if (isRepeating)
{
@@ -880,7 +895,7 @@ void SceneryImporter::ApplyRepeat(ObjectRepeat repeat, RoadObjectSpecification o
}
size_t objectCount = isRepeating ? 1 : size_t(repeat.length / repeat.distance);
- std::vector<double> interpolatedT, interpolatedHeight, interpolatedWidth, interpolatedZOffset;
+ std::vector<units::length::meter_t> interpolatedT, interpolatedHeight, interpolatedWidth, interpolatedZOffset;
if (repeat.t.isSet) { interpolatedT = CommonHelper::InterpolateLinear(repeat.t.start, repeat.t.end, objectCount); }
if (repeat.height.isSet) { interpolatedHeight = CommonHelper::InterpolateLinear(repeat.height.start, repeat.height.end, objectCount); }
@@ -896,7 +911,7 @@ void SceneryImporter::ApplyRepeat(ObjectRepeat repeat, RoadObjectSpecification o
if (repeat.height.isSet) { repeatingObject.height = interpolatedHeight.at(i); }
if (repeat.width.isSet) { repeatingObject.width = interpolatedWidth.at(i); }
if (repeat.zOffset.isSet) { repeatingObject.zOffset = interpolatedZOffset.at(i); }
- repeatingObject.continuous = (repeat.distance == 0);
+ repeatingObject.continuous = (repeat.distance == 0_m);
ThrowIfFalse(repeatingObject.checkStandardCompliance(), "Standard compliance invalid.");
@@ -990,20 +1005,24 @@ void SceneryImporter::ParseRoadLanes(QDomElement& roadElement,
{
while (!laneOffsetElement.isNull())
{
- double laneOffsetS, laneOffsetA, laneOffsetB, laneOffsetC, laneOffsetD;
- ThrowIfFalse(SimulationCommon::ParseAttributeDouble(laneOffsetElement, ATTRIBUTE::s, laneOffsetS, 0.0),
+ units::length::meter_t laneOffsetS;
+ units::length::meter_t laneOffsetA;
+ double laneOffsetB;
+ units::unit_t<units::inverse<units::length::meter>> laneOffsetC;
+ units::unit_t<units::inverse<units::squared<units::length::meter>>> laneOffsetD;
+ ThrowIfFalse(SimulationCommon::ParseAttributeDouble(laneOffsetElement, ATTRIBUTE::s, laneOffsetS, {0.0_m}),
laneOffsetElement, "Attribute " + std::string(ATTRIBUTE::s) + " is missing.");
- ThrowIfFalse(SimulationCommon::ParseAttributeDouble(laneOffsetElement, ATTRIBUTE::a, laneOffsetA, 0.0),
+ ThrowIfFalse(SimulationCommon::ParseAttributeDouble(laneOffsetElement, ATTRIBUTE::a, laneOffsetA, {0.0_m}),
laneOffsetElement, "Attribute " + std::string(ATTRIBUTE::a) + " is missing.");
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(laneOffsetElement, ATTRIBUTE::b, laneOffsetB, 0.0),
laneOffsetElement, "Attribute " + std::string(ATTRIBUTE::b) + " is missing.");
- ThrowIfFalse(SimulationCommon::ParseAttributeDouble(laneOffsetElement, ATTRIBUTE::c, laneOffsetC, 0.0),
+ ThrowIfFalse(SimulationCommon::ParseAttributeDouble(laneOffsetElement, ATTRIBUTE::c, laneOffsetC, {units::unit_t<units::inverse<units::length::meter>>(0.0)}),
laneOffsetElement, "Attribute " + std::string(ATTRIBUTE::c) + " is missing.");
- ThrowIfFalse(SimulationCommon::ParseAttributeDouble(laneOffsetElement, ATTRIBUTE::d, laneOffsetD, 0.0),
+ ThrowIfFalse(SimulationCommon::ParseAttributeDouble(laneOffsetElement, ATTRIBUTE::d, laneOffsetD, {units::unit_t<units::inverse<units::squared<units::length::meter>>>(0.0)}),
laneOffsetElement, "Attribute " + std::string(ATTRIBUTE::d) + " is missing.");
road->AddLaneOffset(laneOffsetS,
@@ -1022,7 +1041,7 @@ void SceneryImporter::ParseRoadLanes(QDomElement& roadElement,
roadLanesElement, "Tag " + std::string(TAG::laneSection) + " is missing.");
while (!roadLaneSectionElement.isNull())
{
- double roadLaneSectionStart;
+ units::length::meter_t roadLaneSectionStart;
ThrowIfFalse(SimulationCommon::ParseAttributeDouble(roadLaneSectionElement, ATTRIBUTE::s, roadLaneSectionStart),
roadLaneSectionElement, "Attribute " + std::string(ATTRIBUTE::s) + " is missing.");
diff --git a/sim/src/core/opSimulation/importer/sceneryImporter.h b/sim/src/core/opSimulation/importer/sceneryImporter.h
index 1ef2dafcf271afc4090210f416b208fac3fb6ddc..c22f8610f0a65306943c27ac095661ad02dbcd96 100644
--- a/sim/src/core/opSimulation/importer/sceneryImporter.h
+++ b/sim/src/core/opSimulation/importer/sceneryImporter.h
@@ -18,7 +18,7 @@
#include <map>
#include <list>
-#include <QDomDocument>
+#include <QtXml/QDomDocument>
#include "scenery.h"
#include "include/roadInterface/junctionInterface.h"
#include "include/roadInterface/connectionInterface.h"
diff --git a/sim/src/core/opSimulation/importer/simulationConfigImporter.cpp b/sim/src/core/opSimulation/importer/simulationConfigImporter.cpp
index ba10a8d39fcd1872e8054cdfd2eff42bcc3e1c13..57ce2b1c4a20697f43c8c3b68398b1c03efe0aba 100644
--- a/sim/src/core/opSimulation/importer/simulationConfigImporter.cpp
+++ b/sim/src/core/opSimulation/importer/simulationConfigImporter.cpp
@@ -138,8 +138,7 @@ void SimulationConfigImporter::ImportSpawners(const QDomElement &spawnersElement
Configuration::SimulationConfig& simulationConfig)
{
QDomElement spawnPointElement;
- ThrowIfFalse(GetFirstChildElement(spawnersElement, TAG::spawner, spawnPointElement),
- spawnersElement, "Tag " + std::string(TAG::spawner) + " is missing.");
+ GetFirstChildElement(spawnersElement, TAG::spawner, spawnPointElement);
while (!spawnPointElement.isNull())
{
diff --git a/sim/src/core/opSimulation/importer/vehicleModels.cpp b/sim/src/core/opSimulation/importer/vehicleModels.cpp
index d9b9b6441992d78265321f2bcd963bf4cb4178bc..75e8565a9a2163bfc0e4b3c5aa3378d25e9b5b95 100644
--- a/sim/src/core/opSimulation/importer/vehicleModels.cpp
+++ b/sim/src/core/opSimulation/importer/vehicleModels.cpp
@@ -21,24 +21,19 @@ VehicleModels::~VehicleModels()
{
}
-const VehicleModelMap &VehicleModels::GetVehicleModelMap() const
-{
- return vehicleModelMap;
-}
-
-void VehicleModels::AddVehicleModel(const std::string& name, const ParametrizedVehicleModelParameters& vehicleModel)
+void VehicleModels::AddVehicleModel(const std::string& name, mantle_api::VehicleProperties vehicleModel)
{
vehicleModelMap.insert({name, vehicleModel});
}
-VehicleModelParameters VehicleModels::GetVehicleModel(std::string vehicleModelType, const openScenario::Parameters& parameters) const
+mantle_api::VehicleProperties VehicleModels::GetVehicleModel(std::string vehicleModelType) const
{
auto find_result = vehicleModelMap.find(vehicleModelType);
if (find_result == vehicleModelMap.cend())
{
throw std::runtime_error("No VehicleModel with name \"" + vehicleModelType + "\" defined in VehicleCatalog and PedestrianCatalog");
}
- return find_result->second.Get(parameters);
+ return find_result->second;
}
} //namespace Configuration
diff --git a/sim/src/core/opSimulation/importer/vehicleModels.h b/sim/src/core/opSimulation/importer/vehicleModels.h
index b8aa7f1094cb9167e4b80b31b1b4c18194fce0ca..75b3d82393bd12c677d2acf2c9585e52c83fab6d 100644
--- a/sim/src/core/opSimulation/importer/vehicleModels.h
+++ b/sim/src/core/opSimulation/importer/vehicleModels.h
@@ -23,9 +23,9 @@ public:
VehicleModels();
~VehicleModels();
- const VehicleModelMap& GetVehicleModelMap() const;
- void AddVehicleModel(const std::string& name, const ParametrizedVehicleModelParameters& vehicleModel);
- VehicleModelParameters GetVehicleModel(std::string vehicleModelType, const openScenario::Parameters& parameters = {}) const;
+ void AddVehicleModel(const std::string& name, mantle_api::VehicleProperties vehicleModel);
+
+ mantle_api::VehicleProperties GetVehicleModel(std::string vehicleModelType) const;
private:
VehicleModelMap vehicleModelMap;
diff --git a/sim/src/core/opSimulation/importer/vehicleModelsImporter.cpp b/sim/src/core/opSimulation/importer/vehicleModelsImporter.cpp
index 345189b139530dbc9fccfc77bac33d17dddcd320..63d13be47591579f7db3ddaee44d622585c187ed 100644
--- a/sim/src/core/opSimulation/importer/vehicleModelsImporter.cpp
+++ b/sim/src/core/opSimulation/importer/vehicleModelsImporter.cpp
@@ -1,6 +1,7 @@
/********************************************************************************
* Copyright (c) 2020 HLRS, University of Stuttgart
* 2017-2020 in-tech GmbH
+ * 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -104,9 +105,9 @@ void VehicleModelsImporter::ImportCatalog(const std::string& catalogPath, QDomEl
void VehicleModelsImporter::CheckModelParameters(const ParametrizedVehicleModelParameters& model)
{
- 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.bounding_box.dimension.length.defaultValue > 0, "Length must be positive");
+ ThrowIfFalse(model.bounding_box.dimension.width.defaultValue > 0, "Width must be positive");
+ ThrowIfFalse(model.bounding_box.dimension.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");
}
@@ -134,18 +135,18 @@ void VehicleModelsImporter::ImportVehicleModelAxles(QDomElement& vehicleElement,
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);
+ axleParameters.wheelDiameter = units::length::meter_t(ParseParametrizedAttribute<double>(axleElement, ATTRIBUTE::wheelDiameter, parameters));
+ axleParameters.positionX = units::length::meter_t(ParseParametrizedAttribute<double>(axleElement, ATTRIBUTE::positionX, parameters));
+ axleParameters.positionZ = units::length::meter_t(ParseParametrizedAttribute<double>(axleElement, ATTRIBUTE::positionZ, parameters));
+ axleParameters.trackWidth = units::length::meter_t(ParseParametrizedAttribute<double>(axleElement, ATTRIBUTE::trackWidth, parameters));
+ axleParameters.maxSteering = units::length::meter_t(ParseParametrizedAttribute<double>(axleElement, ATTRIBUTE::maxSteering, parameters));
}
void VehicleModelsImporter::ValidateAxles(const ParametrizedVehicleModelParameters::Axle& frontAxle, const ParametrizedVehicleModelParameters::Axle& rearAxle)
{
- ThrowIfFalse(rearAxle.positionX.defaultValue == 0.0, "Reference point not on rear axle.");
+ ThrowIfFalse(rear_axle.bb_center_to_axle_center.x.defaultValue == 0.0, "Reference point not on rear axle.");
- if (rearAxle.positionX.defaultValue > frontAxle.positionX.defaultValue)
+ if (rear_axle.bb_center_to_axle_center.x.defaultValue > front_axle.bb_center_to_axle_center.x.defaultValue)
{
LOG_INTERN(LogLevel::Warning) << "Front axle is located behind rear axle.";
}
@@ -175,16 +176,16 @@ void VehicleModelsImporter::ImportModelBoundingBox(QDomElement& modelElement, Pa
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);
+ modelParameters.bounding_box.dimension.width = ParseParametrizedAttribute<double>(boundingBoxDimensionElement, ATTRIBUTE::width, parameters);
+ modelParameters.bounding_box.dimension.length = ParseParametrizedAttribute<double>(boundingBoxDimensionElement, ATTRIBUTE::length, parameters);
+ modelParameters.bounding_box.dimension.height = ParseParametrizedAttribute<double>(boundingBoxDimensionElement, ATTRIBUTE::height, parameters);
if (modelParameters.boundingBoxCenter.y.defaultValue != 0.0)
{
LOG_INTERN(LogLevel::Warning) << "Model bounding box center y-coordinate != 0.0";
}
- if (std::abs(modelParameters.boundingBoxCenter.z.defaultValue - modelParameters.boundingBoxDimensions.height.defaultValue / 2.0) > 1e-6)
+ if (std::abs(modelParameters.boundingBoxCenter.z.defaultValue - modelParameters.bounding_box.dimension.height.defaultValue / 2.0) > 1e-6)
{
LOG_INTERN(LogLevel::Warning) << "Model bounding box center z-coordinate is not half height";
}
@@ -223,12 +224,15 @@ void VehicleModelsImporter::ImportVehicleModel(QDomElement& vehicleElement, Conf
ThrowIfFalse(vehicleModels.GetVehicleModelMap().find(vehicleModelName.defaultValue) == vehicleModels.GetVehicleModelMap().end(),
vehicleElement, "Vehicle model '" + vehicleModelName.defaultValue + "' already exists");
-
- ThrowIfFalse((modelParameters.vehicleType == AgentVehicleType::Car ||
- modelParameters.vehicleType == AgentVehicleType::Truck ||
+ ThrowIfFalse((modelParameters.vehicleType == mantle_api::VehicleClass::kMedium_car ||
+ modelParameters.vehicleType == mantle_api::VehicleClass::kHeavy_truck ||
modelParameters.vehicleType == AgentVehicleType::Motorbike ||
modelParameters.vehicleType == AgentVehicleType::Bicycle),
- vehicleElement, "VehicleModelCatagory '" + vehicleModelCategory.defaultValue + "' currently not supported");
+ vehicleElement, "VehicleModelCatagory '" + vehicleModelCategory.defaultValue + "' currently not supported");
+
+ ThrowIfFalse(ParseParametrizedAttribute<double>(vehicleElement, ATTRIBUTE::mass, parameters),
+ vehicleElement, "Attribute " + std::string(ATTRIBUTE::mass) + " is missing.");
+ modelParameters.mass = ParseParametrizedAttribute<double>(vehicleElement, ATTRIBUTE::mass, parameters);
modelParameters.properties = ImportProperties(vehicleElement);
@@ -254,16 +258,19 @@ void VehicleModelsImporter::ImportPedestrianModel(QDomElement& pedestrianElement
ThrowIfFalse(vehicleModels.GetVehicleModelMap().find(pedestrianModelName.defaultValue) == vehicleModels.GetVehicleModelMap().end(),
pedestrianElement, "pedestrian model '" + pedestrianModelName.defaultValue + "' already exists");
+ ThrowIfFalse(ParseParametrizedAttribute<double>(pedestrianElement, ATTRIBUTE::mass, parameters),
+ pedestrianElement, "Attribute " + std::string(ATTRIBUTE::mass) + " is missing.");
+ modelParameters.mass = ParseParametrizedAttribute<double>(pedestrianElement, ATTRIBUTE::mass, parameters);
+
modelParameters.properties = ImportProperties(pedestrianElement);
ImportModelBoundingBox(pedestrianElement, modelParameters, parameters);
-
- modelParameters.vehicleType = AgentVehicleType::Pedestrian;
// Currently, AgentAdapter and Dynamics cannot handle pedestrians properly
// setting some required defaults here for now for compatibility with cars
+ modelParameters.vehicleType = mantle_api::VehicleClass::kMedium_car;
modelParameters.rearAxle.wheelDiameter = 1;
- modelParameters.rearAxle.positionX = 0;
- modelParameters.frontAxle.positionX = 1;
+ modelParameters.rear_axle.bb_center_to_axle_center.x = 0;
+ modelParameters.front_axle.bb_center_to_axle_center.x = 1;
vehicleModels.AddVehicleModel(pedestrianModelName.defaultValue, modelParameters);
}
diff --git a/sim/src/core/opSimulation/importer/vehicleModelsImporter.h b/sim/src/core/opSimulation/importer/vehicleModelsImporter.h
index 666b13c6d14ef0a2b76bf7538f1b8be32d91a657..5d799fabbf43dd35accc5b1a63fb851059f3602e 100644
--- a/sim/src/core/opSimulation/importer/vehicleModelsImporter.h
+++ b/sim/src/core/opSimulation/importer/vehicleModelsImporter.h
@@ -23,10 +23,10 @@
namespace Importer {
-const std::unordered_map<std::string, AgentVehicleType> vehicleTypeConversionMap = {{"car", AgentVehicleType::Car},
- {"van", AgentVehicleType::Car},
- {"truck", AgentVehicleType::Truck},
- {"bus", AgentVehicleType::Truck},
+const std::unordered_map<std::string, AgentVehicleType> vehicleTypeConversionMap = {{"car", mantle_api::VehicleClass::kMedium_car},
+ {"van", mantle_api::VehicleClass::kMedium_car},
+ {"truck", mantle_api::VehicleClass::kHeavy_truck},
+ {"bus", mantle_api::VehicleClass::kHeavy_truck},
{"motorbike", AgentVehicleType::Motorbike},
{"bicycle", AgentVehicleType::Bicycle}};
diff --git a/sim/src/core/opSimulation/modelElements/agent.cpp b/sim/src/core/opSimulation/modelElements/agent.cpp
index 2fc1791c91a3eef588e6075f161c4fffeb522f0e..f4184c5592a49bd0c003bb8460e8294d6c9bf73e 100644
--- a/sim/src/core/opSimulation/modelElements/agent.cpp
+++ b/sim/src/core/opSimulation/modelElements/agent.cpp
@@ -16,23 +16,23 @@
#include <map>
#include <vector>
-#include "include/agentBlueprintInterface.h"
-#include "common/log.h"
-#include "modelElements/parameters.h"
#include "agentDataPublisher.h"
#include "agentType.h"
+#include "bindings/modelBinding.h"
#include "channel.h"
+#include "common/log.h"
#include "component.h"
#include "componentType.h"
-#include "bindings/modelBinding.h"
+#include "include/agentBlueprintInterface.h"
+#include "modelElements/parameters.h"
#include "spawnPoint.h"
class DataBufferWriteInterface;
namespace core {
-Agent::Agent(WorldInterface *world, const AgentBlueprintInterface& agentBlueprint) :
- agentInterface(world->CreateAgentAdapter(agentBlueprint)),
+Agent::Agent(WorldInterface *world, const AgentBuildInstructions &agentBuildInstructions) :
+ agentInterface(world->CreateAgentAdapter(agentBuildInstructions)),
id(agentInterface.GetId()),
world(world)
{
@@ -63,15 +63,14 @@ Agent::~Agent()
channels.clear();
}
-bool Agent::Instantiate(const AgentBlueprintInterface& agentBlueprint,
+bool Agent::Instantiate(const AgentBuildInstructions &agentBuildInstructions,
ModelBinding *modelBinding,
StochasticsInterface *stochastics,
ObservationNetworkInterface *observationNetwork,
- EventNetworkInterface *eventNetwork,
DataBufferWriteInterface *dataBuffer)
{
// instantiate channels
- for (int channelId : agentBlueprint.GetAgentType().GetChannels())
+ for (int channelId : agentBuildInstructions.system.agentType->GetChannels())
{
LOG_INTERN(LogLevel::DebugCore) << "- instantiate channel " << channelId;
@@ -94,7 +93,7 @@ bool Agent::Instantiate(const AgentBlueprintInterface& agentBlueprint,
// instantiate components
publisher = std::make_unique<openpass::publisher::AgentDataPublisher>(dataBuffer, id);
- for (const std::pair<const std::string, std::shared_ptr<ComponentType>> &itemComponentType : agentBlueprint.GetAgentType().GetComponents())
+ for (const std::pair<const std::string, std::shared_ptr<ComponentType>> &itemComponentType : agentBuildInstructions.system.agentType->GetComponents())
{
std::string componentName = itemComponentType.first;
std::shared_ptr<ComponentType> componentType = itemComponentType.second;
@@ -107,7 +106,7 @@ bool Agent::Instantiate(const AgentBlueprintInterface& agentBlueprint,
world,
observationNetwork,
this,
- eventNetwork,
+ agentBuildInstructions.controlStrategies,
publisher.get());
if (!component)
{
diff --git a/sim/src/core/opSimulation/modelElements/agent.h b/sim/src/core/opSimulation/modelElements/agent.h
index 07cb80f953a3ffb2c17da683de96e992e68553d4..0a1cd6b5ea922cb92604a5e9ea0edead05b8deb8 100644
--- a/sim/src/core/opSimulation/modelElements/agent.h
+++ b/sim/src/core/opSimulation/modelElements/agent.h
@@ -28,7 +28,6 @@
#include "include/componentInterface.h"
class DataBufferWriteInterface;
-class AgentBlueprintInterface;
namespace core
{
@@ -43,7 +42,7 @@ class SpawnItemParameter;
class Agent
{
public:
- Agent(WorldInterface *world, const AgentBlueprintInterface& agentBlueprint);
+ Agent(WorldInterface *world, const AgentBuildInstructions& agentBuildInstructions);
Agent(const Agent&) = delete;
Agent(Agent&&) = delete;
Agent& operator=(const Agent&) = delete;
@@ -61,11 +60,10 @@ public:
return id;
}
- bool Instantiate(const AgentBlueprintInterface& agentBlueprint,
+ bool Instantiate(const AgentBuildInstructions &agentBuildInstructions,
ModelBinding *modelBinding,
StochasticsInterface *stochastics,
core::ObservationNetworkInterface *observationNetwork,
- EventNetworkInterface *eventNetwork,
DataBufferWriteInterface* dataBuffer);
AgentInterface* GetAgentAdapter() const;
diff --git a/sim/src/core/opSimulation/modelElements/agentBlueprint.cpp b/sim/src/core/opSimulation/modelElements/agentBlueprint.cpp
deleted file mode 100644
index bd89f3f6d872ed3c80a8f596e0056eae9a4ca77e..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modelElements/agentBlueprint.cpp
+++ /dev/null
@@ -1,144 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2016 ITK Engineering GmbH
- * 2017-2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#include "agentBlueprint.h"
-#include <assert.h>
-
-AgentBlueprint::AgentBlueprint()
-{
-}
-
-void AgentBlueprint::SetVehicleComponentProfileNames(VehicleComponentProfileNames vehicleComponentProfileNames)
-{
- this->vehicleComponentProfileNames = vehicleComponentProfileNames;
-}
-
-void AgentBlueprint::SetAgentCategory(AgentCategory agentCategory)
-{
- this->agentCategory = agentCategory;
-}
-
-void AgentBlueprint::SetAgentProfileName(std::string agentTypeName)
-{
- this->agentProfileName = agentTypeName;
-}
-
-void AgentBlueprint::SetVehicleProfileName(std::string vehicleProfileName)
-{
- this->vehicleProfileName = vehicleProfileName;
-}
-
-void AgentBlueprint::SetVehicleModelName(std::string vehicleModelName)
-{
- this->vehicleModelName = vehicleModelName;
-}
-
-void AgentBlueprint::SetVehicleModelParameters(VehicleModelParameters vehicleModelParameters)
-{
- this->vehicleModelParameters = vehicleModelParameters;
-}
-
-void AgentBlueprint::SetDriverProfileName(std::string driverProfileName)
-{
- this->driverProfileName = driverProfileName;
-}
-
-void AgentBlueprint::SetSpawnParameter(SpawnParameter spawnParameter)
-{
- this->spawnParameter = spawnParameter;
-}
-
-void AgentBlueprint::SetSpeedGoalMin(double speedGoalMin)
-{
- this->speedGoalMin = speedGoalMin;
-}
-
-void AgentBlueprint::SetObjectName(std::string objectName)
-{
- this->objectName = objectName;
-}
-
-void AgentBlueprint::AddSensor(openpass::sensors::Parameter parameters)
-{
- sensorParameters.push_back(parameters);
-}
-
-AgentCategory AgentBlueprint::GetAgentCategory() const
-{
- return agentCategory;
-}
-
-std::string AgentBlueprint::GetAgentProfileName() const
-{
- return agentProfileName;
-}
-
-std::string AgentBlueprint::GetVehicleProfileName() const
-{
- return vehicleProfileName;
-}
-
-std::string AgentBlueprint::GetVehicleModelName() const
-{
- return vehicleModelName;
-}
-
-std::string AgentBlueprint::GetObjectName() const
-{
- return objectName;
-}
-
-std::string AgentBlueprint::GetDriverProfileName() const
-{
- return driverProfileName;
-}
-
-VehicleModelParameters AgentBlueprint::GetVehicleModelParameters() const
-{
- return vehicleModelParameters;
-}
-
-openpass::sensors::Parameters AgentBlueprint::GetSensorParameters() const
-{
- return sensorParameters;
-}
-
-VehicleComponentProfileNames AgentBlueprint::GetVehicleComponentProfileNames() const
-{
- return vehicleComponentProfileNames;
-}
-
-void AgentBlueprint::SetAgentType(std::shared_ptr<core::AgentTypeInterface> agentType)
-{
- this->agentType = agentType;
-}
-
-
-core::AgentTypeInterface& AgentBlueprint::GetAgentType() const
-{
- assert(agentType.get());
- return *agentType.get();
-}
-
-SpawnParameter& AgentBlueprint::GetSpawnParameter()
-{
- return spawnParameter;
-}
-
-const SpawnParameter& AgentBlueprint::GetSpawnParameter() const
-{
- return spawnParameter;
-}
-
-double AgentBlueprint::GetSpeedGoalMin() const
-{
- return speedGoalMin;
-}
diff --git a/sim/src/core/opSimulation/modelElements/agentBlueprint.h b/sim/src/core/opSimulation/modelElements/agentBlueprint.h
deleted file mode 100644
index 0ed21c9d4c39a0f9a468e0bc80a0a862ef1d77bf..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modelElements/agentBlueprint.h
+++ /dev/null
@@ -1,224 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2016 ITK Engineering GmbH
- * 2017-2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-//-----------------------------------------------------------------------------
-/** \file AgentBlueprint.h
-* \brief This file stores all information which is necessary to instantiate an agent
-*/
-//-----------------------------------------------------------------------------
-
-#pragma once
-
-#include "agentType.h"
-#include "include/agentBlueprintInterface.h"
-#include "spawnItemParameter.h"
-
-//-----------------------------------------------------------------------------
-/** \brief This class stores all information which is required to instantiate an agent.
-* \details The information stored include physical spawn variable as well as components the agent consists out of.
-*
-*/
-//-----------------------------------------------------------------------------
-class AgentBlueprint : public AgentBlueprintInterface
-{
-public:
- AgentBlueprint();
- virtual ~AgentBlueprint() override = default;
-
- /*!
- * \brief Sets the vehicle component profile names
- *
- * @param[in] vehicleComponentProfileNames
- */
- virtual void SetVehicleComponentProfileNames(VehicleComponentProfileNames vehicleComponentProfileNames) override;
-
- /*!
- * \brief Sets the agent category
- *
- * @param[in] agentCategory
- */
- virtual void SetAgentCategory(AgentCategory agentCategory) override;
-
- /*!
- * \brief Sets the agent profile name
- *
- * @param[in] agentProfileName
- */
- virtual void SetAgentProfileName(std::string agentProfileName) override;
-
- /*!
- * \brief Sets the vehicle profile name
- *
- * @param[in] vehicleProfileName
- */
- virtual void SetVehicleProfileName(std::string vehicleProfileName) override;
-
- /*!
- * \brief Sets the vehicle model name
- *
- * @param[in] vehicleModelName
- */
- virtual void SetVehicleModelName(std::string vehicleModelName) override;
-
- /*!
- * \brief Sets the vehicle model parameter
- *
- * @param[in] vehicleModelParameters
- */
- virtual void SetVehicleModelParameters(VehicleModelParameters vehicleModelParameters) override;
-
- /*!
- * \brief Sets the driver profile name
- *
- * @param[in] driverProfileName
- */
- virtual void SetDriverProfileName(std::string driverProfileName) override;
-
- /*!
- * \brief Sets the spawn parameter
- *
- * @param[in] spawnParameter
- */
- virtual void SetSpawnParameter(SpawnParameter spawnParameter) override;
-
- /*!
- * \brief Sets the minimum speed goal
- *
- * @param[in] speedGoalMin
- */
- virtual void SetSpeedGoalMin(double speedGoalMin) override;
-
- /*!
- * \brief Sets the object name
- *
- * @param[in] objectName
- */
- virtual void SetObjectName(std::string objectName) override;
-
- /*!
- * \brief Adds a sensor to the vehicle model parameters
- *
- * @param[in] name Name of the sensor
- * @param[in] parameters Parameters of the sensor
- */
- virtual void AddSensor(openpass::sensors::Parameter parameters) override;
-
- /*!
- * \brief Returns the agent category
- *
- * @return agentCategory
- */
- virtual AgentCategory GetAgentCategory() const override;
-
- /*!
- * \brief Returns the agent profile name
- *
- * @return agentProfileName
- */
- virtual std::string GetAgentProfileName() const override;
-
- /*!
- * \brief Returns the vehicle profile name
- *
- * @return vehicleProfileName
- */
- virtual std::string GetVehicleProfileName() const override;
-
- /*!
- * \brief Returns the vehicle model name
- *
- * @return vehicleModelName
- */
- virtual std::string GetVehicleModelName() const override;
-
- /*!
- * \brief Returns the driver profile name
- *
- * @return driverProfileName
- */
- virtual std::string GetDriverProfileName() const override;
-
- /*!
- * \brief Returns the object name
- *
- * @return objectName
- */
- virtual std::string GetObjectName() const override;
-
- /*!
- * \brief Returns the vehicle model parameter
- *
- * @return vehicleModelParameters
- */
- virtual VehicleModelParameters GetVehicleModelParameters() const override;
-
- /*!
- * \brief Returns the sensor parameter
- *
- * @return sensorParameter
- */
- virtual openpass::sensors::Parameters GetSensorParameters() const override;
-
- /*!
- * \brief Returns the vehicle components profile names
- *
- * @return vehicleComponentProfileNames
- */
- virtual VehicleComponentProfileNames GetVehicleComponentProfileNames() const override;
-
- virtual void SetAgentType(std::shared_ptr<core::AgentTypeInterface> agentType) override;
-
- /*!
- * \brief Returns the agent type as pointer
- *
- * @return agentType
- */
- virtual core::AgentTypeInterface& GetAgentType() const override;
-
- /*!
- * \brief Returns the spawn parameter as reference
- *
- * @return spawnParameter
- */
- virtual SpawnParameter& GetSpawnParameter() override;
-
- /*!
- * \brief Returns the spawn parameter as reference
- *
- * @return spawnParameter
- */
- virtual const SpawnParameter& GetSpawnParameter() const override;
-
- /*!
- * \brief Returns the minimum speed goal
- *
- * @return speedGoalMin
- */
- virtual double GetSpeedGoalMin() const override;
-
-private:
- AgentCategory agentCategory {AgentCategory::Common};
- std::string agentProfileName = "";
- std::string vehicleProfileName = "";
- std::string vehicleModelName = "";
- std::string driverProfileName = "";
- std::string objectName = "";
- VehicleComponentProfileNames vehicleComponentProfileNames;
-
- SpawnParameter spawnParameter;
- VehicleModelParameters vehicleModelParameters;
- openpass::sensors::Parameters sensorParameters;
-
- std::shared_ptr<core::AgentTypeInterface> agentType {nullptr};
- double speedGoalMin = 30.0 / 3.6;
-};
-
-
diff --git a/sim/src/core/opSimulation/modelElements/eventDetectorNetwork.cpp b/sim/src/core/opSimulation/modelElements/eventDetectorNetwork.cpp
index 46f48f3abb47c5825fd37f869e8706644ef09de4..9caf64a834225d009bbc151cb0ce02f2783feb2e 100644
--- a/sim/src/core/opSimulation/modelElements/eventDetectorNetwork.cpp
+++ b/sim/src/core/opSimulation/modelElements/eventDetectorNetwork.cpp
@@ -27,21 +27,15 @@ EventDetectorNetwork::~EventDetectorNetwork()
Clear();
}
-bool EventDetectorNetwork::Instantiate(const std::string libraryPath,
- const ScenarioInterface* scenario,
+// TODO CK: Remove EventDetectorNetwork and create a specific CollisiondDetector
+bool EventDetectorNetwork::Instantiate(const std::string& libraryPath,
EventNetworkInterface* eventNetwork,
StochasticsInterface* stochastics)
{
- if (!scenario)
- {
- return false;
- }
-
//Instantiate all detectors
try
{
eventDetectors = eventDetectorBinding->Instantiate(libraryPath,
- scenario,
eventNetwork,
world,
stochastics);
diff --git a/sim/src/core/opSimulation/modelElements/eventDetectorNetwork.h b/sim/src/core/opSimulation/modelElements/eventDetectorNetwork.h
index 8dab891165257f0b2c316b748baeee721014cf42..1afd3e8939a49fd6a89244fc19b901903d0317c5 100644
--- a/sim/src/core/opSimulation/modelElements/eventDetectorNetwork.h
+++ b/sim/src/core/opSimulation/modelElements/eventDetectorNetwork.h
@@ -37,13 +37,11 @@ public:
//! Instantiates the eventdetector network.
//!
//! @param[in] libraryPath Path to the library
- //! @param[in] scenario Scenario
//! @param[in] eventNetwork Interface of the eventNetwork
//! @param[in] stochastics The stochastics object
//! @return true, if successful
//-----------------------------------------------------------------------------
- bool Instantiate(const std::string libraryPath,
- const ScenarioInterface *scenario,
+ bool Instantiate(const std::string& libraryPath,
EventNetworkInterface* eventNetwork,
StochasticsInterface *stochastics);
diff --git a/sim/src/core/opSimulation/modelElements/manipulatorNetwork.cpp b/sim/src/core/opSimulation/modelElements/manipulatorNetwork.cpp
index defbf42c12d064aa3e150ed35a85cdd207c8b6d1..ee3b73f6ba814053acfe741fc16283683a57e821 100644
--- a/sim/src/core/opSimulation/modelElements/manipulatorNetwork.cpp
+++ b/sim/src/core/opSimulation/modelElements/manipulatorNetwork.cpp
@@ -29,27 +29,23 @@ ManipulatorNetwork::~ManipulatorNetwork()
Clear();
}
-bool ManipulatorNetwork::Instantiate(const std::string libraryPath,
- const ScenarioInterface* scenario,
+bool ManipulatorNetwork::Instantiate(const std::string& libraryPath,
EventNetworkInterface* eventNetwork)
{
- if (scenario != nullptr)
+ //Instantiate all manipulators
+ try
{
- //Instantiate all manipulators
- try
- {
- manipulators = manipulatorBinding->Instantiate(libraryPath,
- scenario,
- eventNetwork,
- world,
- publisher);
- }
- catch (const std::runtime_error& error)
- {
- LOG_INTERN(LogLevel::Error) << "Could not instantiate all Manipulators: " << error.what();
- return false;
- }
+ manipulators = manipulatorBinding->Instantiate(libraryPath,
+ eventNetwork,
+ world,
+ publisher);
}
+ catch (const std::runtime_error& error)
+ {
+ LOG_INTERN(LogLevel::Error) << "Could not instantiate all Manipulators: " << error.what();
+ return false;
+ }
+
return true;
}
diff --git a/sim/src/core/opSimulation/modelElements/manipulatorNetwork.h b/sim/src/core/opSimulation/modelElements/manipulatorNetwork.h
index d4ceae2cdd1766146feb32dffe18370ac8c15191..cfa3d545b3ea8cc781ccb62ff4d0993f3fafc1d7 100644
--- a/sim/src/core/opSimulation/modelElements/manipulatorNetwork.h
+++ b/sim/src/core/opSimulation/modelElements/manipulatorNetwork.h
@@ -16,7 +16,6 @@
#include "common/opExport.h"
#include "include/manipulatorNetworkInterface.h"
-class ScenarioInterface;
class WorldInterface;
class PublisherInterface;
@@ -44,12 +43,10 @@ public:
//! Instantiates the manipulator network.
//!
//! @param[in] libraryPath Path to the library
- //! @param[in] scenario Scenario
//! @param[in] eventNetwork Interface of the eventNetwork
//! @return true, if successful
//-----------------------------------------------------------------------------
- bool Instantiate(const std::string libraryPath,
- const ScenarioInterface *scenario,
+ bool Instantiate(const std::string& libraryPath,
EventNetworkInterface* eventNetwork);
//-----------------------------------------------------------------------------
diff --git a/sim/src/core/opSimulation/modelElements/spawnItemParameter.h b/sim/src/core/opSimulation/modelElements/spawnItemParameter.h
index 663b163d757e6480d97e6dfb179a239eb1dadab0..4cd3083ceb4b20f79aad8bb2ccf603b3e51f0fb8 100644
--- a/sim/src/core/opSimulation/modelElements/spawnItemParameter.h
+++ b/sim/src/core/opSimulation/modelElements/spawnItemParameter.h
@@ -32,22 +32,22 @@ public:
SpawnItemParameter& operator=(SpawnItemParameter&&) = delete;
virtual ~SpawnItemParameter() = default;
- void SetPositionX(double positionX)
+ void SetPositionX(units::length::meter_t positionX)
{
this->positionX = positionX;
}
- void SetPositionY(double positionY)
+ void SetPositionY(units::length::meter_t positionY)
{
this->positionY = positionY;
}
- void SetVelocity(double velocity)
+ void SetVelocity(units::velocity::meters_per_second_t velocity)
{
this->velocity = velocity;
}
- void SetAcceleration(double acceleration)
+ void SetAcceleration(units::acceleration::meters_per_second_squared_t acceleration)
{
this->acceleration = acceleration;
}
@@ -57,7 +57,7 @@ public:
this->gear = gear;
}
- void SetYaw(double yawAngle)
+ void SetYaw(units::angle::radian_t yawAngle)
{
this->yawAngle = yawAngle;
}
@@ -77,27 +77,27 @@ public:
this->vehicleModel = vehicleModel;
}
- double GetPositionX() const
+ units::length::meter_t GetPositionX() const
{
return positionX;
}
- double GetPositionY() const
+ units::length::meter_t GetPositionY() const
{
return positionY;
}
- double GetVelocity() const
+ units::velocity::meters_per_second_t GetVelocity() const
{
return velocity;
}
- double GetAcceleration() const
+ units::acceleration::meters_per_second_squared_t GetAcceleration() const
{
return acceleration;
}
- double GetYaw() const
+ units::angle::radian_t GetYaw() const
{
return yawAngle;
}
@@ -118,10 +118,10 @@ public:
}
private:
- double positionX = 0.0;
- double positionY = 0.0;
- double velocity = 0.0;
- double acceleration = 0.0;
+ units::length::meter_t positionX{0.0};
+ units::length::meter_t positionY{0.0};
+ units::velocity::meters_per_second_t velocity{0.0};
+ units::acceleration::meters_per_second_squared_t acceleration{0.0};
double gear = 0.0;
double yawAngle = 0.0;
diff --git a/sim/src/core/opSimulation/modelElements/spawnPoint.h b/sim/src/core/opSimulation/modelElements/spawnPoint.h
index 0f325d98369a65bae952685e50f9cc50ef1359c9..32801debb1e06d736882fb760ba3daf65fff4f79 100644
--- a/sim/src/core/opSimulation/modelElements/spawnPoint.h
+++ b/sim/src/core/opSimulation/modelElements/spawnPoint.h
@@ -22,7 +22,6 @@
#include "include/spawnPointInterface.h"
#include "bindings/spawnPointLibrary.h"
#include "include/worldInterface.h"
-#include "agentBlueprint.h"
#include "common/log.h"
namespace core
diff --git a/sim/src/core/opSimulation/modelElements/spawnPointNetwork.cpp b/sim/src/core/opSimulation/modelElements/spawnPointNetwork.cpp
index f5dfa522af43c71e07c7befd6bb2cd54e1cf2795..53ab1c9eb5e336c1bea3ef3d22e8a846ae361312 100644
--- a/sim/src/core/opSimulation/modelElements/spawnPointNetwork.cpp
+++ b/sim/src/core/opSimulation/modelElements/spawnPointNetwork.cpp
@@ -34,11 +34,14 @@ void SpawnPointNetwork::Clear()
bool SpawnPointNetwork::Instantiate(const SpawnPointLibraryInfoCollection& libraryInfos,
AgentFactoryInterface *agentFactory,
- const AgentBlueprintProviderInterface *agentBlueprintProvider,
StochasticsInterface* stochastics,
- const ScenarioInterface* scenario,
- const std::optional<ProfileGroup>& spawnPointProfiles)
+ const std::optional<ProfileGroup>& spawnPointProfiles,
+ ConfigurationContainerInterface* configurationContainer,
+ std::shared_ptr<mantle_api::IEnvironment> environment,
+ std::shared_ptr<Vehicles> vehicles)
{
+ agentBlueprintProvider.Init(configurationContainer, stochastics);
+
for (const auto& libraryInfo : libraryInfos)
{
const auto bindingIter = spawnPointBindings->find(libraryInfo.libraryName);
@@ -48,7 +51,7 @@ bool SpawnPointNetwork::Instantiate(const SpawnPointLibraryInfoCollection& libra
}
auto binding = &bindingIter->second;
- SpawnPointDependencies dependencies(agentFactory, world, agentBlueprintProvider, stochastics);
+ SpawnPointDependencies dependencies(agentFactory, world, &agentBlueprintProvider, stochastics, environment, vehicles);
if (libraryInfo.profileName.has_value())
{
@@ -70,7 +73,7 @@ bool SpawnPointNetwork::Instantiate(const SpawnPointLibraryInfoCollection& libra
}
else
{
- dependencies.scenario = scenario;
+ // dependencies.scenario = scenario;
}
auto spawnPoint = binding->Instantiate(libraryInfo.libraryName, dependencies);
@@ -98,12 +101,11 @@ bool SpawnPointNetwork::TriggerPreRunSpawnZones()
{
try {
std::for_each(preRunSpawnZones.crbegin(), preRunSpawnZones.crend(),
- [&](auto const& element)
+ [&](auto const &element)
- {
- const auto spawnedAgents = element.second->GetImplementation()->Trigger(0);
- newAgents.insert(newAgents.cend(), spawnedAgents.cbegin(), spawnedAgents.cend());
- });
+ {
+ element.second->GetImplementation()->Trigger(0);
+ });
}
catch (const std::runtime_error& error)
{
@@ -118,11 +120,9 @@ bool SpawnPointNetwork::TriggerRuntimeSpawnPoints([[maybe_unused]]const int time
{
try {
std::for_each(runtimeSpawnPoints.crbegin(), runtimeSpawnPoints.crend(),
- [&](auto const& element)
- {
- const auto spawnedAgents = element.second->GetImplementation()->Trigger(timestamp);
- newAgents.insert(newAgents.cend(), spawnedAgents.cbegin(), spawnedAgents.cend());
- });
+ [&](auto const &element) {
+ element.second->GetImplementation()->Trigger(timestamp);
+ });
}
catch (const std::runtime_error& error)
{
diff --git a/sim/src/core/opSimulation/modelElements/spawnPointNetwork.h b/sim/src/core/opSimulation/modelElements/spawnPointNetwork.h
index 1829244af42ab5ea1a10351ff02c071a095f1666..54050155964e2cb33955e97518288fb239445e4f 100644
--- a/sim/src/core/opSimulation/modelElements/spawnPointNetwork.h
+++ b/sim/src/core/opSimulation/modelElements/spawnPointNetwork.h
@@ -22,12 +22,12 @@
#include <list>
#include "include/worldInterface.h"
-#include "include/agentBlueprintProviderInterface.h"
#include "include/stochasticsInterface.h"
#include "include/spawnPointNetworkInterface.h"
#include "common/opExport.h"
#include "common/runtimeInformation.h"
#include "common/spawnPointLibraryDefinitions.h"
+#include "agentBlueprintProvider.h"
#include "spawnPoint.h"
namespace core {
@@ -47,22 +47,16 @@ public:
bool Instantiate(const SpawnPointLibraryInfoCollection& libraryInfos,
AgentFactoryInterface* agentFactory,
- const AgentBlueprintProviderInterface* agentBlueprintProvider,
StochasticsInterface * stochastics,
- const ScenarioInterface* scenario,
- const std::optional<ProfileGroup>& spawnPointProfiles) override;
+ const std::optional<ProfileGroup>& spawnPointProfiles,
+ ConfigurationContainerInterface* configurationContainer,
+ std::shared_ptr<mantle_api::IEnvironment> environment,
+ std::shared_ptr<Vehicles> vehicles) override;
bool TriggerPreRunSpawnZones() override;
bool TriggerRuntimeSpawnPoints(const int timestamp) override;
- std::vector<Agent*> ConsumeNewAgents() override
- {
- std::vector<Agent*> tmpAgents;
- std::swap(tmpAgents, newAgents);
- return tmpAgents;
- }
-
void Clear() override;
private:
@@ -71,7 +65,8 @@ private:
const openpass::common::RuntimeInformation& runtimeInformation;
std::multimap<int, std::unique_ptr<SpawnPoint>> preRunSpawnZones;
std::multimap<int, std::unique_ptr<SpawnPoint>> runtimeSpawnPoints;
- std::vector<Agent*> newAgents {};
+
+ AgentBlueprintProvider agentBlueprintProvider;
};
} // namespace core
diff --git a/sim/src/core/opSimulation/modules/EventDetector/CMakeLists.txt b/sim/src/core/opSimulation/modules/EventDetector/CMakeLists.txt
index 3ad8d3fabe6295ec93ab785bf5deeb7d5d8d1c22..91f07951c6986aa4d8cfeacf8be40b9fa905f435 100644
--- a/sim/src/core/opSimulation/modules/EventDetector/CMakeLists.txt
+++ b/sim/src/core/opSimulation/modules/EventDetector/CMakeLists.txt
@@ -16,7 +16,6 @@ add_openpass_target(
HEADERS
CollisionDetector.h
- ConditionalEventDetector.h
EventDetectorCommonBase.h
EventDetectorExport.h
EventDetectorGlobal.h
@@ -26,7 +25,6 @@ add_openpass_target(
SOURCES
CollisionDetector.cpp
- ConditionalEventDetector.cpp
EventDetectorCommonBase.cpp
EventDetectorExport.cpp
diff --git a/sim/src/core/opSimulation/modules/EventDetector/ConditionalEventDetector.cpp b/sim/src/core/opSimulation/modules/EventDetector/ConditionalEventDetector.cpp
deleted file mode 100644
index a5df241bb78779140a489b42bd5677f6e6ed63bd..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/EventDetector/ConditionalEventDetector.cpp
+++ /dev/null
@@ -1,169 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2019-2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#include "ConditionalEventDetector.h"
-
-ConditionalEventDetector::ConditionalEventDetector(WorldInterface *world,
- const openScenario::ConditionalEventDetectorInformation &eventDetectorInformation,
- core::EventNetworkInterface *eventNetwork,
- const CallbackInterface *callbacks,
- StochasticsInterface *stochastics) :
- EventDetectorCommonBase(world,
- eventNetwork,
- callbacks,
- stochastics),
- eventDetectorInformation(eventDetectorInformation)
-{
-}
-
-void ConditionalEventDetector::Reset()
-{
- executionCounter = 0;
-}
-
-void ConditionalEventDetector::Trigger(int time)
-{
- if (IsBelowMaximumNumberOfExecutions())
- {
- if (const auto [allConditionsMet, triggeringAgents] = EvaluateConditions(time); allConditionsMet == true)
- {
- TriggerEventInsertion(time, triggeringAgents);
- }
- }
-}
-
-void ConditionalEventDetector::TriggerEventInsertion(int time, const std::vector<const AgentInterface *> triggeringAgents)
-{
- openpass::type::TriggeringEntities triggering{};
- for (const auto triggeringAgent : triggeringAgents)
- {
- triggering.entities.push_back(triggeringAgent->GetId());
- }
-
- const auto actors = GetActors(triggeringAgents);
-
- openpass::type::AffectedEntities acting{};
- for (const auto actingAgent : actors)
- {
- acting.entities.push_back(actingAgent->GetId());
- }
-
- eventNetwork->InsertEvent(std::make_shared<openpass::events::OpenScenarioEvent>(time, eventDetectorInformation.eventName, COMPONENTNAME, triggering, acting));
- executionCounter++;
-}
-
-bool ConditionalEventDetector::IsBelowMaximumNumberOfExecutions()
-{
- return eventDetectorInformation.numberOfExecutions == -1 || executionCounter < eventDetectorInformation.numberOfExecutions;
-}
-
-std::vector<const AgentInterface *> ConditionalEventDetector::GetActors(const std::vector<const AgentInterface *> triggeringAgents)
-{
- std::vector<const AgentInterface *> actors{};
- if (eventDetectorInformation.actorInformation.actorIsTriggeringEntity)
- {
- actors = triggeringAgents;
- }
-
- if (eventDetectorInformation.actorInformation.actors)
- {
- for (const auto &agentName : *eventDetectorInformation.actorInformation.actors)
- {
- AgentInterface *agent = world->GetAgentByName(agentName);
- if (agent && std::find(actors.begin(), actors.end(), agent) == actors.end())
- {
- actors.push_back(agent);
- }
- }
- }
-
- return actors;
-}
-
-std::pair<bool, std::vector<const AgentInterface *>> ConditionalEventDetector::EvaluateConditions(const int time)
-{
- std::vector<const AgentInterface *> triggeringAgents;
-
- // this flag is used to ensure the first set of triggeringAgents found is correctly
- // added to the triggeringAgents array (an intersection with an empty set is always empty)
- bool isFirstByEntityConditionEvaluated = false;
-
- // Create the lambda function for evaluating condition variants
- auto evaluateCondition = CheckCondition({world, time});
- // Evaluate if each condition is met. For some conditions, an array of Agents
- // is returned containing those entities described in the openScenario file
- // as "TriggeringEntities" that meet the prescribed condition.
- for (const auto &condition : eventDetectorInformation.conditions)
- {
- auto conditionEvaluation = evaluateCondition(condition);
-
- // if a vector of AgentInterfaces is returned, it contains those TriggeringEntities who meet the condition
- std::vector<const AgentInterface *> *triggeringEntitiesWhoMeetCondition = std::get_if<std::vector<const AgentInterface *>>(&conditionEvaluation);
- // get_if resolves to nullptr if the type specified is not found
- if (triggeringEntitiesWhoMeetCondition)
- {
- // if there are TriggeringEntities who meet the condition, add or intersect the set of
- // entities for this condition into the triggeringAgents collection
- if (!triggeringEntitiesWhoMeetCondition->empty())
- {
- std::sort(triggeringEntitiesWhoMeetCondition->begin(),
- triggeringEntitiesWhoMeetCondition->end(),
- [](const AgentInterface *agentA, const AgentInterface *agentB) -> bool {
- return agentA->GetId() < agentB->GetId();
- });
- if (!isFirstByEntityConditionEvaluated)
- {
- triggeringAgents = *triggeringEntitiesWhoMeetCondition;
- isFirstByEntityConditionEvaluated = true;
- }
- else
- {
- std::vector<const AgentInterface *> intersection{};
- std::set_intersection(triggeringAgents.begin(), triggeringAgents.end(),
- triggeringEntitiesWhoMeetCondition->begin(), triggeringEntitiesWhoMeetCondition->end(),
- std::back_inserter(intersection));
- // if the intersection is empty, no TriggeringEntities have all conditions met.
- if (intersection.empty())
- {
- // this condition was not met; no further condition checking needs to be done
- return {false, {}};
- }
- triggeringAgents = intersection;
- }
- }
- // if no TriggeringEntities meet this condition, the condition was not met.
- else
- {
- // this condition was not met; no further condition checking needs to be done
- return {false, {}};
- }
- }
- else
- {
- bool *conditionIsMet = std::get_if<bool>(&conditionEvaluation);
- if (!(conditionIsMet == nullptr))
- {
- if (!(*conditionIsMet))
- {
- // this condition was not met; no further condition checking needs to be done
- return {false, {}};
- }
- }
- else
- {
- // we shouldn't get here - conditionEvaluation should have been handled by the above if statements
- LOGERROR("Unexpected condition evaluation return value");
- throw std::runtime_error("Unexpected condition evaluation return value");
- }
- }
- }
-
- return {true, triggeringAgents};
-}
diff --git a/sim/src/core/opSimulation/modules/EventDetector/ConditionalEventDetector.h b/sim/src/core/opSimulation/modules/EventDetector/ConditionalEventDetector.h
deleted file mode 100644
index aa569013b30afe6f36a99cdb7f1f6bccb3f7db25..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/EventDetector/ConditionalEventDetector.h
+++ /dev/null
@@ -1,133 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2019-2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#pragma once
-
-#include "EventDetectorCommonBase.h"
-
-// template for overload pattern used in CheckCondition()
-template <class... Ts>
-struct overload : Ts...
-{
- using Ts::operator()...;
-};
-template <class... Ts>
-overload(Ts...)->overload<Ts...>;
-
-struct ConditionMetaInformation
-{
- WorldInterface *const world{};
- int currentTime{};
-};
-using ConditionVisitorVariant = std::variant<std::vector<const AgentInterface *>, bool>;
-
-class ConditionalEventDetector : public EventDetectorCommonBase
-{
-public:
- ConditionalEventDetector(WorldInterface *world,
- const openScenario::ConditionalEventDetectorInformation &eventDetectorInformation,
- core::EventNetworkInterface *eventNetwork,
- const CallbackInterface *callbacks,
- StochasticsInterface *stochastics);
-
- ConditionalEventDetector() = delete;
- ConditionalEventDetector(const ConditionalEventDetector &) = delete;
- ConditionalEventDetector(ConditionalEventDetector &&) = delete;
- ConditionalEventDetector &operator=(const ConditionalEventDetector &) = delete;
- ConditionalEventDetector &operator=(ConditionalEventDetector &&) = delete;
-
- virtual void Trigger(int time) override;
-
-private:
- const openScenario::ConditionalEventDetectorInformation eventDetectorInformation;
- int executionCounter{0};
- int maximumNumberOfExecutions{1};
-
- void Reset() override;
-
- /*!
- * ------------------------------------------------------------------------
- * \brief TriggerEventInsertion inserts an event into the EventNetwork
- * at the specified time.
- *
- * \param[in] time The time at which to insert the event into the
- * EventNetwork.
- * ------------------------------------------------------------------------
- */
- void TriggerEventInsertion(int time, const std::vector<const AgentInterface *> triggeringAgents);
-
- /*!
- * ------------------------------------------------------------------------
- * \brief IsBelowMaximumNumberOfExecutions determines if the EventDetector
- * should still be allowed to execute.
- *
- * \return true if the number of times the EventDetector is less than the
- * maximum number of executions specified for it; otherwise false
- * ------------------------------------------------------------------------
- */
- bool IsBelowMaximumNumberOfExecutions();
-
- /*!
- * ------------------------------------------------------------------------
- * \brief GetActors gets the actors to be targeted by the Events emitted by
- * the EventDetector; this can either be those targeted as Actors in
- * the openScenario file, or those specified as TriggeringEntities
- * if TriggeringAgentsAsActors is set
- *
- * \param[in] triggeringAgents the collection of triggeringAgents as was
- * specified in the TriggeringEntities section of the
- * openScenario file
- *
- * \return the collection of AgentInterfaces for the Actors to be targeted
- * by the Events emitted by the EventDetector
- * ------------------------------------------------------------------------
- */
- std::vector<const AgentInterface *> GetActors(const std::vector<const AgentInterface *> triggeringAgents = {});
-
- /*!
- * ------------------------------------------------------------------------
- * \brief EvaluateConditionsAtTime evaluates all conditions for the
- * specified time and returns triggering agents who meet all conditions.
- *
- * \param[in] time the time at which the conditions are being evaluated
- *
- * \return <0> true if all conditions are met; false otherwise
- * <1> triggeringAgents who meet all conditions
- * ------------------------------------------------------------------------
- */
-
- std::pair<bool, std::vector<const AgentInterface *>> EvaluateConditions(const int time);
-
- /*!
- * ------------------------------------------------------------------------
- * \brief CheckCondition utilizes the overload pattern to build a variant
- * visitor on the fly to appropriately evaluate whether a Condition
- * is met.
- *
- * \param[in] cmi meta-information related to evaluating a Condition
- * variant
- *
- * \return lambda function for evaluating a Condition variant
- * ------------------------------------------------------------------------
- */
- auto CheckCondition(const ConditionMetaInformation &cmi)
- {
- return [cmi](auto&& condition)
- {
- return std::visit(overload{
- [&](const openScenario::ReachPositionCondition &reachPositionCondition) { return ConditionVisitorVariant{reachPositionCondition.IsMet(cmi.world)}; },
- [&](const openScenario::RelativeSpeedCondition &relativeSpeedCondition) { return ConditionVisitorVariant{relativeSpeedCondition.IsMet(cmi.world)}; },
- [&](const openScenario::TimeToCollisionCondition &timeToCollisionCondition) { return ConditionVisitorVariant{timeToCollisionCondition.IsMet(cmi.world)}; },
- [&](const openScenario::TimeHeadwayCondition& timeHeadwayCondition) { return ConditionVisitorVariant{timeHeadwayCondition.IsMet(cmi.world)}; },
- [&](const openScenario::SimulationTimeCondition &simulationTimeCondition) { return ConditionVisitorVariant{simulationTimeCondition.IsMet(cmi.currentTime)}; }},
- condition);
- };
- }
-};
diff --git a/sim/src/core/opSimulation/modules/EventDetector/EventDetector.pro b/sim/src/core/opSimulation/modules/EventDetector/EventDetector.pro
new file mode 100644
index 0000000000000000000000000000000000000000..af26f24cc1e41e71f78086ccb04d05aecbd2db13
--- /dev/null
+++ b/sim/src/core/opSimulation/modules/EventDetector/EventDetector.pro
@@ -0,0 +1,35 @@
+################################################################################
+# Copyright (c) 2017-2021 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
+# http://www.eclipse.org/legal/epl-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0
+################################################################################
+
+#-----------------------------------------------------------------------------
+# \file EventDetector.pro
+# \brief This file contains the information for the QtCreator-project of the
+# module EventDetector
+#-----------------------------------------------------------------------------/
+
+DEFINES += EVENT_DETECTOR_LIBRARY
+CONFIG += OPENPASS_LIBRARY
+
+include(../../../../../global.pri)
+
+INCLUDEPATH += \
+ ../../.. \
+ ../../../.. \
+ ../../../../..
+
+SOURCES += \
+ CollisionDetector.cpp \
+ EventDetectorCommonBase.cpp \
+ EventDetectorExport.cpp \
+
+HEADERS += \
+ CollisionDetector.h \
+ EventDetectorCommonBase.h \
+ EventDetectorExport.h \
\ No newline at end of file
diff --git a/sim/src/core/opSimulation/modules/EventDetector/EventDetectorCommonBase.h b/sim/src/core/opSimulation/modules/EventDetector/EventDetectorCommonBase.h
index d4032a7bf6b498df914ab544fb9d6defb925f84e..0561ace67d221bf75dce57dd09789c617c128fcc 100644
--- a/sim/src/core/opSimulation/modules/EventDetector/EventDetectorCommonBase.h
+++ b/sim/src/core/opSimulation/modules/EventDetector/EventDetectorCommonBase.h
@@ -37,8 +37,6 @@
#include "include/worldInterface.h"
#include "common/events/basicEvent.h"
-#include "common/openScenarioDefinitions.h"
-#include "common/eventDetectorDefinitions.h"
const std::unordered_map<std::string, AgentCategory> agentCategoryMap = {{"Ego", AgentCategory::Ego},
{"Scenario", AgentCategory::Scenario},
diff --git a/sim/src/core/opSimulation/modules/EventDetector/EventDetectorExport.cpp b/sim/src/core/opSimulation/modules/EventDetector/EventDetectorExport.cpp
index 4ae4d7de794ecf0eb8e3de735e13982f1f4bf0c2..401bf19a34ba2a39520f52aaf21861974b5fdd66 100644
--- a/sim/src/core/opSimulation/modules/EventDetector/EventDetectorExport.cpp
+++ b/sim/src/core/opSimulation/modules/EventDetector/EventDetectorExport.cpp
@@ -16,30 +16,29 @@
//Different detectors
#include "CollisionDetector.h"
-#include "ConditionalEventDetector.h"
const std::string version = "0.0.1";
-static const CallbackInterface* Callbacks = nullptr;
+static const CallbackInterface *Callbacks = nullptr;
-extern "C" EVENT_DETECTOR_SHARED_EXPORT const std::string& OpenPASS_GetVersion()
+extern "C" EVENT_DETECTOR_SHARED_EXPORT const std::string &OpenPASS_GetVersion()
{
return version;
}
-extern "C" EVENT_DETECTOR_SHARED_EXPORT EventDetectorInterface* OpenPASS_CreateCollisionDetectorInstance(
- WorldInterface* world,
- core::EventNetworkInterface* eventNetwork,
- const CallbackInterface* callbacks,
- StochasticsInterface* stochastics)
+extern "C" EVENT_DETECTOR_SHARED_EXPORT EventDetectorInterface *OpenPASS_CreateCollisionDetectorInstance(
+ WorldInterface *world,
+ core::EventNetworkInterface *eventNetwork,
+ const CallbackInterface *callbacks,
+ StochasticsInterface *stochastics)
{
Callbacks = callbacks;
try
{
- return static_cast<EventDetectorInterface*>(new CollisionDetector(world,
- eventNetwork,
- callbacks,
- stochastics));
+ return static_cast<EventDetectorInterface *>(new CollisionDetector(world,
+ eventNetwork,
+ callbacks,
+ stochastics));
}
catch (...)
{
@@ -51,36 +50,8 @@ extern "C" EVENT_DETECTOR_SHARED_EXPORT EventDetectorInterface* OpenPASS_CreateC
return nullptr;
}
}
-extern "C" EVENT_DETECTOR_SHARED_EXPORT EventDetectorInterface* OpenPASS_CreateConditionalDetectorInstance(
- WorldInterface* world,
- const openScenario::ConditionalEventDetectorInformation& eventDetectorInformation,
- core::EventNetworkInterface* eventNetwork,
- const CallbackInterface* callbacks,
- StochasticsInterface* stochastics)
-{
- Callbacks = callbacks;
- try
- {
- return static_cast<EventDetectorInterface*>(new ConditionalEventDetector(world,
- eventDetectorInformation,
- eventNetwork,
- callbacks,
- stochastics));
- }
- catch (...)
- {
- if (Callbacks != nullptr)
- {
- Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, "unexpected exception");
- }
-
- return nullptr;
- }
-}
-
-extern "C" EVENT_DETECTOR_SHARED_EXPORT void OpenPASS_DestroyInstance(EventDetectorInterface* implementation)
+extern "C" EVENT_DETECTOR_SHARED_EXPORT void OpenPASS_DestroyInstance(EventDetectorInterface *implementation)
{
delete implementation;
}
-
diff --git a/sim/src/core/opSimulation/modules/Manipulator/AcquirePositionManipulator.cpp b/sim/src/core/opSimulation/modules/Manipulator/AcquirePositionManipulator.cpp
deleted file mode 100644
index 217d7dc0ef5bf55260acf161a8f0ed9c94ac8a03..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/Manipulator/AcquirePositionManipulator.cpp
+++ /dev/null
@@ -1,59 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
- *
- * This program and the accompanying materials are made available under the
- * terms of the Eclipse Public License 2.0 which is available at
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#include "AcquirePositionManipulator.h"
-
-#include <src/common/events/acquirePositionEvent.h>
-#include <src/common/events/basicEvent.h>
-#include <src/common/openScenarioDefinitions.h>
-#include <utility>
-
-AcquirePositionManipulator::AcquirePositionManipulator(WorldInterface *world,
- core::EventNetworkInterface *eventNetwork,
- const CallbackInterface *callbacks,
- const std::string &eventName,
- openScenario::AcquirePositionAction acquirePositionAction) :
- ManipulatorCommonBase(world, eventNetwork, callbacks, eventName), acquirePositionAction(std::move(acquirePositionAction))
-{
- cycleTime = 100;
-}
-
-void AcquirePositionManipulator::Trigger(int time)
-{
- for (const auto &eventInterface : GetEvents())
- {
- auto triggeringEvent = std::dynamic_pointer_cast<openpass::events::OpenScenarioEvent>(eventInterface);
-
- for (const auto actorId : triggeringEvent->actingAgents.entities)
- {
- auto trigger = std::make_unique<openpass::events::AcquirePositionEvent>(time, eventName, COMPONENTNAME, actorId, acquirePositionAction.position);
- eventNetwork->InsertTrigger(openpass::events::AcquirePositionEvent::TOPIC, std::move(trigger));
- }
- }
-}
-
-EventContainer AcquirePositionManipulator::GetEvents()
-{
- EventContainer manipulatorSpecificEvents{};
-
- const auto &conditionalEvents = eventNetwork->GetEvents(EventDefinitions::EventCategory::OpenSCENARIO);
-
- for (const auto &event : conditionalEvents)
- {
- const auto oscEvent = std::static_pointer_cast<openpass::events::OpenScenarioEvent>(event);
-
- if (oscEvent && oscEvent->GetName() == eventName)
- {
- manipulatorSpecificEvents.emplace_back(event);
- }
- }
-
- return manipulatorSpecificEvents;
-}
diff --git a/sim/src/core/opSimulation/modules/Manipulator/AcquirePositionManipulator.h b/sim/src/core/opSimulation/modules/Manipulator/AcquirePositionManipulator.h
deleted file mode 100644
index 81054d21f7f040bf58bd978fbb397285bc106883..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/Manipulator/AcquirePositionManipulator.h
+++ /dev/null
@@ -1,41 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
- *
- * This program and the accompanying materials are made available under the
- * terms of the Eclipse Public License 2.0 which is available at
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-
-#pragma once
-
-#include <src/common/openScenarioDefinitions.h>
-
-#include "ManipulatorCommonBase.h"
-
-class AcquirePositionManipulator : public ManipulatorCommonBase
-{
-public:
- AcquirePositionManipulator(WorldInterface *world,
- core::EventNetworkInterface *eventNetwork,
- const CallbackInterface *callbacks,
- const std::string &eventName,
- openScenario::AcquirePositionAction);
-
- /*!
- * \brief Triggers the functionality of this class
- *
- * \details Trigger gets called each cycle timestep.
- * This function is repsonsible for creating events
- *
- * @param[in] time Current time.
- */
- void Trigger(int time) override;
-
-private:
- openScenario::AcquirePositionAction acquirePositionAction;
- EventContainer GetEvents() override;
-};
-
diff --git a/sim/src/core/opSimulation/modules/Manipulator/CMakeLists.txt b/sim/src/core/opSimulation/modules/Manipulator/CMakeLists.txt
index ee632e3ac69c27025621a5428b8fad368c3da008..450106a24f4e0aecbaa8238458e54b5fb379e022 100644
--- a/sim/src/core/opSimulation/modules/Manipulator/CMakeLists.txt
+++ b/sim/src/core/opSimulation/modules/Manipulator/CMakeLists.txt
@@ -16,17 +16,9 @@ add_openpass_target(
HEADERS
CollisionManipulator.h
- DefaultCustomCommandAction.h
- ComponentStateChangeManipulator.h
- LaneChangeManipulator.h
ManipulatorCommonBase.h
ManipulatorExport.h
ManipulatorGlobal.h
- NoOperationManipulator.h
- RemoveAgentsManipulator.h
- SpeedActionManipulator.h
- TrajectoryManipulator.h
- AcquirePositionManipulator.h
../../../../common/vector2d.h
srcCollisionPostCrash/polygon.h
srcCollisionPostCrash/collisionDetection_Impact_implementation.h
@@ -34,16 +26,8 @@ add_openpass_target(
SOURCES
CollisionManipulator.cpp
- DefaultCustomCommandAction.cpp
- ComponentStateChangeManipulator.cpp
- LaneChangeManipulator.cpp
ManipulatorCommonBase.cpp
ManipulatorExport.cpp
- NoOperationManipulator.cpp
- RemoveAgentsManipulator.cpp
- SpeedActionManipulator.cpp
- TrajectoryManipulator.cpp
- AcquirePositionManipulator.cpp
srcCollisionPostCrash/polygon.cpp
srcCollisionPostCrash/collisionDetection_Impact_implementation.cpp
diff --git a/sim/src/core/opSimulation/modules/Manipulator/CollisionManipulator.cpp b/sim/src/core/opSimulation/modules/Manipulator/CollisionManipulator.cpp
index aa99de7447b529e1e8386a39d02bbaf556076fa5..ed5d8af1d9312858b7dc822d8face009c098fafd 100644
--- a/sim/src/core/opSimulation/modules/Manipulator/CollisionManipulator.cpp
+++ b/sim/src/core/opSimulation/modules/Manipulator/CollisionManipulator.cpp
@@ -100,27 +100,27 @@ void CollisionManipulator::PublishCrash(const std::shared_ptr<openpass::events::
{
auto logEntry = openpass::publisher::LogEntry::FromEvent(event);
logEntry.name = "ExtendedCollisionInformation";
- logEntry.parameter.insert({{"Velocity", crashInfo.postCrashDynamic1.GetVelocity()},
- {"VelocityChange", crashInfo.postCrashDynamic1.GetVelocityChange()},
- {"VelocityDirection", crashInfo.postCrashDynamic1.GetVelocityDirection()},
- {"YawVelocity", crashInfo.postCrashDynamic1.GetYawVelocity()},
- {"PointOfContactLocalX", crashInfo.postCrashDynamic1.GetPointOfContactLocal().x},
- {"PointOfContactLocalY", crashInfo.postCrashDynamic1.GetPointOfContactLocal().y},
- {"CollisionVelocity", crashInfo.postCrashDynamic1.GetCollisionVelocity()},
+ logEntry.parameter.insert({{"Velocity", crashInfo.postCrashDynamic1.GetVelocity().value()},
+ {"VelocityChange", crashInfo.postCrashDynamic1.GetVelocityChange().value()},
+ {"VelocityDirection", crashInfo.postCrashDynamic1.GetVelocityDirection().value()},
+ {"YawVelocity", crashInfo.postCrashDynamic1.GetYawVelocity().value()},
+ {"PointOfContactLocalX", crashInfo.postCrashDynamic1.GetPointOfContactLocal().x.value()},
+ {"PointOfContactLocalY", crashInfo.postCrashDynamic1.GetPointOfContactLocal().y.value()},
+ {"CollisionVelocity", crashInfo.postCrashDynamic1.GetCollisionVelocity().value()},
{"Sliding", crashInfo.postCrashDynamic1.GetSliding()},
- {"OpponentVelocity", crashInfo.postCrashDynamic2.GetVelocity()},
- {"OpponentVelocityChange", crashInfo.postCrashDynamic2.GetVelocityChange()},
- {"OpponentVelocityDirection", crashInfo.postCrashDynamic2.GetVelocityDirection()},
- {"OpponentYawVelocity", crashInfo.postCrashDynamic2.GetYawVelocity()},
- {"OpponentPointOfContactLocalX", crashInfo.postCrashDynamic2.GetPointOfContactLocal().x},
- {"OpponentPointOfContactLocalY", crashInfo.postCrashDynamic2.GetPointOfContactLocal().y},
- {"OpponentCollisionVelocity", crashInfo.postCrashDynamic2.GetCollisionVelocity()},
+ {"OpponentVelocity", crashInfo.postCrashDynamic2.GetVelocity().value()},
+ {"OpponentVelocityChange", crashInfo.postCrashDynamic2.GetVelocityChange().value()},
+ {"OpponentVelocityDirection", crashInfo.postCrashDynamic2.GetVelocityDirection().value()},
+ {"OpponentYawVelocity", crashInfo.postCrashDynamic2.GetYawVelocity().value()},
+ {"OpponentPointOfContactLocalX", crashInfo.postCrashDynamic2.GetPointOfContactLocal().x.value()},
+ {"OpponentPointOfContactLocalY", crashInfo.postCrashDynamic2.GetPointOfContactLocal().y.value()},
+ {"OpponentCollisionVelocity", crashInfo.postCrashDynamic2.GetCollisionVelocity().value()},
{"OpponentSliding", crashInfo.postCrashDynamic2.GetSliding()},
- {"OYA", crashInfo.angles.OYA},
- {"HCPAo", crashInfo.angles.HCPAo},
- {"OCPAo", crashInfo.angles.OCPAo},
- {"HCPA", crashInfo.angles.HCPA},
- {"OCPA", crashInfo.angles.OCPA}});
+ {"OYA", crashInfo.angles.OYA.value()},
+ {"HCPAo", crashInfo.angles.HCPAo.value()},
+ {"OCPAo", crashInfo.angles.OCPAo.value()},
+ {"HCPA", crashInfo.angles.HCPA.value()},
+ {"OCPA", crashInfo.angles.OCPA.value()}});
publisher->Publish(EventDefinitions::utils::GetAsString(event->GetCategory()), logEntry);
}
diff --git a/sim/src/core/opSimulation/modules/Manipulator/ComponentStateChangeManipulator.cpp b/sim/src/core/opSimulation/modules/Manipulator/ComponentStateChangeManipulator.cpp
deleted file mode 100644
index 0f44e6e94b21a613f97caf1f7a8da11ac5404358..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/Manipulator/ComponentStateChangeManipulator.cpp
+++ /dev/null
@@ -1,106 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
- * 2017-2019 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-//-----------------------------------------------------------------------------
-/** \file ComponentStateChangeManipulator.cpp */
-//-----------------------------------------------------------------------------
-
-#include "ComponentStateChangeManipulator.h"
-
-#include "common/events/componentStateChangeEvent.h"
-#include "common/commonTools.h"
-
-ComponentStateChangeManipulator::ComponentStateChangeManipulator(WorldInterface *world,
- core::EventNetworkInterface *eventNetwork,
- const CallbackInterface *callbacks,
- const openScenario::CustomCommandAction action,
- const std::string &eventName) :
- ManipulatorCommonBase(world,
- eventNetwork,
- callbacks,
- eventName)
-{
- auto commandTokens = CommonHelper::TokenizeString(action.command, ' ');
- auto commandTokensSize = commandTokens.size();
-
- if (commandTokensSize < 3)
- {
- const std::string msg = COMPONENTNAME + ": ComponentStateChangeManipulator provided invalid number of commands";
- LOG(CbkLogLevel::Error, msg);
- throw std::runtime_error(msg);
- }
-
- if (commandTokens.at(0) != "SetComponentState")
- {
- const std::string msg = COMPONENTNAME + ": ComponentStateChangeManipulator provided invalid command for initialization";
- LOG(CbkLogLevel::Error, msg);
- throw std::runtime_error(msg);
- }
-
- componentName = commandTokens.at(1);
- componentStateName = commandTokens.at(2);
-
- if (!AssignComponentState(componentStateName))
- {
- const std::string msg = COMPONENTNAME + ": Invalid ComponentStateName " + componentStateName;
- LOG(CbkLogLevel::Error, msg);
- throw std::runtime_error(msg);
- }
-
- cycleTime = 100;
-}
-
-bool ComponentStateChangeManipulator::AssignComponentState(const std::string &componentStateName)
-{
- for (const auto &[stateName, state] : ComponentStateMapping)
- {
- if (componentStateName == stateName)
- {
- componentState = state;
- return true;
- }
- }
- return false;
-}
-
-void ComponentStateChangeManipulator::Trigger(int time)
-{
- for (const auto &eventInterface : GetEvents())
- {
- const auto &triggeringEvent = std::dynamic_pointer_cast<openpass::events::OpenScenarioEvent>(eventInterface);
-
- auto trigger = std::make_unique<openpass::events::ComponentStateChangeEvent>(time, eventName, COMPONENTNAME,
- triggeringEvent->triggeringAgents,
- triggeringEvent->actingAgents,
- componentName, componentState);
-
- eventNetwork->InsertTrigger(openpass::events::ComponentStateChangeEvent::TOPIC, std::move(trigger));
- }
-}
-
-EventContainer ComponentStateChangeManipulator::GetEvents()
-{
- EventContainer manipulatorSpecificEvents{};
-
- const auto &conditionalEvents = eventNetwork->GetEvents(EventDefinitions::EventCategory::OpenSCENARIO);
-
- for (const auto &event : conditionalEvents)
- {
- const auto oscEvent = std::static_pointer_cast<openpass::events::OpenScenarioEvent>(event);
-
- if (oscEvent && oscEvent.get()->GetName() == eventName)
- {
- manipulatorSpecificEvents.emplace_back(event);
- }
- }
-
- return manipulatorSpecificEvents;
-}
diff --git a/sim/src/core/opSimulation/modules/Manipulator/ComponentStateChangeManipulator.h b/sim/src/core/opSimulation/modules/Manipulator/ComponentStateChangeManipulator.h
deleted file mode 100644
index 13b1f042596a873c3d9adefe9489dba6973394c6..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/Manipulator/ComponentStateChangeManipulator.h
+++ /dev/null
@@ -1,67 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2017 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-//-----------------------------------------------------------------------------
-/** \file ComponentStateChangeManipulator.h
-* \brief This manipulator toggles the max state of a component
-*
-* \details This manipulator toggles the max state of a component
-* Therefore it needs the name of the component and the state in which
-* it should be put.
-*/
-//-----------------------------------------------------------------------------
-
-#pragma once
-
-#include "common/openScenarioDefinitions.h"
-
-#include "CustomCommandFactory.h"
-#include "ManipulatorCommonBase.h"
-
-//-----------------------------------------------------------------------------
-/** \brief This class toggles an assistance system.
-* \details This manipulator toggles the max state of a component
-* Therefore it needs the name of the component and the state in which
-* it should be put.
-*
-* \ingroup Manipulator
-*/
-//-----------------------------------------------------------------------------
-class ComponentStateChangeManipulator : public ManipulatorCommonBase
-{
-public:
- ComponentStateChangeManipulator(WorldInterface *world,
- core::EventNetworkInterface *eventNetwork,
- const CallbackInterface *callbacks,
- const openScenario::CustomCommandAction action,
- const std::string &eventName);
-
- virtual ~ComponentStateChangeManipulator() = default;
-
- /*!
- * \brief Triggers the functionality of this class
- *
- * \details Trigger gets called each cycle timestep.
- * This function is repsonsible for creating events
- *
- * @param[in] time Current time.
- */
- virtual void Trigger(int time) override;
-
-private:
- bool AssignComponentState(const std::string& componentState);
- EventContainer GetEvents() override;
-
- std::string componentName {""};
- std::string componentStateName {""};
- ComponentState componentState;
-
- static inline bool registered = CustomCommandFactory::Register<ComponentStateChangeManipulator>("SetComponentState");
-};
diff --git a/sim/src/core/opSimulation/modules/Manipulator/CustomCommandFactory.h b/sim/src/core/opSimulation/modules/Manipulator/CustomCommandFactory.h
deleted file mode 100644
index 4b309e59437af9a1412eb9151fe18e59a81771e9..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/Manipulator/CustomCommandFactory.h
+++ /dev/null
@@ -1,97 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#pragma once
-
-#include <map>
-#include <memory>
-
-#include "include/callbackInterface.h"
-#include "include/eventDetectorNetworkInterface.h"
-#include "include/manipulatorInterface.h"
-#include "include/worldInterface.h"
-#include "common/openScenarioDefinitions.h"
-
-/// @brief Use this class as static auto registering factory for custom commands
-///
-/// Note that registration happens automatically without additional construction code,
-/// when the register method is used in a static assignment. This means that registering
-/// will be done if the translation unit holds an according statement (!)
-///
-/// Example:
-/// SomeClass.h -> static inline bool registered = CustomCommandFactory::Register("myKeyword");
-/// SomeClass.cpp is part of the translation unit
-///
-/// Effect:
-/// SomeOtherFile.cpp -> CustomCommandFactory::Create("myKeyword", ...); // Args must be delivered
-///
-/// @ingroup Manipulator
-class CustomCommandFactory final
-{
- using CreateSignature = ManipulatorInterface *(*)(WorldInterface *,
- core::EventNetworkInterface *,
- const CallbackInterface *,
- const openScenario::CustomCommandAction,
- const std::string &);
-
-public:
- /// \brief Create registered class from keyword
- /// \param keyword The keyword used during Register
- /// \param args Arguments of the underlying class
- /// \return The created instance
- ///
- template <typename... Args>
- static ManipulatorInterface *Create(const std::string &keyword, Args... args)
- {
- if (auto it = repository().find(keyword); it != repository().end())
- {
- return it->second(std::forward<Args>(args)...);
- }
- else
- {
- return nullptr;
- }
- }
-
- /// \brief Register a type T for a given keyword
- /// \return True if keyword could been registered
- template <typename T>
- static bool Register(const std::string keyword)
- {
- if (auto it = repository().find(keyword); it == repository().end())
- {
- repository()[keyword] = [](
- WorldInterface *world,
- core::EventNetworkInterface *eventNetwork,
- const CallbackInterface *callback,
- const openScenario::CustomCommandAction action,
- const std::string &eventName) -> ManipulatorInterface * {
- return new T(world, eventNetwork, callback, action, eventName);
- };
- return true;
- }
- return false;
- }
-
-private:
- /// \brief Gets the static repository of registered classes
- ///
- /// As the method register is also static, it's not sure, that repository would
- /// be initialized before (issue with static initialization order). The is solved
- /// by wrapping the static repository in a static method, as it is guaranteed,
- /// that static variables in static methods are initialized first.
- ///
- /// \return The repository
- static std::map<std::string, CreateSignature> &repository()
- {
- static std::map<std::string, CreateSignature> repository;
- return repository;
- }
-};
diff --git a/sim/src/core/opSimulation/modules/Manipulator/DefaultCustomCommandAction.cpp b/sim/src/core/opSimulation/modules/Manipulator/DefaultCustomCommandAction.cpp
deleted file mode 100644
index 6d17e0aa368a1ddad578f7eb3f90b1a7dddef967..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/Manipulator/DefaultCustomCommandAction.cpp
+++ /dev/null
@@ -1,62 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020-2021 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-/// @file DefaultCustomCommandAction.cpp
-
-#include "DefaultCustomCommandAction.h"
-
-#include "common/commonTools.h"
-#include "common/events/defaultCustomCommandActionEvent.h"
-
-DefaultCustomCommandAction::DefaultCustomCommandAction(WorldInterface *world,
- core::EventNetworkInterface *eventNetwork,
- const CallbackInterface *callbacks,
- const openScenario::CustomCommandAction action,
- const std::string &eventName) :
- ManipulatorCommonBase(world,
- eventNetwork,
- callbacks,
- eventName),
- command{std::move(action.command)}
-{
-}
-
-void DefaultCustomCommandAction::Trigger(int time)
-{
- for (const auto &eventInterface : GetEvents())
- {
- auto triggeringEvent = std::dynamic_pointer_cast<openpass::events::OpenScenarioEvent>(eventInterface);
-
- for (const auto actorId : triggeringEvent->actingAgents.entities)
- {
- auto trigger = std::make_unique<openpass::events::DefaultCustomCommandActionEvent>(time, eventName, COMPONENTNAME, actorId, command);
- eventNetwork->InsertTrigger(openpass::events::DefaultCustomCommandActionEvent::TOPIC, std::move(trigger));
- }
- }
-}
-
-EventContainer DefaultCustomCommandAction::GetEvents()
-{
- EventContainer manipulatorSpecificEvents{};
-
- const auto &conditionalEvents = eventNetwork->GetEvents(EventDefinitions::EventCategory::OpenSCENARIO);
-
- for (const auto &event : conditionalEvents)
- {
- const auto oscEvent = std::static_pointer_cast<openpass::events::OpenScenarioEvent>(event);
-
- if (oscEvent && oscEvent.get()->GetName() == eventName)
- {
- manipulatorSpecificEvents.emplace_back(event);
- }
- }
-
- return manipulatorSpecificEvents;
-}
diff --git a/sim/src/core/opSimulation/modules/Manipulator/DefaultCustomCommandAction.h b/sim/src/core/opSimulation/modules/Manipulator/DefaultCustomCommandAction.h
deleted file mode 100644
index 378f59a320171a84cdf9c96b738e34dfaab25fa5..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/Manipulator/DefaultCustomCommandAction.h
+++ /dev/null
@@ -1,40 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020-2021 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-/// @file DefaultCustomCommandAction.h
-
-#pragma once
-
-#include "ManipulatorCommonBase.h"
-#include "common/openScenarioDefinitions.h"
-#include "include/agentInterface.h"
-
-/**
- * @brief Triggers a CustomCommandActionEvent holding the whole command as payload
- *
- * <CustomCommandAction>arbitrary string to send</CustomCommandAction>
- *
- * @ingroup Manipulator
-*/
-class DefaultCustomCommandAction : public ManipulatorCommonBase
-{
-public:
- DefaultCustomCommandAction(WorldInterface *world,
- core::EventNetworkInterface *eventNetwork,
- const CallbackInterface *callbacks,
- const openScenario::CustomCommandAction action,
- const std::string &eventName);
-
- virtual void Trigger(int time) override;
-
-private:
- EventContainer GetEvents() override;
- std::string command;
-};
diff --git a/sim/src/core/opSimulation/modules/Manipulator/LaneChangeManipulator.cpp b/sim/src/core/opSimulation/modules/Manipulator/LaneChangeManipulator.cpp
deleted file mode 100644
index 000696b722a57b96f693b2b3a2a5f3fbe6273be2..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/Manipulator/LaneChangeManipulator.cpp
+++ /dev/null
@@ -1,64 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2017 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-//-----------------------------------------------------------------------------
-/** \file RemoveAgentsManipulator.cpp */
-//-----------------------------------------------------------------------------
-
-#include "LaneChangeManipulator.h"
-
-#include "common/events/laneChangeEvent.h"
-
-LaneChangeManipulator::LaneChangeManipulator(WorldInterface *world,
- core::EventNetworkInterface *eventNetwork,
- const CallbackInterface *callbacks,
- const openScenario::LaneChangeAction action,
- const std::string &eventName) :
- ManipulatorCommonBase(world,
- eventNetwork,
- callbacks,
- eventName),
- action(action)
-{
- cycleTime = 100;
-}
-
-void LaneChangeManipulator::Trigger(int time)
-{
- for (const auto &eventInterface : GetEvents())
- {
- auto triggeringEvent = std::dynamic_pointer_cast<openpass::events::OpenScenarioEvent>(eventInterface);
-
- for (const auto actorId : triggeringEvent->actingAgents.entities)
- {
- auto trigger = std::make_unique<openpass::events::LaneChangeEvent>(time, eventName, COMPONENTNAME, actorId, action.laneChangeParameter);
- eventNetwork->InsertTrigger(openpass::events::LaneChangeEvent::TOPIC, std::move(trigger));
- }
- }
-}
-
-EventContainer LaneChangeManipulator::GetEvents()
-{
- EventContainer manipulatorSpecificEvents{};
-
- const auto &conditionalEvents = eventNetwork->GetEvents(EventDefinitions::EventCategory::OpenSCENARIO);
-
- for (const auto &event : conditionalEvents)
- {
- const auto oscEvent = std::static_pointer_cast<openpass::events::OpenScenarioEvent>(event);
-
- if (oscEvent && oscEvent.get()->GetName() == eventName)
- {
- manipulatorSpecificEvents.emplace_back(event);
- }
- }
-
- return manipulatorSpecificEvents;
-}
diff --git a/sim/src/core/opSimulation/modules/Manipulator/LaneChangeManipulator.h b/sim/src/core/opSimulation/modules/Manipulator/LaneChangeManipulator.h
deleted file mode 100644
index 8a43f88247f99c184819084f592c8a5156aafc19..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/Manipulator/LaneChangeManipulator.h
+++ /dev/null
@@ -1,53 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2017-2019 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-/** \file LaneChangeManipulator.h
-* \brief This file removes the agent.
-*
-* \details This file removes an agent.
-*/
-
-#pragma once
-
-#include "ManipulatorCommonBase.h"
-#include "include/agentInterface.h"
-#include "common/openScenarioDefinitions.h"
-
-//-----------------------------------------------------------------------------
-/** \brief This class removes an agent.
-* \details This class removes the agent.
-*
-* \ingroup Manipulator
-*/
-//-----------------------------------------------------------------------------
-class LaneChangeManipulator : public ManipulatorCommonBase
-{
-public:
- LaneChangeManipulator(WorldInterface *world,
- core::EventNetworkInterface *eventNetwork,
- const CallbackInterface *callbacks,
- const openScenario::LaneChangeAction action,
- const std::string &eventName);
-
- /*!
- * \brief Triggers the functionality of this class
- *
- * \details Trigger gets called each cycle timestep.
- * This function is repsonsible for creating events
- *
- * @param[in] time Current time.
- */
- virtual void Trigger(int time) override;
-
-private:
- const openScenario::LaneChangeAction action;
-
- EventContainer GetEvents() override;
-};
diff --git a/sim/src/core/opSimulation/modules/Manipulator/Manipulator.pro b/sim/src/core/opSimulation/modules/Manipulator/Manipulator.pro
new file mode 100644
index 0000000000000000000000000000000000000000..ddf621a0936a9df60d2753abffea2d8e8b069eb9
--- /dev/null
+++ b/sim/src/core/opSimulation/modules/Manipulator/Manipulator.pro
@@ -0,0 +1,48 @@
+################################################################################
+# Copyright (c) 2017-2020 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
+# http://www.eclipse.org/legal/epl-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0
+################################################################################
+
+#-----------------------------------------------------------------------------
+# \file Manipulator.pro
+# \brief This file contains the information for the QtCreator-project of the
+# module GenericManipulator
+#-----------------------------------------------------------------------------/
+
+DEFINES += MANIPULATOR_LIBRARY
+CONFIG += OPENPASS_LIBRARY
+include (../../../../../global.pri)
+
+INCLUDEPATH += \
+ . \
+ .. \
+ ../../.. \
+ ../../../.. \
+ ../../../../.. \
+ srcCollisionPostCrash
+
+SOURCES += \
+ CollisionManipulator.cpp \
+ ManipulatorCommonBase.cpp \
+ ManipulatorExport.cpp \
+ srcCollisionPostCrash/collisionDetection_Impact_implementation.cpp \
+ srcCollisionPostCrash/polygon.cpp \
+ ../../../../core/common/coreDataPublisher.cpp
+
+EVENT_HEADERS += \
+ ../../../../common/events/collisionEvent.h \
+
+HEADERS += \
+ $$EVENT_HEADERS \
+ CollisionManipulator.h \
+ ManipulatorCommonBase.h \
+ ManipulatorExport.h \
+ ManipulatorGlobal.h \
+ srcCollisionPostCrash/collisionDetection_Impact_implementation.h \
+ srcCollisionPostCrash/polygon.h \
+ ../../../../core/common/coreDataPublisher.h
diff --git a/sim/src/core/opSimulation/modules/Manipulator/ManipulatorExport.cpp b/sim/src/core/opSimulation/modules/Manipulator/ManipulatorExport.cpp
index 57763be8687c0a36af937b4808432d02d5b9150c..f1e1b3247305f2fb9218886bff5be191946d9a13 100644
--- a/sim/src/core/opSimulation/modules/Manipulator/ManipulatorExport.cpp
+++ b/sim/src/core/opSimulation/modules/Manipulator/ManipulatorExport.cpp
@@ -15,15 +15,7 @@
#include "ManipulatorExport.h"
-#include "AcquirePositionManipulator.h"
#include "CollisionManipulator.h"
-#include "CustomCommandFactory.h"
-#include "DefaultCustomCommandAction.h"
-#include "LaneChangeManipulator.h"
-#include "RemoveAgentsManipulator.h"
-#include "SpeedActionManipulator.h"
-#include "TrajectoryManipulator.h"
-#include "common/openScenarioDefinitions.h"
#include "include/callbackInterface.h"
#include "include/eventNetworkInterface.h"
@@ -33,183 +25,18 @@ class CoreDataPublisher;
}
const std::string version = "0.0.1";
-static const CallbackInterface* Callbacks = nullptr;
+static const CallbackInterface *Callbacks = nullptr;
-extern "C" MANIPULATOR_SHARED_EXPORT const std::string& OpenPASS_GetVersion()
+extern "C" MANIPULATOR_SHARED_EXPORT const std::string &OpenPASS_GetVersion()
{
return version;
}
-extern "C" MANIPULATOR_SHARED_EXPORT ManipulatorInterface* OpenPASS_CreateInstance(
- WorldInterface* world,
- openScenario::ManipulatorInformation manipulatorInformation,
- core::EventNetworkInterface* eventNetwork,
- const CallbackInterface* callbacks)
-{
- Callbacks = callbacks;
-
- try
- {
- const auto &action = manipulatorInformation.action;
-
- if (std::holds_alternative<openScenario::UserDefinedAction>(action))
- {
- const auto userDefinedAction = std::get<openScenario::UserDefinedAction>(action);
-
- if (std::holds_alternative<openScenario::CustomCommandAction>(userDefinedAction))
- {
- const auto action = std::get<openScenario::CustomCommandAction>(userDefinedAction);
- const auto command = action.command;
-
- // the keyword is the first word in the command
- const auto keyword = command.substr(0, command.find(' '));
- const auto eventName = manipulatorInformation.eventName;
-
- // get the manipulator for the given keyword from the factory
- if (auto instance = CustomCommandFactory::Create(keyword,
- world,
- eventNetwork,
- callbacks,
- action,
- eventName))
- {
- return instance;
- }
- // fallback: relay command without interpretation
- else
- {
- return new DefaultCustomCommandAction(world,
- eventNetwork,
- callbacks,
- action,
- eventName);
- }
- }
- else
- {
- Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, "Invalid UserDefinedAction as manipulator.");
- return nullptr;
- }
- }
- else if (std::holds_alternative<openScenario::GlobalAction>(action))
- {
- const auto &globalAction = std::get<openScenario::GlobalAction>(action);
-
- if (std::holds_alternative<openScenario::EntityAction>(globalAction))
- {
- const auto entityAction = std::get<openScenario::EntityAction>(globalAction);
- const auto actionType = entityAction.type;
- if (actionType == openScenario::EntityActionType::Delete)
- {
- return static_cast<ManipulatorInterface*>(new (std::nothrow) RemoveAgentsManipulator(
- world,
- eventNetwork,
- callbacks,
- entityAction,
- manipulatorInformation.eventName));
- }
- else
- {
- Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, "Invalid EntityAction as manipulator.");
- return nullptr;
- }
- }
- else
- {
- Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, "Invalid GlobalAction as manipulator.");
- return nullptr;
- }
- }
- else if (std::holds_alternative<openScenario::PrivateAction>(action))
- {
- const auto &privateAction = std::get<openScenario::PrivateAction>(action);
- if (std::holds_alternative<openScenario::LateralAction>(privateAction))
- {
- const auto &lateralAction = std::get<openScenario::LateralAction>(privateAction);
- if (std::holds_alternative<openScenario::LaneChangeAction>(lateralAction))
- {
- const auto &laneChangeAction = std::get<openScenario::LaneChangeAction>(lateralAction);
- return static_cast<ManipulatorInterface*>(new (std::nothrow) LaneChangeManipulator(
- world,
- eventNetwork,
- callbacks,
- laneChangeAction,
- manipulatorInformation.eventName));
- }
- else
- {
- Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, "Invalid LateralAction as manipulator.");
- return nullptr;
- }
- }
- else if (std::holds_alternative<openScenario::LongitudinalAction>(privateAction))
- {
- const auto &longitudinalAction = std::get<openScenario::LongitudinalAction>(privateAction);
- if (std::holds_alternative<openScenario::SpeedAction>(longitudinalAction))
- {
- const auto &speedAction = std::get<openScenario::SpeedAction>(longitudinalAction);
- return static_cast<ManipulatorInterface*>(new (std::nothrow) SpeedActionManipulator(
- world,
- eventNetwork,
- callbacks,
- speedAction,
- manipulatorInformation.eventName));
- }
- }
- else if (std::holds_alternative<openScenario::RoutingAction>(privateAction))
- {
- const auto &routingAction = std::get<openScenario::RoutingAction>(privateAction);
- if (std::holds_alternative<openScenario::FollowTrajectoryAction>(routingAction))
- {
- const auto &followTrajectoryAction = std::get<openScenario::FollowTrajectoryAction>(routingAction);
- return static_cast<ManipulatorInterface*>(new (std::nothrow) TrajectoryManipulator(
- world,
- eventNetwork,
- callbacks,
- followTrajectoryAction,
- manipulatorInformation.eventName));
- }
- else if (std::holds_alternative<openScenario::AcquirePositionAction>(routingAction))
- {
- const auto &acquirePositionAction = std::get<openScenario::AcquirePositionAction>(routingAction);
- return static_cast<ManipulatorInterface *>(new (std::nothrow) AcquirePositionManipulator(
- world,
- eventNetwork,
- callbacks,
- manipulatorInformation.eventName,
- acquirePositionAction));
- }
- else
- {
- Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, "Invalid RoutingAction as manipulator.");
- return nullptr;
- }
- }
- else
- {
- Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, "Invalid PrivateAction as manipulator.");
- return nullptr;
- }
- }
- }
- catch (...)
- {
- if (Callbacks != nullptr)
- {
- Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, "unexpected exception");
- }
-
- return nullptr;
- }
-
- throw std::runtime_error("Unable to instantiate unknown manipulator");
-}
-
-extern "C" MANIPULATOR_SHARED_EXPORT ManipulatorInterface* OpenPASS_CreateDefaultInstance(
- WorldInterface* world,
+extern "C" MANIPULATOR_SHARED_EXPORT ManipulatorInterface *OpenPASS_CreateDefaultInstance(
+ WorldInterface *world,
std::string manipulatorType,
- core::EventNetworkInterface* eventNetwork,
- const CallbackInterface* callbacks,
+ core::EventNetworkInterface *eventNetwork,
+ const CallbackInterface *callbacks,
PublisherInterface *publisher)
{
Callbacks = callbacks;
@@ -218,17 +45,17 @@ extern "C" MANIPULATOR_SHARED_EXPORT ManipulatorInterface* OpenPASS_CreateDefaul
{
if (manipulatorType == "CollisionManipulator")
{
- auto coreDataPublisher = dynamic_cast<openpass::publisher::CoreDataPublisher*>(publisher);
- if(!coreDataPublisher)
+ auto coreDataPublisher = dynamic_cast<openpass::publisher::CoreDataPublisher *>(publisher);
+ if (!coreDataPublisher)
{
throw std::runtime_error("Publisher must a CoreDataPublisher");
}
- return static_cast<ManipulatorInterface*>(new (std::nothrow) CollisionManipulator(
- world,
- eventNetwork,
- callbacks,
- coreDataPublisher));
+ return static_cast<ManipulatorInterface *>(new (std::nothrow) CollisionManipulator(
+ world,
+ eventNetwork,
+ callbacks,
+ coreDataPublisher));
}
}
catch (...)
@@ -244,7 +71,7 @@ extern "C" MANIPULATOR_SHARED_EXPORT ManipulatorInterface* OpenPASS_CreateDefaul
throw std::runtime_error("Unable to instantiate unknown manipulator type '" + manipulatorType + "'");
}
-extern "C" MANIPULATOR_SHARED_EXPORT void OpenPASS_DestroyInstance(ManipulatorInterface* implementation)
+extern "C" MANIPULATOR_SHARED_EXPORT void OpenPASS_DestroyInstance(ManipulatorInterface *implementation)
{
delete implementation;
}
diff --git a/sim/src/core/opSimulation/modules/Manipulator/NoOperationManipulator.cpp b/sim/src/core/opSimulation/modules/Manipulator/NoOperationManipulator.cpp
deleted file mode 100644
index 431f4753ee571cc198f57a25c957eff32fff318e..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/Manipulator/NoOperationManipulator.cpp
+++ /dev/null
@@ -1,36 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2017-2019 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-//-----------------------------------------------------------------------------
-/** \file CollisionManipulator.cpp */
-//-----------------------------------------------------------------------------
-
-#include "NoOperationManipulator.h"
-
-NoOperationManipulator::NoOperationManipulator(WorldInterface *world,
- core::EventNetworkInterface *eventNetwork,
- const CallbackInterface *callbacks,
- [[maybe_unused]] const openScenario::CustomCommandAction action,
- [[maybe_unused]] const std::string &eventName) :
- ManipulatorCommonBase(world,
- eventNetwork,
- callbacks)
-{
- cycleTime = 100;
-}
-
-void NoOperationManipulator::Trigger([[maybe_unused]] int time)
-{
-}
-
-EventContainer NoOperationManipulator::GetEvents()
-{
- return {};
-}
diff --git a/sim/src/core/opSimulation/modules/Manipulator/NoOperationManipulator.h b/sim/src/core/opSimulation/modules/Manipulator/NoOperationManipulator.h
deleted file mode 100644
index 10932900678d08380695669289b00ea52ded4374..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/Manipulator/NoOperationManipulator.h
+++ /dev/null
@@ -1,39 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2017 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#pragma once
-
-#include "CustomCommandFactory.h"
-#include "ManipulatorCommonBase.h"
-
-//-----------------------------------------------------------------------------
-/** \brief This class is a manipulator, that doesn't trigger any action and solely
-* returns the event. It existes to met the OpenSCENARIO conventions.
-*
-* \ingroup Manipulator
-*/
-//-----------------------------------------------------------------------------
-class NoOperationManipulator : public ManipulatorCommonBase
-{
-public:
- NoOperationManipulator(WorldInterface *world,
- core::EventNetworkInterface *eventNetwork,
- const CallbackInterface *callbacks,
- const openScenario::CustomCommandAction action,
- const std::string &eventName);
-
- virtual ~NoOperationManipulator() = default;
- virtual void Trigger(int time) override;
-
-private:
- EventContainer GetEvents() override;
-
- static inline bool registered = CustomCommandFactory::Register<NoOperationManipulator>("NoOperation");
-};
diff --git a/sim/src/core/opSimulation/modules/Manipulator/RemoveAgentsManipulator.cpp b/sim/src/core/opSimulation/modules/Manipulator/RemoveAgentsManipulator.cpp
deleted file mode 100644
index a6eb8389091a8f3e54f827032304d89577cdbb28..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/Manipulator/RemoveAgentsManipulator.cpp
+++ /dev/null
@@ -1,60 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2017-2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-//-----------------------------------------------------------------------------
-/** \file RemoveAgentsManipulator.cpp */
-//-----------------------------------------------------------------------------
-
-#include "RemoveAgentsManipulator.h"
-
-#include "common/events/basicEvent.h"
-
-RemoveAgentsManipulator::RemoveAgentsManipulator(WorldInterface *world,
- core::EventNetworkInterface *eventNetwork,
- const CallbackInterface *callbacks,
- [[maybe_unused]] const openScenario::EntityAction action,
- const std::string &eventName) :
- ManipulatorCommonBase(world,
- eventNetwork,
- callbacks,
- eventName)
-{
- cycleTime = 100;
-}
-
-void RemoveAgentsManipulator::Trigger([[maybe_unused]] int time)
-{
- for (const auto &eventInterface : GetEvents())
- {
- auto triggeringEvent = std::dynamic_pointer_cast<openpass::events::OpenScenarioEvent>(eventInterface);
-
- for (const auto actorId : triggeringEvent->actingAgents.entities)
- {
- world->QueueAgentRemove(world->GetAgent(actorId));
- }
- }
-}
-
-EventContainer RemoveAgentsManipulator::GetEvents()
-{
- EventContainer manipulatorSpecificEvents{};
-
- for (const auto &event : eventNetwork->GetEvents(EventDefinitions::EventCategory::OpenSCENARIO))
- {
- const auto oscEvent = std::static_pointer_cast<openpass::events::OpenScenarioEvent>(event);
-
- if (oscEvent && oscEvent.get()->GetName() == eventName)
- {
- manipulatorSpecificEvents.emplace_back(event);
- }
- }
-
- return manipulatorSpecificEvents;
-}
diff --git a/sim/src/core/opSimulation/modules/Manipulator/RemoveAgentsManipulator.h b/sim/src/core/opSimulation/modules/Manipulator/RemoveAgentsManipulator.h
deleted file mode 100644
index 27e30381d6a6de9b85c5349fd31f0f86a5f86ee5..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/Manipulator/RemoveAgentsManipulator.h
+++ /dev/null
@@ -1,51 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2017-2019 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-/** \file RemoveAgentsManipulator.h
-* \brief This file removes the agent.
-*
-* \details This file removes an agent.
-*/
-
-#pragma once
-
-#include "ManipulatorCommonBase.h"
-#include "include/agentInterface.h"
-#include "common/openScenarioDefinitions.h"
-
-//-----------------------------------------------------------------------------
-/** \brief This class removes an agent.
-* \details This class removes the agent.
-*
-* \ingroup Manipulator
-*/
-//-----------------------------------------------------------------------------
-class RemoveAgentsManipulator : public ManipulatorCommonBase
-{
-public:
- RemoveAgentsManipulator(WorldInterface *world,
- core::EventNetworkInterface *eventNetwork,
- const CallbackInterface *callbacks,
- const openScenario::EntityAction action,
- const std::string &eventName);
-
- /*!
- * \brief Triggers the functionality of this class
- *
- * \details Trigger gets called each cycle timestep.
- * This function is repsonsible for creating events
- *
- * @param[in] time Current time.
- */
- virtual void Trigger(int time) override;
-
-private:
- EventContainer GetEvents() override;
-};
diff --git a/sim/src/core/opSimulation/modules/Manipulator/SpeedActionManipulator.cpp b/sim/src/core/opSimulation/modules/Manipulator/SpeedActionManipulator.cpp
deleted file mode 100644
index 987b038ad41e7bddd09f710b0931cd19ddec5786..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/Manipulator/SpeedActionManipulator.cpp
+++ /dev/null
@@ -1,64 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-//-----------------------------------------------------------------------------
-/** \file SpeedActionManipulator.cpp */
-//-----------------------------------------------------------------------------
-
-#include "SpeedActionManipulator.h"
-
-#include "common/events/speedActionEvent.h"
-
-SpeedActionManipulator::SpeedActionManipulator(WorldInterface *world,
- core::EventNetworkInterface *eventNetwork,
- const CallbackInterface *callbacks,
- const openScenario::SpeedAction action,
- const std::string &eventName) :
- ManipulatorCommonBase(world,
- eventNetwork,
- callbacks,
- eventName),
- action(action)
-{
- cycleTime = 100;
-}
-
-void SpeedActionManipulator::Trigger([[maybe_unused]] int time)
-{
- for (const auto &eventInterface : GetEvents())
- {
- const auto &triggeringEvent = std::dynamic_pointer_cast<openpass::events::OpenScenarioEvent>(eventInterface);
-
- for (const auto actorId : triggeringEvent->actingAgents.entities)
- {
- auto trigger = std::make_unique<openpass::events::SpeedActionEvent>(time, eventName, COMPONENTNAME, actorId, action);
- eventNetwork->InsertTrigger(openpass::events::SpeedActionEvent::TOPIC, std::move(trigger));
- }
- }
-}
-
-EventContainer SpeedActionManipulator::GetEvents()
-{
- EventContainer manipulatorSpecificEvents{};
-
- const auto &conditionalEvents = eventNetwork->GetEvents(EventDefinitions::EventCategory::OpenSCENARIO);
-
- for (const auto &event : conditionalEvents)
- {
- const auto oscEvent = std::static_pointer_cast<openpass::events::OpenScenarioEvent>(event);
-
- if (oscEvent && oscEvent.get()->GetName() == eventName)
- {
- manipulatorSpecificEvents.emplace_back(event);
- }
- }
-
- return manipulatorSpecificEvents;
-}
diff --git a/sim/src/core/opSimulation/modules/Manipulator/SpeedActionManipulator.h b/sim/src/core/opSimulation/modules/Manipulator/SpeedActionManipulator.h
deleted file mode 100644
index 10916003c6a521943167f8854eaa17c8421e290f..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/Manipulator/SpeedActionManipulator.h
+++ /dev/null
@@ -1,54 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-//-----------------------------------------------------------------------------
-/** \file SpeedActionManipulator.h
-* \brief This manipulator adjusts the acceleration of an actor based on different variables
-*/
-//-----------------------------------------------------------------------------
-
-#pragma once
-
-#include "ManipulatorCommonBase.h"
-#include "common/openScenarioDefinitions.h"
-
-//-----------------------------------------------------------------------------
-/** \brief This class emits the SpeedActionEvent.
-* \details This class emits the SpeedActionEvent which allows for an acceleration manipulation of actors.
-*
-* \ingroup Manipulator
-*/
-//-----------------------------------------------------------------------------
-class SpeedActionManipulator : public ManipulatorCommonBase
-{
-public:
- SpeedActionManipulator(WorldInterface *world,
- core::EventNetworkInterface *eventNetwork,
- const CallbackInterface *callbacks,
- const openScenario::SpeedAction action,
- const std::string &eventName);
-
- virtual ~SpeedActionManipulator() = default;
-
- /*!
- * \brief Triggers the functionality of this class
- *
- * \details Trigger gets called each cycle timestep.
- * This function is repsonsible for creating events
- *
- * @param[in] time Current time.
- */
- virtual void Trigger(int time);
-
-private:
- EventContainer GetEvents() override;
-
- const openScenario::SpeedAction action;
-};
diff --git a/sim/src/core/opSimulation/modules/Manipulator/TrajectoryManipulator.cpp b/sim/src/core/opSimulation/modules/Manipulator/TrajectoryManipulator.cpp
deleted file mode 100644
index cea5bf676e03d04c8d8525fdbe135de32098f422..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/Manipulator/TrajectoryManipulator.cpp
+++ /dev/null
@@ -1,64 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-//-----------------------------------------------------------------------------
-/** \file TrajectoryManipulator.cpp */
-//-----------------------------------------------------------------------------
-
-#include "TrajectoryManipulator.h"
-
-#include "common/events/trajectoryEvent.h"
-
-TrajectoryManipulator::TrajectoryManipulator(WorldInterface *world,
- core::EventNetworkInterface *eventNetwork,
- const CallbackInterface *callbacks,
- const openScenario::FollowTrajectoryAction action,
- const std::string &eventName) :
- ManipulatorCommonBase(world,
- eventNetwork,
- callbacks,
- eventName),
- action(action)
-{
- cycleTime = 100;
-}
-
-void TrajectoryManipulator::Trigger(int time)
-{
- for (const auto &eventInterface : GetEvents())
- {
- auto triggeringEvent = std::dynamic_pointer_cast<openpass::events::OpenScenarioEvent>(eventInterface);
-
- for (const auto actorId : triggeringEvent->actingAgents.entities)
- {
- auto trigger = std::make_unique<openpass::events::TrajectoryEvent>(time, eventName, COMPONENTNAME, actorId, action.trajectory);
- eventNetwork->InsertTrigger(openpass::events::TrajectoryEvent::TOPIC, std::move(trigger));
- }
- }
-}
-
-EventContainer TrajectoryManipulator::GetEvents()
-{
- EventContainer manipulatorSpecificEvents{};
-
- const auto &conditionalEvents = eventNetwork->GetEvents(EventDefinitions::EventCategory::OpenSCENARIO);
-
- for (const auto &event : conditionalEvents)
- {
- const auto oscEvent = std::static_pointer_cast<openpass::events::OpenScenarioEvent>(event);
-
- if (oscEvent && oscEvent.get()->GetName() == eventName)
- {
- manipulatorSpecificEvents.emplace_back(event);
- }
- }
-
- return manipulatorSpecificEvents;
-}
diff --git a/sim/src/core/opSimulation/modules/Manipulator/TrajectoryManipulator.h b/sim/src/core/opSimulation/modules/Manipulator/TrajectoryManipulator.h
deleted file mode 100644
index 5a312761da28b32a469c3cf37c7360602e6c5d80..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/Manipulator/TrajectoryManipulator.h
+++ /dev/null
@@ -1,53 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2020 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-/** \file TrajectoryManipulator.h
-* \brief This manipulator sets a trajectory for an agent.
-*
-* \details This manipulator sets a trajectory for an agent.
-*/
-
-#pragma once
-
-#include "ManipulatorCommonBase.h"
-#include "include/agentInterface.h"
-#include "common/openScenarioDefinitions.h"
-
-//-----------------------------------------------------------------------------
-/** \brief This manipulator sets a trajectory for an agent.
-* \details This manipulator sets a trajectory for an agent.
-*
-* \ingroup Manipulator
-*/
-//-----------------------------------------------------------------------------
-class TrajectoryManipulator : public ManipulatorCommonBase
-{
-public:
- TrajectoryManipulator(WorldInterface *world,
- core::EventNetworkInterface *eventNetwork,
- const CallbackInterface *callbacks,
- const openScenario::FollowTrajectoryAction action,
- const std::string &eventName);
-
- /*!
- * \brief Triggers the functionality of this class
- *
- * \details Trigger gets called each cycle timestep.
- * This function is repsonsible for creating events
- *
- * @param[in] time Current time.
- */
- virtual void Trigger(int time) override;
-
-private:
- openScenario::FollowTrajectoryAction action;
-
- EventContainer GetEvents() override;
-};
diff --git a/sim/src/core/opSimulation/modules/Manipulator/srcCollisionPostCrash/collisionDetection_Impact_implementation.cpp b/sim/src/core/opSimulation/modules/Manipulator/srcCollisionPostCrash/collisionDetection_Impact_implementation.cpp
index 087bd3f09064c685306d529b6ea80642ab41038b..8b85ba6bb71bc7a400beb5cbe4bd8a583179d6ec 100644
--- a/sim/src/core/opSimulation/modules/Manipulator/srcCollisionPostCrash/collisionDetection_Impact_implementation.cpp
+++ b/sim/src/core/opSimulation/modules/Manipulator/srcCollisionPostCrash/collisionDetection_Impact_implementation.cpp
@@ -1,5 +1,6 @@
/********************************************************************************
* Copyright (c) 2017-2020 ITK Engineering GmbH
+ * 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -32,22 +33,23 @@ CollisionDetectionPostCrash::~CollisionDetectionPostCrash()
{
}
-std::vector<Common::Vector2d> CollisionDetectionPostCrash::GetAgentCorners(
+std::vector<Common::Vector2d<units::length::meter_t>> CollisionDetectionPostCrash::GetAgentCorners(
const AgentInterface *agent)
{
- Common::Vector2d agentPosition(agent->GetPositionX(), agent->GetPositionY()); // reference point (rear axle) in glabal CS
- double agentAngle = agent->GetYaw();
- 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
+ Common::Vector2d<units::length::meter_t> agentPosition(agent->GetPositionX(), agent->GetPositionY()); // reference point (rear axle) in glabal CS
+ const auto agentAngle = agent->GetYaw();
- double agentLength = agent->GetLength();
- double agentWidthHalf = agent->GetWidth() / 2;
- double agentDistanceCenter = agent->GetDistanceReferencePointToLeadingEdge();
+ const auto offSetGeometricCenter = agent->GetVehicleModelParameters()->bounding_box.geometric_center.x;
+ agentPosition.x += units::math::cos(agentAngle) * offSetGeometricCenter; // geometrical center of vehicle in global CS
+ agentPosition.y += units::math::sin(agentAngle) * offSetGeometricCenter; // geometrical center of vehicle in global CS
- std::vector<Common::Vector2d> resultCorners;
+ const auto agentLength = agent->GetLength();
+ const auto agentWidthHalf = agent->GetWidth() / 2;
+ const auto agentDistanceCenter = agent->GetDistanceReferencePointToLeadingEdge();
+
+ std::vector<Common::Vector2d<units::length::meter_t>> resultCorners;
for (int i = 0; i < NumberCorners; ++i) {
- resultCorners.push_back(Common::Vector2d(0, 0));
+ resultCorners.push_back(Common::Vector2d<units::length::meter_t>(0_m, 0_m));
}
// upper left corner for angle == 0
@@ -75,25 +77,29 @@ std::vector<Common::Vector2d> CollisionDetectionPostCrash::GetAgentCorners(
return resultCorners;
}
-std::vector<Common::Vector2d>
+std::vector<Common::Vector2d<units::length::meter_t>>
CollisionDetectionPostCrash::CalculateAllIntersectionPoints(
- std::vector<Common::Vector2d> corners1,
- std::vector<Common::Vector2d> corners2)
+ std::vector<Common::Vector2d<units::length::meter_t>> corners1,
+ std::vector<Common::Vector2d<units::length::meter_t>> corners2)
{
// Sutherland-Hodgman-Algorith for polygon clipping
for (unsigned int i1 = 0; i1 < corners1.size(); i1++) { // loop over 1st polygon, must be convex
// resulting polygon
- std::vector<Common::Vector2d> cornersIntersection;
+ std::vector<Common::Vector2d<units::length::meter_t>> cornersIntersection;
// indices of neighboring corners of polygon1
int i1_1 = i1; // 1st polygon, 1st corner
int i1_2 = ( i1 + 1 ) % corners1.size(); // 1st polygon, 2nd corner
// calculate normalized normal on polygon edge and distance for Hesse normal form
- Common::Vector2d n1;
+ Common::Vector2d<units::length::meter_t> n1;
n1.x = corners1[i1_2].y - corners1[i1_1].y;
n1.y = - ( corners1[i1_2].x - corners1[i1_1].x );
- n1.Norm();
+
+ auto tmpNormalizedVector = n1.Norm();
+ n1.x = units::length::meter_t(tmpNormalizedVector.x.value());
+ n1.y = units::length::meter_t(tmpNormalizedVector.y.value());
+
double d1 = n1.Dot( corners1[i1_1] );
for (unsigned int i2 = 0; i2 < corners2.size(); i2++) { // loop over 2nd polygon
@@ -101,17 +107,15 @@ CollisionDetectionPostCrash::CalculateAllIntersectionPoints(
int i2_2 = ( i2 + 1 ) % corners2.size(); // 2nd polygon, 2nd corner
// calculate normalized normal on polygon edge and distance for Hesse normal form
- Common::Vector2d n2;
+ Common::Vector2d<units::length::meter_t> n2;
n2.x = corners2[i2_2].y - corners2[i2_1].y;
n2.y = - ( corners2[i2_2].x - corners2[i2_1].x );
n2.Norm();
double d2 = n2.Dot( corners2[i2_1] );
// check if edges are parallel
- bool areParallel = fabs( n1.x - n2.x ) < std::numeric_limits<double>::epsilon()
- && fabs( n1.y - n2.y ) < std::numeric_limits<double>::epsilon();
- bool areAntiParallel = fabs( n1.x + n2.x ) < std::numeric_limits<double>::epsilon()
- && fabs( n1.y + n2.y ) < std::numeric_limits<double>::epsilon();
+ bool areParallel = units::math::fabs(n1.x - n2.x) < units::length::meter_t(std::numeric_limits<double>::epsilon()) && units::math::fabs(n1.y - n2.y) < units::length::meter_t(std::numeric_limits<double>::epsilon());
+ bool areAntiParallel = units::math::fabs(n1.x + n2.x) < units::length::meter_t(std::numeric_limits<double>::epsilon()) && units::math::fabs(n1.y + n2.y) < units::length::meter_t(std::numeric_limits<double>::epsilon());
if ( areParallel || areAntiParallel) {
if ( n1.Dot( corners2[i2_1]) <= d1 ) {
// first point of the edge of polygon2 is inside the edge of polygon1
@@ -121,8 +125,8 @@ CollisionDetectionPostCrash::CalculateAllIntersectionPoints(
}
}
- Common::Vector2d intersectionPoint;
- GetIntersectionPoint(n1, n2, d1, d2, intersectionPoint);
+ Common::Vector2d<units::length::meter_t> intersectionPoint;
+ GetIntersectionPoint(n1, n2, units::area::square_meter_t(d1), units::area::square_meter_t(d2), intersectionPoint);
double dist1, dist2;
dist1 = n1.Dot( corners2[i2_1] ) - d1;
@@ -149,7 +153,7 @@ CollisionDetectionPostCrash::CalculateAllIntersectionPoints(
}
bool CollisionDetectionPostCrash::CalculatePlaneOfContact(Polygon intersection,
- std::vector<int> vertexTypes, Common::Vector2d &pointOfImpact, double &phi)
+ std::vector<int> vertexTypes, Common::Vector2d<units::length::meter_t> &pointOfImpact, units::angle::radian_t &phi)
{
if (!intersection.CalculateCentroid(pointOfImpact)) {
return false;
@@ -170,8 +174,8 @@ bool CollisionDetectionPostCrash::CalculatePlaneOfContact(Polygon intersection,
}
}
- std::vector<Common::Vector2d> vertices = intersection.GetVertices();
- Common::Vector2d vecPlane;
+ std::vector<Common::Vector2d<units::length::meter_t>> vertices = intersection.GetVertices();
+ Common::Vector2d<units::length::meter_t> vecPlane;
if ( i2.size() == 2 ) {
vecPlane = vertices[ i2[0] ] - ( vertices[ i2[1] ]);
} else if ( i3.size() > 1 ) {
@@ -180,106 +184,112 @@ bool CollisionDetectionPostCrash::CalculatePlaneOfContact(Polygon intersection,
return false;
}
- if ( vecPlane.x >= 0 ) {
- phi = atan( vecPlane.y / vecPlane.x );
- } else if ( vecPlane.x < 0 && vecPlane.y >= 0 ) {
- phi = atan( vecPlane.y / vecPlane.x ) + M_PI;
- } else if ( vecPlane.x < 0 && vecPlane.y < 0 ) {
- phi = atan( vecPlane.y / vecPlane.x ) - M_PI;
+ if (vecPlane.x >= 0_m)
+ {
+ phi = units::math::atan(vecPlane.y / vecPlane.x);
+ }
+ else if (vecPlane.x < 0_m && vecPlane.y >= 0_m)
+ {
+ phi = units::math::atan(vecPlane.y / vecPlane.x) + units::angle::radian_t(M_PI);
}
- if ( phi < 0 ) {
- phi = phi + M_PI;
+ else if (vecPlane.x < 0_m && vecPlane.y < 0_m)
+ {
+ phi = units::math::atan(vecPlane.y / vecPlane.x) - units::angle::radian_t(M_PI);
+ }
+ if (phi < 0_rad)
+ {
+ phi = phi + units::angle::radian_t(M_PI);
}
return true;
}
-bool CollisionDetectionPostCrash::CalculatePostCrashDynamic(Common::Vector2d cog1,
- const AgentInterface *agent1,
- Common::Vector2d cog2, const AgentInterface *agent2,
- Common::Vector2d poi, double phi,
- PostCrashDynamic* postCrashDynamic1,
- PostCrashDynamic* postCrashDynamic2)
+bool CollisionDetectionPostCrash::CalculatePostCrashDynamic(Common::Vector2d<units::length::meter_t> cog1,
+ const AgentInterface *agent1,
+ Common::Vector2d<units::length::meter_t> cog2, const AgentInterface *agent2,
+ Common::Vector2d<units::length::meter_t> poi, units::angle::radian_t phi,
+ PostCrashDynamic *postCrashDynamic1,
+ PostCrashDynamic *postCrashDynamic2)
{
// input parameters of agent 1
- double yaw1 = agent1->GetYaw(); // yaw angle [rad]
- double yawVel1 = 0; // pre crash yaw velocity [rad/s]
- double vel1 = agent1->GetVelocity().Length(); // absolute velocity of first vehicle [m/s]
- double velDir1 = yaw1; // velocity direction of first vehicle [rad]
- 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");
+ auto yaw1 = agent1->GetYaw(); // yaw angle
+ units::angular_velocity::radians_per_second_t yawVel1{0}; // pre crash yaw velocity [rad/s]
+ const auto vel1 = agent1->GetVelocity().Length(); // absolute velocity of first vehicle [m/s]
+ auto velDir1 = yaw1; // velocity direction of first vehicle
+ const auto mass1 = agent1->GetVehicleModelParameters()->mass; // mass of first vehicle [kg]
- double length1 = agent1->GetLength();
- double width1 = agent1->GetWidth();
- double momentIntertiaYaw1 = CommonHelper::CalculateMomentInertiaYaw(mass1.value(), length1, width1); // moment of inertia 1st vehicle [kg*m^2]
+ auto length1 = agent1->GetLength();
+ auto width1 = agent1->GetWidth();
+ const auto momentIntertiaYaw1 = CommonHelper::CalculateMomentInertiaYaw(mass1, length1, width1); // moment of inertia 1st vehicle [kg*m^2]
// input parameters of agent 2
- double yaw2 = agent2->GetYaw(); // yaw angle [rad]
- double yawVel2 = 0; // pre crash yaw velocity [rad/s]
- double vel2 = agent2->GetVelocity().Length(); // absolute velocity of 2nd vehicle [m/s]
- double velDir2 = yaw2; // velocity direction of 2nd vehicle [rad]
- 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.value(), length2, width2); // moment of inertia 2nd vehicle [kg*m^2]
+ auto yaw2 = agent2->GetYaw(); // yaw angle [rad]
+ units::angular_velocity::radians_per_second_t yawVel2{0}; // pre crash yaw velocity [rad/s]
+ const auto vel2 = agent2->GetVelocity().Length(); // absolute velocity of 2nd vehicle [m/s]
+ auto velDir2 = yaw2; // velocity direction of 2nd vehicle [rad]
+ const auto mass2 = agent2->GetVehicleModelParameters()->mass; // mass of 2nd vehicle [kg]
+ auto length2 = agent2->GetLength();
+ auto width2 = agent2->GetWidth();
+ const auto momentIntertiaYaw2 = CommonHelper::CalculateMomentInertiaYaw(mass2, 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) );
- Common::Vector2d normal = Common::Vector2d( -sin(phi), cos(phi) );
+ Common::Vector2d<units::dimensionless::scalar_t> tang = Common::Vector2d<units::dimensionless::scalar_t>(units::math::cos(phi), units::math::sin(phi));
+ Common::Vector2d<units::dimensionless::scalar_t> normal = Common::Vector2d<units::dimensionless::scalar_t>(-units::math::sin(phi), units::math::cos(phi));
// distance of centers of gravity from point of impact in normal and
// tangential direction: coordinates in new coordinate system
- double n1 = normal.x * cog1.x + normal.y * cog1.y - normal.x * poi.x - normal.y * poi.y;
- double n2 = normal.x * cog2.x + normal.y * cog2.y - normal.x * poi.x - normal.y * poi.y;
- double t1 = tang.x * cog1.x + tang.y * cog1.y - tang.x * poi.x - tang.y * poi.y;
- double t2 = tang.x * cog2.x + tang.y * cog2.y - tang.x * poi.x - tang.y * poi.y;
+ units::length::meter_t n1 = normal.x * cog1.x + normal.y * cog1.y - normal.x * poi.x - normal.y * poi.y;
+ units::length::meter_t n2 = normal.x * cog2.x + normal.y * cog2.y - normal.x * poi.x - normal.y * poi.y;
+ units::length::meter_t t1 = tang.x * cog1.x + tang.y * cog1.y - tang.x * poi.x - tang.y * poi.y;
+ units::length::meter_t t2 = tang.x * cog2.x + tang.y * cog2.y - tang.x * poi.x - tang.y * poi.y;
// pre crash velocity vector, global coordinate system
- Common::Vector2d v1 = Common::Vector2d( vel1 * cos(velDir1) , vel1 * sin(velDir1) );
- Common::Vector2d v2 = Common::Vector2d( vel2 * cos(velDir2) , vel2 * sin(velDir2) );
+ Common::Vector2d<units::velocity::meters_per_second_t> v1 = Common::Vector2d<units::velocity::meters_per_second_t>(vel1 * units::math::cos(velDir1), vel1 * units::math::sin(velDir1));
+ Common::Vector2d<units::velocity::meters_per_second_t> v2 = Common::Vector2d<units::velocity::meters_per_second_t>(vel2 * units::math::cos(velDir2), vel2 * units::math::sin(velDir2));
// COG-velocity in normal direction
- double v1norm_cog = normal.x * v1.x + normal.y * v1.y;
- double v2norm_cog = normal.x * v2.x + normal.y * v2.y;
+ units::velocity::meters_per_second_t v1norm_cog = normal.x * v1.x + normal.y * v1.y;
+ units::velocity::meters_per_second_t v2norm_cog = normal.x * v2.x + normal.y * v2.y;
// velocity of point of impact in normal direction
- double v1norm = v1norm_cog - yawVel1 * t1;
- double v2norm = v2norm_cog - yawVel2 * t2;
+ units::velocity::meters_per_second_t v1norm = v1norm_cog - yawVel1 * t1 * units::inverse_radian(1);
+ units::velocity::meters_per_second_t v2norm = v2norm_cog - yawVel2 * t2 * units::inverse_radian(1);
// relative velocity pre crash in normal direction
- double vrel_pre_norm = v1norm - v2norm;
+ auto vrel_pre_norm = v1norm - v2norm;
// COG-velocity in tangential direction
- double v1tang_cog = tang.x * v1.x + tang.y * v1.y;
- double v2tang_cog = tang.x * v2.x + tang.y * v2.y;
+ units::velocity::meters_per_second_t v1tang_cog = tang.x * v1.x + tang.y * v1.y;
+ units::velocity::meters_per_second_t v2tang_cog = tang.x * v2.x + tang.y * v2.y;
// velocity of point of impact in tangential direction
- double v1tang = v1tang_cog + yawVel1 * n1;
- double v2tang = v2tang_cog + yawVel2 * n2;
+ units::velocity::meters_per_second_t v1tang = v1tang_cog + yawVel1 * n1 * units::inverse_radian(1);
+ units::velocity::meters_per_second_t v2tang = v2tang_cog + yawVel2 * n2 * units::inverse_radian(1);
// relative velocity pre crash in tangential direction
- double vrel_pre_tang = v1tang - v2tang;
+ auto vrel_pre_tang = v1tang - v2tang;
// auxiliary parameters
- 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;
+ units::unit_t<units::inverse<units::mass::kilogram>> c1 = 1 / mass1 + 1 / mass2 + n1 * n1 / momentIntertiaYaw1 + n2 * n2 / momentIntertiaYaw2;
+ units::unit_t<units::inverse<units::mass::kilogram>> c2 = 1 / mass1 + 1 / mass2 + t1 * t1 / momentIntertiaYaw1 + t2 * t2 / momentIntertiaYaw2;
+ units::unit_t<units::inverse<units::mass::kilogram>> 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 );
- double Nc = ( c1 * vrel_pre_norm + c3 * vrel_pre_tang ) / ( c3 * c3 - c1 * c2 );
+ units::impulse Tc = (c3 * vrel_pre_norm + c2 * vrel_pre_tang) / (c3 * c3 - c1 * c2);
+ units::impulse Nc = (c1 * vrel_pre_norm + c3 * vrel_pre_tang) / (c3 * c3 - c1 * c2);
bool out1_sliding = false;
bool out2_sliding = false;
- if ( fabs(Tc) > fabs( interFriction * Nc ) ) {
+ if (units::math::fabs(Tc) > units::math::fabs(interFriction * Nc))
+ {
out1_sliding = true;
out2_sliding = true;
// LOG(CbkLogLevel::Warning,
// "Sliding collision detected. Calculation of post-crash dynamics not valid for sliding collisions.");
}
// vector total pulse
- double T = Tc * ( 1 + coeffRest );
- double N = Nc * ( 1 + coeffRest );
+ units::impulse T = Tc * (1 + coeffRest);
+ units::impulse N = Nc * (1 + coeffRest);
// relative post crash velocities: should be (very close to) ZERO! Just a check
- double vrel_post_tang = vrel_pre_tang + c1 * Tc - c3 * Nc;
- double vrel_post_norm = vrel_pre_norm - c3 * Tc + c2 * Nc;
+ units::velocity::meters_per_second_t vrel_post_tang = vrel_pre_tang + c1 * Tc - c3 * Nc;
+ units::velocity::meters_per_second_t vrel_post_norm = vrel_pre_norm - c3 * Tc + c2 * Nc;
- if ((fabs(vrel_post_norm) > 1E-3) || (fabs(vrel_post_tang) > 1E-3)) {
+ if ((units::math::fabs(vrel_post_norm) > 1E-3_mps) || (units::math::fabs(vrel_post_tang) > 1E-3_mps))
+ {
std::stringstream msg;
msg << "PostCrasDynamic Check: "
<< "Relative post crash velocities are too high: "
@@ -291,70 +301,75 @@ bool CollisionDetectionPostCrash::CalculatePostCrashDynamic(Common::Vector2d cog
}
// compute post crash velocities in COG with momentum balance equations
- 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;
+ units::velocity::meters_per_second_t v1tang_post_cog = T / mass1 + v1tang_cog;
+ units::velocity::meters_per_second_t v1norm_post_cog = N / mass1 + v1norm_cog;
+ units::velocity::meters_per_second_t v2tang_post_cog = -T / mass2 + v2tang_cog;
+ units::velocity::meters_per_second_t v2norm_post_cog = -N / mass2 + v2norm_cog;
// matrix for coordinate transformation between global and local
// POI-coordinates
// pulse vector in global system
- Common::Vector2d pulse = Common::Vector2d(T, N);
+ Common::Vector2d<units::impulse> pulse{T, N};
pulse.Rotate(phi);
// Pulse direction
- double out1_PulseDir = 0.0;
- if ( pulse.x >= 0 ) {
- out1_PulseDir = atan( pulse.y / pulse.x );
- } else if ( pulse.x < 0 && pulse.y >= 0 ) {
- out1_PulseDir = atan( pulse.y / pulse.x ) + M_PI;
- } else if ( pulse.x < 0 && pulse.y < 0 ) {
- out1_PulseDir = atan( pulse.y / pulse.x ) - M_PI;
+ units::angle::radian_t out1_PulseDir{0.0};
+ if (pulse.x >= units::impulse(0))
+ {
+ out1_PulseDir = units::angle::radian_t(units::math::atan(pulse.y / pulse.x));
+ }
+ else if (pulse.x < units::impulse(0) && pulse.y >= units::impulse(0))
+ {
+ out1_PulseDir = units::angle::radian_t(units::math::atan(pulse.y / pulse.x) + units::angle::radian_t(M_PI));
}
- double out2_PulseDir = out1_PulseDir;
+ else if (pulse.x < units::impulse(0) && pulse.y < units::impulse(0))
+ {
+ out1_PulseDir = units::angle::radian_t(units::math::atan(pulse.y / pulse.x) - units::angle::radian_t(M_PI));
+ }
+ auto out2_PulseDir = out1_PulseDir;
- double pulseLength = pulse.Length();
+ auto pulseLength = pulse.Length();
- Common::Vector2d out1_PulseLocal = Common::Vector2d( pulseLength * cos( out1_PulseDir - yaw1 ),
- pulseLength * sin( out1_PulseDir - yaw1 ) );
- Common::Vector2d out2_PulseLocal = Common::Vector2d( -pulseLength * cos( out2_PulseDir - yaw2 ),
- -pulseLength * sin( out2_PulseDir - yaw2 ) );
+ Common::Vector2d<units::impulse> out1_PulseLocal = Common::Vector2d<units::impulse>(pulseLength * units::math::cos(out1_PulseDir - yaw1),
+ pulseLength * units::math::sin(out1_PulseDir - yaw1));
+ Common::Vector2d<units::impulse> out2_PulseLocal = Common::Vector2d<units::impulse>(-pulseLength * units::math::cos(out2_PulseDir - yaw2),
+ -pulseLength * units::math::sin(out2_PulseDir - yaw2));
// --- compute output for vehicle 1
// post crash velocity vector
- Common::Vector2d v1_post = Common::Vector2d( v1tang_post_cog, v1norm_post_cog );
+ Common::Vector2d<units::velocity::meters_per_second_t> v1_post = Common::Vector2d<units::velocity::meters_per_second_t>(v1tang_post_cog, v1norm_post_cog);
v1_post.Rotate( phi );
// absolute velocity
- double out1_Vel = v1_post.Length();
+ units::velocity::meters_per_second_t out1_Vel{v1_post.Length()};
// velocity change delta-v
- double out1_dV = (v1 - v1_post).Length();
+ units::velocity::meters_per_second_t out1_dV{(v1 - v1_post).Length()};
// velocity direction
- double out1_VelDir = v1_post.Angle( );
+ units::angle::radian_t out1_VelDir{v1_post.Angle()};
// yaw velocity from angular momentum conservation equation
- double out1_YawVel = ( T * n1 - N * t1 ) / momentIntertiaYaw1 + yawVel1;
+ units::angular_velocity::radians_per_second_t out1_YawVel = 1_rad * (T * n1 - N * t1) / momentIntertiaYaw1 + yawVel1;
Common::Vector2d out1_Pulse = pulse;
// rotation of poi from global to local
Common::Vector2d out1_poiLocal = poi - cog1;
- out1_poiLocal.Rotate( -yaw1 );
- double out1_CollVel = vel1;
+ out1_poiLocal.Rotate(-yaw1);
+ auto out1_CollVel = vel1;
// --- compute output for vehicle 2
// post crash velocity vector
- Common::Vector2d v2_post = Common::Vector2d(v2tang_post_cog, v2norm_post_cog);
+ Common::Vector2d<units::velocity::meters_per_second_t> v2_post = Common::Vector2d<units::velocity::meters_per_second_t>(v2tang_post_cog, v2norm_post_cog);
v2_post.Rotate( phi );
// absolute velocity
- double out2_Vel = v2_post.Length();
+ units::velocity::meters_per_second_t out2_Vel{v2_post.Length()};
// velocity change delta-v
- double out2_dV = (v2 - v2_post).Length();
+ units::velocity::meters_per_second_t out2_dV{(v2 - v2_post).Length()};
// velocity direction
- double out2_VelDir = v2_post.Angle();
+ units::angle::radian_t out2_VelDir{v2_post.Angle()};
// yaw velocity from angular momentum conservation equation
- double out2_YawVel = ( -T * n2 + N * t2 ) / momentIntertiaYaw2 + yawVel2;
+ units::angular_velocity::radians_per_second_t out2_YawVel = 1_rad * (-T * n2 + N * t2) / momentIntertiaYaw2 + yawVel2;
Common::Vector2d out2_Pulse = pulse;
// rotation of poi from global to local
Common::Vector2d out2_poiLocal = poi - cog2;
- out2_poiLocal.Rotate( -yaw2 );
- double out2_CollVel = vel2;
+ out2_poiLocal.Rotate(-yaw2);
+ const auto out2_CollVel = vel2;
*postCrashDynamic1 = PostCrashDynamic(out1_Vel, out1_dV, out1_VelDir, out1_YawVel,
out1_Pulse, out1_PulseDir, out1_PulseLocal,
@@ -371,12 +386,13 @@ bool CollisionDetectionPostCrash::CalculatePostCrashDynamic(Common::Vector2d cog
return true; // Calculation successful
}
-bool CollisionDetectionPostCrash::GetIntersectionPoint(Common::Vector2d n1,
- Common::Vector2d n2, double d1, double d2, Common::Vector2d &intersectionPoint)
+bool CollisionDetectionPostCrash::GetIntersectionPoint(Common::Vector2d<units::length::meter_t> n1,
+ Common::Vector2d<units::length::meter_t> n2, units::area::square_meter_t d1, units::area::square_meter_t d2, Common::Vector2d<units::length::meter_t> &intersectionPoint)
{
- double det = (n1.x * n2.y - n1.y * n2.x);
+ units::area::square_meter_t det = (n1.x * n2.y - n1.y * n2.x);
- if (fabs(det) < std::numeric_limits<double>::epsilon()) {
+ if (fabs(det.value()) < std::numeric_limits<double>::epsilon())
+ {
return false;
}
@@ -391,15 +407,15 @@ bool CollisionDetectionPostCrash::GetFirstContact(const AgentInterface *agent1,
const AgentInterface *agent2,
int &timeFirstContact)
{
- std::vector<Common::Vector2d> agent1Corners = GetAgentCorners(agent1);
- std::vector<Common::Vector2d> agent2Corners = GetAgentCorners(agent2);
+ std::vector<Common::Vector2d<units::length::meter_t>> agent1Corners = GetAgentCorners(agent1);
+ std::vector<Common::Vector2d<units::length::meter_t>> agent2Corners = GetAgentCorners(agent2);
Polygon agent1Polygon(agent1Corners);
Polygon agent2Polygon(agent2Corners);
- Common::Vector2d agent1VelocityVector = GetAgentVelocityVector(agent1);
- Common::Vector2d agent2VelocityVector = GetAgentVelocityVector(agent2);
+ Common::Vector2d<units::velocity::meters_per_second_t> agent1VelocityVector = GetAgentVelocityVector(agent1);
+ Common::Vector2d<units::velocity::meters_per_second_t> agent2VelocityVector = GetAgentVelocityVector(agent2);
int cycleTime = 100; // assumption
@@ -408,7 +424,8 @@ bool CollisionDetectionPostCrash::GetFirstContact(const AgentInterface *agent1,
// Check if velocities are nearly same. If true, time of first contact will be very high
// (infinity if velocities are exactly the same)
- if ((agent1VelocityVector - agent2VelocityVector).Length() < 1E-5) {
+ if ((agent1VelocityVector - agent2VelocityVector).Length() < units::velocity::meters_per_second_t(1E-5))
+ {
return false;
}
@@ -417,9 +434,14 @@ bool CollisionDetectionPostCrash::GetFirstContact(const AgentInterface *agent1,
while (intersected) {
timeFirstContact = lastTimeNoContact;
lastTimeNoContact -= cycleTime; // one cycleTime to the past --> negative
+
+ units::time::millisecond_t time{lastTimeNoContact};
+ Common::Vector2d<units::length::meter_t> shiftVector1{agent1VelocityVector.x * time, agent1VelocityVector.y * time};
+ Common::Vector2d<units::length::meter_t> shiftVector2{agent2VelocityVector.x * time, agent2VelocityVector.y * time};
+
intersected = ShiftPolygonsAndCheckIntersection(agent1Polygon, agent2Polygon,
- agent1VelocityVector * (static_cast<double>(lastTimeNoContact) / 1000),
- agent2VelocityVector * (static_cast<double>(lastTimeNoContact) / 1000));
+ shiftVector1,
+ shiftVector2);
}
bool everIntersected = false;
@@ -427,9 +449,14 @@ bool CollisionDetectionPostCrash::GetFirstContact(const AgentInterface *agent1,
while (std::abs(timeFirstContact - lastTimeNoContact) > 1) {
int nextTime = lastTimeNoContact - (lastTimeNoContact - timeFirstContact) / 2;
+ units::time::millisecond_t time{nextTime};
+
+ Common::Vector2d<units::length::meter_t> shiftVector1{agent1VelocityVector.x * time, agent1VelocityVector.y * time};
+ Common::Vector2d<units::length::meter_t> shiftVector2{agent2VelocityVector.x * time, agent2VelocityVector.y * time};
+
intersected = ShiftPolygonsAndCheckIntersection(agent1Polygon, agent2Polygon,
- agent1VelocityVector * (static_cast<double>(nextTime) / 1000),
- agent2VelocityVector * (static_cast<double>(nextTime) / 1000));
+ shiftVector1,
+ shiftVector2);
if (intersected) {
timeFirstContact = nextTime;
@@ -446,8 +473,8 @@ bool CollisionDetectionPostCrash::GetFirstContact(const AgentInterface *agent1,
}
std::vector<int> CollisionDetectionPostCrash::GetVertexTypes(
- std::vector<Common::Vector2d> vertices1, std::vector<Common::Vector2d> vertices2,
- std::vector<Common::Vector2d> verticesIntersection)
+ std::vector<Common::Vector2d<units::length::meter_t>> vertices1, std::vector<Common::Vector2d<units::length::meter_t>> vertices2,
+ std::vector<Common::Vector2d<units::length::meter_t>> verticesIntersection)
{
std::vector<int> vertexTypes;
@@ -460,14 +487,16 @@ std::vector<int> CollisionDetectionPostCrash::GetVertexTypes(
vertexTypes.push_back(2);
for (unsigned int iPoly1 = 0; iPoly1 < vertices1.size(); ++iPoly1) {
- if ( (verticesIntersection[iIntersection] - vertices1[iPoly1]).Length() < 1E-12) {
+ if ((verticesIntersection[iIntersection] - vertices1[iPoly1]).Length() < 1E-12_m)
+ {
vertexTypes[iIntersection] = 1;
numberOfType2--;
continue;
}
}
for (unsigned int iPoly2 = 0; iPoly2 < vertices1.size(); ++iPoly2) {
- if ( (verticesIntersection[iIntersection] - vertices2[iPoly2]).Length() < 1E-12) {
+ if ((verticesIntersection[iIntersection] - vertices2[iPoly2]).Length() < 1E-12_m)
+ {
vertexTypes[iIntersection] = 1;
numberOfType2--;
continue;
@@ -478,7 +507,8 @@ std::vector<int> CollisionDetectionPostCrash::GetVertexTypes(
// special case: perfectly straight impact
for (unsigned int iIntersection = 0; iIntersection < verticesIntersection.size(); ++iIntersection) {
for (unsigned int iPoly1 = 0; iPoly1 < vertices1.size(); ++iPoly1) {
- if ( (verticesIntersection[iIntersection] - vertices1[iPoly1]).Length() < 1E-12) {
+ if ((verticesIntersection[iIntersection] - vertices1[iPoly1]).Length() < 1E-12_m)
+ {
vertexTypes[iIntersection] = 3;
}
}
@@ -487,7 +517,7 @@ std::vector<int> CollisionDetectionPostCrash::GetVertexTypes(
return vertexTypes;
}
-Common::Vector2d CollisionDetectionPostCrash::GetAgentVelocityVector(
+Common::Vector2d<units::velocity::meters_per_second_t> CollisionDetectionPostCrash::GetAgentVelocityVector(
const AgentInterface *agent)
{
return agent->GetVelocity();
@@ -495,13 +525,13 @@ Common::Vector2d CollisionDetectionPostCrash::GetAgentVelocityVector(
bool CollisionDetectionPostCrash::ShiftPolygonsAndCheckIntersection(Polygon polygon1,
Polygon polygon2,
- Common::Vector2d shiftVector1,
- Common::Vector2d shiftVector2)
+ Common::Vector2d<units::length::meter_t> shiftVector1,
+ Common::Vector2d<units::length::meter_t> shiftVector2)
{
polygon1.Translate(shiftVector1);
polygon2.Translate(shiftVector2);
- std::vector<Common::Vector2d> intersectionPoints = CalculateAllIntersectionPoints(
+ std::vector<Common::Vector2d<units::length::meter_t>> intersectionPoints = CalculateAllIntersectionPoints(
polygon1.GetVertices(), polygon2.GetVertices());
if (intersectionPoints.size() > 0) {
@@ -515,62 +545,73 @@ void CollisionDetectionPostCrash::CalculateCollisionAngles(const AgentInterface
const AgentInterface *agent2,
int timeShift)
{
- std::vector<Common::Vector2d> agentCorners1 = GetAgentCorners(agent1);
- std::vector<Common::Vector2d> agentCorners2 = GetAgentCorners(agent2);
+ std::vector<Common::Vector2d<units::length::meter_t>> agentCorners1 = GetAgentCorners(agent1);
+ std::vector<Common::Vector2d<units::length::meter_t>> agentCorners2 = GetAgentCorners(agent2);
Polygon polygon1(agentCorners1);
Polygon polygon2(agentCorners2);
- polygon1.Translate(GetAgentVelocityVector(agent1) * (static_cast<double>(timeShift) / 1000));
- polygon2.Translate(GetAgentVelocityVector(agent2) * (static_cast<double>(timeShift) / 1000));
- Common::Vector2d centroid1;
- Common::Vector2d centroid2;
+ units::time::millisecond_t time{timeShift};
+
+ Common::Vector2d<units::length::meter_t> translationVector1{GetAgentVelocityVector(agent1).x * time, GetAgentVelocityVector(agent1).y * time};
+ Common::Vector2d<units::length::meter_t> translationVector2{GetAgentVelocityVector(agent2).x * time, GetAgentVelocityVector(agent2).y * time};
+
+ polygon1.Translate(translationVector1);
+ polygon2.Translate(translationVector2);
+
+ Common::Vector2d<units::length::meter_t> centroid1;
+ Common::Vector2d<units::length::meter_t> centroid2;
polygon1.CalculateCentroid(centroid1);
polygon2.CalculateCentroid(centroid2);
- std::vector<Common::Vector2d> intersectionPoints = CalculateAllIntersectionPoints(polygon1.GetVertices(), polygon2.GetVertices());
+ std::vector<Common::Vector2d<units::length::meter_t>> intersectionPoints = CalculateAllIntersectionPoints(polygon1.GetVertices(), polygon2.GetVertices());
Polygon intersectionPolygon(intersectionPoints);
- Common::Vector2d FPOC; // first point of contact
+ Common::Vector2d<units::length::meter_t> FPOC; // first point of contact
intersectionPolygon.CalculateCentroid(FPOC);
- double hostYaw = agent1->GetYaw();
- double oppYaw = agent2->GetYaw();
- double oya = (oppYaw - hostYaw) * 180 / M_PI;
+ const auto hostYaw = agent1->GetYaw();
+ const auto oppYaw = agent2->GetYaw();
+ units::angle::radian_t oya = (oppYaw - hostYaw) * 180 / M_PI;
- Common::Vector2d OCC = FPOC - centroid2; // opponent center to first point of contact
+ Common::Vector2d<units::length::meter_t> OCC = FPOC - centroid2; // opponent center to first point of contact
OCC.Rotate(-oppYaw);
- double ocpa_orig = OCC.Angle() * 180 / M_PI;
- double ocpa_trans = std::atan2(OCC.y / agent2->GetWidth(), OCC.x / agent2->GetLength()) * 180 / M_PI;
+ units::angle::radian_t ocpa_orig = OCC.Angle() * 180 / M_PI;
+ units::angle::radian_t ocpa_trans = units::math::atan2(OCC.y / agent2->GetWidth(), OCC.x / agent2->GetLength()) * 180 / M_PI;
- Common::Vector2d HCC = FPOC - centroid1; // host center to first point of contact
+ Common::Vector2d<units::length::meter_t> HCC = FPOC - centroid1; // host center to first point of contact
HCC.Rotate(-hostYaw);
- double hcpa_orig = HCC.Angle() * 180 / M_PI;
- double hcpa_trans = std::atan2(HCC.y / agent1->GetWidth(), HCC.x / agent1->GetLength()) * 180 / M_PI;
+ units::angle::radian_t hcpa_orig = HCC.Angle() * 180 / M_PI;
+ units::angle::radian_t hcpa_trans = units::math::atan2(HCC.y / agent1->GetWidth(), HCC.x / agent1->GetLength()) * 180 / M_PI;
SetCollisionAngles(oya, hcpa_orig, ocpa_orig, hcpa_trans, ocpa_trans);
}
bool CollisionDetectionPostCrash::GetCollisionPosition(const AgentInterface *agent1,
const AgentInterface *agent2,
- Common::Vector2d &cog1,
- Common::Vector2d &cog2,
- Common::Vector2d &pointOfImpact,
- double &phi,
+ Common::Vector2d<units::length::meter_t> &cog1,
+ Common::Vector2d<units::length::meter_t> &cog2,
+ Common::Vector2d<units::length::meter_t> &pointOfImpact,
+ units::angle::radian_t &phi,
int timeShift)
{
- std::vector<Common::Vector2d> agentCorners1 = GetAgentCorners(agent1);
- std::vector<Common::Vector2d> agentCorners2 = GetAgentCorners(agent2);
+ std::vector<Common::Vector2d<units::length::meter_t>> agentCorners1 = GetAgentCorners(agent1);
+ std::vector<Common::Vector2d<units::length::meter_t>> agentCorners2 = GetAgentCorners(agent2);
Polygon agent1Polygon(agentCorners1);
Polygon agent2Polygon(agentCorners2);
- agent1Polygon.Translate(GetAgentVelocityVector(agent1) * (static_cast<double>(timeShift) / 1000));
- agent2Polygon.Translate(GetAgentVelocityVector(agent2) * (static_cast<double>(timeShift) / 1000));
+ units::time::millisecond_t time{timeShift};
+
+ Common::Vector2d<units::length::meter_t> translationVector1{GetAgentVelocityVector(agent1).x * time, GetAgentVelocityVector(agent1).y * time};
+ Common::Vector2d<units::length::meter_t> translationVector2{GetAgentVelocityVector(agent2).x * time, GetAgentVelocityVector(agent2).y * time};
+
+ agent1Polygon.Translate(translationVector1);
+ agent2Polygon.Translate(translationVector2);
agent1Polygon.CalculateCentroid(cog1);
agent2Polygon.CalculateCentroid(cog2);
- std::vector<Common::Vector2d> intersectionPoints = CalculateAllIntersectionPoints(agent1Polygon.GetVertices(), agent2Polygon.GetVertices());
+ std::vector<Common::Vector2d<units::length::meter_t>> intersectionPoints = CalculateAllIntersectionPoints(agent1Polygon.GetVertices(), agent2Polygon.GetVertices());
Polygon intersectionPolygon(intersectionPoints);
std::vector<int> vertexTypes = GetVertexTypes(agent1Polygon.GetVertices(),
@@ -595,10 +636,10 @@ bool CollisionDetectionPostCrash::CreatePostCrashDynamics(const AgentInterface *
//
CalculateCollisionAngles(agent1, agent2, timeOfFirstContact);
- Common::Vector2d resultAgent1COG = Common::Vector2d(-1, -1);
- Common::Vector2d resultAgent2COG = Common::Vector2d(-1, -1);
- Common::Vector2d pointOfImpact;
- double phi;
+ Common::Vector2d<units::length::meter_t> resultAgent1COG = Common::Vector2d<units::length::meter_t>(-1_m, -1_m);
+ Common::Vector2d<units::length::meter_t> resultAgent2COG = Common::Vector2d<units::length::meter_t>(-1_m, -1_m);
+ Common::Vector2d<units::length::meter_t> pointOfImpact;
+ units::angle::radian_t phi;
// position of agents after penetrationTime given by algorithm
if (!GetCollisionPosition(agent1, agent2, resultAgent1COG, resultAgent2COG, pointOfImpact, phi, timeOfFirstContact + penetrationTime)) {
@@ -621,7 +662,7 @@ CollisionAngles CollisionDetectionPostCrash::GetCollisionAngles()
return collAngles;
}
-void CollisionDetectionPostCrash::SetCollisionAngles(double OYA, double HCPAo, double OCPAo, double HCPA, double OCPA)
+void CollisionDetectionPostCrash::SetCollisionAngles(units::angle::radian_t OYA, units::angle::radian_t HCPAo, units::angle::radian_t OCPAo, units::angle::radian_t HCPA, units::angle::radian_t OCPA)
{
this->collAngles.OYA = OYA;
this->collAngles.HCPAo = HCPAo;
diff --git a/sim/src/core/opSimulation/modules/Manipulator/srcCollisionPostCrash/collisionDetection_Impact_implementation.h b/sim/src/core/opSimulation/modules/Manipulator/srcCollisionPostCrash/collisionDetection_Impact_implementation.h
index 6cda412c6017ea3c4f5f58f489e8a5be9e90a0b7..a05fe403d87bd47dc06745d6b7d92435b1fab28f 100644
--- a/sim/src/core/opSimulation/modules/Manipulator/srcCollisionPostCrash/collisionDetection_Impact_implementation.h
+++ b/sim/src/core/opSimulation/modules/Manipulator/srcCollisionPostCrash/collisionDetection_Impact_implementation.h
@@ -111,7 +111,7 @@ public:
* \param[in] HCPA transformed host collision point angle
* \param[in] OCPA transformed opponent collision point angle
*/
- void SetCollisionAngles(double OYA, double HCPAo, double OCPAo, double HCPA, double OCPA);
+ void SetCollisionAngles(units::angle::radian_t OYA, units::angle::radian_t HCPAo, units::angle::radian_t OCPAo, units::angle::radian_t HCPA, units::angle::radian_t OCPA);
protected:
/*!
@@ -147,7 +147,7 @@ private:
* \param[in] agent agent reference
* \return agent corners
*/
- std::vector<Common::Vector2d> GetAgentCorners(const AgentInterface *agent);
+ std::vector<Common::Vector2d<units::length::meter_t>> GetAgentCorners(const AgentInterface *agent);
/*!
* \brief Calculates points of intersection of two rectangles
@@ -164,8 +164,8 @@ private:
* \param agentCorner2[in] corners second agent
* \return vector of of intersection points
*/
- std::vector<Common::Vector2d> CalculateAllIntersectionPoints(std::vector<Common::Vector2d> corners1,
- std::vector<Common::Vector2d> corners2);
+ std::vector<Common::Vector2d<units::length::meter_t>> CalculateAllIntersectionPoints(std::vector<Common::Vector2d<units::length::meter_t>> corners1,
+ std::vector<Common::Vector2d<units::length::meter_t>> corners2);
/*!
* \brief Calculates intersection point of two vectors
* The calculation is based on describing the vectors using the Hesse normal form.
@@ -176,8 +176,8 @@ private:
* \param intersectionPoint[out] vector intersection point
* \return flag indicating if calculation could be done correctly
*/
- bool GetIntersectionPoint(Common::Vector2d n1, Common::Vector2d n2, double d1, double d2,
- Common::Vector2d &intersectionPoint);
+ bool GetIntersectionPoint(Common::Vector2d<units::length::meter_t> n1, Common::Vector2d<units::length::meter_t> n2, units::area::square_meter_t d1, units::area::square_meter_t d2,
+ Common::Vector2d<units::length::meter_t> &intersectionPoint);
/*!
* \brief calculates time of first constact
@@ -232,8 +232,8 @@ private:
*/
bool CalculatePlaneOfContact(Polygon intersection,
std::vector<int> vertexTypes,
- Common::Vector2d &pointOfImpact,
- double &phi);
+ Common::Vector2d<units::length::meter_t> &pointOfImpact,
+ units::angle::radian_t &phi);
/*!
* \brief Calculate post-crash dynamics
* The post-crash dynamics is calculated based on conservation of momentum
@@ -251,10 +251,10 @@ private:
* \param[out] postCrashDynamic2 PostCrashDynamic of second agent
* \return true if calculation was successful
*/
- bool CalculatePostCrashDynamic(Common::Vector2d cog1, const AgentInterface *agent1,
- Common::Vector2d cog2, const AgentInterface *agent2,
- Common::Vector2d poi,
- double phi,
+ bool CalculatePostCrashDynamic(Common::Vector2d<units::length::meter_t> cog1, const AgentInterface *agent1,
+ Common::Vector2d<units::length::meter_t> cog2, const AgentInterface *agent2,
+ Common::Vector2d<units::length::meter_t> poi,
+ units::angle::radian_t phi,
PostCrashDynamic *postCrashDynamic1,
PostCrashDynamic *postCrashDynamic2);
@@ -278,9 +278,9 @@ private:
* \param[in] verticesIntersection vertices of intersection polygon
* \return vertex types of vertices of intersection polygon
*/
- std::vector<int> GetVertexTypes(std::vector<Common::Vector2d> vertices1,
- std::vector<Common::Vector2d> vertices2,
- std::vector<Common::Vector2d> verticesIntersection);
+ std::vector<int> GetVertexTypes(std::vector<Common::Vector2d<units::length::meter_t>> vertices1,
+ std::vector<Common::Vector2d<units::length::meter_t>> vertices2,
+ std::vector<Common::Vector2d<units::length::meter_t>> verticesIntersection);
/*!
* \brief Get vector of the agent velocity
@@ -288,7 +288,7 @@ private:
* \param[in] agent agent
* \return vector (x,y) of the velocity of the agent
*/
- Common::Vector2d GetAgentVelocityVector(const AgentInterface *agent);
+ Common::Vector2d<units::velocity::meters_per_second_t> GetAgentVelocityVector(const AgentInterface *agent);
/*!
* \brief shifts 2 polygons and checks if the shifted polygons are intersecting
@@ -301,7 +301,7 @@ private:
* \return true if they are intersecting each other after shifting, false otherwise
*/
bool ShiftPolygonsAndCheckIntersection(Polygon polygon1, Polygon polygon2,
- Common::Vector2d shiftVector1, Common::Vector2d shiftVector2);
+ Common::Vector2d<units::length::meter_t> shiftVector1, Common::Vector2d<units::length::meter_t> shiftVector2);
/*!
* \brief Get geometry data at collision time
@@ -321,10 +321,10 @@ private:
*/
bool GetCollisionPosition(const AgentInterface *agent1,
const AgentInterface *agent2,
- Common::Vector2d &cog1,
- Common::Vector2d &cog2,
- Common::Vector2d &pointOfImpact,
- double &phi,
+ Common::Vector2d<units::length::meter_t> &cog1,
+ Common::Vector2d<units::length::meter_t> &cog2,
+ Common::Vector2d<units::length::meter_t> &pointOfImpact,
+ units::angle::radian_t &phi,
int timeFirstContact);
const CallbackInterface *callbacks;
diff --git a/sim/src/core/opSimulation/modules/Manipulator/srcCollisionPostCrash/polygon.cpp b/sim/src/core/opSimulation/modules/Manipulator/srcCollisionPostCrash/polygon.cpp
index e002200455e35b5ab78e99d8fdef9f27993903b4..05a0c7a81cef2ceb6e15ebf44ef11085a83ead47 100644
--- a/sim/src/core/opSimulation/modules/Manipulator/srcCollisionPostCrash/polygon.cpp
+++ b/sim/src/core/opSimulation/modules/Manipulator/srcCollisionPostCrash/polygon.cpp
@@ -10,7 +10,9 @@
#include "polygon.h"
-bool Polygon::CalculateCentroid( Common::Vector2d &cog)
+using namespace units::literals;
+
+bool Polygon::CalculateCentroid( Common::Vector2d<units::length::meter_t> &cog)
{
// if empty, return empty vector
if (vertices.size() == 0) {
@@ -18,23 +20,24 @@ bool Polygon::CalculateCentroid( Common::Vector2d &cog)
}
// close polygon by adding the first vertex at the end
- std::vector<Common::Vector2d> v;
+ std::vector<Common::Vector2d<units::length::meter_t>> v;
v = vertices;
v.push_back(v[0]);
- double area = 0;
- cog.x = 0;
- cog.y = 0;
+ units::area::square_meter_t area = 0_sq_m;
+
+ Common::Vector2d<units::unit_t<units::cubed<units::length::meter>>> tmpVector(units::unit_t<units::cubed<units::length::meter>>(0), units::unit_t<units::cubed<units::length::meter>>(0));
for (unsigned int iV = 0; iV < vertices.size() ; iV++ ) {
- double det;
+ units::area::square_meter_t det;
det = ( v[iV].x * v[iV + 1].y - v[iV + 1].x * v[iV].y );
area = area + det;
- cog.x = cog.x + ( v[iV].x + v[iV + 1].x ) * det;
- cog.y = cog.y + ( v[iV].y + v[iV + 1].y ) * det;
+ tmpVector.x = tmpVector.x + (v[iV].x + v[iV + 1].x) * det;
+ tmpVector.y = tmpVector.y + (v[iV].y + v[iV + 1].y) * det;
}
- cog.Scale( 1 / (3 * area) );
+ cog.x = tmpVector.x * (1 / (3 * area));
+ cog.y = tmpVector.y * (1 / (3 * area));
return true;
}
@@ -44,17 +47,17 @@ double Polygon::GetNumberOfVertices()
return vertices.size();
}
-std::vector<Common::Vector2d> Polygon::GetVertices() const
+std::vector<Common::Vector2d<units::length::meter_t>> Polygon::GetVertices() const
{
return vertices;
}
-void Polygon::SetVertices(const std::vector<Common::Vector2d> &value)
+void Polygon::SetVertices(const std::vector<Common::Vector2d<units::length::meter_t>> &value)
{
vertices = value;
}
-void Polygon::Translate(Common::Vector2d translationVector)
+void Polygon::Translate(Common::Vector2d<units::length::meter_t> translationVector)
{
for (unsigned int i = 0; i < vertices.size(); i++ ) {
vertices.at(i).Translate(translationVector);
diff --git a/sim/src/core/opSimulation/modules/Manipulator/srcCollisionPostCrash/polygon.h b/sim/src/core/opSimulation/modules/Manipulator/srcCollisionPostCrash/polygon.h
index b7422afa940db2e46372c271c0cc4e3114ca9780..41c221add940394707cf8a2e91daa261baed6b22 100644
--- a/sim/src/core/opSimulation/modules/Manipulator/srcCollisionPostCrash/polygon.h
+++ b/sim/src/core/opSimulation/modules/Manipulator/srcCollisionPostCrash/polygon.h
@@ -23,7 +23,7 @@
class Polygon
{
public:
- Polygon(std::vector<Common::Vector2d> vertices)
+ Polygon(std::vector<Common::Vector2d<units::length::meter_t>> vertices)
: vertices(vertices)
{}
virtual ~Polygon() = default;
@@ -42,7 +42,7 @@ public:
* \param[out] cog centroid of the polygon
* \return true if calculation was successful
*/
- bool CalculateCentroid( Common::Vector2d &cog);
+ bool CalculateCentroid( Common::Vector2d<units::length::meter_t> &cog);
/*!
* \brief get number of vertices of the polygon
@@ -54,13 +54,13 @@ public:
* \brief get vertices of the polygon
* \return vertices of polygon
*/
- std::vector<Common::Vector2d> GetVertices() const;
+ std::vector<Common::Vector2d<units::length::meter_t>> GetVertices() const;
/*!
* \brief set vertices of the polygon
* \param vertices of the polygon
*/
- void SetVertices(const std::vector<Common::Vector2d> &value);
+ void SetVertices(const std::vector<Common::Vector2d<units::length::meter_t>> &value);
/*!
* \brief translate the polygon
@@ -68,8 +68,8 @@ public:
*
* \param translationVector vector for translation
*/
- void Translate(Common::Vector2d translationVector);
+ void Translate(Common::Vector2d<units::length::meter_t> translationVector);
private:
- std::vector<Common::Vector2d> vertices;
+ std::vector<Common::Vector2d<units::length::meter_t>> vertices;
};
diff --git a/sim/src/core/opSimulation/modules/Observation_Log/observationFileHandler.cpp b/sim/src/core/opSimulation/modules/Observation_Log/observationFileHandler.cpp
index 3a72f3218ab931d60582509ef11364b991c8faad..3dcca4e8e14cdb3f1d9093c4129ce476508ac421 100644
--- a/sim/src/core/opSimulation/modules/Observation_Log/observationFileHandler.cpp
+++ b/sim/src/core/opSimulation/modules/Observation_Log/observationFileHandler.cpp
@@ -198,7 +198,7 @@ void ObservationFileHandler::AddAgent(const std::string& agentId)
xmlFileStream->writeAttribute(outputAttributes.AGENTTYPENAME, QString::fromStdString(std::get<std::string>(dataBuffer.GetStatic(keyPrefix + "AgentTypeName").at(0))));
xmlFileStream->writeAttribute(outputAttributes.VEHICLEMODELTYPE, QString::fromStdString(std::get<std::string>(dataBuffer.GetStatic(keyPrefix + "VehicleModelType").at(0))));
xmlFileStream->writeAttribute(outputAttributes.DRIVERPROFILENAME, QString::fromStdString(std::get<std::string>(dataBuffer.GetStatic(keyPrefix + "DriverProfileName").at(0))));
- xmlFileStream->writeAttribute(outputAttributes.AGENTTYPE, QString::fromStdString(std::get<std::string>(dataBuffer.GetStatic(keyPrefix + "AgentType").at(0))));
+ xmlFileStream->writeAttribute(outputAttributes.AGENTTYPE, QString::fromStdString(std::get<std::string>(dataBuffer.GetStatic(keyPrefix + "EntityType").at(0))));
AddVehicleAttributes(agentId);
AddSensors(agentId);
diff --git a/sim/src/core/opSimulation/modules/Observation_Log/runStatistic.cpp b/sim/src/core/opSimulation/modules/Observation_Log/runStatistic.cpp
index 2f6063bd9add996027570c0aab72afae96fe1d53..fae58c75adc0559f673c7e2f844e96c47b6db069 100644
--- a/sim/src/core/opSimulation/modules/Observation_Log/runStatistic.cpp
+++ b/sim/src/core/opSimulation/modules/Observation_Log/runStatistic.cpp
@@ -37,7 +37,7 @@ void RunStatistic::WriteStatistics(QXmlStreamWriter* fileStream)
fileStream->writeEndElement();
fileStream->writeStartElement("VisibilityDistance");
- fileStream->writeCharacters(QString::number(VisibilityDistance));
+ fileStream->writeCharacters(QString::number(VisibilityDistance.value()));
fileStream->writeEndElement();
fileStream->writeStartElement("StopReason");
diff --git a/sim/src/core/opSimulation/modules/Observation_Log/runStatistic.h b/sim/src/core/opSimulation/modules/Observation_Log/runStatistic.h
index da50e66ac864f150bc199ca63ecb91bec294a479..d39933fe8e5058ed0bb0c7c5f4302690590187ee 100644
--- a/sim/src/core/opSimulation/modules/Observation_Log/runStatistic.h
+++ b/sim/src/core/opSimulation/modules/Observation_Log/runStatistic.h
@@ -11,8 +11,9 @@
#pragma once
-#include <string>
#include <list>
+#include <string>
+
#include <QXmlStreamWriter>
#include "include/observationInterface.h"
@@ -28,13 +29,13 @@ public:
RunStatistic(std::uint32_t randomSeed);
void AddStopReason(int time, StopReason reason);
- void WriteStatistics(QXmlStreamWriter* fileStream);
+ void WriteStatistics(QXmlStreamWriter *fileStream);
// general
int StopTime = -1; //!<this stays on UNDEFINED_NUMBER, if due time out -> replace in c#
bool EgoCollision = false;
- std::map<std::string, double> distanceTraveled{}; //!< travel distance per agent
- double VisibilityDistance = -999.0; //!< Visibility distance of world in current run (defined in simulationConfig.xml)
+ std::map<std::string, double> distanceTraveled{}; //!< travel distance per agent
+ units::length::meter_t VisibilityDistance{-999.0}; //!< Visibility distance of world in current run (defined in simulationConfig.xml)
static QString BoolToString(bool b);
@@ -47,5 +48,3 @@ private:
static const QString StopReasonsStrings[];
int _stopReasonIdx = static_cast<int>(StopReason::DueToTimeOut);
}; // class RunStatistic
-
-
diff --git a/sim/src/core/opSimulation/modules/Observation_LogAgent/runStatistic.cpp b/sim/src/core/opSimulation/modules/Observation_LogAgent/runStatistic.cpp
index ca898159dc2aefb73a933ac9a8ed9f01c9e1cf82..9ea8f88bf6db40293bbe12b2134210b9704c8dc9 100644
--- a/sim/src/core/opSimulation/modules/Observation_LogAgent/runStatistic.cpp
+++ b/sim/src/core/opSimulation/modules/Observation_LogAgent/runStatistic.cpp
@@ -37,7 +37,7 @@ void RunStatistic::WriteStatistics(QXmlStreamWriter* fileStream)
fileStream->writeEndElement();
fileStream->writeStartElement("VisibilityDistance");
- fileStream->writeCharacters(QString::number(VisibilityDistance));
+ fileStream->writeCharacters(QString::number(VisibilityDistance.value()));
fileStream->writeEndElement();
fileStream->writeStartElement("StopReason");
diff --git a/sim/src/core/opSimulation/modules/Observation_LogAgent/runStatistic.h b/sim/src/core/opSimulation/modules/Observation_LogAgent/runStatistic.h
index 78cbc293788a618b7ea0620d4e261e40cc54236a..d968c70cd3de24d4bc85dd3785d8158a7593a0d9 100644
--- a/sim/src/core/opSimulation/modules/Observation_LogAgent/runStatistic.h
+++ b/sim/src/core/opSimulation/modules/Observation_LogAgent/runStatistic.h
@@ -11,8 +11,9 @@
#pragma once
-#include <string>
#include <list>
+#include <string>
+
#include <QXmlStreamWriter>
#include "include/observationInterface.h"
@@ -28,13 +29,13 @@ public:
RunStatistic(std::uint32_t randomSeed);
void AddStopReason(int time, StopReason reason);
- void WriteStatistics(QXmlStreamWriter* fileStream);
+ void WriteStatistics(QXmlStreamWriter *fileStream);
// general
int StopTime = -1; //!<this stays on UNDEFINED_NUMBER, if due time out -> replace in c#
bool EgoCollision = false;
- std::map<std::string, double> distanceTraveled{}; //!< travel distance per agent
- double VisibilityDistance = -999.0; //!< Visibility distance of world in current run (defined in simulationConfig.xml)
+ std::map<std::string, double> distanceTraveled{}; //!< travel distance per agent
+ units::length::meter_t VisibilityDistance{-999.0}; //!< Visibility distance of world in current run (defined in simulationConfig.xml)
static QString BoolToString(bool b);
@@ -47,5 +48,3 @@ private:
static const QString StopReasonsStrings[];
int _stopReasonIdx = static_cast<int>(StopReason::DueToTimeOut);
}; // class RunStatistic
-
-
diff --git a/sim/src/core/opSimulation/modules/Observation_State/observation_state_implementation.cpp b/sim/src/core/opSimulation/modules/Observation_State/observation_state_implementation.cpp
index b0631bf4ffbc28c32a1b92d3d8e83e6962a16c1b..e3e0604a2028468ff1b8c54deacb54029edbd229 100644
--- a/sim/src/core/opSimulation/modules/Observation_State/observation_state_implementation.cpp
+++ b/sim/src/core/opSimulation/modules/Observation_State/observation_state_implementation.cpp
@@ -303,7 +303,7 @@ void Observation_State_Implementation::Insert(int time, int agentId, Observation
channel.push_back(value);
}
-void Observation_State_Implementation::AddPositionXForCSV(int agentId, int time, double positionX)
+void Observation_State_Implementation::AddPositionXForCSV(int agentId, int time, units::length::meter_t positionX)
{
std::map<int, std::map<int, double>>::iterator agentIterator = agentsPositionX.find(agentId);
if(agentIterator != agentsPositionX.end()){
diff --git a/sim/src/core/opSimulation/modules/Observation_State/observation_state_implementation.h b/sim/src/core/opSimulation/modules/Observation_State/observation_state_implementation.h
index 0e210923805986062e94c3de215ed234b93f24e6..12cf487f13280ba284b9cd3bc72378942f21f80a 100644
--- a/sim/src/core/opSimulation/modules/Observation_State/observation_state_implementation.h
+++ b/sim/src/core/opSimulation/modules/Observation_State/observation_state_implementation.h
@@ -146,7 +146,7 @@ private:
int agentId,
Observation_State_Periodic_Type valueType,
const std::string &value);
- void AddPositionXForCSV(int agentId, int time, double positionX);
+ void AddPositionXForCSV(int agentId, int time, units::length::meter_t positionX);
void WriteAgentPositionsToCSV();
static const std::string PeriodicTypeStrings[];
diff --git a/sim/src/core/opSimulation/modules/Observation_Ttc/observation_ttc_implementation.cpp b/sim/src/core/opSimulation/modules/Observation_Ttc/observation_ttc_implementation.cpp
index 2dae924cd3fcb7b33b60094ebe0e4f46f8768872..119504b7e6a3020ae0526edfc8cd03be904f2dbd 100644
--- a/sim/src/core/opSimulation/modules/Observation_Ttc/observation_ttc_implementation.cpp
+++ b/sim/src/core/opSimulation/modules/Observation_Ttc/observation_ttc_implementation.cpp
@@ -88,10 +88,10 @@ void Observation_Ttc_Implementation::OpSimulationUpdateHook(int time, RunResultI
const AgentInterface *agent = GetWorld()->GetAgent(id);
const AgentInterface *frontAgent = GetWorld()->GetAgent(frontID);
- double deltaX = frontAgent->GetPositionX() - agent->GetPositionX();
- double deltaV = frontAgent->GetVelocityX() - agent->GetVelocityX();
+ auto deltaX = frontAgent->GetPositionX() - agent->GetPositionX();
+ auto deltaV = frontAgent->GetVelocityX() - agent->GetVelocityX();
- double ttc = - deltaX / deltaV;
+ units::times::second:t ttc = - deltaX / deltaV;
if(ttc < 0){// a negative ttc means that there will never be a collision
ttc = INFINITY;
@@ -177,7 +177,7 @@ int Observation_Ttc_Implementation::findFrontAgentID(int ownID)
{
const AgentInterface *agent = GetWorld()->GetAgent(ownID);
double posX = agent->GetPositionX();
- double minDistance = INFINITY;
+ units::length::meter_t minDistance = INFINITY;
int frontID = -1;
for (const auto &it: GetWorld()->GetAgents()){
@@ -185,7 +185,7 @@ int Observation_Ttc_Implementation::findFrontAgentID(int ownID)
double posXother = otherAgent->GetPositionX();
if ((otherAgent->GetAgentId() != ownID) && (posX < posXother))
{
- double distance = posXother - posX;
+ auto distance = posXother - posX;
if(minDistance > distance){
minDistance = distance;
frontID = otherAgent->GetAgentId();
diff --git a/sim/src/core/opSimulation/modules/Spawners/CMakeLists.txt b/sim/src/core/opSimulation/modules/Spawners/CMakeLists.txt
index 45d7b872834141255e9016ecb21cae49825877da..283c5eb10c51b3a840a66cb1a402fd5fce1a6197 100644
--- a/sim/src/core/opSimulation/modules/Spawners/CMakeLists.txt
+++ b/sim/src/core/opSimulation/modules/Spawners/CMakeLists.txt
@@ -11,5 +11,4 @@
#add_subdirectory(SpawnPoint_Start)
add_subdirectory(PreRunCommon)
add_subdirectory(RuntimeCommon)
-add_subdirectory(Scenario)
diff --git a/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/CMakeLists.txt b/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/CMakeLists.txt
index 1816a9ee921ebe39800005605c912c3c789d9d94..f4b6f5eca143fc7d5edfeed4be7da443d1b6104b 100644
--- a/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/CMakeLists.txt
+++ b/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/CMakeLists.txt
@@ -16,9 +16,8 @@ add_openpass_target(
NAME ${COMPONENT_NAME} TYPE library LINKAGE shared COMPONENT core
HEADERS
- ../../../framework/sampler.h
- ../../../modelElements/agentBlueprint.h
- ../common/SpawnerDefinitions.h
+ ../../../framework/sampler.h
+ ../common/SpawnerDefinitions.h
../common/WorldAnalyzer.h
SpawnerPreRunCommon.h
SpawnerPreRunCommonExport.h
@@ -26,9 +25,8 @@ add_openpass_target(
SpawnerPreRunCommonParameterExtractor.h
SOURCES
- ../../../framework/sampler.cpp
- ../../../modelElements/agentBlueprint.cpp
- ../common/WorldAnalyzer.cpp
+ ../../../framework/sampler.cpp
+ ../common/WorldAnalyzer.cpp
SpawnerPreRunCommon.cpp
SpawnerPreRunCommonExport.cpp
diff --git a/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/SpawnerPreRunCommon.cpp b/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/SpawnerPreRunCommon.cpp
index e483ad4c7e50c0eebe379c8706dc7c510065f27b..e45f06c5f53a31d7a28501101e6983bbd0d60fb2 100644
--- a/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/SpawnerPreRunCommon.cpp
+++ b/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/SpawnerPreRunCommon.cpp
@@ -10,24 +10,26 @@
#include "SpawnerPreRunCommon.h"
+#include "MantleAPI/Traffic/entity_helper.h"
+#include "MantleAPI/Execution/i_environment.h"
#include "SpawnerPreRunCommonParameterExtractor.h"
#include "framework/agentFactory.h"
#include "framework/sampler.h"
#include "include/agentInterface.h"
+#include "include/entityRepositoryInterface.h"
#include "include/worldInterface.h"
-SpawnerPreRunCommon::SpawnerPreRunCommon(const SpawnPointDependencies* dependencies,
- const CallbackInterface* callbacks):
+SpawnerPreRunCommon::SpawnerPreRunCommon(const SpawnPointDependencies *dependencies,
+ const CallbackInterface *callbacks) :
SpawnPointInterface(dependencies->world, callbacks),
dependencies(*dependencies),
parameters(ExtractSpawnZonesParameters(*(dependencies->parameters.value()), *dependencies->world, callbacks)),
worldAnalyzer(dependencies->world)
-{}
-
-SpawnPointInterface::Agents SpawnerPreRunCommon::Trigger([[maybe_unused]]int time)
{
- SpawnPointInterface::Agents newAgents;
+}
+void SpawnerPreRunCommon::Trigger([[maybe_unused]] int time)
+{
for (const auto &spawnArea : parameters.spawnAreas)
{
const auto validLaneSpawningRanges = worldAnalyzer.GetValidLaneSpawningRanges(spawnArea.laneStream,
@@ -35,17 +37,11 @@ SpawnPointInterface::Agents SpawnerPreRunCommon::Trigger([[maybe_unused]]int tim
spawnArea.sEnd,
supportedLaneTypes);
- for (const auto& validSpawningRange : validLaneSpawningRanges)
+ for (const auto &validSpawningRange : validLaneSpawningRanges)
{
- const auto generatedAgents = GenerateAgentsForRange(spawnArea.laneStream,
- validSpawningRange);
- newAgents.insert(std::cend(newAgents),
- std::cbegin(generatedAgents),
- std::cend(generatedAgents));
+ GenerateAgentsForRange(spawnArea.laneStream, validSpawningRange);
}
}
-
- return newAgents;
}
SpawningAgentProfile SpawnerPreRunCommon::SampleAgentProfile(bool rightLane)
@@ -53,11 +49,9 @@ SpawningAgentProfile SpawnerPreRunCommon::SampleAgentProfile(bool rightLane)
return Sampler::Sample(rightLane ? parameters.agentProfileLaneMaps.rightLanes : parameters.agentProfileLaneMaps.leftLanes, dependencies.stochastics);
}
-SpawnPointInterface::Agents SpawnerPreRunCommon::GenerateAgentsForRange(const std::unique_ptr<LaneStreamInterface>& laneStream,
- const Range& range)
+void SpawnerPreRunCommon::GenerateAgentsForRange(const std::unique_ptr<LaneStreamInterface> &laneStream,
+ const Range &range)
{
- SpawnPointInterface::Agents agents;
-
bool generating = true;
size_t rightLaneCount = worldAnalyzer.GetRightLaneCount(laneStream, range.second);
@@ -68,15 +62,19 @@ SpawnPointInterface::Agents SpawnerPreRunCommon::GenerateAgentsForRange(const st
try
{
- auto agentBlueprint = dependencies.agentBlueprintProvider->SampleAgent(agentProfile.name, {});
- agentBlueprint.SetAgentProfileName(agentProfile.name);
- agentBlueprint.SetAgentCategory(AgentCategory::Common);
+ // TODO CK: Setting the category to Common is still missing. In Vehicle.cpp it's either set to ego or scenario. Maybe the create call needs to be extended by this
+ //agentBuildInstructions.agentCategory = AgentCategory::Common;
+
+ const auto vehicleModelName = dependencies.agentBlueprintProvider->SampleVehicleModelName(agentProfile.name);
- const auto agentLength = agentBlueprint.GetVehicleModelParameters().boundingBoxDimensions.length;
- const auto agentFrontLength = agentLength * 0.5 + agentBlueprint.GetVehicleModelParameters().boundingBoxCenter.x;
+ const auto vehicleProperties = helper::map::query(*dependencies.vehicles, vehicleModelName);
+ THROWIFFALSE(vehicleProperties, "Unkown VehicleModel \"" + vehicleModelName + "\" in AgentProfile \"" + agentProfile.name + "\"");
+
+ const auto agentLength = vehicleProperties.value()->bounding_box.dimension.length;
+ const auto agentFrontLength = agentLength * 0.5 + vehicleProperties.value()->bounding_box.geometric_center.x;
const auto agentRearLength = agentLength - agentFrontLength;
- auto velocity = Sampler::RollForStochasticAttribute(agentProfile.velocity, dependencies.stochastics);
+ units::velocity::meters_per_second_t velocity{Sampler::RollForStochasticAttribute(agentProfile.velocity, dependencies.stochastics)};
for (size_t iterator = 0; iterator < rightLaneCount; ++iterator)
{
@@ -84,7 +82,7 @@ SpawnPointInterface::Agents SpawnerPreRunCommon::GenerateAgentsForRange(const st
velocity *= 2.0 - homogeneity;
}
- const auto tGap = Sampler::RollForStochasticAttribute(agentProfile.tGap, dependencies.stochastics);
+ const units::time::second_t tGap{Sampler::RollForStochasticAttribute(agentProfile.tGap, dependencies.stochastics)};
const auto spawnInfo = GetNextSpawnCarInfo(laneStream, range, tGap, velocity, agentFrontLength, agentRearLength);
if (!spawnInfo.has_value())
@@ -95,50 +93,46 @@ SpawnPointInterface::Agents SpawnerPreRunCommon::GenerateAgentsForRange(const st
if (!worldAnalyzer.AreSpawningCoordinatesValid(spawnInfo->roadId,
spawnInfo->laneId,
spawnInfo->s,
- 0,
- GetStochasticOrPredefinedValue(parameters.minimumSeparationBuffer, dependencies.stochastics),
+ 0_m,
+ units::length::meter_t(GetStochasticOrPredefinedValue(parameters.minimumSeparationBuffer, dependencies.stochastics)),
spawnInfo->spawnParameter.route,
- agentBlueprint.GetVehicleModelParameters())
- || worldAnalyzer.SpawnWillCauseCrash(laneStream,
- spawnInfo->streamPosition,
- agentFrontLength,
- agentRearLength,
- velocity,
- Direction::BACKWARD))
+ vehicleProperties.value()) ||
+ worldAnalyzer.SpawnWillCauseCrash(laneStream,
+ spawnInfo->streamPosition,
+ agentFrontLength,
+ agentRearLength,
+ velocity,
+ Direction::BACKWARD))
{
generating = false;
break;
}
- agentBlueprint.SetSpawnParameter(spawnInfo->spawnParameter);
+ SpawnPointDefinitions::CreateSpawnReadyEntity({agentProfile.name, "A", vehicleProperties.value(), spawnInfo->spawnParameter}, dependencies.environment);
- core::Agent* newAgent = dependencies.agentFactory->AddAgent(&agentBlueprint);
+ auto &entityRepository{dynamic_cast<core::EntityRepositoryInterface &>(dependencies.environment->GetEntityRepository())};
- if(newAgent != nullptr)
- {
- agents.emplace_back(newAgent);
- }
- else
+ if (!entityRepository.SpawnReadyAgents())
{
generating = false;
break;
}
+
rightLaneCount = worldAnalyzer.GetRightLaneCount(laneStream, spawnInfo->streamPosition);
}
- catch (const std::runtime_error& error)
+ catch (const std::runtime_error &error)
{
LogError(error.what());
}
}
- return agents;
}
-std::optional<SpawnInfo> SpawnerPreRunCommon::GetNextSpawnCarInfo(const std::unique_ptr<LaneStreamInterface>& laneStream,
- const Range& range,
- const double gapInSeconds,
- const double velocity,
- const double agentFrontLength,
- const double agentRearLength) const
+std::optional<SpawnInfo> SpawnerPreRunCommon::GetNextSpawnCarInfo(const std::unique_ptr<LaneStreamInterface> &laneStream,
+ const Range &range,
+ const units::time::second_t gapInSeconds,
+ const units::velocity::meters_per_second_t velocity,
+ const units::length::meter_t agentFrontLength,
+ const units::length::meter_t agentRearLength) const
{
auto spawnDistance = worldAnalyzer.GetNextSpawnPosition(laneStream,
range,
@@ -146,14 +140,14 @@ std::optional<SpawnInfo> SpawnerPreRunCommon::GetNextSpawnCarInfo(const std::uni
agentRearLength,
velocity,
gapInSeconds,
- GetStochasticOrPredefinedValue(parameters.minimumSeparationBuffer, dependencies.stochastics));
+ units::length::meter_t(GetStochasticOrPredefinedValue(parameters.minimumSeparationBuffer, dependencies.stochastics)));
if (!spawnDistance.has_value())
{
return {};
}
- auto roadPosition = laneStream->GetRoadPosition({spawnDistance.value(), 0});
+ auto roadPosition = laneStream->GetRoadPosition({spawnDistance.value(), 0_m});
if (roadPosition.roadId.empty())
{
@@ -170,7 +164,7 @@ std::optional<SpawnInfo> SpawnerPreRunCommon::GetNextSpawnCarInfo(const std::uni
{
return {};
}
- roadPosition = laneStream->GetRoadPosition({spawnDistance.value(), 0});
+ roadPosition = laneStream->GetRoadPosition({spawnDistance.value(), 0_m});
const auto adjustedVelocity = worldAnalyzer.CalculateSpawnVelocityToPreventCrashing(laneStream,
*spawnDistance,
@@ -181,15 +175,15 @@ std::optional<SpawnInfo> SpawnerPreRunCommon::GetNextSpawnCarInfo(const std::uni
auto worldPosition = GetWorld()->LaneCoord2WorldCoord(roadPosition.roadPosition.s, roadPosition.roadPosition.t, roadPosition.roadId, roadPosition.laneId);
//considers adjusted velocity in curvatures
- double spawnV = adjustedVelocity;
- double kappa = worldPosition.curvature;
+ auto spawnV = adjustedVelocity;
+ double kappa = units::unit_cast<double>(worldPosition.curvature);
if (kappa != 0.0)
{
double curvatureVelocity;
curvatureVelocity = 160 * (1 / (std::sqrt((std::abs(kappa)) / 1000)));
- spawnV = std::min(spawnV, curvatureVelocity);
+ spawnV = units::math::min(spawnV, units::velocity::meters_per_second_t(curvatureVelocity));
}
SpawnInfo spawnInfo;
@@ -198,18 +192,16 @@ std::optional<SpawnInfo> SpawnerPreRunCommon::GetNextSpawnCarInfo(const std::uni
spawnInfo.laneId = roadPosition.laneId;
spawnInfo.s = roadPosition.roadPosition.s;
spawnInfo.streamPosition = spawnDistance.value();
- spawnInfo.spawnParameter.positionX = worldPosition.xPos;
- spawnInfo.spawnParameter.positionY = worldPosition.yPos;
- spawnInfo.spawnParameter.yawAngle = CommonHelper::SetAngleToValidRange(worldPosition.yawAngle + (roadPosition.laneId < 0 ? 0 : M_PI));
+ spawnInfo.spawnParameter.position = {worldPosition.xPos, worldPosition.yPos, 0_m};
+ spawnInfo.spawnParameter.orientation = {CommonHelper::SetAngleToValidRange(worldPosition.yawAngle + (roadPosition.laneId < 0 ? 0_rad : units::angle::radian_t(M_PI))), 0_rad, 0_rad};
spawnInfo.spawnParameter.velocity = spawnV;
- spawnInfo.spawnParameter.acceleration = 0.0;
+ spawnInfo.spawnParameter.acceleration = 0.0_mps_sq;
spawnInfo.spawnParameter.route = route;
return spawnInfo;
}
-
-void SpawnerPreRunCommon::LogError(const std::string& message)
+void SpawnerPreRunCommon::LogError(const std::string &message)
{
std::stringstream log;
log.str(std::string());
diff --git a/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/SpawnerPreRunCommon.h b/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/SpawnerPreRunCommon.h
index 8cae31a475d4ea85fa5fc031784bf976ddae649d..c06250e253eb68b6546ed20b4951bf08f4ab349e 100644
--- a/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/SpawnerPreRunCommon.h
+++ b/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/SpawnerPreRunCommon.h
@@ -20,7 +20,6 @@
#pragma once
#include "SpawnerPreRunCommonDefinitions.h"
-#include "agentBlueprint.h"
#include "common/WorldAnalyzer.h"
#include "common/spawnPointLibraryDefinitions.h"
#include "include/agentBlueprintProviderInterface.h"
@@ -55,7 +54,7 @@ public:
* \brief Trigger creates the agents for the spawn points
* \return the created agents
*/
- Agents Trigger(int time) override;
+ void Trigger(int time) override;
private:
/**
@@ -65,8 +64,8 @@ private:
* @param[in] validLaneSpawningRange range to spawn
* @return generated agent
*/
- Agents GenerateAgentsForRange(const std::unique_ptr<LaneStreamInterface>& laneStream,
- const Range& range);
+ void GenerateAgentsForRange(const std::unique_ptr<LaneStreamInterface> &laneStream,
+ const Range &range);
/**
* @brief Get SpawnInfo for the next agent that should be spawned.
@@ -79,11 +78,11 @@ private:
* @return SpawnInfo for new agent.
*/
std::optional<SpawnInfo> GetNextSpawnCarInfo(const std::unique_ptr<LaneStreamInterface> &laneStream,
- const Range& range,
- const double gapInSeconds,
- const double velocity,
- const double agentFrontLength,
- const double agentRearLength) const;
+ const Range &range,
+ const units::time::second_t gapInSeconds,
+ const units::velocity::meters_per_second_t velocity,
+ const units::length::meter_t agentFrontLength,
+ const units::length::meter_t agentRearLength) const;
/**
* \brief Logs a message for error mode.
diff --git a/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/SpawnerPreRunCommonDefinitions.h b/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/SpawnerPreRunCommonDefinitions.h
index 57f99dafe30b5a81e67555ec41671e843e6e6dde..49e1e045b615455e142ad85117bbf892caca8fc5 100644
--- a/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/SpawnerPreRunCommonDefinitions.h
+++ b/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/SpawnerPreRunCommonDefinitions.h
@@ -52,7 +52,7 @@ namespace SpawnerPreRunCommonDefinitions {
SpawnParameter spawnParameter;
std::string roadId;
int laneId;
- double s;
- double streamPosition;
+ units::length::meter_t s;
+ units::length::meter_t streamPosition;
};
} // SpawnPointPreRunDefinitions
diff --git a/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/SpawnerPreRunCommonExport.cpp b/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/SpawnerPreRunCommonExport.cpp
index 671d9263e9c51daa45a4368dd67b21e51f17a09e..52919a8bd280335cfbecd0dda8c7f71ea87015ab 100644
--- a/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/SpawnerPreRunCommonExport.cpp
+++ b/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/SpawnerPreRunCommonExport.cpp
@@ -50,11 +50,11 @@ extern "C" SPAWNPOINT_SHARED_EXPORT std::unique_ptr<SpawnPointInterface> OpenPAS
}
}
-extern "C" SPAWNPOINT_SHARED_EXPORT SpawnPointInterface::Agents OpenPASS_Trigger(SpawnPointInterface *implementation, int time)
+extern "C" SPAWNPOINT_SHARED_EXPORT void OpenPASS_Trigger(SpawnPointInterface *implementation, int time)
{
try
{
- return implementation->Trigger(time);
+ implementation->Trigger(time);
}
catch(const std::runtime_error &ex)
{
@@ -62,8 +62,6 @@ extern "C" SPAWNPOINT_SHARED_EXPORT SpawnPointInterface::Agents OpenPASS_Trigger
{
Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, ex.what());
}
-
- return {};
}
catch(...)
{
@@ -71,6 +69,5 @@ extern "C" SPAWNPOINT_SHARED_EXPORT SpawnPointInterface::Agents OpenPASS_Trigger
{
Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, "unexpected exception");
}
- return {};
}
}
diff --git a/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/SpawnerPreRunCommonParameterExtractor.h b/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/SpawnerPreRunCommonParameterExtractor.h
index 50f001b30263f96d2949fcaec372879f544e0af6..0b66fe6909fdb45f48fd3ece63bf991436217d09 100644
--- a/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/SpawnerPreRunCommonParameterExtractor.h
+++ b/sim/src/core/opSimulation/modules/Spawners/PreRunCommon/SpawnerPreRunCommonParameterExtractor.h
@@ -173,23 +173,23 @@ static std::vector<SpawnArea> ExtractSpawnAreas(const ParameterInterface ¶me
for (const auto& route : routes)
{
const auto roadStream = world.GetRoadStream(route);
- auto sStartOnStream = 0.;
+ auto sStartOnStream = 0._m;
auto sEndOnStream = roadStream->GetLength();
if (firstRoute)
{
if (sStartElement.has_value())
{
- double sStart = std::clamp(sStartElement.value(), 0.0, world.GetRoadLength(route.front().roadId));
- sStartOnStream = roadStream->GetStreamPosition(GlobalRoadPosition{route.front().roadId, 0, sStart, 0, 0}).s;
+ auto sStart = std::clamp(units::length::meter_t(sStartElement.value()), 0.0_m, world.GetRoadLength(route.front().roadId));
+ sStartOnStream = roadStream->GetStreamPosition(GlobalRoadPosition{route.front().roadId, 0, sStart, 0_m, 0_rad}).s;
}
if (sEndElement.has_value())
{
- double sEnd = std::clamp(sEndElement.value(), 0.0, world.GetRoadLength(route.back().roadId));
- sEndOnStream = roadStream->GetStreamPosition(GlobalRoadPosition{route.back().roadId, 0, sEnd, 0, 0}).s;
+ auto sEnd = std::clamp(units::length::meter_t(sEndElement.value()), 0.0_m, world.GetRoadLength(route.back().roadId));
+ sEndOnStream = roadStream->GetStreamPosition(GlobalRoadPosition{route.back().roadId, 0, sEnd, 0_m, 0_rad}).s;
}
else if (sLengthElement.has_value())
{
- double sLength = std::clamp(sLengthElement.value(), 0.0, roadStream->GetLength() - sStartOnStream);
+ auto sLength = std::clamp(units::length::meter_t(sLengthElement.value()), 0.0_m, roadStream->GetLength() - sStartOnStream);
sEndOnStream = sStartOnStream + sLength;
}
}
@@ -197,17 +197,17 @@ static std::vector<SpawnArea> ExtractSpawnAreas(const ParameterInterface ¶me
{
if (sStartElement.has_value())
{
- double sStart = std::clamp(sStartElement.value(), 0.0, world.GetRoadLength(route.back().roadId));
- sEndOnStream = roadStream->GetStreamPosition(GlobalRoadPosition{route.back().roadId, 0, sStart, 0, 0}).s;
+ auto sStart = std::clamp(units::length::meter_t(sStartElement.value()), 0.0_m, world.GetRoadLength(route.back().roadId));
+ sEndOnStream = roadStream->GetStreamPosition(GlobalRoadPosition{route.back().roadId, 0, sStart, 0_m, 0_rad}).s;
}
if (sEndElement.has_value())
{
- double sEnd = std::clamp(sEndElement.value(), 0.0, world.GetRoadLength(route.front().roadId));
- sStartOnStream = roadStream->GetStreamPosition(GlobalRoadPosition{route.front().roadId, 0, sEnd, 0, 0}).s;
+ auto sEnd = std::clamp(units::length::meter_t(sEndElement.value()), 0.0_m, world.GetRoadLength(route.front().roadId));
+ sStartOnStream = roadStream->GetStreamPosition(GlobalRoadPosition{route.front().roadId, 0, sEnd, 0_m, 0_rad}).s;
}
else if (sLengthElement.has_value())
{
- double sLength = std::clamp(sLengthElement.value(), 0.0, sEndOnStream);
+ auto sLength = std::clamp(units::length::meter_t(sLengthElement.value()), 0.0_m, sEndOnStream);
sStartOnStream = sEndOnStream - sLength;
}
}
@@ -221,7 +221,7 @@ static std::vector<SpawnArea> ExtractSpawnAreas(const ParameterInterface ¶me
{
continue;
}
- spawnAreas.emplace_back(roadStream->GetLaneStream({sStartOnStream, 0.}, laneId),
+ spawnAreas.emplace_back(roadStream->GetLaneStream({sStartOnStream, 0._m}, laneId),
sStartOnStream,
sEndOnStream);
}
diff --git a/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/CMakeLists.txt b/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/CMakeLists.txt
index 2663ffcde0e21ed1dfb6d636e1eaae9ead4909b9..a38352cf194ee3b5668f5487f5cf5cbdb068a448 100644
--- a/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/CMakeLists.txt
+++ b/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/CMakeLists.txt
@@ -17,8 +17,7 @@ add_openpass_target(
HEADERS
../../../framework/sampler.h
- ../../../modelElements/agentBlueprint.h
- ../common/SpawnerDefinitions.h
+ ../common/SpawnerDefinitions.h
../common/WorldAnalyzer.h
SpawnerRuntimeCommon.h
SpawnerRuntimeCommonExport.h
@@ -27,7 +26,6 @@ add_openpass_target(
SOURCES
../../../framework/sampler.cpp
- ../../../modelElements/agentBlueprint.cpp
../common/WorldAnalyzer.cpp
SpawnerRuntimeCommon.cpp
SpawnerRuntimeCommonExport.cpp
diff --git a/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommon.cpp b/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommon.cpp
index 89b95dc131570393ebc911c43c163517278f51aa..de8e70698cba884f94df30fb94131021cf119784 100644
--- a/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommon.cpp
+++ b/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommon.cpp
@@ -14,52 +14,54 @@
#include "framework/agentBlueprintProvider.h"
#include "framework/agentFactory.h"
#include "framework/sampler.h"
+#include "include/entityRepositoryInterface.h"
-SpawnerRuntimeCommon::SpawnerRuntimeCommon(const SpawnPointDependencies* dependencies,
- const CallbackInterface * const callbacks):
+SpawnerRuntimeCommon::SpawnerRuntimeCommon(const SpawnPointDependencies *dependencies,
+ const CallbackInterface *const callbacks) :
SpawnPointInterface(dependencies->world, callbacks),
dependencies(*dependencies),
worldAnalyzer(dependencies->world),
parameters(SpawnPointRuntimeCommonParameterExtractor::ExtractSpawnPointParameters(*(dependencies->parameters.value()), worldAnalyzer, supportedLaneTypes, callbacks))
{
- for (const auto& spawnPosition : parameters.spawnPositions)
+ for (const auto &spawnPosition : parameters.spawnPositions)
{
queuedSpawnDetails.push_back(GenerateSpawnDetailsForLane(spawnPosition, 0));
}
}
-SpawnPointInterface::Agents SpawnerRuntimeCommon::Trigger(int time)
+void SpawnerRuntimeCommon::Trigger(int time)
{
- SpawnPointInterface::Agents agents;
-
for (size_t i = 0; i < parameters.spawnPositions.size(); ++i)
{
if (time >= queuedSpawnDetails[i].spawnTime && AreSpawningCoordinatesValid(queuedSpawnDetails[i], parameters.spawnPositions[i]))
{
AdjustVelocityForCrash(queuedSpawnDetails[i], parameters.spawnPositions[i]);
- core::Agent* newAgent = dependencies.agentFactory->AddAgent(&(queuedSpawnDetails[i].agentBlueprint));
- if (newAgent != nullptr)
- {
- agents.emplace_back(newAgent);
- }
+ SpawnPointDefinitions::CreateSpawnReadyEntity(queuedSpawnDetails[i].entityInformation, dependencies.environment);
+
+ auto &entityRepository{dynamic_cast<core::EntityRepositoryInterface &>(dependencies.environment->GetEntityRepository())};
+ entityRepository.SpawnReadyAgents();
queuedSpawnDetails[i] = GenerateSpawnDetailsForLane(parameters.spawnPositions[i], time);
}
}
-
- return agents;
}
SpawnDetails SpawnerRuntimeCommon::GenerateSpawnDetailsForLane(const SpawnPosition sceneryInformation, int time)
{
auto rightLaneCount = worldAnalyzer.GetRightLaneCount(sceneryInformation.roadId, sceneryInformation.laneId, sceneryInformation.sPosition);
const auto agentProfile = SampleAgentProfile(rightLaneCount == 0);
+
try
{
- auto agentBlueprint = dependencies.agentBlueprintProvider->SampleAgent(agentProfile.name, {});
- agentBlueprint.SetAgentProfileName(agentProfile.name);
- agentBlueprint.SetAgentCategory(AgentCategory::Common);
+ const auto vehicleModelName = dependencies.agentBlueprintProvider->SampleVehicleModelName(agentProfile.name);
+ const auto vehicleProperties = helper::map::query(*dependencies.vehicles, vehicleModelName);
+ THROWIFFALSE(vehicleProperties, "Unkown VehicleModel \"" + vehicleModelName + "\" in AgentProfile \"" + agentProfile.name + "\"");
+
+ EntityInformation entityInformation(agentProfile.name, "", vehicleProperties.value(), {});
+
+ // TODO CK: Setting the category to Common is still missing. In Vehicle.cpp it's either set to ego or scenario. Maybe the create call needs to be extended by this
+ //agentBuildInstructions.agentCategory = AgentCategory::Common;
const auto tGap = Sampler::RollForStochasticAttribute(agentProfile.tGap, dependencies.stochastics);
@@ -71,62 +73,61 @@ SpawnDetails SpawnerRuntimeCommon::GenerateSpawnDetailsForLane(const SpawnPositi
velocity *= 2.0 - homogeneity;
}
- CalculateSpawnParameter(&agentBlueprint,
+ CalculateSpawnParameter(entityInformation.spawnParameter,
sceneryInformation.roadId,
sceneryInformation.laneId,
sceneryInformation.sPosition,
- velocity);
+ units::velocity::meters_per_second_t(velocity));
- return SpawnDetails{static_cast<int>(tGap * 1000) + time, agentBlueprint};
+ return SpawnDetails{static_cast<int>(tGap * 1000) + time, entityInformation};
}
- catch (const std::runtime_error& error)
+ catch (const std::runtime_error &error)
{
LogError("Encountered an Error while generating Spawn Details: " + std::string(error.what()));
}
}
-void SpawnerRuntimeCommon::AdjustVelocityForCrash(SpawnDetails& spawnDetails,
- const SpawnPosition& sceneryInformation) const
+void SpawnerRuntimeCommon::AdjustVelocityForCrash(SpawnDetails &spawnDetails,
+ const SpawnPosition &sceneryInformation) const
{
- 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.laneId,
- sceneryInformation.sPosition,
- agentFrontLength,
- agentRearLength,
- intendedVelocity,
- spawnDetails.agentBlueprint.GetSpawnParameter().route);
+ const units::length::meter_t agentFrontLength = spawnDetails.entityInformation.vehicleProperties->bounding_box.dimension.length * 0.5 + spawnDetails.entityInformation.vehicleProperties->bounding_box.geometric_center.x;
+ const units::length::meter_t agentRearLength = spawnDetails.entityInformation.vehicleProperties->bounding_box.dimension.length * 0.5 - spawnDetails.entityInformation.vehicleProperties->bounding_box.geometric_center.x;
+ const auto intendedVelocity = spawnDetails.entityInformation.spawnParameter.velocity;
+
+ spawnDetails.entityInformation.spawnParameter.velocity = worldAnalyzer.CalculateSpawnVelocityToPreventCrashing(sceneryInformation.laneId,
+ sceneryInformation.sPosition,
+ agentFrontLength,
+ agentRearLength,
+ intendedVelocity,
+ spawnDetails.entityInformation.spawnParameter.route);
}
-bool SpawnerRuntimeCommon::AreSpawningCoordinatesValid(const SpawnDetails& spawnDetails,
- const SpawnPosition& sceneryInformation) const
+bool SpawnerRuntimeCommon::AreSpawningCoordinatesValid(const SpawnDetails &spawnDetails,
+ const SpawnPosition &sceneryInformation) const
{
- const auto vehicleModelParameters = spawnDetails.agentBlueprint.GetVehicleModelParameters();
+ const auto vehicleModelParameters = spawnDetails.entityInformation.vehicleProperties;
return worldAnalyzer.AreSpawningCoordinatesValid(sceneryInformation.roadId,
sceneryInformation.laneId,
sceneryInformation.sPosition,
- 0 /* offset */,
- GetStochasticOrPredefinedValue(parameters.minimumSeparationBuffer, dependencies.stochastics),
- spawnDetails.agentBlueprint.GetSpawnParameter().route,
+ 0_m /* offset */,
+ units::length::meter_t(GetStochasticOrPredefinedValue(parameters.minimumSeparationBuffer, dependencies.stochastics)),
+ spawnDetails.entityInformation.spawnParameter.route,
vehicleModelParameters);
-
}
-void SpawnerRuntimeCommon::CalculateSpawnParameter(AgentBlueprintInterface* agentBlueprint,
- const RoadId& roadId,
- const LaneId laneId,
- const SPosition sPosition,
- const double velocity) const
+void SpawnerRuntimeCommon::CalculateSpawnParameter(SpawnParameter &spawnParameter,
+ const RoadId &roadId,
+ const LaneId laneId,
+ const SPosition sPosition,
+ const units::velocity::meters_per_second_t velocity) const
{
- Position pos = GetWorld()->LaneCoord2WorldCoord(sPosition, 0 /* offset */, roadId, laneId);
+ Position pos = GetWorld()->LaneCoord2WorldCoord(sPosition, 0_m /* offset */, roadId, laneId);
- double spawnV = velocity;
+ auto spawnV = velocity;
//considers adjusted velocity in curvatures
- double kappa = pos.curvature;
+ double kappa = units::unit_cast<double>(pos.curvature);
// Note: This could falsify ego and scenario agents
if (kappa != 0.0)
@@ -135,15 +136,13 @@ void SpawnerRuntimeCommon::CalculateSpawnParameter(AgentBlueprintInterface* agen
curvatureVelocity = 160 * (1 / (std::sqrt((std::abs(kappa)) / 1000)));
- spawnV = std::min(spawnV, curvatureVelocity);
+ spawnV = units::math::min(spawnV, units::velocity::meters_per_second_t(curvatureVelocity));
}
- SpawnParameter& spawnParameter = agentBlueprint->GetSpawnParameter();
- spawnParameter.positionX = pos.xPos;
- spawnParameter.positionY = pos.yPos;
- spawnParameter.yawAngle = pos.yawAngle + (laneId < 0 ? 0.0 : M_PI);
- spawnParameter.velocity = spawnV;
- spawnParameter.acceleration = 0;
+ spawnParameter.position = {pos.xPos, pos.yPos, 0_m};
+ spawnParameter.orientation = {pos.yawAngle + (laneId < 0 ? 0.0_rad : units::angle::radian_t(M_PI)), 0_rad, 0_rad};
+ spawnParameter.velocity = units::velocity::meters_per_second_t(spawnV);
+ spawnParameter.acceleration = 0_mps_sq;
spawnParameter.route = worldAnalyzer.SampleRoute(roadId,
laneId,
dependencies.stochastics);
@@ -154,7 +153,7 @@ SpawningAgentProfile SpawnerRuntimeCommon::SampleAgentProfile(bool rightLane)
return Sampler::Sample(rightLane ? parameters.agentProfileLaneMaps.rightLanes : parameters.agentProfileLaneMaps.leftLanes, dependencies.stochastics);
}
-void SpawnerRuntimeCommon::LogError(const std::string& message) const
+void SpawnerRuntimeCommon::LogError(const std::string &message) const
{
std::stringstream log;
log.str(std::string());
diff --git a/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommon.h b/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommon.h
index b1520f7d7c11f0b0bae903abe96e9814c4511e04..b361c02f8c949391532b66d2ad69bca7c36377a8 100644
--- a/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommon.h
+++ b/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommon.h
@@ -25,7 +25,6 @@
#pragma once
#include "SpawnerRuntimeCommonDefinitions.h"
-#include "agentBlueprint.h"
#include "common/SpawnerDefinitions.h"
#include "common/WorldAnalyzer.h"
#include "common/spawnPointLibraryDefinitions.h"
@@ -51,7 +50,7 @@ public:
* \brief Trigger creates the agents for the spawn points
* \return the created agents
*/
- Agents Trigger(int time) override;
+ void Trigger(int time) override;
private:
@@ -74,15 +73,15 @@ private:
bool AreSpawningCoordinatesValid(const SpawnDetails& spawnDetails, const SpawnPosition& sceneryInformation) const;
/**
* @brief CalculateSpawnParameter
- * @param[in] agentBlueprint AgentBlueprint for new agent.
+ * @param[out] spawnParameter SpawnParameter for new agent.
* @param[in] laneId Id of lane in which new agent should be spawned.
* @param[in] spawnInfo SpawnInfo of new agent.
*/
- void CalculateSpawnParameter(AgentBlueprintInterface* agentBlueprint,
- const RoadId& roadId,
+ void CalculateSpawnParameter(SpawnParameter &spawnParameter,
+ const RoadId &roadId,
const LaneId laneId,
const SPosition sPosition,
- const double velocity) const;
+ const units::velocity::meters_per_second_t velocity) const;
SpawningAgentProfile SampleAgentProfile(bool rightLane);
diff --git a/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommonDefinitions.h b/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommonDefinitions.h
index 336db2059d8e03fbe735085bec2805f0a80fa6f5..2f301e771b44bc37049d327ce169578fcafce857 100644
--- a/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommonDefinitions.h
+++ b/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommonDefinitions.h
@@ -14,7 +14,6 @@
#include <unordered_map>
#include <vector>
-#include "agentBlueprint.h"
#include "common/SpawnerDefinitions.h"
#include "include/parameterInterface.h"
@@ -23,12 +22,12 @@ namespace SpawnPointRuntimeCommonDefinitions
using RoadId = std::string;
using LaneId = int;
using LaneIds = std::vector<LaneId>;
- using SPosition = double;
+ using SPosition = units::length::meter_t;
struct SpawnDetails
{
int spawnTime;
- AgentBlueprint agentBlueprint;
+ SpawnPointDefinitions::EntityInformation entityInformation;
};
struct SpawnPosition
diff --git a/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommonExport.cpp b/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommonExport.cpp
index f571ad7bfea33da5acb641227a9eef3d8af7f3d9..9229deb5f345da1366cf568b206e23d703d220f6 100644
--- a/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommonExport.cpp
+++ b/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommonExport.cpp
@@ -54,7 +54,7 @@ extern "C" SPAWNPOINT_SHARED_EXPORT std::unique_ptr<SpawnPointInterface> OpenPAS
}
}
-extern "C" SPAWNPOINT_SHARED_EXPORT SpawnPointInterface::Agents OpenPASS_Trigger(SpawnPointInterface* implementation, int time)
+extern "C" SPAWNPOINT_SHARED_EXPORT void OpenPASS_Trigger(SpawnPointInterface *implementation, int time)
{
- return implementation->Trigger(time);
+ implementation->Trigger(time);
}
diff --git a/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommonExport.h b/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommonExport.h
index c29d8a3b789ffaff89ad1788d83b33900c397982..b98e76f511aaf966d4a2d47f3f62387d706d7f66 100644
--- a/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommonExport.h
+++ b/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommonExport.h
@@ -18,5 +18,4 @@
#pragma once
#include "SpawnerRuntimeCommonGlobal.h"
-#include "include/scenarioInterface.h"
#include "include/spawnPointInterface.h"
diff --git a/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommonParameterExtractor.h b/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommonParameterExtractor.h
index b9647a8a4aa8d0e033018d699924c6557427e5ea..f747895dd5ab7a0e4249cfecf8ce09ab17a66da2 100644
--- a/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommonParameterExtractor.h
+++ b/sim/src/core/opSimulation/modules/Spawners/RuntimeCommon/SpawnerRuntimeCommonParameterExtractor.h
@@ -58,9 +58,9 @@ namespace SpawnPointRuntimeCommonParameterExtractor
{
for (const auto& laneId : sortedLaneIds)
{
- if(worldAnalyzer.ValidateRoadIdInDirection(roadId, laneId, sCoordinateElement.value(), supportedLaneTypes))
+ if(worldAnalyzer.ValidateRoadIdInDirection(roadId, laneId, units::length::meter_t(sCoordinateElement.value()), supportedLaneTypes))
{
- spawnpoints.emplace_back(SpawnPosition{roadId, laneId, sCoordinateElement.value()});
+ spawnpoints.emplace_back(SpawnPosition{roadId, laneId, units::length::meter_t(sCoordinateElement.value())});
}
}
}
diff --git a/sim/src/core/opSimulation/modules/Spawners/Scenario/CMakeLists.txt b/sim/src/core/opSimulation/modules/Spawners/Scenario/CMakeLists.txt
deleted file mode 100644
index 81bda0705a300695905b411996c44c7aa0c1bb75..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/Spawners/Scenario/CMakeLists.txt
+++ /dev/null
@@ -1,42 +0,0 @@
-################################################################################
-# Copyright (c) 2020 HLRS, University of Stuttgart
-# 2020 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
-# http://www.eclipse.org/legal/epl-2.0.
-#
-# SPDX-License-Identifier: EPL-2.0
-################################################################################
-
-set(COMPONENT_NAME SpawnerScenario)
-
-add_compile_definitions(SPAWNER_SCENARIO_LIBRARY)
-
-add_openpass_target(
- NAME ${COMPONENT_NAME} TYPE library LINKAGE shared COMPONENT core
-
- HEADERS
- ../../../framework/sampler.h
- ../../../modelElements/agentBlueprint.h
- SpawnerScenario.h
- SpawnerScenarioExport.h
- SpawnerScenarioGlobal.h
-
- SOURCES
- ../../../framework/sampler.cpp
- ../../../modelElements/agentBlueprint.cpp
- SpawnerScenario.cpp
- SpawnerScenarioExport.cpp
-
- INCDIRS
- ..
- ../../../
- ../../../modelElements/
- ../../../../common
-
- LIBRARIES
- Qt5::Core
- CoreCommon
-)
-
diff --git a/sim/src/core/opSimulation/modules/Spawners/Scenario/SpawnerScenario.cpp b/sim/src/core/opSimulation/modules/Spawners/Scenario/SpawnerScenario.cpp
deleted file mode 100644
index c09b09cf72040672ccef6ed03740185c990e709f..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/Spawners/Scenario/SpawnerScenario.cpp
+++ /dev/null
@@ -1,332 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2017-2021 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#include "SpawnerScenario.h"
-
-#include "agentBlueprint.h"
-#include "common/RoutePlanning/RouteCalculation.h"
-#include "framework/agentFactory.h"
-#include "framework/sampler.h"
-#include "include/agentInterface.h"
-#include "include/worldInterface.h"
-
-constexpr size_t MAX_DEPTH = 10; //! Limits search depths in case of cyclic network
-
-SpawnerScenario::SpawnerScenario(const SpawnPointDependencies* dependencies,
- const CallbackInterface* callbacks):
- SpawnPointInterface(dependencies->world, callbacks),
- dependencies(*dependencies)
-{
- if (!dependencies->scenario)
- {
- LogError(std::string(COMPONENTNAME) + " received no scenario (required)");
- }
-}
-
-SpawnPointInterface::Agents SpawnerScenario::Trigger([[maybe_unused]]int time)
-{
- Agents agents;
-
- for (const auto& entity : dependencies.scenario.value()->GetEntities())
- {
- if (entity.spawnInfo.spawning)
- {
- try
- {
- auto agentBlueprint = dependencies.agentBlueprintProvider->SampleAgent(entity.catalogReference.entryName, entity.assignedParameters);
- agentBlueprint.SetAgentProfileName(entity.catalogReference.entryName);
- agentBlueprint.SetAgentCategory(entity.name == "Ego"
- ? AgentCategory::Ego
- : AgentCategory::Scenario);
- agentBlueprint.SetObjectName(entity.name);
- agentBlueprint.SetSpawnParameter(CalculateSpawnParameter(entity,
- agentBlueprint.GetVehicleModelParameters()));
-
- core::Agent* newAgent = dependencies.agentFactory->AddAgent(&agentBlueprint);
-
- if(newAgent != nullptr)
- {
- agents.emplace_back(newAgent);
- }
- else
- {
- LogError(" failed to add agent successfully for entity "
- + entity.name);
- }
-
- }
- catch(const std::runtime_error& error)
- {
- LogError("SpawnerScenario encountered an Error: " + std::string(error.what()));
- }
- }
- }
-
- return agents;
-}
-
-bool SpawnerScenario::ValidateOverlappingAgents(const STCoordinates &stCoordinates,
- const openScenario::LanePosition& lanePosition,
- const VehicleModelParameters& vehicleModelParameters)
-{
- const Position position = GetWorld()->LaneCoord2WorldCoord(stCoordinates.s,
- stCoordinates.t,
- lanePosition.roadId,
- lanePosition.laneId);
-
- if (GetWorld()->IntersectsWithAgent(position.xPos,
- position.yPos,
- position.yawAngle,
- vehicleModelParameters.boundingBoxDimensions.length,
- vehicleModelParameters.boundingBoxDimensions.width,
- vehicleModelParameters.boundingBoxDimensions.length * 0.5 + vehicleModelParameters.boundingBoxCenter.x))
- {
- return false;
- }
-
- return true;
-}
-
-bool SpawnerScenario::ValidateSTCoordinatesOnLane(const STCoordinates &stCoordinate,
- const openScenario::LanePosition &lanePosition,
- const double vehicleWidth)
-{
- if (!GetWorld()->IsSValidOnLane(lanePosition.roadId,
- lanePosition.laneId,
- stCoordinate.s))
- {
- return false;
- }
-
- //Check if lane width > vehicle width
- double laneWidth = GetWorld()->GetLaneWidth(lanePosition.roadId,
- lanePosition.laneId,
- stCoordinate.s);
- if (vehicleWidth > laneWidth + std::abs(stCoordinate.t))
- {
- return false;
- }
-
- //Is vehicle completely inside the lane
- bool isVehicleCompletelyInLane = (laneWidth - vehicleWidth) * 0.5 >= std::abs(stCoordinate.t);
- if (isVehicleCompletelyInLane)
- {
- return true;
- }
-
- //Is vehicle more than 50 % on the lane
- double allowedRange = laneWidth * 0.5;
- bool outsideAllowedRange = std::abs(stCoordinate.t) > allowedRange;
- if (outsideAllowedRange)
- {
- return false;
- }
-
- //Is vehicle partly on invalid lane
- bool isOffsetToLeftLane = (stCoordinate.t >= 0);
- int otherLaneId = isOffsetToLeftLane ? (lanePosition.laneId + 1) : (lanePosition.laneId - 1);
-
- if (!GetWorld()->IsSValidOnLane(lanePosition.roadId,
- otherLaneId,
- stCoordinate.s)) //other lane is invalid
- {
- return false;
- }
-
- return true;
-}
-
-STCoordinates SpawnerScenario::GetSTCoordinates(const openScenario::LanePosition &lanePosition,
- const VehicleModelParameters &vehicleModelParameters)
-{
- if(!lanePosition.stochasticS.has_value() && !lanePosition.stochasticOffset.has_value())
- {
- return {lanePosition.s, lanePosition.offset.value_or(0.0)};
- }
- else
- {
- for (int trial = 0; trial < NUMBER_OF_TRIALS_STOCHASTIC; trial++)
- {
- STCoordinates stCoordinates;
-
- if(lanePosition.stochasticS.has_value())
- {
- stCoordinates.s = CalculateAttributeValue(lanePosition.stochasticS.value());
- }
- else
- {
- stCoordinates.s = lanePosition.s;
- }
-
- if(lanePosition.stochasticOffset.has_value())
- {
- stCoordinates.t = CalculateAttributeValue(lanePosition.stochasticOffset.value());
- }
- else
- {
- stCoordinates.t = lanePosition.offset.value_or(0.0);
- }
-
-
- if (ValidateOverlappingAgents(stCoordinates,
- lanePosition,
- vehicleModelParameters)
- && ValidateSTCoordinatesOnLane(stCoordinates,
- lanePosition,
- vehicleModelParameters.boundingBoxDimensions.width))
- {
- return stCoordinates;
- }
- }
-
- LogError("Sampling valid stochastic spawn distance failed.");
- }
-}
-
-SpawnParameter SpawnerScenario::CalculateSpawnParameter(const ScenarioEntity &entity,
- const VehicleModelParameters &vehicleModelParameters)
-{
- const auto& spawnInfo = entity.spawnInfo;
- SpawnParameter spawnParameter;
-
- // Define position and orientation
- // Lane Spawning
- if(std::holds_alternative<openScenario::LanePosition>(spawnInfo.position))
- {
- const auto &lanePosition = std::get<openScenario::LanePosition>(spawnInfo.position);
-
- const auto &stCoordinate = GetSTCoordinates(lanePosition, vehicleModelParameters);
- const auto &pos = GetWorld()->LaneCoord2WorldCoord(stCoordinate.s,
- stCoordinate.t,
- lanePosition.roadId,
- lanePosition.laneId);
-
- spawnParameter.positionX = pos.xPos;
- spawnParameter.positionY = pos.yPos;
- spawnParameter.yawAngle = pos.yawAngle;
-
- if(lanePosition.orientation.has_value())
- {
- spawnParameter.yawAngle += lanePosition.orientation.value().h.value_or(0.0);
- }
- }
- // World Spawning
- else if (std::holds_alternative<openScenario::WorldPosition>(spawnInfo.position))
- {
- const auto &worldPosition = std::get<openScenario::WorldPosition>(spawnInfo.position);
- spawnParameter.positionX = worldPosition.x;
- spawnParameter.positionY = worldPosition.y;
- spawnParameter.yawAngle = worldPosition.h.value_or(0.0);
- }
- else {
- LogError("This Spawner only supports Lane- & WorldPositions.");
- }
-
- if(!IsInsideWorld(spawnParameter))
- {
- LogError("Agent \"" + entity.name + "\" is outside world");
- }
-
- // Define velocity
- if(spawnInfo.stochasticVelocity.has_value())
- {
- spawnParameter.velocity = CalculateAttributeValue(spawnInfo.stochasticVelocity.value());
- }
- else
- {
- spawnParameter.velocity = spawnInfo.velocity;
- }
-
- // Define acceleration
- if(spawnInfo.stochasticAcceleration.has_value())
- {
- spawnParameter.acceleration = CalculateAttributeValue(spawnInfo.stochasticAcceleration.value());
- }
- else
- {
- spawnParameter.acceleration = spawnInfo.acceleration.value_or(0.0);
- }
-
- if (spawnInfo.route.has_value())
- {
- spawnParameter.route = GetPredefinedRoute(spawnInfo.route.value());
- }
- else
- {
- spawnParameter.route = GetRandomRoute(spawnParameter);
- }
-
- return spawnParameter;
-}
-
-double SpawnerScenario::CalculateAttributeValue(const openScenario::StochasticAttribute &attribute)
-{
- openpass::parameter::NormalDistribution distribution{attribute.mean, attribute.stdDeviation, attribute.lowerBoundary, attribute.upperBoundary};
- return Sampler::RollForStochasticAttribute(distribution,
- dependencies.stochastics);
-}
-
-Route SpawnerScenario::GetPredefinedRoute(const std::vector<RouteElement>& roads)
-{
- if (roads.empty())
- {
- LogError("Route is empty");
- }
-
- auto [roadGraph , root] = GetWorld()->GetRoadGraph(roads.front(), std::max(MAX_DEPTH, roads.size()));
-
- RoadGraphVertex target = root;
- for (auto road = roads.begin() + 1; road != roads.end(); ++road)
- {
- bool foundSuccessor = false;
- for (auto [successor, successorsEnd] = adjacent_vertices(target, roadGraph); successor != successorsEnd; ++successor)
- {
- if (get(RouteElement(), roadGraph, *successor) == *road)
- {
- foundSuccessor = true;
- target = *successor;
- break;
- }
- }
- if (!foundSuccessor)
- {
- LogError("Invalid route defined in Scenario. Node " + road->roadId + " not reachable");
- }
- }
-
- return Route{roadGraph, root, target};
-}
-
-Route SpawnerScenario::GetRandomRoute(const SpawnParameter& spawnParameter)
-{
- const auto& roadPositions = GetWorld()->WorldCoord2LaneCoord(spawnParameter.positionX, spawnParameter.positionY, spawnParameter.yawAngle);
- auto [roadGraph, root] = GetWorld()->GetRoadGraph(CommonHelper::GetRoadWithLowestHeading(roadPositions, *GetWorld()), MAX_DEPTH);
- std::map<RoadGraph::edge_descriptor, double> weights = GetWorld()->GetEdgeWeights(roadGraph);
- auto target = RouteCalculation::SampleRoute(roadGraph, root, weights, *dependencies
- .stochastics);
-
- return Route{roadGraph, root, target};
-}
-
-bool SpawnerScenario::IsInsideWorld(const SpawnParameter &spawnParameter)
-{
- const auto& roadPositions = GetWorld()->WorldCoord2LaneCoord(spawnParameter.positionX, spawnParameter.positionY, spawnParameter.yawAngle);
- return !roadPositions.empty();
-}
-
-
-[[noreturn]] void SpawnerScenario::LogError(const std::string& message)
-{
- std::stringstream log;
- log.str(std::string());
- log << COMPONENTNAME << " " << message;
- LOG(CbkLogLevel::Error, log.str());
- throw std::runtime_error(log.str());
-}
diff --git a/sim/src/core/opSimulation/modules/Spawners/Scenario/SpawnerScenario.h b/sim/src/core/opSimulation/modules/Spawners/Scenario/SpawnerScenario.h
deleted file mode 100644
index 2849f215f295b91f4bc30dd754309e03887fa6e1..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/Spawners/Scenario/SpawnerScenario.h
+++ /dev/null
@@ -1,147 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2017-2021 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#pragma once
-
-#include "common/SpawnerDefinitions.h"
-#include "common/spawnPointLibraryDefinitions.h"
-#include "include/agentBlueprintProviderInterface.h"
-#include "include/scenarioInterface.h"
-#include "include/spawnPointInterface.h"
-#include "include/worldInterface.h"
-
-struct STCoordinates
-{
- double s;
- double t;
-};
-
-/**
-* \brief spawns agents for all scenarios
-* \details This class implements a SpawnPointInterface which is used by the framework to fill out
-* AgentBlueprints. The spawnpoint calls the agentsampler to fill out all probability related
-* parameters of the blueprint. The spawnpoint then adds the spawning depended parameters to the
-* agentblueprint. The agentblueprint is then returned to the framework.
-* \ingroup SpawnerScenario
-*/
-class SpawnerScenario : public SpawnPointInterface
-{
-private:
- static constexpr int NUMBER_OF_TRIALS_STOCHASTIC = 5;
- static constexpr std::string_view COMPONENTNAME = "SpawnerScenario";
-
-public:
- SpawnerScenario(const SpawnPointDependencies* dependencies,
- const CallbackInterface* callbacks);
- SpawnerScenario(const SpawnerScenario &) = delete;
- SpawnerScenario(SpawnerScenario &&) = delete;
- SpawnerScenario & operator=(const SpawnerScenario &) = delete;
- SpawnerScenario & operator=(SpawnerScenario &&) = delete;
- ~SpawnerScenario() override = default;
-
- /*!
- * \brief Trigger creates the agents for the spawn points
- * \return the created agents
- */
- Agents Trigger(int time) override;
-
-private:
- /*!
- * \brief Validates if there are already existing agents at a LanePosition
- *
- * @param[in] stCoordinates stCoordinates of position being validates
- * @param[in] lanePosition lanePosition containing road and lane id
- * @param[in] vehicleModelParameters vehicleModelParameters of the new agent
- * @return true, if new LanePosition does not overlap with existing agents
- */
- bool ValidateOverlappingAgents(const STCoordinates& stCoordinates,
- const openScenario::LanePosition& lanePosition,
- const VehicleModelParameters& vehicleModelParameters);
-
- /*!
- * \brief Checks if the offset is valid for a specific lane.
- *
- * \details Checks if the vehicle is more than 50% inside the lane and is not placed on an invalid lane
- *
- * @param[in] stCoordinates stCoordinates of position being validates
- * @param[in] lanePosition lanePosition containing road and lane id
- * @param[in] vehicleWidth width of the new agent
- * @return true if valid. false if not valid.
- */
- bool ValidateSTCoordinatesOnLane(const STCoordinates& stCoordinate,
- const openScenario::LanePosition& lanePosition,
- const double vehicleWidth);
-
- /*!
- * \brief This method defines the S and T coordinate for a new agent, which is spawned based on a LanePosition
- *
- * \details If the LanePosition is based on stochastics the SpawnPoint will try to place up to 5 different samples.
- * If no valid S and T coordinates can be found, an error is thrown.
- *
- * \param[in] lanePosition Id of the referenced openDrive road
- * \param[in] vehicleModelParameters Parameter of the vehicle
- * \return valid S and T coordinates of a new agent
- */
- STCoordinates GetSTCoordinates(const openScenario::LanePosition& lanePosition,
- const VehicleModelParameters& vehicleModelParameters);
-
- /*!
- * \brief Creates new SpawnParameter for the AgentBlueprint.
- *
- * \param[in] spawnInfo Containing spawn information of the scenario file
- * \param[in] vehicleModelParameters Parameter of the vehicle
- * \return Valid SpawnParameter
- */
- SpawnParameter CalculateSpawnParameter(const ScenarioEntity& entity,
- const VehicleModelParameters& vehicleModelParameters);
-
- /*!
- * \brief Samples a value based on stochastics
- * \param[in] attribute
- * \return value
- */
- double CalculateAttributeValue(const openScenario::StochasticAttribute &attribute);
-
- /*!
- * \brief Converts the imported route from OpenScenario into a graph
- *
- * \param[in] roads route from OpenScenario
- *
- * \return graph of road network from agent's perspective with target node as given by OpenScenario, nullopt if no road in OpenScenario defined
- */
- Route GetPredefinedRoute(const std::vector<RouteElement>& roads);
-
- /*!
- * \brief Samples a random route for the agent starting at the given position
- *
- * \param spawnParameter parameters containing spawn position
- *
- * \return sampled route
- */
- Route GetRandomRoute(const SpawnParameter& spawnParameter);
-
- /*!
- * \brief Checks wether the agent is inside the world
- *
- * \param spawnParameter parameters containing spawn position
- */
- bool IsInsideWorld(const SpawnParameter& spawnParameter);
-
- /*!
- * \brief Logs a error message.
- *
- * \details Logs a error message.
- *
- * @param[in] message Logged message.
- */
- [[noreturn]] void LogError(const std::string& message);
-
- const SpawnPointDependencies dependencies;
-};
diff --git a/sim/src/core/opSimulation/modules/Spawners/Scenario/SpawnerScenarioExport.cpp b/sim/src/core/opSimulation/modules/Spawners/Scenario/SpawnerScenarioExport.cpp
deleted file mode 100644
index 06f6cd3a822ed56b96e97bc1c1a246196c777e0f..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/Spawners/Scenario/SpawnerScenarioExport.cpp
+++ /dev/null
@@ -1,56 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2017-2019 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#include "SpawnerScenarioExport.h"
-
-#include "SpawnerScenario.h"
-
-const std::string Version = "0.0.1";
-static const CallbackInterface *Callbacks = nullptr;
-
-extern "C" SPAWNPOINT_SHARED_EXPORT const std::string &OpenPASS_GetVersion()
-{
- return Version;
-}
-
-extern "C" SPAWNPOINT_SHARED_EXPORT std::unique_ptr<SpawnPointInterface> OpenPASS_CreateInstance(const SpawnPointDependencies* dependencies,
- const CallbackInterface* callbacks)
-{
- Callbacks = callbacks;
-
- try
- {
- return std::make_unique<SpawnerScenario>(dependencies,
- callbacks);
- }
- catch(const std::runtime_error &ex)
- {
- if(Callbacks != nullptr)
- {
- Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, ex.what());
- }
-
- return nullptr;
- }
- catch(...)
- {
- if(Callbacks != nullptr)
- {
- Callbacks->Log(CbkLogLevel::Error, __FILE__, __LINE__, "unexpected exception");
- }
-
- return nullptr;
- }
-}
-
-extern "C" SPAWNPOINT_SHARED_EXPORT SpawnPointInterface::Agents OpenPASS_Trigger(SpawnPointInterface *implementation, int time)
-{
- return implementation->Trigger(time);
-}
diff --git a/sim/src/core/opSimulation/modules/Spawners/Scenario/SpawnerScenarioExport.h b/sim/src/core/opSimulation/modules/Spawners/Scenario/SpawnerScenarioExport.h
deleted file mode 100644
index 1ee69a4c0cd80f67a066dd516e26d27a5a66c167..0000000000000000000000000000000000000000
--- a/sim/src/core/opSimulation/modules/Spawners/Scenario/SpawnerScenarioExport.h
+++ /dev/null
@@ -1,22 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2017-2019 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-//-----------------------------------------------------------------------------
-/** @file SpawnPointExport.h
-* @brief This file provides the exported methods.
-*
-* This file provides the exported methods which are available outside of the library. */
-//-----------------------------------------------------------------------------
-
-#pragma once
-
-#include "SpawnerScenarioGlobal.h"
-#include "include/scenarioInterface.h"
-#include "include/spawnPointInterface.h"
diff --git a/sim/src/core/opSimulation/modules/Spawners/SpawnPoint_Start/spawner_start_implementation.cpp b/sim/src/core/opSimulation/modules/Spawners/SpawnPoint_Start/spawner_start_implementation.cpp
index e1f00b40a3de67702ccc022d5c1b73d707640939..ce6ecb861ae9ac7f4b02dab64f3c37c8d7d10746 100644
--- a/sim/src/core/opSimulation/modules/Spawners/SpawnPoint_Start/spawner_start_implementation.cpp
+++ b/sim/src/core/opSimulation/modules/Spawners/SpawnPoint_Start/spawner_start_implementation.cpp
@@ -63,7 +63,7 @@ void SpawnPoint_Start_Implementation::SetSpawnItem(SpawnItemParameterInterface &
spawnItem.SetPositionY(0);
// set velocity X
- double velocity = std::max(Par_vMin, GetStochastics()->GetNormalDistributed(Par_vMean, Par_vSd)); //in m/s
+ units::velocity::meters_per_second_t velocity = std::max(Par_vMin, GetStochastics()->GetNormalDistributed(Par_vMean, Par_vSd)); //in m/s
spawnItem.SetVelocityX(velocity);
// set velocity Y
diff --git a/sim/src/core/opSimulation/modules/Spawners/common/SpawnerDefinitions.h b/sim/src/core/opSimulation/modules/Spawners/common/SpawnerDefinitions.h
index 3d4efb996126ebd227ee39c352c42b8fdc73d4b8..00137495a20ea1c87a01a77704b426bbc25139f8 100644
--- a/sim/src/core/opSimulation/modules/Spawners/common/SpawnerDefinitions.h
+++ b/sim/src/core/opSimulation/modules/Spawners/common/SpawnerDefinitions.h
@@ -12,10 +12,13 @@
#include <string>
#include <vector>
+
+#include "MantleAPI/Traffic/entity_helper.h"
#include "common/commonTools.h"
-#include "include/parameterInterface.h"
-#include "include/callbackInterface.h"
#include "framework/sampler.h"
+#include "framework/vehicle.h"
+#include "include/callbackInterface.h"
+#include "include/parameterInterface.h"
namespace SpawnPointDefinitions
{
@@ -29,7 +32,7 @@ using RoadId = std::string;
using RoadIds = std::vector<RoadId>;
using LaneId = int;
using LaneIds = std::vector<LaneId>;
-using SPosition = double;
+using SPosition = units::length::meter_t;
using Range = std::pair<SPosition, SPosition>;
using Ranges = std::vector<Range>;
using VehicleRearAndFrontCoordinates = std::pair<SPosition, SPosition>;
@@ -135,4 +138,38 @@ static double GetStochasticOrPredefinedValue (std::variant<double, openpass::par
}
}
+struct EntityInformation
+{
+ EntityInformation(std::string agentProfileName,
+ std::string entityName,
+ std::shared_ptr<const mantle_api::VehicleProperties> vehicleProperties,
+ SpawnParameter spawnParameter = {}) :
+ agentProfileName(agentProfileName),
+ entityName(entityName),
+ vehicleProperties(vehicleProperties),
+ spawnParameter(spawnParameter)
+ {
+ }
+
+ std::string agentProfileName;
+ std::string entityName;
+ std::shared_ptr<const mantle_api::VehicleProperties> vehicleProperties;
+ SpawnParameter spawnParameter{};
+};
+
+static void CreateSpawnReadyEntity(const EntityInformation &entityInformation, std::shared_ptr<mantle_api::IEnvironment> environment)
+{
+ auto controllerConfig = std::make_unique<mantle_api::ExternalControllerConfig>();
+ controllerConfig->parameters.insert({"AgentProfile", entityInformation.agentProfileName});
+
+ // TODO CK name is still missing. Empty for now. Therefore the Get can't work either
+ auto& entity = environment->GetEntityRepository().Create(entityInformation.entityName, *(entityInformation.vehicleProperties));
+ auto& controller = environment->GetControllerRepository().Create(std::move(controllerConfig));
+
+ environment->AddEntityToController(entity, controller.GetUniqueId());
+ entity.SetPosition(entityInformation.spawnParameter.position);
+ mantle_api::SetSpeed(&entity, entityInformation.spawnParameter.velocity);
+ entity.SetOrientation(entityInformation.spawnParameter.orientation);
+}
+
} // namespace SpawnPointDefinitions
diff --git a/sim/src/core/opSimulation/modules/Spawners/common/WorldAnalyzer.cpp b/sim/src/core/opSimulation/modules/Spawners/common/WorldAnalyzer.cpp
index ead3be35245a06f73eb9ea2e4c2f954aa04c51cc..d6792d2141b5e58df2db5cef95246e162a2a7f8b 100644
--- a/sim/src/core/opSimulation/modules/Spawners/common/WorldAnalyzer.cpp
+++ b/sim/src/core/opSimulation/modules/Spawners/common/WorldAnalyzer.cpp
@@ -15,28 +15,28 @@
namespace
{
- static constexpr double EPSILON = 0.001;
- static constexpr double TTC_THRESHHOLD = 2.0;
- static constexpr double TTC_ENDOFLANE = 4.0;
- static constexpr double ASSUMED_TTB = 1.0;
- static constexpr double ASSUMED_BRAKING_ACCELERATION = -6.0;
- static constexpr double ASSUMED_FRONT_AGENT_ACCELERATION = -10;
+ const units::length::meter_t EPSILON{0.001};
+ const units::time::second_t TTC_THRESHHOLD{2.0};
+ const units::time::second_t TTC_ENDOFLANE{4.0};
+ const units::time::second_t ASSUMED_TTB{1.0};
+ const units::acceleration::meters_per_second_squared_t ASSUMED_BRAKING_ACCELERATION{-6.0};
+ const units::acceleration::meters_per_second_squared_t ASSUMED_FRONT_AGENT_ACCELERATION{-10};
static constexpr size_t MAX_ROADGRAPH_DEPTH = 10; //! Limits search depths in case of cyclic network
- static inline double GetSeparation(const double gapInSeconds,
- const double velocity,
- const double consideredCarLengths,
- const double minimumSeparationBuffer)
+ static inline units::length::meter_t GetSeparation(const units::time::second_t gapInSeconds,
+ const units::velocity::meters_per_second_t velocity,
+ const units::length::meter_t consideredCarLengths,
+ const units::length::meter_t minimumSeparationBuffer)
{
const auto minimumBuffer = minimumSeparationBuffer + consideredCarLengths;
- return std::max((gapInSeconds * velocity) + consideredCarLengths, minimumBuffer);
+ return units::math::max((gapInSeconds * velocity) + consideredCarLengths, minimumBuffer);
}
}
bool WorldAnalyzer::ValidateRoadIdInDirection(const RoadId& roadId,
const LaneId laneId,
- const double distanceOnLane,
+ const units::length::meter_t distanceOnLane,
const LaneTypes& validLaneTypes) const
{
if (!world->IsDirectionalRoadExisting(roadId, laneId < 0))
@@ -77,7 +77,7 @@ Ranges GetRangesWithSupportedLaneType(const std::unique_ptr<LaneStreamInterface>
{
Ranges ranges;
bool lastSupported = false; // last lanetype was supported
- double currentS = sStart; // start of current range
+ auto currentS = sStart; // start of current range
const auto laneTypes = laneStream->GetLaneTypes();
for (const auto [s, laneType] : laneTypes)
{
@@ -129,7 +129,7 @@ Ranges WorldAnalyzer::GetValidLaneSpawningRanges(const std::unique_ptr<LaneStrea
for (const auto& range : rangesWithSupportedLaneType)
{
- const auto agentsInLane = laneStream->GetAgentsInRange({range.first, 0}, {range.second, 0});
+ const auto agentsInLane = laneStream->GetAgentsInRange({range.first, 0_m}, {range.second, 0_m});
AgentInterfaces scenarioAgents {};
for (auto agent : agentsInLane)
@@ -165,20 +165,20 @@ Ranges WorldAnalyzer::GetValidLaneSpawningRanges(const std::unique_ptr<LaneStrea
return validLaneSpawningRanges;
}
-std::optional<double> WorldAnalyzer::GetNextSpawnPosition(const std::unique_ptr<LaneStreamInterface> &laneStream,
+std::optional<units::length::meter_t> WorldAnalyzer::GetNextSpawnPosition(const std::unique_ptr<LaneStreamInterface> &laneStream,
const Range& bounds,
- const double agentFrontLength,
- const double agentRearLength,
- const double intendedVelocity,
- const double gapInSeconds,
- const double minimumSeparationBuffer) const
+ const units::length::meter_t agentFrontLength,
+ const units::length::meter_t agentRearLength,
+ const units::velocity::meters_per_second_t intendedVelocity,
+ const units::time::second_t gapInSeconds,
+ const units::length::meter_t minimumSeparationBuffer) const
{
- double spawnDistance;
+ units::length::meter_t spawnDistance;
const auto maxSearchPosition = bounds.second + intendedVelocity * gapInSeconds;
- const auto downstreamObjects = laneStream->GetAgentsInRange({bounds.first, 0},
- {maxSearchPosition, 0});
+ const auto downstreamObjects = laneStream->GetAgentsInRange({bounds.first, 0_m},
+ {maxSearchPosition, 0_m});
const AgentInterface* firstDownstreamObject = nullptr;
if (!downstreamObjects.empty())
{
@@ -210,13 +210,13 @@ std::optional<double> WorldAnalyzer::GetNextSpawnPosition(const std::unique_ptr<
return spawnDistance;
}
-double WorldAnalyzer::CalculateAdjustedSpawnDistanceToEndOfLane(const LaneId laneId, const double sCoordinate, const double intendedSpawnPosition, const double intendedVelocity, const Route &route, const LaneTypes &supportedLaneTypes) const
+units::length::meter_t WorldAnalyzer::CalculateAdjustedSpawnDistanceToEndOfLane(const LaneId laneId, const units::length::meter_t sCoordinate, const units::length::meter_t intendedSpawnPosition, const units::velocity::meters_per_second_t intendedVelocity, const Route &route, const LaneTypes &supportedLaneTypes) const
{
const auto distanceToEndOfDrivingLane = world->GetDistanceToEndOfLane(route.roadGraph,
route.root,
laneId,
sCoordinate,
- std::numeric_limits<double>::max(),
+ units::length::meter_t(std::numeric_limits<double>::max()),
supportedLaneTypes).at(route.target);
const auto minDistanceToEndOfLane = intendedVelocity * TTC_ENDOFLANE;
@@ -230,7 +230,7 @@ double WorldAnalyzer::CalculateAdjustedSpawnDistanceToEndOfLane(const LaneId lan
return intendedSpawnPosition;
}
-double WorldAnalyzer::CalculateSpawnVelocityToPreventCrashing(const LaneId laneId, const double intendedSpawnPosition, const double agentFrontLength, const double agentRearLength, const double intendedVelocity, const Route &route) const
+units::velocity::meters_per_second_t WorldAnalyzer::CalculateSpawnVelocityToPreventCrashing(const LaneId laneId, const units::length::meter_t intendedSpawnPosition, const units::length::meter_t agentFrontLength, const units::length::meter_t agentRearLength, const units::velocity::meters_per_second_t intendedVelocity, const Route &route) const
{
const auto& inOdDirection = get(RouteElement(), route.roadGraph, route.root).inOdDirection;
const auto maxSearchDistance = agentFrontLength + (intendedVelocity * TTC_THRESHHOLD);
@@ -239,7 +239,7 @@ double WorldAnalyzer::CalculateSpawnVelocityToPreventCrashing(const LaneId laneI
route.root,
laneId,
intendedSpawnPosition - agentRearLength,
- 0,
+ 0_m,
maxSearchDistance).at(route.target);
const AgentInterface* opponent = nullptr;
if (!nextObjectsInLane.empty())
@@ -247,7 +247,7 @@ double WorldAnalyzer::CalculateSpawnVelocityToPreventCrashing(const LaneId laneI
opponent = nextObjectsInLane.front();
const auto &relativeVelocity = intendedVelocity - opponent->GetVelocity().Length();
- if (relativeVelocity <= 0.0)
+ if (relativeVelocity <= 0.0_mps)
{
return intendedVelocity;
}
@@ -264,23 +264,23 @@ double WorldAnalyzer::CalculateSpawnVelocityToPreventCrashing(const LaneId laneI
return intendedVelocity;
}
-double WorldAnalyzer::CalculateSpawnVelocityToPreventCrashing(const std::unique_ptr<LaneStreamInterface> &laneStream,
- const double intendedSpawnPosition,
- const double agentFrontLength,
- const double agentRearLength,
- const double intendedVelocity) const
+units::velocity::meters_per_second_t WorldAnalyzer::CalculateSpawnVelocityToPreventCrashing(const std::unique_ptr<LaneStreamInterface> &laneStream,
+ const units::length::meter_t intendedSpawnPosition,
+ const units::length::meter_t agentFrontLength,
+ const units::length::meter_t agentRearLength,
+ const units::velocity::meters_per_second_t intendedVelocity) const
{
const auto maxSearchDistance = agentFrontLength + (intendedVelocity * TTC_THRESHHOLD);
- const auto nextObjectsInLane = laneStream->GetObjectsInRange({intendedSpawnPosition - agentRearLength, 0},
- {maxSearchDistance, 0});
+ const auto nextObjectsInLane = laneStream->GetObjectsInRange({intendedSpawnPosition - agentRearLength, 0_m},
+ {maxSearchDistance, 0_m});
const WorldObjectInterface* opponent = nullptr;
if (!nextObjectsInLane.empty())
{
opponent = nextObjectsInLane.front();
const auto relativeVelocity = intendedVelocity - opponent->GetVelocity().Length();
- if (relativeVelocity <= 0.0)
+ if (relativeVelocity <= 0.0_mps)
{
return intendedVelocity;
}
@@ -299,11 +299,11 @@ double WorldAnalyzer::CalculateSpawnVelocityToPreventCrashing(const std::unique_
bool WorldAnalyzer::ValidMinimumSpawningDistanceToObjectInFront(const LaneId laneId,
const SPosition sPosition,
const Route &route,
- const VehicleModelParameters& vehicleModelParameters,
- const double minimumSeparationBuffer) const
+ std::shared_ptr<const mantle_api::VehicleProperties> vehicleModelParameters,
+ const units::length::meter_t minimumSeparationBuffer) const
{
- const double distanceReferencePointToFrontAxle = vehicleModelParameters.boundingBoxDimensions.length * 0.5 + vehicleModelParameters.boundingBoxCenter.x;
- const double rearLength = vehicleModelParameters.boundingBoxDimensions.length * 0.5 - vehicleModelParameters.boundingBoxCenter.x;
+ const units::length::meter_t distanceReferencePointToFrontAxle = vehicleModelParameters->bounding_box.dimension.length * 0.5 + vehicleModelParameters->bounding_box.geometric_center.x;
+ const units::length::meter_t rearLength = vehicleModelParameters->bounding_box.dimension.length * 0.5 - vehicleModelParameters->bounding_box.geometric_center.x;
const auto agentsInRangeResult = world->GetObjectsInRange(route.roadGraph,
route.root,
@@ -321,24 +321,24 @@ bool WorldAnalyzer::ValidMinimumSpawningDistanceToObjectInFront(const LaneId lan
return true;
}
-bool WorldAnalyzer::AreSpawningCoordinatesValid(const RoadId& roadId,
+bool WorldAnalyzer::AreSpawningCoordinatesValid(const RoadId &roadId,
const LaneId laneId,
const SPosition sPosition,
- const double offset,
- const double minimumSeparationBuffer,
- const Route& route,
- const VehicleModelParameters& vehicleModelParameters) const
+ const units::length::meter_t offset,
+ const units::length::meter_t minimumSeparationBuffer,
+ const Route &route,
+ std::shared_ptr<const mantle_api::VehicleProperties> vehicleModelParameters) const
{
if (!world->IsSValidOnLane(roadId, laneId, sPosition))
{
- loggingCallback("S is not valid for vehicle on lane: " + std::to_string(laneId) + ". Invalid s: " + std::to_string(
+ loggingCallback("S is not valid for vehicle on lane: " + std::to_string(laneId) + ". Invalid s: " + units::length::to_string(
sPosition));
return false;
}
- if (!IsOffsetValidForLane(roadId, laneId, sPosition, offset, vehicleModelParameters.boundingBoxDimensions.width))
+ if (!IsOffsetValidForLane(roadId, laneId, sPosition, offset, vehicleModelParameters->bounding_box.dimension.width))
{
- loggingCallback("Offset is not valid for vehicle on lane: " + std::to_string(laneId) + ". Invalid offset: " + std::to_string(
+ loggingCallback("Offset is not valid for vehicle on lane: " + std::to_string(laneId) + ". Invalid offset: " + units::length::to_string(
offset));
return false;
@@ -353,10 +353,10 @@ bool WorldAnalyzer::AreSpawningCoordinatesValid(const RoadId& roadId,
return true;
}
-Ranges WorldAnalyzer::GetValidSpawningInformationForRange(const double sStart,
- const double sEnd,
- const double firstScenarioAgentSPosition,
- const double lastScenarioAgentSPosition)
+Ranges WorldAnalyzer::GetValidSpawningInformationForRange(const units::length::meter_t sStart,
+ const units::length::meter_t sEnd,
+ const units::length::meter_t firstScenarioAgentSPosition,
+ const units::length::meter_t lastScenarioAgentSPosition)
{
// if the stream segment this SpawnPoint is responsible for is surrounded by scenario agents,
// no valid spawn locations exist here
@@ -394,50 +394,49 @@ Ranges WorldAnalyzer::GetValidSpawningInformationForRange(const double sStart,
bool WorldAnalyzer::IsOffsetValidForLane(const RoadId& roadId,
const LaneId laneId,
const SPosition distanceFromStart,
- const double offset,
- const double vehicleWidth) const
+ const units::length::meter_t offset,
+ const units::length::meter_t vehicleWidth) const
{
if (!world->IsSValidOnLane(roadId, laneId, distanceFromStart))
{
loggingCallback("Invalid offset. Lane is not available: " + std::to_string(laneId) + ". Distance from start: " +
- std::to_string(distanceFromStart));
+ units::length::to_string(distanceFromStart));
return false;
}
//Check if lane width > vehicle width
- double laneWidth = world->GetLaneWidth(roadId, laneId, distanceFromStart);
- if (vehicleWidth > laneWidth + std::abs(offset))
+ const auto laneWidth = world->GetLaneWidth(roadId, laneId, distanceFromStart);
+ if (vehicleWidth > laneWidth + units::math::abs(offset))
{
loggingCallback("Invalid offset. Lane width < vehicle width: " + std::to_string(laneId) + ". Distance from start: " +
- std::to_string(distanceFromStart) + ". Lane width: " + std::to_string(laneWidth) + ". Vehicle width: " + std::to_string(
- vehicleWidth));
+ units::length::to_string(distanceFromStart) + ". Lane width: " + units::length::to_string(laneWidth) + ". Vehicle width: " + units::length::to_string(vehicleWidth));
return false;
}
//Is vehicle completely inside the lane
- bool isVehicleCompletelyInLane = (laneWidth - vehicleWidth) * 0.5 >= std::abs(offset);
+ bool isVehicleCompletelyInLane = (laneWidth - vehicleWidth) * 0.5 >= units::math::abs(offset);
if (isVehicleCompletelyInLane)
{
return true;
}
//Is vehicle more than 50 % on the lane
- double allowedRange = laneWidth * 0.5;
- bool outsideAllowedRange = std::abs(offset) > allowedRange;
+ units::length::meter_t allowedRange = laneWidth * 0.5;
+ bool outsideAllowedRange = units::math::abs(offset) > allowedRange;
if (outsideAllowedRange)
{
loggingCallback("Invalid offset. Vehicle not inside allowed range: " + std::to_string(laneId) + ". Invalid offset: " +
- std::to_string(offset));
+ units::length::to_string(offset));
return false;
}
//Is vehicle partly on invalid lane
- bool isOffsetToLeftLane = (offset >= 0);
+ bool isOffsetToLeftLane = (offset >= 0_m);
int otherLaneId = isOffsetToLeftLane ? (laneId + 1) : (laneId - 1);
if (!world->IsSValidOnLane(roadId, otherLaneId, distanceFromStart)) //other lane is invalid
{
- loggingCallback("Invalid offset. Other lane is invalid: " + std::to_string(laneId) + ". Invalid offset: " + std::to_string(
+ loggingCallback("Invalid offset. Other lane is invalid: " + std::to_string(laneId) + ". Invalid offset: " + units::length::to_string(
offset));
return false;
}
@@ -445,33 +444,16 @@ bool WorldAnalyzer::IsOffsetValidForLane(const RoadId& roadId,
return true;
}
-bool WorldAnalyzer::NewAgentIntersectsWithExistingAgent(const RoadId& roadId,
- const LaneId laneId,
- const SPosition sPosition,
- const double offset,
- const VehicleModelParameters& vehicleModelParameters) const
-{
- 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.boundingBoxDimensions.length,
- vehicleModelParameters.boundingBoxDimensions.width,
- distanceReferencePointToLeadingEdge);
-}
-
bool WorldAnalyzer::SpawnWillCauseCrash(const std::unique_ptr<LaneStreamInterface>& laneStream,
const SPosition sPosition,
- const double agentFrontLength,
- const double agentRearLength,
- const double velocity,
+ const units::length::meter_t agentFrontLength,
+ const units::length::meter_t agentRearLength,
+ const units::velocity::meters_per_second_t velocity,
const Direction direction) const
{
const auto searchForward = (direction == Direction::FORWARD);
- const auto nextObjectsInLane = laneStream->GetObjectsInRange({sPosition - (searchForward ? 0 : std::numeric_limits<double>::infinity()), 0},
- {sPosition + (searchForward ? std::numeric_limits<double>::infinity() : 0), 0});
+ const auto nextObjectsInLane = laneStream->GetObjectsInRange({sPosition - (searchForward ? 0_m : units::length::meter_t(std::numeric_limits<double>::infinity())), 0_m},
+ {sPosition + (searchForward ? units::length::meter_t(std::numeric_limits<double>::infinity()) : 0_m), 0_m});
const WorldObjectInterface* opponent = nullptr;
if (!nextObjectsInLane.empty())
@@ -484,13 +466,13 @@ bool WorldAnalyzer::SpawnWillCauseCrash(const std::unique_ptr<LaneStreamInterfac
return false;
}
- double velocityOfRearObject;
- double accelerationOfRearObject;
+ units::velocity::meters_per_second_t velocityOfRearObject;
+ units::acceleration::meters_per_second_squared_t accelerationOfRearObject;
- double velocityOfFrontObject;
- double accelerationOfFrontObject;
+ units::velocity::meters_per_second_t velocityOfFrontObject;
+ units::acceleration::meters_per_second_squared_t accelerationOfFrontObject;
- double spaceBetweenObjects;
+ units::length::meter_t spaceBetweenObjects;
if (searchForward)
{
@@ -517,12 +499,12 @@ bool WorldAnalyzer::SpawnWillCauseCrash(const std::unique_ptr<LaneStreamInterfac
ASSUMED_TTB);
}
-size_t WorldAnalyzer::GetRightLaneCount(const RoadId& roadId, const LaneId& laneId, const double sPosition) const
+size_t WorldAnalyzer::GetRightLaneCount(const RoadId& roadId, const LaneId& laneId, const units::length::meter_t sPosition) const
{
size_t rightLaneCount{0};
RoadGraph roadGraph;
const auto start = add_vertex(RouteElement{roadId, laneId < 0}, roadGraph);
- const auto relativeLanes = world->GetRelativeLanes(roadGraph, start, laneId, sPosition, 0).at(start);
+ const auto relativeLanes = world->GetRelativeLanes(roadGraph, start, laneId, sPosition, 0_m).at(start);
for (const auto& lane : relativeLanes.front().lanes)
{
if (lane.relativeId < 0 && lane.type == LaneType::Driving)
@@ -533,9 +515,9 @@ size_t WorldAnalyzer::GetRightLaneCount(const RoadId& roadId, const LaneId& lane
return rightLaneCount;
}
-size_t WorldAnalyzer::GetRightLaneCount(const std::unique_ptr<LaneStreamInterface> &laneStream, const double sPosition) const
+size_t WorldAnalyzer::GetRightLaneCount(const std::unique_ptr<LaneStreamInterface> &laneStream, const units::length::meter_t sPosition) const
{
- auto roadPosition = laneStream->GetRoadPosition({sPosition, 0});
+ auto roadPosition = laneStream->GetRoadPosition({sPosition, 0_m});
if (roadPosition.roadId.empty())
{
diff --git a/sim/src/core/opSimulation/modules/Spawners/common/WorldAnalyzer.h b/sim/src/core/opSimulation/modules/Spawners/common/WorldAnalyzer.h
index 27f8790d0ad53d87229fa3a4503ff7864f6cca16..1c30355efef8ee448618accf6c0466ce4e55a0c5 100644
--- a/sim/src/core/opSimulation/modules/Spawners/common/WorldAnalyzer.h
+++ b/sim/src/core/opSimulation/modules/Spawners/common/WorldAnalyzer.h
@@ -67,13 +67,13 @@ public:
//! \param gapInSeconds desired TGap between spawned agent and next agent
//! \param minimumSeparationBuffer minimum distance between agents
//! \return s position or nullopt if this would be outside the range
- std::optional<double> GetNextSpawnPosition(const std::unique_ptr<LaneStreamInterface> &laneStream,
+ std::optional<units::length::meter_t> GetNextSpawnPosition(const std::unique_ptr<LaneStreamInterface> &laneStream,
const Range& bounds,
- const double agentFrontLength,
- const double agentRearLength,
- const double intendedVelocity,
- const double gapInSeconds,
- const double minimumSeparationBuffer) const;
+ const units::length::meter_t agentFrontLength,
+ const units::length::meter_t agentRearLength,
+ const units::velocity::meters_per_second_t intendedVelocity,
+ const units::time::second_t gapInSeconds,
+ const units::length::meter_t minimumSeparationBuffer) const;
//! Calculates the adjusted spawn distance such that the minimum ttc to the end of lane is not violated
//!
@@ -84,10 +84,10 @@ public:
//! \param route route of the agent
//! \param supportedLaneTypes Container of all valid lanetypes
//! \return adjusted spawn distance
- double CalculateAdjustedSpawnDistanceToEndOfLane(const LaneId laneId,
- const double sCoordinate,
- const double intendedSpawnPosition,
- const double intendedVelocity,
+ units::length::meter_t CalculateAdjustedSpawnDistanceToEndOfLane(const LaneId laneId,
+ const units::length::meter_t sCoordinate,
+ const units::length::meter_t intendedSpawnPosition,
+ const units::velocity::meters_per_second_t intendedVelocity,
const Route& route,
const LaneTypes& supportedLaneTypes) const;
@@ -101,12 +101,12 @@ public:
//! \param intendedVelocity spawning velocity
//! \param route initial route of the agent
//! \return possibly adjusted velocity
- double CalculateSpawnVelocityToPreventCrashing(const LaneId laneId,
- const double intendedSpawnPosition,
- const double agentFrontLength,
- const double agentRearLength,
- const double intendedVelocity,
- const Route& route) const;
+ units::velocity::meters_per_second_t CalculateSpawnVelocityToPreventCrashing(const LaneId laneId,
+ const units::length::meter_t intendedSpawnPosition,
+ const units::length::meter_t agentFrontLength,
+ const units::length::meter_t agentRearLength,
+ const units::velocity::meters_per_second_t intendedVelocity,
+ const Route& route) const;
//! Adjust spawning velocity so that the spawned agent won't immediately crash.
//!
@@ -116,11 +116,11 @@ public:
//! \param agentRearLength distance from reference point to rear of agent
//! \param intendedVelocity spawning velocity
//! \return possibly adjusted velocity
- double CalculateSpawnVelocityToPreventCrashing(const std::unique_ptr<LaneStreamInterface> &laneStream,
- const double intendedSpawnPosition,
- const double agentFrontLength,
- const double agentRearLength,
- const double intendedVelocity) const;
+ units::velocity::meters_per_second_t CalculateSpawnVelocityToPreventCrashing(const std::unique_ptr<LaneStreamInterface> &laneStream,
+ const units::length::meter_t intendedSpawnPosition,
+ const units::length::meter_t agentFrontLength,
+ const units::length::meter_t agentRearLength,
+ const units::velocity::meters_per_second_t intendedVelocity) const;
//! Check wether the minimum distance the next object is satisfied
//!
@@ -132,9 +132,9 @@ public:
//! \return true if minimum distance is met
bool ValidMinimumSpawningDistanceToObjectInFront(const LaneId laneId,
const SPosition sPosition,
- const Route& route,
- const VehicleModelParameters& vehicleModelParameters,
- const double minimumSeparationBuffer) const;
+ const Route &route,
+ std::shared_ptr<const mantle_api::VehicleProperties> vehicleModelParameters,
+ const units::length::meter_t minimumSeparationBuffer) const;
//! Check if it is allowed the spawn an agent at the given coordinate
//!
@@ -149,10 +149,10 @@ public:
bool AreSpawningCoordinatesValid(const RoadId& roadId,
const LaneId laneId,
const SPosition sPosition,
- const double offset,
- const double minimumSeparationBuffer,
+ const units::length::meter_t offset,
+ const units::length::meter_t minimumSeparationBuffer,
const Route &route,
- const VehicleModelParameters& vehicleModelParameters) const;
+ std::shared_ptr<const mantle_api::VehicleProperties> vehicleModelParameters) const;
//! Check wether spawning an agent with given parameters will result in a crash
//!
@@ -164,9 +164,9 @@ public:
//! \return true if spawning would cause a crash
bool SpawnWillCauseCrash(const std::unique_ptr<LaneStreamInterface> &laneStream,
const SPosition sPosition,
- const double agentFrontLength,
- const double agentRearLength,
- const double velocity,
+ const units::length::meter_t agentFrontLength,
+ const units::length::meter_t agentRearLength,
+ const units::velocity::meters_per_second_t velocity,
const Direction direction) const;
//! Returns the number of lanes to the right of the given lane at the given s coordinate
@@ -175,14 +175,14 @@ public:
//! \param laneId Id of the lane
//! \param sPosition s coordinate
//! \return number of lanes to the right
- size_t GetRightLaneCount(const RoadId& roadId, const LaneId& laneId, const double sPosition) const;
+ size_t GetRightLaneCount(const RoadId& roadId, const LaneId& laneId, const units::length::meter_t sPosition) const;
//! Returns the number of lanes to the right the given lane at the given s coordinate
//!
//! \param laneStream LaneStream to spawn in
//! \param sPosition s coordinate
//! \return number of lanes to the right
- size_t GetRightLaneCount(const std::unique_ptr<LaneStreamInterface> &laneStream, const double sPosition) const;
+ size_t GetRightLaneCount(const std::unique_ptr<LaneStreamInterface> &laneStream, const units::length::meter_t sPosition) const;
//! Checks if a roadId exists in direction of a laneId
//!
@@ -194,7 +194,7 @@ public:
//! \return true, if roadId exists in laneId direction
bool ValidateRoadIdInDirection(const RoadId& roadId,
const LaneId laneId,
- const double distanceOnLane,
+ const units::length::meter_t distanceOnLane,
const LaneTypes& validLaneTypes) const;
//! Randomly generates a route based on a starting roadId
@@ -208,23 +208,17 @@ public:
StochasticsInterface* stochastics) const;
private:
- static Ranges GetValidSpawningInformationForRange(const double sStart,
- const double sEnd,
- const double firstScenarioAgentSPosition,
- const double lastScenarioAgentSPosition);
+ static Ranges GetValidSpawningInformationForRange(const units::length::meter_t sStart,
+ const units::length::meter_t sEnd,
+ const units::length::meter_t firstScenarioAgentSPosition,
+ const units::length::meter_t lastScenarioAgentSPosition);
bool IsOffsetValidForLane(const RoadId& roadId,
const LaneId laneId,
const SPosition distanceFromStart,
- const double offset,
- const double vehicleWidth) const;
-
- bool NewAgentIntersectsWithExistingAgent(const RoadId& roadId,
- const LaneId laneId,
- const SPosition sPosition,
- const double offset,
- const VehicleModelParameters& vehicleModelParameters) const;
+ const units::length::meter_t offset,
+ const units::length::meter_t vehicleWidth) const;
- WorldInterface * const world;
+ WorldInterface* const world;
const std::function<void(const std::string&)> loggingCallback;
};
diff --git a/sim/src/core/opSimulation/modules/World_Basic/agentAdapter.cpp b/sim/src/core/opSimulation/modules/World_Basic/agentAdapter.cpp
index 1a3ebf1455bd2cc704a85839268718033a22e931..efa6d1e0865d45affec162a8bafeba61036bd00a 100644
--- a/sim/src/core/opSimulation/modules/World_Basic/agentAdapter.cpp
+++ b/sim/src/core/opSimulation/modules/World_Basic/agentAdapter.cpp
@@ -67,7 +67,7 @@ double AgentAdapter::GetDistanceToFrontAgent(int laneId)
{
Q_UNUSED(laneId);
double posX = GetPositionX();
- double distance = INFINITY;
+ units::length::meter_t distance = INFINITY;
for (const auto &it: world->GetAgents()){
const AgentInterface *otherAgent = it.second;
diff --git a/sim/src/core/opSimulation/modules/World_Basic/agentAdapter.h b/sim/src/core/opSimulation/modules/World_Basic/agentAdapter.h
index 230a7a6573a7cf1fb13432488794dab1fed303a5..ac6a2eb82427197f94425933a59060a72cef10ba 100644
--- a/sim/src/core/opSimulation/modules/World_Basic/agentAdapter.h
+++ b/sim/src/core/opSimulation/modules/World_Basic/agentAdapter.h
@@ -55,57 +55,57 @@ public:
return;
}
- double GetPositionX() const
+ units::length::meter_t GetPositionX() const
{
return positionX;
}
- double GetPositionY() const
+ units::length::meter_t GetPositionY() const
{
return positionY;
}
- double GetWidth() const
+ units::length::meter_t GetWidth() const
{
return width;
}
- double GetLength() const
+ units::length::meter_t GetLength() const
{
return length;
}
- double GetHeight() const
+ units::length::meter_t GetHeight() const
{
return height;
}
- double GetVelocityX() const
+ units::acceleration::meters_per_second_t GetVelocityX() const
{
return velocityX;
}
- double GetVelocityY() const
+ units::velocity::meters_per_second_t GetVelocityY() const
{
return velocityY;
}
- double GetDistanceCOGtoFrontAxle() const
+ units::acceleration::meters_per_second_t GetDistanceCOGtoFrontAxle() const
{
return distanceCOGtoFrontAxle;
}
- double GetWeight() const
+ units::mass::kilogram_t GetWeight() const
{
return weight;
}
- double GetHeightCOG() const
+ units::length::meter_t GetHeightCOG() const
{
return heightCOG;
}
- double GetWheelbase() const
+ units::length::meter_t GetWheelbase() const override
{
return wheelbase;
}
@@ -130,22 +130,22 @@ public:
return frictionCoeff;
}
- double GetTrackWidth() const
+ units::length::meter_t GetTrackWidth() const
{
return trackWidth;
}
- double GetDistanceCOGtoLeadingEdge() const
+ units::length::meter_t GetDistanceCOGtoLeadingEdge() const
{
return distanceCOGtoLeadingEdge;
}
- double GetAccelerationX() const
+ units::acceleration::meters_per_second_squared_t GetAccelerationX() const
{
return accelerationX;
}
- double GetAccelerationY() const
+ units::acceleration::meters_per_second_squared_t GetAccelerationY() const
{
return accelerationY;
}
@@ -190,12 +190,12 @@ public:
return {};
} //dummy
- AgentVehicleType GetVehicleType() const
+ mantle_api::EntityType GetType() const
{
- return vehicleType;
+ return type;
}
- void SetPositionX(double positionX)
+ void SetPositionX(units::length::meter_t positionX)
{
world->QueueAgentUpdate([this](double arg)
{
@@ -204,7 +204,7 @@ public:
positionX);
}
- void SetPositionY(double positionY)
+ void SetPositionY(units::length::meter_t positionY)
{
world->QueueAgentUpdate([this](double arg)
{
@@ -213,7 +213,7 @@ public:
positionY);
}
- void SetWidth(double width)
+ void SetWidth(units::length::meter_t width)
{
world->QueueAgentUpdate([this](double arg)
{
@@ -222,7 +222,7 @@ public:
width);
}
- void SetLength(double length)
+ void SetLength(units::length::meter_t length)
{
world->QueueAgentUpdate([this](double arg)
{
@@ -231,7 +231,7 @@ public:
length);
}
- void SetHeight(double height)
+ void SetHeight(units::length::meter_t height)
{
world->QueueAgentUpdate([this](double arg)
{
@@ -240,7 +240,7 @@ public:
height);
}
- void SetVelocityX(double velocityX)
+ void SetVelocityX(units::velocity::meters_per_second_t velocityX)
{
world->QueueAgentUpdate([this](double arg)
{
@@ -249,7 +249,7 @@ public:
velocityX);
}
- void SetVelocityY(double velocityY)
+ void SetVelocityY(units::velocity::meters_per_second_t velocityY)
{
world->QueueAgentUpdate([this](double arg)
{
@@ -258,7 +258,7 @@ public:
velocityY);
}
- void SetDistanceCOGtoFrontAxle(double distanceCOGtoFrontAxle)
+ void SetDistanceCOGtoFrontAxle(units::length::meter_t distanceCOGtoFrontAxle)
{
world->QueueAgentUpdate([this](double arg)
{
@@ -267,7 +267,7 @@ public:
distanceCOGtoFrontAxle);
}
- void SetWeight(double weight)
+ void SetWeight(units::mass::kilogram_t weight)
{
world->QueueAgentUpdate([this](double arg)
{
@@ -276,7 +276,7 @@ public:
weight);
}
- void SetHeightCOG(double heightCOG)
+ void SetHeightCOG(units::length::meter_t heightCOG)
{
world->QueueAgentUpdate([this](double arg)
{
@@ -285,7 +285,7 @@ public:
heightCOG);
}
- void SetWheelbase(double wheelbase)
+ void SetWheelbase(units::length::meter_t wheelbase)
{
world->QueueAgentUpdate([this](double arg)
{
@@ -330,7 +330,7 @@ public:
frictionCoeff);
}
- void SetTrackWidth(double trackWidth)
+ void SetTrackWidth(units::length::meter_t trackWidth)
{
world->QueueAgentUpdate([this](double arg)
{
@@ -339,7 +339,7 @@ public:
trackWidth);
}
- void SetDistanceCOGtoLeadingEdge(double distanceCOGtoLeadingEdge)
+ void SetDistanceCOGtoLeadingEdge(units::length::meter_t distanceCOGtoLeadingEdge)
{
world->QueueAgentUpdate([this](double arg)
{
@@ -348,7 +348,7 @@ public:
distanceCOGtoLeadingEdge);
}
- void SetAccelerationX(double accelerationX)
+ void SetAccelerationX(units::acceleration::meters_per_second_squared_t accelerationX)
{
world->QueueAgentUpdate([this](double arg)
{
@@ -357,7 +357,7 @@ public:
accelerationX);
}
- void SetAccelerationY(double accelerationY)
+ void SetAccelerationY(units::acceleration::meters_per_second_squared_t accelerationY)
{
world->QueueAgentUpdate([this](double arg)
{
@@ -375,22 +375,22 @@ public:
yawAngle);
}
- void UpdateWidth(double width)
+ void UpdateWidth(units::length::meter_t width)
{
this->width = width;
}
- void UpdateLength(double length)
+ void UpdateLength(units::length::meter_t length)
{
this->length = length;
}
- void UpdateHeight(double height)
+ void UpdateHeight(units::length::meter_t height)
{
this->height = height;
}
- void UpdatePositionX(double positionX)
+ void UpdatePositionX(units::length::meter_t positionX)
{
this->positionX = positionX;
}
@@ -405,7 +405,7 @@ public:
this->accelerationX = accelerationX;
}
- void UpdatePositionY(double positionY)
+ void UpdatePositionY(units::length::meter_t positionY)
{
this->positionY = positionY;
}
@@ -425,22 +425,22 @@ public:
this->yawAngle = yawAngle;
}
- void UpdateDistanceCOGtoFrontAxle(double distanceCOGtoFrontAxle)
+ void UpdateDistanceCOGtoFrontAxle(units::length::meter_t distanceCOGtoFrontAxle)
{
this->distanceCOGtoFrontAxle = distanceCOGtoFrontAxle;
}
- void UpdateWeight(double weight)
+ void UpdateWeight(units::mass::kilogram_t weight)
{
this->weight = weight;
}
- void UpdateHeightCOG(double heightCOG)
+ void UpdateHeightCOG(units::length::meter_t heightCOG)
{
this->heightCOG = heightCOG;
}
- void UpdateWheelbase(double wheelbase)
+ void UpdateWheelbase(units::length::meter_t wheelbase)
{
this->wheelbase = wheelbase;
}
@@ -465,12 +465,12 @@ public:
this->frictionCoeff = frictionCoeff;
}
- void UpdateTrackWidth(double trackWidth)
+ void UpdateTrackWidth(units::length::meter_t trackWidth)
{
this->trackWidth = trackWidth;
}
- void UpdateDistanceCOGtoLeadingEdge(double distanceCOGtoLeadingEdge)
+ void UpdateDistanceCOGtoLeadingEdge(units::length::meter_t distanceCOGtoLeadingEdge)
{
this->distanceCOGtoLeadingEdge = distanceCOGtoLeadingEdge;
}
@@ -552,16 +552,16 @@ public:
{
Q_UNUSED(pos); //dummy
}
- double GetDistanceToStartOfRoad() const
+ units::length::meter_t GetDistanceToStartOfRoad() const
{
return 0; //dummy
}
- Position GetPositionByDistance(double distance) const
+ Position GetPositionByDistance(units::length::meter_t distance) const
{
Q_UNUSED(distance); //dummy
return Position();
}
- double GetLaneWidth()
+ units::length::meter_t GetLaneWidth()
{
return 0; //dummy
}
@@ -573,11 +573,11 @@ public:
{
return 0; //dummy
}
- double GetCurvature()
+ units::curvature::inverse_meter_t GetCurvature()
{
return 0; //dummy
}
- double GetCurvatureInDistance(double distance)
+ double GetCurvatureInDistance(units::length::meter_t distance)
{
Q_UNUSED(distance); //dummy
return 0;
@@ -587,8 +587,8 @@ public:
return false; //dummy
}
- double GetDistanceToFrontAgent(int laneId);
- double GetDistanceToRearAgent(int laneId)
+ units::length::meter_t GetDistanceToFrontAgent(int laneId);
+ units::length::meter_t GetDistanceToRearAgent(int laneId)
{
Q_UNUSED(laneId); //dummy
return 0;
@@ -633,7 +633,7 @@ public:
Q_UNUSED(agentFrontLeft);
Q_UNUSED(agentFrontRight);
} //dummy
- double GetDistanceToSpecialAgent()
+ units::length::meter_t GetDistanceToSpecialAgent()
{
return 0; //dummy
}
@@ -641,7 +641,7 @@ public:
{
return false; //dummy
}
- double GetDistanceToEndOfLane(double sightDistance) const
+ units::length::meter_t GetDistanceToEndOfLane(double sightDistance) const
{
Q_UNUSED(sightDistance); //dummy
return 0;
@@ -701,7 +701,7 @@ public:
Q_UNUSED(laneId); //dummy
return 0;
}
- double GetPositionLateral() const
+ units::length::meter_t GetPositionLateral() const
{
return 0; //dummy
}
@@ -722,7 +722,7 @@ public:
{
return nullptr; //dummy
}
- double GetDistanceFrontAgentToEgo()
+ units::length::meter_t GetDistanceFrontAgentToEgo()
{
return 0; //dummy
}
@@ -740,8 +740,8 @@ public:
return LaneChangeState::NoLaneChange;
}
std::list<AgentInterface *> GetAllAgentsInLane(int laneID,
- double minDistance,
- double maxDistance,
+ units::length::meter_t minDistance,
+ units::length::meter_t maxDistance,
double AccSensDist)
{
Q_UNUSED(laneID);
@@ -755,7 +755,7 @@ public:
{
return false; //dummy
}
- double GetLaneDirection() const
+ units::angle::radian_t GetLaneDirection() const
{
return 0; //dummy
}
@@ -772,12 +772,12 @@ public:
{
return "";
}//dummy
- virtual double GetDistanceToNearestMark(MarkType markType) const
+ virtual units::length::meter_t GetDistanceToNearestMark(MarkType markType) const
{
Q_UNUSED(markType);
return INFINITY;
}//dummy
- double GetOrientationOfNearestMark(MarkType markType) const
+ units::angle::radian_t GetOrientationOfNearestMark(MarkType markType) const
{
Q_UNUSED(markType);
return INFINITY;
@@ -792,28 +792,28 @@ public:
Q_UNUSED(markType);
return AgentViewDirection::none;
}//dummy
- virtual double GetDistanceToNearestMarkInViewDirection(MarkType markType,
+ virtual units::length::meter_t GetDistanceToNearestMarkInViewDirection(MarkType markType,
AgentViewDirection agentViewDirection) const
{
Q_UNUSED(markType);
Q_UNUSED(agentViewDirection);
return INFINITY;
}//dummy
- virtual double GetDistanceToNearestMarkInViewDirection(MarkType markType,
+ virtual units::length::meter_t GetDistanceToNearestMarkInViewDirection(MarkType markType,
double mainViewDirection) const
{
Q_UNUSED(markType);
Q_UNUSED(mainViewDirection);
return INFINITY;
}//dummy
- virtual double GetOrientationOfNearestMarkInViewDirection(MarkType markType,
+ virtual units::angle::radian_t GetOrientationOfNearestMarkInViewDirection(MarkType markType,
AgentViewDirection agentViewDirection) const
{
Q_UNUSED(markType);
Q_UNUSED(agentViewDirection);
return INFINITY;
}//dummy
- virtual double GetOrientationOfNearestMarkInViewDirection(MarkType markType,
+ virtual units::angle::radian_t GetOrientationOfNearestMarkInViewDirection(MarkType markType,
double mainViewDirection) const
{
Q_UNUSED(markType);
@@ -821,8 +821,8 @@ public:
return INFINITY;
}//dummy
- double GetDistanceToNearestMarkInViewRange(MarkType markType, AgentViewDirection agentViewDirection,
- double range) const
+ units::length::meter_t GetDistanceToNearestMarkInViewRange(MarkType markType, AgentViewDirection agentViewDirection,
+ units::length::meter_t range) const
{
Q_UNUSED(markType);
Q_UNUSED(agentViewDirection);
@@ -830,8 +830,8 @@ public:
return INFINITY;
}//dummy
- double GetDistanceToNearestMarkInViewRange(MarkType markType, double mainViewDirection,
- double range) const
+ units::length::meter_t GetDistanceToNearestMarkInViewRange(MarkType markType, double mainViewDirection,
+ units::length::meter_t range) const
{
Q_UNUSED(markType);
Q_UNUSED(mainViewDirection);
@@ -839,8 +839,8 @@ public:
return INFINITY;
}//dummy
- double GetOrientationOfNearestMarkInViewRange(MarkType markType,
- AgentViewDirection agentViewDirection, double range) const
+ units::angle::radian_t GetOrientationOfNearestMarkInViewRange(MarkType markType,
+ AgentViewDirection agentViewDirection, units::length::meter_t range) const
{
Q_UNUSED(markType);
Q_UNUSED(agentViewDirection);
@@ -848,8 +848,8 @@ public:
return INFINITY;
}//dummy
- double GetOrientationOfNearestMarkInViewRange(MarkType markType, double mainViewDirection,
- double range) const
+ units::angle::radian_t GetOrientationOfNearestMarkInViewRange(MarkType markType, double mainViewDirection,
+ units::length::meter_t range) const
{
Q_UNUSED(markType);
Q_UNUSED(mainViewDirection);
@@ -858,7 +858,7 @@ public:
}//dummy
double GetViewDirectionToNearestMarkInViewRange(MarkType markType,
- AgentViewDirection agentViewDirection, double range) const
+ AgentViewDirection agentViewDirection, units::length::meter_t range) const
{
Q_UNUSED(markType);
Q_UNUSED(agentViewDirection);
@@ -867,7 +867,7 @@ public:
}//dummy
double GetViewDirectionToNearestMarkInViewRange(MarkType markType, double mainViewDirection,
- double range) const
+ units::length::meter_t range) const
{
Q_UNUSED(markType);
Q_UNUSED(mainViewDirection);
@@ -875,7 +875,7 @@ public:
return INFINITY;
}//dummy
std::string GetTypeOfNearestObject(AgentViewDirection agentViewDirection,
- double range) const
+ units::length::meter_t range) const
{
Q_UNUSED(agentViewDirection);
Q_UNUSED(range);
@@ -883,16 +883,16 @@ public:
return "";
}//dummy
std::string GetTypeOfNearestObject(double mainViewDirection,
- double range) const
+ units::length::meter_t range) const
{
Q_UNUSED(mainViewDirection);
Q_UNUSED(range);
return "";
}//dummy
- double GetDistanceToNearestObjectInViewRange(ObjectType objectType,
+ units::length::meter_t GetDistanceToNearestObjectInViewRange(ObjectType objectType,
AgentViewDirection agentViewDirection,
- double range) const
+ units::length::meter_t range) const
{
Q_UNUSED(objectType);
Q_UNUSED(agentViewDirection);
@@ -900,9 +900,9 @@ public:
return INFINITY;
}//dummy
- double GetDistanceToNearestObjectInViewRange(ObjectType objectType,
+ units::length::meter_t GetDistanceToNearestObjectInViewRange(ObjectType objectType,
double mainViewDirection,
- double range) const
+ units::length::meter_t range) const
{
Q_UNUSED(objectType);
Q_UNUSED(mainViewDirection);
@@ -912,7 +912,7 @@ public:
}//dummy
double GetViewDirectionToNearestObjectInViewRange(ObjectType objectType,
AgentViewDirection agentViewDirection,
- double range) const
+ units::length::meter_t range) const
{
Q_UNUSED(objectType);
Q_UNUSED(agentViewDirection);
@@ -922,7 +922,7 @@ public:
}//dummy
double GetViewDirectionToNearestObjectInViewRange(ObjectType objectType,
double mainViewDirection,
- double range) const
+ units::length::meter_t range) const
{
Q_UNUSED(objectType);
Q_UNUSED(mainViewDirection);
@@ -931,7 +931,7 @@ public:
return INFINITY;
}//dummy
int GetIdOfNearestAgent(AgentViewDirection agentViewDirection,
- double range) const
+ units::length::meter_t range) const
{
Q_UNUSED(agentViewDirection);
Q_UNUSED(range);
@@ -939,23 +939,23 @@ public:
return -1;
}//dummy
int GetIdOfNearestAgent(double mainViewDirection,
- double range) const
+ units::length::meter_t range) const
{
Q_UNUSED(mainViewDirection);
Q_UNUSED(range);
return -1;
}//dummy
- double GetDistanceToNearestAgentInViewRange(AgentViewDirection agentViewDirection,
- double range) const
+ units::length::meter_t GetDistanceToNearestAgentInViewRange(AgentViewDirection agentViewDirection,
+ units::length::meter_t range) const
{
Q_UNUSED(agentViewDirection);
Q_UNUSED(range);
return INFINITY;
}//dummy
- double GetDistanceToNearestAgentInViewRange(double mainViewDirection,
- double range) const
+ units::length::meter_t GetDistanceToNearestAgentInViewRange(double mainViewDirection,
+ units::length::meter_t range) const
{
Q_UNUSED(mainViewDirection);
Q_UNUSED(range);
@@ -963,7 +963,7 @@ public:
return INFINITY;
}//dummy
double GetViewDirectionToNearestAgentInViewRange(AgentViewDirection agentViewDirection,
- double range) const
+ units::length::meter_t range) const
{
Q_UNUSED(agentViewDirection);
Q_UNUSED(range);
@@ -971,7 +971,7 @@ public:
return INFINITY;
}//dummy
double GetViewDirectionToNearestAgentInViewRange(double mainViewDirection,
- double range) const
+ units::length::meter_t range) const
{
Q_UNUSED(mainViewDirection);
Q_UNUSED(range);
@@ -986,11 +986,11 @@ public:
{
Q_UNUSED(yawVelocity); //dummy
}
- double GetYawAcceleration()
+ units::angular_acceleration::radians_per_second_squared_t GetYawAcceleration()
{
return 0; //dummy
}
- void SetYawAcceleration(double yawAcceleration)
+ void SetYawAcceleration(units::angular_acceleration::radians_per_second_squared_t yawAcceleration)
{
Q_UNUSED(yawAcceleration); //dummy
}
@@ -998,43 +998,43 @@ public:
{
return nullptr; //dummy
}
- const std::vector<double> *GetTrajectoryXPos() const
+ const std::vector<units::length::meter_t> *GetTrajectoryXPos() const
{
return nullptr; //dummy
}
- const std::vector<double> *GetTrajectoryYPos() const
+ const std::vector<units::length::meter_t> *GetTrajectoryYPos() const
{
return nullptr; //dummy
}
- const std::vector<double> *GetTrajectoryVelocity() const
+ const std::vector<units::velocity::meters_per_second_t> *GetTrajectoryVelocity() const
{
return nullptr; //dummy
}
- const std::vector<double> *GetTrajectoryAngle() const
+ const std::vector<units::angle::radian_t> *GetTrajectoryAngle() const
{
return nullptr; //dummy
}
- void SetAccelerationIntention(double accelerationIntention)
+ void SetAccelerationIntention(units::acceleration::meters_per_second_squared_t accelerationIntention)
{
Q_UNUSED(accelerationIntention); //dummy
}
- double GetAccelerationIntention() const
+ units::acceleration::meters_per_second_squared_t GetAccelerationIntention() const
{
return 0; //dummy
}
- void SetDecelerationIntention(double decelerationIntention)
+ void SetDecelerationIntention(units::acceleration::meters_per_second_squared_t decelerationIntention)
{
Q_UNUSED(decelerationIntention); //dummy
}
- double GetDecelerationIntention() const
+ units::acceleration::meters_per_second_squared_t GetDecelerationIntention() const
{
return 0; //dummy
}
- void SetAngleIntention(double angleIntention)
+ void SetAngleIntention(units::angle::radian_t angleIntention)
{
Q_UNUSED(angleIntention); //dummy
}
- double GetAngleIntention() const
+ units::angle::radian_t GetAngleIntention() const
{
return 0; //dummy
}
@@ -1046,7 +1046,7 @@ public:
{
return false; //dummy
}
- double GetAccelerationAbsolute() const{
+ units::acceleration::meters_per_second_squared_t GetAccelerationAbsolute() const{
return 0;//dummy
}
@@ -1075,27 +1075,27 @@ protected:
private:
- double positionX = 0;
- double positionY = 0;
- double width = 0;
- double length = 0;
- double height = 0;
+ units::length::meter_t positionX = 0;
+ units::length::meter_t positionY = 0;
+ units::length::meter_t width = 0;
+ units::length::meter_t length = 0;
+ units::length::meter_t height = 0;
double velocityX = 0.0;
double velocityY = 0.0;
- double distanceCOGtoFrontAxle = 0.0;
- double weight = 0.0;
- double heightCOG = 0.0;
- double wheelbase = 0.0;
+ units::length::meter_t distanceCOGtoFrontAxle = 0.0;
+ units::mass::kilogram_t weight = 0.0;
+ units::length::meter_t heightCOG = 0.0;
+ units::length::meter_t wheelbase = 0.0;
double momentInertiaRoll = 0.0;
double momentInertiaPitch = 0.0;
double momentInertiaYaw = 0.0;
double frictionCoeff = 0.0;
- double trackWidth = 0.0;
- double distanceCOGtoLeadingEdge = 0.0;
+ units::length::meter_t trackWidth = 0.0;
+ units::length::meter_t distanceCOGtoLeadingEdge = 0.0;
double accelerationX = 0.0;
double accelerationY = 0.0;
double yawAngle = 0.0;
- AgentVehicleType vehicleType = AgentVehicleType::Undefined;
+ mantle_api::EntityType type = mantle:api::EntityType::kOther;
std::vector<int> idsCollisionPartners;
bool isValid = true;
diff --git a/sim/src/core/opSimulation/modules/World_Basic/world_basic_implementation.h b/sim/src/core/opSimulation/modules/World_Basic/world_basic_implementation.h
index 943369135884f6c833bc50506ad73651508ce08f..0ee1c23aeb261166b9c12418a6bd64590a0b32a7 100644
--- a/sim/src/core/opSimulation/modules/World_Basic/world_basic_implementation.h
+++ b/sim/src/core/opSimulation/modules/World_Basic/world_basic_implementation.h
@@ -120,7 +120,7 @@ public:
return nullptr; //dummy
}
- Position GetPositionByDistanceAndLane(double distance,
+ Position GetPositionByDistanceAndLane(units::length::meter_t distance,
int laneNumber) const
{
Q_UNUSED(distance);
diff --git a/sim/src/core/opSimulation/modules/World_OSI/AgentAdapter.cpp b/sim/src/core/opSimulation/modules/World_OSI/AgentAdapter.cpp
index a74f4a9d98ed0ff3b2a750bac715bfb83cac2460..876cd54d80d1334beab9bc3c0a57e1b5d38b02ae 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/AgentAdapter.cpp
+++ b/sim/src/core/opSimulation/modules/World_OSI/AgentAdapter.cpp
@@ -11,17 +11,19 @@
* SPDX-License-Identifier: EPL-2.0
********************************************************************************/
-#include <cassert>
-#include <algorithm>
#include "AgentAdapter.h"
+
+#include <algorithm>
+#include <cassert>
+
#include "common/globalDefinitions.h"
namespace loc = World::Localization;
-AgentAdapter::AgentAdapter(OWL::Interfaces::MovingObject& mo,
- WorldInterface* world,
- const CallbackInterface* callbacks,
- const World::Localization::Localizer& localizer) :
+AgentAdapter::AgentAdapter(OWL::Interfaces::MovingObject &mo,
+ WorldInterface *world,
+ const CallbackInterface *callbacks,
+ const World::Localization::Localizer &localizer) :
WorldObjectAdapter{mo},
world{world},
callbacks{callbacks},
@@ -34,51 +36,40 @@ AgentAdapter::~AgentAdapter()
{
}
-void AgentAdapter::InitParameter(const AgentBlueprintInterface& agentBlueprint)
+void AgentAdapter::InitParameter(const AgentBuildInstructions &agentBuildInstructions)
{
- UpdateVehicleModelParameter(agentBlueprint.GetVehicleModelParameters());
-
- const auto & vehicleType = this->vehicleModelParameters.vehicleType;
- if (vehicleType != AgentVehicleType::Car &&
- vehicleType != AgentVehicleType::Truck &&
- vehicleType != AgentVehicleType::Motorbike &&
- vehicleType != AgentVehicleType::Bicycle &&
- vehicleType != AgentVehicleType::Pedestrian)
- {
- LOG(CbkLogLevel::Error, "undefined traffic object type");
- throw std::runtime_error("undefined traffic object type");
- }
+ UpdateEntityModelParameter(agentBuildInstructions.entityProperties);
- this->vehicleModelType = agentBlueprint.GetVehicleModelName();
- this->driverProfileName = agentBlueprint.GetDriverProfileName();
- this->agentCategory = agentBlueprint.GetAgentCategory();
- this->agentTypeName = agentBlueprint.GetAgentProfileName();
- this->objectName = agentBlueprint.GetObjectName();
- this->speedGoalMin = agentBlueprint.GetSpeedGoalMin();
+ //TODO: Do we really need to save these in the AgentAdapter?
+ this->vehicleModelType = agentBuildInstructions.entityProperties->model;
+ this->driverProfileName = agentBuildInstructions.system.driverProfileName;
+ this->agentCategory = agentBuildInstructions.agentCategory;
+ this->agentTypeName = agentBuildInstructions.system.agentProfileName;
+ this->objectName = agentBuildInstructions.name;
+ // this->speedGoalMin = agentBlueprint.GetSpeedGoalMin();
// set default values
- GetBaseTrafficObject().SetZ(0.0);
- GetBaseTrafficObject().SetPitch(0.0);
- GetBaseTrafficObject().SetRoll(0.0);
- GetBaseTrafficObject().SetAbsOrientationRate({0,0,0});
- GetBaseTrafficObject().SetAbsOrientationAcceleration({0,0,0});
-
- const auto& spawnParameter = agentBlueprint.GetSpawnParameter();
- UpdateYaw(spawnParameter.yawAngle);
- GetBaseTrafficObject().SetX(spawnParameter.positionX);
- GetBaseTrafficObject().SetY(spawnParameter.positionY);
- GetBaseTrafficObject().SetAbsVelocity(spawnParameter.velocity);
- GetBaseTrafficObject().SetAbsAcceleration(spawnParameter.acceleration);
- this->currentGear = static_cast<int>(spawnParameter.gear);
-
- SetSensorParameters(agentBlueprint.GetSensorParameters());
+ GetBaseTrafficObject().SetZ(0.0_m);
+ GetBaseTrafficObject().SetPitch(0.0_rad);
+ GetBaseTrafficObject().SetRoll(0.0_rad);
+ GetBaseTrafficObject().SetAbsOrientationRate({0.0_rad_per_s,0.0_rad_per_s,0.0_rad_per_s});
+ GetBaseTrafficObject().SetAbsOrientationAcceleration({0.0_rad_per_s_sq,0.0_rad_per_s_sq,0.0_rad_per_s_sq});
+
+ UpdateYaw(agentBuildInstructions.spawnParameter.orientation.yaw);
+ GetBaseTrafficObject().SetX(agentBuildInstructions.spawnParameter.position.x);
+ GetBaseTrafficObject().SetY(agentBuildInstructions.spawnParameter.position.y);
+ GetBaseTrafficObject().SetAbsVelocity(agentBuildInstructions.spawnParameter.velocity);
+ GetBaseTrafficObject().SetAbsAcceleration(agentBuildInstructions.spawnParameter.acceleration);
+ this->currentGear = static_cast<int>(agentBuildInstructions.spawnParameter.gear);
+
+ SetSensorParameters(agentBuildInstructions.system.sensorParameters);
// spawn tasks are executed before any other task types within current scheduling time
// other task types will have a consistent view of the world
// calculate initial position
Locate();
- auto& route = spawnParameter.route;
+ auto &route = agentBuildInstructions.spawnParameter.route;
egoAgent.SetRoadGraph(std::move(route.roadGraph), route.root, route.target);
}
@@ -88,7 +79,7 @@ bool AgentAdapter::Update()
// and objects with an incomplete set of dynamic parameters (i. e. changing x/y with velocity = 0)
//boundingBoxNeedsUpdate = std::abs(GetVelocity()) >= zeroBaseline;
boundingBoxNeedsUpdate = true;
- if(!Locate())
+ if (!Locate())
{
return false;
}
@@ -156,28 +147,28 @@ void AgentAdapter::SetPosition(Position pos)
SetYaw(pos.yawAngle);
}
-Common::Vector2d AgentAdapter::GetVelocity(ObjectPoint point) const
+Common::Vector2d<units::velocity::meters_per_second_t> AgentAdapter::GetVelocity(ObjectPoint point) const
{
- double longitudinal = GetLongitudinal(point);
- double lateral = GetLateral(point);
- Common::Vector2d rotation{0.0, 0.0}; //! velocity from rotation of vehicle around reference point
- if (longitudinal != 0. || lateral != 0.)
+ auto longitudinal = GetLongitudinal(point);
+ auto lateral = GetLateral(point);
+ Common::Vector2d<units::velocity::meters_per_second_t> rotation{0.0_mps, 0.0_mps}; //! velocity from rotation of vehicle around reference point
+ if (longitudinal != 0_m || lateral != 0_m)
{
- rotation.x = -lateral * GetYawRate();
- rotation.y = longitudinal * GetYawRate();
+ rotation.x = -lateral * GetYawRate() / 1_rad;
+ rotation.y = longitudinal * GetYawRate() / 1_rad;
rotation.Rotate(-GetYaw());
}
- return {GetBaseTrafficObject().GetAbsVelocity().vx + rotation.x, GetBaseTrafficObject().GetAbsVelocity().vy + rotation.y};
+ return {GetBaseTrafficObject().GetAbsVelocity().x + rotation.x, GetBaseTrafficObject().GetAbsVelocity().y + rotation.y};
}
-Common::Vector2d AgentAdapter::GetAcceleration(ObjectPoint point) const
+Common::Vector2d<units::acceleration::meters_per_second_squared_t> AgentAdapter::GetAcceleration(ObjectPoint point) const
{
- double longitudinal = GetLongitudinal(point);
- double lateral = GetLateral(point);
- Common::Vector2d rotationAcceleration{0.0, 0.0}; //! acceleration from rotation of vehicle around reference point
- if (longitudinal != 0. || lateral != 0.)
+ auto longitudinal = GetLongitudinal(point);
+ auto lateral = GetLateral(point);
+ Common::Vector2d<units::acceleration::meters_per_second_squared_t> rotationAcceleration{0.0_mps_sq, 0.0_mps_sq}; //! acceleration from rotation of vehicle around reference point
+ if (longitudinal != 0_m || lateral != 0_m)
{
- rotationAcceleration.x = -lateral * GetYawAcceleration();
- rotationAcceleration.y = longitudinal * GetYawAcceleration();
+ rotationAcceleration.x = -lateral * GetYawAcceleration() / 1_rad;
+ rotationAcceleration.y = longitudinal * GetYawAcceleration() / 1_rad;
rotationAcceleration.Rotate(-GetYaw());
}
return {GetBaseTrafficObject().GetAbsAcceleration().ax + rotationAcceleration.x, GetBaseTrafficObject().GetAbsAcceleration().ay + rotationAcceleration.y};
@@ -191,10 +182,9 @@ bool AgentAdapter::IsEgoAgent() const
void AgentAdapter::UpdateCollision(std::pair<ObjectTypeOSI, int> collisionPartner)
{
auto findIter = std::find_if(collisionPartners.begin(), collisionPartners.end(),
- [collisionPartner](const std::pair<ObjectTypeOSI, int>& storedCollisionPartner)
- {
- return collisionPartner == storedCollisionPartner;
- });
+ [collisionPartner](const std::pair<ObjectTypeOSI, int> &storedCollisionPartner) {
+ return collisionPartner == storedCollisionPartner;
+ });
if (findIter == collisionPartners.end())
{
collisionPartners.push_back(collisionPartner);
@@ -223,19 +213,18 @@ std::vector<std::string> AgentAdapter::GetRoads(ObjectPoint point) const
return roadIds;
}
-double AgentAdapter::GetDistanceToConnectorEntrance(std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const
+units::length::meter_t AgentAdapter::GetDistanceToConnectorEntrance(std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const
{
return world->GetDistanceToConnectorEntrance(/*locateResult.position,*/ intersectingConnectorId, intersectingLaneId, ownConnectorId);
}
-double AgentAdapter::GetDistanceToConnectorDeparture(std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const
+units::length::meter_t AgentAdapter::GetDistanceToConnectorDeparture(std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const
{
return world->GetDistanceToConnectorDeparture(/*locateResult.position,*/ intersectingConnectorId, intersectingLaneId, ownConnectorId);
}
LightState AgentAdapter::GetLightState() const
{
-
if (GetFlasher())
{
return LightState::Flash;
@@ -265,7 +254,7 @@ const GlobalRoadPositions& AgentAdapter::GetRoadPosition(const ObjectPoint& poin
return newElement->second;
}
-double AgentAdapter::GetLongitudinal(const ObjectPoint &objectPoint) const
+units::length::meter_t AgentAdapter::GetLongitudinal(const ObjectPoint &objectPoint) const
{
if (std::holds_alternative<ObjectPointCustom>(objectPoint))
{
@@ -276,7 +265,7 @@ double AgentAdapter::GetLongitudinal(const ObjectPoint &objectPoint) const
switch (std::get<ObjectPointPredefined>(objectPoint))
{
case ObjectPointPredefined::Reference:
- return 0;
+ return 0_m;
case ObjectPointPredefined::Center:
return GetDistanceReferencePointToLeadingEdge() - 0.5 * GetLength();
case ObjectPointPredefined::FrontCenter:
@@ -300,7 +289,7 @@ double AgentAdapter::GetLongitudinal(const ObjectPoint &objectPoint) const
}
}
-double AgentAdapter::GetLateral(const ObjectPoint &objectPoint) const
+units::length::meter_t AgentAdapter::GetLateral(const ObjectPoint &objectPoint) const
{
if (std::holds_alternative<ObjectPointCustom>(objectPoint))
{
@@ -314,7 +303,7 @@ double AgentAdapter::GetLateral(const ObjectPoint &objectPoint) const
case ObjectPointPredefined::Center:
case ObjectPointPredefined::FrontCenter:
case ObjectPointPredefined::RearCenter:
- return 0;
+ return 0_m;
case ObjectPointPredefined::FrontLeft:
case ObjectPointPredefined::RearLeft:
return 0.5 * GetWidth();
@@ -334,13 +323,13 @@ double AgentAdapter::GetLateral(const ObjectPoint &objectPoint) const
}
}
-Common::Vector2d AgentAdapter::GetAbsolutePosition(const ObjectPoint &objectPoint) const
+Common::Vector2d<units::length::meter_t> AgentAdapter::GetAbsolutePosition(const ObjectPoint &objectPoint) const
{
- double longitudinal = GetLongitudinal(objectPoint);
- double lateral = GetLateral(objectPoint);
+ auto longitudinal = GetLongitudinal(objectPoint);
+ auto lateral = GetLateral(objectPoint);
const auto& referencePoint = baseTrafficObject.GetReferencePointPosition();
const auto& yaw = baseTrafficObject.GetAbsOrientation().yaw;
- double x = referencePoint.x + std::cos(yaw) * longitudinal - std::sin(yaw) * lateral;
- double y = referencePoint.y + std::sin(yaw) * longitudinal + std::cos(yaw) * lateral;
+ auto x = referencePoint.x + units::math::cos(yaw) * longitudinal - units::math::sin(yaw) * lateral;
+ auto y = referencePoint.y + units::math::sin(yaw) * longitudinal + units::math::cos(yaw) * lateral;
return {x,y};
}
diff --git a/sim/src/core/opSimulation/modules/World_OSI/AgentAdapter.h b/sim/src/core/opSimulation/modules/World_OSI/AgentAdapter.h
index cfd72d2fe5294e40831c740c0ce93459cd10e578..1d7f7bfcb1553b95b9febd02554a7b8a3689afc7 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/AgentAdapter.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/AgentAdapter.h
@@ -20,19 +20,20 @@
#pragma once
-#include <QtGlobal>
#include <functional>
-#include "include/agentInterface.h"
-#include "include/callbackInterface.h"
-#include "include/trafficObjectInterface.h"
-#include "include/worldInterface.h"
-#include "include/stochasticsInterface.h"
-#include "egoAgent.h"
+#include <QtGlobal>
+
#include "Localization.h"
#include "WorldData.h"
#include "WorldDataQuery.h"
#include "WorldObjectAdapter.h"
+#include "egoAgent.h"
+#include "include/agentInterface.h"
+#include "include/callbackInterface.h"
+#include "include/stochasticsInterface.h"
+#include "include/trafficObjectInterface.h"
+#include "include/worldInterface.h"
constexpr double zeroBaseline = 1e-9;
@@ -45,14 +46,14 @@ class AgentAdapter final : public WorldObjectAdapter, public AgentInterface
public:
const std::string MODULENAME = "AGENTADAPTER";
- AgentAdapter(OWL::Interfaces::MovingObject& mo,
- WorldInterface* world,
- const CallbackInterface* callbacks,
- const World::Localization::Localizer& localizer);
+ AgentAdapter(OWL::Interfaces::MovingObject &mo,
+ WorldInterface *world,
+ const CallbackInterface *callbacks,
+ const World::Localization::Localizer &localizer);
~AgentAdapter() override;
- void InitParameter(const AgentBlueprintInterface& agentBlueprint) override;
+ void InitParameter(const AgentBuildInstructions &agentBuildInstructions) override;
ObjectTypeOSI GetType() const override
{
@@ -61,10 +62,11 @@ public:
int GetId() const override
{
- return static_cast<int>(GetBaseTrafficObject().GetId());;
+ return static_cast<int>(GetBaseTrafficObject().GetId());
+ ;
}
- EgoAgentInterface& GetEgoAgent() override
+ EgoAgentInterface &GetEgoAgent() override
{
return egoAgent;
}
@@ -84,17 +86,17 @@ public:
return driverProfileName;
}
- double GetSpeedGoalMin() const override
+ units::velocity::meters_per_second_t GetSpeedGoalMin() const override
{
return speedGoalMin;
}
- double GetEngineSpeed() const override
+ units::angular_velocity::revolutions_per_minute_t GetEngineSpeed() const override
{
return engineSpeed;
}
- double GetDistanceReferencePointToLeadingEdge() const override
+ units::length::meter_t GetDistanceReferencePointToLeadingEdge() const override
{
return GetBaseTrafficObject().GetDistanceReferencePointToLeadingEdge();
}
@@ -114,17 +116,17 @@ public:
return brakePedal;
}
- double GetSteeringWheelAngle() const override
+ units::angle::radian_t GetSteeringWheelAngle() const override
{
return steeringWheelAngle;
}
- double GetMaxAcceleration() const override
+ units::acceleration::meters_per_second_squared_t GetMaxAcceleration() const override
{
return maxAcceleration;
}
- double GetMaxDeceleration() const override
+ units::acceleration::meters_per_second_squared_t GetMaxDeceleration() const override
{
return maxDeceleration;
}
@@ -152,7 +154,7 @@ public:
return locateResult.touchedRoads;
}
- Common::Vector2d GetAbsolutePosition(const ObjectPoint& objectPoint) const override;
+ Common::Vector2d<units::length::meter_t> GetAbsolutePosition(const ObjectPoint& objectPoint) const override;
const GlobalRoadPositions& GetRoadPosition(const ObjectPoint& point) const override;
@@ -168,95 +170,98 @@ public:
return postCrashVelocity;
}
- VehicleModelParameters GetVehicleModelParameters() const override
+ std::shared_ptr<const mantle_api::EntityProperties> GetVehicleModelParameters() const override
{
return vehicleModelParameters;
}
+ units::length::meter_t GetWheelbase() const override
+ {
+ if (std::dynamic_pointer_cast<const mantle_api::VehicleProperties>(vehicleModelParameters) != nullptr)
+ {
+ auto vehicleProperties = std::dynamic_pointer_cast<const mantle_api::VehicleProperties>(vehicleModelParameters);
+ return vehicleProperties->front_axle.bb_center_to_axle_center.x - vehicleProperties->rear_axle.bb_center_to_axle_center.x;
+ }
+ else
+ {
+ // TODO CK Clarify what to do in case of pedestrians or static objects
+ return vehicleModelParameters->bounding_box.dimension.length;
+ }
+ }
+
void SetPostCrashVelocity(PostCrashVelocity postCrashVelocity) override
{
this->postCrashVelocity = postCrashVelocity;
}
- void SetPositionX(double value) override
+ void SetPositionX(units::length::meter_t value) override
{
- world->QueueAgentUpdate([this, value]()
- {
+ world->QueueAgentUpdate([this, value]() {
GetBaseTrafficObject().SetX(value);
});
}
- void SetPositionY(double value) override
+ void SetPositionY(units::length::meter_t value) override
{
- world->QueueAgentUpdate([this, value]()
- {
+ world->QueueAgentUpdate([this, value]() {
GetBaseTrafficObject().SetY(value);
});
}
-
- void SetVelocity(double velocity) override
+ void SetVelocity(units::velocity::meters_per_second_t velocity) override
{
- world->QueueAgentUpdate([this, velocity]()
- {
+ world->QueueAgentUpdate([this, velocity]() {
GetBaseTrafficObject().SetAbsVelocity(velocity);
});
}
- void SetVelocityVector(double vx, double vy, double vz) override
+ void SetVelocityVector(const mantle_api::Vec3<units::velocity::meters_per_second_t> &velocity) override
{
- world->QueueAgentUpdate([this, vx, vy, vz]()
- {
- OWL::Primitive::AbsVelocity velocity{vx, vy, vz};
+ world->QueueAgentUpdate([this, velocity]() {
GetBaseTrafficObject().SetAbsVelocity(velocity);
});
}
- void SetAcceleration(double value) override
+ void SetAcceleration(units::acceleration::meters_per_second_squared_t value) override
{
- world->QueueAgentUpdate([this, value]()
- {
+ world->QueueAgentUpdate([this, value]() {
GetBaseTrafficObject().SetAbsAcceleration(value);
});
}
- void SetYaw(double value) override
+ void SetYaw(units::angle::radian_t value) override
{
- world->QueueAgentUpdate([this, value]()
- {
+ world->QueueAgentUpdate([this, value]() {
UpdateYaw(value);
});
}
- void SetRoll(double value) override
+ void SetRoll(units::angle::radian_t value) override
{
- world->QueueAgentUpdate([this, value]()
- {
+ world->QueueAgentUpdate([this, value]() {
UpdateRoll(value);
});
}
- void SetYawRate(double value) override
+ void SetYawRate(units::angular_velocity::radians_per_second_t value) override
{
- world->QueueAgentUpdate([this, value]()
- {
- OWL::Primitive::AbsOrientationRate orientationRate = GetBaseTrafficObject().GetAbsOrientationRate();
- orientationRate.yawRate = value;
+ world->QueueAgentUpdate([this, value]() {
+ auto orientationRate = GetBaseTrafficObject().GetAbsOrientationRate();
+ orientationRate.yaw = value;
GetBaseTrafficObject().SetAbsOrientationRate(orientationRate);
});
}
- void SetYawAcceleration(double value) override
+ void SetYawAcceleration(units::angular_acceleration::radians_per_second_squared_t value) override
{
- world->QueueAgentUpdate([this, value]()
- {
+ world->QueueAgentUpdate([this, value]() {
OWL::Primitive::AbsOrientationAcceleration orientationAcceleration = GetBaseTrafficObject().GetAbsOrientationAcceleration();
orientationAcceleration.yawAcceleration = value;
GetBaseTrafficObject().SetAbsOrientationAcceleration(orientationAcceleration);
});
}
- void SetCentripetalAcceleration(double value) override
+ void SetCentripetalAcceleration(units::acceleration::meters_per_second_squared_t value) override
{
world->QueueAgentUpdate([this, value]() {
centripetalAcceleration = value;
@@ -265,7 +270,7 @@ public:
// OWL::Primitive::AbsAcceleration absAcceleration = GetBaseTrafficObject().GetAbsAcceleration();
// OWL::Primitive::AbsOrientation absOrientation = GetBaseTrafficObject().GetAbsOrientation();
- // Common::Vector2d vec(absAcceleration.ax, absAcceleration.ay);
+ // Common::Vector2d<units::velocity::meters_per_second_t vec(absAcceleration.ax, absAcceleration.ay);
// // Rotate reference frame from groundTruth to car and back
// vec.Rotate(-absOrientation.yaw);
@@ -279,7 +284,7 @@ public:
});
}
- void SetTangentialAcceleration(double value) override
+ void SetTangentialAcceleration(units::acceleration::meters_per_second_squared_t value) override
{
world->QueueAgentUpdate([this, value]() {
tangentialAcceleration = value;
@@ -288,7 +293,7 @@ public:
// OWL::Primitive::AbsAcceleration absAcceleration = GetBaseTrafficObject().GetAbsAcceleration();
// OWL::Primitive::AbsOrientation absOrientation = GetBaseTrafficObject().GetAbsOrientation();
- // Common::Vector2d vec(absAcceleration.ax, absAcceleration.ay);
+ // Common::Vector2d<units::velocity::meters_per_second_t vec(absAcceleration.ax, absAcceleration.ay);
// // Rotate reference frame from groundTruth to car and back
// vec.Rotate(-absOrientation.yaw);
@@ -302,93 +307,85 @@ public:
});
}
- void SetWheelsRotationRateAndOrientation(double _steeringWheelAngle, double velocity, double acceleration) override
+ void SetWheelsRotationRateAndOrientation(units::angle::radian_t steeringWheelAngle, units::velocity::meters_per_second_t velocity, units::acceleration::meters_per_second_squared_t acceleration) override
{
- if(vehicleModelParameters.vehicleType == AgentVehicleType::Pedestrian)
+ //TODO Move this to Dynamics Modules
+ if(vehicleModelParameters->type == mantle_api::EntityType::kPedestrian)
return;
auto dTime = (velocity - previousVelocity) / acceleration;
previousVelocity = velocity;
- auto wheelRadiusFront = vehicleModelParameters.frontAxle.wheelDiameter / 2.0;
- auto wheelRadiusRear = vehicleModelParameters.rearAxle.wheelDiameter / 2.0;
+ auto wheelRadiusFront = std::dynamic_pointer_cast<const mantle_api::VehicleProperties>(vehicleModelParameters)->front_axle.wheel_diameter / 2.0;
+ auto wheelRadiusRear = std::dynamic_pointer_cast<const mantle_api::VehicleProperties>(vehicleModelParameters)->rear_axle.wheel_diameter / 2.0;
try {
- auto steeringToWheelYawRatio = vehicleModelParameters.properties.at("SteeringRatio");
+ auto steeringToWheelYawRatio = std::stod(std::dynamic_pointer_cast<const mantle_api::VehicleProperties>(vehicleModelParameters)->properties.at("SteeringRatio"));
GetBaseTrafficObject().SetWheelsRotationRateAndOrientation(velocity, wheelRadiusFront, wheelRadiusRear, dTime);
- GetBaseTrafficObject().SetFrontAxleSteeringYaw(_steeringWheelAngle * steeringToWheelYawRatio);
+ GetBaseTrafficObject().SetFrontAxleSteeringYaw(steeringWheelAngle * steeringToWheelYawRatio);
} catch (const std::out_of_range& e)
{
Log(CbkLogLevel::Error, __FILE__, __LINE__, "Agent does not have SteeringRatio");
}
}
- void SetDistanceTraveled(double value) override
+ void SetDistanceTraveled(units::length::meter_t value) override
{
- world->QueueAgentUpdate([this, value]()
- {
+ world->QueueAgentUpdate([this, value]() {
distanceTraveled = value;
});
}
- void SetVehicleModelParameter(const VehicleModelParameters& parameter) override
+ void SetVehicleModelParameter(const std::shared_ptr<const mantle_api::EntityProperties> parameter) override
{
- world->QueueAgentUpdate([this, parameter]()
- {
- UpdateVehicleModelParameter(parameter);
+ world->QueueAgentUpdate([this, parameter]() {
+ UpdateEntityModelParameter(parameter);
});
}
- void SetMaxAcceleration(double value) override
+ void SetMaxAcceleration(units::acceleration::meters_per_second_squared_t value) override
{
- world->QueueAgentUpdate([this, value]()
- {
+ world->QueueAgentUpdate([this, value]() {
maxAcceleration = value;
});
}
- void SetEngineSpeed(double value) override
+ void SetEngineSpeed(units::angular_velocity::revolutions_per_minute_t value) override
{
- world->QueueAgentUpdate([this, value]()
- {
+ world->QueueAgentUpdate([this, value]() {
engineSpeed = value;
});
}
- void SetMaxDeceleration(double maxDeceleration) override
+ void SetMaxDeceleration(units::acceleration::meters_per_second_squared_t maxDeceleration) override
{
- world->QueueAgentUpdate([this, maxDeceleration]()
- {
+ world->QueueAgentUpdate([this, maxDeceleration]() {
this->maxDeceleration = maxDeceleration;
});
}
void SetGear(int gear) override
{
- world->QueueAgentUpdate([this, gear]()
- {
+ world->QueueAgentUpdate([this, gear]() {
currentGear = gear;
});
}
void SetEffAccelPedal(double percent) override
{
- world->QueueAgentUpdate([this, percent]()
- {
+ world->QueueAgentUpdate([this, percent]() {
accelPedal = percent;
});
}
void SetEffBrakePedal(double percent) override
{
- world->QueueAgentUpdate([this, percent]()
- {
+ world->QueueAgentUpdate([this, percent]() {
brakePedal = percent;
});
}
- void SetSteeringWheelAngle(double steeringWheelAngle) override
+ void SetSteeringWheelAngle(units::angle::radian_t steeringWheelAngle) override
{
- world->QueueAgentUpdate([this, steeringWheelAngle]()
- {
+ world->QueueAgentUpdate([this, steeringWheelAngle]() {
this->steeringWheelAngle = steeringWheelAngle;
GetBaseTrafficObject().SetSteeringWheelAngle(steeringWheelAngle);
});
@@ -396,47 +393,43 @@ public:
void SetHeadLight(bool headLight) override
{
- world->QueueAgentUpdate([this, headLight]()
- {
+ world->QueueAgentUpdate([this, headLight]() {
GetBaseTrafficObject().SetHeadLight(headLight);
});
}
void SetHighBeamLight(bool highBeam) override
{
- world->QueueAgentUpdate([this, highBeam]()
- {
+ world->QueueAgentUpdate([this, highBeam]() {
GetBaseTrafficObject().SetHighBeamLight(highBeam);
});
}
void SetHorn(bool horn) override
{
- world->QueueAgentUpdate([this, horn]()
- {
+ world->QueueAgentUpdate([this, horn]() {
hornSwitch = horn;
});
}
void SetFlasher(bool flasher) override
{
- world->QueueAgentUpdate([this, flasher]()
- {
+ world->QueueAgentUpdate([this, flasher]() {
flasherSwitch = flasher;
});
}
- double GetYawRate() const override
+ units::angular_velocity::radians_per_second_t GetYawRate() const override
{
- return GetBaseTrafficObject().GetAbsOrientationRate().yawRate;
+ return GetBaseTrafficObject().GetAbsOrientationRate().yaw;
}
- double GetYawAcceleration() const override
+ units::angular_acceleration::radians_per_second_squared_t GetYawAcceleration() const override
{
return GetBaseTrafficObject().GetAbsOrientationAcceleration().yawAcceleration;
}
- double GetCentripetalAcceleration() const override
+ units::acceleration::meters_per_second_squared_t GetCentripetalAcceleration() const override
{
return centripetalAcceleration;
@@ -444,7 +437,7 @@ public:
// OWL::Primitive::AbsAcceleration absAcceleration = GetBaseTrafficObject().GetAbsAcceleration();
// OWL::Primitive::AbsOrientation absOrientation = GetBaseTrafficObject().GetAbsOrientation();
- // Common::Vector2d vec(absAcceleration.ax, absAcceleration.ay);
+ // Common::Vector2d<units::velocity::meters_per_second_t vec(absAcceleration.ax, absAcceleration.ay);
// // Rotate reference frame from groundTruth to car
// vec.Rotate(-absOrientation.yaw);
@@ -452,7 +445,7 @@ public:
// return vec.y;
}
- double GetTangentialAcceleration() const override
+ units::acceleration::meters_per_second_squared_t GetTangentialAcceleration() const override
{
return tangentialAcceleration;
@@ -460,7 +453,7 @@ public:
// OWL::Primitive::AbsAcceleration absAcceleration = GetBaseTrafficObject().GetAbsAcceleration();
// OWL::Primitive::AbsOrientation absOrientation = GetBaseTrafficObject().GetAbsOrientation();
- // Common::Vector2d vec(absAcceleration.ax, absAcceleration.ay);
+ // Common::Vector2d<units::velocity::meters_per_second_t vec(absAcceleration.ax, absAcceleration.ay);
// // Rotate reference frame from groundTruth to car
// vec.Rotate(-absOrientation.yaw);
@@ -492,21 +485,21 @@ public:
void SetPosition(Position pos) override;
- double GetDistanceTraveled() const override
+ units::length::meter_t GetDistanceTraveled() const override
{
return distanceTraveled;
}
bool IsEgoAgent() const override;
- bool OnRoad(const OWL::Interfaces::Road& road) const;
- bool OnLane(const OWL::Interfaces::Lane& lane) const;
+ bool OnRoad(const OWL::Interfaces::Road &road) const;
+ bool OnLane(const OWL::Interfaces::Lane &lane) const;
- Common::Vector2d GetVelocity(ObjectPoint point = ObjectPointPredefined::Reference) const override;
+ Common::Vector2d<units::velocity::meters_per_second_t> GetVelocity(ObjectPoint point = ObjectPointPredefined::Reference) const override;
- Common::Vector2d GetAcceleration(ObjectPoint point = ObjectPointPredefined::Reference) const override;
+ Common::Vector2d<units::acceleration::meters_per_second_squared_t> GetAcceleration(ObjectPoint point = ObjectPointPredefined::Reference) const override;
- virtual const openpass::sensors::Parameters& GetSensorParameters() const override
+ virtual const openpass::sensors::Parameters &GetSensorParameters() const override
{
return sensorParameters;
@@ -517,9 +510,9 @@ public:
this->sensorParameters = sensorParameters;
}
- virtual double GetDistanceToConnectorEntrance(std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const override;
+ virtual units::length::meter_t GetDistanceToConnectorEntrance(std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const override;
- virtual double GetDistanceToConnectorDeparture(std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const override;
+ virtual units::length::meter_t GetDistanceToConnectorDeparture(std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const override;
protected:
//-----------------------------------------------------------------------------
@@ -531,9 +524,9 @@ protected:
//! @param[in] message Message to log
//-----------------------------------------------------------------------------
void Log(CbkLogLevel logLevel,
- const char* file,
+ const char *file,
int line,
- const std::string& message) const
+ const std::string &message) const
{
if (callbacks)
{
@@ -545,94 +538,110 @@ protected:
}
private:
- WorldInterface* world;
- const CallbackInterface* callbacks;
- const World::Localization::Localizer& localizer;
+ WorldInterface *world;
+ const CallbackInterface *callbacks;
+ const World::Localization::Localizer &localizer;
EgoAgent egoAgent;
- OWL::Interfaces::MovingObject& GetBaseTrafficObject()
+ OWL::Interfaces::MovingObject &GetBaseTrafficObject()
{
- return *(static_cast<OWL::Interfaces::MovingObject*>(&baseTrafficObject));
+ return *(static_cast<OWL::Interfaces::MovingObject *>(&baseTrafficObject));
}
- OWL::Interfaces::MovingObject& GetBaseTrafficObject() const
+ OWL::Interfaces::MovingObject &GetBaseTrafficObject() const
{
- return *(static_cast<OWL::Interfaces::MovingObject*>(&baseTrafficObject));
+ return *(static_cast<OWL::Interfaces::MovingObject *>(&baseTrafficObject));
}
- void UpdateVehicleModelParameter(const VehicleModelParameters& parameters)
+ void UpdateEntityModelParameter(const std::shared_ptr<const mantle_api::EntityProperties> properties)
{
- OWL::Primitive::Dimension dimension;
- dimension.width = parameters.boundingBoxDimensions.width;
- dimension.length = parameters.boundingBoxDimensions.length;
- dimension.height = parameters.boundingBoxDimensions.height;
+ mantle_api::Dimension3 dimension;
+ dimension.width = properties->bounding_box.dimension.width;
+ dimension.length = properties->bounding_box.dimension.length;
+ dimension.height = properties->bounding_box.dimension.height;
GetBaseTrafficObject().SetDimension(dimension);
- GetBaseTrafficObject().SetBoundingBoxCenterToRear(parameters.rearAxle.positionX - parameters.boundingBoxCenter.x, 0.0f, parameters.rearAxle.positionZ - parameters.boundingBoxCenter.z);
- GetBaseTrafficObject().SetBoundingBoxCenterToFront(parameters.frontAxle.positionX - parameters.boundingBoxCenter.x, 0.0f, parameters.frontAxle.positionZ - parameters.boundingBoxCenter.z);
- GetBaseTrafficObject().SetType(parameters.vehicleType);
+ GetBaseTrafficObject().SetType(properties->type);
- vehicleModelParameters = parameters;
+ if (properties->type == mantle_api::EntityType::kVehicle)
+ {
+ auto vehicleProperties = std::dynamic_pointer_cast<const mantle_api::VehicleProperties>(properties);
+ GetBaseTrafficObject().SetBoundingBoxCenterToRear(vehicleProperties->rear_axle.bb_center_to_axle_center.x - properties->bounding_box.geometric_center.x,
+ 0.0_m,
+ vehicleProperties->rear_axle.bb_center_to_axle_center.z - properties->bounding_box.geometric_center.z);
+ GetBaseTrafficObject().SetBoundingBoxCenterToFront(vehicleProperties->front_axle.bb_center_to_axle_center.x - properties->bounding_box.geometric_center.x,
+ 0.0_m,
+ vehicleProperties->front_axle.bb_center_to_axle_center.z - properties->bounding_box.geometric_center.z);
+ GetBaseTrafficObject().SetVehicleClassification(vehicleProperties->classification);
+ }
+ else
+ {
+ GetBaseTrafficObject().SetBoundingBoxCenterToRear(-properties->bounding_box.geometric_center.x,
+ 0.0_m,
+ -properties->bounding_box.geometric_center.z);
- GenerateWheels(parameters);
+ }
+ GenerateWheels(properties);
+ vehicleModelParameters = properties;
}
- void GenerateWheels(const VehicleModelParameters& parameters)
+ void GenerateWheels(const std::shared_ptr<const mantle_api::EntityProperties> properties)
{
- if(parameters.vehicleType == AgentVehicleType::Pedestrian)
+ if (properties->type == mantle_api::EntityType::kPedestrian)
{
return;
}
-
- std::vector<VehicleModelParameters::Axle> axles {parameters.frontAxle, parameters.rearAxle};
- for(int axle = 0; axle < 2; axle++)
+ auto vehicleProperties = std::dynamic_pointer_cast<const mantle_api::VehicleProperties>(properties);
+ std::vector<mantle_api::Axle> axles{vehicleProperties->front_axle, vehicleProperties->rear_axle};
+ for (int axle = 0; axle < 2; axle++)
{
OWL::WheelData newWheel;
newWheel.axle = axle;
- newWheel.wheelRadius = axles[axle].wheelDiameter / 2.0;
- newWheel.rim_radius = std::numeric_limits<double>::signaling_NaN();
- newWheel.width = std::numeric_limits<double>::signaling_NaN();
- newWheel.rotation_rate = std::numeric_limits<double>::signaling_NaN();
+ newWheel.wheelRadius = axles[axle].wheel_diameter / 2.0;
+ newWheel.rim_radius = units::length::meter_t(std::numeric_limits<double>::signaling_NaN());
+ newWheel.width = units::length::meter_t(std::numeric_limits<double>::signaling_NaN());
+ newWheel.rotation_rate = units::angular_velocity::revolutions_per_minute_t(std::numeric_limits<double>::signaling_NaN());
//Assuming that the center of the wheels are located at the axles
- newWheel.position.x = axle == 0 ?
- (parameters.frontAxle.positionX - parameters.boundingBoxCenter.x) :
- (parameters.rearAxle.positionX - parameters.boundingBoxCenter.x);
+ newWheel.position.x = axle == 0 ? (vehicleProperties->front_axle.bb_center_to_axle_center.x - properties->bounding_box.geometric_center.x) : (vehicleProperties->rear_axle.bb_center_to_axle_center.x - properties->bounding_box.geometric_center.x);
- newWheel.position.z = axle == 0 ?
- (parameters.frontAxle.positionZ - parameters.boundingBoxCenter.z) :
- (parameters.rearAxle.positionZ - parameters.boundingBoxCenter.z);
+ newWheel.position.z = axle == 0 ? (vehicleProperties->front_axle.bb_center_to_axle_center.z - properties->bounding_box.geometric_center.z) : (vehicleProperties->rear_axle.bb_center_to_axle_center.z - properties->bounding_box.geometric_center.z);
- if(parameters.vehicleType == AgentVehicleType::Car || parameters.vehicleType == AgentVehicleType::Truck)
+ if (properties->type == mantle_api::EntityType::kVehicle)
{
- newWheel.position.y = - parameters.frontAxle.trackWidth / 2.0f - parameters.boundingBoxCenter.y; //assume that the wheels are at the end of the axle
- newWheel.index = 0;
- GetBaseTrafficObject().AddWheel(newWheel);
- newWheel.position.y = parameters.frontAxle.trackWidth / 2.0f - parameters.boundingBoxCenter.y; //assume that the wheels are at the end of the axle
- newWheel.index = 1;
- GetBaseTrafficObject().AddWheel(newWheel);
- }
- else if (parameters.vehicleType == AgentVehicleType::Bicycle || parameters.vehicleType == AgentVehicleType::Motorbike)
- {
- //assuming that the positionY is in the middle of the two wheel vehicle
- newWheel.position.y = 0.0;
- newWheel.index = 0;
- GetBaseTrafficObject().AddWheel(newWheel);
+ if (vehicleProperties->classification == mantle_api::VehicleClass::kMedium_car)
+ {
+ newWheel.position.y = -vehicleProperties->front_axle.track_width / 2.0f - properties->bounding_box.geometric_center.y; //assume that the wheels are at the end of the axle
+ newWheel.index = 0;
+ GetBaseTrafficObject().AddWheel(newWheel);
+ newWheel.position.y = vehicleProperties->front_axle.track_width / 2.0f - properties->bounding_box.geometric_center.y; //assume that the wheels are at the end of the axle
+ newWheel.index = 1;
+ GetBaseTrafficObject().AddWheel(newWheel);
+ }
+ else if (vehicleProperties->classification == mantle_api::VehicleClass::kBicycle || vehicleProperties->classification == mantle_api::VehicleClass::kMotorbike)
+ {
+ //assuming that the positionY is in the middle of the two wheel vehicle
+ newWheel.position.y = 0.0_m;
+ newWheel.index = 0;
+ GetBaseTrafficObject().AddWheel(newWheel);
+ }
}
}
+
+ vehicleModelParameters = properties;
}
- void UpdateYaw(double yawAngle)
+ void UpdateYaw(units::angle::radian_t yawAngle)
{
- OWL::Primitive::AbsOrientation orientation = baseTrafficObject.GetAbsOrientation();
+ auto orientation = baseTrafficObject.GetAbsOrientation();
orientation.yaw = yawAngle;
GetBaseTrafficObject().SetAbsOrientation(orientation);
}
- void UpdateRoll(double rollAngle)
+ void UpdateRoll(units::angle::radian_t rollAngle)
{
- OWL::Primitive::AbsOrientation orientation = baseTrafficObject.GetAbsOrientation();
+ auto orientation = baseTrafficObject.GetAbsOrientation();
orientation.roll = rollAngle;
GetBaseTrafficObject().SetAbsOrientation(orientation);
}
@@ -648,41 +657,42 @@ private:
void UpdateEgoVehicle();
//! Returns the longitudinal position of the ObjectPoint (must not be of type ObjectPointRelative)
- double GetLongitudinal(const ObjectPoint &objectPoint) const;
+ units::length::meter_t GetLongitudinal(const ObjectPoint &objectPoint) const;
//! Returns the lateral position of the ObjectPoint (must not be of type ObjectPointRelative)
- double GetLateral(const ObjectPoint &objectPoint) const;
+ units::length::meter_t GetLateral(const ObjectPoint &objectPoint) const;
struct LaneObjParameters
{
- double distance;
- double relAngle;
- double latPosition;
- Common::Vector2d upperLeftCoord;
- Common::Vector2d upperRightCoord;
- Common::Vector2d lowerLeftCoord;
- Common::Vector2d lowerRightCoord;
+ units::length::meter_t distance;
+ units::angle::radian_t relAngle;
+ units::length::meter_t latPosition;
+ Common::Vector2d<units::length::meter_t> upperLeftCoord;
+ Common::Vector2d<units::length::meter_t> upperRightCoord;
+ Common::Vector2d<units::length::meter_t> lowerLeftCoord;
+ Common::Vector2d<units::length::meter_t> lowerRightCoord;
};
bool hornSwitch = false;
bool flasherSwitch = false;
int currentGear = 0;
- double maxAcceleration = 0.0;
- double maxDeceleration = 0.0;
+ units::acceleration::meters_per_second_squared_t maxAcceleration{0.0};
+ units::acceleration::meters_per_second_squared_t maxDeceleration{0.0};
double accelPedal = 0.;
double brakePedal = 0.;
- double steeringWheelAngle = 0.0;
- double centripetalAcceleration = 0.0;
- double tangentialAcceleration = 0.0;
- double engineSpeed = 0.;
- double distanceTraveled = 0.0;
- double previousVelocity = 0.0;
+ units::angle::radian_t steeringWheelAngle{0.0};
+ units::acceleration::meters_per_second_squared_t centripetalAcceleration{0.0};
+ units::acceleration::meters_per_second_squared_t tangentialAcceleration{0.0};
+ units::angular_acceleration::radians_per_second_squared_t yawAcceleration{0.0};
+ units::angular_velocity::revolutions_per_minute_t engineSpeed{0.0};
+ units::length::meter_t distanceTraveled{0.0};
+ units::velocity::meters_per_second_t previousVelocity{0.0};
mutable World::Localization::Result locateResult;
mutable std::vector<GlobalRoadPosition> boundaryPoints;
std::vector<std::pair<ObjectTypeOSI, int>> collisionPartners;
- PostCrashVelocity postCrashVelocity {};
+ PostCrashVelocity postCrashVelocity{};
bool isValid = true;
AgentCategory agentCategory;
@@ -690,9 +700,9 @@ private:
std::string vehicleModelType;
std::string driverProfileName;
std::string objectName;
- VehicleModelParameters vehicleModelParameters;
+ std::shared_ptr<const mantle_api::EntityProperties> vehicleModelParameters;
- double speedGoalMin;
+ units::velocity::meters_per_second_t speedGoalMin;
bool completlyInWorld = false;
diff --git a/sim/src/core/opSimulation/modules/World_OSI/AgentNetwork.cpp b/sim/src/core/opSimulation/modules/World_OSI/AgentNetwork.cpp
index b7df1a186f4f04254b25da7899089c39ed534f00..e815ce5a5d225679a2525e03254c9f6ad056a845 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/AgentNetwork.cpp
+++ b/sim/src/core/opSimulation/modules/World_OSI/AgentNetwork.cpp
@@ -97,21 +97,21 @@ void AgentNetwork::PublishGlobalData(Publisher publish)
{
const openpass::type::EntityId agentId = agent.GetId();
- publish(agentId, "XPosition", agent.GetPositionX());
- publish(agentId, "YPosition", agent.GetPositionY());
- publish(agentId, "VelocityEgo", agent.GetVelocity().Length());
- publish(agentId, "AccelerationEgo", agent.GetAcceleration().Projection(agent.GetYaw()));
- 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());
+ publish(agentId, "XPosition", agent.GetPositionX().value());
+ publish(agentId, "YPosition", agent.GetPositionY().value());
+ publish(agentId, "VelocityEgo", agent.GetVelocity().Length().value());
+ publish(agentId, "AccelerationEgo", agent.GetAcceleration().Projection(agent.GetYaw()).value());
+ publish(agentId, "YawAngle", agent.GetYaw().value());
+ publish(agentId, "RollAngle", agent.GetRoll().value());
+ publish(agentId, "YawRate", agent.GetYawRate().value());
+ publish(agentId, "SteeringAngle", agent.GetSteeringWheelAngle().value());
+ publish(agentId, "TotalDistanceTraveled", agent.GetDistanceTraveled().value());
const auto &egoAgent = agent.GetEgoAgent();
if (egoAgent.HasValidRoute())
{
- publish(agentId, "PositionRoute", egoAgent.GetMainLocatePosition().value().roadPosition.s);
- publish(agentId, "TCoordinate", egoAgent.GetPositionLateral());
+ publish(agentId, "PositionRoute", egoAgent.GetMainLocatePosition().value().roadPosition.s.value());
+ publish(agentId, "TCoordinate", egoAgent.GetPositionLateral().value());
publish(agentId, "Lane", egoAgent.GetMainLocatePosition().value().laneId);
publish(agentId, "Road", egoAgent.GetRoadId());
publish(agentId, "SecondaryLanes", agent.GetTouchedRoads().at(egoAgent.GetRoadId()).lanes);
diff --git a/sim/src/core/opSimulation/modules/World_OSI/GeometryConverter.cpp b/sim/src/core/opSimulation/modules/World_OSI/GeometryConverter.cpp
index 61d69f97ba6b84d491ac2ad00fde9ad6a87f06a9..8792204ec429443f6598ec140155f19919aa8396 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/GeometryConverter.cpp
+++ b/sim/src/core/opSimulation/modules/World_OSI/GeometryConverter.cpp
@@ -11,41 +11,43 @@
* SPDX-License-Identifier: EPL-2.0
********************************************************************************/
-#include "common/opMath.h"
+#include "GeometryConverter.h"
+
#include <algorithm>
-#include <utility>
-#include <limits>
#include <cassert>
+#include <deque>
#include <iostream>
-#include <string>
+#include <limits>
#include <memory>
+#include <string>
+#include <utility>
+
#include <QFile>
-#include <deque>
-#include "GeometryConverter.h"
#include "RamerDouglasPeucker.h"
+#include "WorldData.h"
#include "WorldToRoadCoordinateConverter.h"
+#include "common/opMath.h"
#include "common/vector2d.h"
-#include "WorldData.h"
-void GeometryConverter::CalculateRoads(const SceneryInterface& scenery,
- OWL::Interfaces::WorldData& worldData)
+void GeometryConverter::CalculateRoads(const SceneryInterface &scenery,
+ OWL::Interfaces::WorldData &worldData)
{
- for(auto [roadId, road] : scenery.GetRoads())
+ for (auto [roadId, road] : scenery.GetRoads())
{
- std::vector<RoadLaneSectionInterface*> roadLaneSections = road->GetLaneSections();
+ std::vector<RoadLaneSectionInterface *> roadLaneSections = road->GetLaneSections();
for (auto roadLaneSectionIt = roadLaneSections.begin();
roadLaneSectionIt != roadLaneSections.end();
roadLaneSectionIt++)
{
- RoadLaneSectionInterface* roadSection = *roadLaneSectionIt;
- auto& roadLanes = roadSection->GetLanes();
+ RoadLaneSectionInterface *roadSection = *roadLaneSectionIt;
+ auto &roadLanes = roadSection->GetLanes();
- if(!roadLanes.empty())
+ if (!roadLanes.empty())
{
- double roadSectionStart = roadSection->GetStart();
- double roadSectionEnd = std::numeric_limits<double>::max();
+ units::length::meter_t roadSectionStart = roadSection->GetStart();
+ units::length::meter_t roadSectionEnd{std::numeric_limits<double>::max()};
if (std::next(roadLaneSectionIt) != roadLaneSections.end()) // if not a single element in the list
{
@@ -63,72 +65,72 @@ void GeometryConverter::CalculateRoads(const SceneryInterface& scenery,
}
}
-void GeometryConverter::CalculateSection(OWL::Interfaces::WorldData& worldData,
- double roadSectionStart,
- double roadSectionEnd,
- const RoadInterface* road,
+void GeometryConverter::CalculateSection(OWL::Interfaces::WorldData &worldData,
+ units::length::meter_t roadSectionStart,
+ units::length::meter_t roadSectionEnd,
+ const RoadInterface *road,
const RoadLaneSectionInterface *roadSection)
- {
- double roadMarkStart = 0;
- SampledGeometry sampledGeometries;
- bool firstRoadMark{true};
-
- while (roadMarkStart + roadSectionStart < roadSectionEnd)
- {
- double roadMarkEnd = std::numeric_limits<double>::max();
- for (const auto& roadLane : roadSection->GetLanes())
- {
- for (const auto& roadMark : roadLane.second->GetRoadMarks())
- {
- double sOffset = roadMark->GetSOffset();
- if (sOffset > roadMarkStart && sOffset < roadMarkEnd)
- {
- roadMarkEnd = sOffset;
- }
- }
- }
-
- auto sampledGeometry = CalculateSectionBetweenRoadMarkChanges(roadSectionStart + roadMarkStart,
- std::min(roadSectionStart + roadMarkEnd, roadSectionEnd),
- road,
- roadSection);
- if (firstRoadMark)
- {
- sampledGeometries = sampledGeometry;
- firstRoadMark = false;
- }
- else
- {
- sampledGeometries.Combine(sampledGeometry);
- }
-
- roadMarkStart = roadMarkEnd;
- }
-
- JointsBuilder jointsBuilder{sampledGeometries};
-
- jointsBuilder.CalculatePoints()
- .CalculateHeadings()
- .CalculateCurvatures();
-
- AddPointsToWorld(worldData, jointsBuilder.GetJoints());
- }
-
-SampledGeometry GeometryConverter::CalculateSectionBetweenRoadMarkChanges(double roadSectionStart,
- double roadSectionEnd,
- const RoadInterface* road,
- const RoadLaneSectionInterface* roadSection)
+{
+ units::length::meter_t roadMarkStart{0};
+ SampledGeometry sampledGeometries;
+ bool firstRoadMark{true};
+
+ while (roadMarkStart + roadSectionStart < roadSectionEnd)
+ {
+ units::length::meter_t roadMarkEnd{std::numeric_limits<double>::max()};
+ for (const auto &roadLane : roadSection->GetLanes())
+ {
+ for (const auto &roadMark : roadLane.second->GetRoadMarks())
+ {
+ const auto sOffset = roadMark->GetSOffset();
+ if (sOffset > roadMarkStart && sOffset < roadMarkEnd)
+ {
+ roadMarkEnd = sOffset;
+ }
+ }
+ }
+
+ auto sampledGeometry = CalculateSectionBetweenRoadMarkChanges(roadSectionStart + roadMarkStart,
+ units::math::min(roadSectionStart + roadMarkEnd, roadSectionEnd),
+ road,
+ roadSection);
+ if (firstRoadMark)
+ {
+ sampledGeometries = sampledGeometry;
+ firstRoadMark = false;
+ }
+ else
+ {
+ sampledGeometries.Combine(sampledGeometry);
+ }
+
+ roadMarkStart = roadMarkEnd;
+ }
+
+ JointsBuilder jointsBuilder{sampledGeometries};
+
+ jointsBuilder.CalculatePoints()
+ .CalculateHeadings()
+ .CalculateCurvatures();
+
+ AddPointsToWorld(worldData, jointsBuilder.GetJoints());
+}
+
+SampledGeometry GeometryConverter::CalculateSectionBetweenRoadMarkChanges(units::length::meter_t roadSectionStart,
+ units::length::meter_t roadSectionEnd,
+ const RoadInterface *road,
+ const RoadLaneSectionInterface *roadSection)
{
SampledGeometry sampledGeometries;
auto roadGeometries = road->GetGeometries();
bool firstGeometry{true};
- for(auto roadGeometry = roadGeometries.cbegin(); roadGeometry != roadGeometries.cend(); ++roadGeometry)
+ for (auto roadGeometry = roadGeometries.cbegin(); roadGeometry != roadGeometries.cend(); ++roadGeometry)
{
auto next = std::next(roadGeometry);
//To prevent rounding issues, the length is calculated as difference between the start s of the geometries
- double roadGeometryLength = (next == roadGeometries.end()) ? (*roadGeometry)->GetLength()
- : (*next)->GetS() - (*roadGeometry)->GetS();
+ auto roadGeometryLength = (next == roadGeometries.end()) ? (*roadGeometry)->GetLength()
+ : (*next)->GetS() - (*roadGeometry)->GetS();
auto sampledGeometry = CalculateGeometry(roadSectionStart,
roadSectionEnd,
road,
@@ -152,30 +154,30 @@ SampledGeometry GeometryConverter::CalculateSectionBetweenRoadMarkChanges(double
return sampledGeometries;
}
-SampledGeometry GeometryConverter::CalculateGeometry(double roadSectionStart,
- double roadSectionEnd,
- const RoadInterface* road,
+SampledGeometry GeometryConverter::CalculateGeometry(units::length::meter_t roadSectionStart,
+ units::length::meter_t roadSectionEnd,
+ const RoadInterface *road,
const RoadLaneSectionInterface *roadSection,
- const RoadGeometryInterface* roadGeometry,
- double roadGeometryLength)
+ const RoadGeometryInterface *roadGeometry,
+ units::length::meter_t roadGeometryLength)
{
auto roadGeometryStart = roadGeometry->GetS();
auto roadGeometryEnd = roadGeometryStart + roadGeometryLength;
// if section is not affected by geometry
- if(roadSectionStart >= roadGeometryEnd ||
- roadSectionEnd <= roadGeometryStart)
+ if (roadSectionStart >= roadGeometryEnd ||
+ roadSectionEnd <= roadGeometryStart)
{
return {};
}
- double geometryOffsetStart = CalculateGeometryOffsetStart(roadSectionStart,
- roadGeometryStart);
+ units::length::meter_t geometryOffsetStart = CalculateGeometryOffsetStart(roadSectionStart,
+ roadGeometryStart);
- double geometryOffsetEnd = CalculateGeometryOffsetEnd(roadSectionEnd,
- roadGeometryStart,
- roadGeometryEnd,
- roadGeometryLength);
+ units::length::meter_t geometryOffsetEnd = CalculateGeometryOffsetEnd(roadSectionEnd,
+ roadGeometryStart,
+ roadGeometryEnd,
+ roadGeometryLength);
auto borderPoints = CalculateJoints(geometryOffsetStart,
geometryOffsetEnd,
roadSection,
@@ -189,13 +191,13 @@ SampledGeometry GeometryConverter::CalculateGeometry(double roadSectionStart,
return {borderPoints, roadGeometry->GetDir(geometryOffsetStart), roadGeometry->GetDir(geometryOffsetEnd)};
}
-double GeometryConverter::CalculateGeometryOffsetStart(double roadSectionStart,
- double roadGeometryStart)
+units::length::meter_t GeometryConverter::CalculateGeometryOffsetStart(units::length::meter_t roadSectionStart,
+ units::length::meter_t roadGeometryStart)
{
// geometry begins within section
- if(roadSectionStart <= roadGeometryStart)
+ if (roadSectionStart <= roadGeometryStart)
{
- return 0.0;
+ return 0.0_m;
}
// geometry begins before section
else
@@ -204,13 +206,13 @@ double GeometryConverter::CalculateGeometryOffsetStart(double roadSectionStart,
}
}
-double GeometryConverter::CalculateGeometryOffsetEnd(double roadSectionEnd,
- double roadGeometryStart,
- double roadGeometryEnd,
- double roadGeometryLength)
+units::length::meter_t GeometryConverter::CalculateGeometryOffsetEnd(units::length::meter_t roadSectionEnd,
+ units::length::meter_t roadGeometryStart,
+ units::length::meter_t roadGeometryEnd,
+ units::length::meter_t roadGeometryLength)
{
// geometry ends within section
- if(roadSectionEnd >= roadGeometryEnd)
+ if (roadSectionEnd >= roadGeometryEnd)
{
return roadGeometryLength;
}
@@ -221,66 +223,65 @@ double GeometryConverter::CalculateGeometryOffsetEnd(double roadSectionEnd,
}
}
-std::vector<BorderPoints> GeometryConverter::CalculateJoints(double geometryOffsetStart,
- double geometryOffsetEnd,
+std::vector<BorderPoints> GeometryConverter::CalculateJoints(units::length::meter_t geometryOffsetStart,
+ units::length::meter_t geometryOffsetEnd,
const RoadLaneSectionInterface *roadSection,
const RoadInterface *road,
const RoadGeometryInterface *roadGeometry,
- double roadGeometryStart,
- double roadSectionStart)
+ units::length::meter_t roadGeometryStart,
+ units::length::meter_t roadSectionStart)
{
std::vector<BorderPoints> borderPoints;
- double geometryOffset = geometryOffsetStart;
+ auto geometryOffset = geometryOffsetStart;
while (geometryOffset < geometryOffsetEnd + SAMPLING_RATE)
{
// account for last sample
- if(geometryOffset > geometryOffsetEnd)
+ if (geometryOffset > geometryOffsetEnd)
{
geometryOffset = geometryOffsetEnd;
}
borderPoints.push_back(CalculateBorderPoints(roadSection,
- road,
- roadGeometry,
- geometryOffset,
- roadGeometryStart + geometryOffset,
- roadSectionStart));
+ road,
+ roadGeometry,
+ geometryOffset,
+ roadGeometryStart + geometryOffset,
+ roadSectionStart));
geometryOffset += SAMPLING_RATE;
}
return borderPoints;
}
-BorderPoints GeometryConverter::CalculateBorderPoints(const RoadLaneSectionInterface* roadSection,
- const RoadInterface* road,
- const RoadGeometryInterface* roadGeometry,
- double geometryOffset,
- double sCoordinate,
- double roadSectionStart)
+BorderPoints GeometryConverter::CalculateBorderPoints(const RoadLaneSectionInterface *roadSection,
+ const RoadInterface *road,
+ const RoadGeometryInterface *roadGeometry,
+ units::length::meter_t geometryOffset,
+ units::length::meter_t sCoordinate,
+ units::length::meter_t roadSectionStart)
{
-
- const auto& roadLanes = roadSection->GetLanes();
+ const auto &roadLanes = roadSection->GetLanes();
const auto maxLaneId = roadLanes.crbegin()->first;
const auto minLaneId = roadLanes.cbegin()->first;
- const double sectionOffset = std::max(sCoordinate - roadSection->GetStart(), 0.0); //Take only positive value to prevent rounding imprecision
- const double laneOffset = CalculateLaneOffset(road, sCoordinate);
+ const auto sectionOffset = units::math::max(sCoordinate - roadSection->GetStart(), 0.0_m); //Take only positive value to prevent rounding imprecision
+ const auto laneOffset = CalculateLaneOffset(road, sCoordinate);
const auto centerPoint = roadGeometry->GetCoord(geometryOffset, laneOffset);
- const double heading = roadGeometry->GetDir(geometryOffset);
- const double sin_hdg = std::sin(heading);
- const double cos_hdg = std::cos(heading);
+ const auto heading = roadGeometry->GetDir(geometryOffset);
+ const auto sin_hdg = units::math::sin(heading);
+ const auto cos_hdg = units::math::cos(heading);
std::deque<BorderPoint> points;
// start with positive lanes
// 1, 2, 3... -> order necessary to accumulate right starting from center
- double borderOffset = 0.0;
+ units::length::meter_t borderOffset{0.0};
for (int laneId = 1; laneId <= maxLaneId; laneId++)
{
const auto laneIter = roadLanes.find(laneId);
if (laneIter == roadLanes.end())
{
- throw std::runtime_error("Missing lane with id "+ std::to_string(laneId));
+ throw std::runtime_error("Missing lane with id " + std::to_string(laneId));
}
auto lane = laneIter->second;
@@ -297,20 +298,20 @@ BorderPoints GeometryConverter::CalculateBorderPoints(const RoadLaneSectionInter
throw std::runtime_error("RoadLane requires either Width or Border definition.");
}
- const double x = centerPoint.x - borderOffset * sin_hdg;
- const double y = centerPoint.y + borderOffset * cos_hdg;
- points.emplace_front(Common::Vector2d{x,y}, roadLanes.at(laneId));
+ const units::length::meter_t x = units::length::meter_t(centerPoint.x) - borderOffset * sin_hdg;
+ const units::length::meter_t y = units::length::meter_t(centerPoint.y) + borderOffset * cos_hdg;
+ points.emplace_front(Common::Vector2d<units::length::meter_t>{x, y}, roadLanes.at(laneId));
}
points.emplace_back(centerPoint, roadLanes.at(0));
- borderOffset = 0.0;
+ borderOffset = 0.0_m;
for (int laneId = -1; laneId >= minLaneId; laneId--)
{
const auto laneIter = roadLanes.find(laneId);
if (laneIter == roadLanes.end())
{
- throw std::runtime_error("Missing lane with id "+ std::to_string(laneId));
+ throw std::runtime_error("Missing lane with id " + std::to_string(laneId));
}
auto lane = laneIter->second;
@@ -327,19 +328,19 @@ BorderPoints GeometryConverter::CalculateBorderPoints(const RoadLaneSectionInter
throw std::runtime_error("RoadLane requires either Width or Border definition.");
}
- const double x = centerPoint.x + borderOffset * sin_hdg;
- const double y = centerPoint.y - borderOffset * cos_hdg;
- points.emplace_back(Common::Vector2d{x,y}, roadLanes.at(laneId));
+ const units::length::meter_t x = units::length::meter_t(centerPoint.x) + borderOffset * sin_hdg;
+ const units::length::meter_t y = units::length::meter_t(centerPoint.y) - borderOffset * cos_hdg;
+ points.emplace_back(Common::Vector2d<units::length::meter_t>{x, y}, roadLanes.at(laneId));
}
return BorderPoints{sCoordinate, {points.begin(), points.end()}};
}
-void GeometryConverter::AddPointsToWorld(OWL::Interfaces::WorldData& worldData, const Joints& joints)
+void GeometryConverter::AddPointsToWorld(OWL::Interfaces::WorldData &worldData, const Joints &joints)
{
- for (const auto& joint : joints)
+ for (const auto &joint : joints)
{
- for (const auto& [laneId, laneJoint] : joint.laneJoints)
+ for (const auto &[laneId, laneJoint] : joint.laneJoints)
{
if (laneId == 0)
{
@@ -353,14 +354,14 @@ void GeometryConverter::AddPointsToWorld(OWL::Interfaces::WorldData& worldData,
}
}
-double GeometryConverter::CalculateCoordZ(RoadInterface *road, double offset)
+units::length::meter_t GeometryConverter::CalculateCoordZ(RoadInterface *road, units::length::meter_t offset)
{
- double coordZ = 0.0;
- const RoadElevation* roadElevation = GetRelevantRoadElevation(offset, road);
+ units::length::meter_t coordZ{0.0};
+ const RoadElevation *roadElevation = GetRelevantRoadElevation(offset, road);
- if(roadElevation)
+ if (roadElevation)
{
- double ds = offset - roadElevation->GetS();
+ const auto ds = offset - roadElevation->GetS();
coordZ = roadElevation->GetA() +
roadElevation->GetB() * ds +
@@ -371,12 +372,12 @@ double GeometryConverter::CalculateCoordZ(RoadInterface *road, double offset)
return coordZ;
}
-double GeometryConverter::CalculateSlope(RoadInterface *road, double offset)
+double GeometryConverter::CalculateSlope(RoadInterface *road, units::length::meter_t offset)
{
double slope = 0.0;
- const RoadElevation* roadElevation = GetRelevantRoadElevation(offset, road);
+ const RoadElevation *roadElevation = GetRelevantRoadElevation(offset, road);
- if(roadElevation)
+ if (roadElevation)
{
slope = CalculateSlopeAtRoadPosition(roadElevation, offset);
}
@@ -384,16 +385,16 @@ double GeometryConverter::CalculateSlope(RoadInterface *road, double offset)
return slope;
}
-const RoadElevation* GeometryConverter::GetRelevantRoadElevation(double roadOffset, RoadInterface* road)
+const RoadElevation *GeometryConverter::GetRelevantRoadElevation(units::length::meter_t roadOffset, RoadInterface *road)
{
auto roadLaneIt = road->GetElevations().begin();
- while(road->GetElevations().end() != roadLaneIt)
+ while (road->GetElevations().end() != roadLaneIt)
{
- if((*roadLaneIt)->GetS() <= roadOffset)
+ if ((*roadLaneIt)->GetS() <= roadOffset)
{
auto roadLaneNextIt = std::next(roadLaneIt);
- if(road->GetElevations().end() == roadLaneNextIt ||
- (*roadLaneNextIt)->GetS() > roadOffset)
+ if (road->GetElevations().end() == roadLaneNextIt ||
+ (*roadLaneNextIt)->GetS() > roadOffset)
{
break;
}
@@ -402,26 +403,26 @@ const RoadElevation* GeometryConverter::GetRelevantRoadElevation(double roadOffs
++roadLaneIt;
}
- if(roadLaneIt == road->GetElevations().end())
+ if (roadLaneIt == road->GetElevations().end())
{
return nullptr;
}
else
{
- return *roadLaneIt;
+ return *roadLaneIt;
}
}
-const RoadLaneWidth* GeometryConverter::GetRelevantRoadLaneWidth(double sectionOffset, const RoadLaneWidths widthsOrBorders)
+const RoadLaneWidth *GeometryConverter::GetRelevantRoadLaneWidth(units::length::meter_t sectionOffset, const RoadLaneWidths widthsOrBorders)
{
auto roadLaneIt = widthsOrBorders.begin();
- while(widthsOrBorders.end() != roadLaneIt)
+ while (widthsOrBorders.end() != roadLaneIt)
{
- if((*roadLaneIt)->GetSOffset() <= sectionOffset)
+ if ((*roadLaneIt)->GetSOffset() <= sectionOffset)
{
auto roadLaneNextIt = std::next(roadLaneIt);
- if(widthsOrBorders.end() == roadLaneNextIt ||
- (*roadLaneNextIt)->GetSOffset() > sectionOffset)
+ if (widthsOrBorders.end() == roadLaneNextIt ||
+ (*roadLaneNextIt)->GetSOffset() > sectionOffset)
{
break;
}
@@ -430,25 +431,25 @@ const RoadLaneWidth* GeometryConverter::GetRelevantRoadLaneWidth(double sectionO
++roadLaneIt;
}
- if(roadLaneIt == widthsOrBorders.end())
+ if (roadLaneIt == widthsOrBorders.end())
{
return nullptr;
}
else
{
- return *roadLaneIt;
+ return *roadLaneIt;
}
}
-const RoadLaneOffset* GeometryConverter::GetRelevantRoadLaneOffset(double roadOffset, const RoadInterface* road)
+const RoadLaneOffset *GeometryConverter::GetRelevantRoadLaneOffset(units::length::meter_t roadOffset, const RoadInterface *road)
{
auto laneOffsetIt = road->GetLaneOffsets().begin();
- while(laneOffsetIt != road->GetLaneOffsets().end())
+ while (laneOffsetIt != road->GetLaneOffsets().end())
{
auto laneOffsetNextIt = std::next(laneOffsetIt);
- if(road->GetLaneOffsets().end() == laneOffsetNextIt ||
- (*laneOffsetNextIt)->GetS() > roadOffset)
+ if (road->GetLaneOffsets().end() == laneOffsetNextIt ||
+ (*laneOffsetNextIt)->GetS() > roadOffset)
{
}
@@ -456,13 +457,13 @@ const RoadLaneOffset* GeometryConverter::GetRelevantRoadLaneOffset(double roadOf
}
auto roadLaneIt = road->GetLaneOffsets().begin();
- while(road->GetLaneOffsets().end() != roadLaneIt)
+ while (road->GetLaneOffsets().end() != roadLaneIt)
{
- if((*roadLaneIt)->GetS() <= roadOffset)
+ if ((*roadLaneIt)->GetS() <= roadOffset)
{
auto roadLaneNextIt = std::next(roadLaneIt);
- if(road->GetLaneOffsets().end() == roadLaneNextIt ||
- (*roadLaneNextIt)->GetS() > roadOffset)
+ if (road->GetLaneOffsets().end() == roadLaneNextIt ||
+ (*roadLaneNextIt)->GetS() > roadOffset)
{
break;
}
@@ -471,27 +472,27 @@ const RoadLaneOffset* GeometryConverter::GetRelevantRoadLaneOffset(double roadOf
++roadLaneIt;
}
- if(roadLaneIt == road->GetLaneOffsets().end())
+ if (roadLaneIt == road->GetLaneOffsets().end())
{
return nullptr;
}
else
{
- return *roadLaneIt;
+ return *roadLaneIt;
}
}
-const RoadLaneRoadMark* GeometryConverter::GetRelevantRoadLaneRoadMark(double sectionOffset, const RoadLaneInterface* roadLane)
+const RoadLaneRoadMark *GeometryConverter::GetRelevantRoadLaneRoadMark(units::length::meter_t sectionOffset, const RoadLaneInterface *roadLane)
{
auto roadMarkIt = roadLane->GetRoadMarks().begin();
- while(roadMarkIt != roadLane->GetRoadMarks().end())
+ while (roadMarkIt != roadLane->GetRoadMarks().end())
{
- if((*roadMarkIt)->GetSOffset() <= sectionOffset)
+ if ((*roadMarkIt)->GetSOffset() <= sectionOffset)
{
auto roadMarkNextIt = std::next(roadMarkIt);
- if(roadMarkNextIt == roadLane->GetRoadMarks().end() ||
- (*roadMarkNextIt)->GetSOffset() > sectionOffset)
+ if (roadMarkNextIt == roadLane->GetRoadMarks().end() ||
+ (*roadMarkNextIt)->GetSOffset() > sectionOffset)
{
break;
}
@@ -500,21 +501,21 @@ const RoadLaneRoadMark* GeometryConverter::GetRelevantRoadLaneRoadMark(double se
++roadMarkIt;
}
- if(roadMarkIt == roadLane->GetRoadMarks().end())
+ if (roadMarkIt == roadLane->GetRoadMarks().end())
{
return nullptr;
}
else
{
- return *roadMarkIt;
+ return *roadMarkIt;
}
}
-double GeometryConverter::CalculateLaneWidth(const RoadLaneInterface *roadLane, double sectionOffset)
+units::length::meter_t GeometryConverter::CalculateLaneWidth(const RoadLaneInterface *roadLane, units::length::meter_t sectionOffset)
{
- const RoadLaneWidth* roadLaneWidth = GetRelevantRoadLaneWidth(sectionOffset, roadLane->GetWidths());
+ const RoadLaneWidth *roadLaneWidth = GetRelevantRoadLaneWidth(sectionOffset, roadLane->GetWidths());
- if(!roadLaneWidth)
+ if (!roadLaneWidth)
{
throw std::runtime_error("No lane width given");
}
@@ -522,11 +523,11 @@ double GeometryConverter::CalculateLaneWidth(const RoadLaneInterface *roadLane,
return CalculateWidthAtSectionPosition(roadLaneWidth, sectionOffset);
}
-double GeometryConverter::CalculateLaneBorder(const RoadLaneInterface *roadLane, double sectionOffset)
+units::length::meter_t GeometryConverter::CalculateLaneBorder(const RoadLaneInterface *roadLane, units::length::meter_t sectionOffset)
{
- const RoadLaneWidth* roadLaneBorder = GetRelevantRoadLaneWidth(sectionOffset, roadLane->GetBorders());
+ const RoadLaneWidth *roadLaneBorder = GetRelevantRoadLaneWidth(sectionOffset, roadLane->GetBorders());
- if(!roadLaneBorder)
+ if (!roadLaneBorder)
{
throw std::runtime_error("No lane border given");
}
@@ -534,21 +535,21 @@ double GeometryConverter::CalculateLaneBorder(const RoadLaneInterface *roadLane,
return CalculateWidthAtSectionPosition(roadLaneBorder, sectionOffset);
}
-double GeometryConverter::CalculateLaneOffset(const RoadInterface* road, double roadPosition)
+units::length::meter_t GeometryConverter::CalculateLaneOffset(const RoadInterface *road, units::length::meter_t roadPosition)
{
- const RoadLaneOffset* roadLaneOffset = GetRelevantRoadLaneOffset(roadPosition, road);
+ const RoadLaneOffset *roadLaneOffset = GetRelevantRoadLaneOffset(roadPosition, road);
if (!roadLaneOffset)
{
- return 0.0;
+ return 0.0_m;
}
return CalculateOffsetAtRoadPosition(roadLaneOffset, roadPosition);
}
-double GeometryConverter::CalculateWidthAtSectionPosition(const RoadLaneWidth* width, double position)
+units::length::meter_t GeometryConverter::CalculateWidthAtSectionPosition(const RoadLaneWidth *width, units::length::meter_t position)
{
- double ds = position - width->GetSOffset();
+ const auto ds = position - width->GetSOffset();
return width->GetA() +
width->GetB() * ds +
@@ -556,43 +557,38 @@ double GeometryConverter::CalculateWidthAtSectionPosition(const RoadLaneWidth* w
width->GetD() * ds * ds * ds;
}
-double GeometryConverter::CalculateSlopeAtRoadPosition(const RoadElevation* roadElevation, double position)
+double GeometryConverter::CalculateSlopeAtRoadPosition(const RoadElevation *roadElevation, units::length::meter_t position)
{
- double ds = position - roadElevation->GetS();
+ const auto ds = position - roadElevation->GetS();
- double deltaZ = roadElevation->GetB() +
- 2 * roadElevation->GetC() * ds +
- 3 * roadElevation->GetD() * ds * ds;
+ double deltaZ = roadElevation->GetB() +
+ 2.0 * roadElevation->GetC() * ds +
+ 3.0 * roadElevation->GetD() * ds * ds;
return std::atan(deltaZ);
}
-double GeometryConverter::CalculateOffsetAtRoadPosition(const RoadLaneOffset* roadOffset, double position)
+units::length::meter_t GeometryConverter::CalculateOffsetAtRoadPosition(const RoadLaneOffset *roadOffset, units::length::meter_t position)
{
- double ds = position - roadOffset->GetS();
+ const auto ds = position - roadOffset->GetS();
- double deltaT = roadOffset->GetA() +
- roadOffset->GetB() * ds +
- roadOffset->GetC() * ds * ds +
- roadOffset->GetD() * ds * ds *ds;
+ units::length::meter_t deltaT = roadOffset->GetA() +
+ roadOffset->GetB() * ds +
+ roadOffset->GetC() * ds * ds +
+ roadOffset->GetD() * ds * ds * ds;
return deltaT;
}
-void GeometryConverter::Convert(const SceneryInterface& scenery, OWL::Interfaces::WorldData& worldData)
+void GeometryConverter::Convert(const SceneryInterface &scenery, OWL::Interfaces::WorldData &worldData)
{
CalculateRoads(scenery, worldData);
CalculateIntersections(worldData);
}
-bool GeometryConverter::IsEqual(const double valueA, const double valueB)
+void GeometryConverter::CalculateIntersections(OWL::Interfaces::WorldData &worldData)
{
- return std::abs(valueA - valueB) < EPS;
-}
-
-void GeometryConverter::CalculateIntersections(OWL::Interfaces::WorldData& worldData)
-{
- for (const auto& [id, junction]: worldData.GetJunctions())
+ for (const auto &[id, junction] : worldData.GetJunctions())
{
JunctionPolygons junctionPolygons;
std::transform(junction->GetConnectingRoads().begin(),
@@ -604,10 +600,10 @@ void GeometryConverter::CalculateIntersections(OWL::Interfaces::WorldData& world
}
}
-RoadPolygons GeometryConverter::BuildRoadPolygons(const OWL::Road* const road)
+RoadPolygons GeometryConverter::BuildRoadPolygons(const OWL::Road *const road)
{
std::vector<LaneGeometryPolygon> polygons;
- auto& roadId = road->GetId();
+ auto &roadId = road->GetId();
for (const auto section : road->GetSections())
{
@@ -626,15 +622,14 @@ RoadPolygons GeometryConverter::BuildRoadPolygons(const OWL::Road* const road)
return std::make_pair(roadId, polygons);
}
-std::function<LaneGeometryPolygon (const OWL::Primitive::LaneGeometryElement* const)> GeometryConverter::CreateBuildPolygonFromLaneGeometryFunction(const std::string& roadId,
- const OWL::Id laneId)
+std::function<LaneGeometryPolygon(const OWL::Primitive::LaneGeometryElement *const)> GeometryConverter::CreateBuildPolygonFromLaneGeometryFunction(const std::string &roadId,
+ const OWL::Id laneId)
{
- return [roadId, laneId](const auto elem) -> LaneGeometryPolygon
- {
- point_t currentLeftPoint{elem->joints.current.points.left.x, elem->joints.current.points.left.y};
- point_t currentRightPoint{elem->joints.current.points.right.x, elem->joints.current.points.right.y};
- point_t nextRightPoint{elem->joints.next.points.right.x, elem->joints.next.points.right.y};
- point_t nextLeftPoint{elem->joints.next.points.left.x, elem->joints.next.points.left.y};
+ return [roadId, laneId](const auto elem) -> LaneGeometryPolygon {
+ point_t currentLeftPoint{elem->joints.current.points.left.x.value(), elem->joints.current.points.left.y.value()};
+ point_t currentRightPoint{elem->joints.current.points.right.x.value(), elem->joints.current.points.right.y.value()};
+ point_t nextRightPoint{elem->joints.next.points.right.x.value(), elem->joints.next.points.right.y.value()};
+ point_t nextLeftPoint{elem->joints.next.points.left.x.value(), elem->joints.next.points.left.y.value()};
polygon_t polygon;
bg::append(polygon, currentLeftPoint);
@@ -651,8 +646,8 @@ std::function<LaneGeometryPolygon (const OWL::Primitive::LaneGeometryElement* co
};
}
-void GeometryConverter::CalculateJunctionIntersectionsFromRoadPolygons(const JunctionPolygons& junctionPolygons,
- OWL::Junction* const junction)
+void GeometryConverter::CalculateJunctionIntersectionsFromRoadPolygons(const JunctionPolygons &junctionPolygons,
+ OWL::Junction *const junction)
{
auto roadPolygonsIter = junctionPolygons.begin();
while (roadPolygonsIter != junctionPolygons.end())
@@ -678,17 +673,17 @@ void GeometryConverter::CalculateJunctionIntersectionsFromRoadPolygons(const Jun
}
}
-std::optional<OWL::IntersectionInfo> GeometryConverter::CalculateIntersectionInfoForRoadPolygons(const RoadPolygons& roadPolygons,
- const RoadPolygons& roadPolygonsToCompare,
- const OWL::Junction * const junction)
+std::optional<OWL::IntersectionInfo> GeometryConverter::CalculateIntersectionInfoForRoadPolygons(const RoadPolygons &roadPolygons,
+ const RoadPolygons &roadPolygonsToCompare,
+ const OWL::Junction *const junction)
{
OWL::IntersectionInfo info;
info.intersectingRoad = roadPolygonsToCompare.first;
info.relativeRank = GetRelativeRank(roadPolygons.first, roadPolygonsToCompare.first, junction);
- for (const auto& laneGeometryPolygon : roadPolygons.second)
+ for (const auto &laneGeometryPolygon : roadPolygons.second)
{
- for (const auto& polygonToCompare : roadPolygonsToCompare.second)
+ for (const auto &polygonToCompare : roadPolygonsToCompare.second)
{
const auto intersection = CommonHelper::IntersectionCalculation::GetIntersectionPoints(laneGeometryPolygon.polygon, polygonToCompare.polygon, false, false);
@@ -700,14 +695,14 @@ std::optional<OWL::IntersectionInfo> GeometryConverter::CalculateIntersectionInf
World::Localization::LocalizationElement localizationElement{*laneGeometryPolygon.laneGeometryElement};
World::Localization::WorldToRoadCoordinateConverter processor{localizationElement};
- double minS = std::numeric_limits<double>::max();
- double maxS = 0;
+ units::length::meter_t minS{std::numeric_limits<double>::max()};
+ units::length::meter_t maxS{0};
- for (const auto& point : intersection)
+ for (const auto &point : intersection)
{
- double s = processor.GetS(point);
- minS = std::min(minS, s);
- maxS = std::max(maxS, s);
+ const auto s = processor.GetS(point);
+ minS = units::math::min(minS, s);
+ maxS = units::math::max(maxS, s);
}
std::pair<OWL::Id, OWL::Id> intersectingLanesPair{laneGeometryPolygon.laneId, polygonToCompare.laneId};
@@ -716,10 +711,10 @@ std::optional<OWL::IntersectionInfo> GeometryConverter::CalculateIntersectionInf
// if these lane ids are already marked as intersecting, update the startSOffset and endSOffset to reflect new intersection information
if (intersectingLanesPairIter != info.sOffsets.end())
{
- double recordedStartS = (*intersectingLanesPairIter).second.first;
- double recordedEndS = (*intersectingLanesPairIter).second.second;
- (*intersectingLanesPairIter).second.first = std::min(recordedStartS, minS);
- (*intersectingLanesPairIter).second.second = std::max(recordedEndS, maxS);
+ const auto recordedStartS = (*intersectingLanesPairIter).second.first;
+ const auto recordedEndS = (*intersectingLanesPairIter).second.second;
+ (*intersectingLanesPairIter).second.first = units::math::min(recordedStartS, minS);
+ (*intersectingLanesPairIter).second.second = units::math::max(recordedEndS, maxS);
}
else
{
@@ -729,21 +724,21 @@ std::optional<OWL::IntersectionInfo> GeometryConverter::CalculateIntersectionInf
}
return info.sOffsets.size() > 0
- ? std::make_optional(info)
- : std::nullopt;
+ ? std::make_optional(info)
+ : std::nullopt;
}
-IntersectingConnectionRank GeometryConverter::GetRelativeRank(const std::string& roadId, const std::string& intersectingRoadId, const OWL::Junction * const junction)
+IntersectingConnectionRank GeometryConverter::GetRelativeRank(const std::string &roadId, const std::string &intersectingRoadId, const OWL::Junction *const junction)
{
if (std::find_if(junction->GetPriorities().begin(),
junction->GetPriorities().end(),
- [&](const auto& priority){return priority.first == roadId && priority.second == intersectingRoadId;}) != junction->GetPriorities().end())
+ [&](const auto &priority) { return priority.first == roadId && priority.second == intersectingRoadId; }) != junction->GetPriorities().end())
{
return IntersectingConnectionRank::Lower;
}
else if (std::find_if(junction->GetPriorities().begin(),
junction->GetPriorities().end(),
- [&](const auto& priority){return priority.first == intersectingRoadId && priority.second == roadId;}) != junction->GetPriorities().end())
+ [&](const auto &priority) { return priority.first == intersectingRoadId && priority.second == roadId; }) != junction->GetPriorities().end())
{
return IntersectingConnectionRank::Higher;
}
diff --git a/sim/src/core/opSimulation/modules/World_OSI/GeometryConverter.h b/sim/src/core/opSimulation/modules/World_OSI/GeometryConverter.h
index e433c469734fb3873ce87b06e055857533697177..c28e9b9e3e50542c969435528d2fc9f411be8df1 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/GeometryConverter.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/GeometryConverter.h
@@ -67,8 +67,8 @@ void CalculateRoads(const SceneryInterface& scenery, OWL::Interfaces::WorldData&
//! \param road road the section is part of
//! \param roadSection section to convert
void CalculateSection(OWL::Interfaces::WorldData& worldData,
- double roadSectionStart,
- double roadSectionEnd,
+ units::length::meter_t roadSectionStart,
+ units::length::meter_t roadSectionEnd,
const RoadInterface* road,
const RoadLaneSectionInterface* roadSection);
@@ -80,8 +80,8 @@ void CalculateSection(OWL::Interfaces::WorldData& worldData,
//! \param road road the section is part of
//! \param roadSection section to convert
//! \return sampled boundary points
-SampledGeometry CalculateSectionBetweenRoadMarkChanges(double roadSectionStart,
- double roadSectionEnd,
+SampledGeometry CalculateSectionBetweenRoadMarkChanges(units::length::meter_t roadSectionStart,
+ units::length::meter_t roadSectionEnd,
const RoadInterface *road,
const RoadLaneSectionInterface *roadSection);
@@ -94,20 +94,20 @@ SampledGeometry CalculateSectionBetweenRoadMarkChanges(double roadSectionStart,
//! \param roadGeometry geometry to sample
//! \param roadGeometryLength length of the geometry
//! \return sampled boundary points
-SampledGeometry CalculateGeometry(double roadSectionStart,
- double roadSectionEnd,
+SampledGeometry CalculateGeometry(units::length::meter_t roadSectionStart,
+ units::length::meter_t roadSectionEnd,
const RoadInterface *road,
const RoadLaneSectionInterface *roadSection,
const RoadGeometryInterface *roadGeometry,
- double roadGeometryLength);
+ units::length::meter_t roadGeometryLength);
//! Calculates the start s offset of a geometry inside a section
//!
//! \param roadSectionStart start s coordinate of the section
//! \param roadGeometryStart start s coordinate of the geometry
//! \return start s offset of the geometry in the section
-double CalculateGeometryOffsetStart(double roadSectionStart,
- double roadGeometryStart);
+units::length::meter_t CalculateGeometryOffsetStart(units::length::meter_t roadSectionStart,
+ units::length::meter_t roadGeometryStart);
//! Calculates the end s offset of a geometry inside a section
//!
@@ -116,10 +116,10 @@ double CalculateGeometryOffsetStart(double roadSectionStart,
//! \param roadGeometryEnd end s coordinate of the section
//! \param roadGeometryLength length of the geometry
//! \return end s offset of the geometry in the section
-double CalculateGeometryOffsetEnd(double roadSectionEnd,
- double roadGeometryStart,
- double roadGeometryEnd,
- double roadGeometryLength);
+units::length::meter_t CalculateGeometryOffsetEnd(units::length::meter_t roadSectionEnd,
+ units::length::meter_t roadGeometryStart,
+ units::length::meter_t roadGeometryEnd,
+ units::length::meter_t roadGeometryLength);
//! Calculates the lane boundary points with a high sampling rate
//!
@@ -131,13 +131,13 @@ double CalculateGeometryOffsetEnd(double roadSectionEnd,
//! \param roadGeometryStart start s coordinate of the geometry
//! \param roadSectionStart start s coordinate of the section
//! \return sampled lane boundary points
-std::vector<BorderPoints> CalculateJoints(double geometryOffsetStart,
- double geometryOffsetEnd,
+std::vector<BorderPoints> CalculateJoints(units::length::meter_t geometryOffsetStart,
+ units::length::meter_t geometryOffsetEnd,
const RoadLaneSectionInterface *roadSection,
const RoadInterface *road,
const RoadGeometryInterface *roadGeometry,
- double roadGeometryStart,
- double roadSectionStart);
+ units::length::meter_t roadGeometryStart,
+ units::length::meter_t roadSectionStart);
//! Calculates the lane boundary points of a single joint (i.e. at one s coordinate)
//!
@@ -151,9 +151,9 @@ std::vector<BorderPoints> CalculateJoints(double geometryOffsetStart,
BorderPoints CalculateBorderPoints(const RoadLaneSectionInterface* roadSection,
const RoadInterface *road,
const RoadGeometryInterface *roadGeometry,
- double geometryOffset,
- double roadOffset,
- double roadSectionStart);
+ units::length::meter_t geometryOffset,
+ units::length::meter_t roadOffset,
+ units::length::meter_t roadSectionStart);
//! Adds the sampled joints to the world
//!
@@ -168,7 +168,7 @@ void AddPointsToWorld(OWL::Interfaces::WorldData& worldData, const Joints& joint
//! @param[in] offset Absolute offset on reference line within road
//! @return height coordinate
//-----------------------------------------------------------------------------
-double CalculateCoordZ(RoadInterface *road, double offset);
+units::length::meter_t CalculateCoordZ(RoadInterface *road, units::length::meter_t offset);
//-----------------------------------------------------------------------------
//! Calculates slope according to OpenDrive elevation profiles.
@@ -177,7 +177,7 @@ double CalculateCoordZ(RoadInterface *road, double offset);
//! @param[in] offset Absolute offset on reference line within road
//! @return slope
//-----------------------------------------------------------------------------
-double CalculateSlope(RoadInterface *road, double offset);
+double CalculateSlope(RoadInterface *road, units::length::meter_t offset);
//-----------------------------------------------------------------------------
//! Calculates the width of the provided lane.
@@ -186,7 +186,7 @@ double CalculateSlope(RoadInterface *road, double offset);
//! @param[in] sectionOffset Offset within the OpenDrive section
//! @return Lane width, 0.0 if no width was specified
//-----------------------------------------------------------------------------
-double CalculateLaneWidth(const RoadLaneInterface* roadLane, double sectionOffset);
+units::length::meter_t CalculateLaneWidth(const RoadLaneInterface* roadLane, units::length::meter_t sectionOffset);
//-----------------------------------------------------------------------------
//! Calculates the border of the provided lane.
@@ -195,9 +195,9 @@ double CalculateLaneWidth(const RoadLaneInterface* roadLane, double sectionOffse
//! @param[in] sectionOffset Offset within the OpenDrive section
//! @return Lane border, 0.0 if no width was specified
//-----------------------------------------------------------------------------
-double CalculateLaneBorder(const RoadLaneInterface* roadLane, double sectionOffset);
+units::length::meter_t CalculateLaneBorder(const RoadLaneInterface* roadLane, units::length::meter_t sectionOffset);
-double CalculateLaneOffset(const RoadInterface* road, double roadPosition);
+units::length::meter_t CalculateLaneOffset(const RoadInterface* road, units::length::meter_t roadPosition);
//-----------------------------------------------------------------------------
//! Calculates the slope of a lane at a given position
@@ -206,9 +206,9 @@ double CalculateLaneOffset(const RoadInterface* road, double roadPosition);
//! @param[in] position position w.r.t. start of section
//! @return width at given position
//-----------------------------------------------------------------------------
-double CalculateSlopeAtRoadPosition(const RoadElevation* elevation, double position);
+double CalculateSlopeAtRoadPosition(const RoadElevation* elevation, units::length::meter_t position);
-double CalculateOffsetAtRoadPosition(const RoadLaneOffset* roadOffset, double position);
+units::length::meter_t CalculateOffsetAtRoadPosition(const RoadLaneOffset* roadOffset, units::length::meter_t position);
//-----------------------------------------------------------------------------
//! Calculates the width of a lane at a given position
@@ -217,7 +217,7 @@ double CalculateOffsetAtRoadPosition(const RoadLaneOffset* roadOffset, double po
//! @param[in] position position w.r.t. start of section
//! @return width at given position
//-----------------------------------------------------------------------------
-double CalculateWidthAtSectionPosition(const RoadLaneWidth* width, double position);
+units::length::meter_t CalculateWidthAtSectionPosition(const RoadLaneWidth* width, units::length::meter_t position);
//-----------------------------------------------------------------------------
//! Get the RoadElevation which is relevant for the given position
@@ -226,7 +226,7 @@ double CalculateWidthAtSectionPosition(const RoadLaneWidth* width, double positi
//! @param[in] roadLane the RoadLaneInterface input data
//! @return relevant RoadElevation
//-----------------------------------------------------------------------------
-const RoadElevation* GetRelevantRoadElevation(double sectionOffset, RoadInterface *road);
+const RoadElevation* GetRelevantRoadElevation(units::length::meter_t sectionOffset, RoadInterface *road);
//-----------------------------------------------------------------------------
//! Get the RoadLaneWidth which is relevant for the given position
@@ -235,20 +235,11 @@ const RoadElevation* GetRelevantRoadElevation(double sectionOffset, RoadInterfac
//! @param[in] widthsOrBorders container with all potential RoadLaneWidth pointers
//! @return relevant RoadLaneWidth
//-----------------------------------------------------------------------------
-const RoadLaneWidth* GetRelevantRoadLaneWidth(double sectionOffset, const std::vector<RoadLaneWidth *> widthsOrBorders);
+const RoadLaneWidth* GetRelevantRoadLaneWidth(units::length::meter_t sectionOffset, const std::vector<RoadLaneWidth*> widthsOrBorders);
-const RoadLaneOffset* GetRelevantRoadLaneOffset(double roadOffset, const RoadInterface* road);
+const RoadLaneOffset* GetRelevantRoadLaneOffset(units::length::meter_t roadOffset, const RoadInterface* road);
-const RoadLaneRoadMark* GetRelevantRoadLaneRoadMark(double sectionOffset, const RoadLaneInterface* roadLane);
-
-//-----------------------------------------------------------------------------
-//! Tests if the provided values' difference is smaller than EPS
-//!
-//! @param[in] valueA input value A
-//! @param[in] valueB input value B
-//! @return true, if valueA and valueB are (approximately) the same, false otherwise
-//-----------------------------------------------------------------------------
-bool IsEqual(const double valueA, const double valueB);
+const RoadLaneRoadMark* GetRelevantRoadLaneRoadMark(units::length::meter_t sectionOffset, const RoadLaneInterface* roadLane);
//-----------------------------------------------------------------------------
//! \brief CalculateIntersections calculates any intersections on the
@@ -320,7 +311,7 @@ std::optional<OWL::IntersectionInfo> CalculateIntersectionInfoForRoadPolygons(co
//-----------------------------------------------------------------------------
IntersectingConnectionRank GetRelativeRank(const std::string& roadId, const std::string& intersectingRoadId, const OWL::Junction * const junction);
-constexpr static const double SAMPLING_RATE = 0.1; // 1m sampling rate of reference line
+const units::length::meter_t SAMPLING_RATE{0.1}; // 1m sampling rate of reference line
constexpr static const double EPS = 1e-3; // epsilon value for geometric comparisons
};
diff --git a/sim/src/core/opSimulation/modules/World_OSI/JointsBuilder.cpp b/sim/src/core/opSimulation/modules/World_OSI/JointsBuilder.cpp
index d6ccce1f8468cce7ab2319741d7d57e744fc0c78..9c2ed22e1eaedc94d1de935f45b7d20a031f043d 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/JointsBuilder.cpp
+++ b/sim/src/core/opSimulation/modules/World_OSI/JointsBuilder.cpp
@@ -11,8 +11,6 @@
#include "JointsBuilder.h"
#include "common/commonTools.h"
-constexpr double EPSILON = 0.001;
-
double BorderPoints::GetSquaredError(const BorderPoints& begin, const BorderPoints& end) const
{
assert(points.size() == begin.points.size());
@@ -84,13 +82,13 @@ JointsBuilder& JointsBuilder::CalculateHeadings()
auto& currentCenter = laneJoint.center;
auto& nextCenter = (joint + 1)->laneJoints.at(laneId).center;
auto vector = nextCenter - currentCenter;
- if (vector.y > 0)
+ if (vector.y > 0_m)
{
- laneJoint.heading = M_PI_2 - std::atan(vector.x / vector.y);
+ laneJoint.heading = units::angle::radian_t(M_PI_2) - units::math::atan(vector.x / vector.y);
}
- if (vector.y < 0)
+ if (vector.y < 0_m)
{
- laneJoint.heading = -M_PI_2 - std::atan(vector.x / vector.y);
+ laneJoint.heading = units::angle::radian_t(-M_PI_2) - units::math::atan(vector.x / vector.y);
}
}
}
@@ -105,7 +103,7 @@ JointsBuilder& JointsBuilder::CalculateCurvatures()
{
for (auto& [laneId, laneJoint] : joint->laneJoints)
{
- double previousHeading;
+ units::angle::radian_t previousHeading;
if (joint == joints.begin())
{
previousHeading = sampledGeometry.startHeading;
@@ -114,7 +112,7 @@ JointsBuilder& JointsBuilder::CalculateCurvatures()
{
previousHeading = (joint - 1)->laneJoints.at(laneId).heading;
}
- double nextHeading;
+ units::angle::radian_t nextHeading;
if (joint == joints.end() - 1)
{
nextHeading = sampledGeometry.endHeading;
@@ -124,26 +122,26 @@ JointsBuilder& JointsBuilder::CalculateCurvatures()
nextHeading = laneJoint.heading;
}
auto deltaHeading = CommonHelper::SetAngleToValidRange(nextHeading - previousHeading);
- double deltaS;
+ units::length::meter_t deltaS;
if (joint == joints.begin())
{
auto currentCenter = laneJoint.center;
auto nextElementCenter = ((joint + 1)->laneJoints.at(laneId).center + laneJoint.center) * 0.5;
- deltaS = (nextElementCenter - currentCenter).Length();
+ deltaS = units::length::meter_t((nextElementCenter - currentCenter).Length());
}
else if (joint == joints.end() - 1)
{
auto previousElementCenter = ((joint - 1)->laneJoints.at(laneId).center + laneJoint.center) * 0.5;
auto currentCenter = laneJoint.center;
- deltaS = (currentCenter - previousElementCenter).Length();
+ deltaS = units::length::meter_t((currentCenter - previousElementCenter).Length());
}
else
{
auto previousElementCenter = ((joint - 1)->laneJoints.at(laneId).center + laneJoint.center) * 0.5;
auto nextElementCenter = ((joint + 1)->laneJoints.at(laneId).center + laneJoint.center) * 0.5;
- deltaS = (nextElementCenter - previousElementCenter).Length();
+ deltaS = units::length::meter_t((nextElementCenter - previousElementCenter).Length());
}
- laneJoint.curvature = deltaHeading / deltaS;
+ laneJoint.curvature = units::unit_cast<double>(deltaHeading) / deltaS;
}
}
@@ -161,7 +159,8 @@ void SampledGeometry::Combine(SampledGeometry& other)
{
return;
}
- assert(std::abs(borderPoints.back().s - other.borderPoints.front().s) < EPSILON);
+
+ assert(mantle_api::IsEqual(borderPoints.back().s, other.borderPoints.front().s));
borderPoints.insert(borderPoints.end(), other.borderPoints.begin() + 1, other.borderPoints.end());
endHeading = other.endHeading;
}
diff --git a/sim/src/core/opSimulation/modules/World_OSI/JointsBuilder.h b/sim/src/core/opSimulation/modules/World_OSI/JointsBuilder.h
index db30163c585a18d9eeb4a11577e16965ff8ab410..8ec4c0c76889af5a49ebf5cd1ceb4155629cd934 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/JointsBuilder.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/JointsBuilder.h
@@ -16,7 +16,7 @@
//! This lane represents the outer boundary points of a lane at one s coordinate
struct BorderPoint
{
- explicit BorderPoint(Common::Vector2d point, RoadLaneInterface* lane) noexcept :
+ explicit BorderPoint(Common::Vector2d<units::length::meter_t> point, RoadLaneInterface* lane) noexcept :
point{point}, lane{lane} {}
BorderPoint() = default;
@@ -27,14 +27,14 @@ struct BorderPoint
BorderPoint& operator=(const BorderPoint&) = default;
BorderPoint& operator=(BorderPoint&&) = default;
- Common::Vector2d point;
+ Common::Vector2d<units::length::meter_t> point;
RoadLaneInterface *lane; //!This is needed for later adding the point to this lane
};
//! This struct represents the boundary points of all lanes (including lane 0) at one s coordinate (i.e. one joint)
struct BorderPoints
{
- double s;
+ units::length::meter_t s;
std::vector<BorderPoint> points;
//! Returns the highest squared lateral error of this joint to the line(s) defined by two other joints
@@ -45,8 +45,8 @@ struct BorderPoints
struct SampledGeometry
{
std::vector<BorderPoints> borderPoints;
- double startHeading; //!This is needed for calculating the curvature of the first joint
- double endHeading; //!This is needed for calculating the curvature of the last joint
+ units::angle::radian_t startHeading; //!This is needed for calculating the curvature of the first joint
+ units::angle::radian_t endHeading; //!This is needed for calculating the curvature of the last joint
//! Combine this SampledGeometry with another, that starts where this ends.
//!
@@ -58,17 +58,17 @@ struct SampledGeometry
struct LaneJoint
{
RoadLaneInterface* lane;
- Common::Vector2d left{};
- Common::Vector2d center{};
- Common::Vector2d right{};
- double heading{0.0};
- double curvature{0.0};
+ Common::Vector2d<units::length::meter_t> left{};
+ Common::Vector2d<units::length::meter_t> center{};
+ Common::Vector2d<units::length::meter_t> right{};
+ units::angle::radian_t heading{0.0};
+ units::curvature::inverse_meter_t curvature{0.0};
};
//! This struct contains all information calculated by the JointBuilder for one joint
struct Joint
{
- double s;
+ units::length::meter_t s;
std::map<int, LaneJoint> laneJoints;
};
diff --git a/sim/src/core/opSimulation/modules/World_OSI/LaneStream.cpp b/sim/src/core/opSimulation/modules/World_OSI/LaneStream.cpp
index 61290d0338c0acd7910fcf4da68a26a1c24d93b0..fe14d4c07201b65c9f136b5be3504cf12fbd3f39 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/LaneStream.cpp
+++ b/sim/src/core/opSimulation/modules/World_OSI/LaneStream.cpp
@@ -18,7 +18,7 @@ LaneStream::LaneStream(std::vector<LaneStreamElement> elements) :
StreamPosition LaneStream::GetStreamPosition(const GlobalRoadPosition &roadPosition) const
{
- StreamPosition streamPosition {-1, 0};
+ StreamPosition streamPosition {-1_m, 0_m};
for (const auto& element : elements)
{
@@ -28,7 +28,8 @@ StreamPosition LaneStream::GetStreamPosition(const GlobalRoadPosition &roadPosit
{
streamPosition.s = element.GetStreamPosition(roadPosition.roadPosition.s - element.lane->GetDistance(OWL::MeasurementPoint::RoadStart));
streamPosition.t = roadPosition.roadPosition.t * (element.inStreamDirection ? 1 : -1);
- streamPosition.hdg = CommonHelper::SetAngleToValidRange(roadPosition.roadPosition.hdg + (element.inStreamDirection ? 0 : M_PI));
+ auto test = element.inStreamDirection ? units::angle::radian_t(0) : units::angle::radian_t(M_PI);
+ streamPosition.hdg = CommonHelper::SetAngleToValidRange(roadPosition.roadPosition.hdg + (element.inStreamDirection ? 0_rad : units::angle::radian_t(M_PI)));
}
}
return streamPosition;
@@ -46,7 +47,7 @@ GlobalRoadPosition LaneStream::GetRoadPosition(const StreamPosition &streamPosit
globalRoadPosition.laneId = element.lane->GetOdId();
globalRoadPosition.roadPosition.s = element.lane->GetDistance(OWL::MeasurementPoint::RoadStart) + element.GetElementPosition(streamPosition.s);
globalRoadPosition.roadPosition.t = streamPosition.t * (element.inStreamDirection ? 1 : -1);
- globalRoadPosition.roadPosition.hdg = CommonHelper::SetAngleToValidRange(streamPosition.hdg + (element.inStreamDirection ? 0 : M_PI));
+ globalRoadPosition.roadPosition.hdg = CommonHelper::SetAngleToValidRange(streamPosition.hdg + (element.inStreamDirection ? 0_rad : units::angle::radian_t(M_PI)));
}
}
@@ -142,22 +143,22 @@ std::optional<StreamPosition> LaneStream::GetStreamPosition(const WorldObjectInt
{
const auto s = element.GetStreamPosition(objectPosition.value().roadPosition.s - element.lane->GetDistance(OWL::MeasurementPoint::RoadStart));
const auto t = objectPosition.value().roadPosition.t * (element.inStreamDirection ? 1 : -1);
- const auto hdg = CommonHelper::SetAngleToValidRange(objectPosition.value().roadPosition.hdg + (element.inStreamDirection ? 0 : M_PI));
+ const auto hdg = CommonHelper::SetAngleToValidRange(objectPosition.value().roadPosition.hdg + (element.inStreamDirection ? 0_rad : units::angle::radian_t(M_PI)));
return StreamPosition{s, t, hdg};
}
}
return std::nullopt;
}
-double LaneStream::GetLength() const
+units::length::meter_t LaneStream::GetLength() const
{
return elements.back().EndS();
}
-std::vector<std::pair<double, LaneType>> LaneStream::GetLaneTypes() const
+std::vector<std::pair<units::length::meter_t, LaneType>> LaneStream::GetLaneTypes() const
{
LaneType lastLaneType{LaneType::Undefined};
- std::vector<std::pair<double, LaneType>> laneTypes;
+ std::vector<std::pair<units::length::meter_t, LaneType>> laneTypes;
for (const auto& element : elements)
{
if(element.lane->GetLaneType() != lastLaneType)
diff --git a/sim/src/core/opSimulation/modules/World_OSI/LaneStream.h b/sim/src/core/opSimulation/modules/World_OSI/LaneStream.h
index 364d675b2161d6a73ba1ebe89a08c4807c8fd6fe..50ca43fbaaa9169b24f67fb5d13879b0e6af4412 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/LaneStream.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/LaneStream.h
@@ -18,16 +18,18 @@
#include "include/streamInterface.h"
#include "OWL/DataTypes.h"
+using namespace units::literals;
+
//! This class represents one element of a LaneStream.
struct LaneStreamElement
{
const OWL::Interfaces::Lane* lane; //!< lane represented by this object
- double sOffset; //!< S Offset of the start point of the element from the beginning of the stream
+ units::length::meter_t sOffset; //!< S Offset of the start point of the element from the beginning of the stream
bool inStreamDirection; //!< Specifies whether the direction of the element is the same as the direction of the stream
LaneStreamElement() = default;
- LaneStreamElement(const OWL::Interfaces::Lane* lane, double sOffset, bool inStreamDirection) :
+ LaneStreamElement(const OWL::Interfaces::Lane* lane, units::length::meter_t sOffset, bool inStreamDirection) :
lane(lane),
sOffset(sOffset),
inStreamDirection(inStreamDirection)
@@ -42,7 +44,7 @@ struct LaneStreamElement
//!
//! \param elementPosition position relative to the start of the element
//! \return position relative to the start of the stream
- double GetStreamPosition(double elementPosition) const
+ units::length::meter_t GetStreamPosition(units::length::meter_t elementPosition) const
{
return sOffset + (inStreamDirection ? elementPosition : -elementPosition);
}
@@ -51,21 +53,21 @@ struct LaneStreamElement
//!
//! \param streamPosition position relative to the start of the stream
//! \return position relative to the start of the element
- double GetElementPosition(double streamPosition) const
+ units::length::meter_t GetElementPosition(units::length::meter_t streamPosition) const
{
return inStreamDirection ? streamPosition - sOffset : sOffset - streamPosition;
}
//! Returns the stream position of the start of the lane
- double StartS() const
+ units::length::meter_t StartS() const
{
- return sOffset - (inStreamDirection ? 0 : lane->GetLength());
+ return sOffset - (inStreamDirection ? 0_m : lane->GetLength());
}
//! Returns the stream position of the end of the lane
- double EndS() const
+ units::length::meter_t EndS() const
{
- return sOffset + (inStreamDirection ? lane->GetLength() : 0);
+ return sOffset + (inStreamDirection ? lane->GetLength() : 0_m);
}
};
@@ -84,9 +86,9 @@ public:
virtual std::optional<StreamPosition> GetStreamPosition(const WorldObjectInterface* object, const ObjectPoint& point) const override;
- virtual double GetLength() const override;
+ virtual units::length::meter_t GetLength() const override;
- virtual std::vector<std::pair<double, LaneType>> GetLaneTypes() const override;
+ virtual std::vector<std::pair<units::length::meter_t, LaneType>> GetLaneTypes() const override;
private:
const std::vector<LaneStreamElement> elements;
diff --git a/sim/src/core/opSimulation/modules/World_OSI/Localization.cpp b/sim/src/core/opSimulation/modules/World_OSI/Localization.cpp
index 2667b0c1f2bf3a0253e08f57110825113f5f7c8d..230245ce965467212e91ca2c7e2e923ee3c52a0b 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/Localization.cpp
+++ b/sim/src/core/opSimulation/modules/World_OSI/Localization.cpp
@@ -7,29 +7,27 @@
*
* SPDX-License-Identifier: EPL-2.0
********************************************************************************/
-#include <exception>
-#include <numeric>
-
#include "Localization.h"
#include <boost/function_output_iterator.hpp>
+#include <exception>
+#include <numeric>
namespace World {
namespace Localization {
-std::function<void (const RTreeElement&)> LocateOnGeometryElement(const OWL::Interfaces::WorldData& worldData,
- const std::vector<Common::Vector2d>& objectBoundary,
- const Common::Vector2d& referencePoint,
- const double& hdg,
- LocatedObject& locatedObject)
+std::function<void(const RTreeElement &)> LocateOnGeometryElement(const OWL::Interfaces::WorldData &worldData,
+ const std::vector<Common::Vector2d<units::length::meter_t>> &objectBoundary,
+ const Common::Vector2d<units::length::meter_t> &referencePoint,
+ const units::angle::radian_t &hdg,
+ LocatedObject &locatedObject)
{
- return [&](auto const& value)
- {
- const LocalizationElement& localizationElement = *value.second;
+ return [&](auto const &value) {
+ const LocalizationElement &localizationElement = *value.second;
auto intersection = CommonHelper::IntersectionCalculation::GetIntersectionPoints(localizationElement.polygon, objectBoundary, false);
- if(intersection.size() < 3)
+ if (intersection.size() < 3)
{
//Actual polygons do not intersect -> Skip this GeometryElement
return;
@@ -37,7 +35,7 @@ std::function<void (const RTreeElement&)> LocateOnGeometryElement(const OWL::In
WorldToRoadCoordinateConverter converter(localizationElement);
- const OWL::Interfaces::Lane* lane = localizationElement.lane;
+ const OWL::Interfaces::Lane *lane = localizationElement.lane;
const auto laneOdId = lane->GetOdId();
const auto roadId = lane->GetRoad().GetId();
@@ -47,10 +45,10 @@ std::function<void (const RTreeElement&)> LocateOnGeometryElement(const OWL::In
locatedObject.referencePoint[roadId] = GlobalRoadPosition(roadId, laneOdId, s, t, yaw);
}
- for (const auto& point : intersection)
+ for (const auto &point : intersection)
{
- auto [s, t, yaw] = converter.GetRoadCoordinate(point, hdg);
- assert(s >= 0.0);
+ auto [s, t, yaw] = converter.GetRoadCoordinate(point, hdg);
+ assert(s >= 0.0_m);
auto& laneOverlap = locatedObject.laneOverlaps[lane];
if (s < laneOverlap.sMin.roadPosition.s)
@@ -73,32 +71,31 @@ std::function<void (const RTreeElement&)> LocateOnGeometryElement(const OWL::In
};
}
-LocatedObject LocateOnGeometryElements(const bg_rTree& rTree, const OWL::Interfaces::WorldData& worldData, const std::vector<Common::Vector2d>& agentBoundary, CoarseBoundingBox theAgent,
- const Common::Vector2d referencePoint, double hdg)
+LocatedObject LocateOnGeometryElements(const bg_rTree &rTree, const OWL::Interfaces::WorldData &worldData, const std::vector<Common::Vector2d<units::length::meter_t>> &agentBoundary, CoarseBoundingBox theAgent,
+ const Common::Vector2d<units::length::meter_t> referencePoint, units::angle::radian_t hdg)
{
- LocatedObject locatedObject;
- rTree.query(bgi::intersects(theAgent),
- boost::make_function_output_iterator(LocateOnGeometryElement(worldData, agentBoundary, referencePoint, hdg, locatedObject)));
+ LocatedObject locatedObject;
+ rTree.query(bgi::intersects(theAgent),
+ boost::make_function_output_iterator(LocateOnGeometryElement(worldData, agentBoundary, referencePoint, hdg, locatedObject)));
- return locatedObject;
+ return locatedObject;
}
-std::function<void (const RTreeElement&)> LocateOnGeometryElement(const OWL::Interfaces::WorldData& worldData, const Common::Vector2d& point,
- const double& hdg, GlobalRoadPositions& result)
+std::function<void(const RTreeElement &)> LocateOnGeometryElement(const OWL::Interfaces::WorldData &worldData, const Common::Vector2d<units::length::meter_t> &point,
+ const units::angle::radian_t &hdg, GlobalRoadPositions &result)
{
- return [&](auto const& value)
- {
- const LocalizationElement& localizationElement = *value.second;
+ return [&](auto const &value) {
+ const LocalizationElement &localizationElement = *value.second;
boost::geometry::de9im::mask mask("*****F***"); // within
- if (!boost::geometry::relate(point_t{point.x, point.y}, localizationElement.boost_polygon, mask)) //Check wether point is inside polygon
+ if (!boost::geometry::relate(point_t{point.x.value(), point.y.value()}, localizationElement.boost_polygon, mask)) //Check wether point is inside polygon
{
return;
}
WorldToRoadCoordinateConverter converter(localizationElement);
- const OWL::Interfaces::Lane* lane = localizationElement.lane;
+ const OWL::Interfaces::Lane *lane = localizationElement.lane;
const auto laneOdId = lane->GetOdId();
const auto roadId = lane->GetRoad().GetId();
@@ -110,38 +107,36 @@ std::function<void (const RTreeElement&)> LocateOnGeometryElement(const OWL::Int
};
}
-GlobalRoadPositions LocateOnGeometryElements(const bg_rTree& rTree, const OWL::Interfaces::WorldData& worldData,
- const Common::Vector2d point, double hdg)
+GlobalRoadPositions LocateOnGeometryElements(const bg_rTree &rTree, const OWL::Interfaces::WorldData &worldData,
+ const Common::Vector2d<units::length::meter_t> point, units::angle::radian_t hdg)
{
GlobalRoadPositions result;
CoarseBoundingBox box = GetSearchBox({point});
rTree.query(bgi::intersects(box),
- boost::make_function_output_iterator(LocateOnGeometryElement(worldData, point, hdg, result)));
+ boost::make_function_output_iterator(LocateOnGeometryElement(worldData, point, hdg, result)));
return result;
}
-polygon_t GetBoundingBox(double x, double y, double length, double width, double rotation, double center)
+polygon_t GetBoundingBox(units::length::meter_t x, units::length::meter_t y, units::length::meter_t length, units::length::meter_t width, units::angle::radian_t rotation, units::length::meter_t center)
{
- double halfWidth = width / 2;
+ double halfWidth = units::unit_cast<double>(width / 2);
- point_t boxPoints[]
- {
- point_t{center - length, -halfWidth},
- point_t{center - length, halfWidth},
- point_t{center, halfWidth},
- point_t{center, -halfWidth},
- point_t{center - length, -halfWidth}
- };
+ point_t boxPoints[]{
+ point_t{units::unit_cast<double>(center - length), -halfWidth},
+ point_t{units::unit_cast<double>(center - length), halfWidth},
+ point_t{units::unit_cast<double>(center), halfWidth},
+ point_t{units::unit_cast<double>(center), -halfWidth},
+ point_t{units::unit_cast<double>(center - length), -halfWidth}};
polygon_t box;
polygon_t boxTemp;
bg::append(box, boxPoints);
- bt::translate_transformer<double, 2, 2> translate(x, y);
+ bt::translate_transformer<double, 2, 2> translate(units::unit_cast<double>(x), units::unit_cast<double>(y));
// rotation in mathematical negativ order (boost) -> invert to match
- bt::rotate_transformer<bg::radian, double, 2, 2> rotate(-rotation);
+ bt::rotate_transformer<bg::radian, double, 2, 2> rotate(-rotation.value());
bg::transform(box, boxTemp, rotate);
bg::transform(boxTemp, box, translate);
@@ -149,36 +144,36 @@ polygon_t GetBoundingBox(double x, double y, double length, double width, double
return box;
}
-void CreateLaneAssignments(OWL::Interfaces::WorldObject& object, const std::map<const OWL::Interfaces::Lane*, OWL::LaneOverlap >& laneOverlaps)
+void CreateLaneAssignments(OWL::Interfaces::WorldObject &object, const std::map<const OWL::Interfaces::Lane *, OWL::LaneOverlap> &laneOverlaps)
{
for (auto [lane, laneOverlap] : laneOverlaps)
{
- auto movingObject = dynamic_cast<OWL::MovingObject*>(&object);
+ auto movingObject = dynamic_cast<OWL::MovingObject *>(&object);
if (movingObject)
{
- const_cast<OWL::Interfaces::Lane*>(lane)->AddMovingObject(*movingObject, laneOverlap);
+ const_cast<OWL::Interfaces::Lane *>(lane)->AddMovingObject(*movingObject, laneOverlap);
object.AddLaneAssignment(*lane);
continue;
}
- auto stationaryObject = dynamic_cast<OWL::StationaryObject*>(&object);
+ auto stationaryObject = dynamic_cast<OWL::StationaryObject *>(&object);
if (stationaryObject)
{
- const_cast<OWL::Interfaces::Lane*>(lane)->AddStationaryObject(*stationaryObject, laneOverlap);
+ const_cast<OWL::Interfaces::Lane *>(lane)->AddStationaryObject(*stationaryObject, laneOverlap);
object.AddLaneAssignment(*lane);
continue;
}
}
}
-Result Localizer::BuildResult(const LocatedObject& locatedObject) const
+Result Localizer::BuildResult(const LocatedObject &locatedObject) const
{
std::set<int> touchedLaneIds;
RoadIntervals touchedRoads;
bool isOnRoute = !locatedObject.referencePoint.empty();
- for (const auto& [lane, laneOverlap] : locatedObject.laneOverlaps)
+ for (const auto &[lane, laneOverlap] : locatedObject.laneOverlaps)
{
std::string roadId = lane->GetRoad().GetId();
touchedRoads[roadId].lanes.push_back(lane->GetOdId());
@@ -209,48 +204,48 @@ Result Localizer::BuildResult(const LocatedObject& locatedObject) const
return result;
}
-Localizer::Localizer(const OWL::Interfaces::WorldData& worldData) :
+Localizer::Localizer(const OWL::Interfaces::WorldData &worldData) :
worldData(worldData)
{
}
void Localizer::Init()
{
- for (const auto& [laneId, lane] : worldData.GetLanes())
+ for (const auto &[laneId, lane] : worldData.GetLanes())
{
- for (const auto& laneGeometryElement : lane->GetLaneGeometryElements())
+ for (const auto &laneGeometryElement : lane->GetLaneGeometryElements())
{
elements.emplace_back(*laneGeometryElement);
}
}
- for (const auto& element : elements)
+ for (const auto &element : elements)
{
rTree.insert(std::make_pair(element.search_box, &element));
}
}
-Result Localizer::Locate(const polygon_t& boundingBox, OWL::Interfaces::WorldObject& object) const
+Result Localizer::Locate(const polygon_t &boundingBox, OWL::Interfaces::WorldObject &object) const
{
- const auto& referencePointPosition = object.GetReferencePointPosition();
- const auto& orientation = object.GetAbsOrientation();
+ const auto &referencePointPosition = object.GetReferencePointPosition();
+ const auto &orientation = object.GetAbsOrientation();
- std::vector<Common::Vector2d> agentBoundary;
+ std::vector<Common::Vector2d<units::length::meter_t>> agentBoundary;
for (point_t point : boundingBox.outer())
{
- agentBoundary.emplace_back(bg::get<0>(point), bg::get<1>(point));
+ agentBoundary.emplace_back(units::length::meter_t(bg::get<0>(point)), units::length::meter_t(bg::get<1>(point)));
}
agentBoundary.pop_back();
CoarseBoundingBox searchBox = GetSearchBox(agentBoundary);
- Common::Vector2d referencePoint{referencePointPosition.x, referencePointPosition.y};
+ Common::Vector2d<units::length::meter_t> referencePoint{referencePointPosition.x, referencePointPosition.y};
if (object.Is<OWL::Interfaces::MovingObject>())
{
- const auto& movingObject = object.As<OWL::Interfaces::MovingObject>();
- double distanceRefToFront = movingObject->GetDistanceReferencePointToLeadingEdge();
+ const auto &movingObject = object.As<OWL::Interfaces::MovingObject>();
+ auto distanceRefToFront = movingObject->GetDistanceReferencePointToLeadingEdge();
}
- const auto& locatedObject = LocateOnGeometryElements(rTree,
+ const auto &locatedObject = LocateOnGeometryElements(rTree,
worldData,
agentBoundary,
searchBox,
@@ -266,7 +261,7 @@ Result Localizer::Locate(const polygon_t& boundingBox, OWL::Interfaces::WorldObj
return result;
}
-GlobalRoadPositions Localizer::Locate(const Common::Vector2d& point, const double& hdg) const
+GlobalRoadPositions Localizer::Locate(const Common::Vector2d<units::length::meter_t> &point, const units::angle::radian_t &hdg) const
{
return LocateOnGeometryElements(rTree,
worldData,
@@ -274,10 +269,10 @@ GlobalRoadPositions Localizer::Locate(const Common::Vector2d& point, const doubl
hdg);
}
-void Localizer::Unlocate(OWL::Interfaces::WorldObject& object) const
+void Localizer::Unlocate(OWL::Interfaces::WorldObject &object) const
{
object.ClearLaneAssignments();
}
-}
-}
+} // namespace Localization
+} // namespace World
diff --git a/sim/src/core/opSimulation/modules/World_OSI/Localization.h b/sim/src/core/opSimulation/modules/World_OSI/Localization.h
index 3e863b3095d2e7072e8dc31e7bf88184361a6a87..e7413efa3c55d23486df3f35bf795285e71f6352 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/Localization.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/Localization.h
@@ -71,9 +71,9 @@ struct LocatedObject
//! \return function that the boost r-tree calls for every LaneGeometryElement, that possibly intersects with the object
//!
std::function<void (const RTreeElement&)> LocateOnGeometryElement(const OWL::Interfaces::WorldData& worldData,
- const std::vector<Common::Vector2d>& objectBoundary,
- const Common::Vector2d& referencePoint,
- const double& hdg,
+ const std::vector<Common::Vector2d<units::length::meter_t>>& objectBoundary,
+ const Common::Vector2d<units::length::meter_t>& referencePoint,
+ const units::angle::radian_t& hdg,
LocatedObject& locatedObject);
//! Calculates the coordinates of the point on the GeometryElement and stores the result in the map
@@ -84,11 +84,11 @@ std::function<void (const RTreeElement&)> LocateOnGeometryElement(const OWL::Int
//! \param result Output of the function is stored here
//! \return function that the boost r-tree calls for every LaneGeometryElement, that possibly intersects with the object
std::function<void (const RTreeElement&)> LocateOnGeometryElement(const OWL::Interfaces::WorldData& worldData,
- const Common::Vector2d& point,
- const double& hdg,
+ const Common::Vector2d<units::length::meter_t>& point,
+ const units::angle::radian_t& hdg,
GlobalRoadPositions& result);
-polygon_t GetBoundingBox(double x, double y, double length, double width, double rotation, double center);
+polygon_t GetBoundingBox(units::length::meter_t x, units::length::meter_t y, units::length::meter_t length, units::length::meter_t width, units::angle::radian_t rotation, units::length::meter_t center);
//! Assigns this object to all lanes it was located on, so that the result of Lane::GetWorldObjects
//! contains this object
@@ -103,7 +103,7 @@ public:
Result Locate(const polygon_t& boundingBox, OWL::Interfaces::WorldObject& object) const;
- GlobalRoadPositions Locate(const Common::Vector2d& point, const double& hdg) const;
+ GlobalRoadPositions Locate(const Common::Vector2d<units::length::meter_t>& point, const units::angle::radian_t& hdg) const;
void Unlocate(OWL::Interfaces::WorldObject& object) const;
diff --git a/sim/src/core/opSimulation/modules/World_OSI/LocalizationElement.h b/sim/src/core/opSimulation/modules/World_OSI/LocalizationElement.h
index 9a8946f8da209778ebc556aef9ffff42c6b7eca9..581905efdc4ddfc1c07106c17933cb39274e86a5 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/LocalizationElement.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/LocalizationElement.h
@@ -21,7 +21,7 @@ namespace World {
namespace Localization {
//! Returns a discrete search box for the rTree query in millimeters
-static CoarseBoundingBox GetSearchBox(std::vector<Common::Vector2d> corners)
+static CoarseBoundingBox GetSearchBox(std::vector<Common::Vector2d<units::length::meter_t>> corners)
{
auto x_min = std::numeric_limits<int>::max();
auto x_max = std::numeric_limits<int>::min();
@@ -31,10 +31,10 @@ static CoarseBoundingBox GetSearchBox(std::vector<Common::Vector2d> corners)
//searchBox is in millimeters
for (const auto& point: corners)
{
- x_min = std::min(x_min, static_cast<int>(std::round(point.x * 1000)));
- x_max = std::max(x_max, static_cast<int>(std::round(point.x * 1000)));
- y_min = std::min(y_min, static_cast<int>(std::round(point.y * 1000)));
- y_max = std::max(y_max, static_cast<int>(std::round(point.y * 1000)));
+ x_min = std::min(x_min, static_cast<int>(std::round(point.x.value() * 1000)));
+ x_max = std::max(x_max, static_cast<int>(std::round(point.x.value() * 1000)));
+ y_min = std::min(y_min, static_cast<int>(std::round(point.y.value() * 1000)));
+ y_max = std::max(y_max, static_cast<int>(std::round(point.y.value() * 1000)));
}
return CoarseBoundingBox{DiscretePoint{x_min, y_min}, DiscretePoint{x_max, y_max}};
}
@@ -42,16 +42,16 @@ static CoarseBoundingBox GetSearchBox(std::vector<Common::Vector2d> corners)
//! This struct contains all the information about a LaneGeometryElement that is needed by the Localizer
struct LocalizationElement
{
- LocalizationElement(const OWL::Primitive::LaneGeometryElement& element) :
+ LocalizationElement(const OWL::Primitive::LaneGeometryElement &element) :
laneGeometryElement{element},
lane{element.lane},
polygon{element.joints.current.points.left, element.joints.next.points.left, element.joints.next.points.right, element.joints.current.points.right},
- boost_polygon{{{element.joints.current.points.left.x, element.joints.current.points.left.y},
- {element.joints.next.points.left.x, element.joints.next.points.left.y},
- {element.joints.next.points.right.x, element.joints.next.points.right.y},
- {element.joints.current.points.right.x, element.joints.current.points.right.y},
- {element.joints.current.points.left.x, element.joints.current.points.left.y}}},
- search_box {GetSearchBox(polygon)},
+ boost_polygon{{{element.joints.current.points.left.x.value(), element.joints.current.points.left.y.value()},
+ {element.joints.next.points.left.x.value(), element.joints.next.points.left.y.value()},
+ {element.joints.next.points.right.x.value(), element.joints.next.points.right.y.value()},
+ {element.joints.current.points.right.x.value(), element.joints.current.points.right.y.value()},
+ {element.joints.current.points.left.x.value(), element.joints.current.points.left.y.value()}}},
+ search_box{GetSearchBox(polygon)},
referenceVector{element.joints.next.points.reference - element.joints.current.points.reference},
referenceScale{(element.joints.next.sOffset - element.joints.current.sOffset) / referenceVector.Length()},
tAxisCenter{CommonHelper::CalculateIntersection(element.joints.current.points.left, element.joints.current.points.right - element.joints.current.points.left,
@@ -72,12 +72,12 @@ struct LocalizationElement
const OWL::Primitive::LaneGeometryElement& laneGeometryElement;
const OWL::Interfaces::Lane* lane;
- std::vector<Common::Vector2d> polygon;
+ std::vector<Common::Vector2d<units::length::meter_t>> polygon;
polygon_t boost_polygon;
const CoarseBoundingBox search_box; //!< Box for r-tree in millimeters
- Common::Vector2d referenceVector; //!< Vector from reference point of current joint to reference point of next joint
+ Common::Vector2d<units::length::meter_t> referenceVector; //!< Vector from reference point of current joint to reference point of next joint
double referenceScale; //!< Factor between the actual length of the referenceVector and the s coordinate distance
- std::optional<Common::Vector2d> tAxisCenter; //!< Intersection point of all t-axis or nullopt if t-axis are paralel
+ std::optional<Common::Vector2d<units::length::meter_t>> tAxisCenter; //!< Intersection point of all t-axis or nullopt if t-axis are paralel
};
} // namespace Localization
diff --git a/sim/src/core/opSimulation/modules/World_OSI/OWL/DataTypes.cpp b/sim/src/core/opSimulation/modules/World_OSI/OWL/DataTypes.cpp
index c21abb8e7b1d7583503757be72cfae5645f12e7f..bfdf8039c20348524d3e7d245f15b3034dcda3f1 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/OWL/DataTypes.cpp
+++ b/sim/src/core/opSimulation/modules/World_OSI/OWL/DataTypes.cpp
@@ -15,25 +15,25 @@
//! @brief This file provides the basic datatypes of the osi world layer (OWL)
//-----------------------------------------------------------------------------
+#include "OWL/DataTypes.h"
+
#include <exception>
#include <list>
#include <memory>
#include <string>
#include <tuple>
-#include <qglobal.h>
-#include "include/roadInterface/roadInterface.h"
-#include "include/roadInterface/roadLaneInterface.h"
-#include "include/roadInterface/roadLaneSectionInterface.h"
+#include <qglobal.h>
-#include "OWL/DataTypes.h"
#include "OWL/LaneGeometryElement.h"
#include "OWL/LaneGeometryJoint.h"
#include "OWL/Primitives.h"
-
-#include "osi3/osi_groundtruth.pb.h"
#include "WorldObjectAdapter.h"
#include "OsiDefaultValues.h"
+#include "include/roadInterface/roadInterface.h"
+#include "include/roadInterface/roadLaneInterface.h"
+#include "include/roadInterface/roadLaneSectionInterface.h"
+#include "osi3/osi_groundtruth.pb.h"
#include "common/hypot.h"
@@ -98,14 +98,13 @@ namespace OWL {
return count;
}
- double Lane::GetLength() const {
- return length;
- }
-
+units::length::meter_t Lane::GetLength() const
+{
+ return length;
+}
- std::tuple<const Primitive::LaneGeometryJoint *, const Primitive::LaneGeometryJoint *>
- Lane::GetNeighbouringJoints(
- double distance) const {
+std::tuple<const Primitive::LaneGeometryJoint *, const Primitive::LaneGeometryJoint *> Lane::GetNeighbouringJoints(
+ units::length::meter_t distance) const {
const Primitive::LaneGeometryJoint *nextJoint = nullptr;
const Primitive::LaneGeometryJoint *prevJoint = nullptr;
@@ -115,7 +114,6 @@ namespace OWL {
return joint.sOffset > distance;
});
-
if (nextJointIt != laneGeometryJoints.cend()) {
nextJoint = &(*nextJointIt);
}
@@ -128,10 +126,9 @@ namespace OWL {
return {prevJoint, nextJoint};
}
- const Primitive::LaneGeometryJoint::Points Lane::GetInterpolatedPointsAtDistance(double distance) const {
- Primitive::LaneGeometryJoint::Points interpolatedPoints{{0.0, 0.0},
- {0.0, 0.0},
- {0.0, 0.0}};
+const Primitive::LaneGeometryJoint::Points Lane::GetInterpolatedPointsAtDistance(units::length::meter_t distance) const
+{
+ Primitive::LaneGeometryJoint::Points interpolatedPoints{{0.0_m, 0.0_m}, {0.0_m, 0.0_m}, {0.0_m, 0.0_m}};
const Primitive::LaneGeometryJoint *prevJoint;
const Primitive::LaneGeometryJoint *nextJoint;
std::tie(prevJoint, nextJoint) = GetNeighbouringJoints(distance);
@@ -141,8 +138,8 @@ namespace OWL {
} else if (prevJoint && !nextJoint) {
return prevJoint->points;
} else if (nextJoint && !prevJoint) {
- return nextJoint->points;
- }
+ return nextJoint->points;
+ }
double interpolationFactor = (distance - prevJoint->sOffset) / (nextJoint->sOffset -
prevJoint->sOffset);
@@ -158,54 +155,57 @@ namespace OWL {
return interpolatedPoints;
}
- double Lane::GetCurvature(double distance) const {
+units::curvature::inverse_meter_t Lane::GetCurvature(units::length::meter_t distance) const
+{
const Primitive::LaneGeometryJoint *prevJoint;
const Primitive::LaneGeometryJoint *nextJoint;
std::tie(prevJoint, nextJoint) = GetNeighbouringJoints(distance);
if (!prevJoint && !nextJoint) {
- return 0.0;
+ return 0.0_i_m;
} else if (prevJoint && !nextJoint) {
return prevJoint->curvature;
} else if (nextJoint && !prevJoint) {
- return 0.0;
- }
+ return 0.0_i_m;
+ }
double interpolationFactor = (distance - prevJoint->sOffset) / (nextJoint->sOffset -
prevJoint->sOffset);
- double interpolatedCurvature = (1 - interpolationFactor) * prevJoint->curvature + interpolationFactor *
+ units::curvature::inverse_meter_t interpolatedCurvature = (1 - interpolationFactor) * prevJoint->curvature + interpolationFactor *
nextJoint->curvature;
return interpolatedCurvature;
}
- double Lane::GetWidth(double distance) const {
+units::length::meter_t Lane::GetWidth(units::length::meter_t distance) const
+{
const Primitive::LaneGeometryJoint *prevJoint;
const Primitive::LaneGeometryJoint *nextJoint;
std::tie(prevJoint, nextJoint) = GetNeighbouringJoints(distance);
if (!prevJoint && !nextJoint) {
- return 0.0;
+ return 0.0_m;
} else if (prevJoint && !nextJoint) {
return (prevJoint->points.left - prevJoint->points.right).Length();
} else if (nextJoint && !prevJoint) {
- return 0.0;
- }
+ return 0.0_m;
+ }
- double interpolationFactor = (distance - prevJoint->sOffset) / (nextJoint->sOffset -
- prevJoint->sOffset);
- double nextWidth = (nextJoint->points.left - nextJoint->points.right).Length();
- double prevWidth = (prevJoint->points.left - prevJoint->points.right).Length();
- double interpolatedWidth = (1.0 - interpolationFactor) * prevWidth + interpolationFactor * nextWidth;
+ units::dimensionless::scalar_t interpolationFactor = (distance - prevJoint->sOffset) / (nextJoint->sOffset -
+ prevJoint->sOffset);
+ units::length::meter_t nextWidth{(nextJoint->points.left - nextJoint->points.right).Length()};
+ units::length::meter_t prevWidth{(prevJoint->points.left - prevJoint->points.right).Length()};
+ units::length::meter_t interpolatedWidth = (1.0 - interpolationFactor) * prevWidth + interpolationFactor * nextWidth;
return interpolatedWidth;
}
- double Lane::GetDirection(double distance) const {
- auto[prevJoint, nextJoint] = GetNeighbouringJoints(distance);
+units::angle::radian_t Lane::GetDirection(units::length::meter_t distance) const
+{
+ auto [prevJoint, nextJoint] = GetNeighbouringJoints(distance);
if (!prevJoint) {
- return 0.0;
+ return 0.0_rad;
}
return prevJoint->sHdg;
@@ -235,7 +235,7 @@ namespace OWL {
return laneBoundaries;
}
- double Lane::GetDistance(MeasurementPoint measurementPoint) const {
+ units::length::meter_t Lane::GetDistance(MeasurementPoint measurementPoint) const {
if (laneGeometryElements.empty()) {
throw std::runtime_error("Unexpected Lane without LaneGeometryElements");
}
@@ -255,12 +255,11 @@ namespace OWL {
return laneType;
}
- bool Lane::Covers(double distance) const {
+bool Lane::Covers(units::length::meter_t distance) const {
if (GetDistance(MeasurementPoint::RoadStart) <= distance) {
return next.empty() ?
GetDistance(MeasurementPoint::RoadEnd) > distance :
GetDistance(MeasurementPoint::RoadEnd) >= distance;
-
}
return false;
}
@@ -407,12 +406,12 @@ namespace OWL {
return laneGeometryElements;
}
- void Lane::AddLaneGeometryJoint(const Common::Vector2d &pointLeft,
- const Common::Vector2d &pointCenter,
- const Common::Vector2d &pointRight,
- double sOffset,
- double curvature,
- double heading) {
+void Lane::AddLaneGeometryJoint(const Common::Vector2d<units::length::meter_t> &pointLeft,
+ const Common::Vector2d<units::length::meter_t> &pointCenter,
+ const Common::Vector2d<units::length::meter_t> &pointRight,
+ units::length::meter_t sOffset,
+ units::curvature::inverse_meter_t curvature,
+ units::angle::radian_t heading) {
Primitive::LaneGeometryJoint newJoint;
newJoint.points.left = pointLeft;
@@ -425,8 +424,8 @@ namespace OWL {
if (laneGeometryJoints.empty()) {
laneGeometryJoints.push_back(newJoint);
auto osiCenterpoint = osiLane->mutable_classification()->add_centerline();
- osiCenterpoint->set_x(pointCenter.x);
- osiCenterpoint->set_y(pointCenter.y);
+ osiCenterpoint->set_x(pointCenter.x.value());
+ osiCenterpoint->set_y(pointCenter.y.value());
return;
}
@@ -442,11 +441,11 @@ namespace OWL {
laneGeometryElements.push_back(newElement);
laneGeometryJoints.push_back(newJoint);
auto osiCenterpoint = osiLane->mutable_classification()->add_centerline();
- osiCenterpoint->set_x(pointCenter.x);
- osiCenterpoint->set_y(pointCenter.y);
+ osiCenterpoint->set_x(pointCenter.x.value());
+ osiCenterpoint->set_y(pointCenter.y.value());
}
- Section::Section(double sOffset) :
+Section::Section(units::length::meter_t sOffset) :
sOffset(sOffset) {}
void Section::AddNext(const Interfaces::Section §ion) {
@@ -469,7 +468,7 @@ namespace OWL {
return *road;
}
- double Section::GetDistance(MeasurementPoint measurementPoint) const {
+ units::length::meter_t Section::GetDistance(MeasurementPoint measurementPoint) const {
if (measurementPoint == MeasurementPoint::RoadStart) {
return GetSOffset();
}
@@ -479,10 +478,9 @@ namespace OWL {
}
throw std::invalid_argument("measurement point not within valid bounds");
-
}
- bool Section::Covers(double distance) const {
+bool Section::Covers(units::length::meter_t distance) const {
if (GetDistance(MeasurementPoint::RoadStart) <= distance) {
return nextSections.empty() ?
GetDistance(MeasurementPoint::RoadEnd) >= distance :
@@ -491,9 +489,9 @@ namespace OWL {
return false;
}
- bool Section::CoversInterval(double startDistance, double endDistance) const {
- double sectionStart = GetDistance(MeasurementPoint::RoadStart);
- double sectionEnd = GetDistance(MeasurementPoint::RoadEnd);
+bool Section::CoversInterval(units::length::meter_t startDistance, units::length::meter_t endDistance) const {
+ auto sectionStart = GetDistance(MeasurementPoint::RoadStart);
+ auto sectionEnd = GetDistance(MeasurementPoint::RoadEnd);
bool startDistanceSmallerSectionEnd = nextSections.empty() ?
startDistance <= sectionEnd
@@ -508,9 +506,9 @@ namespace OWL {
return lanes;
}
- double Section::GetLength() const {
+ units::length::meter_t Section::GetLength() const {
//All lanes must have equal length, so we simple take the length of first lane
- return lanes.empty() ? 0.0 : lanes.front()->GetLength();
+ return lanes.empty() ? 0.0_m : lanes.front()->GetLength();
}
void Section::SetCenterLaneBoundary(std::vector<Id> laneBoundaryId) {
@@ -521,11 +519,10 @@ namespace OWL {
return centerLaneBoundary;
}
- double Section::GetSOffset() const {
+ units::length::meter_t Section::GetSOffset() const {
return sOffset;
}
-
Road::Road(bool isInStreamDirection, const std::string &id) :
isInStreamDirection(isInStreamDirection),
id(id) {
@@ -544,8 +541,8 @@ namespace OWL {
sections.push_back(§ion);
}
- double Road::GetLength() const {
- double length = 0;
+ units::length::meter_t Road::GetLength() const {
+ units::length::meter_t length{0};
for (const auto §ion: sections) {
length += section->GetLength();
}
@@ -572,9 +569,9 @@ namespace OWL {
return isInStreamDirection;
}
- double Road::GetDistance(MeasurementPoint mp) const {
+ units::length::meter_t Road::GetDistance(MeasurementPoint mp) const {
if (mp == MeasurementPoint::RoadStart) {
- return 0;
+ return 0_m;
} else {
return GetLength();
}
@@ -590,38 +587,32 @@ namespace OWL {
newStationaryObject->CopyFrom(*osiObject);
}
- Primitive::Dimension StationaryObject::GetDimension() const {
+ mantle_api::Dimension3 StationaryObject::GetDimension() const {
return GetDimensionFromOsiObject(osiObject);
}
- Primitive::AbsOrientation StationaryObject::GetAbsOrientation() const {
+mantle_api::Orientation3<units::angle::radian_t> StationaryObject::GetAbsOrientation() const {
osi3::Orientation3d osiOrientation = osiObject->base().orientation();
- Primitive::AbsOrientation orientation;
-
- orientation.yaw = osiOrientation.yaw();
- orientation.pitch = osiOrientation.pitch();
- orientation.roll = osiOrientation.roll();
- return orientation;
+ return {units::angle::radian_t(osiOrientation.yaw()),
+ units::angle::radian_t(osiOrientation.pitch()),
+ units::angle::radian_t(osiOrientation.roll())};
}
- Primitive::AbsPosition StationaryObject::GetReferencePointPosition() const {
+mantle_api::Vec3<units::length::meter_t> StationaryObject::GetReferencePointPosition() const {
const osi3::Vector3d osiPosition = osiObject->base().position();
- Primitive::AbsPosition position;
- position.x = osiPosition.x();
- position.y = osiPosition.y();
- position.z = osiPosition.z();
-
- return position;
+ return {units::length::meter_t(osiPosition.x()),
+ units::length::meter_t(osiPosition.y()),
+ units::length::meter_t(osiPosition.z())};
}
- double StationaryObject::GetAbsVelocityDouble() const {
- return 0.0;
+units::velocity::meters_per_second_t StationaryObject::GetAbsVelocityDouble() const {
+ return 0.0_mps;
}
- double StationaryObject::GetAbsAccelerationDouble() const {
- return 0.0;
+units::acceleration::meters_per_second_squared_t StationaryObject::GetAbsAccelerationDouble() const {
+ return 0.0_mps_sq;
}
const RoadIntervals &StationaryObject::GetTouchedRoads() const {
@@ -632,28 +623,28 @@ namespace OWL {
return osiObject->id().value();
}
- void StationaryObject::SetReferencePointPosition(const Primitive::AbsPosition &newPosition) {
+void StationaryObject::SetReferencePointPosition(const mantle_api::Vec3<units::length::meter_t> &newPosition) {
osi3::Vector3d *osiPosition = osiObject->mutable_base()->mutable_position();
- osiPosition->set_x(newPosition.x);
- osiPosition->set_y(newPosition.y);
- osiPosition->set_z(newPosition.z);
+ osiPosition->set_x(units::unit_cast<double>(newPosition.x));
+ osiPosition->set_y(units::unit_cast<double>(newPosition.y));
+ osiPosition->set_z(units::unit_cast<double>(newPosition.z));
}
- void StationaryObject::SetDimension(const Primitive::Dimension &newDimension) {
+ void StationaryObject::SetDimension(const mantle_api::Dimension3 &newDimension) {
osi3::Dimension3d *osiDimension = osiObject->mutable_base()->mutable_dimension();
- osiDimension->set_length(newDimension.length);
- osiDimension->set_width(newDimension.width);
- osiDimension->set_height(newDimension.height);
+ osiDimension->set_length(units::unit_cast<double>(newDimension.length));
+ osiDimension->set_width(units::unit_cast<double>(newDimension.width));
+ osiDimension->set_height(units::unit_cast<double>(newDimension.height));
}
- void StationaryObject::SetAbsOrientation(const Primitive::AbsOrientation &newOrientation) {
+void StationaryObject::SetAbsOrientation(const mantle_api::Orientation3<units::angle::radian_t> &newOrientation) {
osi3::Orientation3d *osiOrientation = osiObject->mutable_base()->mutable_orientation();
- osiOrientation->set_yaw(newOrientation.yaw);
- osiOrientation->set_pitch(newOrientation.pitch);
- osiOrientation->set_roll(newOrientation.roll);
+ osiOrientation->set_yaw(units::unit_cast<double>(newOrientation.yaw));
+ osiOrientation->set_pitch(units::unit_cast<double>(newOrientation.pitch));
+ osiOrientation->set_roll(units::unit_cast<double>(newOrientation.roll));
}
void StationaryObject::AddLaneAssignment(const Interfaces::Lane &lane) {
@@ -694,12 +685,12 @@ namespace OWL {
const auto baseStationary = osiSign->mutable_main_sign()->mutable_base();
- baseStationary->mutable_position()->set_x(position.xPos);
- baseStationary->mutable_position()->set_y(position.yPos);
- baseStationary->mutable_position()->set_z(signal->GetZOffset() + 0.5 * signal->GetHeight());
- baseStationary->mutable_dimension()->set_width(signal->GetWidth());
- baseStationary->mutable_dimension()->set_height(signal->GetHeight());
- baseStationary->mutable_orientation()->set_yaw(position.yawAngle);
+ baseStationary->mutable_position()->set_x(units::unit_cast<double>(position.xPos));
+ baseStationary->mutable_position()->set_y(units::unit_cast<double>(position.yPos));
+ baseStationary->mutable_position()->set_z(units::unit_cast<double>(signal->GetZOffset() + 0.5 * signal->GetHeight()));
+ baseStationary->mutable_dimension()->set_width(units::unit_cast<double>(signal->GetWidth()));
+ baseStationary->mutable_dimension()->set_height(units::unit_cast<double>(signal->GetHeight()));
+ baseStationary->mutable_orientation()->set_yaw(units::unit_cast<double>(position.yawAngle));
const auto mutableOsiClassification = osiSign->mutable_main_sign()->mutable_classification();
const std::string odType = signal->GetType();
@@ -764,14 +755,14 @@ namespace OWL {
const auto baseStationary = supplementarySign->mutable_base();
- baseStationary->mutable_position()->set_x(position.xPos);
- baseStationary->mutable_position()->set_y(position.yPos);
- baseStationary->mutable_position()->set_z(odSignal->GetZOffset() + 0.5 * odSignal->GetHeight());
- baseStationary->mutable_dimension()->set_width(odSignal->GetWidth());
- baseStationary->mutable_dimension()->set_height(odSignal->GetHeight());
- double yaw = position.yawAngle + odSignal->GetHOffset() + (odSignal->GetOrientation() ? 0 : M_PI);
+ baseStationary->mutable_position()->set_x(units::unit_cast<double>(position.xPos));
+ baseStationary->mutable_position()->set_y(units::unit_cast<double>(position.yPos));
+ baseStationary->mutable_position()->set_z(units::unit_cast<double>(odSignal->GetZOffset() + 0.5 * odSignal->GetHeight()));
+ baseStationary->mutable_dimension()->set_width(units::unit_cast<double>(odSignal->GetWidth()));
+ baseStationary->mutable_dimension()->set_height(units::unit_cast<double>(odSignal->GetHeight()));
+ auto yaw = position.yawAngle + odSignal->GetHOffset() + (odSignal->GetOrientation() ? 0_rad : 1_rad * M_PI);
yaw = CommonHelper::SetAngleToValidRange(yaw);
- baseStationary->mutable_orientation()->set_yaw(yaw);
+ baseStationary->mutable_orientation()->set_yaw(units::unit_cast<double>(yaw));
if (odSignal->GetType() == "1004") {
supplementarySign->mutable_classification()->set_type(
@@ -816,8 +807,7 @@ namespace OWL {
}
}
-
- CommonTrafficSign::Entity TrafficSign::GetSpecification(const double relativeDistance) const {
+CommonTrafficSign::Entity TrafficSign::GetSpecification(const units::length::meter_t relativeDistance) const {
CommonTrafficSign::Entity specification;
specification.distanceToStartOfRoad = s;
@@ -863,18 +853,15 @@ namespace OWL {
return specification;
}
- Primitive::AbsPosition TrafficSign::GetReferencePointPosition() const {
+mantle_api::Vec3<units::length::meter_t> TrafficSign::GetReferencePointPosition() const {
const osi3::Vector3d osiPosition = osiSign->main_sign().base().position();
- Primitive::AbsPosition position;
- position.x = osiPosition.x();
- position.y = osiPosition.y();
- position.z = osiPosition.z();
-
- return position;
+ return {units::length::meter_t(osiPosition.x()),
+ units::length::meter_t(osiPosition.y()),
+ units::length::meter_t(osiPosition.z())};
}
- Primitive::Dimension TrafficSign::GetDimension() const {
+ mantle_api::Dimension3 TrafficSign::GetDimension() const {
return GetDimensionFromOsiObject(&osiSign->main_sign());
}
@@ -901,12 +888,12 @@ namespace OWL {
const auto baseStationary = osiSign->mutable_base();
- baseStationary->mutable_position()->set_x(position.xPos);
- baseStationary->mutable_position()->set_y(position.yPos);
+ baseStationary->mutable_position()->set_x(units::unit_cast<double>(position.xPos));
+ baseStationary->mutable_position()->set_y(units::unit_cast<double>(position.yPos));
baseStationary->mutable_position()->set_z(0.0);
- baseStationary->mutable_dimension()->set_width(signal->GetWidth());
+ baseStationary->mutable_dimension()->set_width(units::unit_cast<double>(signal->GetWidth()));
baseStationary->mutable_dimension()->set_length(0.5);
- baseStationary->mutable_orientation()->set_yaw(position.yawAngle);
+ baseStationary->mutable_orientation()->set_yaw(units::unit_cast<double>(position.yawAngle));
const auto mutableOsiClassification = osiSign->mutable_classification();
const std::string odType = signal->GetType();
@@ -933,14 +920,14 @@ namespace OWL {
const auto baseStationary = osiSign->mutable_base();
- baseStationary->mutable_position()->set_x(position.xPos);
- baseStationary->mutable_position()->set_y(position.yPos);
+ baseStationary->mutable_position()->set_x(units::unit_cast<double>(position.xPos));
+ baseStationary->mutable_position()->set_y(units::unit_cast<double>(position.yPos));
baseStationary->mutable_position()->set_z(0.0);
- baseStationary->mutable_dimension()->set_width(object->GetWidth());
- baseStationary->mutable_dimension()->set_length(object->GetLength());
- double yaw = object->GetHdg();
+ baseStationary->mutable_dimension()->set_width(units::unit_cast<double>(object->GetWidth()));
+ baseStationary->mutable_dimension()->set_length(units::unit_cast<double>(object->GetLength()));
+ units::angle::radian_t yaw = object->GetHdg();
yaw = CommonHelper::SetAngleToValidRange(yaw);
- baseStationary->mutable_orientation()->set_yaw(yaw);
+ baseStationary->mutable_orientation()->set_yaw(units::unit_cast<double>(yaw));
const auto mutableOsiClassification = osiSign->mutable_classification();
@@ -960,7 +947,7 @@ namespace OWL {
return mapping_succeeded;
}
- CommonTrafficSign::Entity RoadMarking::GetSpecification(const double relativeDistance) const {
+CommonTrafficSign::Entity RoadMarking::GetSpecification(const units::length::meter_t relativeDistance) const {
CommonTrafficSign::Entity specification;
specification.distanceToStartOfRoad = s;
@@ -977,18 +964,15 @@ namespace OWL {
return specification;
}
- Primitive::AbsPosition RoadMarking::GetReferencePointPosition() const {
+mantle_api::Vec3<units::length::meter_t> RoadMarking::GetReferencePointPosition() const {
const osi3::Vector3d osiPosition = osiSign->base().position();
- Primitive::AbsPosition position;
-
- position.x = osiPosition.x();
- position.y = osiPosition.y();
- position.z = osiPosition.z();
- return position;
+ return {units::length::meter_t(osiPosition.x()),
+ units::length::meter_t(osiPosition.y()),
+ units::length::meter_t(osiPosition.z())};
}
- Primitive::Dimension RoadMarking::GetDimension() const {
+ mantle_api::Dimension3 RoadMarking::GetDimension() const {
return GetDimensionFromOsiObject(osiSign);
}
@@ -1007,8 +991,7 @@ namespace OWL {
newRoadMarking->CopyFrom(*osiSign);
}
- LaneBoundary::LaneBoundary(osi3::LaneBoundary *osiLaneBoundary, double width, double sStart, double sEnd,
- LaneMarkingSide side) :
+LaneBoundary::LaneBoundary(osi3::LaneBoundary *osiLaneBoundary, units::length::meter_t width, units::length::meter_t sStart, units::length::meter_t sEnd, LaneMarkingSide side) :
osiLaneBoundary(osiLaneBoundary),
sStart(sStart),
sEnd(sEnd),
@@ -1020,15 +1003,15 @@ namespace OWL {
return osiLaneBoundary->id().value();
}
- double LaneBoundary::GetWidth() const {
+units::length::meter_t LaneBoundary::GetWidth() const {
return width;
}
- double LaneBoundary::GetSStart() const {
+units::length::meter_t LaneBoundary::GetSStart() const {
return sStart;
}
- double LaneBoundary::GetSEnd() const {
+units::length::meter_t LaneBoundary::GetSEnd() const {
return sEnd;
}
@@ -1044,24 +1027,24 @@ namespace OWL {
return side;
}
- void LaneBoundary::AddBoundaryPoint(const Common::Vector2d &point, double heading) {
- constexpr double doubleLineDistance = 0.15;
+void LaneBoundary::AddBoundaryPoint(const Common::Vector2d<units::length::meter_t> &point, units::angle::radian_t heading) {
+ constexpr units::length::meter_t doubleLineDistance{0.15};
auto boundaryPoint = osiLaneBoundary->add_boundary_line();
switch (side) {
case LaneMarkingSide::Single :
- boundaryPoint->mutable_position()->set_x(point.x);
- boundaryPoint->mutable_position()->set_y(point.y);
+ boundaryPoint->mutable_position()->set_x(point.x.value());
+ boundaryPoint->mutable_position()->set_y(point.y.value());
break;
case LaneMarkingSide::Left :
- boundaryPoint->mutable_position()->set_x(point.x - doubleLineDistance * std::sin(heading));
- boundaryPoint->mutable_position()->set_y(point.y + doubleLineDistance * std::cos(heading));
+ boundaryPoint->mutable_position()->set_x(units::unit_cast<double>(point.x - doubleLineDistance * units::math::sin(heading)));
+ boundaryPoint->mutable_position()->set_y(units::unit_cast<double>(point.y + doubleLineDistance * units::math::cos(heading)));
break;
case LaneMarkingSide::Right :
- boundaryPoint->mutable_position()->set_x(point.x + doubleLineDistance * std::sin(heading));
- boundaryPoint->mutable_position()->set_y(point.y - doubleLineDistance * std::cos(heading));
+ boundaryPoint->mutable_position()->set_x(units::unit_cast<double>(point.x + doubleLineDistance * units::math::sin(heading)));
+ boundaryPoint->mutable_position()->set_y(units::unit_cast<double>(point.y - doubleLineDistance * units::math::cos(heading)));
break;
}
- boundaryPoint->set_width(width);
+ boundaryPoint->set_width(units::unit_cast<double>(width));
}
void LaneBoundary::CopyToGroundTruth(osi3::GroundTruth &target) const {
diff --git a/sim/src/core/opSimulation/modules/World_OSI/OWL/DataTypes.h b/sim/src/core/opSimulation/modules/World_OSI/OWL/DataTypes.h
index 8512dfd97549042120936313a2b0c1278df73540..964e09fc086110dba49c7aadd15d290ad394d1f6 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/OWL/DataTypes.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/OWL/DataTypes.h
@@ -41,6 +41,8 @@
#include "osi3/osi_groundtruth.pb.h"
#include "osi3/osi_trafficsign.pb.h"
+using namespace units::literals;
+
namespace OWL {
using Id = uint64_t;
@@ -48,7 +50,7 @@ namespace OWL {
using OdId = int64_t;
- using Angle = float;
+ using Angle = units::angle::radian_t;
using Priorities = std::vector<std::pair<std::string, std::string>>;
@@ -65,13 +67,13 @@ namespace OWL {
Single
};
-//! This struct describes the intersection of an object with a lane
-struct LaneOverlap
-{
- GlobalRoadPosition sMin{"", 0, std::numeric_limits<double>::infinity(), 0, 0};
- GlobalRoadPosition sMax{"", 0, -std::numeric_limits<double>::infinity(), 0, 0};
- GlobalRoadPosition tMin{"", 0, 0, std::numeric_limits<double>::infinity(), 0};
- GlobalRoadPosition tMax{"", 0, 0, -std::numeric_limits<double>::infinity(), 0};
+ //! This struct describes the intersection of an object with a lane
+ struct LaneOverlap
+ {
+ GlobalRoadPosition sMin{"", 0, units::length::meter_t{std::numeric_limits<double>::infinity()}, 0_m, 0_rad};
+ GlobalRoadPosition sMax{"", 0, units::length::meter_t{-std::numeric_limits<double>::infinity()}, 0_m, 0_rad};
+ GlobalRoadPosition tMin{"", 0, 0_m, units::length::meter_t{std::numeric_limits<double>::infinity()}, 0_rad};
+ GlobalRoadPosition tMax{"", 0, 0_m, units::length::meter_t{-std::numeric_limits<double>::infinity()}, 0_rad};
};
struct IntersectionInfo {
@@ -80,13 +82,13 @@ struct LaneOverlap
//! For each pair of lanes on the own road (first id) and the intersecting road (second id)
//! this contains the start s and end s of the intersection on the own lane
- std::map<std::pair<Id, Id>, std::pair<double, double>> sOffsets;
+ std::map<std::pair<Id, Id>, std::pair<units::length::meter_t, units::length::meter_t>> sOffsets;
};
template<typename OsiObject>
- Primitive::Dimension GetDimensionFromOsiObject(const OsiObject &osiObject) {
+ mantle_api::Dimension3 GetDimensionFromOsiObject(const OsiObject &osiObject) {
const auto &d = osiObject->base().dimension();
- return {d.length(), d.width(), d.height()};
+ return {units::length::meter_t(d.length()), units::length::meter_t(d.width()), units::length::meter_t(d.height())};
}
template<typename T>
@@ -128,27 +130,27 @@ struct LaneOverlap
struct WheelData{
unsigned int axle;
unsigned int index;
- double width = std::numeric_limits<double>::signaling_NaN();
- double wheelRadius = std::numeric_limits<double>::signaling_NaN();
- double rotation_rate = std::numeric_limits<double>::signaling_NaN();
- double rim_radius = std::numeric_limits<double>::signaling_NaN();
- Primitive::Vector3 position {};
- Primitive::AbsOrientation orientation {};
+ units::length::meter_t width = units::length::meter_t(std::numeric_limits<double>::signaling_NaN());
+ units::length::meter_t wheelRadius = units::length::meter_t(std::numeric_limits<double>::signaling_NaN());
+ units::angular_velocity::revolutions_per_minute_t rotation_rate = units::angular_velocity::revolutions_per_minute_t(std::numeric_limits<double>::signaling_NaN());
+ units::length::meter_t rim_radius = units::length::meter_t(std::numeric_limits<double>::signaling_NaN());
+ mantle_api::Vec3<units::length::meter_t> position {};
+ mantle_api::Orientation3<units::angle::radian_t> orientation {};
void SetFromOsi(const osi3::MovingObject_VehicleAttributes_WheelData* data)
{
axle = data->axle();
index = data->index();
- width = data->width();
- wheelRadius = data->wheel_radius();
- rotation_rate = data->rotation_rate();
- rim_radius = data->rim_radius();
- position.x = data->position().x();
- position.y = data->position().y();
- position.z = data->position().z();
- orientation.yaw = data->orientation().yaw();
- orientation.pitch = data->orientation().pitch();
- orientation.roll = data->orientation().roll();
+ width = units::length::meter_t(data->width());
+ wheelRadius = units::length::meter_t(data->wheel_radius());
+ rotation_rate = units::angular_velocity::revolutions_per_minute_t(data->rotation_rate());
+ rim_radius = units::length::meter_t(data->rim_radius());
+ position.x = units::length::meter_t(data->position().x());
+ position.y = units::length::meter_t(data->position().y());
+ position.z = units::length::meter_t(data->position().z());
+ orientation.yaw = units::angle::radian_t(data->orientation().yaw());
+ orientation.pitch = units::angle::radian_t(data->orientation().pitch());
+ orientation.roll = units::angle::radian_t(data->orientation().roll());
}
};
@@ -210,7 +212,7 @@ struct LaneOverlap
virtual const LaneGeometryElements &GetLaneGeometryElements() const = 0;
//!Returns the length of the lane
- virtual double GetLength() const = 0;
+ virtual units::length::meter_t GetLength() const = 0;
//!Returns the number of lanes to the right of this lane
virtual int GetRightLaneCount() const = 0;
@@ -221,23 +223,23 @@ struct LaneOverlap
//!Returns the curvature of the lane at the specified distance
//!
//! @param distance s coordinate
- virtual double GetCurvature(double distance) const = 0;
+ virtual units::curvature::inverse_meter_t GetCurvature(units::length::meter_t distance) const = 0;
//!Returns the width of the lane at the specified distance
//!
//! @param distance s coordinate
- virtual double GetWidth(double distance) const = 0;
+ virtual units::length::meter_t GetWidth(units::length::meter_t distance) const = 0;
//!Returns the direction of the lane at the specified distance
//!
//! @param distance s coordinate
- virtual double GetDirection(double distance) const = 0;
+ virtual units::angle::radian_t GetDirection(units::length::meter_t distance) const = 0;
//!Returns the left, right and reference point at the specified s coordinate interpolated between the geometry joints
//!
//! @param distance s coordinate
virtual const Primitive::LaneGeometryJoint::Points
- GetInterpolatedPointsAtDistance(double distance) const = 0;
+ GetInterpolatedPointsAtDistance(units::length::meter_t distance) const = 0;
//!Returns the ids of all successors of this lane
virtual const std::vector<Id> &GetNext() const = 0;
@@ -259,10 +261,10 @@ struct LaneOverlap
//!Returns the s coordinate of the lane start if measure point is road start
//! or the s coordinate of the lane end if measure point is road end
- virtual double GetDistance(MeasurementPoint measurementPoint) const = 0;
+ virtual units::length::meter_t GetDistance(MeasurementPoint measurementPoint) const = 0;
//!Returns true if the specified distance is valid on this lane, otherwise returns false
- virtual bool Covers(double distance) const = 0;
+ virtual bool Covers(units::length::meter_t distance) const = 0;
//!Sets the sucessor of the lane. Throws an error if the lane already has a sucessor
virtual void AddNext(const Lane *lane) = 0;
@@ -282,12 +284,12 @@ struct LaneOverlap
//! @param sOffset s offset of the new joint
//! @param curvature curvature of the lane at sOffset
//! @param heading heading of the lane at sOffset
- virtual void AddLaneGeometryJoint(const Common::Vector2d &pointLeft,
- const Common::Vector2d &pointCenter,
- const Common::Vector2d &pointRight,
- double sOffset,
- double curvature,
- double heading) = 0;
+ virtual void AddLaneGeometryJoint(const Common::Vector2d<units::length::meter_t>& pointLeft,
+ const Common::Vector2d<units::length::meter_t>& pointCenter,
+ const Common::Vector2d<units::length::meter_t>& pointRight,
+ units::length::meter_t sOffset,
+ units::curvature::inverse_meter_t curvature,
+ units::angle::radian_t heading) = 0;
//!Sets type of the lane
virtual void SetLaneType(LaneType specifiedType) = 0;
@@ -353,13 +355,13 @@ struct LaneOverlap
virtual Id GetId() const = 0;
//! Returns the width of the boundary
- virtual double GetWidth() const = 0;
+ virtual units::length::meter_t GetWidth() const = 0;
//! Returns the s coordinate, where this boundary starts
- virtual double GetSStart() const = 0;
+ virtual units::length::meter_t GetSStart() const = 0;
//! Returns the s coordinate, where this boundary ends
- virtual double GetSEnd() const = 0;
+ virtual units::length::meter_t GetSEnd() const = 0;
//! Returns the type of the boundary
virtual LaneMarking::Type GetType() const = 0;
@@ -375,7 +377,7 @@ struct LaneOverlap
//! \param point point to add
//! \param heading heading of the lane
//!
- virtual void AddBoundaryPoint(const Common::Vector2d &point, double heading) = 0;
+ virtual void AddBoundaryPoint(const Common::Vector2d<units::length::meter_t>& point, units::angle::radian_t heading) = 0;
/*!
* \brief Copies the underlying OSI object to the given GroundTruth
@@ -410,19 +412,19 @@ struct LaneOverlap
//!Returns the s coordinate of the section start if measure point is road start
//! or the s coordinate of the section end if measure point is road end
- virtual double GetDistance(MeasurementPoint measurementPoint) const = 0;
+ virtual units::length::meter_t GetDistance(MeasurementPoint measurementPoint) const = 0;
//!Returns true if the specified distance is valid on this sections, otherwise returns false
- virtual bool Covers(double distance) const = 0;
+ virtual bool Covers(units::length::meter_t distance) const = 0;
//!Returns true at least one s coordinate between startDistance and endDistance is valid on this section
- virtual bool CoversInterval(double startDistance, double endDistance) const = 0;
+ virtual bool CoversInterval(units::length::meter_t startDistance, units::length::meter_t endDistance) const = 0;
//!Returns the s coordinate of the section start
- virtual double GetSOffset() const = 0;
+ virtual units::length::meter_t GetSOffset() const = 0;
//!Returns the length of the section
- virtual double GetLength() const = 0;
+ virtual units::length::meter_t GetLength() const = 0;
//! Sets the ids of the lane boundaries of the center lane
//! \param laneBoundaryId ids of center lane boundaries
@@ -448,7 +450,7 @@ struct LaneOverlap
virtual const Sections &GetSections() const = 0;
//!Returns the length of the road
- virtual double GetLength() const = 0;
+ virtual units::length::meter_t GetLength() const = 0;
//!Returns the id of the successor of the road (i.e. next road or junction)
virtual const std::string &GetSuccessor() const = 0;
@@ -470,7 +472,7 @@ struct LaneOverlap
//! Returns the distance to a point on the road, relative to the road itself
//! \param mp the point on the road to measure
- virtual double GetDistance(MeasurementPoint mp) const = 0;
+ virtual units::length::meter_t GetDistance(MeasurementPoint mp) const = 0;
};
//!This class represents a junction in the world
@@ -517,21 +519,21 @@ struct LaneOverlap
virtual Id GetId() const = 0;
//!Returns the dimension of the object
- virtual Primitive::Dimension GetDimension() const = 0;
+ virtual mantle_api::Dimension3 GetDimension() const = 0;
//!Returns the position of the reference point of the object in absolute coordinates (i. e. world coordinates)
- virtual Primitive::AbsPosition GetReferencePointPosition() const = 0;
+ virtual mantle_api::Vec3<units::length::meter_t> GetReferencePointPosition() const = 0;
//!Returns the orientation of the object in absolute coordinates (i. e. world coordinates)
- virtual Primitive::AbsOrientation GetAbsOrientation() const = 0;
+ virtual mantle_api::Orientation3<units::angle::radian_t> GetAbsOrientation() const = 0;
//!Returns the absolute value of the velocity if the object is moving in road direction
//! or the inverse if the object is moving against the road direction
- virtual double GetAbsVelocityDouble() const = 0;
+ virtual units::velocity::meters_per_second_t GetAbsVelocityDouble() const = 0;
//!Returns the absolute value of the acceleration if the object is moving in road direction
//! or the inverse if the object is moving against the road direction
- virtual double GetAbsAccelerationDouble() const = 0;
+ virtual units::acceleration::meters_per_second_squared_t GetAbsAccelerationDouble() const = 0;
//!Returns the road intervals touched by the object
virtual const RoadIntervals &GetTouchedRoads() const = 0;
@@ -546,13 +548,13 @@ struct LaneOverlap
virtual void ClearLaneAssignments() = 0;
//!Sets the position of the reference point of the object in absolute coordinates (i. e. world coordinates)
- virtual void SetReferencePointPosition(const Primitive::AbsPosition &newPosition) = 0;
+ virtual void SetReferencePointPosition(const mantle_api::Vec3<units::length::meter_t>& newPosition) = 0;
//!Sets the dimension of the object
- virtual void SetDimension(const Primitive::Dimension &newDimension) = 0;
+ virtual void SetDimension(const mantle_api::Dimension3 &newDimension) = 0;
//!Sets the orientation of the object in absolute coordinates (i. e. world coordinates)
- virtual void SetAbsOrientation(const Primitive::AbsOrientation &newOrientation) = 0;
+ virtual void SetAbsOrientation(const mantle_api::Orientation3<units::angle::radian_t>& newOrientation) = 0;
//!Sets the road intervals touched by the object
virtual void SetTouchedRoads(const RoadIntervals &touchedRoads) = 0;
@@ -614,11 +616,10 @@ struct LaneOverlap
virtual const RoadIntervals &GetTouchedRoads() const = 0;
- virtual void SetReferencePointPosition(const Primitive::AbsPosition &newPosition) = 0;
-
- virtual void SetDimension(const Primitive::Dimension &newDimension) = 0;
+ virtual void SetReferencePointPosition(const mantle_api::Vec3<units::length::meter_t>& newPosition) = 0;
- virtual void SetAbsOrientation(const Primitive::AbsOrientation &newOrientation) = 0;
+ virtual void SetDimension(const mantle_api::Dimension3 &newDimension) = 0;
+ virtual void SetAbsOrientation(const mantle_api::Orientation3<units::angle::radian_t>& newOrientation) = 0;
virtual void SetTouchedRoads(const RoadIntervals &touchedRoads) = 0;
};
@@ -633,55 +634,50 @@ struct LaneOverlap
virtual Primitive::LaneOrientation GetLaneOrientation() const = 0;
- virtual Primitive::AbsVelocity GetAbsVelocity() const = 0;
+ virtual mantle_api::Vec3<units::velocity::meters_per_second_t> GetAbsVelocity() const = 0;
virtual Primitive::AbsAcceleration GetAbsAcceleration() const = 0;
- virtual Primitive::AbsOrientationRate GetAbsOrientationRate() const = 0;
+ virtual mantle_api::Orientation3<units::angular_velocity::radians_per_second_t> GetAbsOrientationRate() const = 0;
virtual Primitive::AbsOrientationAcceleration GetAbsOrientationAcceleration() const = 0;
- virtual void SetDimension(const Primitive::Dimension &newDimension) = 0;
+ virtual void SetDimension(const mantle_api::Dimension3 &newDimension) = 0;
- virtual void SetLength(const double newLength) = 0;
+ virtual void SetLength(const units::length::meter_t newLength) = 0;
- virtual void SetWidth(const double newWidth) = 0;
+ virtual void SetWidth(const units::length::meter_t newWidth) = 0;
- virtual void SetHeight(const double newHeight) = 0;
+ virtual void SetHeight(const units::length::meter_t newHeight) = 0;
- virtual void SetBoundingBoxCenterToRear(double distanceX, double distanceY, double distanceZ) = 0;
+ virtual units::length::meter_t GetDistanceReferencePointToLeadingEdge() const = 0;
- virtual void SetBoundingBoxCenterToFront(double distanceX, double distanceY, double distanceZ) = 0;
+ virtual void SetBoundingBoxCenterToRear(const units::length::meter_t distanceX, const units::length::meter_t distanceY, const units::length::meter_t distanceZ) = 0;
- virtual double GetDistanceReferencePointToLeadingEdge() const = 0;
+ virtual void SetBoundingBoxCenterToFront(const units::length::meter_t distanceX, const units::length::meter_t distanceY, const units::length::meter_t distanceZ) = 0;
- virtual void SetReferencePointPosition(const Primitive::AbsPosition &newPosition) = 0;
- virtual void SetX(const double newX) = 0;
+ virtual void SetReferencePointPosition(const mantle_api::Vec3<units::length::meter_t>& newPosition) = 0;
+ virtual void SetX(const units::length::meter_t newX) = 0;
+ virtual void SetY(const units::length::meter_t newY) = 0;
+ virtual void SetZ(const units::length::meter_t newZ) = 0;
- virtual void SetY(const double newY) = 0;
-
- virtual void SetZ(const double newZ) = 0;
virtual void SetTouchedRoads(const RoadIntervals &touchedRoads) = 0;
- virtual void SetAbsOrientation(const Primitive::AbsOrientation &newOrientation) = 0;
-
- virtual void SetYaw(const double newYaw) = 0;
+ virtual void SetAbsOrientation(const mantle_api::Orientation3<units::angle::radian_t>& newOrientation) = 0;
+ virtual void SetYaw(const units::angle::radian_t newYaw) = 0;
+ virtual void SetPitch(const units::angle::radian_t newPitch) = 0;
+ virtual void SetRoll(const units::angle::radian_t newRoll) = 0;
- virtual void SetPitch(const double newPitch) = 0;
- virtual void SetRoll(const double newRoll) = 0;
+ virtual void SetAbsVelocity(const mantle_api::Vec3<units::velocity::meters_per_second_t>& newVelocity) = 0;
+ virtual void SetAbsVelocity(const units::velocity::meters_per_second_t newVelocity) = 0;
- virtual void SetAbsVelocity(const Primitive::AbsVelocity &newVelocity) = 0;
+ virtual void SetAbsAcceleration(const Primitive::AbsAcceleration& newAcceleration) = 0;
+ virtual void SetAbsAcceleration(const units::acceleration::meters_per_second_squared_t newAcceleration) = 0;
- virtual void SetAbsVelocity(const double newVelocity) = 0;
-
- virtual void SetAbsAcceleration(const Primitive::AbsAcceleration &newAcceleration) = 0;
-
- virtual void SetAbsAcceleration(const double newAcceleration) = 0;
-
- virtual void SetAbsOrientationRate(const Primitive::AbsOrientationRate &newOrientationRate) = 0;
+ virtual void SetAbsOrientationRate(const mantle_api::Orientation3<units::angular_velocity::radians_per_second_t>& newOrientationRate) = 0;
virtual void SetAbsOrientationAcceleration(const Primitive::AbsOrientationAcceleration &newOrientationAcceleration) = 0;
@@ -707,8 +703,8 @@ struct LaneOverlap
virtual bool GetHighBeamLight() const = 0;
- virtual void SetType(AgentVehicleType type) = 0;
-
+ virtual void SetType(mantle_api::EntityType type) = 0;
+ virtual void SetVehicleClassification(mantle_api::VehicleClass vehicleClassification) = 0;
virtual void SetSourceReference(const ExternalReference& externalReference) = 0;
virtual void AddWheel(const WheelData& wheelData) = 0;
@@ -719,9 +715,10 @@ struct LaneOverlap
virtual void SetSteeringWheelAngle(const Angle newValue) = 0;
- virtual void SetFrontAxleSteeringYaw(const double wheelYaw) = 0;
+ virtual void SetFrontAxleSteeringYaw(const Angle wheelYaw) = 0;
- virtual void SetWheelsRotationRateAndOrientation(const double velocity, const double wheelRadiusFront, const double wheelRadiusRear, const double cycleTime) = 0;
+ virtual void SetWheelsRotationRateAndOrientation(const units::velocity::meters_per_second_t velocity,
+ const units::length::meter_t wheelRadiusFront, const units::length::meter_t wheelRadiusRear, const units::time::second_t cycleTime) = 0;
};
//! This class represents a static traffic sign
@@ -733,26 +730,26 @@ struct LaneOverlap
virtual std::string GetId() const = 0;
//! Returns the s coordinate
- virtual double GetS() const = 0;
+ virtual units::length::meter_t GetS() const = 0;
//! Returns the value of the sign converted in SI Units
virtual std::pair<double, CommonTrafficSign::Unit>
GetValueAndUnitInSI(const double osiValue, const osi3::TrafficSignValue_Unit osiUnit) const = 0;
//! Returns the specification of the sign with the set relative distance
- virtual CommonTrafficSign::Entity GetSpecification(const double relativeDistance) const = 0;
+ virtual CommonTrafficSign::Entity GetSpecification(const units::length::meter_t relativeDistance) const = 0;
//! Returns wether the sign is valid for the specified lane
virtual bool IsValidForLane(OWL::Id laneId) const = 0;
//!Returns the position of the reference point of the object in absolute coordinates (i. e. world coordinates)
- virtual Primitive::AbsPosition GetReferencePointPosition() const = 0;
+ virtual mantle_api::Vec3<units::length::meter_t> GetReferencePointPosition() const = 0;
//!Returns the dimension of the sign
- virtual Primitive::Dimension GetDimension() const = 0;
+ virtual mantle_api::Dimension3 GetDimension() const = 0;
//! Sets the s coordinate
- virtual void SetS(double sPos) = 0;
+ virtual void SetS(units::length::meter_t sPos) = 0;
//! Adds the specified lane to the list of valid lanes
virtual void SetValidForLane(OWL::Id laneId) = 0;
@@ -788,19 +785,19 @@ struct LaneOverlap
virtual std::string GetId() const = 0;
//! Returns the s coordinate
- virtual double GetS() const = 0;
+ virtual units::length::meter_t GetS() const = 0;
//! Returns wether the sign is valid for the specified lane
virtual bool IsValidForLane(OWL::Id laneId) const = 0;
//!Returns the position of the reference point of the object in absolute coordinates (i. e. world coordinates)
- virtual Primitive::AbsPosition GetReferencePointPosition() const = 0;
+ virtual mantle_api::Vec3<units::length::meter_t> GetReferencePointPosition() const = 0;
//! Sets the s coordinate
- virtual void SetS(double sPos) = 0;
+ virtual void SetS(units::length::meter_t sPos) = 0;
//!Returns the dimension of the sign
- virtual Primitive::Dimension GetDimension() const = 0;
+ virtual mantle_api::Dimension3 GetDimension() const = 0;
//! Converts the specification imported from OpenDrive to OSI.
//!
@@ -823,7 +820,7 @@ struct LaneOverlap
virtual void SetState(CommonTrafficLight::State newState) = 0;
//! Returns the specification of the light with the set relative distance
- virtual CommonTrafficLight::Entity GetSpecification(const double relativeDistance) const = 0;
+ virtual CommonTrafficLight::Entity GetSpecification(const units::length::meter_t relativeDistance) const = 0;
//!Returns the current state
virtual CommonTrafficLight::State GetState() const = 0;
@@ -838,22 +835,22 @@ struct LaneOverlap
virtual std::string GetId() const = 0;
//! Returns the s coordinate
- virtual double GetS() const = 0;
+ virtual units::length::meter_t GetS() const = 0;
//! Returns the specification of the sign with the set relative distance
- virtual CommonTrafficSign::Entity GetSpecification(const double relativeDistance) const = 0;
+ virtual CommonTrafficSign::Entity GetSpecification(const units::length::meter_t relativeDistance) const = 0;
//! Returns wether the sign is valid for the specified lane
virtual bool IsValidForLane(OWL::Id laneId) const = 0;
//!Returns the position of the reference point of the object in absolute coordinates (i. e. world coordinates)
- virtual Primitive::AbsPosition GetReferencePointPosition() const = 0;
+ virtual mantle_api::Vec3<units::length::meter_t> GetReferencePointPosition() const = 0;
//!Returns the dimension of the marking
- virtual Primitive::Dimension GetDimension() const = 0;
+ virtual mantle_api::Dimension3 GetDimension() const = 0;
//! Sets the s coordinate
- virtual void SetS(double sPos) = 0;
+ virtual void SetS(units::length::meter_t sPos) = 0;
//! Adds the specified lane to the list of valid lanes
virtual void SetValidForLane(OWL::Id laneId) = 0;
@@ -906,15 +903,14 @@ struct LaneOverlap
const Interfaces::Road &GetRoad() const override;
- double GetLength() const override;
+ units::length::meter_t GetLength() const override;
int GetRightLaneCount() const override;
- double GetCurvature(double distance) const override;
-
- double GetWidth(double distance) const override;
+ units::curvature::inverse_meter_t GetCurvature(units::length::meter_t distance) const override;
+ units::length::meter_t GetWidth(units::length::meter_t distance) const override;
+ units::angle::radian_t GetDirection(units::length::meter_t distance) const override;
- double GetDirection(double distance) const override;
const std::vector<Id> &GetNext() const override {
return next;
@@ -932,11 +928,10 @@ struct LaneOverlap
const std::vector<Id> GetRightLaneBoundaries() const override;
- double GetDistance(MeasurementPoint measurementPoint) const override;
+ units::length::meter_t GetDistance(MeasurementPoint measurementPoint) const override;
LaneType GetLaneType() const override;
-
- bool Covers(double distance) const override;
+ bool Covers(units::length::meter_t distance) const override;
void AddNext(const Interfaces::Lane *lane) override;
@@ -945,13 +940,12 @@ struct LaneOverlap
void SetLanePairings() override;
const Interfaces::LaneGeometryElements &GetLaneGeometryElements() const override;
-
- void AddLaneGeometryJoint(const Common::Vector2d &pointLeft,
- const Common::Vector2d &pointCenter,
- const Common::Vector2d &pointRight,
- double sOffset,
- double curvature,
- double heading) override;
+ void AddLaneGeometryJoint(const Common::Vector2d<units::length::meter_t>& pointLeft,
+ const Common::Vector2d<units::length::meter_t>& pointCenter,
+ const Common::Vector2d<units::length::meter_t>& pointRight,
+ units::length::meter_t sOffset,
+ units::curvature::inverse_meter_t curvature,
+ units::angle::radian_t heading) override;
void SetLeftLane(const Interfaces::Lane &lane, bool transferLaneBoundary) override;
@@ -986,11 +980,10 @@ struct LaneOverlap
void ClearMovingObjects() override;
- std::tuple<const Primitive::LaneGeometryJoint *, const Primitive::LaneGeometryJoint *>
- GetNeighbouringJoints(
- double distance) const;
+ std::tuple<const Primitive::LaneGeometryJoint*, const Primitive::LaneGeometryJoint*> GetNeighbouringJoints(
+ units::length::meter_t distance) const;
- const Primitive::LaneGeometryJoint::Points GetInterpolatedPointsAtDistance(double distance) const override;
+ const Primitive::LaneGeometryJoint::Points GetInterpolatedPointsAtDistance(units::length::meter_t distance) const override;
//! @brief Collects objects assigned to lanes and manages their order w.r.t the querying direction
//!
@@ -1052,7 +1045,7 @@ struct LaneOverlap
std::vector<Id> previous;
const Interfaces::Lane *leftLane;
const Interfaces::Lane *rightLane;
- double length{0.0};
+ units::length::meter_t length{0.0};
bool leftLaneIsDummy{true};
bool rightLaneIsDummy{true};
};
@@ -1085,38 +1078,35 @@ struct LaneOverlap
class LaneBoundary : public Interfaces::LaneBoundary {
public:
- LaneBoundary(osi3::LaneBoundary *osiLaneBoundary, double width, double sStart, double sEnd,
- LaneMarkingSide side);
+ LaneBoundary(osi3::LaneBoundary* osiLaneBoundary, units::length::meter_t width, units::length::meter_t sStart, units::length::meter_t sEnd,
+ LaneMarkingSide side);
virtual Id GetId() const override;
+ virtual units::length::meter_t GetWidth() const override;
+ virtual units::length::meter_t GetSStart() const override;
+ virtual units::length::meter_t GetSEnd() const override;
- virtual double GetWidth() const override;
-
- virtual double GetSStart() const override;
-
- virtual double GetSEnd() const override;
virtual LaneMarking::Type GetType() const override;
virtual LaneMarking::Color GetColor() const override;
virtual LaneMarkingSide GetSide() const override;
-
- virtual void AddBoundaryPoint(const Common::Vector2d &point, double heading) override;
+ virtual void AddBoundaryPoint(const Common::Vector2d<units::length::meter_t>& point, units::angle::radian_t heading) override;
virtual void CopyToGroundTruth(osi3::GroundTruth &target) const override;
private:
osi3::LaneBoundary *osiLaneBoundary; //! underlying OSI object
- double sStart; //! s coordinate where this boundary starts
- double sEnd; //! s coordinate where this boundary ends
- double width; //! width of the line
+ units::length::meter_t sStart; //! s coordinate where this boundary starts
+ units::length::meter_t sEnd; //! s coordinate where this boundary ends
+ units::length::meter_t width; //! width of the line
LaneMarkingSide side; //! Side (Left/Right) if this boundary is part of a double line or Single otherwise
};
class Section : public Interfaces::Section {
public:
- Section(double sOffset);
+ Section(units::length::meter_t sOffset);
void AddNext(const Interfaces::Section §ion) override;
@@ -1130,15 +1120,13 @@ struct LaneOverlap
const Interfaces::Road &GetRoad() const override;
- virtual double GetDistance(MeasurementPoint measurementPoint) const override;
+ virtual units::length::meter_t GetDistance(MeasurementPoint measurementPoint) const override;
+ virtual bool Covers(units::length::meter_t distance) const override;
+ virtual bool CoversInterval(units::length::meter_t startDistance, units::length::meter_t endDistance) const override;
- virtual bool Covers(double distance) const override;
- virtual bool CoversInterval(double startDistance, double endDistance) const override;
-
- double GetSOffset() const override;
-
- double GetLength() const override;
+ units::length::meter_t GetSOffset() const override;
+ units::length::meter_t GetLength() const override;
virtual void SetCenterLaneBoundary(std::vector<Id> laneBoundaryIds) override;
@@ -1150,7 +1138,7 @@ struct LaneOverlap
Interfaces::Sections nextSections;
Interfaces::Sections previousSections;
std::vector<Id> centerLaneBoundary;
- double sOffset;
+ units::length::meter_t sOffset;
public:
Section(const Section &) = delete;
@@ -1166,7 +1154,8 @@ struct LaneOverlap
class InvalidSection : public Section {
public:
- InvalidSection() : Section(0) {}
+ InvalidSection() : Section(0_m)
+ {}
InvalidSection(const InvalidSection &) = delete;
@@ -1196,8 +1185,8 @@ struct LaneOverlap
const Interfaces::Sections &GetSections() const override;
void AddSection(Interfaces::Section §ion) override;
-
- double GetLength() const override;
+
+ units::length::meter_t GetLength() const override;
const std::string &GetSuccessor() const override;
@@ -1208,8 +1197,8 @@ struct LaneOverlap
void SetPredecessor(const std::string &predecessor) override;
bool IsInStreamDirection() const override;
-
- double GetDistance(MeasurementPoint mp) const override;
+
+ units::length::meter_t GetDistance(MeasurementPoint mp) const override;
private:
Interfaces::Sections sections;
@@ -1306,23 +1295,23 @@ struct LaneOverlap
virtual ~StationaryObject() override = default;
- virtual Primitive::Dimension GetDimension() const override;
+ virtual mantle_api::Dimension3 GetDimension() const override;
- virtual Primitive::AbsOrientation GetAbsOrientation() const override;
+ virtual mantle_api::Orientation3<units::angle::radian_t> GetAbsOrientation() const override;
- virtual Primitive::AbsPosition GetReferencePointPosition() const override;
+ virtual mantle_api::Vec3<units::length::meter_t> GetReferencePointPosition() const override;
- virtual double GetAbsVelocityDouble() const override;
+ virtual units::velocity::meters_per_second_t GetAbsVelocityDouble() const override;
- virtual double GetAbsAccelerationDouble() const override;
+ virtual units::acceleration::meters_per_second_squared_t GetAbsAccelerationDouble() const override;
virtual const RoadIntervals &GetTouchedRoads() const override;
- void SetReferencePointPosition(const Primitive::AbsPosition &newPosition) override;
+ void SetReferencePointPosition(const mantle_api::Vec3<units::length::meter_t> &newPosition) override;
- void SetDimension(const Primitive::Dimension &newDimension) override;
+ void SetDimension(const mantle_api::Dimension3 &newDimension) override;
- void SetAbsOrientation(const Primitive::AbsOrientation &newOrientation) override;
+ void SetAbsOrientation(const mantle_api::Orientation3<units::angle::radian_t> &newOrientation) override;
Id GetId() const override;
@@ -1353,20 +1342,20 @@ struct LaneOverlap
return id;
}
- virtual double GetS() const override {
+ virtual units::length::meter_t GetS() const override {
return s;
}
virtual std::pair<double, CommonTrafficSign::Unit>
GetValueAndUnitInSI(const double osiValue, const osi3::TrafficSignValue_Unit osiUnit) const override;
- virtual CommonTrafficSign::Entity GetSpecification(const double relativeDistance) const override;
+ virtual CommonTrafficSign::Entity GetSpecification(const units::length::meter_t relativeDistance) const override;
- virtual Primitive::AbsPosition GetReferencePointPosition() const override;
+ virtual mantle_api::Vec3<units::length::meter_t> GetReferencePointPosition() const override;
- virtual Primitive::Dimension GetDimension() const override;
+ virtual mantle_api::Dimension3 GetDimension() const override;
- virtual void SetS(double sPos) override {
+ virtual void SetS(units::length::meter_t sPos) override {
s = sPos;
}
@@ -1384,7 +1373,7 @@ struct LaneOverlap
private:
std::string id{""};
- double s{0.0};
+ units::length::meter_t s {0.0};
osi3::TrafficSign *osiSign{nullptr};
};
@@ -1400,17 +1389,17 @@ struct LaneOverlap
return id;
}
- virtual double GetS() const override {
+ virtual units::length::meter_t GetS() const override {
return s;
}
- virtual CommonTrafficSign::Entity GetSpecification(const double relativeDistance) const override;
+ virtual CommonTrafficSign::Entity GetSpecification(const units::length::meter_t relativeDistance) const override;
- virtual Primitive::AbsPosition GetReferencePointPosition() const override;
+ virtual mantle_api::Vec3<units::length::meter_t> GetReferencePointPosition() const override;
- virtual Primitive::Dimension GetDimension() const override;
+ virtual mantle_api::Dimension3 GetDimension() const override;
- virtual void SetS(double sPos) override {
+ virtual void SetS(units::length::meter_t sPos) override {
s = sPos;
}
@@ -1428,7 +1417,7 @@ struct LaneOverlap
private:
std::string id{""};
- double s{0.0};
+ units::length::meter_t s {0.0};
osi3::RoadMarking *osiSign{nullptr};
};
diff --git a/sim/src/core/opSimulation/modules/World_OSI/OWL/LaneGeometryJoint.h b/sim/src/core/opSimulation/modules/World_OSI/OWL/LaneGeometryJoint.h
index 58ac4c99e35ed930459eb4f3e37f11e9cd391676..ea105bfdb824d870ee39beeea2d5342ea82ff1a0 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/OWL/LaneGeometryJoint.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/OWL/LaneGeometryJoint.h
@@ -21,14 +21,14 @@ struct LaneGeometryJoint
/// \note Left/Right refers to the direction of the road
struct Points
{
- Common::Vector2d left;
- Common::Vector2d reference;
- Common::Vector2d right;
+ Common::Vector2d<units::length::meter_t> left;
+ Common::Vector2d<units::length::meter_t> reference;
+ Common::Vector2d<units::length::meter_t> right;
} points;
- double curvature; //!< \brief Curvature of the reference line at this joint
- double sOffset; //!< \brief Offset with respect to the start of the road
- double sHdg; //!< \brief Heading of the s projection axis
+ units::curvature::inverse_meter_t curvature; //!< \brief Curvature of the reference line at this joint
+ units::length::meter_t sOffset; //!< \brief Offset with respect to the start of the road
+ units::angle::radian_t sHdg; //!< \brief Heading of the s projection axis
};
} // namespace Primitive
diff --git a/sim/src/core/opSimulation/modules/World_OSI/OWL/MovingObject.cpp b/sim/src/core/opSimulation/modules/World_OSI/OWL/MovingObject.cpp
index 9fca11df2217c563f6c64f1dfd69f0fd84d5901b..57d3318120999ed5f647ec48cc6526c66dfcc812 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/OWL/MovingObject.cpp
+++ b/sim/src/core/opSimulation/modules/World_OSI/OWL/MovingObject.cpp
@@ -34,141 +34,145 @@ OWL::Id OWL::Implementation::MovingObject::GetId() const {
return osiObject->id().value();
}
-OWL::Primitive::Dimension OWL::Implementation::MovingObject::GetDimension() const {
+mantle_api::Dimension3 OWL::Implementation::MovingObject::GetDimension() const {
return OWL::GetDimensionFromOsiObject(osiObject);
}
-double OWL::Implementation::MovingObject::GetDistanceReferencePointToLeadingEdge() const {
- return osiObject->base().dimension().length() * 0.5 -
- osiObject->vehicle_attributes().bbcenter_to_rear().x();
+units::length::meter_t OWL::Implementation::MovingObject::GetDistanceReferencePointToLeadingEdge() const {
+ return units::length::meter_t(osiObject->base().dimension().length() * 0.5 -
+ osiObject->vehicle_attributes().bbcenter_to_rear().x());
}
-void OWL::Implementation::MovingObject::SetDimension(const Primitive::Dimension &newDimension) {
+void OWL::Implementation::MovingObject::SetDimension(const mantle_api::Dimension3 &newDimension) {
osi3::Dimension3d *osiDimension = osiObject->mutable_base()->mutable_dimension();
- osiDimension->set_length(newDimension.length);
- osiDimension->set_width(newDimension.width);
- osiDimension->set_height(newDimension.height);
+ osiDimension->set_length(units::unit_cast<double>(newDimension.length));
+ osiDimension->set_width(units::unit_cast<double>(newDimension.width));
+ osiDimension->set_height(units::unit_cast<double>(newDimension.height));
}
-void OWL::Implementation::MovingObject::SetLength(const double newLength) {
+void OWL::Implementation::MovingObject::SetLength(const units::length::meter_t newLength) {
osi3::Dimension3d *osiDimension = osiObject->mutable_base()->mutable_dimension();
- osiDimension->set_length(newLength);
+ osiDimension->set_length(units::unit_cast<double>(newLength));
}
-void OWL::Implementation::MovingObject::SetWidth(const double newWidth) {
+void OWL::Implementation::MovingObject::SetWidth(const units::length::meter_t newWidth) {
osi3::Dimension3d *osiDimension = osiObject->mutable_base()->mutable_dimension();
- osiDimension->set_width(newWidth);
+ osiDimension->set_width(units::unit_cast<double>(newWidth));
}
-void OWL::Implementation::MovingObject::SetHeight(const double newHeight) {
+void OWL::Implementation::MovingObject::SetHeight(const units::length::meter_t newHeight) {
osi3::Dimension3d *osiDimension = osiObject->mutable_base()->mutable_dimension();
- osiDimension->set_height(newHeight);
+ osiDimension->set_height(units::unit_cast<double>(newHeight));
}
-void OWL::Implementation::MovingObject::SetBoundingBoxCenterToRear(const double distanceX,const double distanceY,const double distanceZ) {
- osiObject->mutable_vehicle_attributes()->mutable_bbcenter_to_rear()->set_x(distanceX);
- osiObject->mutable_vehicle_attributes()->mutable_bbcenter_to_rear()->set_y(distanceY);
- osiObject->mutable_vehicle_attributes()->mutable_bbcenter_to_rear()->set_z(distanceZ);
+void OWL::Implementation::MovingObject::SetBoundingBoxCenterToRear(const units::length::meter_t distanceX,const units::length::meter_t distanceY,const units::length::meter_t distanceZ) {
+ osiObject->mutable_vehicle_attributes()->mutable_bbcenter_to_rear()->set_x(units::unit_cast<double>(distanceX));
+ osiObject->mutable_vehicle_attributes()->mutable_bbcenter_to_rear()->set_y(units::unit_cast<double>(distanceY));
+ osiObject->mutable_vehicle_attributes()->mutable_bbcenter_to_rear()->set_z(units::unit_cast<double>(distanceZ));
}
-void OWL::Implementation::MovingObject::SetBoundingBoxCenterToFront(const double distanceX,const double distanceY,const double distanceZ) {
- osiObject->mutable_vehicle_attributes()->mutable_bbcenter_to_front()->set_x(distanceX);
- osiObject->mutable_vehicle_attributes()->mutable_bbcenter_to_front()->set_y(distanceY);
- osiObject->mutable_vehicle_attributes()->mutable_bbcenter_to_front()->set_z(distanceZ);
+void OWL::Implementation::MovingObject::SetBoundingBoxCenterToFront(const units::length::meter_t distanceX,const units::length::meter_t distanceY,const units::length::meter_t distanceZ) {
+ osiObject->mutable_vehicle_attributes()->mutable_bbcenter_to_front()->set_x(units::unit_cast<double>(distanceX));
+ osiObject->mutable_vehicle_attributes()->mutable_bbcenter_to_front()->set_y(units::unit_cast<double>(distanceY));
+ osiObject->mutable_vehicle_attributes()->mutable_bbcenter_to_front()->set_z(units::unit_cast<double>(distanceZ));
}
-OWL::Primitive::AbsPosition OWL::Implementation::MovingObject::GetReferencePointPosition() const {
+mantle_api::Vec3<units::length::meter_t> OWL::Implementation::MovingObject::GetReferencePointPosition() const {
const osi3::Vector3d &osiPosition = osiObject->base().position();
const double yaw = osiObject->base().orientation().yaw();
const osi3::Vector3d &bbCenterToRear = osiObject->vehicle_attributes().bbcenter_to_rear();
- Primitive::AbsPosition position;
+ mantle_api::Vec3<units::length::meter_t> position;
- position.x = osiPosition.x() + std::cos(yaw) * bbCenterToRear.x();
- position.y = osiPosition.y() + std::sin(yaw) * bbCenterToRear.x();
- position.z = osiPosition.z();
+ position.x = units::length::meter_t(osiPosition.x() + std::cos(yaw) * bbCenterToRear.x());
+ position.y = units::length::meter_t(osiPosition.y() + std::sin(yaw) * bbCenterToRear.x());
+ position.z = units::length::meter_t(osiPosition.z());
return position;
}
-void OWL::Implementation::MovingObject::SetReferencePointPosition(const Primitive::AbsPosition &newPosition) {
+void OWL::Implementation::MovingObject::SetReferencePointPosition(const mantle_api::Vec3<units::length::meter_t> &newPosition)
+{
osi3::Vector3d *osiPosition = osiObject->mutable_base()->mutable_position();
- const double yaw = osiObject->base().orientation().yaw();
+ const auto yaw = osiObject->base().orientation().yaw();
const osi3::Vector3d &bbCenterToRear = osiObject->vehicle_attributes().bbcenter_to_rear();
- osiPosition->set_x(newPosition.x - std::cos(yaw) * bbCenterToRear.x());
- osiPosition->set_y(newPosition.y - std::sin(yaw) * bbCenterToRear.x());
- osiPosition->set_z(newPosition.z);
+ osiPosition->set_x(units::unit_cast<double>(newPosition.x) - std::cos(yaw) * bbCenterToRear.x());
+ osiPosition->set_y(units::unit_cast<double>(newPosition.y) - std::sin(yaw) * bbCenterToRear.x());
+ osiPosition->set_z(units::unit_cast<double>(newPosition.z));
frontDistance.Invalidate();
rearDistance.Invalidate();
+
}
-void OWL::Implementation::MovingObject::SetX(const double newX) {
+void OWL::Implementation::MovingObject::SetX(const units::length::meter_t newX) {
osi3::Vector3d *osiPosition = osiObject->mutable_base()->mutable_position();
const double yaw = osiObject->base().orientation().yaw();
const osi3::Vector3d &bbCenterToRear = osiObject->vehicle_attributes().bbcenter_to_rear();
- osiPosition->set_x(newX - std::cos(yaw) * bbCenterToRear.x());
+ osiPosition->set_x(units::unit_cast<double>(newX) - std::cos(yaw) * bbCenterToRear.x());
}
-void OWL::Implementation::MovingObject::SetY(const double newY) {
+void OWL::Implementation::MovingObject::SetY(const units::length::meter_t newY) {
osi3::Vector3d *osiPosition = osiObject->mutable_base()->mutable_position();
const double yaw = osiObject->base().orientation().yaw();
const osi3::Vector3d &bbCenterToRear = osiObject->vehicle_attributes().bbcenter_to_rear();
- osiPosition->set_y(newY - std::sin(yaw) * bbCenterToRear.x());
+ osiPosition->set_y(units::unit_cast<double>(newY) - std::sin(yaw) * bbCenterToRear.x());
}
-void OWL::Implementation::MovingObject::SetZ(const double newZ) {
+void OWL::Implementation::MovingObject::SetZ(const units::length::meter_t newZ) {
osi3::Vector3d *osiPosition = osiObject->mutable_base()->mutable_position();
- osiPosition->set_z(newZ);
+ osiPosition->set_z(units::unit_cast<double>(newZ));
}
void OWL::Implementation::MovingObject::SetTouchedRoads(const RoadIntervals &touchedRoads) {
this->touchedRoads = &touchedRoads;
}
-OWL::Primitive::AbsOrientation OWL::Implementation::MovingObject::GetAbsOrientation() const {
+mantle_api::Orientation3<units::angle::radian_t> OWL::Implementation::MovingObject::GetAbsOrientation() const
+{
osi3::Orientation3d osiOrientation = osiObject->base().orientation();
- Primitive::AbsOrientation orientation;
- orientation.yaw = osiOrientation.yaw();
- orientation.pitch = osiOrientation.pitch();
- orientation.roll = osiOrientation.roll();
-
- return orientation;
+ return {units::angle::radian_t(osiOrientation.yaw()),
+ units::angle::radian_t(osiOrientation.pitch()),
+ units::angle::radian_t(osiOrientation.roll())};
}
-void OWL::Implementation::MovingObject::SetAbsOrientation(const Primitive::AbsOrientation &newOrientation) {
+void OWL::Implementation::MovingObject::SetAbsOrientation(const mantle_api::Orientation3<units::angle::radian_t> &newOrientation)
+{
osi3::Orientation3d *osiOrientation = osiObject->mutable_base()->mutable_orientation();
const auto referencePosition = GetReferencePointPosition(); //AbsPosition needs to be evaluated with "old" yaw
- osiOrientation->set_yaw(CommonHelper::SetAngleToValidRange(newOrientation.yaw));
- osiOrientation->set_pitch(CommonHelper::SetAngleToValidRange(newOrientation.pitch));
- osiOrientation->set_roll(CommonHelper::SetAngleToValidRange(newOrientation.roll));
+ osiOrientation->set_yaw(units::unit_cast<double>(CommonHelper::SetAngleToValidRange(newOrientation.yaw)));
+ osiOrientation->set_pitch(units::unit_cast<double>(CommonHelper::SetAngleToValidRange(newOrientation.pitch)));
+ osiOrientation->set_roll(units::unit_cast<double>(CommonHelper::SetAngleToValidRange(newOrientation.roll)));
frontDistance.Invalidate();
rearDistance.Invalidate();
SetReferencePointPosition(referencePosition); //Changing yaw also changes position of the boundingBox center
}
-void OWL::Implementation::MovingObject::SetYaw(const double newYaw) {
+void OWL::Implementation::MovingObject::SetYaw(const units::angle::radian_t newYaw)
+{
const auto referencePosition = GetReferencePointPosition();
osi3::Orientation3d *osiOrientation = osiObject->mutable_base()->mutable_orientation();
- osiOrientation->set_yaw(CommonHelper::SetAngleToValidRange(newYaw));
+ osiOrientation->set_yaw(units::unit_cast<double>(CommonHelper::SetAngleToValidRange(newYaw)));
frontDistance.Invalidate();
rearDistance.Invalidate();
SetReferencePointPosition(referencePosition); //Changing yaw also changes position of the boundingBox center
}
-void OWL::Implementation::MovingObject::SetPitch(const double newPitch) {
+void OWL::Implementation::MovingObject::SetPitch(const units::angle::radian_t newPitch)
+{
osi3::Orientation3d *osiOrientation = osiObject->mutable_base()->mutable_orientation();
- osiOrientation->set_pitch(CommonHelper::SetAngleToValidRange(newPitch));
+ osiOrientation->set_pitch(units::unit_cast<double>(CommonHelper::SetAngleToValidRange(newPitch)));
}
-void OWL::Implementation::MovingObject::SetRoll(const double newRoll) {
+void OWL::Implementation::MovingObject::SetRoll(const units::angle::radian_t newRoll)
+{
osi3::Orientation3d *osiOrientation = osiObject->mutable_base()->mutable_orientation();
- osiOrientation->set_roll(CommonHelper::SetAngleToValidRange(newRoll));
+ osiOrientation->set_roll(units::unit_cast<double>(CommonHelper::SetAngleToValidRange(newRoll)));
}
void OWL::Implementation::MovingObject::SetIndicatorState(IndicatorState indicatorState) {
@@ -284,182 +288,171 @@ bool OWL::Implementation::MovingObject::GetHighBeamLight() const {
throw std::logic_error("HighBeamLightState is not supported");
}
-void OWL::Implementation::MovingObject::SetType(AgentVehicleType type) {
- if (type == AgentVehicleType::Pedestrian) {
- osiObject->set_type(osi3::MovingObject_Type::MovingObject_Type_TYPE_PEDESTRIAN);
- } else {
- osiObject->set_type(osi3::MovingObject_Type::MovingObject_Type_TYPE_VEHICLE);
-
- switch (type) {
- case AgentVehicleType::Car:
- osiObject->mutable_vehicle_classification()->set_type(
- osi3::MovingObject_VehicleClassification_Type::MovingObject_VehicleClassification_Type_TYPE_MEDIUM_CAR);
- break;
-
- case AgentVehicleType::Motorbike:
- osiObject->mutable_vehicle_classification()->set_type(
- osi3::MovingObject_VehicleClassification_Type::MovingObject_VehicleClassification_Type_TYPE_MOTORBIKE);
- break;
-
- case AgentVehicleType::Bicycle:
- osiObject->mutable_vehicle_classification()->set_type(
- osi3::MovingObject_VehicleClassification_Type::MovingObject_VehicleClassification_Type_TYPE_BICYCLE);
- break;
-
- case AgentVehicleType::Truck:
- osiObject->mutable_vehicle_classification()->set_type(
- osi3::MovingObject_VehicleClassification_Type::MovingObject_VehicleClassification_Type_TYPE_HEAVY_TRUCK);
- break;
-
- default:
- throw (std::runtime_error("AgentVehicleType not supported"));
- }
+void OWL::Implementation::MovingObject::SetType(mantle_api::EntityType type)
+{
+ osi3::MovingObject_Type osiType{(int)type};
+ osiObject->set_type(osiType);
+}
+
+void OWL::Implementation::MovingObject::SetVehicleClassification(mantle_api::VehicleClass vehicleClassification)
+{
+ if (vehicleClassification == mantle_api::VehicleClass::kInvalid)
+ {
+ throw(std::runtime_error("VehicleClassification \"Invalid\" not supported"));
}
+
+ osi3::MovingObject_VehicleClassification_Type osiClassification{(int)vehicleClassification};
+ osiObject->mutable_vehicle_classification()->set_type(osiClassification);
}
OWL::Primitive::LaneOrientation OWL::Implementation::MovingObject::GetLaneOrientation() const {
throw std::logic_error("MovingObject::GetLaneOrientation not implemented");
}
-OWL::Primitive::AbsVelocity OWL::Implementation::MovingObject::GetAbsVelocity() const {
+mantle_api::Vec3<units::velocity::meters_per_second_t> OWL::Implementation::MovingObject::GetAbsVelocity() const {
const osi3::Vector3d osiVelocity = osiObject->base().velocity();
- Primitive::AbsVelocity velocity;
-
- velocity.vx = osiVelocity.x();
- velocity.vy = osiVelocity.y();
- velocity.vz = osiVelocity.z();
- return velocity;
+ return {units::velocity::meters_per_second_t(osiVelocity.x()),
+ units::velocity::meters_per_second_t(osiVelocity.y()),
+ units::velocity::meters_per_second_t(osiVelocity.z())};
}
-double OWL::Implementation::MovingObject::GetAbsVelocityDouble() const {
- Primitive::AbsVelocity velocity = GetAbsVelocity();
- Primitive::AbsOrientation orientation = GetAbsOrientation();
+units::velocity::meters_per_second_t OWL::Implementation::MovingObject::GetAbsVelocityDouble() const {
+ const auto velocity = GetAbsVelocity();
+ mantle_api::Orientation3<units::angle::radian_t> orientation = GetAbsOrientation();
double sign = 1.0;
- double velocityAngle = std::atan2(velocity.vy, velocity.vx);
+ auto velocityAngle = units::math::atan2(velocity.y, velocity.x);
- if (std::abs(velocity.vx) == 0.0 && std::abs(velocity.vy) == 0.0) {
- velocityAngle = 0.0;
+ if (units::math::abs(velocity.x) == 0.0_mps && units::math::abs(velocity.y) == 0.0_mps)
+ {
+ velocityAngle = 0.0_rad;
}
- double angleBetween = velocityAngle - orientation.yaw;
+ auto angleBetween = velocityAngle - orientation.yaw;
- if (std::abs(angleBetween) > M_PI_2 && std::abs(angleBetween) < 3 * M_PI_2) {
+ if (units::math::abs(angleBetween) > 1_rad * M_PI_2 && units::math::abs(angleBetween) < 3_rad * M_PI_2)
+ {
sign = -1.0;
}
- return openpass::hypot(velocity.vx, velocity.vy) * sign;
+ return openpass::hypot(velocity.x, velocity.y) * sign;
}
-void OWL::Implementation::MovingObject::SetAbsVelocity(const Primitive::AbsVelocity &newVelocity) {
+void OWL::Implementation::MovingObject::SetAbsVelocity(const mantle_api::Vec3<units::velocity::meters_per_second_t> &newVelocity)
+{
osi3::Vector3d *osiVelocity = osiObject->mutable_base()->mutable_velocity();
- osiVelocity->set_x(newVelocity.vx);
- osiVelocity->set_y(newVelocity.vy);
- osiVelocity->set_z(newVelocity.vz);
+ osiVelocity->set_x(units::unit_cast<double>(newVelocity.x));
+ osiVelocity->set_y(units::unit_cast<double>(newVelocity.y));
+ osiVelocity->set_z(units::unit_cast<double>(newVelocity.z));
}
-void OWL::Implementation::MovingObject::SetAbsVelocity(const double newVelocity) {
+void OWL::Implementation::MovingObject::SetAbsVelocity(const units::velocity::meters_per_second_t newVelocity)
+{
osi3::Vector3d *osiVelocity = osiObject->mutable_base()->mutable_velocity();
- double yaw = GetAbsOrientation().yaw;
- double cos_val = std::cos(yaw);
- double sin_val = std::sin(yaw);
+ auto yaw = GetAbsOrientation().yaw;
+ auto cos_val = units::math::cos(yaw);
+ auto sin_val = units::math::sin(yaw);
- osiVelocity->set_x(newVelocity * cos_val);
- osiVelocity->set_y(newVelocity * sin_val);
+ osiVelocity->set_x(units::unit_cast<double>(newVelocity * cos_val));
+ osiVelocity->set_y(units::unit_cast<double>(newVelocity * sin_val));
osiVelocity->set_z(0.0);
}
-OWL::Primitive::AbsAcceleration OWL::Implementation::MovingObject::GetAbsAcceleration() const {
+OWL::Primitive::AbsAcceleration OWL::Implementation::MovingObject::GetAbsAcceleration() const
+{
const osi3::Vector3d osiAcceleration = osiObject->base().acceleration();
- Primitive::AbsAcceleration acceleration;
+ OWL::Primitive::AbsAcceleration acceleration;
- acceleration.ax = osiAcceleration.x();
- acceleration.ay = osiAcceleration.y();
- acceleration.az = osiAcceleration.z();
+ acceleration.ax = units::acceleration::meters_per_second_squared_t(osiAcceleration.x());
+ acceleration.ay = units::acceleration::meters_per_second_squared_t(osiAcceleration.y());
+ acceleration.az = units::acceleration::meters_per_second_squared_t(osiAcceleration.z());
return acceleration;
}
-double OWL::Implementation::MovingObject::GetAbsAccelerationDouble() const {
- Primitive::AbsAcceleration acceleration = GetAbsAcceleration();
- Primitive::AbsOrientation orientation = GetAbsOrientation();
+units::acceleration::meters_per_second_squared_t OWL::Implementation::MovingObject::GetAbsAccelerationDouble() const
+{
+ OWL::Primitive::AbsAcceleration acceleration = GetAbsAcceleration();
+ mantle_api::Orientation3<units::angle::radian_t> orientation = GetAbsOrientation();
double sign = 1.0;
- double accAngle = std::atan2(acceleration.ay, acceleration.ax);
+ units::angle::radian_t accAngle = units::math::atan2(acceleration.ay, acceleration.ax);
- if (std::abs(acceleration.ax) == 0.0 && std::abs(acceleration.ay) == 0.0) {
- accAngle = 0.0;
+ if (units::math::abs(acceleration.ax) == 0.0_mps_sq && units::math::abs(acceleration.ay) == 0.0_mps_sq)
+ {
+ accAngle = 0.0_rad;
}
- double angleBetween = accAngle - orientation.yaw;
+ const auto angleBetween = accAngle - orientation.yaw;
- if ((std::abs(angleBetween) - M_PI_2) > 0) {
+ if ((units::math::abs(angleBetween) - 1_rad * M_PI_2) > 0_rad)
+ {
sign = -1.0;
}
return openpass::hypot(acceleration.ax, acceleration.ay) * sign;
}
-void OWL::Implementation::MovingObject::SetAbsAcceleration(const Primitive::AbsAcceleration &newAcceleration) {
+void OWL::Implementation::MovingObject::SetAbsAcceleration(const OWL::Primitive::AbsAcceleration &newAcceleration)
+{
osi3::Vector3d *osiAcceleration = osiObject->mutable_base()->mutable_acceleration();
- osiAcceleration->set_x(newAcceleration.ax);
- osiAcceleration->set_y(newAcceleration.ay);
- osiAcceleration->set_z(newAcceleration.az);
+ osiAcceleration->set_x(units::unit_cast<double>(newAcceleration.ax));
+ osiAcceleration->set_y(units::unit_cast<double>(newAcceleration.ay));
+ osiAcceleration->set_z(units::unit_cast<double>(newAcceleration.az));
}
-void OWL::Implementation::MovingObject::SetAbsAcceleration(const double newAcceleration) {
+void OWL::Implementation::MovingObject::SetAbsAcceleration(const units::acceleration::meters_per_second_squared_t newAcceleration)
+{
osi3::Vector3d *osiAcceleration = osiObject->mutable_base()->mutable_acceleration();
- double yaw = GetAbsOrientation().yaw;
- double cos_val = std::cos(yaw);
- double sin_val = std::sin(yaw);
+ auto yaw = GetAbsOrientation().yaw;
+ auto cos_val = units::math::cos(yaw);
+ auto sin_val = units::math::sin(yaw);
- osiAcceleration->set_x(newAcceleration * cos_val);
- osiAcceleration->set_y(newAcceleration * sin_val);
+ osiAcceleration->set_x(newAcceleration.value() * cos_val);
+ osiAcceleration->set_y(newAcceleration.value() * sin_val);
osiAcceleration->set_z(0.0);
}
-OWL::Primitive::AbsOrientationRate OWL::Implementation::MovingObject::GetAbsOrientationRate() const {
+mantle_api::Orientation3<units::angular_velocity::radians_per_second_t> OWL::Implementation::MovingObject::GetAbsOrientationRate() const
+{
const osi3::Orientation3d osiOrientationRate = osiObject->base().orientation_rate();
- return Primitive::AbsOrientationRate
- {
- osiOrientationRate.yaw(),
- osiOrientationRate.pitch(),
- osiOrientationRate.roll()
- };
+ return {
+ units::angular_velocity::radians_per_second_t(osiOrientationRate.yaw()),
+ units::angular_velocity::radians_per_second_t(osiOrientationRate.pitch()),
+ units::angular_velocity::radians_per_second_t(osiOrientationRate.roll())};
}
OWL::Primitive::AbsOrientationAcceleration OWL::Implementation::MovingObject::GetAbsOrientationAcceleration() const {
const osi3::Orientation3d osiOrientationAcceleration = osiObject->base().orientation_acceleration();
- return Primitive::AbsOrientationAcceleration
+ return OWL::Primitive::AbsOrientationAcceleration
{
- osiOrientationAcceleration.yaw(),
- osiOrientationAcceleration.pitch(),
- osiOrientationAcceleration.roll()
- };
+ units::angular_acceleration::radians_per_second_squared_t(osiOrientationAcceleration.yaw()),
+ units::angular_acceleration::radians_per_second_squared_t(osiOrientationAcceleration.pitch()),
+ units::angular_acceleration::radians_per_second_squared_t(osiOrientationAcceleration.roll())};
}
-void OWL::Implementation::MovingObject::SetAbsOrientationRate(const Primitive::AbsOrientationRate &newOrientationRate) {
+void OWL::Implementation::MovingObject::SetAbsOrientationRate(const mantle_api::Orientation3<units::angular_velocity::radians_per_second_t>& newOrientationRate) {
osi3::Orientation3d *osiOrientationRate = osiObject->mutable_base()->mutable_orientation_rate();
- osiOrientationRate->set_yaw(newOrientationRate.yawRate);
- osiOrientationRate->set_pitch(newOrientationRate.pitchRate);
- osiOrientationRate->set_roll(newOrientationRate.rollRate);
+ osiOrientationRate->set_yaw(newOrientationRate.yaw.value());
+ osiOrientationRate->set_pitch(newOrientationRate.pitch.value());
+ osiOrientationRate->set_roll(newOrientationRate.roll.value());
}
void OWL::Implementation::MovingObject::SetAbsOrientationAcceleration(
- const Primitive::AbsOrientationAcceleration &newOrientationAcceleration) {
+ const OWL::Primitive::AbsOrientationAcceleration &newOrientationAcceleration) {
osi3::Orientation3d *osiOrientationAcceleration = osiObject->mutable_base()->mutable_orientation_acceleration();
- osiOrientationAcceleration->set_yaw(newOrientationAcceleration.yawAcceleration);
- osiOrientationAcceleration->set_pitch(newOrientationAcceleration.pitchAcceleration);
- osiOrientationAcceleration->set_roll(newOrientationAcceleration.rollAcceleration);
+ osiOrientationAcceleration->set_yaw(newOrientationAcceleration.yawAcceleration.value());
+ osiOrientationAcceleration->set_pitch(newOrientationAcceleration.pitchAcceleration.value());
+ osiOrientationAcceleration->set_roll(newOrientationAcceleration.rollAcceleration.value());
}
void OWL::Implementation::MovingObject::AddLaneAssignment(const Interfaces::Lane &lane) {
@@ -475,18 +468,18 @@ void OWL::Implementation::MovingObject::SetSourceReference(const OWL::ExternalRe
void OWL::Implementation::MovingObject::AddWheel(const WheelData& wheelData)
{
osi3::MovingObject_VehicleAttributes_WheelData newWheel {};
- newWheel.set_width(wheelData.width);
- newWheel.set_rim_radius(wheelData.rim_radius);
- newWheel.set_rotation_rate(wheelData.rotation_rate);
- newWheel.set_wheel_radius(wheelData.wheelRadius);
+ newWheel.set_width(wheelData.width.value());
+ newWheel.set_rim_radius(wheelData.rim_radius.value());
+ newWheel.set_rotation_rate(wheelData.rotation_rate.value());
+ newWheel.set_wheel_radius(wheelData.wheelRadius.value());
newWheel.set_axle(wheelData.axle);
newWheel.set_index(wheelData.index);
- newWheel.mutable_position()->set_x(wheelData.position.x);
- newWheel.mutable_position()->set_y(wheelData.position.y);
- newWheel.mutable_position()->set_z(wheelData.position.z);
- newWheel.mutable_orientation()->set_pitch(wheelData.orientation.roll);
- newWheel.mutable_orientation()->set_roll(wheelData.orientation.pitch);
- newWheel.mutable_orientation()->set_yaw(wheelData.orientation.yaw);
+ newWheel.mutable_position()->set_x(wheelData.position.x.value());
+ newWheel.mutable_position()->set_y(wheelData.position.y.value());
+ newWheel.mutable_position()->set_z(wheelData.position.z.value());
+ newWheel.mutable_orientation()->set_pitch(wheelData.orientation.roll.value());
+ newWheel.mutable_orientation()->set_roll(wheelData.orientation.pitch.value());
+ newWheel.mutable_orientation()->set_yaw(wheelData.orientation.yaw.value());
osiObject->mutable_vehicle_attributes()->mutable_wheel_data()->Add(std::move(newWheel));
if(osiObject->mutable_vehicle_attributes()->number_wheels() == std::numeric_limits<uint32_t>::max())
osiObject->mutable_vehicle_attributes()->set_number_wheels(0);
@@ -504,11 +497,11 @@ void OWL::Implementation::MovingObject::ClearLaneAssignments() {
}
OWL::Angle OWL::Implementation::MovingObject::GetSteeringWheelAngle() {
- return osiObject->mutable_vehicle_attributes()->steering_wheel_angle();
+ return units::angle::radian_t(osiObject->mutable_vehicle_attributes()->steering_wheel_angle());
}
void OWL::Implementation::MovingObject::SetSteeringWheelAngle(const Angle newValue) {
- osiObject->mutable_vehicle_attributes()->set_steering_wheel_angle(newValue);
+ osiObject->mutable_vehicle_attributes()->set_steering_wheel_angle(newValue.value());
}
std::optional<const OWL::WheelData> OWL::Implementation::MovingObject::GetWheelData(unsigned int axleIndex, unsigned int rowIndex) {
@@ -527,33 +520,34 @@ std::optional<const OWL::WheelData> OWL::Implementation::MovingObject::GetWheelD
}
}
-void OWL::Implementation::MovingObject::SetFrontAxleSteeringYaw(const double wheelYaw) {
+void OWL::Implementation::MovingObject::SetFrontAxleSteeringYaw(OWL::Angle wheelYaw) {
std::for_each(osiObject->mutable_vehicle_attributes()->mutable_wheel_data()->begin(),
osiObject->mutable_vehicle_attributes()->mutable_wheel_data()->end(),
[wheelYaw](osi3::MovingObject_VehicleAttributes_WheelData& wheel)
{
if(wheel.axle() == 0) // assuming steering axle is in front
- wheel.mutable_orientation()->set_yaw( wheelYaw); });
+ wheel.mutable_orientation()->set_yaw( wheelYaw.value()); });
}
-void OWL::Implementation::MovingObject::SetWheelsRotationRateAndOrientation(const double velocity, const double wheelRadiusFront, const double wheelRadiusRear, const double cycleTime)
+void OWL::Implementation::MovingObject::SetWheelsRotationRateAndOrientation(const units::velocity::meters_per_second_t velocity,
+ const units::length::meter_t wheelRadiusFront, const units::length::meter_t wheelRadiusRear, const units::time::second_t cycleTime)
{
- double rotationRateFront = velocity / wheelRadiusFront;
- double rotationRateRear = velocity / wheelRadiusRear;
+ auto rotationRateFront = units::angle::radian_t(1) * velocity / wheelRadiusFront;
+ auto rotationRateRear = units::angle::radian_t(1) * velocity / wheelRadiusRear;
std::for_each(osiObject->mutable_vehicle_attributes()->mutable_wheel_data()->begin(),
osiObject->mutable_vehicle_attributes()->mutable_wheel_data()->end(),
[rotationRateFront, rotationRateRear, cycleTime](osi3::MovingObject_VehicleAttributes_WheelData& wheel)
{
if(wheel.axle() == 0)
{
- wheel.set_rotation_rate(rotationRateFront);
- auto newAngle = CommonHelper::SetAngleToValidRange(wheel.mutable_orientation()->pitch() + rotationRateFront * cycleTime);
- wheel.mutable_orientation()->set_pitch(newAngle);
+ wheel.set_rotation_rate(rotationRateFront.value());
+ auto newAngle = CommonHelper::SetAngleToValidRange(units::angle::radian_t(wheel.mutable_orientation()->pitch()) + rotationRateFront * cycleTime);
+ wheel.mutable_orientation()->set_pitch(newAngle.value());
}
else {
- wheel.set_rotation_rate(rotationRateRear);
- auto newAngle = CommonHelper::SetAngleToValidRange(wheel.mutable_orientation()->pitch() + rotationRateRear * cycleTime);
- wheel.mutable_orientation()->set_pitch(newAngle);
+ wheel.set_rotation_rate(rotationRateRear.value());
+ auto newAngle = CommonHelper::SetAngleToValidRange(units::angle::radian_t(wheel.mutable_orientation()->pitch()) + rotationRateRear * cycleTime);
+ wheel.mutable_orientation()->set_pitch(newAngle.value());
}
wheel.mutable_orientation()->set_roll( 0.0);
});
diff --git a/sim/src/core/opSimulation/modules/World_OSI/OWL/MovingObject.h b/sim/src/core/opSimulation/modules/World_OSI/OWL/MovingObject.h
index 4d9f8a45683ef33498cc3505c03d4c743b55cd0e..c7c27dc3bd94534b8b6d3f60a529a0ea6e02e56e 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/OWL/MovingObject.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/OWL/MovingObject.h
@@ -17,118 +17,81 @@ namespace OWL::Implementation {
class MovingObject : public Interfaces::MovingObject {
public:
- MovingObject(osi3::MovingObject *osiMovingObject);
-
- ~MovingObject() override = default;
-
- Id GetId() const override;
-
- //Base
- Primitive::Dimension GetDimension() const override;
-
- Primitive::AbsPosition GetReferencePointPosition() const override;
-
- const RoadIntervals &GetTouchedRoads() const override;
-
- double GetDistanceReferencePointToLeadingEdge() const override;
-
- Primitive::AbsOrientation GetAbsOrientation() const override;
-
- Primitive::LaneOrientation GetLaneOrientation() const override;
-
- Primitive::AbsVelocity GetAbsVelocity() const override;
-
- double GetAbsVelocityDouble() const override;
-
- Primitive::AbsAcceleration GetAbsAcceleration() const override;
-
- double GetAbsAccelerationDouble() const override;
-
- Primitive::AbsOrientationRate GetAbsOrientationRate() const override;
-
- Primitive::AbsOrientationAcceleration GetAbsOrientationAcceleration() const override;
-
- void SetBoundingBoxCenterToRear(double distanceX, double distanceY, double distanceZ) override;
-
- void SetBoundingBoxCenterToFront(double distanceX, double distanceY, double distanceZ) override;
-
- void SetReferencePointPosition(const Primitive::AbsPosition &newPosition) override;
-
- void SetX(const double newX) override;
-
- void SetY(const double newY) override;
-
- void SetZ(const double newZ) override;
-
- void SetTouchedRoads(const RoadIntervals &touchedRoads) override;
-
- void SetDimension(const Primitive::Dimension &newDimension) override;
-
- void SetLength(const double newLength) override;
-
- void SetWidth(const double newWidth) override;
-
- void SetHeight(const double newHeight) override;
-
- void SetAbsOrientation(const Primitive::AbsOrientation &newOrientation) override;
-
- void SetYaw(const double newYaw) override;
-
- void SetPitch(const double newPitch) override;
-
- void SetRoll(const double newRoll) override;
-
- void SetAbsVelocity(const Primitive::AbsVelocity &newVelocity) override;
-
- void SetAbsVelocity(const double newVelocity) override;
-
- void SetAbsAcceleration(const Primitive::AbsAcceleration &newAcceleration) override;
-
- void SetAbsAcceleration(const double newAcceleration) override;
-
- void SetAbsOrientationRate(const Primitive::AbsOrientationRate &newOrientationRate) override;
-
- void SetAbsOrientationAcceleration(const Primitive::AbsOrientationAcceleration &newOrientationAcceleration) override;
-
- void AddLaneAssignment(const Interfaces::Lane &lane) override;
-
- const Interfaces::Lanes &GetLaneAssignments() const override;
-
- void ClearLaneAssignments() override;
-
- void SetIndicatorState(IndicatorState indicatorState) override;
-
- IndicatorState GetIndicatorState() const override;
-
- void SetBrakeLightState(bool brakeLightState) override;
-
- bool GetBrakeLightState() const override;
-
- void SetHeadLight(bool headLight) override;
-
- bool GetHeadLight() const override;
-
- void SetHighBeamLight(bool highbeamLight) override;
-
- bool GetHighBeamLight() const override;
-
- void SetType(AgentVehicleType) override;
-
- void AddWheel(const WheelData &wheelData) override;
-
- std::optional<const WheelData> GetWheelData(unsigned int axleIndex, unsigned int rowIndex) override;
-
- Angle GetSteeringWheelAngle() override;
-
- void SetSteeringWheelAngle(const Angle newValue) override;
-
- void SetFrontAxleSteeringYaw(const double wheelYaw) override;
-
- void SetWheelsRotationRateAndOrientation(const double velocity, const double wheelRadiusFront, const double wheelRadiusRear, const double cycleTime) override;
-
- void SetSourceReference(const ExternalReference &externalReference) override;
-
- void CopyToGroundTruth(osi3::GroundTruth &target) const override;
+ MovingObject(osi3::MovingObject* osiMovingObject);
+ virtual ~MovingObject() override = default;
+
+ virtual Id GetId() const override;
+
+ virtual mantle_api::Dimension3 GetDimension() const override;
+ virtual mantle_api::Vec3<units::length::meter_t> GetReferencePointPosition() const override;
+ virtual const RoadIntervals &GetTouchedRoads() const override;
+ virtual units::length::meter_t GetDistanceReferencePointToLeadingEdge() const override;
+
+ virtual mantle_api::Orientation3<units::angle::radian_t> GetAbsOrientation() const override;
+ virtual Primitive::LaneOrientation GetLaneOrientation() const override;
+
+ virtual mantle_api::Vec3<units::velocity::meters_per_second_t> GetAbsVelocity() const override;
+ virtual units::velocity::meters_per_second_t GetAbsVelocityDouble() const override;
+
+ virtual Primitive::AbsAcceleration GetAbsAcceleration() const override;
+ virtual units::acceleration::meters_per_second_squared_t GetAbsAccelerationDouble() const override;
+
+ virtual mantle_api::Orientation3<units::angular_velocity::radians_per_second_t> GetAbsOrientationRate() const override;
+ virtual Primitive::AbsOrientationAcceleration GetAbsOrientationAcceleration() const override;
+
+ virtual void SetDimension(const mantle_api::Dimension3& newDimension) override;
+ virtual void SetLength(const units::length::meter_t newLength) override;
+ virtual void SetWidth(const units::length::meter_t newWidth) override;
+ virtual void SetHeight(const units::length::meter_t newHeight) override;
+ virtual void SetBoundingBoxCenterToRear(const units::length::meter_t distanceX, const units::length::meter_t distanceY, const units::length::meter_t distanceZ) override;
+ virtual void SetBoundingBoxCenterToFront(const units::length::meter_t distanceX, const units::length::meter_t distanceY, const units::length::meter_t distanceZ) override;
+
+ virtual void SetReferencePointPosition(const mantle_api::Vec3<units::length::meter_t>& newPosition) override;
+ virtual void SetX(const units::length::meter_t newX) override;
+ virtual void SetY(const units::length::meter_t newY) override;
+ virtual void SetZ(const units::length::meter_t newZ) override;
+
+ virtual void SetTouchedRoads(const RoadIntervals &touchedRoads) override;
+
+ virtual void SetAbsOrientation(const mantle_api::Orientation3<units::angle::radian_t>& newOrientation) override;
+ virtual void SetYaw(const units::angle::radian_t newYaw) override;
+ virtual void SetPitch(const units::angle::radian_t newPitch) override;
+ virtual void SetRoll(const units::angle::radian_t newRoll) override;
+
+ virtual void SetAbsVelocity(const mantle_api::Vec3<units::velocity::meters_per_second_t>& newVelocity) override;
+ virtual void SetAbsVelocity(const units::velocity::meters_per_second_t newVelocity) override;
+
+ virtual void SetAbsAcceleration(const Primitive::AbsAcceleration& newAcceleration) override;
+ virtual void SetAbsAcceleration(const units::acceleration::meters_per_second_squared_t newAcceleration) override;
+
+ virtual void SetAbsOrientationRate(const mantle_api::Orientation3<units::angular_velocity::radians_per_second_t>& newOrientationRate) override;
+ virtual void SetAbsOrientationAcceleration(const Primitive::AbsOrientationAcceleration &newOrientationAcceleration) override;
+
+ void AddLaneAssignment(const Interfaces::Lane& lane) override;
+ const Interfaces::Lanes& GetLaneAssignments() const override;
+ void ClearLaneAssignments() override;
+
+ virtual void SetIndicatorState(IndicatorState indicatorState) override;
+ virtual IndicatorState GetIndicatorState() const override;
+ virtual void SetBrakeLightState(bool brakeLightState) override;
+ virtual bool GetBrakeLightState() const override;
+ virtual void SetHeadLight(bool headLight) override;
+ virtual bool GetHeadLight() const override;
+ virtual void SetHighBeamLight(bool highbeamLight) override;
+ virtual bool GetHighBeamLight() const override;
+
+ virtual void SetType(mantle_api::EntityType type) override;
+ virtual void SetVehicleClassification(mantle_api::VehicleClass vehicleClassification) override;
+
+ virtual void SetSourceReference(const ExternalReference& externalReference) override;
+ virtual void AddWheel(const WheelData& wheelData) override;
+ virtual std::optional<const WheelData> GetWheelData(unsigned int axleIndex, unsigned int rowIndex) override;
+ virtual Angle GetSteeringWheelAngle() override;
+ virtual void SetSteeringWheelAngle(const Angle newValue) override;
+ virtual void SetFrontAxleSteeringYaw(const Angle wheelYaw) override;
+ virtual void SetWheelsRotationRateAndOrientation(const units::velocity::meters_per_second_t velocity,
+ const units::length::meter_t wheelRadiusFront, const units::length::meter_t wheelRadiusRear, const units::time::second_t cycleTime) override;
+ void CopyToGroundTruth(osi3::GroundTruth& target) const override;
private:
osi3::MovingObject *osiObject;
diff --git a/sim/src/core/opSimulation/modules/World_OSI/OWL/Primitives.h b/sim/src/core/opSimulation/modules/World_OSI/OWL/Primitives.h
index 71db9983d56e8d74c652c2417356328471e2e8ec..aeeaac2f5933d06c4d2b037c4aea79ef1af9e57d 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/OWL/Primitives.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/OWL/Primitives.h
@@ -15,139 +15,105 @@
#include "common/hypot.h"
namespace OWL {
- namespace Primitive {
-
- struct Vector3 {
- double x;
- double y;
- double z;
- };
-
- struct Dimension {
- double length;
- double width;
- double height;
- };
-
- struct AbsCoordinate {
- double x;
- double y;
- double hdg;
- };
-
- struct AbsPosition {
- AbsPosition() = default;
-
- AbsPosition(const AbsPosition &) = default;
-
- AbsPosition operator+(const AbsPosition &ref) const {
- return {x + ref.x,
- y + ref.y,
- z + ref.z
- };
- }
-
- AbsPosition operator-(const AbsPosition &ref) const {
- return {x - ref.x,
- y - ref.y,
- z - ref.z
- };
- }
-
- double distance() const {
- return openpass::hypot(x, openpass::hypot(y, z));
- }
-
- void RotateYaw(double angle) {
- double cosValue = std::cos(angle);
- double sinValue = std::sin(angle);
- double newX = x * cosValue - y * sinValue;
- double newY = x * sinValue + y * cosValue;
- x = newX;
- y = newY;
- }
-
- double x;
- double y;
- double z;
- };
-
- struct AbsVelocity {
- double vx;
- double vy;
- double vz;
- };
-
- struct AbsAcceleration {
- double ax;
- double ay;
- double az;
- };
-
- struct AbsOrientation {
- double yaw;
- double pitch;
- double roll;
- };
-
- struct AbsOrientationRate {
- double yawRate;
- double pitchRate;
- double rollRate;
- };
-
- struct AbsOrientationAcceleration {
- double yawAcceleration;
- double pitchAcceleration;
- double rollAcceleration;
- };
-
- struct RoadCoordinate {
- double s;
- double t;
- double yaw;
- };
-
- struct RoadVelocity {
- double vs;
- double vt;
- double vz;
- };
-
- struct RoadAcceleration {
- double as;
- double at;
- double az;
- };
-
- struct RoadOrientationRate {
- double hdgRate;
- };
-
- struct LanePosition {
- double v;
- double w;
- };
-
- struct LaneVelocity {
- double vv;
- double vw;
- double vz;
- };
-
- struct LaneAcceleration {
- double av;
- double aw;
- double az;
- };
-
- struct LaneOrientation {
- double hdg;
- };
-
- struct LaneOrientationRate {
- double hdgRate;
- };
-
- } // namespace Primitive
+namespace Primitive {
+
+struct Vector3
+{
+ double x;
+ double y;
+ double z;
+};
+
+struct AbsCoordinate
+{
+ units::length::meter_t x;
+ units::length::meter_t y;
+ units::angle::radian_t hdg;
+};
+
+struct AbsAcceleration
+{
+ units::acceleration::meters_per_second_squared_t ax;
+ units::acceleration::meters_per_second_squared_t ay;
+ units::acceleration::meters_per_second_squared_t az;
+};
+
+struct AbsOrientation
+{
+ units::angle::radian_t yaw;
+ units::angle::radian_t pitch;
+ units::angle::radian_t roll;
+};
+
+struct AbsOrientationRate
+{
+ units::angular_velocity::radians_per_second_t yawRate;
+ units::angular_velocity::radians_per_second_t pitchRate;
+ units::angular_velocity::radians_per_second_t rollRate;
+};
+
+struct AbsOrientationAcceleration
+{
+ units::angular_acceleration::radians_per_second_squared_t yawAcceleration;
+ units::angular_acceleration::radians_per_second_squared_t pitchAcceleration;
+ units::angular_acceleration::radians_per_second_squared_t rollAcceleration;
+};
+
+struct RoadCoordinate
+{
+ units::length::meter_t s;
+ units::length::meter_t t;
+ units::angle::radian_t yaw;
+};
+
+struct RoadVelocity
+{
+ double vs;
+ double vt;
+ double vz;
+};
+
+struct RoadAcceleration
+{
+ double as;
+ double at;
+ double az;
+};
+
+struct RoadOrientationRate
+{
+ double hdgRate;
+};
+
+struct LanePosition
+{
+ double v;
+ double w;
+};
+
+struct LaneVelocity
+{
+ double vv;
+ double vw;
+ double vz;
+};
+
+struct LaneAcceleration
+{
+ double av;
+ double aw;
+ double az;
+};
+
+struct LaneOrientation
+{
+ units::angle::radian_t hdg;
+};
+
+struct LaneOrientationRate
+{
+ double hdgRate;
+};
+
+} // namespace Primitive
} // namespace OWL
diff --git a/sim/src/core/opSimulation/modules/World_OSI/OWL/TrafficLight.cpp b/sim/src/core/opSimulation/modules/World_OSI/OWL/TrafficLight.cpp
index f4a65f163a5a7ee1c331ff9d5c636ee715b9d7bd..fd529d78d1ed65fad3e8fa646c5c980b1f28b468 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/OWL/TrafficLight.cpp
+++ b/sim/src/core/opSimulation/modules/World_OSI/OWL/TrafficLight.cpp
@@ -122,19 +122,19 @@ osi3::TrafficLight_Classification_Icon TrafficLightBase::fetchIconsFromSignal(Ro
void TrafficLightBase::SetBaseOfOsiObject(const RoadSignalInterface *signal, const Position &position,
osi3::TrafficLight *osiTrafficLightObject, int numberOfSignals) {
- double yaw = position.yawAngle + signal->GetHOffset() + (signal->GetOrientation() ? 0 : M_PI);
+ auto yaw = position.yawAngle + signal->GetHOffset() + (signal->GetOrientation() ? 0_rad : units::angle::radian_t(M_PI));
yaw = CommonHelper::SetAngleToValidRange(yaw);
if(numberOfSignals <= 1) numberOfSignals = 1;
- osiTrafficLightObject->mutable_base()->mutable_position()->set_x(position.xPos);
- osiTrafficLightObject->mutable_base()->mutable_position()->set_y(position.yPos);
- osiTrafficLightObject->mutable_base()->mutable_position()->set_z(signal->GetZOffset() + 0.5 * signal->GetHeight());
- osiTrafficLightObject->mutable_base()->mutable_dimension()->set_width(signal->GetWidth());
- osiTrafficLightObject->mutable_base()->mutable_dimension()->set_height(signal->GetHeight() / static_cast<float>(numberOfSignals));
+ osiTrafficLightObject->mutable_base()->mutable_position()->set_x(position.xPos.value());
+ osiTrafficLightObject->mutable_base()->mutable_position()->set_y(position.yPos.value());
+ osiTrafficLightObject->mutable_base()->mutable_position()->set_z(signal->GetZOffset().value() + 0.5 * signal->GetHeight().value());
+ osiTrafficLightObject->mutable_base()->mutable_dimension()->set_width(signal->GetWidth().value());
+ osiTrafficLightObject->mutable_base()->mutable_dimension()->set_height(signal->GetHeight().value() / static_cast<float>(numberOfSignals));
osiTrafficLightObject->mutable_base()->mutable_dimension()->set_length(
- signal->GetWidth()); //OpenDrive 1.6 only supports height und width, so we make a cube here
- osiTrafficLightObject->mutable_base()->mutable_orientation()->set_yaw(yaw);
+ signal->GetWidth().value()); //OpenDrive 1.6 only supports height und width, so we make a cube here
+ osiTrafficLightObject->mutable_base()->mutable_orientation()->set_yaw(yaw.value());
}
@@ -198,15 +198,12 @@ bool ThreeSignalsTrafficLight::SetSpecification(RoadSignalInterface *signal, con
return success;
}
-OWL::Primitive::AbsPosition ThreeSignalsTrafficLight::GetReferencePointPosition() const {
+mantle_api::Vec3<units::length::meter_t> ThreeSignalsTrafficLight::GetReferencePointPosition() const {
const osi3::Vector3d osiPosition = osiLightGreen->base().position();
- Primitive::AbsPosition position;
- position.x = osiPosition.x();
- position.y = osiPosition.y();
- position.z = osiPosition.z();
-
- return position;
+ return {units::length::meter_t(osiPosition.x()),
+ units::length::meter_t(osiPosition.y()),
+ units::length::meter_t(osiPosition.z())};
}
void ThreeSignalsTrafficLight::CopyToGroundTruth(osi3::GroundTruth &target) const {
@@ -218,7 +215,7 @@ void ThreeSignalsTrafficLight::CopyToGroundTruth(osi3::GroundTruth &target) cons
newLightGreen->CopyFrom(*osiLightGreen);
}
-OWL::Primitive::Dimension ThreeSignalsTrafficLight::GetDimension() const {
+mantle_api::Dimension3 ThreeSignalsTrafficLight::GetDimension() const {
return OWL::GetDimensionFromOsiObject(osiLightRed);
}
@@ -263,7 +260,7 @@ void ThreeSignalsTrafficLight::SetState(CommonTrafficLight::State newState) {
}
}
-CommonTrafficLight::Entity ThreeSignalsTrafficLight::GetSpecification(const double relativeDistance) const {
+CommonTrafficLight::Entity ThreeSignalsTrafficLight::GetSpecification(const units::length::meter_t relativeDistance) const {
CommonTrafficLight::Entity specification;
specification.relativeDistance = relativeDistance;
@@ -366,15 +363,12 @@ bool TwoSignalsTrafficLight::SetSpecification(RoadSignalInterface *signal, const
return success;
}
-OWL::Primitive::AbsPosition TwoSignalsTrafficLight::GetReferencePointPosition() const {
+mantle_api::Vec3<units::length::meter_t> TwoSignalsTrafficLight::GetReferencePointPosition() const {
const osi3::Vector3d osiPosition = osiLightBottom->base().position();
- Primitive::AbsPosition position{};
-
- position.x = osiPosition.x();
- position.y = osiPosition.y();
- position.z = osiPosition.z();
- return position;
+ return {units::length::meter_t(osiPosition.x()),
+ units::length::meter_t(osiPosition.y()),
+ units::length::meter_t(osiPosition.z())};
}
void TwoSignalsTrafficLight::CopyToGroundTruth(osi3::GroundTruth &target) const {
@@ -384,7 +378,7 @@ void TwoSignalsTrafficLight::CopyToGroundTruth(osi3::GroundTruth &target) const
newLightBottom->CopyFrom(*osiLightBottom);
}
-OWL::Primitive::Dimension TwoSignalsTrafficLight::GetDimension() const {
+mantle_api::Dimension3 TwoSignalsTrafficLight::GetDimension() const {
return OWL::GetDimensionFromOsiObject(osiLightTop);
}
@@ -441,7 +435,7 @@ void TwoSignalsTrafficLight::SetState(CommonTrafficLight::State newState)
}
}
-CommonTrafficLight::Entity TwoSignalsTrafficLight::GetSpecification(const double relativeDistance) const {
+CommonTrafficLight::Entity TwoSignalsTrafficLight::GetSpecification(const units::length::meter_t relativeDistance) const {
CommonTrafficLight::Entity specification;
specification.relativeDistance = relativeDistance;
@@ -561,15 +555,12 @@ bool OneSignalsTrafficLight::SetSpecification(RoadSignalInterface *signal, const
SetSpecificationOnOsiObject(signal, position, osiTrafficLight);
}
-OWL::Primitive::AbsPosition OneSignalsTrafficLight::GetReferencePointPosition() const {
+mantle_api::Vec3<units::length::meter_t> OneSignalsTrafficLight::GetReferencePointPosition() const {
const osi3::Vector3d osiPosition = osiTrafficLight->base().position();
- Primitive::AbsPosition position{};
-
- position.x = osiPosition.x();
- position.y = osiPosition.y();
- position.z = osiPosition.z();
- return position;
+ return {units::length::meter_t(osiPosition.x()),
+ units::length::meter_t(osiPosition.y()),
+ units::length::meter_t(osiPosition.z())};
}
void OneSignalsTrafficLight::CopyToGroundTruth(osi3::GroundTruth &target) const {
@@ -577,7 +568,7 @@ void OneSignalsTrafficLight::CopyToGroundTruth(osi3::GroundTruth &target) const
newLight->CopyFrom(*osiTrafficLight);
}
-OWL::Primitive::Dimension OneSignalsTrafficLight::GetDimension() const {
+mantle_api::Dimension3 OneSignalsTrafficLight::GetDimension() const {
return OWL::GetDimensionFromOsiObject(osiTrafficLight);
}
@@ -615,7 +606,7 @@ void OneSignalsTrafficLight::SetState(CommonTrafficLight::State newState) {
}
}
-CommonTrafficLight::Entity OneSignalsTrafficLight::GetSpecification(const double relativeDistance) const {
+CommonTrafficLight::Entity OneSignalsTrafficLight::GetSpecification(const units::length::meter_t relativeDistance) const {
CommonTrafficLight::Entity specification;
specification.relativeDistance = relativeDistance;
diff --git a/sim/src/core/opSimulation/modules/World_OSI/OWL/TrafficLight.h b/sim/src/core/opSimulation/modules/World_OSI/OWL/TrafficLight.h
index 016d40a24152c2fd625b95627386fcaa305b60b7..0722b3691b99598aec277341b97f2276caaa4cf4 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/OWL/TrafficLight.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/OWL/TrafficLight.h
@@ -30,12 +30,12 @@ public:
return id;
}
- virtual double GetS() const override
+ virtual units::length::meter_t GetS() const override
{
return s;
}
- virtual void SetS(double sPos) override
+ virtual void SetS(units::length::meter_t sPos) override
{
s = sPos;
}
@@ -62,7 +62,7 @@ public:
protected:
std::string id{""};
- double s{0.0};
+ units::length::meter_t s{0.0_m};
const CallbackInterface *callbacks;
};
@@ -85,9 +85,9 @@ public:
virtual bool SetSpecification(RoadSignalInterface *signal, const Position &position) override;
- virtual Primitive::AbsPosition GetReferencePointPosition() const override;
+ virtual mantle_api::Vec3<units::length::meter_t> GetReferencePointPosition() const override;
- virtual Primitive::Dimension GetDimension() const override;
+ virtual mantle_api::Dimension3 GetDimension() const override;
void SetValidForLane(OWL::Id laneId) override
{
@@ -100,7 +100,7 @@ public:
virtual void SetState(CommonTrafficLight::State newState);
- virtual CommonTrafficLight::Entity GetSpecification(const double relativeDistance) const override;
+ virtual CommonTrafficLight::Entity GetSpecification(const units::length::meter_t relativeDistance) const override;
virtual CommonTrafficLight::State GetState() const;
@@ -138,9 +138,9 @@ public:
virtual bool SetSpecification(RoadSignalInterface *signal, const Position &position) override;
- virtual Primitive::AbsPosition GetReferencePointPosition() const override;
+ virtual mantle_api::Vec3<units::length::meter_t> GetReferencePointPosition() const override;
- virtual Primitive::Dimension GetDimension() const override;
+ virtual mantle_api::Dimension3 GetDimension() const override;
virtual void SetValidForLane(OWL::Id laneId) override
{
@@ -152,7 +152,7 @@ public:
virtual void SetState(CommonTrafficLight::State newState);
- virtual CommonTrafficLight::Entity GetSpecification(const double relativeDistance) const override;
+ virtual CommonTrafficLight::Entity GetSpecification(const units::length::meter_t relativeDistance) const override;
virtual CommonTrafficLight::State GetState() const;
@@ -201,9 +201,9 @@ public:
virtual bool SetSpecification(RoadSignalInterface *signal, const Position &position) override;
- virtual Primitive::AbsPosition GetReferencePointPosition() const override;
+ virtual mantle_api::Vec3<units::length::meter_t> GetReferencePointPosition() const override;
- virtual Primitive::Dimension GetDimension() const override;
+ virtual mantle_api::Dimension3 GetDimension() const override;
virtual void SetValidForLane(OWL::Id laneId) override
{
@@ -214,7 +214,7 @@ public:
virtual void SetState(CommonTrafficLight::State newState);
- virtual CommonTrafficLight::Entity GetSpecification(const double relativeDistance) const override;
+ virtual CommonTrafficLight::Entity GetSpecification(const units::length::meter_t relativeDistance) const override;
virtual CommonTrafficLight::State GetState() const;
diff --git a/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeLane.h b/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeLane.h
index 678eb370d450da138839972b4b339fcc99b7ca58..e34f2c68cc8584311db1cfc86ec180fa88457fde 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeLane.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeLane.h
@@ -35,30 +35,30 @@ public:
MOCK_CONST_METHOD0(GetLaneGeometryElements,
const OWL::Interfaces::LaneGeometryElements & ());
MOCK_CONST_METHOD0(GetLength,
- double());
+ units::length::meter_t());
MOCK_CONST_METHOD0(GetRightLaneCount,
int());
MOCK_CONST_METHOD1(GetCurvature,
- double(double distance));
+ units::curvature::inverse_meter_t(units::length::meter_t distance));
MOCK_CONST_METHOD1(GetWidth,
- double(double distance));
+ units::length::meter_t(units::length::meter_t distance));
MOCK_CONST_METHOD1(GetDirection,
- double(double distance));
+ units::angle::radian_t(units::length::meter_t distance));
MOCK_CONST_METHOD1(GetInterpolatedPointsAtDistance,
- const OWL::Primitive::LaneGeometryJoint::Points(double));
+ const OWL::Primitive::LaneGeometryJoint::Points(units::length::meter_t));
MOCK_CONST_METHOD0(GetLeftLane,
const OWL::Interfaces::Lane & ());
MOCK_CONST_METHOD0(GetRightLane,
const OWL::Interfaces::Lane & ());
MOCK_CONST_METHOD1(GetDistance,
- double(OWL::MeasurementPoint mp));
+ units::length::meter_t(OWL::MeasurementPoint mp));
MOCK_CONST_METHOD1(Covers,
- bool(double));
+ bool(units::length::meter_t));
MOCK_METHOD6(AddLaneGeometryJoint,
- void(const Common::Vector2d& pointLeft,
- const Common::Vector2d& pointCenter,
- const Common::Vector2d& pointRight,
- double sOffset, double curvature, double heading));
+ void(const Common::Vector2d<units::length::meter_t> &pointLeft,
+ const Common::Vector2d<units::length::meter_t> &pointCenter,
+ const Common::Vector2d<units::length::meter_t> &pointRight,
+ units::length::meter_t sOffset, units::curvature::inverse_meter_t curvature, units::angle::radian_t heading));
MOCK_METHOD1(SetLaneType,
void(LaneType specifiedType));
MOCK_METHOD2(SetLeftLane,
diff --git a/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeLaneBoundary.h b/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeLaneBoundary.h
index 1adda8a2911736343c17f621b02cc0561450b3d6..cd5231577d4de0e8745fd29ad2e00786d2645eab 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeLaneBoundary.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeLaneBoundary.h
@@ -17,13 +17,13 @@ class LaneBoundary : public OWL::Interfaces::LaneBoundary
{
public:
MOCK_CONST_METHOD0(GetId, OWL::Id ());
- MOCK_CONST_METHOD0(GetWidth, double ());
- MOCK_CONST_METHOD0(GetSStart, double ());
- MOCK_CONST_METHOD0(GetSEnd, double ());
+ MOCK_CONST_METHOD0(GetWidth, units::length::meter_t ());
+ MOCK_CONST_METHOD0(GetSStart, units::length::meter_t ());
+ MOCK_CONST_METHOD0(GetSEnd, units::length::meter_t ());
MOCK_CONST_METHOD0(GetType, LaneMarking::Type ());
MOCK_CONST_METHOD0(GetColor, LaneMarking::Color ());
MOCK_CONST_METHOD0(GetSide, OWL::LaneMarkingSide ());
- MOCK_METHOD2(AddBoundaryPoint, void (const Common::Vector2d& point, double heading));
+ MOCK_METHOD2(AddBoundaryPoint, void(const Common::Vector2d<units::length::meter_t> &point, units::angle::radian_t heading));
MOCK_CONST_METHOD1(CopyToGroundTruth, void (osi3::GroundTruth& target));
};
}
diff --git a/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeLaneManager.h b/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeLaneManager.h
index 33b565a8d47133c17c21ab4d6a250c3f20930e29..d74ac0e4fdaa06514ec7c6038a4ae3ee9ee6b80c 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeLaneManager.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeLaneManager.h
@@ -40,7 +40,7 @@ struct FakeLaneManager
{
const size_t cols;
const size_t rows;
- const std::vector<double> sectionLengths;
+ const std::vector<units::length::meter_t> sectionLengths;
std::unordered_map<std::string, OWL::Interfaces::Road*> roads;
std::vector<std::vector<OWL::Fakes::Lane*>> lanes;
@@ -53,7 +53,7 @@ struct FakeLaneManager
std::vector<std::vector<OWL::Id>> laneSuccessors;
std::string roadId;
- void SetLength(size_t col, size_t row, double length, double startDistance = 0)
+ void SetLength(size_t col, size_t row, units::length::meter_t length, units::length::meter_t startDistance = 0_m)
{
ON_CALL(*lanes[col][row], GetLength())
.WillByDefault(Return(length));
@@ -63,7 +63,7 @@ struct FakeLaneManager
.WillByDefault(Return(startDistance + length));
}
- void SetWidth(size_t col, size_t row, double width, double distance)
+ void SetWidth(size_t col, size_t row, units::length::meter_t width, units::length::meter_t distance)
{
ON_CALL(*lanes[col][row], GetWidth(distance)).WillByDefault(Return(width));
}
@@ -98,14 +98,14 @@ struct FakeLaneManager
}
}
- void GenerateRoad(double width, std::string roadId = "TestRoadId")
+ void GenerateRoad(units::length::meter_t width, std::string roadId = "TestRoadId")
{
OWL::Fakes::Road* road = new OWL::Fakes::Road();
GenerateLaneMatrix(road);
ConnectLaneRows();
ConnectLaneColumns();
SetDefaultWidth(width);
- SetDefaultLength(0);
+ SetDefaultLength(0_m);
SetDefaultMovingObjects();
GenerateSections();
ON_CALL(*road, GetSections()).WillByDefault(ReturnRef(sectionsList));
@@ -116,8 +116,8 @@ struct FakeLaneManager
void GenerateSections()
{
- double startOfSection = 0;
- double endOfSection = 0;
+ units::length::meter_t startOfSection{0};
+ units::length::meter_t endOfSection{0};
for (size_t col = 0; col < cols; col++)
{
@@ -212,7 +212,7 @@ struct FakeLaneManager
}
}
- void SetDefaultWidth(double width)
+ void SetDefaultWidth(units::length::meter_t width)
{
for (size_t col = 0; col < cols; col++)
{
@@ -223,7 +223,7 @@ struct FakeLaneManager
}
}
- void SetDefaultLength(double length)
+ void SetDefaultLength(units::length::meter_t length)
{
for (size_t col = 0; col < cols; col++)
{
@@ -261,8 +261,8 @@ struct FakeLaneManager
return roads;
}
- FakeLaneManager(size_t cols, size_t rows, double width, const std::vector<double>& sectionLengths, const std::string& roadId) : cols{cols}, rows{rows},
- sectionLengths{sectionLengths}
+ FakeLaneManager(size_t cols, size_t rows, units::length::meter_t width, const std::vector<units::length::meter_t> §ionLengths, const std::string &roadId) :
+ cols{cols}, rows{rows}, sectionLengths{sectionLengths}
{
assert(cols > 0);
assert(rows > 0);
diff --git a/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeMovingObject.h b/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeMovingObject.h
index a7a5d07696a9abbc34819a8b2b966fb9d63e6654..f03ecba2f9de802eae174ff8c40f98828f30873a 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeMovingObject.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeMovingObject.h
@@ -27,23 +27,23 @@ public:
}
MOCK_CONST_METHOD0(GetId, OWL::Id());
- MOCK_CONST_METHOD0(GetDimension, OWL::Primitive::Dimension());
+ MOCK_CONST_METHOD0(GetDimension, mantle_api::Dimension3());
- MOCK_CONST_METHOD0(GetReferencePointPosition, OWL::Primitive::AbsPosition());
- MOCK_CONST_METHOD0(GetAbsOrientation, OWL::Primitive::AbsOrientation());
- MOCK_CONST_METHOD0(GetAbsVelocityDouble, double());
- MOCK_CONST_METHOD0(GetAbsAccelerationDouble, double());
+ MOCK_CONST_METHOD0(GetReferencePointPosition, mantle_api::Vec3<units::length::meter_t>());
+ MOCK_CONST_METHOD0(GetAbsOrientation, mantle_api::Orientation3<units::angle::radian_t>());
+ MOCK_CONST_METHOD0(GetAbsVelocityDouble, units::velocity::meters_per_second_t());
+ MOCK_CONST_METHOD0(GetAbsAccelerationDouble, units::acceleration::meters_per_second_squared_t());
MOCK_METHOD1(AddLaneAssignment, void(const OWL::Interfaces::Lane& lane));
MOCK_CONST_METHOD0(GetLaneAssignments, const OWL::Interfaces::Lanes & ());
MOCK_METHOD0(ClearLaneAssignments, void());
- MOCK_METHOD1(SetAbsOrientation, void(const OWL::Primitive::AbsOrientation& newOrientation));
- MOCK_METHOD1(SetDimension, void(const OWL::Primitive::Dimension& newDimension));
+ MOCK_METHOD1(SetAbsOrientation, void(const mantle_api::Orientation3<units::angle::radian_t>& newOrientation));
+ MOCK_METHOD1(SetDimension, void(const mantle_api::Dimension3& newDimension));
MOCK_CONST_METHOD0(GetTouchedRoads, const RoadIntervals &());
MOCK_METHOD1(SetTouchedRoads, void(const RoadIntervals &touchedRoads));
- MOCK_METHOD1(SetReferencePointPosition, void(const OWL::Primitive::AbsPosition& newPosition));
-
+ MOCK_METHOD1(SetReferencePointPosition, void(const mantle_api::Vec3<units::length::meter_t>& newPosition));
+
MOCK_CONST_METHOD1(CopyToGroundTruth, void(osi3::GroundTruth&));
};
@@ -57,60 +57,60 @@ public:
}
MOCK_CONST_METHOD0(GetId, OWL::Id());
- MOCK_CONST_METHOD0(GetDimension, OWL::Primitive::Dimension());
+ MOCK_CONST_METHOD0(GetDimension, mantle_api::Dimension3());
MOCK_CONST_METHOD0(GetLane, const OWL::Interfaces::Lane & ());
MOCK_CONST_METHOD0(GetSection, const OWL::Interfaces::Section & ());
MOCK_CONST_METHOD0(GetRoad, const OWL::Interfaces::Road & ());
- MOCK_CONST_METHOD0(GetReferencePointPosition, OWL::Primitive::AbsPosition());
+ MOCK_CONST_METHOD0(GetReferencePointPosition, mantle_api::Vec3<units::length::meter_t>());
MOCK_CONST_METHOD0(GetTouchedRoads, const RoadIntervals &());
- MOCK_CONST_METHOD0(GetAbsOrientation, OWL::Primitive::AbsOrientation());
+ MOCK_CONST_METHOD0(GetAbsOrientation, mantle_api::Orientation3<units::angle::radian_t>());
MOCK_CONST_METHOD0(GetLaneOrientation, OWL::Primitive::LaneOrientation());
- MOCK_CONST_METHOD0(GetAbsVelocity, OWL::Primitive::AbsVelocity());
- MOCK_CONST_METHOD0(GetAbsVelocityDouble, double());
+ MOCK_CONST_METHOD0(GetAbsVelocity, mantle_api::Vec3<units::velocity::meters_per_second_t>());
+ MOCK_CONST_METHOD0(GetAbsVelocityDouble, units::velocity::meters_per_second_t());
MOCK_CONST_METHOD0(GetAbsAcceleration, OWL::Primitive::AbsAcceleration());
- MOCK_CONST_METHOD0(GetAbsAccelerationDouble, double());
+ MOCK_CONST_METHOD0(GetAbsAccelerationDouble, units::acceleration::meters_per_second_squared_t());
- MOCK_CONST_METHOD0(GetAbsOrientationRate, OWL::Primitive::AbsOrientationRate());
+ MOCK_CONST_METHOD0(GetAbsOrientationRate, mantle_api::Orientation3<units::angular_velocity::radians_per_second_t>());
MOCK_CONST_METHOD0(GetAbsOrientationAcceleration, OWL::Primitive::AbsOrientationAcceleration());
- MOCK_METHOD1(SetDimension, void(const OWL::Primitive::Dimension& newDimension));
- MOCK_METHOD1(SetLength, void(const double newLength));
- MOCK_METHOD1(SetWidth, void(const double newWidth));
- MOCK_METHOD1(SetHeight, void(const double newHeight));
- MOCK_METHOD3(SetBoundingBoxCenterToRear, void(const double distanceX, const double distanceY, const double distanceZ));
- MOCK_METHOD3(SetBoundingBoxCenterToFront, void(const double distanceX, const double distanceY, const double distanceZ));
+ MOCK_METHOD1(SetDimension, void(const mantle_api::Dimension3& newDimension));
+ MOCK_METHOD1(SetLength, void(const units::length::meter_t newLength));
+ MOCK_METHOD1(SetWidth, void(const units::length::meter_t newWidth));
+ MOCK_METHOD1(SetHeight, void(const units::length::meter_t newHeight));
+ MOCK_METHOD3(SetBoundingBoxCenterToRear, void(const units::length::meter_t distanceX, const units::length::meter_t distanceY, const units::length::meter_t distanceZ));
+ MOCK_METHOD3(SetBoundingBoxCenterToFront, void(const units::length::meter_t distanceX, const units::length::meter_t distanceY, const units::length::meter_t distanceZ));
- MOCK_METHOD1(SetReferencePointPosition, void(const OWL::Primitive::AbsPosition& newPosition));
- MOCK_METHOD1(SetX, void(const double newX));
- MOCK_METHOD1(SetY, void(const double newY));
- MOCK_METHOD1(SetZ, void(const double newZ));
+ MOCK_METHOD1(SetReferencePointPosition, void(const mantle_api::Vec3<units::length::meter_t>& newPosition));
+ MOCK_METHOD1(SetX, void(const units::length::meter_t newX));
+ MOCK_METHOD1(SetY, void(const units::length::meter_t newY));
+ MOCK_METHOD1(SetZ, void(const units::length::meter_t newZ));
MOCK_METHOD1(SetTouchedRoads, void(const RoadIntervals &touchedRoads));
- MOCK_METHOD1(SetAbsOrientation, void(const OWL::Primitive::AbsOrientation& newOrientation));
- MOCK_METHOD1(SetYaw, void(const double newYaw));
- MOCK_METHOD1(SetPitch, void(const double newPitch));
- MOCK_METHOD1(SetRoll, void(const double newRoll));
+ MOCK_METHOD1(SetAbsOrientation, void(const mantle_api::Orientation3<units::angle::radian_t>& newOrientation));
+ MOCK_METHOD1(SetYaw, void(const units::angle::radian_t newYaw));
+ MOCK_METHOD1(SetPitch, void(const units::angle::radian_t newPitch));
+ MOCK_METHOD1(SetRoll, void(const units::angle::radian_t newRoll));
- MOCK_METHOD1(SetAbsVelocity, void(const OWL::Primitive::AbsVelocity& newVelocity));
- MOCK_METHOD1(SetAbsVelocity, void(const double newVelocity));
+ MOCK_METHOD1(SetAbsVelocity, void(const mantle_api::Vec3<units::velocity::meters_per_second_t>& newVelocity));
+ MOCK_METHOD1(SetAbsVelocity, void(const units::velocity::meters_per_second_t newVelocity));
MOCK_METHOD1(SetAbsAcceleration, void(const OWL::Primitive::AbsAcceleration& newAcceleration));
- MOCK_METHOD1(SetAbsAcceleration, void(const double newAcceleration));
+ MOCK_METHOD1(SetAbsAcceleration, void(const units::acceleration::meters_per_second_squared_t newAcceleration));
- MOCK_METHOD1(SetAbsOrientationRate, void(const OWL::Primitive::AbsOrientationRate& newOrientationRate));
+ MOCK_METHOD1(SetAbsOrientationRate, void(const mantle_api::Orientation3<units::angular_velocity::radians_per_second_t>& newOrientationRate));
MOCK_METHOD1(SetAbsOrientationAcceleration, void(const OWL::Primitive::AbsOrientationAcceleration& newOrientationAcceleration));
MOCK_METHOD1(AddLaneAssignment, void(const OWL::Interfaces::Lane& lane));
MOCK_CONST_METHOD0(GetLaneAssignments, const OWL::Interfaces::Lanes & ());
MOCK_METHOD0(ClearLaneAssignments, void());
- MOCK_CONST_METHOD0(GetDistanceReferencePointToLeadingEdge, double());
+ MOCK_CONST_METHOD0(GetDistanceReferencePointToLeadingEdge, units::length::meter_t());
MOCK_METHOD1(SetIndicatorState, void(IndicatorState indicatorState));
MOCK_CONST_METHOD0(GetIndicatorState, IndicatorState());
@@ -121,15 +121,16 @@ public:
MOCK_METHOD1(SetHighBeamLight, void(bool highbeamLight));
MOCK_CONST_METHOD0(GetHighBeamLight, bool());
- MOCK_METHOD1(SetType, void(AgentVehicleType));
+ MOCK_METHOD1(SetType, void(mantle_api::EntityType));
+ MOCK_METHOD1(SetVehicleClassification, void(mantle_api::VehicleClass));
MOCK_METHOD1(SetSourceReference, void(const OWL::ExternalReference& externalReference));
MOCK_METHOD1(AddWheel, void(const WheelData &wheelData));
- MOCK_METHOD0(GetSteeringWheelAngle, float());
+ MOCK_METHOD0(GetSteeringWheelAngle, Angle());
MOCK_METHOD1(SetSteeringWheelAngle, void(const Angle));
- MOCK_METHOD1(SetFrontAxleSteeringYaw, void(const double));
- MOCK_METHOD4(SetWheelsRotationRateAndOrientation, void(const double, const double, const double, const double));
+ MOCK_METHOD1(SetFrontAxleSteeringYaw, void(const Angle));
+ MOCK_METHOD4(SetWheelsRotationRateAndOrientation, void(const units::velocity::meters_per_second_t, const units::length::meter_t, const units::length::meter_t, const units::time::second_t));
MOCK_METHOD2(GetWheelData, std::optional<const OWL::WheelData>(unsigned int, unsigned int));
MOCK_CONST_METHOD1(CopyToGroundTruth, void(osi3::GroundTruth&));
diff --git a/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeRoad.h b/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeRoad.h
index c3cc82e4146ec8add8f19bd943c0edcbd087906a..6055915142b764534c9f5b4e0a22e0b29e46af9b 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeRoad.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeRoad.h
@@ -20,12 +20,12 @@ public:
MOCK_CONST_METHOD0(GetId, const std::string&());
MOCK_CONST_METHOD0(GetSections, std::vector<const OWL::Interfaces::Section*>&());
MOCK_METHOD1(AddSection, void(OWL::Interfaces::Section& ));
- MOCK_CONST_METHOD0(GetLength, double());
+ MOCK_CONST_METHOD0(GetLength, units::length::meter_t());
MOCK_CONST_METHOD0(GetSuccessor, const std::string& ());
MOCK_CONST_METHOD0(GetPredecessor, const std::string& ());
MOCK_METHOD1(SetSuccessor, void (const std::string&));
MOCK_METHOD1(SetPredecessor, void (const std::string&));
MOCK_CONST_METHOD0(IsInStreamDirection, bool ());
- MOCK_CONST_METHOD1(GetDistance, double (OWL::MeasurementPoint));
+ MOCK_CONST_METHOD1(GetDistance, units::length::meter_t(OWL::MeasurementPoint));
};
}
diff --git a/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeRoadMarking.h b/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeRoadMarking.h
index f2472f00d17ad11a96ebdcdf27751caaaa36130b..8ce7cbb72770d96bdcac41b904a46ff4981b9f1e 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeRoadMarking.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeRoadMarking.h
@@ -22,17 +22,17 @@ public:
MOCK_CONST_METHOD0(GetId,
std::string());
MOCK_CONST_METHOD0(GetS,
- double());
+ units::length::meter_t());
MOCK_CONST_METHOD1(GetSpecification,
- CommonTrafficSign::Entity(double));
+ CommonTrafficSign::Entity(units::length::meter_t));
MOCK_CONST_METHOD0(GetDimension,
- Primitive::Dimension ());
+ mantle_api::Dimension3 ());
MOCK_CONST_METHOD0(GetReferencePointPosition,
- Primitive::AbsPosition ());
+ mantle_api::Vec3<units::length::meter_t> ());
MOCK_CONST_METHOD1(IsValidForLane,
bool(OWL::Id laneId));
MOCK_METHOD1(SetS,
- void(double));
+ void(units::length::meter_t));
MOCK_METHOD1(SetValidForLane,
void(OWL::Id));
MOCK_METHOD2(SetSpecification,
diff --git a/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeSection.h b/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeSection.h
index 97d25322a0f3f5182324b30f0b862d04e6a8a1da..d60a3a3aa2ffdaff82fd03a97e054882ecc4ae4a 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeSection.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeSection.h
@@ -27,15 +27,15 @@ public:
MOCK_CONST_METHOD0(GetLanes,
const OWL::Interfaces::Lanes & (void));
MOCK_CONST_METHOD0(GetLength,
- double (void));
+ units::length::meter_t(void));
MOCK_CONST_METHOD0(GetSOffset,
- double());
+ units::length::meter_t());
MOCK_CONST_METHOD1(GetDistance,
- double(OWL::MeasurementPoint mp));
+ units::length::meter_t(OWL::MeasurementPoint mp));
MOCK_CONST_METHOD1(Covers,
- bool(double));
+ bool(units::length::meter_t));
MOCK_CONST_METHOD2(CoversInterval,
- bool(double startDistance, double endDistance));
+ bool(units::length::meter_t startDistance, units::length::meter_t endDistance));
MOCK_METHOD1(SetRoad,
void(OWL::Interfaces::Road*));
MOCK_CONST_METHOD0(GetRoad,
diff --git a/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeTrafficLight.h b/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeTrafficLight.h
index 8b810587b41449f713845ef8dfb422e433c9332a..9660613e0d013de6cbc673054dc6c2feeca39741 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeTrafficLight.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeTrafficLight.h
@@ -19,16 +19,16 @@ class TrafficLight : public OWL::Interfaces::TrafficLight
{
public:
MOCK_CONST_METHOD0(GetId, std::string ());
- MOCK_CONST_METHOD0(GetS, double ());
+ MOCK_CONST_METHOD0(GetS, units::length::meter_t ());
MOCK_CONST_METHOD1(IsValidForLane, bool (OWL::Id laneId));
- MOCK_CONST_METHOD0(GetReferencePointPosition, Primitive::AbsPosition ());
- MOCK_METHOD1(SetS, void (double sPos));
+ MOCK_CONST_METHOD0(GetReferencePointPosition, mantle_api::Vec3<units::length::meter_t>());
+ MOCK_METHOD1(SetS, void (units::length::meter_t sPos));
MOCK_METHOD2(SetSpecification, bool (RoadSignalInterface* signal, const Position& position));
MOCK_METHOD1(SetValidForLane, void (OWL::Id laneId));
MOCK_CONST_METHOD1(CopyToGroundTruth, void (osi3::GroundTruth& target));
MOCK_METHOD1(SetState, void (CommonTrafficLight::State newState));
- MOCK_CONST_METHOD1(GetSpecification, CommonTrafficLight::Entity (const double relativeDistance));
+ MOCK_CONST_METHOD1(GetSpecification, CommonTrafficLight::Entity (const units::length::meter_t relativeDistance));
MOCK_CONST_METHOD0(GetState, CommonTrafficLight::State ());
- MOCK_CONST_METHOD0(GetDimension, Primitive::Dimension ());
+ MOCK_CONST_METHOD0(GetDimension, mantle_api::Dimension3 ());
};
}
diff --git a/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeTrafficSign.h b/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeTrafficSign.h
index 87f20ff1594825582aa5fddda4bf14aaeb78a2f4..6ab274b0ebced4a42c842e00dd3d97ccf34e4bc5 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeTrafficSign.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeTrafficSign.h
@@ -25,19 +25,19 @@ public:
MOCK_CONST_METHOD0(GetId,
std::string());
MOCK_CONST_METHOD0(GetS,
- double());
+ units::length::meter_t());
MOCK_CONST_METHOD2(GetValueAndUnitInSI,
std::pair<double, CommonTrafficSign::Unit> (const double osiValue, const osi3::TrafficSignValue_Unit osiUnit));
MOCK_CONST_METHOD1(GetSpecification,
- CommonTrafficSign::Entity(double));
+ CommonTrafficSign::Entity(units::length::meter_t));
MOCK_CONST_METHOD0(GetReferencePointPosition,
- Primitive::AbsPosition ());
+ mantle_api::Vec3<units::length::meter_t> ());
MOCK_CONST_METHOD0(GetDimension,
- Primitive::Dimension ());
+ mantle_api::Dimension3 ());
MOCK_CONST_METHOD1(IsValidForLane,
bool(OWL::Id laneId));
MOCK_METHOD1(SetS,
- void(double));
+ void(units::length::meter_t));
MOCK_METHOD1(SetValidForLane,
void(OWL::Id));
MOCK_METHOD2(SetSpecification,
diff --git a/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeWorldData.h b/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeWorldData.h
index 7987107b26c46627ca53b4c257dc286c554f8c16..2cdb9b2d6df62ff0e482b27cd3b4c1a91f394cfc 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeWorldData.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/OWL/fakes/fakeWorldData.h
@@ -36,8 +36,8 @@ public:
MOCK_METHOD1(AddRoad, void(const RoadInterface &));
MOCK_METHOD1(AddJunction, void(const JunctionInterface *odJunction));
MOCK_METHOD2(AddJunctionConnection, void(const JunctionInterface *odJunction, const RoadInterface &odRoad));
- MOCK_METHOD7(AddLaneGeometryPoint, void(const RoadLaneInterface &, const Common::Vector2d &, const Common::Vector2d &, const Common::Vector2d &, const double, const double, const double));
- MOCK_METHOD4(AddCenterLinePoint, void(const RoadLaneSectionInterface &odSection, const Common::Vector2d &pointCenter, const double sOffset, double heading));
+ MOCK_METHOD7(AddLaneGeometryPoint, void(const RoadLaneInterface &, const Common::Vector2d<units::length::meter_t> &, const Common::Vector2d<units::length::meter_t> &, const Common::Vector2d<units::length::meter_t> &, const units::length::meter_t, const units::curvature::inverse_meter_t, const units::angle::radian_t));
+ MOCK_METHOD4(AddCenterLinePoint, void(const RoadLaneSectionInterface &odSection, const Common::Vector2d<units::length::meter_t> &pointCenter, const units::length::meter_t sOffset, units::angle::radian_t heading));
MOCK_METHOD2(AddLaneSuccessor, void(/* const */ RoadLaneInterface &, /* const */ RoadLaneInterface &));
MOCK_METHOD2(AddLanePredecessor, void(/* const */ RoadLaneInterface &, /* const */ RoadLaneInterface &));
MOCK_METHOD2(SetRoadSuccessor, void(const RoadInterface &, const RoadInterface &));
@@ -47,7 +47,7 @@ public:
MOCK_METHOD2(SetSectionSuccessor, void(const RoadLaneSectionInterface &, const RoadLaneSectionInterface &));
MOCK_METHOD2(SetSectionPredecessor, void(const RoadLaneSectionInterface &, const RoadLaneSectionInterface &));
MOCK_METHOD4(ConnectLanes, void(/* const */ RoadLaneSectionInterface &, /* const */ RoadLaneSectionInterface &, const std::map<int, int> &, bool));
- MOCK_METHOD1(SetEnvironment, void (const openScenario::EnvironmentAction& environment));
+ MOCK_METHOD1(SetEnvironment, void(const mantle_api::Weather &weather));
MOCK_METHOD2(AddTrafficSign, OWL::Interfaces::TrafficSign &(const Id, const std::string odId));
MOCK_METHOD3(AddTrafficLight, OWL::Interfaces::TrafficLight&(const std::vector<Id> trafficLightIds, const std::string odId, const std::string &type));
@@ -67,9 +67,9 @@ public:
MOCK_METHOD2(GetSensorView, SensorView_ptr(osi3::SensorViewConfiguration &, int));
MOCK_METHOD0(ResetTemporaryMemory, void());
MOCK_CONST_METHOD1(GetLaneBoundary, const OWL::Interfaces::LaneBoundary &(Id id));
- MOCK_METHOD4(AddLaneBoundary, OWL::Id(const Id, const RoadLaneRoadMark &odLaneRoadMark, double sectionStart, OWL::LaneMarkingSide side));
+ MOCK_METHOD4(AddLaneBoundary, OWL::Id(const Id, const RoadLaneRoadMark &odLaneRoadMark, units::length::meter_t sectionStart, OWL::LaneMarkingSide side));
MOCK_METHOD2(SetCenterLaneBoundary, void(const RoadLaneSectionInterface &odSection, std::vector<OWL::Id> laneBoundaryIds));
- MOCK_METHOD3(AddCenterLinePoint, void(const RoadLaneSectionInterface &odSection, const Common::Vector2d &pointCenter, const double sOffset));
+ MOCK_METHOD3(AddCenterLinePoint, void(const RoadLaneSectionInterface &odSection, const Common::Vector2d<units::length::meter_t> &pointCenter, const units::length::meter_t sOffset));
MOCK_CONST_METHOD0(GetJunctions, const std::map<std::string, OWL::Junction *> &());
MOCK_METHOD2(AssignTrafficSignToLane, void(OWL::Id laneId, OWL::Interfaces::TrafficSign &trafficSign));
MOCK_METHOD2(AssignRoadMarkingToLane, void(OWL::Id laneId, OWL::Interfaces::RoadMarking &roadMarking));
diff --git a/sim/src/core/opSimulation/modules/World_OSI/RadioImplementation.cpp b/sim/src/core/opSimulation/modules/World_OSI/RadioImplementation.cpp
index c9ecd94f74dc04f6875115df93a88385b5993f3f..e01c24f791c8e5b9689df8c3b10eda601642dc95 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/RadioImplementation.cpp
+++ b/sim/src/core/opSimulation/modules/World_OSI/RadioImplementation.cpp
@@ -11,20 +11,20 @@
#include "RadioImplementation.h"
#include <math.h>
-void RadioImplementation::Send(double positionX, double postionY, double signalStrength, DetectedObject objectInformation)
+void RadioImplementation::Send(units::length::meter_t positionX, units::length::meter_t postionY, units::power::watt_t signalStrength, DetectedObject objectInformation)
{
RadioSignal radioSignal{positionX, postionY, signalStrength, objectInformation};
signalVector.push_back(radioSignal);
}
-std::vector<DetectedObject> RadioImplementation::Receive(double positionX, double positionY, double sensitivity)
+std::vector<DetectedObject> RadioImplementation::Receive(units::length::meter_t positionX, units::length::meter_t positionY, units::sensitivity sensitivity)
{
std::vector<DetectedObject> detectedObjects{};
for (RadioSignal radioSignal : signalVector)
{
- double deltaX= radioSignal.positionX - positionX;
- double deltaY=radioSignal.positionY-positionY;
- double distance=sqrt(deltaX*deltaX+deltaY*deltaY);
+ auto deltaX = radioSignal.positionX - positionX;
+ auto deltaY = radioSignal.positionY - positionY;
+ auto distance = units::math::sqrt(deltaX * deltaX + deltaY * deltaY);
if (CanHearSignal(radioSignal.signalStrength,distance,sensitivity))
{
@@ -34,9 +34,9 @@ std::vector<DetectedObject> RadioImplementation::Receive(double positionX, doubl
return detectedObjects;
}
-bool RadioImplementation::CanHearSignal(double signalStrength, double distance, double sensitivity)
+bool RadioImplementation::CanHearSignal(units::power::watt_t signalStrength, units::length::meter_t distance, units::sensitivity sensitivity)
{
- double receivedSignalStrength = signalStrength / ( 4 * M_PI * distance * distance );
+ units::sensitivity receivedSignalStrength = signalStrength / ( 4 * M_PI * distance * distance );
return receivedSignalStrength >= sensitivity;
}
diff --git a/sim/src/core/opSimulation/modules/World_OSI/RadioImplementation.h b/sim/src/core/opSimulation/modules/World_OSI/RadioImplementation.h
index 85988196bde1fb7d891581a9b0e037cc2f6b631f..692001357412bf9ad0b89c2d34bcc6009a4e3f61 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/RadioImplementation.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/RadioImplementation.h
@@ -19,12 +19,11 @@
#include <vector>
#include <memory>
-//! Single signal sent by a sender
struct RadioSignal
{
- double positionX;
- double positionY;
- double signalStrength;
+ units::length::meter_t positionX;
+ units::length::meter_t positionY;
+ units::power::watt_t signalStrength;
DetectedObject objectInformation;
};
@@ -32,28 +31,12 @@ class RadioImplementation : public RadioInterface
{
public:
RadioImplementation() = default;
+ ~RadioImplementation(){};
- //-----------------------------------------------------------------------------
- //! Broadcasts object-metadata and sensor informations to cloud.
- //! @param[in] positionX x position of sender
- //! @param[in] postionY y position of sender
- //! @param[in] signalStrength signal strength of sender (transmitting power [W])
- //! @param[in] objectInformation sensor data
- //-----------------------------------------------------------------------------
- void Send(double positionX, double postionY, double signalStrength, DetectedObject objectInformation) override;
+ void Send(units::length::meter_t positionX, units::length::meter_t postionY, units::power::watt_t signalStrength, DetectedObject objectInformation) override;
- //-----------------------------------------------------------------------------
- //! Retrieve available information at current postion from cloud.
- //! @param[in] positionX x position of receiver
- //! @param[in] positionY y position of receiver
- //! @param[in] sensitivity sensitivity of receiver (implemented as surface power density [W/m2])
- //! @return data of senders "visible" at current position
- //-----------------------------------------------------------------------------
- std::vector<DetectedObject> Receive(double positionX, double positionY, double sensitivity) override;
+ std::vector<DetectedObject> Receive(units::length::meter_t positionX, units::length::meter_t positionY, units::sensitivity sensitivity) override;
- //-----------------------------------------------------------------------------
- //! Resets the cloud for next simulation step
- //-----------------------------------------------------------------------------
void Reset() override;
private:
@@ -61,11 +44,11 @@ private:
//! Checks if sender is within proximity of receiver ("is visible").
//! Physical model: isotropic radiator
//! @param[in] signalStrength signal strength of sender [W]
- //! @param[in] distance distance between sender and receiver
- //! @param[in] sensitivity sensitivity of receiver [W/m2]
+ //! @param[in] distance distance between sender and receiver
+ //! @param[in] sensitivity sensitivity of receiver [W/m2]
//! @return bool is sender within proximity
//-----------------------------------------------------------------------------
- bool CanHearSignal(double signalStrength, double distance, double sensitivity);
+ bool CanHearSignal (units::power::watt_t signalStrength, units::length::meter_t distance, units::sensitivity sensitivity);
std::vector<RadioSignal> signalVector;
};
diff --git a/sim/src/core/opSimulation/modules/World_OSI/RoadStream.cpp b/sim/src/core/opSimulation/modules/World_OSI/RoadStream.cpp
index 5ff83aaf5a472ec84b88f0c47a6584b85efdf642..2c8c3930b5b6c5e29ae55cb7aa52471970c7554f 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/RoadStream.cpp
+++ b/sim/src/core/opSimulation/modules/World_OSI/RoadStream.cpp
@@ -13,7 +13,7 @@
#include <algorithm>
#include <vector>
-const OWL::Interfaces::Section& GetSectionAtDistance(const OWL::Interfaces::Road& road, double distance)
+const OWL::Interfaces::Section& GetSectionAtDistance(const OWL::Interfaces::Road& road, units::length::meter_t distance)
{
for (const auto section : road.GetSections())
{
@@ -25,7 +25,7 @@ const OWL::Interfaces::Section& GetSectionAtDistance(const OWL::Interfaces::Road
throw std::runtime_error("RoadStream distance out of range");
}
-double GetLaneWidth(const OWL::Interfaces::Section& section, double laneId, double distance)
+units::length::meter_t GetLaneWidth(const OWL::Interfaces::Section& section, double laneId, units::length::meter_t distance)
{
for (const auto lane : section.GetLanes())
{
@@ -34,12 +34,12 @@ double GetLaneWidth(const OWL::Interfaces::Section& section, double laneId, doub
return lane->GetWidth(distance);
}
}
- return 0.0;
+ return 0.0_m;
}
StreamPosition RoadStream::GetStreamPosition(const GlobalRoadPosition &roadPosition) const
{
- StreamPosition streamPosition {-1, 0};
+ StreamPosition streamPosition {-1_m, 0_m};
for (const auto& element : elements)
{
@@ -66,7 +66,7 @@ StreamPosition RoadStream::GetStreamPosition(const GlobalRoadPosition &roadPosit
streamPosition.t += 0.5 * GetLaneWidth(section, roadPosition.laneId, roadPosition.roadPosition.s);
}
streamPosition.t *= element.inStreamDirection ? 1 : -1;
- streamPosition.hdg = CommonHelper::SetAngleToValidRange(roadPosition.roadPosition.hdg + (element.inStreamDirection ? 0 : M_PI));
+ streamPosition.hdg = CommonHelper::SetAngleToValidRange(roadPosition.roadPosition.hdg + (element.inStreamDirection ? 0_rad : units::angle::radian_t(M_PI)));
return streamPosition;
}
}
@@ -84,11 +84,11 @@ GlobalRoadPosition RoadStream::GetRoadPosition(const StreamPosition &streamPosit
globalRoadPosition.roadId = element.road->GetId();
globalRoadPosition.roadPosition.s = element.GetElementPosition(streamPosition.s);
const auto& section = GetSectionAtDistance(*element.road, globalRoadPosition.roadPosition.s);
- double remainingOffset = streamPosition.t * (element.inStreamDirection ? 1 : -1);
- if (element.inStreamDirection xor (streamPosition.t > 0))
+ auto remainingOffset = streamPosition.t * (element.inStreamDirection ? 1 : -1);
+ if (element.inStreamDirection xor (streamPosition.t > 0_m))
{
int laneId = -1;
- double laneWidth = GetLaneWidth(section, laneId, globalRoadPosition.roadPosition.s);
+ auto laneWidth = GetLaneWidth(section, laneId, globalRoadPosition.roadPosition.s);
while (-remainingOffset > laneWidth)
{
remainingOffset += laneWidth;
@@ -101,7 +101,7 @@ GlobalRoadPosition RoadStream::GetRoadPosition(const StreamPosition &streamPosit
else
{
int laneId = 1;
- double laneWidth = GetLaneWidth(section, laneId, globalRoadPosition.roadPosition.s);
+ auto laneWidth = GetLaneWidth(section, laneId, globalRoadPosition.roadPosition.s);
while (remainingOffset > laneWidth)
{
remainingOffset -= laneWidth;
@@ -111,7 +111,7 @@ GlobalRoadPosition RoadStream::GetRoadPosition(const StreamPosition &streamPosit
globalRoadPosition.laneId = laneId;
globalRoadPosition.roadPosition.t = remainingOffset - 0.5 * laneWidth;
}
- globalRoadPosition.roadPosition.hdg = CommonHelper::SetAngleToValidRange(streamPosition.hdg + (element.inStreamDirection ? 0 : M_PI));
+ globalRoadPosition.roadPosition.hdg = CommonHelper::SetAngleToValidRange(streamPosition.hdg + (element.inStreamDirection ? 0_rad : units::angle::radian_t(M_PI)));
return globalRoadPosition;
}
}
@@ -161,7 +161,7 @@ std::vector<std::unique_ptr<LaneStreamInterface>> RoadStream::GetAllLaneStreams(
{
continue;
}
- StreamPosition start{element.GetStreamPosition(lane->GetDistance(OWL::MeasurementPoint::RoadStart)), 0.};
+ StreamPosition start{element.GetStreamPosition(lane->GetDistance(OWL::MeasurementPoint::RoadStart)), 0.0_m};
laneStreams.push_back(GetLaneStream(start, lane->GetOdId()));
}
lastLanes = §ion->GetLanes();
@@ -292,7 +292,7 @@ std::vector<LaneStreamElement> RoadStream::CreateLaneStream(const GlobalRoadPosi
return laneStreamElements;
}
-double RoadStream::GetLength() const
+units::length::meter_t RoadStream::GetLength() const
{
return elements.back().EndS();
}
diff --git a/sim/src/core/opSimulation/modules/World_OSI/RoadStream.h b/sim/src/core/opSimulation/modules/World_OSI/RoadStream.h
index 2d9820ee8f5f8aeced3b60f0b6a9386c31c350ad..20f7a3e86d8e00ca259e1d574be134c1ebd22975 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/RoadStream.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/RoadStream.h
@@ -22,16 +22,18 @@
#include "OWL/DataTypes.h"
#include "LaneStream.h"
+using namespace units::literals;
+
//! This class represents one element of a RoadStream.
struct RoadStreamElement
{
const OWL::Interfaces::Road* road; //!< road represented by this object
- double sOffset; //!< S Offset of the start point of the element from the beginning of the stream
+ units::length::meter_t sOffset; //!< S Offset of the start point of the element from the beginning of the stream
bool inStreamDirection; //!< Specifies whether the direction of the element is the same as the direction of the stream
RoadStreamElement() = default;
- RoadStreamElement(const OWL::Interfaces::Road* road, double sOffset, bool inStreamDirection) :
+ RoadStreamElement(const OWL::Interfaces::Road* road, units::length::meter_t sOffset, bool inStreamDirection) :
road(road),
sOffset(sOffset),
inStreamDirection(inStreamDirection)
@@ -46,7 +48,7 @@ struct RoadStreamElement
//!
//! \param elementPosition position relative to the start of the element
//! \return position relative to the start of the stream
- double GetStreamPosition(double elementPosition) const
+ units::length::meter_t GetStreamPosition(units::length::meter_t elementPosition) const
{
return sOffset + (inStreamDirection ? elementPosition : -elementPosition);
}
@@ -55,21 +57,21 @@ struct RoadStreamElement
//!
//! \param streamPosition position relative to the start of the stream
//! \return position relative to the start of the element
- double GetElementPosition(double streamPosition) const
+ units::length::meter_t GetElementPosition(units::length::meter_t streamPosition) const
{
return inStreamDirection ? streamPosition - sOffset : sOffset - streamPosition;
}
//! Returns the stream position of the start of the road
- double StartS() const
+ units::length::meter_t StartS() const
{
- return sOffset - (inStreamDirection ? 0 : road->GetLength());
+ return sOffset - (inStreamDirection ? 0_m : road->GetLength());
}
//! Returns the stream position of the end of the road
- double EndS() const
+ units::length::meter_t EndS() const
{
- return sOffset + (inStreamDirection ? road->GetLength() : 0);
+ return sOffset + (inStreamDirection ? road->GetLength() : 0_m);
}
};
@@ -95,7 +97,7 @@ public:
std::vector<LaneStreamElement> CreateLaneStream(const GlobalRoadPosition& startPosition) const;
- virtual double GetLength() const override;
+ virtual units::length::meter_t GetLength() const override;
private:
const std::vector<RoadStreamElement> elements;
diff --git a/sim/src/core/opSimulation/modules/World_OSI/SceneryConverter.cpp b/sim/src/core/opSimulation/modules/World_OSI/SceneryConverter.cpp
index 0db65d7d975218e19221833f70774a665c8383da..80f8533f24c3c525c43a82f42a1e55d11f011219 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/SceneryConverter.cpp
+++ b/sim/src/core/opSimulation/modules/World_OSI/SceneryConverter.cpp
@@ -102,7 +102,7 @@ ConversionStatus ConnectJunction(const SceneryInterface *scenery, const Junction
}
} // namespace Internal
-Position SceneryConverter::RoadCoord2WorldCoord(const RoadInterface *road, double s, double t, double yaw)
+Position SceneryConverter::RoadCoord2WorldCoord(const RoadInterface *road, units::length::meter_t s, units::length::meter_t t, units::angle::radian_t yaw)
{
auto &geometries = road->GetGeometries();
auto geometry = std::find_if(geometries.cbegin(), geometries.cend(),
@@ -113,7 +113,7 @@ Position SceneryConverter::RoadCoord2WorldCoord(const RoadInterface *road, doubl
}
auto coordinates = (*geometry)->GetCoord(s - (*geometry)->GetS(), t);
auto absoluteYaw = CommonHelper::SetAngleToValidRange((*geometry)->GetDir(s - (*geometry)->GetS()) + yaw);
- return {coordinates.x, coordinates.y, absoluteYaw, 0};
+ return {units::length::meter_t(coordinates.x), units::length::meter_t(coordinates.y), absoluteYaw, 0_i_m};
}
SceneryConverter::SceneryConverter(const SceneryInterface *scenery,
@@ -790,9 +790,9 @@ void SceneryConverter::CreateObjects()
void SceneryConverter::CreateObject(const RoadObjectInterface *object, const Position& position)
{
- OWL::Primitive::AbsPosition absPos{position.xPos, position.yPos, 0};
- OWL::Primitive::Dimension dim{object->GetLength(), object->GetWidth(), object->GetHeight()};
- OWL::Primitive::AbsOrientation orientation{position.yawAngle, object->GetPitch(), object->GetRoll()};
+ mantle_api::Vec3<units::length::meter_t> absPos{position.xPos, position.yPos, 0_m};
+ mantle_api::Dimension3 dim{object->GetLength(), object->GetWidth(), object->GetHeight()};
+ mantle_api::Orientation3<units::angle::radian_t> orientation{position.yawAngle, object->GetPitch(), object->GetRoll()};
const auto id = repository.Register(openpass::entity::EntityType::StationaryObject, openpass::utils::GetEntityInfo(*object));
trafficObjects.emplace_back(std::make_unique<TrafficObjectAdapter>(
@@ -801,7 +801,7 @@ void SceneryConverter::CreateObject(const RoadObjectInterface *object, const Pos
localizer,
absPos,
dim,
- object->GetZOffset(),
+ units::length::meter_t{object->GetZOffset()},
orientation,
object->GetId()));
}
@@ -809,27 +809,27 @@ void SceneryConverter::CreateObject(const RoadObjectInterface *object, const Pos
void SceneryConverter::CreateContinuousObject(const RoadObjectInterface *object, const RoadInterface *road)
{
auto section = worldDataQuery.GetSectionByDistance(road->GetId(), object->GetS());
- const double sStart = object->GetS();
- const double sEnd = sStart + object->GetLength();
+ const auto sStart = object->GetS();
+ const auto sEnd = sStart + object->GetLength();
const auto laneElements = section->GetLanes().front()->GetLaneGeometryElements();
for (const auto& laneElement : laneElements)
{
- const double elementStart = laneElement->joints.current.sOffset;
- const double elementEnd = laneElement->joints.next.sOffset;
- const double objectStart = std::max(sStart, elementStart);
- const double objectEnd = std::min(sEnd, elementEnd);
+ const auto elementStart = laneElement->joints.current.sOffset;
+ const auto elementEnd = laneElement->joints.next.sOffset;
+ const auto objectStart = units::math::max(sStart, elementStart);
+ const auto objectEnd = units::math::min(sEnd, elementEnd);
if (objectStart < objectEnd)
{
- const auto startPosition = RoadCoord2WorldCoord(road, objectStart, object->GetT(), 0);
- const auto endPosition = RoadCoord2WorldCoord(road, objectEnd, object->GetT(), 0);
- const double deltaX = endPosition.xPos - startPosition.xPos;
- const double deltaY = endPosition.yPos - startPosition.yPos;
- const double length = openpass::hypot(deltaX, deltaY);
- double yaw = std::atan2(deltaY, deltaX);
-
- OWL::Primitive::AbsPosition pos{(startPosition.xPos + endPosition.xPos) / 2.0, (startPosition.yPos + endPosition.yPos) / 2.0, 0};
- OWL::Primitive::Dimension dim{length, object->GetWidth(), object->GetHeight()};
- OWL::Primitive::AbsOrientation orientation{yaw, object->GetPitch(), object->GetRoll()};
+ const auto startPosition = RoadCoord2WorldCoord(road, objectStart, object->GetT(), 0_rad);
+ const auto endPosition = RoadCoord2WorldCoord(road, objectEnd, object->GetT(), 0_rad);
+ const auto deltaX = endPosition.xPos - startPosition.xPos;
+ const auto deltaY = endPosition.yPos - startPosition.yPos;
+ const auto length = openpass::hypot(deltaX, deltaY);
+ const auto yaw = units::math::atan2(deltaY, deltaX);
+
+ mantle_api::Vec3<units::length::meter_t> pos{(startPosition.xPos + endPosition.xPos) / 2.0, (startPosition.yPos + endPosition.yPos) / 2.0, 0_m};
+ mantle_api::Dimension3 dim{length, object->GetWidth(), object->GetHeight()};
+ mantle_api::Orientation3<units::angle::radian_t> orientation{yaw, object->GetPitch(), object->GetRoll()};
const auto id = repository.Register(openpass::entity::EntityType::StationaryObject, openpass::utils::GetEntityInfo(*object));
trafficObjects.emplace_back(std::make_unique<TrafficObjectAdapter>(
@@ -838,7 +838,7 @@ void SceneryConverter::CreateContinuousObject(const RoadObjectInterface *object,
localizer,
pos,
dim,
- object->GetZOffset(),
+ units::length::meter_t{object->GetZOffset()},
orientation,
object->GetId()));
}
@@ -877,7 +877,7 @@ std::vector<OWL::Id> SceneryConverter::CreateLaneBoundaries(RoadLaneInterface &o
if (odLane.GetRoadMarks().empty())
{
//!If there are no RoadMarks defined in OpenDRIVE, there should still be a LaneBoundary, so we treat it as if there was a RoadMark of type none
- const RoadLaneRoadMark defaultRoadMark(0,
+ const RoadLaneRoadMark defaultRoadMark(0_m,
RoadLaneRoadDescriptionType::Center,
RoadLaneRoadMarkType::None,
RoadLaneRoadMarkColor::Undefined,
@@ -916,7 +916,7 @@ void SceneryConverter::CreateRoadSignals()
continue;
}
- double yaw = signal->GetHOffset() + (signal->GetOrientation() ? 0 : M_PI);
+ auto yaw = signal->GetHOffset() + (signal->GetOrientation() ? 0_rad : 1_rad * M_PI);
auto position = RoadCoord2WorldCoord(road, signal->GetS(), signal->GetT(), yaw);
auto signalsMapping = OpenDriveTypeMapper::GetSignalsMapping(signal->GetCountry());
if (signalsMapping->roadMarkings.find(signal->GetType()) != signalsMapping->roadMarkings.end())
@@ -954,7 +954,7 @@ void SceneryConverter::CreateRoadSignals()
}
auto& parentSign = worldData.GetTrafficSign(owlId.value());
- double yaw = supplementarySign->GetHOffset() + (supplementarySign->GetOrientation() ? 0 : M_PI);
+ auto yaw = supplementarySign->GetHOffset() + (supplementarySign->GetOrientation() ? 0_rad : 1_rad * M_PI);
auto position = RoadCoord2WorldCoord(road, supplementarySign->GetS(), supplementarySign->GetT(), yaw);
if (!parentSign.AddSupplementarySign(supplementarySign, position))
{
@@ -1201,10 +1201,11 @@ const std::map<std::string, CommonTrafficLight::State> stateConversionMap
{"yellow flashing", CommonTrafficLight::State::YellowFlashing}
};
-namespace TrafficLightNetworkBuilder
+//TODO Reactivate after TrafficSignalController is available in MantleAPI
+/*namespace TrafficLightNetworkBuilder
{
-TrafficLightNetwork Build(const std::vector<openScenario::TrafficSignalController>& controllers,
- OWL::Interfaces::WorldData& worldData)
+TrafficLightNetwork Build(const std::vector<TrafficSignalController> &controllers,
+ OWL::Interfaces::WorldData &worldData)
{
TrafficLightNetwork network;
for(auto& controller : controllers)
@@ -1242,4 +1243,4 @@ TrafficLightNetwork Build(const std::vector<openScenario::TrafficSignalControlle
}
return network;
}
-}
+}*/
diff --git a/sim/src/core/opSimulation/modules/World_OSI/SceneryConverter.h b/sim/src/core/opSimulation/modules/World_OSI/SceneryConverter.h
index adb1c6e193dd205f16642feaeacc1da0eba11ee9..81127038777ee335f862578e21db560b172b8505 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/SceneryConverter.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/SceneryConverter.h
@@ -15,36 +15,36 @@
#pragma once
-#include <map>
#include <list>
-#include "include/callbackInterface.h"
-#include "include/sceneryInterface.h"
-#include "include/worldInterface.h"
-#include "common/vector3d.h"
-#include "WorldData.h"
-#include "WorldDataQuery.h"
+#include <map>
+
#include "Localization.h"
#include "TrafficLightNetwork.h"
-#include "common/worldDefinitions.h"
#include "TrafficObjectAdapter.h"
+#include "WorldData.h"
+#include "WorldDataQuery.h"
+#include "common/vector3d.h"
+#include "common/worldDefinitions.h"
+#include "include/callbackInterface.h"
+#include "include/sceneryInterface.h"
+#include "include/worldInterface.h"
namespace openpass::entity {
class RepositoryInterface;
}
-namespace Internal
-{
+namespace Internal {
struct ConversionStatus
{
bool status;
std::string error_message{};
};
-using PathInJunctionConnector = std::function<void(const JunctionInterface*, const RoadInterface *, const RoadInterface *, const RoadInterface *, ContactPointType,
+using PathInJunctionConnector = std::function<void(const JunctionInterface *, const RoadInterface *, const RoadInterface *, const RoadInterface *, ContactPointType,
ContactPointType, ContactPointType, const std::map<int, int>&)>;
-ConversionStatus ConnectJunction(const SceneryInterface* scenery, const JunctionInterface* junction,
- PathInJunctionConnector connectPathInJunction);
+ConversionStatus ConnectJunction(const SceneryInterface *scenery, const JunctionInterface *junction,
+ PathInJunctionConnector connectPathInJunction);
} // namespace Internal
@@ -54,17 +54,16 @@ ConversionStatus ConnectJunction(const SceneryInterface* scenery, const Junction
//-----------------------------------------------------------------------------
class SceneryConverter
{
-
public:
SceneryConverter(const SceneryInterface *scenery,
- openpass::entity::RepositoryInterface& repository,
- OWL::Interfaces::WorldData& worldData,
- const World::Localization::Localizer& localizer,
+ openpass::entity::RepositoryInterface &repository,
+ OWL::Interfaces::WorldData &worldData,
+ const World::Localization::Localizer &localizer,
const CallbackInterface *callbacks);
- SceneryConverter(const SceneryConverter&) = delete;
- SceneryConverter(SceneryConverter&&) = delete;
- SceneryConverter& operator=(const SceneryConverter&) = delete;
- SceneryConverter& operator=(SceneryConverter&&) = delete;
+ SceneryConverter(const SceneryConverter &) = delete;
+ SceneryConverter(SceneryConverter &&) = delete;
+ SceneryConverter &operator=(const SceneryConverter &) = delete;
+ SceneryConverter &operator=(SceneryConverter &&) = delete;
virtual ~SceneryConverter() = default;
//-----------------------------------------------------------------------------
@@ -82,7 +81,8 @@ public:
//! Places all static traffic objects and all traffic signs in the world
void ConvertObjects();
- static Position RoadCoord2WorldCoord(const RoadInterface *road, double s, double t, double yaw);
+ static Position RoadCoord2WorldCoord(const RoadInterface *road, units::length::meter_t s, units::length::meter_t t, units::angle::radian_t yaw);
+
protected:
//-----------------------------------------------------------------------------
//! Provides callback to LOG() macro
@@ -97,7 +97,7 @@ protected:
int line,
const std::string &message)
{
- if(callbacks)
+ if (callbacks)
{
callbacks->Log(logLevel,
file,
@@ -116,7 +116,7 @@ private:
//! in the provided lane section, nullptr otherwise
//-----------------------------------------------------------------------------
RoadLaneInterface *GetOtherLane(RoadLaneSectionInterface *otherSection,
- int otherId);
+ int otherId);
//-----------------------------------------------------------------------------
//! Returns the road from the scenery to which the provided link links to.
@@ -141,7 +141,6 @@ private:
void MarkDirectionRoad(RoadInterface *road,
bool inDirection);
-
//-----------------------------------------------------------------------------
//! Mark the directions of all roads in the scenery according to global direction
//! definition.
@@ -228,7 +227,7 @@ private:
//! @param[in] otherSection section on otherRoad to connect to
//! @return False, if an error occurred, true otherwise
//-----------------------------------------------------------------------------
- bool ConnectExternalRoadSuccessor(const RoadInterface* currentRoad, const RoadInterface* otherRoad, RoadLaneSectionInterface *otherSection);
+ bool ConnectExternalRoadSuccessor(const RoadInterface *currentRoad, const RoadInterface *otherRoad, RoadLaneSectionInterface *otherSection);
//-----------------------------------------------------------------------------
//! Connects a road with another road by setting predecessor of road, section and lanes
@@ -250,14 +249,13 @@ private:
//-----------------------------------------------------------------------------
bool ConnectRoadInternal(RoadInterface *road);
-
//-----------------------------------------------------------------------------
//!Connects the incoming and connecting roads of the junction
//!
//! @param[in] junction Junction which should be connected
//! @return False, if an error occurred, true otherwise
//-----------------------------------------------------------------------------
- bool ConnectJunction(const JunctionInterface* junction);
+ bool ConnectJunction(const JunctionInterface *junction);
//-----------------------------------------------------------------------------
//! Connects a single path of a junction.
@@ -273,7 +271,7 @@ private:
//! @param[in] laneIdMapping mapping of the lane ids between the incoming road and the path
//! @return False, if an error occurred, true otherwise
//-----------------------------------------------------------------------------
- void ConnectPathInJunction(const JunctionInterface* junction, const RoadInterface *incomingRoad, const RoadInterface *connectingRoad, const RoadInterface*outgoingRoad,
+ void ConnectPathInJunction(const JunctionInterface *junction, const RoadInterface *incomingRoad, const RoadInterface *connectingRoad, const RoadInterface *outgoingRoad,
ContactPointType incomingContactPoint, ContactPointType connectingContactPoint, ContactPointType outgoingContactPoint, const std::map<int, int> &laneIdMapping);
//-----------------------------------------------------------------------------
@@ -294,21 +292,21 @@ private:
//! \param signal OpenDrive specification of the sign
//! \param position position of the sign in the world
//! \param lanes lanes for which this sign is valid
- void CreateTrafficSign(RoadSignalInterface* signal, Position position, const OWL::Interfaces::Lanes& lanes);
+ void CreateTrafficSign(RoadSignalInterface *signal, Position position, const OWL::Interfaces::Lanes &lanes);
//! Creates a road marking in OWL from an OpenDrive RoadSignal
//!
//! \param signal OpenDrive specification of the road marking
//! \param position position of the road marking in the world
//! \param lanes lanes for which this road marking is valid
- void CreateRoadMarking(RoadSignalInterface* signal, Position position, const OWL::Interfaces::Lanes& lanes);
+ void CreateRoadMarking(RoadSignalInterface *signal, Position position, const OWL::Interfaces::Lanes &lanes);
//! Creates a road marking in OWL from an OpenDrive RoadSignal
//!
//! \param object OpenDrive specification of the road marking as object
//! \param position position of the road marking in the world
//! \param lanes lanes for which this road marking is valid
- void CreateRoadMarking(RoadObjectInterface* object, Position position, const OWL::Interfaces::Lanes& lanes);
+ void CreateRoadMarking(RoadObjectInterface *object, Position position, const OWL::Interfaces::Lanes &lanes);
//! Creates a traffic light in OWL from an OpenDrive RoadSignal
//!
@@ -320,32 +318,32 @@ private:
void CreateObjects();
- void CreateObject(const RoadObjectInterface* object, const Position &position);
+ void CreateObject(const RoadObjectInterface *object, const Position &position);
- void CreateContinuousObject(const RoadObjectInterface* object, const RoadInterface* road);
+ void CreateContinuousObject(const RoadObjectInterface *object, const RoadInterface *road);
- bool IsMovingObject(RoadObjectInterface* object);
+ bool IsMovingObject(RoadObjectInterface *object);
- bool IsVehicle(RoadObjectInterface* object);
+ bool IsVehicle(RoadObjectInterface *object);
- osi3::StationaryObject_Classification_Type GetStationaryObjectType(RoadObjectInterface* object);
+ osi3::StationaryObject_Classification_Type GetStationaryObjectType(RoadObjectInterface *object);
- osi3::MovingObject_Type GetMovingObjectType(RoadObjectInterface* object);
+ osi3::MovingObject_Type GetMovingObjectType(RoadObjectInterface *object);
- osi3::MovingObject_VehicleClassification_Type GetVehicleType(RoadObjectInterface* object);
+ osi3::MovingObject_VehicleClassification_Type GetVehicleType(RoadObjectInterface *object);
- void SetOsiPosition(osi3::BaseStationary* baseStationary,osi3::BaseMoving* baseMoving, RoadInterface* road,
- double s, double t,
- double length, double height, double width,
- double yaw, double pitch, double roll);
+ void SetOsiPosition(osi3::BaseStationary *baseStationary, osi3::BaseMoving *baseMoving, RoadInterface *road,
+ units::length::meter_t s, units::length::meter_t t,
+ units::length::meter_t length, units::length::meter_t height, units::length::meter_t width,
+ units::angle::radian_t yaw, units::angle::radian_t pitch, units::angle::radian_t roll);
std::vector<OWL::Id> CreateLaneBoundaries(RoadLaneInterface &odLane, RoadLaneSectionInterface &odSection);
const SceneryInterface *scenery;
- openpass::entity::RepositoryInterface& repository;
- OWL::Interfaces::WorldData& worldData;
+ openpass::entity::RepositoryInterface &repository;
+ OWL::Interfaces::WorldData &worldData;
WorldDataQuery worldDataQuery{worldData};
- const World::Localization::Localizer& localizer;
+ const World::Localization::Localizer &localizer;
const CallbackInterface *callbacks;
std::vector<std::unique_ptr<TrafficObjectAdapter>> trafficObjects;
};
@@ -355,8 +353,8 @@ inline bool IsWithinLeftClosedInterval(double value, double start, double end)
return value >= start && value < end;
}
-template<typename T, typename A>
-inline bool HasSucceedingElement(std::vector<T, A> const& vector, size_t currentIndex)
+template <typename T, typename A>
+inline bool HasSucceedingElement(std::vector<T, A> const &vector, size_t currentIndex)
{
return vector.size() > currentIndex + 1;
}
@@ -365,9 +363,10 @@ class RoadNetworkBuilder
{
class DataBufferWriteInterface;
public:
- RoadNetworkBuilder(const SceneryInterface& scenery) :
+ RoadNetworkBuilder(const SceneryInterface &scenery) :
scenery(scenery)
- {}
+ {
+ }
//! Converts the road netwerk of OpenDrive into a graph representation
//!
@@ -376,12 +375,12 @@ public:
std::pair<RoadGraph, RoadGraphVertexMapping> Build();
private:
- const SceneryInterface& scenery;
+ const SceneryInterface &scenery;
};
-namespace TrafficLightNetworkBuilder
-{
- //! Converts the traffic controller definitions of OpenDrive into the internal TrafficLightNetwork
- TrafficLightNetwork Build(const std::vector<openScenario::TrafficSignalController>& controllers,
- OWL::Interfaces::WorldData& worldData);
-};
+//TODO Reactivate after TrafficSignalController is available in MantleAPI
+/*namespace TrafficLightNetworkBuilder {
+//! Converts the traffic controller definitions of OpenDrive into the internal TrafficLightNetwork
+TrafficLightNetwork Build(const std::vector<TrafficSignalController> &controllers,
+ OWL::Interfaces::WorldData& worldData);
+}; // namespace TrafficLightNetworkBuilder*/
diff --git a/sim/src/core/opSimulation/modules/World_OSI/TrafficObjectAdapter.cpp b/sim/src/core/opSimulation/modules/World_OSI/TrafficObjectAdapter.cpp
index 29efdd33d23f5565c90bebaae7b4e24416744499..1d9194f1d0bd14922348d0467e86bbcc166ec51f 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/TrafficObjectAdapter.cpp
+++ b/sim/src/core/opSimulation/modules/World_OSI/TrafficObjectAdapter.cpp
@@ -20,10 +20,10 @@
TrafficObjectAdapter::TrafficObjectAdapter(const openpass::type::EntityId id,
OWL::Interfaces::WorldData& worldData,
const World::Localization::Localizer& localizer,
- OWL::Primitive::AbsPosition position,
- OWL::Primitive::Dimension dimension,
- const double zOffset,
- OWL::Primitive::AbsOrientation orientation,
+ mantle_api::Vec3<units::length::meter_t> position,
+ mantle_api::Dimension3 dimension,
+ const units::length::meter_t zOffset,
+ mantle_api::Orientation3<units::angle::radian_t> orientation,
const OpenDriveId odId) :
WorldObjectAdapter{worldData.AddStationaryObject(id.value, static_cast<void*>(static_cast<WorldObjectInterface*>(this)))}, // objects passed as void * need to be casted to WorldObjectInterface*, because they are retrieved by casting to that class
zOffset{zOffset},
@@ -42,39 +42,39 @@ ObjectTypeOSI TrafficObjectAdapter::GetType() const
return ObjectTypeOSI::Object;
}
-double TrafficObjectAdapter::GetZOffset() const
+units::length::meter_t TrafficObjectAdapter::GetZOffset() const
{
return zOffset;
}
bool TrafficObjectAdapter::GetIsCollidable() const
{
- return (GetHeight() > 0 && GetLength() > 0 && GetWidth() > 0);
+ return (GetHeight() > 0_m && GetLength() > 0_m && GetWidth() > 0_m);
}
-void TrafficObjectAdapter::InitLaneDirection(double hdg)
+void TrafficObjectAdapter::InitLaneDirection(units::angle::radian_t hdg)
{
laneDirection = GetYaw() - hdg;
}
-Common::Vector2d TrafficObjectAdapter:: GetVelocity(ObjectPoint point) const
+Common::Vector2d<units::velocity::meters_per_second_t> TrafficObjectAdapter:: GetVelocity(ObjectPoint point) const
{
Q_UNUSED(point);
//TrafficObjects don't move
- return {0.0, 0.0};
+ return {0.0_mps, 0.0_mps};
}
-Common::Vector2d TrafficObjectAdapter:: GetAcceleration(ObjectPoint point) const
+Common::Vector2d<units::acceleration::meters_per_second_squared_t> TrafficObjectAdapter:: GetAcceleration(ObjectPoint point) const
{
Q_UNUSED(point);
//TrafficObjects don't move
- return {0.0, 0.0};
+ return {0.0_mps_sq, 0.0_mps_sq};
}
-double TrafficObjectAdapter::GetLaneDirection() const
+units::angle::radian_t TrafficObjectAdapter::GetLaneDirection() const
{
return laneDirection;
}
@@ -99,10 +99,10 @@ const RoadIntervals &TrafficObjectAdapter::GetTouchedRoads() const
return locateResult.touchedRoads;
}
-Common::Vector2d TrafficObjectAdapter::GetAbsolutePosition(const ObjectPoint &objectPoint) const
+Common::Vector2d<units::length::meter_t> TrafficObjectAdapter::GetAbsolutePosition(const ObjectPoint &objectPoint) const
{
- double longitudinal;
- double lateral;
+ units::length::meter_t longitudinal;
+ units::length::meter_t lateral;
if (std::holds_alternative<ObjectPointCustom>(objectPoint))
{
longitudinal = std::get<ObjectPointCustom>(objectPoint).longitudinal;
@@ -114,16 +114,16 @@ Common::Vector2d TrafficObjectAdapter::GetAbsolutePosition(const ObjectPoint &ob
{
case ObjectPointPredefined::Reference:
case ObjectPointPredefined::Center:
- longitudinal = 0;
- lateral = 0;
+ longitudinal = 0_m;
+ lateral = 0_m;
break;
case ObjectPointPredefined::FrontCenter:
longitudinal = 0.5 * GetLength();
- lateral = 0;
+ lateral = 0_m;
break;
case ObjectPointPredefined::RearCenter:
longitudinal = -0.5 * GetLength();
- lateral = 0;
+ lateral = 0_m;
break;
case ObjectPointPredefined::FrontLeft:
longitudinal = 0.5 * GetLength();
@@ -149,8 +149,8 @@ Common::Vector2d TrafficObjectAdapter::GetAbsolutePosition(const ObjectPoint &ob
}
const auto& referencePoint = baseTrafficObject.GetReferencePointPosition();
const auto& yaw = baseTrafficObject.GetAbsOrientation().yaw;
- double x = referencePoint.x + std::cos(yaw) * longitudinal - std::sin(yaw) * lateral;
- double y = referencePoint.y + std::sin(yaw) * longitudinal + std::cos(yaw) * lateral;
+ auto x = referencePoint.x + units::math::cos(yaw) * longitudinal - units::math::sin(yaw) * lateral;
+ auto y = referencePoint.y + units::math::sin(yaw) * longitudinal + units::math::cos(yaw) * lateral;
return {x,y};
}
diff --git a/sim/src/core/opSimulation/modules/World_OSI/TrafficObjectAdapter.h b/sim/src/core/opSimulation/modules/World_OSI/TrafficObjectAdapter.h
index e3a8c3a09ac5b7f7a058d53c8f132f6dfe4c1d1f..ce6a1a4a09322c054c123c13fcca9ac736d6091c 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/TrafficObjectAdapter.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/TrafficObjectAdapter.h
@@ -18,8 +18,8 @@ class TrafficObjectAdapter : public WorldObjectAdapter, public TrafficObjectInte
{
private:
bool isCollidable;
- const double zOffset;
- double laneDirection;
+ const units::length::meter_t zOffset;
+ units::angle::radian_t laneDirection;
const World::Localization::Localizer& localizer;
mutable World::Localization::Result locateResult;
@@ -27,30 +27,30 @@ private:
OpenDriveId openDriveId;
- void InitLaneDirection(double hdg);
+ void InitLaneDirection(units::angle::radian_t hdg);
public:
TrafficObjectAdapter(const openpass::type::EntityId id,
OWL::Interfaces::WorldData& worldData,
const World::Localization::Localizer& localizer,
- OWL::Primitive::AbsPosition position,
- OWL::Primitive::Dimension dimension,
- const double zOffset,
- OWL::Primitive::AbsOrientation orientation,
+ mantle_api::Vec3<units::length::meter_t> position,
+ mantle_api::Dimension3 dimension,
+ const units::length::meter_t zOffset,
+ mantle_api::Orientation3<units::angle::radian_t> orientation,
const OpenDriveId odId);
ObjectTypeOSI GetType() const override;
- double GetZOffset() const override;
+ units::length::meter_t GetZOffset() const override;
bool GetIsCollidable() const override;
- Common::Vector2d GetVelocity(ObjectPoint point = ObjectPointPredefined::Reference) const override;
- Common::Vector2d GetAcceleration(ObjectPoint point = ObjectPointPredefined::Reference) const override;
- double GetLaneDirection() const;
+ Common::Vector2d<units::velocity::meters_per_second_t> GetVelocity(ObjectPoint point = ObjectPointPredefined::Reference) const override;
+ Common::Vector2d<units::acceleration::meters_per_second_squared_t> GetAcceleration(ObjectPoint point = ObjectPointPredefined::Reference) const override;
+ units::angle::radian_t GetLaneDirection() const;
bool Locate() override;
void Unlocate() override;
const RoadIntervals &GetTouchedRoads() const override;
- Common::Vector2d GetAbsolutePosition(const ObjectPoint& objectPoint) const override;
+ Common::Vector2d<units::length::meter_t> GetAbsolutePosition(const ObjectPoint& objectPoint) const override;
const GlobalRoadPositions& GetRoadPosition(const ObjectPoint& point) const override;
diff --git a/sim/src/core/opSimulation/modules/World_OSI/WorldData.cpp b/sim/src/core/opSimulation/modules/World_OSI/WorldData.cpp
index 320d5f28520211691de7c6b0d8640532fbaed869..ed8b22ac6ad26126301ab22b964e8c2f467000db 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/WorldData.cpp
+++ b/sim/src/core/opSimulation/modules/World_OSI/WorldData.cpp
@@ -16,26 +16,24 @@
//! scenery and dynamic objects
//-----------------------------------------------------------------------------
+#include "WorldData.h"
+
#include <exception>
#include <string>
-#include <qglobal.h>
-#include "common/vector3d.h"
-#include "include/agentInterface.h"
-#include "include/roadInterface/roadInterface.h"
-#include "common/openScenarioDefinitions.h"
+#include <qglobal.h>
#include "OWL/DataTypes.h"
#include "OWL/TrafficLight.h"
#include "OWL/MovingObject.h"
#include "OWL/OpenDriveTypeMapper.h"
#include "OWL/OsiDefaultValues.h"
-#include "common/osiUtils.h"
-
-#include "WorldData.h"
#include "WorldDataException.h"
#include "WorldDataQuery.h"
-
+#include "common/osiUtils.h"
+#include "common/vector3d.h"
+#include "include/agentInterface.h"
+#include "include/roadInterface/roadInterface.h"
#include "osi3/osi_groundtruth.pb.h"
#include "osi3/osi_sensorviewconfiguration.pb.h"
#include "osi3/osi_common.pb.h"
@@ -165,30 +163,32 @@ WorldData::GroundTruth_ptr WorldData::GetFilteredGroundTruth(const osi3::SensorV
GroundTruth_ptr filteredGroundTruth = std::make_unique<osi3::GroundTruth>();
#endif
- Primitive::AbsPosition relativeSensorPos
- {conf.mounting_position().position().x(),
- conf.mounting_position().position().y(),
- conf.mounting_position().position().z()};
+ mantle_api::Vec3<units::length::meter_t> relativeSensorPos
+ { units::length::meter_t(conf.mounting_position().position().x()),
+ units::length::meter_t(conf.mounting_position().position().y()),
+ units::length::meter_t(conf.mounting_position().position().z()) };
const auto &orientation = reference.GetAbsOrientation();
- relativeSensorPos.RotateYaw(orientation.yaw);
+
+ relativeSensorPos = CommonHelper::RotateYaw(relativeSensorPos, orientation.yaw);
auto absoluteSensorPos = reference.GetReferencePointPosition() + relativeSensorPos;
- const double fieldOfView = conf.field_of_view_horizontal();
- double leftBoundaryAngle;
- double rightBoundaryAngle;
- if (fieldOfView >= 2 * M_PI) {
- leftBoundaryAngle = M_PI;
- rightBoundaryAngle = -M_PI;
+ const units::angle::radian_t fieldOfView{conf.field_of_view_horizontal()};
+ units::angle::radian_t leftBoundaryAngle;
+ units::angle::radian_t rightBoundaryAngle;
+ if (fieldOfView >= 2_rad * M_PI)
+ {
+ leftBoundaryAngle = 1_rad * M_PI;
+ rightBoundaryAngle = 1_rad * -M_PI;
} else {
leftBoundaryAngle = CommonHelper::SetAngleToValidRange(
- orientation.yaw + conf.mounting_position().orientation().yaw() + fieldOfView / 2.0);
+ orientation.yaw + units::angle::radian_t(conf.mounting_position().orientation().yaw()) + fieldOfView / 2.0);
rightBoundaryAngle = CommonHelper::SetAngleToValidRange(
- orientation.yaw + conf.mounting_position().orientation().yaw() - fieldOfView / 2.0);
+ orientation.yaw + units::angle::radian_t(conf.mounting_position().orientation().yaw()) - fieldOfView / 2.0);
}
- const double range = conf.range();
+ const units::length::meter_t range{conf.range()};
const auto &filteredMovingObjects = GetMovingObjectsInSector(absoluteSensorPos, range, leftBoundaryAngle,
rightBoundaryAngle);
@@ -243,10 +243,10 @@ WorldData::GroundTruth_ptr WorldData::GetFilteredGroundTruth(const osi3::SensorV
}
std::vector<const Interfaces::StationaryObject *>
- WorldData::GetStationaryObjectsInSector(const Primitive::AbsPosition &origin,
- double radius,
- double leftBoundaryAngle,
- double rightBoundaryAngle) {
+ WorldData::GetStationaryObjectsInSector(const mantle_api::Vec3<units::length::meter_t>& origin,
+ units::length::meter_t radius,
+ units::angle::radian_t leftBoundaryAngle,
+ units::angle::radian_t rightBoundaryAngle) {
std::vector<Interfaces::StationaryObject *> objects;
for (const auto &mapItem: stationaryObjects) {
@@ -257,10 +257,10 @@ WorldData::GroundTruth_ptr WorldData::GetFilteredGroundTruth(const osi3::SensorV
}
std::vector<const Interfaces::MovingObject *>
- WorldData::GetMovingObjectsInSector(const Primitive::AbsPosition &origin,
- double radius,
- double leftBoundaryAngle,
- double rightBoundaryAngle) {
+ WorldData::GetMovingObjectsInSector(const mantle_api::Vec3<units::length::meter_t>& origin,
+ units::length::meter_t radius,
+ units::angle::radian_t leftBoundaryAngle,
+ units::angle::radian_t rightBoundaryAngle) {
std::vector<Interfaces::MovingObject *> objects;
for (const auto &mapItem: movingObjects) {
@@ -271,10 +271,10 @@ WorldData::GroundTruth_ptr WorldData::GetFilteredGroundTruth(const osi3::SensorV
}
std::vector<const Interfaces::TrafficSign *>
- WorldData::GetTrafficSignsInSector(const Primitive::AbsPosition &origin,
- double radius,
- double leftBoundaryAngle,
- double rightBoundaryAngle) {
+ WorldData::GetTrafficSignsInSector(const mantle_api::Vec3<units::length::meter_t>& origin,
+ units::length::meter_t radius,
+ units::angle::radian_t leftBoundaryAngle,
+ units::angle::radian_t rightBoundaryAngle) {
std::vector<Interfaces::TrafficSign *> objects;
for (const auto &mapItem: trafficSigns) {
@@ -285,10 +285,10 @@ WorldData::GroundTruth_ptr WorldData::GetFilteredGroundTruth(const osi3::SensorV
}
std::vector<const Interfaces::TrafficLight *>
- WorldData::GetTrafficLightsInSector(const Primitive::AbsPosition &origin,
- double radius,
- double leftBoundaryAngle,
- double rightBoundaryAngle) {
+ WorldData::GetTrafficLightsInSector(const mantle_api::Vec3<units::length::meter_t>& origin,
+ units::length::meter_t radius,
+ units::angle::radian_t leftBoundaryAngle,
+ units::angle::radian_t rightBoundaryAngle) {
std::vector<Interfaces::TrafficLight *> objects;
for (const auto &mapItem: trafficLights) {
@@ -300,8 +300,10 @@ WorldData::GroundTruth_ptr WorldData::GetFilteredGroundTruth(const osi3::SensorV
}
std::vector<const Interfaces::RoadMarking *>
- WorldData::GetRoadMarkingsInSector(const Primitive::AbsPosition &origin, double radius, double leftBoundaryAngle,
- double rightBoundaryAngle) {
+ WorldData::GetRoadMarkingsInSector(const mantle_api::Vec3<units::length::meter_t> &origin,
+ units::length::meter_t radius,
+ units::angle::radian_t leftBoundaryAngle,
+ units::angle::radian_t rightBoundaryAngle) {
std::vector<Interfaces::RoadMarking *> objects;
for (const auto &mapItem: roadMarkings) {
@@ -475,10 +477,10 @@ WorldData::GroundTruth_ptr WorldData::GetFilteredGroundTruth(const osi3::SensorV
section.AddLane(*lane);
}
- Id WorldData::AddLaneBoundary(const Id id, const RoadLaneRoadMark &odLaneRoadMark, double sectionStart,
- LaneMarkingSide side) {
- constexpr double standardWidth = 0.15;
- constexpr double boldWidth = 0.3;
+Id WorldData::AddLaneBoundary(const Id id, const RoadLaneRoadMark &odLaneRoadMark, units::length::meter_t sectionStart, LaneMarkingSide side)
+{
+ const units::length::meter_t standardWidth{0.15};
+ const units::length::meter_t boldWidth{0.3};
osi3::LaneBoundary *osiLaneBoundary = osiGroundTruth->add_lane_boundary();
osiLaneBoundary->mutable_id()->set_value(id);
osiLaneBoundary->mutable_classification()->set_color(
@@ -486,7 +488,7 @@ WorldData::GroundTruth_ptr WorldData::GetFilteredGroundTruth(const osi3::SensorV
osiLaneBoundary->mutable_classification()->set_type(
OpenDriveTypeMapper::OdToOsiLaneMarkingType(odLaneRoadMark.GetType(), side));
- double width = 0.0;
+ units::length::meter_t width{0.0};
if (odLaneRoadMark.GetWeight() == RoadLaneRoadMarkWeight::Standard) {
width = standardWidth;
} else if (odLaneRoadMark.GetWeight() == RoadLaneRoadMarkWeight::Bold) {
@@ -736,12 +738,12 @@ WorldData::GroundTruth_ptr WorldData::GetFilteredGroundTruth(const osi3::SensorV
}
void WorldData::AddLaneGeometryPoint(const RoadLaneInterface &odLane,
- const Common::Vector2d &pointLeft,
- const Common::Vector2d &pointCenter,
- const Common::Vector2d &pointRight,
- const double sOffset,
- const double curvature,
- const double heading) {
+ const Common::Vector2d<units::length::meter_t>& pointLeft,
+ const Common::Vector2d<units::length::meter_t>& pointCenter,
+ const Common::Vector2d<units::length::meter_t>& pointRight,
+ const units::length::meter_t sOffset,
+ const units::curvature::inverse_meter_t curvature,
+ const units::angle::radian_t heading) {
osi3::Lane *osiLane = osiLanes.at(&odLane);
auto& lane = lanes.at(osiLane->id().value());
@@ -759,8 +761,8 @@ WorldData::GroundTruth_ptr WorldData::GetFilteredGroundTruth(const osi3::SensorV
}
}
- void WorldData::AddCenterLinePoint(const RoadLaneSectionInterface &odSection, const Common::Vector2d &pointCenter,
- const double sOffset, double heading) {
+void WorldData::AddCenterLinePoint(const RoadLaneSectionInterface &odSection, const Common::Vector2d<units::length::meter_t> &pointCenter,
+ const units::length::meter_t sOffset, units::angle::radian_t heading) {
const auto §ion = sections.at(&odSection);
for (auto &laneBoundaryIndex: section->GetCenterLaneBoundary()) {
auto &laneBoundary = laneBoundaries.at(laneBoundaryIndex);
@@ -815,56 +817,112 @@ WorldData::GroundTruth_ptr WorldData::GetFilteredGroundTruth(const osi3::SensorV
return *trafficLights.at(id);
}
- void WorldData::SetEnvironment(const openScenario::EnvironmentAction &environment) {
- if (environment.weather.sun.intensity < THRESHOLD_ILLUMINATION_LEVEL1) {
- osiGroundTruth->mutable_environmental_conditions()->set_ambient_illumination(
- osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL1);
- } else if (environment.weather.sun.intensity < THRESHOLD_ILLUMINATION_LEVEL2) {
- osiGroundTruth->mutable_environmental_conditions()->set_ambient_illumination(
- osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL2);
- } else if (environment.weather.sun.intensity < THRESHOLD_ILLUMINATION_LEVEL3) {
- osiGroundTruth->mutable_environmental_conditions()->set_ambient_illumination(
- osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL3);
- } else if (environment.weather.sun.intensity < THRESHOLD_ILLUMINATION_LEVEL4) {
- osiGroundTruth->mutable_environmental_conditions()->set_ambient_illumination(
- osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL4);
- } else if (environment.weather.sun.intensity < THRESHOLD_ILLUMINATION_LEVEL5) {
- osiGroundTruth->mutable_environmental_conditions()->set_ambient_illumination(
- osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL5);
- } else if (environment.weather.sun.intensity < THRESHOLD_ILLUMINATION_LEVEL6) {
- osiGroundTruth->mutable_environmental_conditions()->set_ambient_illumination(
- osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL6);
- } else if (environment.weather.sun.intensity < THRESHOLD_ILLUMINATION_LEVEL7) {
- osiGroundTruth->mutable_environmental_conditions()->set_ambient_illumination(
- osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL7);
- } else if (environment.weather.sun.intensity < THRESHOLD_ILLUMINATION_LEVEL8) {
- osiGroundTruth->mutable_environmental_conditions()->set_ambient_illumination(
- osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL8);
- } else {
- osiGroundTruth->mutable_environmental_conditions()->set_ambient_illumination(
- osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL9);
- }
- if (environment.weather.fog.visualRange < THRESHOLD_FOG_DENSE) {
- osiGroundTruth->mutable_environmental_conditions()->set_fog(osi3::EnvironmentalConditions_Fog_FOG_DENSE);
- } else if (environment.weather.fog.visualRange < THRESHOLD_FOG_THICK) {
- osiGroundTruth->mutable_environmental_conditions()->set_fog(osi3::EnvironmentalConditions_Fog_FOG_THICK);
- } else if (environment.weather.fog.visualRange < THRESHOLD_FOG_LIGHT) {
- osiGroundTruth->mutable_environmental_conditions()->set_fog(osi3::EnvironmentalConditions_Fog_FOG_LIGHT);
- } else if (environment.weather.fog.visualRange < THRESHOLD_FOG_MIST) {
+ void WorldData::SetEnvironment(const mantle_api::Weather &weather) {
+ switch(weather.fog)
+ {
+ case mantle_api::Fog::kUnknown :
+ osiGroundTruth->mutable_environmental_conditions()->set_fog(osi3::EnvironmentalConditions_Fog_FOG_UNKNOWN);
+ break;
+ case mantle_api::Fog::kOther :
+ osiGroundTruth->mutable_environmental_conditions()->set_fog(osi3::EnvironmentalConditions_Fog_FOG_OTHER);
+ break;
+ case mantle_api::Fog::kExcellentVisibility :
+ osiGroundTruth->mutable_environmental_conditions()->set_fog(osi3::EnvironmentalConditions_Fog_FOG_EXCELLENT_VISIBILITY);
+ break;
+ case mantle_api::Fog::kGoodVisibility :
+ osiGroundTruth->mutable_environmental_conditions()->set_fog(osi3::EnvironmentalConditions_Fog_FOG_GOOD_VISIBILITY);
+ break;
+ case mantle_api::Fog::kModerateVisibility :
+ osiGroundTruth->mutable_environmental_conditions()->set_fog(osi3::EnvironmentalConditions_Fog_FOG_MODERATE_VISIBILITY);
+ break;
+ case mantle_api::Fog::kPoorVisibility :
+ osiGroundTruth->mutable_environmental_conditions()->set_fog(osi3::EnvironmentalConditions_Fog_FOG_POOR_VISIBILITY);
+ break;
+ case mantle_api::Fog::kMist :
osiGroundTruth->mutable_environmental_conditions()->set_fog(osi3::EnvironmentalConditions_Fog_FOG_MIST);
- } else if (environment.weather.fog.visualRange < THRESHOLD_FOG_POOR) {
- osiGroundTruth->mutable_environmental_conditions()->set_fog(
- osi3::EnvironmentalConditions_Fog_FOG_POOR_VISIBILITY);
- } else if (environment.weather.fog.visualRange < THRESHOLD_FOG_MODERATE) {
- osiGroundTruth->mutable_environmental_conditions()->set_fog(
- osi3::EnvironmentalConditions_Fog_FOG_MODERATE_VISIBILITY);
- } else if (environment.weather.fog.visualRange < THRESHOLD_FOG_GOOD) {
- osiGroundTruth->mutable_environmental_conditions()->set_fog(
- osi3::EnvironmentalConditions_Fog_FOG_GOOD_VISIBILITY);
- } else {
- osiGroundTruth->mutable_environmental_conditions()->set_fog(
- osi3::EnvironmentalConditions_Fog_FOG_EXCELLENT_VISIBILITY);
+ break;
+ case mantle_api::Fog::kLight :
+ osiGroundTruth->mutable_environmental_conditions()->set_fog(osi3::EnvironmentalConditions_Fog_FOG_LIGHT);
+ break;
+ case mantle_api::Fog::kThick :
+ osiGroundTruth->mutable_environmental_conditions()->set_fog(osi3::EnvironmentalConditions_Fog_FOG_THICK);
+ break;
+ case mantle_api::Fog::kDense :
+ osiGroundTruth->mutable_environmental_conditions()->set_fog(osi3::EnvironmentalConditions_Fog_FOG_DENSE);
+ break;
}
+
+ switch(weather.precipitation)
+ {
+ case mantle_api::Precipitation::kUnknown :
+ osiGroundTruth->mutable_environmental_conditions()->set_precipitation(osi3::EnvironmentalConditions_Precipitation_PRECIPITATION_UNKNOWN);
+ break;
+ case mantle_api::Precipitation::kOther :
+ osiGroundTruth->mutable_environmental_conditions()->set_precipitation(osi3::EnvironmentalConditions_Precipitation_PRECIPITATION_OTHER);
+ break;
+ case mantle_api::Precipitation::kNone :
+ osiGroundTruth->mutable_environmental_conditions()->set_precipitation(osi3::EnvironmentalConditions_Precipitation_PRECIPITATION_NONE);
+ break;
+ case mantle_api::Precipitation::kVeryLight :
+ osiGroundTruth->mutable_environmental_conditions()->set_precipitation(osi3::EnvironmentalConditions_Precipitation_PRECIPITATION_VERY_LIGHT);
+ break;
+ case mantle_api::Precipitation::kLight :
+ osiGroundTruth->mutable_environmental_conditions()->set_precipitation(osi3::EnvironmentalConditions_Precipitation_PRECIPITATION_LIGHT);
+ break;
+ case mantle_api::Precipitation::kModerate :
+ osiGroundTruth->mutable_environmental_conditions()->set_precipitation(osi3::EnvironmentalConditions_Precipitation_PRECIPITATION_MODERATE);
+ break;
+ case mantle_api::Precipitation::kHeavy :
+ osiGroundTruth->mutable_environmental_conditions()->set_precipitation(osi3::EnvironmentalConditions_Precipitation_PRECIPITATION_HEAVY);
+ break;
+ case mantle_api::Precipitation::kVeryHeavy :
+ osiGroundTruth->mutable_environmental_conditions()->set_precipitation(osi3::EnvironmentalConditions_Precipitation_PRECIPITATION_VERY_HEAVY);
+ break;
+ case mantle_api::Precipitation::kExtreme :
+ osiGroundTruth->mutable_environmental_conditions()->set_precipitation(osi3::EnvironmentalConditions_Precipitation_PRECIPITATION_EXTREME);
+ break;
+ }
+
+ switch(weather.illumination)
+ {
+ case mantle_api::Illumination::kUnknown :
+ osiGroundTruth->mutable_environmental_conditions()->set_ambient_illumination(osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_UNKNOWN);
+ break;
+ case mantle_api::Illumination::kOther :
+ osiGroundTruth->mutable_environmental_conditions()->set_ambient_illumination(osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_OTHER);
+ break;
+ case mantle_api::Illumination::kLevel1 :
+ osiGroundTruth->mutable_environmental_conditions()->set_ambient_illumination(osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL1);
+ break;
+ case mantle_api::Illumination::kLevel2 :
+ osiGroundTruth->mutable_environmental_conditions()->set_ambient_illumination(osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL2);
+ break;
+ case mantle_api::Illumination::kLevel3 :
+ osiGroundTruth->mutable_environmental_conditions()->set_ambient_illumination(osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL3);
+ break;
+ case mantle_api::Illumination::kLevel4 :
+ osiGroundTruth->mutable_environmental_conditions()->set_ambient_illumination(osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL4);
+ break;
+ case mantle_api::Illumination::kLevel5 :
+ osiGroundTruth->mutable_environmental_conditions()->set_ambient_illumination(osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL5);
+ break;
+ case mantle_api::Illumination::kLevel6 :
+ osiGroundTruth->mutable_environmental_conditions()->set_ambient_illumination(osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL6);
+ break;
+ case mantle_api::Illumination::kLevel7 :
+ osiGroundTruth->mutable_environmental_conditions()->set_ambient_illumination(osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL7);
+ break;
+ case mantle_api::Illumination::kLevel8 :
+ osiGroundTruth->mutable_environmental_conditions()->set_ambient_illumination(osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL8);
+ break;
+ case mantle_api::Illumination::kLevel9 :
+ osiGroundTruth->mutable_environmental_conditions()->set_ambient_illumination(osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL9);
+ break;
+ }
+
+ osiGroundTruth->mutable_environmental_conditions()->set_relative_humidity(weather.humidity.value());
+ osiGroundTruth->mutable_environmental_conditions()->set_temperature(weather.temperature.value());
+ osiGroundTruth->mutable_environmental_conditions()->set_atmospheric_pressure(weather.atmospheric_pressure.value());
}
const Interfaces::MovingObject &WorldData::GetMovingObject(Id id) const {
diff --git a/sim/src/core/opSimulation/modules/World_OSI/WorldData.h b/sim/src/core/opSimulation/modules/World_OSI/WorldData.h
index de935fd1934b7d2796e0d77b769883f2f02f3d83..ed59dbaee35a97f7cd3735f95d0417bfd9f37fd5 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/WorldData.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/WorldData.h
@@ -21,51 +21,53 @@
#include <unordered_map>
#include "OWL/DataTypes.h"
-#include "OWL/TrafficLight.h"
#include "OWL/MovingObject.h"
-#include "include/roadInterface/roadInterface.h"
+#include "OWL/TrafficLight.h"
+#include "include/callbackInterface.h"
#include "include/roadInterface/junctionInterface.h"
+#include "include/roadInterface/roadInterface.h"
#include "include/worldInterface.h"
-#include "include/callbackInterface.h"
-#include "common/openScenarioDefinitions.h"
#include "common/hypot.h"
#include "osi3/osi_groundtruth.pb.h"
#include "osi3/osi_sensorview.pb.h"
#include "osi3/osi_sensorviewconfiguration.pb.h"
+#include "MantleAPI/EnvironmentalConditions/weather.h"
#ifdef USE_PROTOBUF_ARENA
#include <google/protobuf/arena.h>
#endif
+using namespace units::literals;
+
namespace OWL {
-using Lane = Interfaces::Lane;
-using LaneBoundary = Interfaces::LaneBoundary;
-using Section = Interfaces::Section;
-using Road = Interfaces::Road;
-using Junction = Interfaces::Junction;
-using StationaryObject = Implementation::StationaryObject;
-using MovingObject = Implementation::MovingObject;
-using TrafficSign = Implementation::TrafficSign;
+using Lane = Interfaces::Lane;
+using LaneBoundary = Interfaces::LaneBoundary;
+using Section = Interfaces::Section;
+using Road = Interfaces::Road;
+using Junction = Interfaces::Junction;
+using StationaryObject = Implementation::StationaryObject;
+using MovingObject = Implementation::MovingObject;
+using TrafficSign = Implementation::TrafficSign;
using RoadMarking = Implementation::RoadMarking;
-using CLane = const Interfaces::Lane;
-using CSection = const Interfaces::Section;
-using CRoad = const Interfaces::Road;
-using CStationaryObject = const Implementation::StationaryObject;
-using CMovingObject = const Implementation::MovingObject;
+using CLane = const Interfaces::Lane;
+using CSection = const Interfaces::Section;
+using CRoad = const Interfaces::Road;
+using CStationaryObject = const Implementation::StationaryObject;
+using CMovingObject = const Implementation::MovingObject;
-using Lanes = std::vector<Lane*>;
-using Sections = std::vector<Section*>;
-using Roads = std::vector<Road*>;
-using StationaryObjects = std::vector<StationaryObject*>;
-using MovingObjects = std::vector<MovingObject*>;
+using Lanes = std::vector<Lane *>;
+using Sections = std::vector<Section *>;
+using Roads = std::vector<Road *>;
+using StationaryObjects = std::vector<StationaryObject *>;
+using MovingObjects = std::vector<MovingObject *>;
-using CLanes = const std::vector<CLane*>;
-using CSections = const std::vector<CSection*>;
-using CRoads = const std::vector<CRoad*>;
-using CStationaryObjects = const std::vector<CStationaryObject*>;
-using CMovingObjects = const std::vector<CMovingObject*>;
+using CLanes = const std::vector<CLane *>;
+using CSections = const std::vector<CSection *>;
+using CRoads = const std::vector<CRoad *>;
+using CStationaryObjects = const std::vector<CStationaryObject *>;
+using CMovingObjects = const std::vector<CMovingObject *>;
template<typename T>
using IdMapping = std::map<OWL::Id, std::unique_ptr<T>>;
@@ -81,7 +83,9 @@ enum class SignalType
//If using protobuf arena the SensorView must not be manually deleted.
struct DoNothing
{
- void operator() (osi3::SensorView*) {}
+ void operator()(osi3::SensorView *)
+ {
+ }
};
using SensorView_ptr = std::unique_ptr<osi3::SensorView, DoNothing>;
#else
@@ -107,7 +111,7 @@ public:
*
* \return A OSI SensorView with filtered GroundTruth
*/
- virtual SensorView_ptr GetSensorView(osi3::SensorViewConfiguration& conf, int agentId) = 0;
+ virtual SensorView_ptr GetSensorView(osi3::SensorViewConfiguration &conf, int agentId) = 0;
/*!
* \brief Frees temporary objects
@@ -119,10 +123,10 @@ public:
*/
virtual void ResetTemporaryMemory() = 0;
- virtual const osi3::GroundTruth& GetOsiGroundTruth() const = 0;
+ virtual const osi3::GroundTruth &GetOsiGroundTruth() const = 0;
//!Returns a map of all Roads with their OSI Id
- virtual const std::unordered_map<std::string, Road*>& GetRoads() const = 0;
+ virtual const std::unordered_map<std::string, Road *> &GetRoads() const = 0;
//!Creates a new MovingObject linked to an AgentAdapter and returns it
//!
@@ -133,12 +137,12 @@ public:
//!
//! \param Id Unique ID
//! \param linkedObject Object of type TrafficObjectAdapter which will be linked to new StationaryObject
- virtual Interfaces::StationaryObject& AddStationaryObject(const Id id, void* linkedObject) = 0;
+ virtual Interfaces::StationaryObject &AddStationaryObject(const Id id, void *linkedObject) = 0;
//!Creates a new TrafficSign and returns it
//! \param Id Unique ID
//! \param odId OpenDRIVE Id
- virtual Interfaces::TrafficSign& AddTrafficSign(const Id id, const std::string odId) = 0;
+ virtual Interfaces::TrafficSign &AddTrafficSign(const Id id, const std::string odId) = 0;
//!Creates a new TrafficLight and returns it
//! \param Id Unique ID
@@ -149,19 +153,19 @@ public:
//!Creates a new RoadMarking and returns it
//! \param Id Unique ID
- virtual Interfaces::RoadMarking& AddRoadMarking(const Id id) = 0;
+ virtual Interfaces::RoadMarking &AddRoadMarking(const Id id) = 0;
//! Adds a traffic sign to the assigned signs of lane
//!
//! \param laneId OSI Id of the lane
//! \param trafficSign traffic sign to assign
- virtual void AssignTrafficSignToLane(OWL::Id laneId, Interfaces::TrafficSign& trafficSign) = 0;
+ virtual void AssignTrafficSignToLane(OWL::Id laneId, Interfaces::TrafficSign &trafficSign) = 0;
//! Adds a road marking to the assigned road markings of lane
//!
//! \param laneId OSI Id of the lane
//! \param roadMarking roadMarking to assign
- virtual void AssignRoadMarkingToLane(OWL::Id laneId, Interfaces::RoadMarking& roadMarking) = 0;
+ virtual void AssignRoadMarkingToLane(OWL::Id laneId, Interfaces::RoadMarking &roadMarking) = 0;
//! Adds a traffic light to the assigned traffic lights of lane
//!
@@ -173,13 +177,13 @@ public:
virtual void RemoveMovingObjectById(Id id) = 0; // change Id to MovingObject
//!Returns the mapping of OpenDrive Ids to OSI Ids for trafficSigns
- virtual const std::unordered_map<std::string, Id>& GetTrafficSignIdMapping() const = 0;
+ virtual const std::unordered_map<std::string, Id> &GetTrafficSignIdMapping() const = 0;
//!Return the OWL type of a signal of OpenDrive or type Unknown if there is no signal with this Id
virtual SignalType GetSignalType(Id id) const = 0;
//!Returns an invalid lane
- virtual const Implementation::InvalidLane& GetInvalidLane() const = 0;
+ virtual const Implementation::InvalidLane &GetInvalidLane() const = 0;
//!Returns a map of all lanes with their OSI Id
virtual const IdMapping<Lane>& GetLanes() const = 0;
@@ -191,7 +195,7 @@ public:
virtual const LaneBoundary& GetLaneBoundary(Id id) const = 0;
//!Returns a map of all junctions with their OSI Id
- virtual const std::map<std::string, Junction*>& GetJunctions() const = 0;
+ virtual const std::map<std::string, Junction *> &GetJunctions() const = 0;
//!Returns the traffic sign with given OSI Id
virtual TrafficSign& GetTrafficSign(Id id) = 0;
@@ -200,24 +204,24 @@ public:
virtual TrafficLight& GetTrafficLight(Id id) = 0;
//!Returns the stationary object with given Id
- virtual const StationaryObject& GetStationaryObject(Id id) const = 0;
+ virtual const StationaryObject &GetStationaryObject(Id id) const = 0;
//!Returns the moving object with given Id
- virtual const MovingObject& GetMovingObject(Id id) const = 0;
+ virtual const MovingObject &GetMovingObject(Id id) const = 0;
//! Sets the road graph as imported from OpenDrive
//!
//! \param roadGraph graph representation of road network
//! \param vertexMapping mapping from roads (with direction) to the vertices of the roadGraph
- virtual void SetRoadGraph (const RoadGraph&& roadGraph, const RoadGraphVertexMapping&& vertexMapping) = 0;
+ virtual void SetRoadGraph(const RoadGraph &&roadGraph, const RoadGraphVertexMapping &&vertexMapping) = 0;
virtual void SetTurningRates(const TurningRates& turningRates) = 0;
//! Returns the graph representation of the road network
- virtual const RoadGraph& GetRoadGraph() const = 0;
+ virtual const RoadGraph &GetRoadGraph() const = 0;
//! Returns the mapping from roads (with direction) to the vertices of the roadGraph
- virtual const RoadGraphVertexMapping& GetRoadGraphVertexMapping() const = 0;
+ virtual const RoadGraphVertexMapping &GetRoadGraphVertexMapping() const = 0;
virtual const TurningRates& GetTurningRates() const = 0;
@@ -227,7 +231,7 @@ public:
//! \param odSection OpenDrive section to add lane to
//! \param odLane OpenDrive lane to add
//! \param laneBoundaries Osi Ids of the left lane boundaries of the new lane
- virtual void AddLane(const Id id, RoadLaneSectionInterface& odSection, const RoadLaneInterface& odLane, const std::vector<Id> laneBoundaries) = 0;
+ virtual void AddLane(const Id id, RoadLaneSectionInterface &odSection, const RoadLaneInterface &odLane, const std::vector<Id> laneBoundaries) = 0;
//! Creates a new lane boundary specified by the OpenDrive RoadMark
//!
@@ -236,35 +240,35 @@ public:
//! \param sectionStart Start s coordinate of the section
//! \param side Specifies which side of a double line to add (or Single if not a double line)
//! \return Osi id of the newly created laneBoundary
- virtual Id AddLaneBoundary(const Id id, const RoadLaneRoadMark &odLaneRoadMark, double sectionStart, LaneMarkingSide side) = 0;
+ virtual Id AddLaneBoundary(const Id id, const RoadLaneRoadMark &odLaneRoadMark, units::length::meter_t sectionStart, LaneMarkingSide side) = 0;
//! Sets the ids of the center lane boundaries for a section
//!
//! \param odSection OpenDrive section for which to set the center line
//! \param laneBoundaryIds Osi ids of the center lane boundaries
- virtual void SetCenterLaneBoundary(const RoadLaneSectionInterface& odSection, std::vector<Id> laneBoundaryIds) = 0;
+ virtual void SetCenterLaneBoundary(const RoadLaneSectionInterface &odSection, std::vector<Id> laneBoundaryIds) = 0;
//!Creates a new section with parameters specified by the OpenDrive section
//!
//! \param odRoad OpenDrive road to add section to
//! \param odSection OpenDrive section to add
- virtual void AddSection(const RoadInterface& odRoad, const RoadLaneSectionInterface& odSection) = 0;
+ virtual void AddSection(const RoadInterface &odRoad, const RoadLaneSectionInterface &odSection) = 0;
//!Creates a new road with parameters specified by the OpenDrive road
//!
//! \param odRoad OpenDrive road to add
- virtual void AddRoad(const RoadInterface& odRoad) = 0;
+ virtual void AddRoad(const RoadInterface &odRoad) = 0;
//!Creates a new junction with parameters specified by the OpenDrive junction
//!
//! \param odJunction OpenDrive junction to add
- virtual void AddJunction(const JunctionInterface* odJunction) = 0;
+ virtual void AddJunction(const JunctionInterface *odJunction) = 0;
//!Adds a connection road (path) to a junction
- virtual void AddJunctionConnection(const JunctionInterface* odJunction, const RoadInterface& odRoad) = 0;
+ virtual void AddJunctionConnection(const JunctionInterface *odJunction, const RoadInterface &odRoad) = 0;
//!Adds a priority entry of to connecting roads to a junction
- virtual void AddJunctionPriority(const JunctionInterface* odJunction, const std::string& high, const std::string& low) = 0;
+ virtual void AddJunctionPriority(const JunctionInterface *odJunction, const std::string &high, const std::string &low) = 0;
//!Adds a new lane geometry joint to the end of the current list of joints of the specified lane
//! and a new geometry element and the boundary points of all affected right lane boundaries
@@ -275,13 +279,13 @@ public:
//! @param sOffset s offset of the new joint
//! @param curvature curvature of the lane at sOffset
//! @param heading heading of the lane at sOffset
- virtual void AddLaneGeometryPoint(const RoadLaneInterface& odLane,
- const Common::Vector2d& pointLeft,
- const Common::Vector2d& pointCenter,
- const Common::Vector2d& pointRight,
- const double sOffset,
- const double curvature,
- const double heading) = 0;
+ virtual void AddLaneGeometryPoint(const RoadLaneInterface &odLane,
+ const Common::Vector2d<units::length::meter_t> &pointLeft,
+ const Common::Vector2d<units::length::meter_t> &pointCenter,
+ const Common::Vector2d<units::length::meter_t> &pointRight,
+ const units::length::meter_t sOffset,
+ const units::curvature::inverse_meter_t curvature,
+ const units::angle::radian_t heading) = 0;
//! Adds a new boundary point to the center line of the specified section
//!
@@ -289,81 +293,46 @@ public:
//! \param pointCenter point to add
//! \param sOffset s offset of the new point
//! \param heading heading of the road at sOffset
- virtual void AddCenterLinePoint(const RoadLaneSectionInterface& odSection,
- const Common::Vector2d& pointCenter,
- const double sOffset,
- double heading) = 0;
+ virtual void AddCenterLinePoint(const RoadLaneSectionInterface &odSection,
+ const Common::Vector2d<units::length::meter_t> &pointCenter,
+ const units::length::meter_t sOffset,
+ units::angle::radian_t heading) = 0;
//!Sets successorOdLane as successor of odLane
- virtual void AddLaneSuccessor(/* const */ RoadLaneInterface& odLane,
- /* const */ RoadLaneInterface& successorOdLane) = 0;
+ virtual void AddLaneSuccessor(/* const */ RoadLaneInterface &odLane,
+ /* const */ RoadLaneInterface &successorOdLane) = 0;
//!Sets predecessorOdLane as predecessor of odLane
- virtual void AddLanePredecessor(/* const */ RoadLaneInterface& odLane,
- /* const */ RoadLaneInterface& predecessorOdLane) = 0;
+ virtual void AddLanePredecessor(/* const */ RoadLaneInterface &odLane,
+ /* const */ RoadLaneInterface &predecessorOdLane) = 0;
//!Sets successorRoad as successor of road in OSI
- virtual void SetRoadSuccessor(const RoadInterface& road, const RoadInterface& successorRoad) = 0;
+ virtual void SetRoadSuccessor(const RoadInterface &road, const RoadInterface &successorRoad) = 0;
//!Sets predecessorRoad as predecessor of road in OSI
- virtual void SetRoadPredecessor(const RoadInterface& road, const RoadInterface& predecessorRoad) = 0;
+ virtual void SetRoadPredecessor(const RoadInterface &road, const RoadInterface &predecessorRoad) = 0;
//!Sets successorSection as successor of section in OSI
- virtual void SetSectionSuccessor(const RoadLaneSectionInterface& section, const RoadLaneSectionInterface& successorSection) = 0;
+ virtual void SetSectionSuccessor(const RoadLaneSectionInterface §ion, const RoadLaneSectionInterface &successorSection) = 0;
//!Sets predecessorSection as predecessor of section in OSI
- virtual void SetSectionPredecessor(const RoadLaneSectionInterface& section, const RoadLaneSectionInterface& predecessorSection) = 0;
+ virtual void SetSectionPredecessor(const RoadLaneSectionInterface §ion, const RoadLaneSectionInterface &predecessorSection) = 0;
//!Sets a junction as the successor of a road
- virtual void SetRoadSuccessorJunction(const RoadInterface& road, const JunctionInterface* successorJunction) = 0;
+ virtual void SetRoadSuccessorJunction(const RoadInterface &road, const JunctionInterface *successorJunction) = 0;
//!Sets a junction as the predecessor of a road
- virtual void SetRoadPredecessorJunction(const RoadInterface& road, const JunctionInterface* predecessorJunction) = 0;
+ virtual void SetRoadPredecessorJunction(const RoadInterface &road, const JunctionInterface *predecessorJunction) = 0;
//!Currently not implemented
- virtual void ConnectLanes(/*const*/ RoadLaneSectionInterface& firstOdSection,
- /*const*/ RoadLaneSectionInterface& secondOdSection,
- const std::map<int, int>& lanePairs,
- bool isPrev) = 0;
-
-
- static constexpr double THRESHOLD_ILLUMINATION_LEVEL1 = 0.01; //!< Upper threshold for osi3::EnvironmentalConditions::AmbientIllumination::Level1
- static constexpr double THRESHOLD_ILLUMINATION_LEVEL2 = 1.0; //!< Upper threshold for osi3::EnvironmentalConditions::AmbientIllumination::Level2
- static constexpr double THRESHOLD_ILLUMINATION_LEVEL3 = 3.0; //!< Upper threshold for osi3::EnvironmentalConditions::AmbientIllumination::Level3
- static constexpr double THRESHOLD_ILLUMINATION_LEVEL4 = 10.0; //!< Upper threshold for osi3::EnvironmentalConditions::AmbientIllumination::Level4
- static constexpr double THRESHOLD_ILLUMINATION_LEVEL5 = 20.0; //!< Upper threshold for osi3::EnvironmentalConditions::AmbientIllumination::Level5
- static constexpr double THRESHOLD_ILLUMINATION_LEVEL6 = 400.0; //!< Upper threshold for osi3::EnvironmentalConditions::AmbientIllumination::Level6
- static constexpr double THRESHOLD_ILLUMINATION_LEVEL7 = 1000.0; //!< Upper threshold for osi3::EnvironmentalConditions::AmbientIllumination::Level7
- static constexpr double THRESHOLD_ILLUMINATION_LEVEL8 = 10000.0; //!< Upper threshold for osi3::EnvironmentalConditions::AmbientIllumination::Level8
- static constexpr double THRESHOLD_FOG_DENSE = 50.0; //!< Upper threshold for osi3::EnvironmentalConditions::Fog::Dense
- static constexpr double THRESHOLD_FOG_THICK = 200.0; //!< Upper threshold for osi3::EnvironmentalConditions::Fog::Thick
- static constexpr double THRESHOLD_FOG_LIGHT = 1000.0; //!< Upper threshold for osi3::EnvironmentalConditions::Fog::Light
- static constexpr double THRESHOLD_FOG_MIST = 2000.0; //!< Upper threshold for osi3::EnvironmentalConditions::Fog::Mist
- static constexpr double THRESHOLD_FOG_POOR = 4000.0; //!< Upper threshold for osi3::EnvironmentalConditions::Fog::Poor_Visibility
- static constexpr double THRESHOLD_FOG_MODERATE = 10000.0; //!< Upper threshold for osi3::EnvironmentalConditions::Fog::Moderate_Visibility
- static constexpr double THRESHOLD_FOG_GOOD = 40000.0; //!< Upper threshold for osi3::EnvironmentalConditions::Fog::Good_Visibility
-
- //! \brief Translates an openScenario environment to OSI3
- //!
- //! The following thresholds are used for a mapping of illumination level:
- //! - \see THRESHOLD_ILLUMINATION_LEVEL1
- //! - \see THRESHOLD_ILLUMINATION_LEVEL2
- //! - \see THRESHOLD_ILLUMINATION_LEVEL3
- //! - \see THRESHOLD_ILLUMINATION_LEVEL4
- //! - \see THRESHOLD_ILLUMINATION_LEVEL5
- //! - \see THRESHOLD_ILLUMINATION_LEVEL6
- //! - \see THRESHOLD_ILLUMINATION_LEVEL7
- //! - \see THRESHOLD_ILLUMINATION_LEVEL8
- //!
- //! The following thresholds are used for a mapping of fog:
- //! - \see THRESHOLD_FOG_DENSE
- //! - \see THRESHOLD_FOG_THICK
- //! - \see THRESHOLD_FOG_LIGHT
- //! - \see THRESHOLD_FOG_MIST
- //! - \see THRESHOLD_FOG_POOR
- //! - \see THRESHOLD_FOG_MODERATE
- //! - \see THRESHOLD_FOG_GOOD
- virtual void SetEnvironment(const openScenario::EnvironmentAction& environment) = 0;
+ virtual void ConnectLanes(/*const*/ RoadLaneSectionInterface &firstOdSection,
+ /*const*/ RoadLaneSectionInterface &secondOdSection,
+ const std::map<int, int> &lanePairs,
+ bool isPrev) = 0;
+
+
+ //!Translates an openScenario environment to OSI3
+ virtual void SetEnvironment(const mantle_api::Weather &weather) = 0;
//!Resets the world for new run; deletes all moving objects
virtual void Reset() = 0;
@@ -387,29 +356,28 @@ public:
virtual int GetAgentId(const OWL::Id owlId) const = 0;
};
-}
+} // namespace Interfaces
class WorldData : public Interfaces::WorldData
{
public:
-
#ifdef USE_PROTOBUF_ARENA
- using GroundTruth_ptr = osi3::GroundTruth*;
+ using GroundTruth_ptr = osi3::GroundTruth *;
#else
using GroundTruth_ptr = std::unique_ptr<osi3::GroundTruth>;
#endif
- WorldData(const CallbackInterface* callbacks);
+ WorldData(const CallbackInterface *callbacks);
~WorldData() override;
void Clear() override;
- SensorView_ptr GetSensorView(osi3::SensorViewConfiguration& conf, int agentId) override;
+ SensorView_ptr GetSensorView(osi3::SensorViewConfiguration &conf, int agentId) override;
void ResetTemporaryMemory() override;
- const osi3::GroundTruth& GetOsiGroundTruth() const override;
+ const osi3::GroundTruth &GetOsiGroundTruth() const override;
/*!
* \brief Retrieves a filtered OSI GroundTruth
@@ -419,7 +387,7 @@ public:
*
* \return A OSI GroundTruth filtered by the given SensorViewConfiguration
*/
- GroundTruth_ptr GetFilteredGroundTruth(const osi3::SensorViewConfiguration& conf, const Interfaces::MovingObject& reference);
+ GroundTruth_ptr GetFilteredGroundTruth(const osi3::SensorViewConfiguration &conf, const Interfaces::MovingObject &reference);
/*!
* \brief Retrieves the TrafficSigns located in the given sector (geometric shape)
@@ -431,10 +399,10 @@ public:
*
* \return Vector of TrafficSing pointers located in the given sector
*/
- std::vector<const Interfaces::TrafficSign*> GetTrafficSignsInSector(const Primitive::AbsPosition& origin,
- double radius,
- double leftBoundaryAngle,
- double rightBoundaryAngle);
+ std::vector<const Interfaces::TrafficSign *> GetTrafficSignsInSector(const mantle_api::Vec3<units::length::meter_t> &origin,
+ units::length::meter_t radius,
+ units::angle::radian_t leftBoundaryAngle,
+ units::angle::radian_t rightBoundaryAngle);
/*!
* \brief Retrieves TrafficLights located in the given sector (geometric shape)
@@ -446,10 +414,10 @@ public:
*
* \return Vector of TrafficLight pointers located in the given sector
*/
- std::vector<const Interfaces::TrafficLight*> GetTrafficLightsInSector(const Primitive::AbsPosition& origin,
- double radius,
- double leftBoundaryAngle,
- double rightBoundaryAngle);
+ std::vector<const Interfaces::TrafficLight*> GetTrafficLightsInSector(const mantle_api::Vec3<units::length::meter_t> &origin,
+ units::length::meter_t radius,
+ units::angle::radian_t leftBoundaryAngle,
+ units::angle::radian_t rightBoundaryAngle);
/*!
* \brief Retrieves the RoadMarkings located in the given sector (geometric shape)
@@ -461,10 +429,10 @@ public:
*
* \return Vector of RoadMarking pointers located in the given sector
*/
- std::vector<const Interfaces::RoadMarking*> GetRoadMarkingsInSector(const Primitive::AbsPosition& origin,
- double radius,
- double leftBoundaryAngle,
- double rightBoundaryAngle);
+ std::vector<const Interfaces::RoadMarking *> GetRoadMarkingsInSector(const mantle_api::Vec3<units::length::meter_t> &origin,
+ units::length::meter_t radius,
+ units::angle::radian_t leftBoundaryAngle,
+ units::angle::radian_t rightBoundaryAngle);
/*!
* \brief Retrieves the StationaryObjects located in the given sector (geometric shape)
@@ -476,10 +444,10 @@ public:
*
* \return Vector of StationaryObject pointers located in the given sector
*/
- std::vector<const Interfaces::StationaryObject*> GetStationaryObjectsInSector(const Primitive::AbsPosition& origin,
- double radius,
- double leftBoundaryAngle,
- double rightBoundaryAngle);
+ std::vector<const Interfaces::StationaryObject *> GetStationaryObjectsInSector(const mantle_api::Vec3<units::length::meter_t> &origin,
+ units::length::meter_t radius,
+ units::angle::radian_t leftBoundaryAngle,
+ units::angle::radian_t rightBoundaryAngle);
/*!
* \brief Retrieves the MovingObjects located in the given sector (geometric shape)
@@ -491,10 +459,10 @@ public:
*
* \return Vector of MovingObject pointers located in the given sector
*/
- std::vector<const Interfaces::MovingObject*> GetMovingObjectsInSector(const Primitive::AbsPosition& origin,
- double radius,
- double leftBoundaryAngle,
- double rightBoundaryAngle);
+ std::vector<const Interfaces::MovingObject *> GetMovingObjectsInSector(const mantle_api::Vec3<units::length::meter_t> &origin,
+ units::length::meter_t radius,
+ units::angle::radian_t leftBoundaryAngle,
+ units::angle::radian_t rightBoundaryAngle);
/*!
* \brief Add the information about the host vehicle to the given SensorView
@@ -502,105 +470,107 @@ public:
* \param host_id id of the host vehicle
* \param sensorView SensorView to modify
*/
- void AddHostVehicleToSensorView(Id host_id, osi3::SensorView& sensorView);
+ void AddHostVehicleToSensorView(Id host_id, osi3::SensorView &sensorView);
OWL::Id GetOwlId(int agentId) const override;
int GetAgentId(const OWL::Id owlId) const override;
- void SetRoadGraph (const RoadGraph&& roadGraph, const RoadGraphVertexMapping&& vertexMapping) override;
+ void SetRoadGraph(const RoadGraph &&roadGraph, const RoadGraphVertexMapping &&vertexMapping) override;
void SetTurningRates (const TurningRates& turningRates) override;
- void AddLane(const Id id, RoadLaneSectionInterface &odSection, const RoadLaneInterface& odLane, const std::vector<Id> laneBoundaries) override;
- Id AddLaneBoundary(const Id id, const RoadLaneRoadMark &odLaneRoadMark, double sectionStart, LaneMarkingSide side) override;
- virtual void SetCenterLaneBoundary(const RoadLaneSectionInterface& odSection, std::vector<Id> laneBoundaryIds) override;
- void AddSection(const RoadInterface& odRoad, const RoadLaneSectionInterface& odSection) override;
- void AddRoad(const RoadInterface& odRoad) override;
- void AddJunction(const JunctionInterface* odJunction) override;
- void AddJunctionConnection(const JunctionInterface* odJunction, const RoadInterface& odRoad) override;
- void AddJunctionPriority(const JunctionInterface* odJunction, const std::string& high, const std::string& low) override;
-
- void AddLaneSuccessor(/* const */ RoadLaneInterface& odLane,
- /* const */ RoadLaneInterface& successorOdLane) override;
- void AddLanePredecessor(/* const */ RoadLaneInterface& odLane,
- /* const */ RoadLaneInterface& predecessorOdLane) override;
-
-
- void ConnectLanes(/*const*/ RoadLaneSectionInterface& firstOdSection,
- /*const*/ RoadLaneSectionInterface& secondOdSection,
- const std::map<int, int>& lanePairs,
- bool isPrev) override;
- void SetRoadSuccessor(const RoadInterface& road, const RoadInterface& successorRoad) override;
- void SetRoadPredecessor(const RoadInterface& road, const RoadInterface& predecessorRoad) override;
- void SetRoadSuccessorJunction(const RoadInterface& road, const JunctionInterface* successorJunction) override;
- void SetRoadPredecessorJunction(const RoadInterface& road, const JunctionInterface* predecessorJunction) override;
- void SetSectionSuccessor(const RoadLaneSectionInterface& section, const RoadLaneSectionInterface& successorSection) override;
- void SetSectionPredecessor(const RoadLaneSectionInterface& section, const RoadLaneSectionInterface& predecessorSection) override;
-
- Interfaces::MovingObject& AddMovingObject(const Id id) override;
- Interfaces::StationaryObject& AddStationaryObject(const Id id, void* linkedObject) override;
- Interfaces::TrafficSign& AddTrafficSign(const Id id, const std::string odId) override;
+ void AddLane(const Id id, RoadLaneSectionInterface &odSection, const RoadLaneInterface &odLane, const std::vector<Id> laneBoundaries) override;
+ Id AddLaneBoundary(const Id id, const RoadLaneRoadMark &odLaneRoadMark, units::length::meter_t sectionStart, LaneMarkingSide side) override;
+ virtual void SetCenterLaneBoundary(const RoadLaneSectionInterface &odSection, std::vector<Id> laneBoundaryIds) override;
+ void AddSection(const RoadInterface &odRoad, const RoadLaneSectionInterface &odSection) override;
+ void AddRoad(const RoadInterface &odRoad) override;
+ void AddJunction(const JunctionInterface *odJunction) override;
+ void AddJunctionConnection(const JunctionInterface *odJunction, const RoadInterface &odRoad) override;
+ void AddJunctionPriority(const JunctionInterface *odJunction, const std::string &high, const std::string &low) override;
+
+ void AddLaneSuccessor(/* const */ RoadLaneInterface &odLane,
+ /* const */ RoadLaneInterface &successorOdLane) override;
+ void AddLanePredecessor(/* const */ RoadLaneInterface &odLane,
+ /* const */ RoadLaneInterface &predecessorOdLane) override;
+
+ void ConnectLanes(/*const*/ RoadLaneSectionInterface &firstOdSection,
+ /*const*/ RoadLaneSectionInterface &secondOdSection,
+ const std::map<int, int> &lanePairs,
+ bool isPrev) override;
+ void SetRoadSuccessor(const RoadInterface &road, const RoadInterface &successorRoad) override;
+ void SetRoadPredecessor(const RoadInterface &road, const RoadInterface &predecessorRoad) override;
+ void SetRoadSuccessorJunction(const RoadInterface &road, const JunctionInterface *successorJunction) override;
+ void SetRoadPredecessorJunction(const RoadInterface &road, const JunctionInterface *predecessorJunction) override;
+ void SetSectionSuccessor(const RoadLaneSectionInterface §ion, const RoadLaneSectionInterface &successorSection) override;
+ void SetSectionPredecessor(const RoadLaneSectionInterface §ion, const RoadLaneSectionInterface &predecessorSection) override;
+
+ Interfaces::MovingObject &AddMovingObject(const Id id) override;
+ Interfaces::StationaryObject &AddStationaryObject(const Id id, void *linkedObject) override;
+ Interfaces::TrafficSign &AddTrafficSign(const Id id, const std::string odId) override;
Interfaces::TrafficLight& AddTrafficLight(const std::vector<Id> ids, const std::string odId,const std::string& type) override;
- Interfaces::RoadMarking& AddRoadMarking(const Id id) override;
+ Interfaces::RoadMarking &AddRoadMarking(const Id id) override;
void AssignTrafficSignToLane(OWL::Id laneId, Interfaces::TrafficSign &trafficSign) override;
- void AssignRoadMarkingToLane(OWL::Id laneId, Interfaces::RoadMarking& roadMarking) override;
+ void AssignRoadMarkingToLane(OWL::Id laneId, Interfaces::RoadMarking &roadMarking) override;
void AssignTrafficLightToLane(OWL::Id laneId, Interfaces::TrafficLight &trafficLight) override;
void RemoveMovingObjectById(Id id) override;
- void AddLaneGeometryPoint(const RoadLaneInterface& odLane,
- const Common::Vector2d& pointLeft,
- const Common::Vector2d& pointCenter,
- const Common::Vector2d& pointRight,
- const double sOffset,
- const double curvature,
- const double heading) override;
+ void AddLaneGeometryPoint(const RoadLaneInterface &odLane,
+ const Common::Vector2d<units::length::meter_t> &pointLeft,
+ const Common::Vector2d<units::length::meter_t> &pointCenter,
+ const Common::Vector2d<units::length::meter_t> &pointRight,
+ const units::length::meter_t sOffset,
+ const units::curvature::inverse_meter_t curvature,
+ const units::angle::radian_t heading) override;
- virtual void AddCenterLinePoint(const RoadLaneSectionInterface& odSection,
- const Common::Vector2d& pointCenter,
- const double sOffset,
- double heading) override;
+ virtual void AddCenterLinePoint(const RoadLaneSectionInterface &odSection,
+ const Common::Vector2d<units::length::meter_t> &pointCenter,
+ const units::length::meter_t sOffset,
+ units::angle::radian_t heading) override;
const IdMapping<StationaryObject>& GetStationaryObjects() const;
- const Interfaces::StationaryObject& GetStationaryObject(Id id) const override;
- const Interfaces::MovingObject& GetMovingObject(Id id) const override;
+ const Interfaces::StationaryObject &GetStationaryObject(Id id) const override;
+ const Interfaces::MovingObject &GetMovingObject(Id id) const override;
- const RoadGraph& GetRoadGraph() const override;
- const RoadGraphVertexMapping& GetRoadGraphVertexMapping() const override;
+ const RoadGraph &GetRoadGraph() const override;
+ const RoadGraphVertexMapping &GetRoadGraphVertexMapping() const override;
const IdMapping<Lane>& GetLanes() const override;
const Lane& GetLane(Id id) const override;
const LaneBoundary& GetLaneBoundary(Id id) const override;
const TurningRates& GetTurningRates() const override;
- const std::unordered_map<std::string, Road*>& GetRoads() const override;
- const std::map<std::string, Junction*>& GetJunctions() const override;
+ const std::unordered_map<std::string, Road *> &GetRoads() const override;
+ const std::map<std::string, Junction *> &GetJunctions() const override;
Interfaces::TrafficSign& GetTrafficSign(Id id) override;
Interfaces::TrafficLight& GetTrafficLight(Id id) override;
- const Implementation::InvalidLane& GetInvalidLane() const override {return invalidLane;}
+ const Implementation::InvalidLane &GetInvalidLane() const override
+ {
+ return invalidLane;
+ }
- const std::unordered_map<std::string, Id>& GetTrafficSignIdMapping() const override
+ const std::unordered_map<std::string, Id> &GetTrafficSignIdMapping() const override
{
return trafficSignIdMapping;
}
SignalType GetSignalType(Id id) const override;
- void SetEnvironment(const openScenario::EnvironmentAction& environment) override;
+ void SetEnvironment(const mantle_api::Weather &weather) override;
- static bool IsCloseToSectorBoundaries(double distanceToCenter,
- double angle,
- double leftBoundaryAngle,
- double rightBoundaryAngle,
- double maxDistanceToBoundary)
+ static bool IsCloseToSectorBoundaries(units::length::meter_t distanceToCenter,
+ units::angle::radian_t angle,
+ units::angle::radian_t leftBoundaryAngle,
+ units::angle::radian_t rightBoundaryAngle,
+ units::length::meter_t maxDistanceToBoundary)
{
- const double rightAngleDifference = angle - rightBoundaryAngle;
- const double leftAngleDifference = angle - leftBoundaryAngle;
+ const auto rightAngleDifference = angle - rightBoundaryAngle;
+ const auto leftAngleDifference = angle - leftBoundaryAngle;
//For angles > 90° the center of the sector is the closest point
- const double distanceToRightBoundary = std::abs(rightAngleDifference) >= M_2_PI ? distanceToCenter
- : distanceToCenter * std::sin(rightAngleDifference);
- const double distanceToLeftBoundary = std::abs(leftAngleDifference) >= M_2_PI ? distanceToCenter
- : distanceToCenter * std::sin(leftAngleDifference);
+ const auto distanceToRightBoundary = units::math::abs(rightAngleDifference) >= 1_rad * M_2_PI ? distanceToCenter
+ : distanceToCenter * units::math::sin(rightAngleDifference);
+ const auto distanceToLeftBoundary = units::math::abs(leftAngleDifference) >= 1_rad * M_2_PI ? distanceToCenter
+ : distanceToCenter * units::math::sin(leftAngleDifference);
return distanceToRightBoundary <= maxDistanceToBoundary || distanceToLeftBoundary <= maxDistanceToBoundary;
}
@@ -615,29 +585,30 @@ public:
*
* \return Vector of objects inside the sector-shape
*/
- template<typename T>
- std::vector<const T*> ApplySectorFilter(const std::vector<T*>& objects,
- const Primitive::AbsPosition& origin,
- double radius,
- double leftBoundaryAngle,
- double rightBoundaryAngle)
+ template <typename T>
+ std::vector<const T *> ApplySectorFilter(const std::vector<T *> &objects,
+ const mantle_api::Vec3<units::length::meter_t> &origin,
+ units::length::meter_t radius,
+ units::angle::radian_t leftBoundaryAngle,
+ units::angle::radian_t rightBoundaryAngle)
{
- std::vector<const T*> filteredObjects;
+ std::vector<const T *> filteredObjects;
+
constexpr double EPS = 1e-9;
- bool anglesDiffer = std::abs(leftBoundaryAngle - rightBoundaryAngle) > EPS;
+ bool anglesEqual = mantle_api::IsEqual(leftBoundaryAngle, rightBoundaryAngle, EPS);
- if (!anglesDiffer || radius <= 0.0)
+ if (anglesEqual || radius <= 0.0_m)
{
return filteredObjects;
}
bool wrappedAngle = leftBoundaryAngle < rightBoundaryAngle;
- anglesDiffer = std::abs(leftBoundaryAngle - rightBoundaryAngle) > EPS;
+ anglesEqual = mantle_api::IsEqual(leftBoundaryAngle, rightBoundaryAngle, EPS);
- for (const auto& object : objects)
+ for (const auto &object : objects)
{
- const auto& absPosition = object->GetReferencePointPosition();
+ const auto &absPosition = object->GetReferencePointPosition();
const auto relativePosition = absPosition - origin;
- const auto distance = relativePosition.distance();
+ const auto distance = relativePosition.Length();
const auto dimension = object->GetDimension();
const auto diagonal = openpass::hypot(dimension.width, dimension.length);
@@ -646,9 +617,9 @@ public:
continue;
}
- if (anglesDiffer && distance > 0.0)
+ if (!anglesEqual && distance > 0.0_m)
{
- double direction = std::atan2(relativePosition.y, relativePosition.x);
+ units::angle::radian_t direction = units::math::atan2(relativePosition.y, relativePosition.x);
if (wrappedAngle)
{
@@ -689,9 +660,9 @@ protected:
//! @param[in] message Message to log
//-----------------------------------------------------------------------------
void Log(CbkLogLevel logLevel,
- const char* file,
+ const char *file,
int line,
- const std::string& message)
+ const std::string &message)
{
if (callbacks)
{
@@ -703,9 +674,9 @@ protected:
}
private:
- const CallbackInterface* callbacks;
+ const CallbackInterface *callbacks;
uint64_t next_free_uid{0};
- std::unordered_map<std::string, Id> trafficSignIdMapping;
+ std::unordered_map<std::string, Id> trafficSignIdMapping;
IdMapping<Lane> lanes;
IdMapping<LaneBoundary> laneBoundaries;
@@ -715,14 +686,14 @@ private:
IdMapping<Interfaces::TrafficLight> trafficLights;
IdMapping<Interfaces::RoadMarking> roadMarkings;
- std::unordered_map<std::string, Road*> roadsById;
- std::map<std::string, Junction*> junctionsById;
+ std::unordered_map<std::string, Road *> roadsById;
+ std::map<std::string, Junction *> junctionsById;
std::unordered_map<const RoadInterface*, std::unique_ptr<Road>> roads;
std::unordered_map<const RoadLaneSectionInterface*, std::unique_ptr<Section>> sections;
std::unordered_map<const JunctionInterface*, std::unique_ptr<Junction>> junctions;
- std::unordered_map<const RoadLaneInterface*, osi3::Lane*> osiLanes;
+ std::unordered_map<const RoadLaneInterface *, osi3::Lane *> osiLanes;
RoadGraph roadGraph;
RoadGraphVertexMapping vertexMapping;
@@ -737,4 +708,4 @@ private:
const Implementation::InvalidLane invalidLane;
};
-}
+} // namespace OWL
diff --git a/sim/src/core/opSimulation/modules/World_OSI/WorldDataQuery.cpp b/sim/src/core/opSimulation/modules/World_OSI/WorldDataQuery.cpp
index 54f9a148914e75347846988a2359563730d04e2d..c0580182fb7c73e6cc227f2bdf36c9e8d5488cbd 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/WorldDataQuery.cpp
+++ b/sim/src/core/opSimulation/modules/World_OSI/WorldDataQuery.cpp
@@ -10,11 +10,11 @@
********************************************************************************/
#include "WorldDataQuery.h"
-static const OWL::Interfaces::Lane* GetLaneOnRoad(const OWL::Interfaces::Road* road, const std::vector<OWL::Id> laneIds)
+static const OWL::Interfaces::Lane *GetLaneOnRoad(const OWL::Interfaces::Road *road, const std::vector<OWL::Id> laneIds)
{
- for (const auto& section : road->GetSections())
+ for (const auto §ion : road->GetSections())
{
- for (const auto& lane : section->GetLanes())
+ for (const auto &lane : section->GetLanes())
{
if (std::count(laneIds.cbegin(), laneIds.cend(), lane->GetId()) > 0)
{
@@ -25,8 +25,10 @@ static const OWL::Interfaces::Lane* GetLaneOnRoad(const OWL::Interfaces::Road* r
return nullptr;
}
-WorldDataQuery::WorldDataQuery(const OWL::Interfaces::WorldData &worldData) : worldData{worldData}
-{}
+WorldDataQuery::WorldDataQuery(const OWL::Interfaces::WorldData &worldData) :
+ worldData{worldData}
+{
+}
RouteQueryResult<std::optional<GlobalRoadPosition>> WorldDataQuery::ResolveRelativePoint(const RoadMultiStream &roadStream, ObjectPointRelative relativePoint, const RoadIntervals &touchedRoads) const
{
@@ -72,11 +74,11 @@ RouteQueryResult<std::optional<GlobalRoadPosition>> WorldDataQuery::ResolveRelat
worldData);
}
-template<typename T>
+template <typename T>
Stream<T> Stream<T>::Reverse() const
{
std::vector<StreamInfo<T>> newStream;
- double currentS = 0.0;
+ units::length::meter_t currentS{0.0};
for (auto oldStreamInfo = elements.crbegin(); oldStreamInfo != elements.crend(); ++oldStreamInfo)
{
@@ -85,7 +87,7 @@ Stream<T> Stream<T>::Reverse() const
streamInfo.element = oldStreamInfo->element;
auto elementLength = streamInfo.element->GetLength();
- streamInfo.sOffset = currentS + (streamInfo.inStreamDirection ? 0 : elementLength);
+ streamInfo.sOffset = currentS + (streamInfo.inStreamDirection ? 0_m : elementLength);
newStream.push_back(streamInfo);
currentS += elementLength;
@@ -93,66 +95,63 @@ Stream<T> Stream<T>::Reverse() const
return Stream<T>{std::move(newStream)};
}
-template<typename T>
-double Stream<T>::GetPositionByElementAndS(const T& element, double sCoordinate) const
+template <typename T>
+units::length::meter_t Stream<T>::GetPositionByElementAndS(const T &element, units::length::meter_t sCoordinate) const
{
- for (const auto& elemOnStream : elements)
+ for (const auto &elemOnStream : elements)
{
if (elemOnStream.element == &element)
{
return elemOnStream.GetStreamPosition(sCoordinate - element.GetDistance(OWL::MeasurementPoint::RoadStart));
}
}
- return -1.0;
+ return -1.0_m;
}
-template<typename T>
-std::pair<double, const T*> Stream<T>::GetElementAndSByPosition(double position) const
+template <typename T>
+std::pair<units::length::meter_t, const T *> Stream<T>::GetElementAndSByPosition(units::length::meter_t position) const
{
- for (const auto& element : elements)
+ for (const auto &element : elements)
{
if (element.StartS() <= position && element.EndS() >= position)
{
- double relativeDistance = element.inStreamDirection ? position - element.sOffset : element.sOffset - position;
+ const auto relativeDistance = element.inStreamDirection ? position - element.sOffset : element.sOffset - position;
return std::make_pair(relativeDistance, &element());
}
}
- return std::make_pair(0.0, nullptr);
+ return std::make_pair(0.0_m, nullptr);
}
-template<typename T>
-bool Stream<T>::Contains(const T& element) const
+template <typename T>
+bool Stream<T>::Contains(const T &element) const
{
return std::find_if(elements.cbegin(), elements.cend(),
- [&element](auto& streamInfo)
- {return streamInfo.element == &element;})
- != elements.cend();
+ [&element](auto &streamInfo) { return streamInfo.element == &element; }) != elements.cend();
}
-RouteQueryResult<double> WorldDataQuery::GetDistanceToEndOfLane(const LaneMultiStream& laneStream, double initialSearchPosition, double maxSearchLength, const std::vector<LaneType>& requestedLaneTypes) const
+RouteQueryResult<units::length::meter_t> WorldDataQuery::GetDistanceToEndOfLane(const LaneMultiStream &laneStream, units::length::meter_t initialSearchPosition, units::length::meter_t maxSearchLength, const std::vector<LaneType> &requestedLaneTypes) const
{
- return laneStream.Traverse<double, bool>(LaneMultiStream::TraversedFunction<double, bool>{[&](const auto& streamElement, const auto& previousDistance, const auto& laneTypeContinuous)
- {
- if (!laneTypeContinuous || std::find(requestedLaneTypes.cbegin(), requestedLaneTypes.cend(), streamElement().GetLaneType()) == requestedLaneTypes.cend())
- {
- return std::make_tuple<double, bool>(double{previousDistance}, false);
- }
- else if (streamElement.EndS() > initialSearchPosition + maxSearchLength)
- {
- return std::make_tuple<double, bool>(std::numeric_limits<double>::infinity(), true);
- }
- else
- {
- return std::make_tuple<double, bool>(streamElement.EndS() - initialSearchPosition, true);
- }
- }},
- 0.0, true,
- worldData);
+ return laneStream.Traverse<units::length::meter_t, bool>(LaneMultiStream::TraversedFunction<units::length::meter_t, bool>{[&](const auto &streamElement, const auto &previousDistance, const auto &laneTypeContinuous) {
+ if (!laneTypeContinuous || std::find(requestedLaneTypes.cbegin(), requestedLaneTypes.cend(), streamElement().GetLaneType()) == requestedLaneTypes.cend())
+ {
+ return std::make_tuple<units::length::meter_t, bool>(units::length::meter_t{previousDistance}, false);
+ }
+ else if (streamElement.EndS() > initialSearchPosition + maxSearchLength)
+ {
+ return std::make_tuple<units::length::meter_t, bool>(units::length::meter_t(std::numeric_limits<double>::infinity()), true);
+ }
+ else
+ {
+ return std::make_tuple<units::length::meter_t, bool>(streamElement.EndS() - initialSearchPosition, true);
+ }
+ }},
+ 0.0_m, true,
+ worldData);
}
-OWL::CSection* WorldDataQuery::GetSectionByDistance(const std::string& odRoadId, double distance) const
+OWL::CSection *WorldDataQuery::GetSectionByDistance(const std::string& odRoadId, units::length::meter_t distance) const
{
- distance = std::max(0.0, distance);
+ distance = std::max(0.0_m, distance);
auto road = GetRoadByOdId(odRoadId);
if (!road)
@@ -173,13 +172,13 @@ OWL::CSection* WorldDataQuery::GetSectionByDistance(const std::string& odRoadId,
OWL::CRoad* WorldDataQuery::GetRoadByOdId(const std::string& odRoadId) const
{
auto road = worldData.GetRoads().find(odRoadId);
- return road != worldData.GetRoads().cend() ? road->second : nullptr;
+ return road != worldData.GetRoads().cend() ? road->second : nullptr;
}
const OWL::Interfaces::Junction *WorldDataQuery::GetJunctionByOdId(const std::string &odJunctionId) const
{
auto junction = worldData.GetJunctions().find(odJunctionId);
- return junction != worldData.GetJunctions().cend() ? junction->second : nullptr;
+ return junction != worldData.GetJunctions().cend() ? junction->second : nullptr;
}
const OWL::Interfaces::Junction *WorldDataQuery::GetJunctionOfConnector(const std::string &connectingRoadId) const
@@ -187,7 +186,7 @@ const OWL::Interfaces::Junction *WorldDataQuery::GetJunctionOfConnector(const st
const auto connectingRoad = GetRoadByOdId(connectingRoadId);
for (auto junction : worldData.GetJunctions())
{
- const auto& junctionConnections = junction.second->GetConnectingRoads();
+ const auto &junctionConnections = junction.second->GetConnectingRoads();
if (std::find(junctionConnections.cbegin(), junctionConnections.cend(), connectingRoad) != junctionConnections.cend())
{
return junction.second;
@@ -196,10 +195,10 @@ const OWL::Interfaces::Junction *WorldDataQuery::GetJunctionOfConnector(const st
return nullptr;
}
-OWL::CLanes WorldDataQuery::GetLanesOfLaneTypeAtDistance(const std::string& roadId, double distance, const std::vector<LaneType>& requestedLaneTypes) const
+OWL::CLanes WorldDataQuery::GetLanesOfLaneTypeAtDistance(const std::string &roadId, units::length::meter_t distance, const std::vector<LaneType> &requestedLaneTypes) const
{
- std::vector<OWL::CLane*> lanes;
- OWL::CSection* sectionAtDistance = GetSectionByDistance(roadId, distance);
+ std::vector<OWL::CLane *> lanes;
+ OWL::CSection *sectionAtDistance = GetSectionByDistance(roadId, distance);
if (sectionAtDistance)
{
@@ -215,7 +214,7 @@ OWL::CLanes WorldDataQuery::GetLanesOfLaneTypeAtDistance(const std::string& road
return lanes;
}
-OWL::CLane& WorldDataQuery::GetLaneByOdId(const std::string& roadId, OWL::OdId odLaneId, double distance) const
+OWL::CLane &WorldDataQuery::GetLaneByOdId(const std::string& roadId, OWL::OdId odLaneId, units::length::meter_t distance) const
{
auto section = GetSectionByDistance(roadId, distance);
if (!section)
@@ -223,7 +222,7 @@ OWL::CLane& WorldDataQuery::GetLaneByOdId(const std::string& roadId, OWL::OdId o
return worldData.GetInvalidLane();
}
- for (const OWL::Lane* lane : section->GetLanes())
+ for (const OWL::Lane *lane : section->GetLanes())
{
// if a section covers a point the lanes also do
if (lane->GetOdId() == odLaneId)
@@ -235,17 +234,16 @@ OWL::CLane& WorldDataQuery::GetLaneByOdId(const std::string& roadId, OWL::OdId o
return worldData.GetInvalidLane();
}
-
-std::pair<OWL::CLane&, double> WorldDataQuery::GetLaneByOffset(const std::string& roadId, double offset, double distance) const
+std::pair<OWL::CLane&, units::length::meter_t> WorldDataQuery::GetLaneByOffset(const std::string& roadId, units::length::meter_t offset, units::length::meter_t distance) const
{
auto section = GetSectionByDistance(roadId, distance);
if (!section)
{
- return {worldData.GetInvalidLane(), 0};
+ return {worldData.GetInvalidLane(), 0_m};
}
auto lanes = section->GetLanes();
- if (offset > 0)
+ if (offset > 0_m)
{
std::sort(lanes.begin(), lanes.end(),
[](const OWL::Interfaces::Lane* first, const OWL::Interfaces::Lane* second){return first->GetOdId() < second->GetOdId();});
@@ -256,27 +254,27 @@ std::pair<OWL::CLane&, double> WorldDataQuery::GetLaneByOffset(const std::string
[](const OWL::Interfaces::Lane* first, const OWL::Interfaces::Lane* second){return first->GetOdId() > second->GetOdId();});
}
- double cummulatedWidth{0.};
+ units::length::meter_t cummulatedWidth{0.};
for (const OWL::Lane* lane : lanes)
{
- if (std::signbit(lane->GetOdId()) == std::signbit(offset))
+ if (std::signbit(lane->GetOdId()) == std::signbit(offset.value()))
{
- const double laneWidth = lane->GetWidth(distance);
+ const auto laneWidth = lane->GetWidth(distance);
cummulatedWidth += laneWidth;
- if (cummulatedWidth >= std::abs(offset))
+ if (cummulatedWidth >= units::math::abs(offset))
{
- const double tOnLane = offset - std::copysign(cummulatedWidth - 0.5 * laneWidth, offset);
+ const units::length::meter_t tOnLane = offset - units::length::meter_t(std::copysign(cummulatedWidth.value() - 0.5 * laneWidth.value(), offset.value()));
return {*lane, tOnLane};
}
}
}
- return {worldData.GetInvalidLane(), 0};
+ return {worldData.GetInvalidLane(), 0_m};
}
-bool WorldDataQuery::IsSValidOnLane(const std::string& roadId, OWL::OdId laneId, double distance)
+bool WorldDataQuery::IsSValidOnLane(const std::string& roadId, OWL::OdId laneId, units::length::meter_t distance)
{
- if (distance < 0)
+ if (distance < 0_m)
{
return false;
}
@@ -284,204 +282,198 @@ bool WorldDataQuery::IsSValidOnLane(const std::string& roadId, OWL::OdId laneId,
return GetLaneByOdId(roadId, laneId, distance).Exists();
}
-RouteQueryResult<std::vector<CommonTrafficSign::Entity>> WorldDataQuery::GetTrafficSignsInRange(LaneMultiStream laneStream, double startDistance, double searchRange) const
+RouteQueryResult<std::vector<CommonTrafficSign::Entity>> WorldDataQuery::GetTrafficSignsInRange(LaneMultiStream laneStream, units::length::meter_t startDistance, units::length::meter_t searchRange) const
{
- const bool backwardsSearch = searchRange < 0;
- const double startPosition = backwardsSearch ? startDistance + searchRange : startDistance;
- const double endPosition = backwardsSearch ? startDistance : startDistance + searchRange;
- return laneStream.Traverse(LaneMultiStream::TraversedFunction<std::vector<CommonTrafficSign::Entity>>{[&](const auto& lane, const auto& previousTrafficSigns)
- {
- std::vector<CommonTrafficSign::Entity> foundTrafficSigns{previousTrafficSigns};
+ const bool backwardsSearch = searchRange < 0_m;
+ const auto startPosition = backwardsSearch ? startDistance + searchRange : startDistance;
+ const auto endPosition = backwardsSearch ? startDistance : startDistance + searchRange;
+ return laneStream.Traverse(LaneMultiStream::TraversedFunction<std::vector<CommonTrafficSign::Entity>>{[&](const auto &lane, const auto &previousTrafficSigns) {
+ std::vector<CommonTrafficSign::Entity> foundTrafficSigns{previousTrafficSigns};
- if (lane.EndS() < startPosition)
- {
- return foundTrafficSigns;
- }
- if (lane.StartS() > endPosition)
- {
- return foundTrafficSigns;
- }
- auto sortedTrafficSigns = lane().GetTrafficSigns();
- std::sort(sortedTrafficSigns.begin(), sortedTrafficSigns.end(),
- [&lane](const auto first, const auto second)
- {return lane.GetStreamPosition(first->GetS()) < lane.GetStreamPosition(second->GetS());});
- for (const auto& trafficSign : sortedTrafficSigns)
- {
- double trafficSignPosition = lane.GetStreamPosition(trafficSign->GetS() - lane().GetDistance(OWL::MeasurementPoint::RoadStart));
- if (startPosition <= trafficSignPosition && trafficSignPosition <= endPosition)
- {
- foundTrafficSigns.push_back(trafficSign->GetSpecification(trafficSignPosition - startDistance));
- }
- }
- return foundTrafficSigns;
- }},
- {},
- worldData);
+ if (lane.EndS() < startPosition)
+ {
+ return foundTrafficSigns;
+ }
+ if (lane.StartS() > endPosition)
+ {
+ return foundTrafficSigns;
+ }
+ auto sortedTrafficSigns = lane().GetTrafficSigns();
+ std::sort(sortedTrafficSigns.begin(), sortedTrafficSigns.end(),
+ [&lane](const auto first, const auto second) { return lane.GetStreamPosition(first->GetS()) < lane.GetStreamPosition(second->GetS()); });
+ for (const auto &trafficSign : sortedTrafficSigns)
+ {
+ auto trafficSignPosition = lane.GetStreamPosition(trafficSign->GetS() - lane().GetDistance(OWL::MeasurementPoint::RoadStart));
+ if (startPosition <= trafficSignPosition && trafficSignPosition <= endPosition)
+ {
+ foundTrafficSigns.push_back(trafficSign->GetSpecification(trafficSignPosition - startDistance));
+ }
+ }
+ return foundTrafficSigns;
+ }},
+ {},
+ worldData);
}
-RouteQueryResult<std::vector<CommonTrafficSign::Entity>> WorldDataQuery::GetRoadMarkingsInRange(LaneMultiStream laneStream, double startDistance, double searchRange) const
+RouteQueryResult<std::vector<CommonTrafficSign::Entity>> WorldDataQuery::GetRoadMarkingsInRange(LaneMultiStream laneStream, units::length::meter_t startDistance, units::length::meter_t searchRange) const
{
- return laneStream.Traverse(LaneMultiStream::TraversedFunction<std::vector<CommonTrafficSign::Entity>>{[&](const auto& lane, const auto& previousRoadMarkings)
- {
- std::vector<CommonTrafficSign::Entity> foundRoadMarkings{previousRoadMarkings};
+ return laneStream.Traverse(LaneMultiStream::TraversedFunction<std::vector<CommonTrafficSign::Entity>>{[&](const auto &lane, const auto &previousRoadMarkings) {
+ std::vector<CommonTrafficSign::Entity> foundRoadMarkings{previousRoadMarkings};
- if (lane.EndS() < startDistance)
- {
- return foundRoadMarkings;
- }
- if (lane.StartS() > startDistance + searchRange)
- {
- return foundRoadMarkings;
- }
- auto sortedRoadMarkings = lane().GetRoadMarkings();
- std::sort(sortedRoadMarkings.begin(), sortedRoadMarkings.end(),
- [&lane](const auto first, const auto second)
- {return lane.GetStreamPosition(first->GetS()) < lane.GetStreamPosition(second->GetS());});
+ if (lane.EndS() < startDistance)
+ {
+ return foundRoadMarkings;
+ }
+ if (lane.StartS() > startDistance + searchRange)
+ {
+ return foundRoadMarkings;
+ }
+ auto sortedRoadMarkings = lane().GetRoadMarkings();
+ std::sort(sortedRoadMarkings.begin(), sortedRoadMarkings.end(),
+ [&lane](const auto first, const auto second) { return lane.GetStreamPosition(first->GetS()) < lane.GetStreamPosition(second->GetS()); });
- for (const auto& roadMarking : sortedRoadMarkings)
- {
- double roadMarkingPosition = lane.GetStreamPosition(roadMarking->GetS() - lane().GetDistance(OWL::MeasurementPoint::RoadStart));
- if (startDistance <= roadMarkingPosition && roadMarkingPosition <= startDistance + searchRange)
- {
- foundRoadMarkings.push_back(roadMarking->GetSpecification(roadMarkingPosition - startDistance));
- }
- }
- return foundRoadMarkings;
- }},
- {},
- worldData);
+ for (const auto &roadMarking : sortedRoadMarkings)
+ {
+ auto roadMarkingPosition = lane.GetStreamPosition(roadMarking->GetS() - lane().GetDistance(OWL::MeasurementPoint::RoadStart));
+ if (startDistance <= roadMarkingPosition && roadMarkingPosition <= startDistance + searchRange)
+ {
+ foundRoadMarkings.push_back(roadMarking->GetSpecification(roadMarkingPosition - startDistance));
+ }
+ }
+ return foundRoadMarkings;
+ }},
+ {},
+ worldData);
}
-RouteQueryResult<std::vector<CommonTrafficLight::Entity>> WorldDataQuery::GetTrafficLightsInRange(LaneMultiStream laneStream, double startDistance, double searchRange) const
+RouteQueryResult<std::vector<CommonTrafficLight::Entity>> WorldDataQuery::GetTrafficLightsInRange(LaneMultiStream laneStream, units::length::meter_t startDistance, units::length::meter_t searchRange) const
{
- const bool backwardsSearch = searchRange < 0;
- const double startPosition = backwardsSearch ? startDistance + searchRange : startDistance;
- const double endPosition = backwardsSearch ? startDistance : startDistance + searchRange;
- return laneStream.Traverse(LaneMultiStream::TraversedFunction<std::vector<CommonTrafficLight::Entity>>{[&](const auto& lane, const auto& previousTraffiLights)
- {
- std::vector<CommonTrafficLight::Entity> foundTrafficLights{previousTraffiLights};
+ const bool backwardsSearch = searchRange < 0_m;
+ const auto startPosition = backwardsSearch ? startDistance + searchRange : startDistance;
+ const auto endPosition = backwardsSearch ? startDistance : startDistance + searchRange;
+ return laneStream.Traverse(LaneMultiStream::TraversedFunction<std::vector<CommonTrafficLight::Entity>>{[&](const auto &lane, const auto &previousTraffiLights) {
+ std::vector<CommonTrafficLight::Entity> foundTrafficLights{previousTraffiLights};
- if (lane.EndS() < startPosition)
- {
- return foundTrafficLights;
- }
- if (lane.StartS() > endPosition)
- {
- return foundTrafficLights;
- }
- auto sortedTrafficLights = lane().GetTrafficLights();
- std::sort(sortedTrafficLights.begin(), sortedTrafficLights.end(),
- [&lane](const auto first, const auto second)
- {return lane.GetStreamPosition(first->GetS()) < lane.GetStreamPosition(second->GetS());});
- for (const auto& trafficLight : sortedTrafficLights)
- {
- double trafficLightPosition = lane.GetStreamPosition(trafficLight->GetS() - lane().GetDistance(OWL::MeasurementPoint::RoadStart));
- if (startPosition <= trafficLightPosition && trafficLightPosition <= endPosition)
- {
- foundTrafficLights.push_back(trafficLight->GetSpecification(trafficLightPosition - startDistance));
- }
- }
- return foundTrafficLights;
- }},
- {},
- worldData);
+ if (lane.EndS() < startPosition)
+ {
+ return foundTrafficLights;
+ }
+ if (lane.StartS() > endPosition)
+ {
+ return foundTrafficLights;
+ }
+ auto sortedTrafficLights = lane().GetTrafficLights();
+ std::sort(sortedTrafficLights.begin(), sortedTrafficLights.end(),
+ [&lane](const auto first, const auto second) { return lane.GetStreamPosition(first->GetS()) < lane.GetStreamPosition(second->GetS()); });
+ for (const auto &trafficLight : sortedTrafficLights)
+ {
+ auto trafficLightPosition = lane.GetStreamPosition(trafficLight->GetS() - lane().GetDistance(OWL::MeasurementPoint::RoadStart));
+ if (startPosition <= trafficLightPosition && trafficLightPosition <= endPosition)
+ {
+ foundTrafficLights.push_back(trafficLight->GetSpecification(trafficLightPosition - startDistance));
+ }
+ }
+ return foundTrafficLights;
+ }},
+ {},
+ worldData);
}
-RouteQueryResult<std::vector<LaneMarking::Entity>> WorldDataQuery::GetLaneMarkings(const LaneMultiStream& laneStream, double startDistance, double range, Side side) const
+RouteQueryResult<std::vector<LaneMarking::Entity>> WorldDataQuery::GetLaneMarkings(const LaneMultiStream &laneStream, units::length::meter_t startDistance, units::length::meter_t range, Side side) const
{
- return laneStream.Traverse(LaneMultiStream::TraversedFunction<std::vector<LaneMarking::Entity>>{[&](const auto& lane, const auto& previousLaneMarkings)
- {
- std::vector<LaneMarking::Entity> laneMarkings{previousLaneMarkings};
- std::map<double, LaneMarking::Entity> doubleLaneMarkings;
- if (lane.EndS() < startDistance)
- {
- return laneMarkings;;
- }
- if (lane.StartS() > startDistance + range)
- {
- return laneMarkings;;
- }
+ return laneStream.Traverse(LaneMultiStream::TraversedFunction<std::vector<LaneMarking::Entity>>{[&](const auto &lane, const auto &previousLaneMarkings) {
+ std::vector<LaneMarking::Entity> laneMarkings{previousLaneMarkings};
+ std::map<units::length::meter_t, LaneMarking::Entity> doubleLaneMarkings;
+ if (lane.EndS() < startDistance)
+ {
+ return laneMarkings;
+ ;
+ }
+ if (lane.StartS() > startDistance + range)
+ {
+ return laneMarkings;
+ ;
+ }
- const auto& laneBoundaries = ((side == Side::Right) xor lane.inStreamDirection) ? lane().GetLeftLaneBoundaries() : lane().GetRightLaneBoundaries();
+ const auto &laneBoundaries = ((side == Side::Right) xor lane.inStreamDirection) ? lane().GetLeftLaneBoundaries() : lane().GetRightLaneBoundaries();
- for (auto laneBoundaryIndex : laneBoundaries)
- {
- const auto& laneBoundary = worldData.GetLaneBoundary(laneBoundaryIndex);
- const double boundaryStart = lane.inStreamDirection ? laneBoundary.GetSStart() : std::min(laneBoundary.GetSEnd(), lane().GetLength());
- const double boundaryEnd = lane.inStreamDirection ? std::min(laneBoundary.GetSEnd(), lane().GetLength()) : laneBoundary.GetSStart();
- const double boundaryStreamStart = lane.GetStreamPosition(boundaryStart - lane().GetDistance(OWL::MeasurementPoint::RoadStart));
- const double boundaryStreamEnd = lane.GetStreamPosition(boundaryEnd - lane().GetDistance(OWL::MeasurementPoint::RoadStart));
- if (boundaryStreamStart <= startDistance + range
- && boundaryStreamEnd >= startDistance)
- {
- LaneMarking::Entity laneMarking;
- laneMarking.relativeStartDistance = boundaryStreamStart - startDistance;
- laneMarking.width = laneBoundary.GetWidth();
- laneMarking.type = laneBoundary.GetType();
- laneMarking.color = laneBoundary.GetColor();
- if (laneBoundary.GetSide() == OWL::LaneMarkingSide::Single)
- {
- laneMarkings.push_back(laneMarking);
- }
- else
- {
- if (doubleLaneMarkings.count(laneMarking.relativeStartDistance) == 0)
- {
- doubleLaneMarkings.insert(std::make_pair(laneMarking.relativeStartDistance, laneMarking));
- }
- else
- {
- auto& otherLaneMarking = doubleLaneMarkings.at(laneMarking.relativeStartDistance);
- LaneMarking::Type leftType;
- LaneMarking::Type rightType;
- if (laneBoundary.GetSide() == OWL::LaneMarkingSide::Left)
- {
- leftType = laneMarking.type;
- rightType = otherLaneMarking.type;
- }
- else
- {
- leftType = otherLaneMarking.type;
- rightType = laneMarking.type;
- }
- LaneMarking::Type combinedType;
- if (leftType == LaneMarking::Type::Solid && rightType == LaneMarking::Type::Solid)
- {
- combinedType = LaneMarking::Type::Solid_Solid;
- }
- else if (leftType == LaneMarking::Type::Solid && rightType == LaneMarking::Type::Broken)
- {
- combinedType = LaneMarking::Type::Solid_Broken;
- }
- else if (leftType == LaneMarking::Type::Broken && rightType == LaneMarking::Type::Solid)
- {
- combinedType = LaneMarking::Type::Broken_Solid;
- }
- else if (leftType == LaneMarking::Type::Broken && rightType == LaneMarking::Type::Broken)
- {
- combinedType = LaneMarking::Type::Broken_Broken;
- }
- else
- {
- throw std::runtime_error("Invalid type of double lane boundary");
- }
- laneMarking.type = combinedType;
- laneMarkings.push_back(laneMarking);
- }
- }
- }
- }
+ for (auto laneBoundaryIndex : laneBoundaries)
+ {
+ const auto& laneBoundary = worldData.GetLaneBoundary(laneBoundaryIndex);
+ const auto boundaryStart = lane.inStreamDirection ? laneBoundary.GetSStart() : std::min(laneBoundary.GetSEnd(), lane().GetLength());
+ const auto boundaryEnd = lane.inStreamDirection ? std::min(laneBoundary.GetSEnd(), lane().GetLength()) : laneBoundary.GetSStart();
+ const auto boundaryStreamStart = lane.GetStreamPosition(boundaryStart - lane().GetDistance(OWL::MeasurementPoint::RoadStart));
+ const auto boundaryStreamEnd = lane.GetStreamPosition(boundaryEnd - lane().GetDistance(OWL::MeasurementPoint::RoadStart));
+ if (boundaryStreamStart <= startDistance + range && boundaryStreamEnd >= startDistance)
+ {
+ LaneMarking::Entity laneMarking;
+ laneMarking.relativeStartDistance = boundaryStreamStart - startDistance;
+ laneMarking.width = laneBoundary.GetWidth();
+ laneMarking.type = laneBoundary.GetType();
+ laneMarking.color = laneBoundary.GetColor();
+ if (laneBoundary.GetSide() == OWL::LaneMarkingSide::Single)
+ {
+ laneMarkings.push_back(laneMarking);
+ }
+ else
+ {
+ if (doubleLaneMarkings.count(laneMarking.relativeStartDistance) == 0)
+ {
+ doubleLaneMarkings.insert(std::make_pair(laneMarking.relativeStartDistance, laneMarking));
+ }
+ else
+ {
+ auto &otherLaneMarking = doubleLaneMarkings.at(laneMarking.relativeStartDistance);
+ LaneMarking::Type leftType;
+ LaneMarking::Type rightType;
+ if (laneBoundary.GetSide() == OWL::LaneMarkingSide::Left)
+ {
+ leftType = laneMarking.type;
+ rightType = otherLaneMarking.type;
+ }
+ else
+ {
+ leftType = otherLaneMarking.type;
+ rightType = laneMarking.type;
+ }
+ LaneMarking::Type combinedType;
+ if (leftType == LaneMarking::Type::Solid && rightType == LaneMarking::Type::Solid)
+ {
+ combinedType = LaneMarking::Type::Solid_Solid;
+ }
+ else if (leftType == LaneMarking::Type::Solid && rightType == LaneMarking::Type::Broken)
+ {
+ combinedType = LaneMarking::Type::Solid_Broken;
+ }
+ else if (leftType == LaneMarking::Type::Broken && rightType == LaneMarking::Type::Solid)
+ {
+ combinedType = LaneMarking::Type::Broken_Solid;
+ }
+ else if (leftType == LaneMarking::Type::Broken && rightType == LaneMarking::Type::Broken)
+ {
+ combinedType = LaneMarking::Type::Broken_Broken;
+ }
+ else
+ {
+ throw std::runtime_error("Invalid type of double lane boundary");
+ }
+ laneMarking.type = combinedType;
+ laneMarkings.push_back(laneMarking);
+ }
+ }
+ }
+ }
- return laneMarkings;
- }},
- {},
- worldData);
+ return laneMarkings;
+ }},
+ {},
+ worldData);
}
std::vector<JunctionConnection> WorldDataQuery::GetConnectionsOnJunction(std::string junctionId, std::string incomingRoadId) const
{
- const auto& junction = GetJunctionByOdId(junctionId);
- const auto& incomingRoad = GetRoadByOdId(incomingRoadId);
+ const auto &junction = GetJunctionByOdId(junctionId);
+ const auto &incomingRoad = GetRoadByOdId(incomingRoadId);
std::vector<JunctionConnection> connections;
for (const auto connectingRoad : junction->GetConnectingRoads())
{
@@ -490,9 +482,9 @@ std::vector<JunctionConnection> WorldDataQuery::GetConnectionsOnJunction(std::st
JunctionConnection connection;
connection.connectingRoadId = connectingRoad->GetId();
connection.outgoingRoadId = connectingRoad->GetSuccessor();
- const auto& outgoingRoad = worldData.GetRoads().at(connectingRoad->GetSuccessor());
+ const auto &outgoingRoad = worldData.GetRoads().at(connectingRoad->GetSuccessor());
connection.outgoingStreamDirection =
- junction->GetId() == (outgoingRoad->IsInStreamDirection() ? outgoingRoad->GetPredecessor() : outgoingRoad->GetSuccessor());
+ junction->GetId() == (outgoingRoad->IsInStreamDirection() ? outgoingRoad->GetPredecessor() : outgoingRoad->GetSuccessor());
connections.push_back(connection);
}
}
@@ -502,12 +494,12 @@ std::vector<JunctionConnection> WorldDataQuery::GetConnectionsOnJunction(std::st
std::vector<IntersectingConnection> WorldDataQuery::GetIntersectingConnections(std::string connectingRoadId) const
{
std::vector<IntersectingConnection> intersections;
- const auto& junction = GetJunctionOfConnector(connectingRoadId);
+ const auto &junction = GetJunctionOfConnector(connectingRoadId);
auto connectionInfos = junction->GetIntersections().find(connectingRoadId);
if (connectionInfos != junction->GetIntersections().end())
{
std::transform(connectionInfos->second.cbegin(), connectionInfos->second.cend(), std::back_inserter(intersections),
- [&](const OWL::IntersectionInfo& connectionInfo){return IntersectingConnection{connectionInfo.intersectingRoad, connectionInfo.relativeRank};});
+ [&](const OWL::IntersectionInfo &connectionInfo) { return IntersectingConnection{connectionInfo.intersectingRoad, connectionInfo.relativeRank}; });
}
return intersections;
}
@@ -516,7 +508,7 @@ std::vector<JunctionConnectorPriority> WorldDataQuery::GetPrioritiesOnJunction(s
{
std::vector<JunctionConnectorPriority> priorities;
const auto junction = GetJunctionByOdId(junctionId);
- for (const auto& [high, low] : junction->GetPriorities())
+ for (const auto &[high, low] : junction->GetPriorities())
{
priorities.push_back({high, low});
}
@@ -527,7 +519,7 @@ RoadNetworkElement WorldDataQuery::GetRoadSuccessor(std::string roadId) const
{
auto currentRoad = GetRoadByOdId(roadId);
assert(currentRoad);
- const auto& nextElementId = currentRoad->GetSuccessor();
+ const auto &nextElementId = currentRoad->GetSuccessor();
if (worldData.GetRoads().count(nextElementId) > 0)
{
return {RoadNetworkElementType::Road, nextElementId};
@@ -543,7 +535,7 @@ RoadNetworkElement WorldDataQuery::GetRoadPredecessor(std::string roadId) const
{
auto currentRoad = GetRoadByOdId(roadId);
assert(currentRoad);
- const auto& nextElementId = currentRoad->GetPredecessor();
+ const auto &nextElementId = currentRoad->GetPredecessor();
if (worldData.GetRoads().count(nextElementId) > 0)
{
return {RoadNetworkElementType::Road, nextElementId};
@@ -555,16 +547,16 @@ RoadNetworkElement WorldDataQuery::GetRoadPredecessor(std::string roadId) const
return {RoadNetworkElementType::None, ""};
}
-std::vector<const OWL::Interfaces::WorldObject*> WorldDataQuery::GetMovingObjectsInRangeOfJunctionConnection(std::string connectingRoadId, double range) const
+std::vector<const OWL::Interfaces::WorldObject *> WorldDataQuery::GetMovingObjectsInRangeOfJunctionConnection(std::string connectingRoadId, units::length::meter_t range) const
{
const auto [route, start, end] = GetRouteLeadingToConnector(connectingRoadId);
- const auto& lanes = GetLanesOfLaneTypeAtDistance(connectingRoadId, 0.0, {LaneType::Driving});
- std::vector<const OWL::Interfaces::WorldObject*> foundMovingObjects;
+ const auto &lanes = GetLanesOfLaneTypeAtDistance(connectingRoadId, 0.0_m, {LaneType::Driving});
+ std::vector<const OWL::Interfaces::WorldObject *> foundMovingObjects;
- for (const auto& lane : lanes)
+ for (const auto &lane : lanes)
{
- auto laneStream = CreateLaneMultiStream(route, start, lane->GetOdId(), 0.0);
- double laneStreamEnd = laneStream->GetPositionByVertexAndS(end, GetRoadByOdId(connectingRoadId)->GetLength());
+ auto laneStream = CreateLaneMultiStream(route, start, lane->GetOdId(), 0.0_m);
+ auto laneStreamEnd = laneStream->GetPositionByVertexAndS(end, GetRoadByOdId(connectingRoadId)->GetLength());
auto movingObjects = GetObjectsOfTypeInRange<OWL::Interfaces::MovingObject>(*laneStream, laneStreamEnd - range, laneStreamEnd).at(end);
@@ -580,144 +572,142 @@ std::vector<const OWL::Interfaces::WorldObject*> WorldDataQuery::GetMovingObject
return foundMovingObjects;
}
-std::tuple<RoadGraph, RoadGraphVertex, RoadGraphVertex> WorldDataQuery::GetRouteLeadingToConnector (std::string connectingRoadId) const
+std::tuple<RoadGraph, RoadGraphVertex, RoadGraphVertex> WorldDataQuery::GetRouteLeadingToConnector(std::string connectingRoadId) const
{
- auto incomingRoadId = GetRoadPredecessor(connectingRoadId).id;
- bool incomingRoadLeadsToJunction = GetRoadSuccessor(incomingRoadId).id == GetJunctionOfConnector(connectingRoadId)->GetId();
- RoadGraph route;
- auto end = add_vertex(RouteElement{connectingRoadId, true}, route);
- auto current = add_vertex(RouteElement{incomingRoadId, incomingRoadLeadsToJunction}, route);
- add_edge(current, end, route);
- bool reachedEndOfRoadStream = false;
- auto emplace_element_if = [&](const RoadNetworkElement& element)
- {
- if (element.type == RoadNetworkElementType::Road)
- {
- auto next = add_vertex(RouteElement{element.id, incomingRoadLeadsToJunction}, route);
- add_edge(next, current, route);
- current = next;
- incomingRoadId = element.id;
- return true;
- }
- else
- {
- return false;
- }
- };
+ auto incomingRoadId = GetRoadPredecessor(connectingRoadId).id;
+ bool incomingRoadLeadsToJunction = GetRoadSuccessor(incomingRoadId).id == GetJunctionOfConnector(connectingRoadId)->GetId();
+ RoadGraph route;
+ auto end = add_vertex(RouteElement{connectingRoadId, true}, route);
+ auto current = add_vertex(RouteElement{incomingRoadId, incomingRoadLeadsToJunction}, route);
+ add_edge(current, end, route);
+ bool reachedEndOfRoadStream = false;
+ auto emplace_element_if = [&](const RoadNetworkElement &element) {
+ if (element.type == RoadNetworkElementType::Road)
+ {
+ auto next = add_vertex(RouteElement{element.id, incomingRoadLeadsToJunction}, route);
+ add_edge(next, current, route);
+ current = next;
+ incomingRoadId = element.id;
+ return true;
+ }
+ else
+ {
+ return false;
+ }
+ };
- while (!reachedEndOfRoadStream)
- {
- if (incomingRoadLeadsToJunction)
- {
- reachedEndOfRoadStream = !emplace_element_if(GetRoadPredecessor(incomingRoadId));
- }
- else
- {
- reachedEndOfRoadStream = !emplace_element_if(GetRoadSuccessor(incomingRoadId));
- }
- }
+ while (!reachedEndOfRoadStream)
+ {
+ if (incomingRoadLeadsToJunction)
+ {
+ reachedEndOfRoadStream = !emplace_element_if(GetRoadPredecessor(incomingRoadId));
+ }
+ else
+ {
+ reachedEndOfRoadStream = !emplace_element_if(GetRoadSuccessor(incomingRoadId));
+ }
+ }
- return {route, current, end};
+ return {route, current, end};
}
-double WorldDataQuery::GetDistanceUntilObjectEntersConnector(/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const
+units::length::meter_t WorldDataQuery::GetDistanceUntilObjectEntersConnector(/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const
{
//TODO This function needs to be made working again if OpponentAgent is implemented
-// const OWL::Interfaces::Junction* junction = GetJunctionOfConnector(intersectingConnectorId);
-// const auto& intersections = junction->GetIntersections().at(intersectingConnectorId);
-// const auto& intersection = std::find_if(intersections.cbegin(), intersections.cend(),
-// [this, ownConnectorId](const auto& connectionInfo){return worldData.GetRoadIdMapping().at(connectionInfo.intersectingRoad) == ownConnectorId;});
-// if (intersection == intersections.cend())
-// {
-// return std::numeric_limits<double>::max();
-// }
-// std::vector<RouteElement> route = GetRouteLeadingToConnector(ownConnectorId);
-// if (std::find_if(route.cbegin(), route.cend(),[&](const auto& element) {return element.roadId == position.mainLocatePoint.roadId;}) == route.end())
-// {
-// route.push_back({position.mainLocatePoint.roadId, position.mainLocatePoint.laneId < 0}); //Hotfix
-// }
-// const auto laneStream = CreateLaneStream(route, position.mainLocatePoint.roadId, position.mainLocatePoint.laneId, position.mainLocatePoint.roadPosition.s);
-// const auto& laneOfObject = GetLaneByOdId(position.mainLocatePoint.roadId, position.mainLocatePoint.laneId, position.mainLocatePoint.roadPosition.s);
-// double sStartOfObjectOnLaneStream = laneStream->GetPositionByElementAndS(laneOfObject, position.touchedRoads.at(position.mainLocatePoint.roadId).sStart);
-// double sEndOfObjectOnLaneStream = laneStream->GetPositionByElementAndS(laneOfObject, position.touchedRoads.at(position.mainLocatePoint.roadId).sEnd);
-// double frontOfObjectOnLaneStream = std::max(sStartOfObjectOnLaneStream, sEndOfObjectOnLaneStream);
-// const auto& intersectingLane = GetLaneByOdId(intersectingConnectorId, intersectingLaneId, 0.0);
-// const auto ownLane = std::find_if(laneStream->GetElements().cbegin(), laneStream->GetElements().cend(),
-// [&](const LaneStreamInfo& element){return worldData.GetRoadIdMapping().at(element.element->GetRoad().GetId()) == ownConnectorId;});
-// double sStart = intersection->sOffsets.at({intersectingLane.GetId(), ownLane->element->GetId()}).first;
-// double positionOfIntersectionOnLaneStream = laneStream->GetPositionByElementAndS(*ownLane->element, sStart);
-// return positionOfIntersectionOnLaneStream - frontOfObjectOnLaneStream;
- return 0;
+ // const OWL::Interfaces::Junction* junction = GetJunctionOfConnector(intersectingConnectorId);
+ // const auto& intersections = junction->GetIntersections().at(intersectingConnectorId);
+ // const auto& intersection = std::find_if(intersections.cbegin(), intersections.cend(),
+ // [this, ownConnectorId](const auto& connectionInfo){return worldData.GetRoadIdMapping().at(connectionInfo.intersectingRoad) == ownConnectorId;});
+ // if (intersection == intersections.cend())
+ // {
+ // return std::numeric_limits<double>::max();
+ // }
+ // std::vector<RouteElement> route = GetRouteLeadingToConnector(ownConnectorId);
+ // if (std::find_if(route.cbegin(), route.cend(),[&](const auto& element) {return element.roadId == position.mainLocatePoint.roadId;}) == route.end())
+ // {
+ // route.push_back({position.mainLocatePoint.roadId, position.mainLocatePoint.laneId < 0}); //Hotfix
+ // }
+ // const auto laneStream = CreateLaneStream(route, position.mainLocatePoint.roadId, position.mainLocatePoint.laneId, position.mainLocatePoint.roadPosition.s);
+ // const auto& laneOfObject = GetLaneByOdId(position.mainLocatePoint.roadId, position.mainLocatePoint.laneId, position.mainLocatePoint.roadPosition.s);
+ // double sStartOfObjectOnLaneStream = laneStream->GetPositionByElementAndS(laneOfObject, position.touchedRoads.at(position.mainLocatePoint.roadId).sStart);
+ // double sEndOfObjectOnLaneStream = laneStream->GetPositionByElementAndS(laneOfObject, position.touchedRoads.at(position.mainLocatePoint.roadId).sEnd);
+ // double frontOfObjectOnLaneStream = std::max(sStartOfObjectOnLaneStream, sEndOfObjectOnLaneStream);
+ // const auto& intersectingLane = GetLaneByOdId(intersectingConnectorId, intersectingLaneId, 0.0);
+ // const auto ownLane = std::find_if(laneStream->GetElements().cbegin(), laneStream->GetElements().cend(),
+ // [&](const LaneStreamInfo& element){return worldData.GetRoadIdMapping().at(element.element->GetRoad().GetId()) == ownConnectorId;});
+ // units::length::meter_t sStart = intersection->sOffsets.at({intersectingLane.GetId(), ownLane->element->GetId()}).first;
+ // double positionOfIntersectionOnLaneStream = laneStream->GetPositionByElementAndS(*ownLane->element, sStart);
+ // return positionOfIntersectionOnLaneStream - frontOfObjectOnLaneStream;
+ return 0_m;
}
-double WorldDataQuery::GetDistanceUntilObjectLeavesConnector(/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const
+units::length::meter_t WorldDataQuery::GetDistanceUntilObjectLeavesConnector(/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const
{
//TODO This function needs to be made working again if OpponentAgent is implemented
-// const OWL::Interfaces::Junction* junction = GetJunctionOfConnector(intersectingConnectorId);
-// const auto& intersections = junction->GetIntersections().at(intersectingConnectorId);
-// const auto& intersection = std::find_if(intersections.cbegin(), intersections.cend(),
-// [this, ownConnectorId](const auto& connectionInfo){return worldData.GetRoadIdMapping().at(connectionInfo.intersectingRoad) == ownConnectorId;});
-// if (intersection == intersections.cend())
-// {
-// return std::numeric_limits<double>::max();
-// }
-// std::vector<RouteElement> route = GetRouteLeadingToConnector(ownConnectorId);
-// if (std::find_if(route.cbegin(), route.cend(),[&](const auto& element) {return element.roadId == position.mainLocatePoint.roadId;}) == route.end())
-// {
-// route.push_back({position.mainLocatePoint.roadId, position.mainLocatePoint.laneId < 0}); //Hotfix
-// }
-// const auto laneStream = CreateLaneStream(route, position.mainLocatePoint.roadId, position.mainLocatePoint.laneId, position.mainLocatePoint.roadPosition.s);
-// const auto& laneOfObject = GetLaneByOdId(position.mainLocatePoint.roadId, position.mainLocatePoint.laneId, position.mainLocatePoint.roadPosition.s);
-// double sStartOfObjectOnLaneStream = laneStream->GetPositionByElementAndS(laneOfObject, position.touchedRoads.at(position.mainLocatePoint.roadId).sStart);
-// double sEndOfObjectOnLaneStream = laneStream->GetPositionByElementAndS(laneOfObject, position.touchedRoads.at(position.mainLocatePoint.roadId).sEnd);
-// double rearOfObjectOnLaneStream = std::min(sStartOfObjectOnLaneStream, sEndOfObjectOnLaneStream);
-// const auto& intersectingLane = GetLaneByOdId(intersectingConnectorId, intersectingLaneId, 0.0);
-// const auto ownLane = std::find_if(laneStream->GetElements().cbegin(), laneStream->GetElements().cend(),
-// [&](const LaneStreamInfo& element){return worldData.GetRoadIdMapping().at(element.element->GetRoad().GetId()) == ownConnectorId;});
-// double sEnd = intersection->sOffsets.at({intersectingLane.GetId(), ownLane->element->GetId()}).second;
-// double positionOfIntersectionOnLaneStream = laneStream->GetPositionByElementAndS(*ownLane->element, sEnd);
-// return positionOfIntersectionOnLaneStream - rearOfObjectOnLaneStream;
- return 0;
+ // const OWL::Interfaces::Junction* junction = GetJunctionOfConnector(intersectingConnectorId);
+ // const auto& intersections = junction->GetIntersections().at(intersectingConnectorId);
+ // const auto& intersection = std::find_if(intersections.cbegin(), intersections.cend(),
+ // [this, ownConnectorId](const auto& connectionInfo){return worldData.GetRoadIdMapping().at(connectionInfo.intersectingRoad) == ownConnectorId;});
+ // if (intersection == intersections.cend())
+ // {
+ // return std::numeric_limits<double>::max();
+ // }
+ // std::vector<RouteElement> route = GetRouteLeadingToConnector(ownConnectorId);
+ // if (std::find_if(route.cbegin(), route.cend(),[&](const auto& element) {return element.roadId == position.mainLocatePoint.roadId;}) == route.end())
+ // {
+ // route.push_back({position.mainLocatePoint.roadId, position.mainLocatePoint.laneId < 0}); //Hotfix
+ // }
+ // const auto laneStream = CreateLaneStream(route, position.mainLocatePoint.roadId, position.mainLocatePoint.laneId, position.mainLocatePoint.roadPosition.s);
+ // const auto& laneOfObject = GetLaneByOdId(position.mainLocatePoint.roadId, position.mainLocatePoint.laneId, position.mainLocatePoint.roadPosition.s);
+ // double sStartOfObjectOnLaneStream = laneStream->GetPositionByElementAndS(laneOfObject, position.touchedRoads.at(position.mainLocatePoint.roadId).sStart);
+ // double sEndOfObjectOnLaneStream = laneStream->GetPositionByElementAndS(laneOfObject, position.touchedRoads.at(position.mainLocatePoint.roadId).sEnd);
+ // double rearOfObjectOnLaneStream = std::min(sStartOfObjectOnLaneStream, sEndOfObjectOnLaneStream);
+ // const auto& intersectingLane = GetLaneByOdId(intersectingConnectorId, intersectingLaneId, 0.0);
+ // const auto ownLane = std::find_if(laneStream->GetElements().cbegin(), laneStream->GetElements().cend(),
+ // [&](const LaneStreamInfo& element){return worldData.GetRoadIdMapping().at(element.element->GetRoad().GetId()) == ownConnectorId;});
+ // units::length::meter_t sEnd = intersection->sOffsets.at({intersectingLane.GetId(), ownLane->element->GetId()}).second;
+ // double positionOfIntersectionOnLaneStream = laneStream->GetPositionByElementAndS(*ownLane->element, sEnd);
+ // return positionOfIntersectionOnLaneStream - rearOfObjectOnLaneStream;
+ return 0_m;
}
-std::shared_ptr<const LaneMultiStream> WorldDataQuery::CreateLaneMultiStream(const RoadGraph& roadGraph, RoadGraphVertex start, OWL::OdId startLaneId, double startDistance) const
+std::shared_ptr<const LaneMultiStream> WorldDataQuery::CreateLaneMultiStream(const RoadGraph &roadGraph, RoadGraphVertex start, OWL::OdId startLaneId, units::length::meter_t startDistance) const
{
- const auto& routeElement = get(RouteElement(), roadGraph, start);
- const auto& startLane = GetLaneByOdId(routeElement.roadId, startLaneId, startDistance);
+ const auto &routeElement = get(RouteElement(), roadGraph, start);
+ const auto &startLane = GetLaneByOdId(routeElement.roadId, startLaneId, startDistance);
if (!startLane.Exists())
{
- return std::make_shared<const LaneMultiStream>(CreateLaneMultiStreamRecursive(roadGraph, start, 0.0, nullptr));
+ return std::make_shared<const LaneMultiStream>(CreateLaneMultiStreamRecursive(roadGraph, start, 0.0_m, nullptr));
}
- return std::make_shared<const LaneMultiStream>(CreateLaneMultiStreamRecursive(roadGraph, start, 0.0, &startLane));
+ return std::make_shared<const LaneMultiStream>(CreateLaneMultiStreamRecursive(roadGraph, start, 0.0_m, &startLane));
}
-std::unique_ptr<RoadStream> WorldDataQuery::CreateRoadStream(const std::vector<RouteElement>& route) const
+std::unique_ptr<RoadStream> WorldDataQuery::CreateRoadStream(const std::vector<RouteElement> &route) const
{
- double currentS = 0.0;
+ units::length::meter_t currentS{0.0};
std::vector<RoadStreamElement> roads;
std::transform(route.cbegin(),
route.cend(),
std::back_inserter(roads),
- [&](const auto& routeElement) -> RoadStreamElement
- {
- RoadStreamElement roadStreamInfo;
- roadStreamInfo.road = GetRoadByOdId(routeElement.roadId);
- roadStreamInfo.inStreamDirection = routeElement.inOdDirection;
- roadStreamInfo.sOffset = currentS + (routeElement.inOdDirection ? 0 : roadStreamInfo.road->GetLength());
-
- currentS += roadStreamInfo.road->GetLength();
- return roadStreamInfo;
- });
+ [&](const auto &routeElement) -> RoadStreamElement {
+ RoadStreamElement roadStreamInfo;
+ roadStreamInfo.road = GetRoadByOdId(routeElement.roadId);
+ roadStreamInfo.inStreamDirection = routeElement.inOdDirection;
+ roadStreamInfo.sOffset = currentS + (routeElement.inOdDirection ? 0_m : roadStreamInfo.road->GetLength());
+
+ currentS += roadStreamInfo.road->GetLength();
+ return roadStreamInfo;
+ });
return std::make_unique<RoadStream>(std::move(roads));
}
-std::shared_ptr<const RoadMultiStream> WorldDataQuery::CreateRoadMultiStream(const RoadGraph& roadGraph, RoadGraphVertex start) const
+std::shared_ptr<const RoadMultiStream> WorldDataQuery::CreateRoadMultiStream(const RoadGraph &roadGraph, RoadGraphVertex start) const
{
- return std::make_shared<const RoadMultiStream>(CreateRoadMultiStreamRecursive(roadGraph, start, 0.0));
+ return std::make_shared<const RoadMultiStream>(CreateRoadMultiStreamRecursive(roadGraph, start, 0.0_m));
}
-RoadMultiStream::Node WorldDataQuery::CreateRoadMultiStreamRecursive(const RoadGraph& roadGraph, const RoadGraphVertex& current, double sOffset) const
+RoadMultiStream::Node WorldDataQuery::CreateRoadMultiStreamRecursive(const RoadGraph &roadGraph, const RoadGraphVertex ¤t, units::length::meter_t sOffset) const
{
const auto routeElement = get(RouteElement(), roadGraph, current);
const auto road = GetRoadByOdId(routeElement.roadId);
@@ -731,18 +721,18 @@ RoadMultiStream::Node WorldDataQuery::CreateRoadMultiStreamRecursive(const RoadG
{
next.push_back(CreateRoadMultiStreamRecursive(roadGraph, *successor, sOffset + roadLength));
}
- auto streamInfo = std::optional<RoadStreamInfo>(std::in_place_t(), road, sOffset + (routeElement.inOdDirection ? 0 : roadLength), routeElement.inOdDirection);
+ auto streamInfo = std::optional<RoadStreamInfo>(std::in_place_t(), road, sOffset + (routeElement.inOdDirection ? 0_m : roadLength), routeElement.inOdDirection);
RoadMultiStream::Node root{streamInfo, {next}, current};
return root;
}
-LaneMultiStream::Node WorldDataQuery::CreateLaneMultiStreamRecursive(const RoadGraph& roadGraph, const RoadGraphVertex& current, double sOffset, const OWL::Lane* lane) const
+LaneMultiStream::Node WorldDataQuery::CreateLaneMultiStreamRecursive(const RoadGraph &roadGraph, const RoadGraphVertex ¤t, units::length::meter_t sOffset, const OWL::Lane *lane) const
{
const auto routeElement = get(RouteElement(), roadGraph, current);
std::vector<LaneMultiStream::Node> next{};
- auto laneLength = lane ? lane->GetLength() : 0.0;
- const auto& laneSuccessors = lane ? (routeElement.inOdDirection ? lane->GetNext() : lane->GetPrevious()) : std::vector<OWL::Id>{};
+ auto laneLength = lane ? lane->GetLength() : 0.0_m;
+ const auto &laneSuccessors = lane ? (routeElement.inOdDirection ? lane->GetNext() : lane->GetPrevious()) : std::vector<OWL::Id>{};
bool foundSuccessorOnSameRoad = false;
if (laneSuccessors.size() == 1)
{
@@ -759,8 +749,7 @@ LaneMultiStream::Node WorldDataQuery::CreateLaneMultiStreamRecursive(const RoadG
for (auto [successor, successorsEnd] = adjacent_vertices(current, roadGraph); successor != successorsEnd; successor++)
{
auto successorRoadId = get(RouteElement(), roadGraph, *successor).roadId;
- auto laneSuccessorId = std::find_if(laneSuccessors.begin(), laneSuccessors.end(), [&](const auto& laneSuccessorId)
- {
+ auto laneSuccessorId = std::find_if(laneSuccessors.begin(), laneSuccessors.end(), [&](const auto &laneSuccessorId) {
const auto& laneSuccessor = worldData.GetLane(laneSuccessorId);
const auto& laneSuccessorRoadId = laneSuccessor.GetRoad().GetId();
return laneSuccessorRoadId == successorRoadId;
@@ -775,20 +764,20 @@ LaneMultiStream::Node WorldDataQuery::CreateLaneMultiStreamRecursive(const RoadG
}
}
}
- auto streamInfo = lane ? std::optional<LaneStreamInfo>(std::in_place_t(), lane, sOffset + (routeElement.inOdDirection ? 0 : laneLength), routeElement.inOdDirection)
+ auto streamInfo = lane ? std::optional<LaneStreamInfo>(std::in_place_t(), lane, sOffset + (routeElement.inOdDirection ? 0_m : laneLength), routeElement.inOdDirection)
: std::nullopt;
LaneMultiStream::Node root{streamInfo, {next}, current};
return root;
}
-OWL::CLane* WorldDataQuery::GetOriginatingRouteLane(std::vector<RouteElement> route, std::string startRoadId, OWL::OdId startLaneId, double startDistance) const
+OWL::CLane *WorldDataQuery::GetOriginatingRouteLane(std::vector<RouteElement> route, std::string startRoadId, OWL::OdId startLaneId, units::length::meter_t startDistance) const
{
- OWL::CLane* currentLane = &GetLaneByOdId(startRoadId, startLaneId, startDistance);
+ OWL::CLane *currentLane = &GetLaneByOdId(startRoadId, startLaneId, startDistance);
auto routeIterator = std::find_if(route.crbegin(), route.crend(),
- [&](const auto& routeElement){
- return routeElement.roadId == startRoadId;
- } );
+ [&](const auto &routeElement) {
+ return routeElement.roadId == startRoadId;
+ });
bool reachedMostUpstreamLane = false;
bool inStreamDirection = routeIterator->inOdDirection;
while (!reachedMostUpstreamLane)
@@ -801,12 +790,11 @@ OWL::CLane* WorldDataQuery::GetOriginatingRouteLane(std::vector<RouteElement> ro
}
//search predecessor in current road
auto upstreamLane = std::find_if(upstreamLanes.cbegin(), upstreamLanes.cend(),
- [routeIterator, this](const OWL::Id& laneId)
- {
- const auto& upStreamLane = worldData.GetLane(laneId);
- const auto upStreamRoadId = upStreamLane.GetRoad().GetId();
- return upStreamRoadId == routeIterator->roadId;
- });
+ [routeIterator, this](const OWL::Id &laneId) {
+ const auto& upStreamLane = worldData.GetLane(laneId);
+ const auto upStreamRoadId = upStreamLane.GetRoad().GetId();
+ return upStreamRoadId == routeIterator->roadId;
+ });
if (upstreamLane == upstreamLanes.cend()) //no predecessor in current road -> go to previous road
{
++routeIterator;
@@ -817,12 +805,11 @@ OWL::CLane* WorldDataQuery::GetOriginatingRouteLane(std::vector<RouteElement> ro
}
//search predecessor in previous road
upstreamLane = std::find_if(upstreamLanes.cbegin(), upstreamLanes.cend(),
- [routeIterator, this](const OWL::Id& laneId)
- {
- const auto& upStreamLane = worldData.GetLane(laneId);
- const auto upStreamRoadId = upStreamLane.GetRoad().GetId();
- return upStreamRoadId == routeIterator->roadId;
- });
+ [routeIterator, this](const OWL::Id &laneId) {
+ const auto& upStreamLane = worldData.GetLane(laneId);
+ const auto upStreamRoadId = upStreamLane.GetRoad().GetId();
+ return upStreamRoadId == routeIterator->roadId;
+ });
}
if (upstreamLane == upstreamLanes.cend()) //none of the predecessors is on the route
{
@@ -836,11 +823,11 @@ OWL::CLane* WorldDataQuery::GetOriginatingRouteLane(std::vector<RouteElement> ro
return currentLane;
}
-RouteQueryResult<std::optional<double>> WorldDataQuery::GetDistanceBetweenObjects(const RoadMultiStream& roadStream,
- const double ownStreamPosition,
+RouteQueryResult<std::optional<units::length::meter_t>> WorldDataQuery::GetDistanceBetweenObjects(const RoadMultiStream& roadStream,
+ const units::length::meter_t ownStreamPosition,
const GlobalRoadPositions& target) const
{
- return roadStream.Traverse<std::optional<double>>(RoadMultiStream::TraversedFunction<std::optional<double>>{
+ return roadStream.Traverse<std::optional<units::length::meter_t>>(RoadMultiStream::TraversedFunction<std::optional<units::length::meter_t>>{
[&](const auto& road, const auto& previousResult)
{
const auto& roadId = road.element->GetId();
@@ -853,27 +840,25 @@ RouteQueryResult<std::optional<double>> WorldDataQuery::GetDistanceBetweenObject
{
return previousResult;
}
- return std::optional<double>{road.GetStreamPosition(roadPosition->roadPosition.s) - ownStreamPosition};
+ return std::optional<units::length::meter_t>{road.GetStreamPosition(roadPosition->roadPosition.s) - ownStreamPosition};
}},
{},
worldData);
}
-Position WorldDataQuery::GetPositionByDistanceAndLane(const OWL::Interfaces::Lane& lane, double distanceOnLane, double offset) const
+Position WorldDataQuery::GetPositionByDistanceAndLane(const OWL::Interfaces::Lane &lane, units::length::meter_t distanceOnLane, units::length::meter_t offset) const
{
- const auto& referencePoint = lane.GetInterpolatedPointsAtDistance(distanceOnLane).reference;
+ const auto &referencePoint = lane.GetInterpolatedPointsAtDistance(distanceOnLane).reference;
auto yaw = lane.GetDirection(distanceOnLane);
- return Position
- {
- referencePoint.x - std::sin(yaw) * offset,
- referencePoint.y + std::cos(yaw) * offset,
+ return Position{
+ units::length::meter_t(referencePoint.x) - units::math::sin(yaw) * offset,
+ units::length::meter_t(referencePoint.y) + units::math::cos(yaw) * offset,
yaw,
- lane.GetCurvature(distanceOnLane)
- };
+ lane.GetCurvature(distanceOnLane)};
}
-RouteQueryResult<RelativeWorldView::Roads> WorldDataQuery::GetRelativeJunctions(const RoadMultiStream &roadStream, double startPosition, double range) const
+RouteQueryResult<RelativeWorldView::Roads> WorldDataQuery::GetRelativeJunctions(const RoadMultiStream &roadStream, units::length::meter_t startPosition, units::length::meter_t range) const
{
return roadStream.Traverse(RoadMultiStream::TraversedFunction<RelativeWorldView::Roads>{[&](const auto &road, const auto &previousResult) {
if (road.EndS() < startPosition)
@@ -889,8 +874,8 @@ RouteQueryResult<RelativeWorldView::Roads> WorldDataQuery::GetRelativeJunctions(
auto junction = GetJunctionOfConnector(roadId);
if (junction)
{
- double startS = road.StartS() - startPosition;
- double endS = road.EndS() - startPosition;
+ const auto startS = road.StartS() - startPosition;
+ const auto endS = road.EndS() - startPosition;
junctions.push_back({startS, endS, roadId});
}
return junctions;
@@ -899,7 +884,7 @@ RouteQueryResult<RelativeWorldView::Roads> WorldDataQuery::GetRelativeJunctions(
worldData);
}
-RouteQueryResult<RelativeWorldView::Roads> WorldDataQuery::GetRelativeRoads(const RoadMultiStream& roadStream, double startPosition, double range) const
+RouteQueryResult<RelativeWorldView::Roads> WorldDataQuery::GetRelativeRoads(const RoadMultiStream& roadStream, units::length::meter_t startPosition, units::length::meter_t range) const
{
return roadStream.Traverse(RoadMultiStream::TraversedFunction<RelativeWorldView::Roads>{[&](const auto& road, const auto& previousResult)
{
@@ -915,8 +900,8 @@ RouteQueryResult<RelativeWorldView::Roads> WorldDataQuery::GetRelativeRoads(cons
std::string roadId = road().GetId();
auto junction = (GetJunctionOfConnector(roadId) != nullptr);
- double startS = road.StartS() - startPosition;
- double endS = road.EndS() - startPosition;
+ units::length::meter_t startS = road.StartS() - startPosition;
+ units::length::meter_t endS = road.EndS() - startPosition;
roads.push_back({startS, endS, roadId, junction, road.inStreamDirection});
return roads;
@@ -928,7 +913,7 @@ RouteQueryResult<RelativeWorldView::Roads> WorldDataQuery::GetRelativeRoads(cons
std::optional<int> GetIdOfPredecessor(std::vector<OWL::Id> predecessors, std::map<int, OWL::Id> previousSectionLaneIds)
{
auto it = std::find_if(previousSectionLaneIds.cbegin(), previousSectionLaneIds.cend(),
- [&](const auto& lane){return std::count(predecessors.cbegin(), predecessors.cend(), lane.second) > 0;});
+ [&](const auto &lane) { return std::count(predecessors.cbegin(), predecessors.cend(), lane.second) > 0; });
if (it == previousSectionLaneIds.cend())
{
return std::nullopt;
@@ -936,9 +921,9 @@ std::optional<int> GetIdOfPredecessor(std::vector<OWL::Id> predecessors, std::ma
return it->first;
}
-int WorldDataQuery::FindNextEgoLaneId (const OWL::Interfaces::Lanes& lanesOnSection, bool inStreamDirection, std::map<int, OWL::Id> previousSectionLaneIds) const
+int WorldDataQuery::FindNextEgoLaneId(const OWL::Interfaces::Lanes &lanesOnSection, bool inStreamDirection, std::map<int, OWL::Id> previousSectionLaneIds) const
{
- for (const auto& lane : lanesOnSection)
+ for (const auto &lane : lanesOnSection)
{
const auto predecessors = inStreamDirection ? lane->GetPrevious() : lane->GetNext();
std::optional<int> predecessorRelativeId = GetIdOfPredecessor(predecessors, previousSectionLaneIds);
@@ -953,16 +938,16 @@ int WorldDataQuery::FindNextEgoLaneId (const OWL::Interfaces::Lanes& lanesOnSect
return 0;
}
-std::map<int, OWL::Id> WorldDataQuery::AddLanesOfSection(const OWL::Interfaces::Lanes& lanesOnSection, bool inStreamDirection, int currentOwnLaneId, bool includeOncoming,
- const std::map<int, OWL::Id>& previousSectionLaneIds, std::vector<RelativeWorldView::Lane>& previousSectionLanes,
- RelativeWorldView::LanesInterval& laneInterval) const
+std::map<int, OWL::Id> WorldDataQuery::AddLanesOfSection(const OWL::Interfaces::Lanes &lanesOnSection, bool inStreamDirection, int currentOwnLaneId, bool includeOncoming,
+ const std::map<int, OWL::Id> &previousSectionLaneIds, std::vector<RelativeWorldView::Lane> &previousSectionLanes,
+ RelativeWorldView::LanesInterval &laneInterval) const
{
std::map<int, OWL::Id> lanesOnSectionLaneIds{};
- for (const auto& lane : lanesOnSection)
+ for (const auto &lane : lanesOnSection)
{
- const auto& laneId = lane->GetOdId();
+ const auto &laneId = lane->GetOdId();
bool inDrivingDirection = inStreamDirection ? (laneId < 0) : (laneId > 0);
- if(!includeOncoming && !inDrivingDirection)
+ if (!includeOncoming && !inDrivingDirection)
{
continue;
}
@@ -979,230 +964,224 @@ std::map<int, OWL::Id> WorldDataQuery::AddLanesOfSection(const OWL::Interfaces::
if (predecessorRelativeId)
{
auto predecessor = std::find_if(previousSectionLanes.begin(), previousSectionLanes.end(),
- [&](const auto& lane){return lane.relativeId == predecessorRelativeId;});
+ [&](const auto &lane) { return lane.relativeId == predecessorRelativeId; });
predecessor->successor = relativeLaneId;
}
}
return lanesOnSectionLaneIds;
}
-RouteQueryResult<RelativeWorldView::Lanes> WorldDataQuery::GetRelativeLanes(const RoadMultiStream& roadStream, double startPosition, int startLaneId, double range, bool includeOncoming) const
+RouteQueryResult<RelativeWorldView::Lanes> WorldDataQuery::GetRelativeLanes(const RoadMultiStream &roadStream, units::length::meter_t startPosition, int startLaneId, units::length::meter_t range, bool includeOncoming) const
{
int currentOwnLaneId = startLaneId;
return roadStream.Traverse<RelativeWorldView::Lanes, std::map<int, OWL::Id>>(
- RoadMultiStream::TraversedFunction<RelativeWorldView::Lanes, std::map<int, OWL::Id>>{[&](const auto& road, const auto& previousResult, const auto& previousLaneIds)
- {
- std::map<int, OWL::Id> previousSectionLaneIds{previousLaneIds};
- if (road.EndS() < startPosition)
- {
- return std::make_tuple(previousResult, previousLaneIds);
- }
- if (road.StartS() > startPosition + range)
- {
- return std::make_tuple(previousResult, previousLaneIds);
- }
- RelativeWorldView::Lanes relativeLanes{previousResult};
- OWL::Interfaces::Sections sections = road().GetSections();
- if (!road.inStreamDirection)
- {
- std::reverse(sections.begin(), sections.end());
- }
- for (const auto& section : sections)
- {
- const double sectionStart = road.GetStreamPosition(section->GetSOffset() + (road.inStreamDirection ? 0 : section->GetLength()));
- const double sectionEnd = road.GetStreamPosition(section->GetSOffset() + (road.inStreamDirection ? section->GetLength() : 0));
- if (sectionEnd < startPosition)
- {
- continue;
- }
- if (sectionStart > startPosition + range)
+ RoadMultiStream::TraversedFunction<RelativeWorldView::Lanes, std::map<int, OWL::Id>>{[&](const auto &road, const auto &previousResult, const auto &previousLaneIds) {
+ std::map<int, OWL::Id> previousSectionLaneIds{previousLaneIds};
+ if (road.EndS() < startPosition)
{
- return std::make_tuple(relativeLanes, previousSectionLaneIds);
+ return std::make_tuple(previousResult, previousLaneIds);
}
- RelativeWorldView::LanesInterval laneInterval;
- laneInterval.startS = sectionStart - startPosition;
- laneInterval.endS = sectionEnd - startPosition;
- const auto& lanesOnSection = section->GetLanes();
- if (previousSectionLaneIds.empty())
+ if (road.StartS() > startPosition + range)
{
- currentOwnLaneId = startLaneId;
+ return std::make_tuple(previousResult, previousLaneIds);
}
- else
+ RelativeWorldView::Lanes relativeLanes{previousResult};
+ OWL::Interfaces::Sections sections = road().GetSections();
+ if (!road.inStreamDirection)
{
- currentOwnLaneId = FindNextEgoLaneId(lanesOnSection, road.inStreamDirection, previousSectionLaneIds);
+ std::reverse(sections.begin(), sections.end());
}
- auto lanesOnSectionLaneIds = AddLanesOfSection(lanesOnSection, road.inStreamDirection, currentOwnLaneId, includeOncoming, previousSectionLaneIds, relativeLanes.back().lanes, laneInterval);
- previousSectionLaneIds = lanesOnSectionLaneIds;
- relativeLanes.push_back(laneInterval);
- }
- return std::make_tuple(relativeLanes, previousSectionLaneIds);
- }},
- {},
- {},
- worldData);
-}
-
-RouteQueryResult<std::optional<int>> WorldDataQuery::GetRelativeLaneId(const RoadMultiStream &roadStream, double ownPosition, int ownLaneId, GlobalRoadPositions targetPosition) const
-{
- std::optional<int> currentOwnLaneId;
- std::optional<int> currentTargetLaneId;
- return roadStream.Traverse<std::optional<int>, std::map<int, OWL::Id>>(
- RoadMultiStream::TraversedFunction<std::optional<int>, std::map<int, OWL::Id>>{[&](const auto& road, const auto& previousResult, const auto& previousLaneIds)->std::tuple<std::optional<int>, std::map<int, OWL::Id>>
- {
- if (previousResult.has_value())
- {
- return std::make_tuple(previousResult, previousLaneIds);
- }
- const auto& roadId = road.element->GetId();
- auto positionOnRoad = helper::map::query(targetPosition, roadId);
- auto streamPosition = road.GetStreamPosition(positionOnRoad->roadPosition.s);
- auto sections = road().GetSections();
- if (!road.inStreamDirection)
- {
- std::reverse(sections.begin(), sections.end());
- }
- std::map<int, OWL::Id> previousSectionLaneIds{previousLaneIds};
- for (const auto& section : sections)
- {
- const double sectionStart = road.GetStreamPosition(section->GetSOffset() + (road.inStreamDirection ? 0 : section->GetLength()));
- const double sectionEnd = road.GetStreamPosition(section->GetSOffset() + (road.inStreamDirection ? section->GetLength() : 0));
- bool onSection = positionOnRoad.has_value() && sectionStart <= streamPosition && sectionEnd >= streamPosition;
- const auto& lanesOnSection = section->GetLanes();
- if (sectionStart <= ownPosition && sectionEnd >= ownPosition)
+ for (const auto §ion : sections)
{
- if (currentTargetLaneId.has_value())
+ const auto sectionStart = road.GetStreamPosition(section->GetSOffset() + (road.inStreamDirection ? 0_m : section->GetLength()));
+ const auto sectionEnd = road.GetStreamPosition(section->GetSOffset() + (road.inStreamDirection ? section->GetLength() : 0_m));
+ if (sectionEnd < startPosition)
{
- currentTargetLaneId = FindNextEgoLaneId(lanesOnSection, road.inStreamDirection, previousSectionLaneIds);
+ continue;
}
- else
+ if (sectionStart > startPosition + range)
{
- currentOwnLaneId = ownLaneId;
+ return std::make_tuple(relativeLanes, previousSectionLaneIds);
}
- }
- else
- {
- if (onSection)
+ RelativeWorldView::LanesInterval laneInterval;
+ laneInterval.startS = sectionStart - startPosition;
+ laneInterval.endS = sectionEnd - startPosition;
+ const auto &lanesOnSection = section->GetLanes();
+ if (previousSectionLaneIds.empty())
{
- currentTargetLaneId = positionOnRoad->laneId;
+ currentOwnLaneId = startLaneId;
}
- else if (currentTargetLaneId.has_value())
- {
- currentTargetLaneId = FindNextEgoLaneId(lanesOnSection, road.inStreamDirection, previousSectionLaneIds);
- }
- if (currentOwnLaneId.has_value())
+ else
{
currentOwnLaneId = FindNextEgoLaneId(lanesOnSection, road.inStreamDirection, previousSectionLaneIds);
}
+ auto lanesOnSectionLaneIds = AddLanesOfSection(lanesOnSection, road.inStreamDirection, currentOwnLaneId, includeOncoming, previousSectionLaneIds, relativeLanes.back().lanes, laneInterval);
+ previousSectionLaneIds = lanesOnSectionLaneIds;
+ relativeLanes.push_back(laneInterval);
+ }
+ return std::make_tuple(relativeLanes, previousSectionLaneIds);
+ }},
+ {},
+ {},
+ worldData);
+}
+
+RouteQueryResult<std::optional<int>> WorldDataQuery::GetRelativeLaneId(const RoadMultiStream &roadStream, units::length::meter_t ownPosition, int ownLaneId, GlobalRoadPositions targetPosition) const
+{
+ std::optional<int> currentOwnLaneId;
+ std::optional<int> currentTargetLaneId;
+ return roadStream.Traverse<std::optional<int>, std::map<int, OWL::Id>>(
+ RoadMultiStream::TraversedFunction<std::optional<int>, std::map<int, OWL::Id>>{[&](const auto &road, const auto &previousResult, const auto &previousLaneIds) -> std::tuple<std::optional<int>, std::map<int, OWL::Id>> {
+ if (previousResult.has_value())
+ {
+ return std::make_tuple(previousResult, previousLaneIds);
}
- if (!currentOwnLaneId && !currentTargetLaneId)
+ const auto &roadId = road.element->GetId();
+ auto positionOnRoad = helper::map::query(targetPosition, roadId);
+ auto streamPosition = road.GetStreamPosition(positionOnRoad->roadPosition.s);
+ auto sections = road().GetSections();
+ if (!road.inStreamDirection)
{
- continue;
+ std::reverse(sections.begin(), sections.end());
}
- previousSectionLaneIds = {};
- for (auto lane : section->GetLanes())
+ std::map<int, OWL::Id> previousSectionLaneIds{previousLaneIds};
+ for (const auto §ion : sections)
{
- const auto& laneId = lane->GetOdId();
- const auto currentId = currentOwnLaneId.has_value() ? currentOwnLaneId.value() : currentTargetLaneId.value();
- int relativeLaneId = road.inStreamDirection ? (laneId - currentId) : (currentId - laneId);
- bool differentSigns = currentId * laneId < 0;
- if (differentSigns)
+ const auto sectionStart = road.GetStreamPosition(section->GetSOffset() + (road.inStreamDirection ? 0_m : section->GetLength()));
+ const auto sectionEnd = road.GetStreamPosition(section->GetSOffset() + (road.inStreamDirection ? section->GetLength() : 0_m));
+ bool onSection = positionOnRoad.has_value() && sectionStart <= streamPosition && sectionEnd >= streamPosition;
+ const auto &lanesOnSection = section->GetLanes();
+ if (sectionStart <= ownPosition && sectionEnd >= ownPosition)
{
- relativeLaneId += (relativeLaneId > 0) ? -1 : 1;
+ if (currentTargetLaneId.has_value())
+ {
+ currentTargetLaneId = FindNextEgoLaneId(lanesOnSection, road.inStreamDirection, previousSectionLaneIds);
+ }
+ else
+ {
+ currentOwnLaneId = ownLaneId;
+ }
}
- if (currentOwnLaneId.has_value())
+ else
{
- if (onSection && positionOnRoad->laneId == laneId)
+ if (onSection)
{
- return std::make_tuple(relativeLaneId, previousLaneIds);
+ currentTargetLaneId = positionOnRoad->laneId;
+ }
+ else if (currentTargetLaneId.has_value())
+ {
+ currentTargetLaneId = FindNextEgoLaneId(lanesOnSection, road.inStreamDirection, previousSectionLaneIds);
+ }
+ if (currentOwnLaneId.has_value())
+ {
+ currentOwnLaneId = FindNextEgoLaneId(lanesOnSection, road.inStreamDirection, previousSectionLaneIds);
}
}
- else
+ if (!currentOwnLaneId && !currentTargetLaneId)
+ {
+ continue;
+ }
+ previousSectionLaneIds = {};
+ for (auto lane : section->GetLanes())
{
- if (sectionStart <= ownPosition && sectionEnd >= ownPosition && ownLaneId == laneId)
+ const auto &laneId = lane->GetOdId();
+ const auto currentId = currentOwnLaneId.has_value() ? currentOwnLaneId.value() : currentTargetLaneId.value();
+ int relativeLaneId = road.inStreamDirection ? (laneId - currentId) : (currentId - laneId);
+ bool differentSigns = currentId * laneId < 0;
+ if (differentSigns)
+ {
+ relativeLaneId += (relativeLaneId > 0) ? -1 : 1;
+ }
+ if (currentOwnLaneId.has_value())
+ {
+ if (onSection && positionOnRoad->laneId == laneId)
+ {
+ return std::make_tuple(relativeLaneId, previousLaneIds);
+ }
+ }
+ else
{
- return std::make_tuple(-relativeLaneId, previousLaneIds);
+ if (sectionStart <= ownPosition && sectionEnd >= ownPosition && ownLaneId == laneId)
+ {
+ return std::make_tuple(-relativeLaneId, previousLaneIds);
+ }
}
+ previousSectionLaneIds.insert({relativeLaneId, lane->GetId()});
}
- previousSectionLaneIds.insert({relativeLaneId, lane->GetId()});
}
- }
- return std::make_tuple(std::nullopt, previousSectionLaneIds);
- }},
- {},
- {},
- worldData);
+ return std::make_tuple(std::nullopt, previousSectionLaneIds);
+ }},
+ {},
+ {},
+ worldData);
}
-RouteQueryResult<std::optional<double> > WorldDataQuery::GetLaneCurvature(const LaneMultiStream& laneStream, double position) const
+RouteQueryResult<std::optional<units::curvature::inverse_meter_t>> WorldDataQuery::GetLaneCurvature(const LaneMultiStream &laneStream, units::length::meter_t position) const
{
- return laneStream.Traverse<std::optional<double>>(LaneMultiStream::TraversedFunction<std::optional<double>>{[&](const auto& lane, const auto& previousResult)
- {
- if (lane.StartS() <= position && lane.EndS() >= position)
- {
- return std::optional<double>(std::in_place_t(), lane.element->GetCurvature(lane.GetElementPosition(position) + lane.element->GetDistance(OWL::MeasurementPoint::RoadStart)));
- }
- return previousResult;
- }},
- std::nullopt,
- worldData);
+ return laneStream.Traverse<std::optional<units::curvature::inverse_meter_t>>(LaneMultiStream::TraversedFunction<std::optional<units::curvature::inverse_meter_t>>{[&](const auto &lane, const auto &previousResult) {
+ if (lane.StartS() <= position && lane.EndS() >= position)
+ {
+ return std::optional<units::curvature::inverse_meter_t>(std::in_place_t(), lane.element->GetCurvature(lane.GetElementPosition(position) + lane.element->GetDistance(OWL::MeasurementPoint::RoadStart)));
+ }
+ return previousResult;
+ }},
+ std::nullopt,
+ worldData);
}
-RouteQueryResult<std::optional<double> > WorldDataQuery::GetLaneWidth(const LaneMultiStream& laneStream, double position) const
+RouteQueryResult<std::optional<units::length::meter_t>> WorldDataQuery::GetLaneWidth(const LaneMultiStream &laneStream, units::length::meter_t position) const
{
- return laneStream.Traverse<std::optional<double>>(LaneMultiStream::TraversedFunction<std::optional<double>>{[&](const auto& lane, const auto& previousResult)
- {
- if (lane.StartS() <= position && lane.EndS() >= position)
- {
- return std::optional<double>(std::in_place_t(), lane.element->GetWidth(lane.GetElementPosition(position) + lane.element->GetDistance(OWL::MeasurementPoint::RoadStart)));
- }
- return previousResult;
- }},
- std::nullopt,
- worldData);
+ return laneStream.Traverse<std::optional<units::length::meter_t>>(LaneMultiStream::TraversedFunction<std::optional<units::length::meter_t>>{[&](const auto &lane, const auto &previousResult) {
+ if (lane.StartS() <= position && lane.EndS() >= position)
+ {
+ return std::optional<units::length::meter_t>(std::in_place_t(), lane.element->GetWidth(lane.GetElementPosition(position) + lane.element->GetDistance(OWL::MeasurementPoint::RoadStart)));
+ }
+ return previousResult;
+ }},
+ std::nullopt,
+ worldData);
}
-RouteQueryResult<std::optional<double> > WorldDataQuery::GetLaneDirection(const LaneMultiStream& laneStream, double position) const
+RouteQueryResult<std::optional<units::angle::radian_t>> WorldDataQuery::GetLaneDirection(const LaneMultiStream &laneStream, units::length::meter_t position) const
{
- return laneStream.Traverse<std::optional<double>>(LaneMultiStream::TraversedFunction<std::optional<double>>{[&](const auto& lane, const auto& previousResult)
- {
- if (lane.StartS() <= position && lane.EndS() >= position)
- {
- return std::optional<double>(std::in_place_t(), lane.element->GetDirection(lane.GetElementPosition(position) + lane.element->GetDistance(OWL::MeasurementPoint::RoadStart)));
- }
- return previousResult;
- }},
- std::nullopt,
- worldData);
+ return laneStream.Traverse<std::optional<units::angle::radian_t>>(LaneMultiStream::TraversedFunction<std::optional<units::angle::radian_t>>{[&](const auto &lane, const auto &previousResult) {
+ if (lane.StartS() <= position && lane.EndS() >= position)
+ {
+ return std::optional<units::angle::radian_t>(std::in_place_t(), lane.element->GetDirection(lane.GetElementPosition(position) + lane.element->GetDistance(OWL::MeasurementPoint::RoadStart)));
+ }
+ return previousResult;
+ }},
+ std::nullopt,
+ worldData);
}
-double CalculatePerpendicularDistance(const Common::Vector2d& point, const Common::Line& line)
+units::length::meter_t CalculatePerpendicularDistance(const Common::Vector2d<units::length::meter_t> &point, const Common::Line<units::length::meter_t> &line)
{
- const double lamdba = line.directionalVector.Dot(point - line.startPoint)
- / line.directionalVector.Dot(line.directionalVector);
- Common::Vector2d foot = line.startPoint + line.directionalVector * lamdba;
- Common::Vector2d vectorToLeft{-line.directionalVector.y, line.directionalVector.x};
- Common::Vector2d distance = point - foot;
- bool isLeft = distance.Dot(vectorToLeft) >= 0;
- return isLeft ? distance.Length() : -distance.Length();
+ const double lamdba = line.directionalVector.Dot(point - line.startPoint) / line.directionalVector.Dot(line.directionalVector);
+ Common::Vector2d<units::length::meter_t> foot = line.startPoint + line.directionalVector * lamdba;
+ Common::Vector2d<units::length::meter_t> vectorToLeft{-line.directionalVector.y, line.directionalVector.x};
+ Common::Vector2d<units::length::meter_t> distance = point - foot;
+ bool isLeft = distance.Dot(vectorToLeft) >= 0;
+ return isLeft ? distance.Length() : -distance.Length();
}
-std::optional<Position> WorldDataQuery::CalculatePositionIfOnLane(double sCoordinate, double tCoordinate, const OWL::Interfaces::Lane& lane) const
+std::optional<Position> WorldDataQuery::CalculatePositionIfOnLane(units::length::meter_t sCoordinate, units::length::meter_t tCoordinate, const OWL::Interfaces::Lane &lane) const
{
- const double laneStart = lane.GetDistance(OWL::MeasurementPoint::RoadStart);
- const double laneEnd = lane.GetDistance(OWL::MeasurementPoint::RoadEnd);
- if (sCoordinate >= laneStart && sCoordinate <= laneEnd)
- {
- return GetPositionByDistanceAndLane(lane, sCoordinate, tCoordinate);
- }
- else
- {
- return std::nullopt;
- }
+ const auto laneStart = lane.GetDistance(OWL::MeasurementPoint::RoadStart);
+ const auto laneEnd = lane.GetDistance(OWL::MeasurementPoint::RoadEnd);
+ if (sCoordinate >= laneStart && sCoordinate <= laneEnd)
+ {
+ return GetPositionByDistanceAndLane(lane, sCoordinate, tCoordinate);
+ }
+ else
+ {
+ return std::nullopt;
+ }
}
RouteQueryResult<Obstruction> WorldDataQuery::GetObstruction(const LaneMultiStream &laneStream,
- double tCoordinate,
- const std::map<ObjectPoint, Common::Vector2d> &points,
+ units::length::meter_t tCoordinate,
+ const std::map<ObjectPoint, Common::Vector2d<units::length::meter_t>> &points,
const RoadIntervals &touchedRoads) const
{
return laneStream.Traverse<Obstruction, std::pair<std::optional<Position>,std::optional<Position>>>(LaneMultiStream::TraversedFunction<Obstruction, std::pair<std::optional<Position>,std::optional<Position>>>
@@ -1215,8 +1194,8 @@ RouteQueryResult<Obstruction> WorldDataQuery::GetObstruction(const LaneMultiStre
{
return std::make_tuple(previousResult, std::make_pair(firstPoint, secondPoint));
}
- const double objectStart = it->second.sMin.roadPosition.s;
- const double objectEnd = it->second.sMax.roadPosition.s;
+ const auto objectStart = it->second.sMin.roadPosition.s;
+ const auto objectEnd = it->second.sMax.roadPosition.s;
if (lane.inStreamDirection)
{
if(!firstPoint)
@@ -1244,10 +1223,10 @@ RouteQueryResult<Obstruction> WorldDataQuery::GetObstruction(const LaneMultiStre
return std::make_tuple(Obstruction::Invalid(), std::make_pair(firstPoint, secondPoint));
}
- std::map<ObjectPoint, double> lateralDistances{};
+ std::map<ObjectPoint, units::length::meter_t> lateralDistances{};
for (const auto& [objectPoint, pointPosition] : points)
{
- double distance = CalculatePerpendicularDistance(pointPosition, Common::Line{{firstPoint.value().xPos, firstPoint.value().yPos}, {secondPoint.value().xPos, secondPoint.value().yPos}});
+ auto distance = CalculatePerpendicularDistance(pointPosition, Common::Line<units::length::meter_t>{{firstPoint.value().xPos, firstPoint.value().yPos}, {secondPoint.value().xPos, secondPoint.value().yPos}});
lateralDistances[objectPoint] = distance;
}
return std::make_tuple(Obstruction{lateralDistances}, std::make_pair(firstPoint, secondPoint));
diff --git a/sim/src/core/opSimulation/modules/World_OSI/WorldDataQuery.h b/sim/src/core/opSimulation/modules/World_OSI/WorldDataQuery.h
index 1774eefe282a357baa4dce11b89cd583ae052ec5..32687b15e06c0caaa5dd6c388a73fb4a27bdbb52 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/WorldDataQuery.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/WorldDataQuery.h
@@ -10,34 +10,35 @@
********************************************************************************/
#pragma once
+#include <algorithm>
#include <numeric>
-#include <utility>
#include <tuple>
+#include <utility>
+
#include "OWL/DataTypes.h"
-#include "WorldData.h"
#include "RoadStream.h"
-#include <numeric>
-#include <algorithm>
+#include "WorldData.h"
//! This class represents one element of a Stream. StreamInfo can contain elements of the following types:
//! OWL::Lane
//! OWL::Road
-template<typename T>
+template <typename T>
struct StreamInfo
{
- const T* element; //!element represented by this object
- double sOffset; //!S Offset of the start point of the element from the beginning of the stream
- bool inStreamDirection; //!Specifies whether the direction of the element is the same as the direction of the stream
+ const T *element; //!element represented by this object
+ units::length::meter_t sOffset; //!S Offset of the start point of the element from the beginning of the stream
+ bool inStreamDirection; //!Specifies whether the direction of the element is the same as the direction of the stream
- StreamInfo () = default;
+ StreamInfo() = default;
- StreamInfo (const T* element, double sOffset, bool inStreamDirection) :
+ StreamInfo(const T *element, units::length::meter_t sOffset, bool inStreamDirection) :
element(element),
sOffset(sOffset),
inStreamDirection(inStreamDirection)
- {}
+ {
+ }
- const T& operator()() const
+ const T &operator()() const
{
return *element;
}
@@ -46,26 +47,26 @@ struct StreamInfo
//!
//! \param elementPosition position relative to the start of the element
//! \return position relative to the start of the element stream
- double GetStreamPosition (double elementPosition) const
+ units::length::meter_t GetStreamPosition(units::length::meter_t elementPosition) const
{
return sOffset + (inStreamDirection ? elementPosition : -elementPosition);
}
- double GetElementPosition (double streamPosition) const
+ units::length::meter_t GetElementPosition(units::length::meter_t streamPosition) const
{
return inStreamDirection ? streamPosition - sOffset : sOffset - streamPosition;
}
//! Returns the element stream position of the start of lane
- double StartS () const
+ units::length::meter_t StartS() const
{
- return sOffset - (inStreamDirection ? 0 : element->GetLength());
+ return sOffset - (inStreamDirection ? 0_m : element->GetLength());
}
//! Returns the element stream position of the end of lane
- double EndS () const
+ units::length::meter_t EndS() const
{
- return sOffset + (inStreamDirection ? element->GetLength() : 0);
+ return sOffset + (inStreamDirection ? element->GetLength() : 0_m);
}
};
@@ -74,16 +75,17 @@ struct StreamInfo
//! The elements supported by this class are:
//! OWL::Lane*
//! OWL::Road*
-template<typename T>
+template <typename T>
class Stream
{
public:
Stream() = default;
- explicit Stream(const std::vector<StreamInfo<T>>& elements) :
+ explicit Stream(const std::vector<StreamInfo<T>> &elements) :
elements(elements)
- {}
+ {
+ }
- const std::vector<StreamInfo<T>>& GetElements() const
+ const std::vector<StreamInfo<T>> &GetElements() const
{
return elements;
}
@@ -93,13 +95,13 @@ public:
//! Transform the sCoordinate on the given element to a position on the stream
//! The element must be part of the stream
- double GetPositionByElementAndS(const T& element, double sCoordinate) const;
+ units::length::meter_t GetPositionByElementAndS(const T &element, units::length::meter_t sCoordinate) const;
//! Returns the element and s coordinate corresponding to the given position on the stream
- std::pair<double, const T*> GetElementAndSByPosition(double position) const;
+ std::pair<units::length::meter_t, const T *> GetElementAndSByPosition(units::length::meter_t position) const;
//! Returns true if the specified element is contained in this element stream, false otherwise
- bool Contains(const T& element) const;
+ bool Contains(const T &element) const;
private:
std::vector<StreamInfo<T>> elements;
@@ -113,12 +115,12 @@ using RoadStreamInfo = StreamInfo<OWL::Interfaces::Road>;
//! The elements supported by this class are:
//! OWL::Lane*
//! OWL::Road*
-template<typename T>
+template <typename T>
class MultiStream
{
public:
- template<typename Result, typename ... Intermediary>
- using TraversedFunction = std::function<std::tuple<Result, Intermediary ...> (const StreamInfo<T>&, const Result&, const Intermediary& ...)>;
+ template <typename Result, typename... Intermediary>
+ using TraversedFunction = std::function<std::tuple<Result, Intermediary...>(const StreamInfo<T> &, const Result &, const Intermediary &...)>;
struct Node
{
@@ -126,18 +128,18 @@ public:
std::vector<Node> next;
RoadGraphVertex roadGraphVertex;
- template<typename Result, typename ... Intermediary>
- void Traverse (TraversedFunction<Result, Intermediary...> function,
- const Result& previousResult,
- const Intermediary& ... intermediaryResults,
- RouteQueryResult<Result>& queryResult,
- const OWL::Interfaces::WorldData& worldData) const
+ template <typename Result, typename... Intermediary>
+ void Traverse(TraversedFunction<Result, Intermediary...> function,
+ const Result &previousResult,
+ const Intermediary &...intermediaryResults,
+ RouteQueryResult<Result> &queryResult,
+ const OWL::Interfaces::WorldData &worldData) const
{
if (element.has_value())
{
auto result = function(element.value(), previousResult, intermediaryResults...);
queryResult[roadGraphVertex] = std::get<Result>(result);
- for (const auto& successor : next)
+ for (const auto &successor : next)
{
successor.template Traverse<Result, Intermediary...>(function, std::get<Result>(result), std::get<Intermediary>(result)..., queryResult, worldData);
}
@@ -145,20 +147,20 @@ public:
else
{
queryResult[roadGraphVertex] = previousResult;
- for (const auto& successor : next)
+ for (const auto &successor : next)
{
successor.template Traverse<Result, Intermediary...>(function, previousResult, intermediaryResults..., queryResult, worldData);
}
}
}
- const Node* FindVertex (const RoadGraphVertex& vertex) const
+ const Node *FindVertex(const RoadGraphVertex &vertex) const
{
if (roadGraphVertex == vertex)
{
return this;
}
- for (const auto& successor : next)
+ for (const auto &successor : next)
{
if (auto foundNode = successor.FindVertex(vertex))
{
@@ -170,41 +172,42 @@ public:
};
MultiStream() = default;
- explicit MultiStream(const Node& root) :
+ explicit MultiStream(const Node &root) :
root(root)
- {}
-
- const Node& GetRoot() const
- {
- return root;
- }
-
- template<typename Result, typename ... Intermediary>
- RouteQueryResult<Result> Traverse (TraversedFunction<Result, Intermediary...> function,
- const Result& zeroResult,
- const Intermediary&... defaultIntermediaryResults,
- const OWL::Interfaces::WorldData& worldData) const
- {
- RouteQueryResult<Result> result;
- root.template Traverse<Result, Intermediary...>(function, zeroResult, defaultIntermediaryResults..., result, worldData);
- return result;
- }
-
- double GetPositionByVertexAndS(const RoadGraphVertex& vertex, double sCoordinate) const
- {
- const Node* node = root.FindVertex(vertex);
- if (!node)
- {
- throw std::runtime_error("Cannot find vertex in multistream");
- }
- if (!node->element.has_value())
- {
- return std::numeric_limits<double>::lowest();
- }
- const auto& element = node->element.value();
- auto distance = element.element->GetDistance(OWL::MeasurementPoint::RoadStart);
- return element.GetStreamPosition(sCoordinate - distance);
- }
+ {
+ }
+
+ const Node &GetRoot() const
+ {
+ return root;
+ }
+
+ template <typename Result, typename... Intermediary>
+ RouteQueryResult<Result> Traverse(TraversedFunction<Result, Intermediary...> function,
+ const Result &zeroResult,
+ const Intermediary &...defaultIntermediaryResults,
+ const OWL::Interfaces::WorldData &worldData) const
+ {
+ RouteQueryResult<Result> result;
+ root.template Traverse<Result, Intermediary...>(function, zeroResult, defaultIntermediaryResults..., result, worldData);
+ return result;
+ }
+
+ units::length::meter_t GetPositionByVertexAndS(const RoadGraphVertex &vertex, units::length::meter_t sCoordinate) const
+ {
+ const Node *node = root.FindVertex(vertex);
+ if (!node)
+ {
+ throw std::runtime_error("Cannot find vertex in multistream");
+ }
+ if (!node->element.has_value())
+ {
+ return units::length::meter_t(std::numeric_limits<double>::lowest());
+ }
+ const auto &element = node->element.value();
+ auto distance = element.element->GetDistance(OWL::MeasurementPoint::RoadStart);
+ return element.GetStreamPosition(sCoordinate - distance);
+ }
private:
Node root;
@@ -217,7 +220,7 @@ using RoadMultiStream = MultiStream<OWL::Interfaces::Road>;
class WorldDataQuery
{
public:
- WorldDataQuery(const OWL::Interfaces::WorldData& worldData);
+ WorldDataQuery(const OWL::Interfaces::WorldData &worldData);
RouteQueryResult<std::optional<GlobalRoadPosition>> ResolveRelativePoint(const RoadMultiStream &roadStream, ObjectPointRelative relativePoint, const RoadIntervals &touchedRoads) const;
@@ -226,16 +229,15 @@ public:
//! Returns an empty vector if there is no such object within the range
//! The result is returned for every node.
//! T can be one of WorldObject, MovingObject or StationaryObject
- template<typename T>
- RouteQueryResult<std::vector<const OWL::Interfaces::WorldObject*>> GetObjectsOfTypeInRange(const LaneMultiStream& laneStream,
- const double startDistance,
- const double endDistance) const
+ template <typename T>
+ RouteQueryResult<std::vector<const OWL::Interfaces::WorldObject *>> GetObjectsOfTypeInRange(const LaneMultiStream &laneStream,
+ const units::length::meter_t startDistance,
+ const units::length::meter_t endDistance) const
{
- return laneStream.Traverse<std::vector<const OWL::Interfaces::WorldObject*>>(
- LaneMultiStream::TraversedFunction<std::vector<const OWL::Interfaces::WorldObject*>>(
- [&](const LaneStreamInfo& laneStreamElement, const std::vector<const OWL::Interfaces::WorldObject*>& previousOjects)
- {
- std::vector<const OWL::Interfaces::WorldObject*> foundObjects{previousOjects};
+ return laneStream.Traverse<std::vector<const OWL::Interfaces::WorldObject *>>(
+ LaneMultiStream::TraversedFunction<std::vector<const OWL::Interfaces::WorldObject *>>(
+ [&](const LaneStreamInfo &laneStreamElement, const std::vector<const OWL::Interfaces::WorldObject *> &previousOjects) {
+ std::vector<const OWL::Interfaces::WorldObject *> foundObjects{previousOjects};
if (laneStreamElement.EndS() < startDistance)
{
@@ -247,12 +249,12 @@ public:
return foundObjects;
}
- const auto& roadId = laneStreamElement.element->GetRoad().GetId();
+ const auto &roadId = laneStreamElement.element->GetRoad().GetId();
const auto streamDirection = laneStreamElement.inStreamDirection;
const auto s_lanestart = laneStreamElement.element->GetDistance(OWL::MeasurementPoint::RoadStart);
- for (const auto& [laneOverlap, object] : laneStreamElement.element->GetWorldObjects(streamDirection))
+ for (const auto &[laneOverlap, object] : laneStreamElement.element->GetWorldObjects(streamDirection))
{
const auto s_min = streamDirection ? laneOverlap.sMin.roadPosition.s : laneOverlap.sMax.roadPosition.s;
const auto s_max = streamDirection ? laneOverlap.sMax.roadPosition.s : laneOverlap.sMin.roadPosition.s;
@@ -264,7 +266,7 @@ public:
}
auto streamPositionEnd = laneStreamElement.GetStreamPosition(s_max - s_lanestart);
- if (dynamic_cast<const T*>(object) && streamPositionEnd >= startDistance)
+ if (dynamic_cast<const T *>(object) && streamPositionEnd >= startDistance)
{
if (std::find(foundObjects.crbegin(), foundObjects.crend(), object) == foundObjects.crend())
{
@@ -275,8 +277,8 @@ public:
return foundObjects;
}),
- {},
- worldData);
+ {},
+ worldData);
}
//! Iterates over a LaneMultStream until either the type of the next lane does not match one of the specified LaneTypes
@@ -289,15 +291,15 @@ public:
//! @param initialSearchPosition start position in stream
//! @param maxSearchLength maxmium look ahead distance
//! @param requestedLaneTypes filter of LaneTypes
- RouteQueryResult<double> GetDistanceToEndOfLane(const LaneMultiStream& laneStream, double initialSearchPosition, double maxSearchLength,
- const std::vector<LaneType>& requestedLaneTypes) const;
+ RouteQueryResult<units::length::meter_t> GetDistanceToEndOfLane(const LaneMultiStream &laneStream, units::length::meter_t initialSearchPosition, units::length::meter_t maxSearchLength,
+ const std::vector<LaneType> &requestedLaneTypes) const;
//! Checks if given s-coordinate is valid for specified laneId.
//!
//! @param roadId OpenDrive id of road
//! @param laneId OpenDrive Id of lane
//! @param distance s-coordinate
- bool IsSValidOnLane(const std::string& roadId, OWL::OdId laneId, double distance);
+ bool IsSValidOnLane(const std::string& roadId, OWL::OdId laneId, units::length::meter_t distance);
//! Returns lane at specified distance.
//! Returns InvalidLane if there is no lane at given distance and OpenDriveId
@@ -305,7 +307,7 @@ public:
//! @param odRoadId OpenDrive id of road
//! @param odLaneId OpendDrive Id of Lane
//! @param distance s-coordinate
- OWL::CLane& GetLaneByOdId(const std::string& odRoadId, OWL::OdId odLaneId, double distance) const;
+ OWL::CLane& GetLaneByOdId(const std::string& odRoadId, OWL::OdId odLaneId, units::length::meter_t distance) const;
//! Returns lane at specified distance at given t offset of road
//! Returns InvalidLane if there is no lane at given distance and OpenDriveId
@@ -314,14 +316,14 @@ public:
//! @param offset t offset on road
//! @param distance s-coordinate
//! @return lane and t offset on lane
- std::pair<OWL::CLane&, double> GetLaneByOffset(const std::string& odRoadId, double offset, double distance) const;
+ std::pair<OWL::CLane&, units::length::meter_t> GetLaneByOffset(const std::string& odRoadId, units::length::meter_t offset, units::length::meter_t distance) const;
//! Returns section at specified distance.
//! Returns nullptr if there is no section at given distance
//!
//! @param odRaodId ID of road in OpenDrive
//! @param distance s-coordinate
- OWL::CSection* GetSectionByDistance(const std::string& odRoadId, double distance) const;
+ OWL::CSection* GetSectionByDistance(const std::string& odRoadId, units::length::meter_t distance) const;
//! Returns the OWL road with the specified OpenDrive id
OWL::CRoad *GetRoadByOdId(const std::string& odRoadId) const;
@@ -336,8 +338,8 @@ public:
//!
//! @param distance s-coordinate
//! @param requestedLaneTypes filter of laneTypes
- OWL::CLanes GetLanesOfLaneTypeAtDistance(const std::string& roadId, double distance,
- const std::vector<LaneType>& requestedLaneTypes) const;
+ OWL::CLanes GetLanesOfLaneTypeAtDistance(const std::string &roadId, units::length::meter_t distance,
+ const std::vector<LaneType> &requestedLaneTypes) const;
//! Returns all TrafficSigns valid for the lanes in the LaneMultiStream within startDistance and startDistance + searchRange
//! The result is returned for every node.
@@ -345,7 +347,7 @@ public:
//! @param laneStream lane stream to search in
//! @param startDistance start position in stream
//! @param searchRange range of search (positive)
- RouteQueryResult<std::vector<CommonTrafficSign::Entity>> GetTrafficSignsInRange(LaneMultiStream laneStream, double startDistance, double searchRange) const;
+ RouteQueryResult<std::vector<CommonTrafficSign::Entity>> GetTrafficSignsInRange(LaneMultiStream laneStream, units::length::meter_t startDistance, units::length::meter_t searchRange) const;
//! Returns all RoadMarkings valid for the lanes in the LaneMultiStream within startDistance and startDistance + searchRange
//! The result is returned for every node.
@@ -353,7 +355,7 @@ public:
//! @param laneStream lane stream to search in
//! @param startDistance start position in stream
//! @param searchRange range of search (positive)
- RouteQueryResult<std::vector<CommonTrafficSign::Entity>> GetRoadMarkingsInRange(LaneMultiStream laneStream, double startDistance, double searchRange) const;
+ RouteQueryResult<std::vector<CommonTrafficSign::Entity>> GetRoadMarkingsInRange(LaneMultiStream laneStream, units::length::meter_t startDistance, units::length::meter_t searchRange) const;
//! Returns all TrafficLights valid for the lanes in the LaneMultiStream within startDistance and startDistance + searchRange
//! The result is returned for every node.
@@ -361,7 +363,7 @@ public:
//! @param laneStream lane stream to search in
//! @param startDistance start position in stream
//! @param searchRange range of search (positive)
- RouteQueryResult<std::vector<CommonTrafficLight::Entity>> GetTrafficLightsInRange(LaneMultiStream laneStream, double startDistance, double searchRange) const;
+ RouteQueryResult<std::vector<CommonTrafficLight::Entity>> GetTrafficLightsInRange(LaneMultiStream laneStream, units::length::meter_t startDistance, units::length::meter_t searchRange) const;
//! Retrieves all lane markings within the given range on the given side of the lane inside the range
//! The result is returned for every node.
@@ -370,7 +372,7 @@ public:
//! \param startDistance start position in stream
//! \param range search range
//! \param side side of the lane
- RouteQueryResult<std::vector<LaneMarking::Entity>> GetLaneMarkings(const LaneMultiStream &laneStream, double startDistance, double range, Side side) const;
+ RouteQueryResult<std::vector<LaneMarking::Entity>> GetLaneMarkings(const LaneMultiStream &laneStream, units::length::meter_t startDistance, units::length::meter_t range, Side side) const;
std::vector<JunctionConnection> GetConnectionsOnJunction(std::string junctionId, std::string incomingRoadId) const;
@@ -385,7 +387,7 @@ public:
//!
//! \param junctionId OpenDrive id of the junction
std::vector<JunctionConnectorPriority> GetPrioritiesOnJunction(std::string junctionId) const;
-
+
RoadNetworkElement GetRoadSuccessor(std::string roadId) const;
RoadNetworkElement GetRoadPredecessor(std::string roadId) const;
@@ -396,7 +398,7 @@ public:
//! \param connectingRoadId OpenDrive id of the connector
//! \param range Search range measured backwards from the end of the connector
//! \return moving objects in search range on connecting and incoming road
- std::vector<const OWL::Interfaces::WorldObject*> GetMovingObjectsInRangeOfJunctionConnection(std::string connectingRoadId, double range) const;
+ std::vector<const OWL::Interfaces::WorldObject *> GetMovingObjectsInRangeOfJunctionConnection(std::string connectingRoadId, units::length::meter_t range) const;
//! Returns the distance from the front of the specified to the first intersection point of its road with the specified connector.
//! If the object is not yet on the junction all possible route the object can take are considered and the minimum distance is returned
@@ -405,7 +407,7 @@ public:
//! \param connectingRoadId OpenDrive id of connector intersecting with the route of the object
//!
//! \return distance of object to first intersection with connecting road
- double GetDistanceUntilObjectEntersConnector(/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const;
+ units::length::meter_t GetDistanceUntilObjectEntersConnector(/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const;
//! Returns the distance from the rear of the specified to the last intersection point of its road with the specified connector.
//! If the object is not yet on the junction all possible route the object can take are considered and the maximum distance is returned
@@ -414,7 +416,7 @@ public:
//! \param connectingRoadId OpenDrive id of connector intersecting with the route of the object
//!
//! \return distance of rear of object to last intersection with connecting road
- double GetDistanceUntilObjectLeavesConnector(/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const;
+ units::length::meter_t GetDistanceUntilObjectLeavesConnector(/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const;
//! Creates a LaneMultiStream that contains the OWL lanes out of a roadGraph.
//!
@@ -423,7 +425,7 @@ public:
//! \param startLaneId OpenDrive id of the lane at the root, where the lane stream should start
//! \param startDistance s coordinate at the root, where the lane stream should start
//! \return LaneMultiStream starting with the specified lane and containing all consecutive lanes that are also contained in the given road graph
- std::shared_ptr<const LaneMultiStream> CreateLaneMultiStream(const RoadGraph& roadGraph, RoadGraphVertex start, OWL::OdId startLaneId, double startDistance) const;
+ std::shared_ptr<const LaneMultiStream> CreateLaneMultiStream(const RoadGraph &roadGraph, RoadGraphVertex start, OWL::OdId startLaneId, units::length::meter_t startDistance) const;
//! \brief Creates a RoadStream from the given route
//!
@@ -431,14 +433,14 @@ public:
//!
//! \return a RoadStream across the Roads specified in route
//!
- std::unique_ptr<RoadStream> CreateRoadStream(const std::vector<RouteElement>& route) const;
+ std::unique_ptr<RoadStream> CreateRoadStream(const std::vector<RouteElement> &route) const;
//! Creates a RoadMultiStream that contains the OWL roads out of a roadGraph.
//!
//! \param roadGraph road graph to convert, must be a tree
//! \param start root of the tree
//! \return LaneMultiStream starting with the specified road and containing all consecutive roads that are also contained in the given road graph
- std::shared_ptr<const RoadMultiStream> CreateRoadMultiStream(const RoadGraph& roadGraph, RoadGraphVertex start) const;
+ std::shared_ptr<const RoadMultiStream> CreateRoadMultiStream(const RoadGraph &roadGraph, RoadGraphVertex start) const;
//! \brief GetDistanceBetweenObjects gets the distance between two ObjectPositions on a RoadStream
//!
@@ -448,8 +450,8 @@ public:
//! \param[in] targetObject Target object from whom the distance is calculated (if this object is behind, the distance is negative)
//!
//! \return The distance between object and targetObject on roadStream
- RouteQueryResult<std::optional<double>> GetDistanceBetweenObjects(const RoadMultiStream& roadStream,
- const double ownStreamPosition,
+ RouteQueryResult<std::optional<units::length::meter_t>> GetDistanceBetweenObjects(const RoadMultiStream& roadStream,
+ const units::length::meter_t ownStreamPosition,
const GlobalRoadPositions& target) const;
//! Calculates the obstruction with an object i.e. how far to left or the right the object is from my position
@@ -461,8 +463,8 @@ public:
//! \param objectCorners corners of the other object
//! \return obstruction with other object
RouteQueryResult<Obstruction> GetObstruction(const LaneMultiStream &laneStream,
- double tCoordinate,
- const std::map<ObjectPoint, Common::Vector2d> &points,
+ units::length::meter_t tCoordinate,
+ const std::map<ObjectPoint, Common::Vector2d<units::length::meter_t>> &points,
const RoadIntervals &touchedRoads) const;
//! Returns the world position that corresponds to a position on a lane
@@ -470,7 +472,7 @@ public:
//! \param lane lane in the network
//! \param distanceOnLane s coordinate on the lane
//! \param offset t coordinate on the lane
- Position GetPositionByDistanceAndLane(const OWL::Interfaces::Lane& lane, double distanceOnLane, double offset) const;
+ Position GetPositionByDistanceAndLane(const OWL::Interfaces::Lane &lane, units::length::meter_t distanceOnLane, units::length::meter_t offset) const;
//! Returns the relative distances (start and end) and the connecting road id of all junctions on the road stream in range
//!
@@ -478,7 +480,7 @@ public:
//! \param startPosition start search position on the road stream
//! \param range range of search
//! \return information about all junctions in range
- [[deprecated]] RouteQueryResult<RelativeWorldView::Roads> GetRelativeJunctions(const RoadMultiStream &roadStream, double startPosition, double range) const;
+ [[deprecated]] RouteQueryResult<RelativeWorldView::Roads> GetRelativeJunctions(const RoadMultiStream &roadStream, units::length::meter_t startPosition, units::length::meter_t range) const;
//! Returns the relative distances (start and end) and the road id of all roads on the road stream in range
//!
@@ -486,7 +488,7 @@ public:
//! \param startPosition start search position on the road stream
//! \param range range of search
//! \return information about all roads in range
- RouteQueryResult<RelativeWorldView::Roads> GetRelativeRoads(const RoadMultiStream& roadStream, double startPosition, double range) const;
+ RouteQueryResult<RelativeWorldView::Roads> GetRelativeRoads(const RoadMultiStream& roadStream, units::length::meter_t startPosition, units::length::meter_t range) const;
//! Returns information about all lanes on the roadStream in range. These info are the relative distances (start and end),
//! the laneId relative to the ego lane, the successors and predecessors if existing and the information wether the intended
@@ -499,7 +501,7 @@ public:
//! \param range range of search
//! \param includeOncoming indicating whether oncoming lanes should be included
//! \return information about all lanes in range
- RouteQueryResult<RelativeWorldView::Lanes> GetRelativeLanes(const RoadMultiStream& roadStream, double startPosition, int startLaneId, double range, bool includeOncoming) const;
+ RouteQueryResult<RelativeWorldView::Lanes> GetRelativeLanes(const RoadMultiStream &roadStream, units::length::meter_t startPosition, int startLaneId, units::length::meter_t range, bool includeOncoming) const;
//! Returns the relative lane id of the located position of a point relative to the given position
//!
@@ -509,13 +511,14 @@ public:
//! \param ownLaneId id of own lane
//! \param targetPosition position of queried point
//! \return lane id relative to own position
- RouteQueryResult<std::optional<int>> GetRelativeLaneId(const RoadMultiStream& roadStream, double ownPosition, int ownLaneId, GlobalRoadPositions targetPosition) const;
+ RouteQueryResult<std::optional<int>> GetRelativeLaneId(const RoadMultiStream &roadStream, units::length::meter_t ownPosition, int ownLaneId, GlobalRoadPositions targetPosition) const;
+
+ RouteQueryResult<std::optional<units::curvature::inverse_meter_t>> GetLaneCurvature(const LaneMultiStream &laneStream, units::length::meter_t position) const;
- RouteQueryResult<std::optional<double>> GetLaneCurvature (const LaneMultiStream& laneStream, double position) const;
+ RouteQueryResult<std::optional<units::length::meter_t>> GetLaneWidth(const LaneMultiStream &laneStream, units::length::meter_t position) const;
- RouteQueryResult<std::optional<double>> GetLaneWidth (const LaneMultiStream& laneStream, double position) const;
+ RouteQueryResult<std::optional<units::angle::radian_t>> GetLaneDirection(const LaneMultiStream &laneStream, units::length::meter_t position) const;
- RouteQueryResult<std::optional<double>> GetLaneDirection (const LaneMultiStream& laneStream, double position) const;
//! Returns the weight of the path for randomized route generation
//!
@@ -524,28 +527,28 @@ public:
std::map<RoadGraphEdge, double> GetEdgeWeights(const RoadGraph& roadGraph) const;
private:
- const OWL::Interfaces::WorldData& worldData;
+ const OWL::Interfaces::WorldData &worldData;
//! Returns the most upstream lane on the specified route such that there is a continous stream of lanes regarding successor/predecessor relation
//! up to the start lane
- OWL::CLane* GetOriginatingRouteLane(std::vector<RouteElement> route, std::string startRoadId, OWL::OdId startLaneId, double startDistance) const;
-
- OWL::CRoad* GetOriginatingRouteRoad(const std::vector<std::string>& route, const std::string& startRoadId, const OWL::OdId startLaneId, const double startDistance) const;
+ OWL::CLane *GetOriginatingRouteLane(std::vector<RouteElement> route, std::string startRoadId, OWL::OdId startLaneId, units::length::meter_t startDistance) const;
+
+ OWL::CRoad *GetOriginatingRouteRoad(const std::vector<std::string> &route, const std::string &startRoadId, const OWL::OdId startLaneId, const units::length::meter_t startDistance) const;
//! Returns the ids of the stream of roads leading the connecting road including the connecting road itself
std::tuple<RoadGraph, RoadGraphVertex, RoadGraphVertex> GetRouteLeadingToConnector(std::string connectingRoadId) const;
//! Returns the WorldPosition corresponding to the (s,t) position on the lane, if s is valid on the lane
//! Otherwise the bool in the pair is false
- std::optional<Position> CalculatePositionIfOnLane(double sCoordinate, double tCoordinate, const OWL::Interfaces::Lane& lane) const;
+ std::optional<Position> CalculatePositionIfOnLane(units::length::meter_t sCoordinate, units::length::meter_t tCoordinate, const OWL::Interfaces::Lane &lane) const;
- int FindNextEgoLaneId(const OWL::Interfaces::Lanes& lanesOnSection, bool inStreamDirection, std::map<int, OWL::Id> previousSectionLaneIds) const;
+ int FindNextEgoLaneId(const OWL::Interfaces::Lanes &lanesOnSection, bool inStreamDirection, std::map<int, OWL::Id> previousSectionLaneIds) const;
- std::map<int, OWL::Id> AddLanesOfSection(const OWL::Interfaces::Lanes& lanesOnSection, bool inStreamDirection,
- int currentOwnLaneId, bool includeOncoming, const std::map<int, OWL::Id>& previousSectionLaneIds,
- std::vector<RelativeWorldView::Lane>& previousSectionLanes, RelativeWorldView::LanesInterval& laneInterval) const;
+ std::map<int, OWL::Id> AddLanesOfSection(const OWL::Interfaces::Lanes &lanesOnSection, bool inStreamDirection,
+ int currentOwnLaneId, bool includeOncoming, const std::map<int, OWL::Id> &previousSectionLaneIds,
+ std::vector<RelativeWorldView::Lane> &previousSectionLanes, RelativeWorldView::LanesInterval &laneInterval) const;
- RoadMultiStream::Node CreateRoadMultiStreamRecursive(const RoadGraph& roadGraph, const RoadGraphVertex& current, double sOffset) const;
+ RoadMultiStream::Node CreateRoadMultiStreamRecursive(const RoadGraph &roadGraph, const RoadGraphVertex ¤t, units::length::meter_t sOffset) const;
- LaneMultiStream::Node CreateLaneMultiStreamRecursive(const RoadGraph& roadGraph, const RoadGraphVertex& current, double sOffset, const OWL::Lane* lane) const;
+ LaneMultiStream::Node CreateLaneMultiStreamRecursive(const RoadGraph &roadGraph, const RoadGraphVertex ¤t, units::length::meter_t sOffset, const OWL::Lane *lane) const;
};
diff --git a/sim/src/core/opSimulation/modules/World_OSI/WorldEntities.h b/sim/src/core/opSimulation/modules/World_OSI/WorldEntities.h
index 4919bbc2eab42649ae165bd4133653d9f4a94e4b..8a7e79c22044e795499bca866020adb6e3f0ded7 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/WorldEntities.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/WorldEntities.h
@@ -26,16 +26,13 @@ using namespace std::string_literals;
* @param metainfo The metainfo, which shall be published with the entity
* @return The entity info
*/
-[[nodiscard]] const openpass::type::EntityInfo GetEntityInfo(const AgentBlueprintInterface& agentBlueprint)
+[[nodiscard]] const openpass::type::EntityInfo GetEntityInfo(const AgentBuildInstructions &agentBuildInstructions)
{
return {
ENTITY_SOURCE,
- {
- {"type"s, openpass::utils::to_string(agentBlueprint.GetAgentCategory())},
- {"name"s, agentBlueprint.GetObjectName()},
- {"subtype"s, openpass::utils::to_string(agentBlueprint.GetVehicleModelParameters().vehicleType)}
- }
- };
+ {{"type"s, openpass::utils::to_string(agentBuildInstructions.agentCategory)},
+ {"name"s, agentBuildInstructions.name},
+ {"subtype"s, openpass::utils::to_string(agentBuildInstructions.entityProperties->type)}}};
}
} // namespace openpass::utils
\ No newline at end of file
diff --git a/sim/src/core/opSimulation/modules/World_OSI/WorldImplementation.cpp b/sim/src/core/opSimulation/modules/World_OSI/WorldImplementation.cpp
index a87bcf2ee0b754bbf65b3dcee45147459cb725ce..7fe48788501bbb88c09caa14843ade64e827adc3 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/WorldImplementation.cpp
+++ b/sim/src/core/opSimulation/modules/World_OSI/WorldImplementation.cpp
@@ -11,33 +11,34 @@
* SPDX-License-Identifier: EPL-2.0
********************************************************************************/
-#include "WorldData.h"
#include "WorldImplementation.h"
-#include "common/RoutePlanning/RouteCalculation.h"
+
#include "EntityRepository.h"
+#include "WorldData.h"
#include "WorldEntities.h"
-
+#include "common/RoutePlanning/RouteCalculation.h"
#include "osi3/osi_sensorview.pb.h"
#include "osi3/osi_sensorviewconfiguration.pb.h"
namespace {
- template <typename T>
- static std::vector<const T*> get_transformed(const std::vector<const OWL::Interfaces::WorldObject*>& worldObjects)
- {
- std::vector<const T*> transformedContainer;
- std::transform(worldObjects.begin(), worldObjects.end(), std::back_inserter(transformedContainer),
- [](const OWL::Interfaces::WorldObject* object){ return object->GetLink<T>(); });
- return transformedContainer;
- }
+template <typename T>
+static std::vector<const T *> get_transformed(const std::vector<const OWL::Interfaces::WorldObject *> &worldObjects)
+{
+ std::vector<const T *> transformedContainer;
+ std::transform(worldObjects.begin(), worldObjects.end(), std::back_inserter(transformedContainer),
+ [](const OWL::Interfaces::WorldObject *object) { return object->GetLink<T>(); });
+ return transformedContainer;
}
+} // namespace
-WorldImplementation::WorldImplementation(const CallbackInterface* callbacks, StochasticsInterface* stochastics, DataBufferWriteInterface* dataBuffer):
+WorldImplementation::WorldImplementation(const CallbackInterface *callbacks, StochasticsInterface *stochastics, DataBufferWriteInterface *dataBuffer) :
agentNetwork(this, callbacks),
callbacks(callbacks),
dataBuffer(dataBuffer),
repository(dataBuffer),
worldData(callbacks)
-{}
+{
+}
WorldImplementation::~WorldImplementation()
{
@@ -48,7 +49,7 @@ AgentInterface *WorldImplementation::GetAgent(int id) const
return agentNetwork.GetAgent(id);
}
-const std::vector<const WorldObjectInterface*>& WorldImplementation::GetWorldObjects() const
+const std::vector<const WorldObjectInterface *> &WorldImplementation::GetWorldObjects() const
{
return worldObjects;
}
@@ -56,7 +57,7 @@ const std::vector<const WorldObjectInterface*>& WorldImplementation::GetWorldObj
std::map<int, AgentInterface *> WorldImplementation::GetAgents()
{
std::map<int, AgentInterface *> agents;
- for (auto& agent : agentNetwork.GetAgents())
+ for (auto &agent : agentNetwork.GetAgents())
{
agents.insert({agent.GetId(), &agent});
}
@@ -68,17 +69,17 @@ const std::vector<int> WorldImplementation::GetRemovedAgentsInPreviousTimestep()
return agentNetwork.GetRemovedAgentsInPreviousTimestep();
}
-const std::vector<const TrafficObjectInterface*>& WorldImplementation::GetTrafficObjects() const
+const std::vector<const TrafficObjectInterface *> &WorldImplementation::GetTrafficObjects() const
{
return trafficObjects;
}
-const TrafficRules& WorldImplementation::GetTrafficRules() const
+const TrafficRules &WorldImplementation::GetTrafficRules() const
{
return worldParameter.trafficRules;
}
-void WorldImplementation::ExtractParameter(ParameterInterface* parameters)
+void WorldImplementation::ExtractParameter(ParameterInterface *parameters)
{
auto intParameter = parameters->GetParametersInt();
auto doubleParameter = parameters->GetParametersDouble();
@@ -86,7 +87,7 @@ void WorldImplementation::ExtractParameter(ParameterInterface* parameters)
auto boolParameter = parameters->GetParametersBool();
worldParameter.timeOfDay = stringParameter.at("TimeOfDay");
- worldParameter.visibilityDistance = intParameter.at("VisibilityDistance");
+ worldParameter.visibilityDistance = units::length::meter_t(intParameter.at("VisibilityDistance"));
worldParameter.friction = doubleParameter.at("Friction");
worldParameter.weather = stringParameter.at("Weather");
@@ -141,7 +142,7 @@ void WorldImplementation::Clear()
}
}
-void* WorldImplementation::GetWorldData()
+void *WorldImplementation::GetWorldData()
{
return &worldData;
}
@@ -157,12 +158,12 @@ void WorldImplementation::QueueAgentUpdate(std::function<void()> func)
agentNetwork.QueueAgentUpdate(func);
}
-void WorldImplementation::QueueAgentRemove(const AgentInterface* agent)
+void WorldImplementation::QueueAgentRemove(const AgentInterface *agent)
{
agentNetwork.QueueAgentRemove(agent);
}
-void WorldImplementation::RemoveAgent(const AgentInterface* agent)
+void WorldImplementation::RemoveAgent(const AgentInterface *agent)
{
worldData.RemoveMovingObjectById(agent->GetId());
auto it = std::find(worldObjects.begin(), worldObjects.end(), agent);
@@ -175,8 +176,7 @@ void WorldImplementation::RemoveAgent(const AgentInterface* agent)
void WorldImplementation::PublishGlobalData(int timestamp)
{
agentNetwork.PublishGlobalData(
- [&](openpass::type::EntityId id, openpass::type::FlatParameterKey key, openpass::type::FlatParameterValue value)
- {
+ [&](openpass::type::EntityId id, openpass::type::FlatParameterKey key, openpass::type::FlatParameterValue value) {
dataBuffer->PutCyclic(id, key, value);
});
@@ -200,7 +200,7 @@ void WorldImplementation::SyncGlobalData(int timestamp)
worldData.ResetTemporaryMemory();
}
-bool WorldImplementation::CreateScenery(const SceneryInterface* scenery, const SceneryDynamicsInterface& sceneryDynamics, const TurningRates& turningRates)
+bool WorldImplementation::CreateScenery(const SceneryInterface* scenery, const TurningRates& turningRates)
{
this->scenery = scenery;
sceneryConverter = std::make_unique<SceneryConverter>(scenery,
@@ -218,22 +218,28 @@ bool WorldImplementation::CreateScenery(const SceneryInterface* scenery, const S
auto [roadGraph, vertexMapping] = networkBuilder.Build();
worldData.SetRoadGraph(std::move(roadGraph), std::move(vertexMapping));
worldData.SetTurningRates(turningRates);
- worldData.SetEnvironment(sceneryDynamics.GetEnvironment());
- trafficLightNetwork = TrafficLightNetworkBuilder::Build(sceneryDynamics.GetTrafficSignalControllers(), worldData);
+ //TODO Add TrafficSignalControllers in mantleapi
+ //trafficLightNetwork = TrafficLightNetworkBuilder::Build(sceneryDynamics.GetTrafficSignalControllers(), worldData);
auto it = trafficLightNetwork.getOsiTrafficLightIds();
dataBuffer->PutStatic("TrafficLights", it, false);
return true;
}
-AgentInterface &WorldImplementation::CreateAgentAdapter(const AgentBlueprintInterface& agentBlueprint)
+void WorldImplementation::SetWeather(const mantle_api::Weather& weather)
+{
+ worldData.SetEnvironment(weather);
+}
+
+
+AgentInterface &WorldImplementation::CreateAgentAdapter(const AgentBuildInstructions &agentBuildInstructions)
{
const auto id = repository.Register(openpass::entity::EntityType::MovingObject,
- openpass::utils::GetEntityInfo(agentBlueprint));
+ openpass::utils::GetEntityInfo(agentBuildInstructions));
auto &movingObject = worldData.AddMovingObject(id);
auto &agent = agentNetwork.CreateAgent(movingObject, this, callbacks, localizer);
movingObject.SetLink(&agent);
- agent.InitParameter(agentBlueprint);
+ agent.InitParameter(agentBuildInstructions);
worldObjects.push_back(&agent);
return agent;
}
@@ -243,7 +249,7 @@ std::string WorldImplementation::GetTimeOfDay() const
return worldParameter.timeOfDay;
}
-double WorldImplementation::GetVisibilityDistance() const
+units::length::meter_t WorldImplementation::GetVisibilityDistance() const
{
return worldParameter.visibilityDistance;
}
@@ -253,45 +259,45 @@ double WorldImplementation::GetFriction() const
return worldParameter.friction;
}
-RouteQueryResult<std::vector<CommonTrafficSign::Entity>> WorldImplementation::GetTrafficSignsInRange(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double startDistance, double searchRange) const
+RouteQueryResult<std::vector<CommonTrafficSign::Entity>> WorldImplementation::GetTrafficSignsInRange(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t startDistance, units::length::meter_t searchRange) const
{
const auto laneMultiStream = worldDataQuery.CreateLaneMultiStream(roadGraph, startNode, laneId, startDistance);
- double startDistanceOnStream = laneMultiStream->GetPositionByVertexAndS(startNode, startDistance);
+ const auto startDistanceOnStream = laneMultiStream->GetPositionByVertexAndS(startNode, startDistance);
return worldDataQuery.GetTrafficSignsInRange(*laneMultiStream, startDistanceOnStream, searchRange);
}
-RouteQueryResult<std::vector<CommonTrafficSign::Entity> > WorldImplementation::GetRoadMarkingsInRange(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double startDistance, double searchRange) const
+RouteQueryResult<std::vector<CommonTrafficSign::Entity>> WorldImplementation::GetRoadMarkingsInRange(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t startDistance, units::length::meter_t searchRange) const
{
const auto laneMultiStream = worldDataQuery.CreateLaneMultiStream(roadGraph, startNode, laneId, startDistance);
- double startDistanceOnStream = laneMultiStream->GetPositionByVertexAndS(startNode, startDistance);
+ const auto startDistanceOnStream = laneMultiStream->GetPositionByVertexAndS(startNode, startDistance);
return worldDataQuery.GetRoadMarkingsInRange(*laneMultiStream, startDistanceOnStream, searchRange);
}
-RouteQueryResult<std::vector<CommonTrafficLight::Entity>> WorldImplementation::GetTrafficLightsInRange(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double startDistance, double searchRange) const
+RouteQueryResult<std::vector<CommonTrafficLight::Entity>> WorldImplementation::GetTrafficLightsInRange(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t startDistance, units::length::meter_t searchRange) const
{
const auto laneMultiStream = worldDataQuery.CreateLaneMultiStream(roadGraph, startNode, laneId, startDistance);
- double startDistanceOnStream = laneMultiStream->GetPositionByVertexAndS(startNode, startDistance);
+ auto startDistanceOnStream = laneMultiStream->GetPositionByVertexAndS(startNode, startDistance);
return worldDataQuery.GetTrafficLightsInRange(*laneMultiStream, startDistanceOnStream, searchRange);
}
-RouteQueryResult<std::vector<LaneMarking::Entity> > WorldImplementation::GetLaneMarkings(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double startDistance, double range, Side side) const
+RouteQueryResult<std::vector<LaneMarking::Entity>> WorldImplementation::GetLaneMarkings(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t startDistance, units::length::meter_t range, Side side) const
{
const auto laneMultiStream = worldDataQuery.CreateLaneMultiStream(roadGraph, startNode, laneId, startDistance);
- double startDistanceOnStream = laneMultiStream->GetPositionByVertexAndS(startNode, startDistance);
+ const auto startDistanceOnStream = laneMultiStream->GetPositionByVertexAndS(startNode, startDistance);
return worldDataQuery.GetLaneMarkings(*laneMultiStream, startDistanceOnStream, range, side);
}
-RouteQueryResult<RelativeWorldView::Roads> WorldImplementation::GetRelativeJunctions(const RoadGraph &roadGraph, RoadGraphVertex startNode, double startDistance, double range) const
+RouteQueryResult<RelativeWorldView::Roads> WorldImplementation::GetRelativeJunctions(const RoadGraph &roadGraph, RoadGraphVertex startNode, units::length::meter_t startDistance, units::length::meter_t range) const
{
const auto roadMultiStream = worldDataQuery.CreateRoadMultiStream(roadGraph, startNode);
- double startDistanceOnStream = roadMultiStream->GetPositionByVertexAndS(startNode, startDistance);
+ const auto startDistanceOnStream = roadMultiStream->GetPositionByVertexAndS(startNode, startDistance);
return worldDataQuery.GetRelativeJunctions(*roadMultiStream, startDistanceOnStream, range);
}
-RouteQueryResult<RelativeWorldView::Roads> WorldImplementation::GetRelativeRoads(const RoadGraph& roadGraph, RoadGraphVertex startNode, double startDistance, double range) const
+RouteQueryResult<RelativeWorldView::Roads> WorldImplementation::GetRelativeRoads(const RoadGraph& roadGraph, RoadGraphVertex startNode, units::length::meter_t startDistance, units::length::meter_t range) const
{
const auto roadMultiStream = worldDataQuery.CreateRoadMultiStream(roadGraph, startNode);
- double startDistanceOnStream = roadMultiStream->GetPositionByVertexAndS(startNode, startDistance);
+ const auto startDistanceOnStream = roadMultiStream->GetPositionByVertexAndS(startNode, startDistance);
return worldDataQuery.GetRelativeRoads(*roadMultiStream, startDistanceOnStream, range);
}
@@ -320,13 +326,13 @@ RoadNetworkElement WorldImplementation::GetRoadPredecessor(std::string roadId) c
return worldDataQuery.GetRoadPredecessor(roadId);
}
-std::pair<RoadGraph, RoadGraphVertex> WorldImplementation::GetRoadGraph(const RouteElement& start, int maxDepth, bool inDrivingDirection) const
+std::pair<RoadGraph, RoadGraphVertex> WorldImplementation::GetRoadGraph(const RouteElement &start, int maxDepth, bool inDrivingDirection) const
{
auto startVertex = worldData.GetRoadGraphVertexMapping().at(start);
return RouteCalculation::FilterRoadGraphByStartPosition(worldData.GetRoadGraph(), startVertex, maxDepth, inDrivingDirection);
}
-std::map<RoadGraphEdge, double> WorldImplementation::GetEdgeWeights(const RoadGraph& roadGraph) const
+std::map<RoadGraphEdge, double> WorldImplementation::GetEdgeWeights(const RoadGraph &roadGraph) const
{
return worldDataQuery.GetEdgeWeights(roadGraph);
}
@@ -336,9 +342,9 @@ std::unique_ptr<RoadStreamInterface> WorldImplementation::GetRoadStream(const st
return worldDataQuery.CreateRoadStream(route);
}
-AgentInterface* WorldImplementation::GetEgoAgent()
+AgentInterface *WorldImplementation::GetEgoAgent()
{
- for (auto& agent : agentNetwork.GetAgents())
+ for (auto &agent : agentNetwork.GetAgents())
{
if (agent.IsEgoAgent())
{
@@ -349,9 +355,9 @@ AgentInterface* WorldImplementation::GetEgoAgent()
return nullptr;
}
-AgentInterface* WorldImplementation::GetAgentByName(const std::string& scenarioName)
+AgentInterface *WorldImplementation::GetAgentByName(const std::string &scenarioName)
{
- for (auto& agent : agentNetwork.GetAgents())
+ for (auto &agent : agentNetwork.GetAgents())
{
if (agent.GetScenarioName() == (scenarioName))
{
@@ -369,96 +375,96 @@ RouteQueryResult<std::optional<GlobalRoadPosition>> WorldImplementation::Resolve
}
RouteQueryResult<Obstruction> WorldImplementation::GetObstruction(const RoadGraph &roadGraph, RoadGraphVertex startNode, const GlobalRoadPosition &ownPosition,
- const std::map<ObjectPoint, Common::Vector2d> &points, const RoadIntervals &touchedRoads) const
+ const std::map<ObjectPoint, Common::Vector2d<units::length::meter_t>> &points, const RoadIntervals &touchedRoads) const
{
const auto laneMultiStream = worldDataQuery.CreateLaneMultiStream(roadGraph, startNode, ownPosition.laneId, ownPosition.roadPosition.s);
return worldDataQuery.GetObstruction(*laneMultiStream, ownPosition.roadPosition.t, points, touchedRoads);
}
-RouteQueryResult<RelativeWorldView::Lanes> WorldImplementation::GetRelativeLanes(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double distance, double range, bool includeOncoming) const
+RouteQueryResult<RelativeWorldView::Lanes> WorldImplementation::GetRelativeLanes(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t distance, units::length::meter_t range, bool includeOncoming) const
{
const auto roadMultiStream = worldDataQuery.CreateRoadMultiStream(roadGraph, startNode);
- double startDistanceOnStream = roadMultiStream->GetPositionByVertexAndS(startNode, distance);
+ const auto startDistanceOnStream = roadMultiStream->GetPositionByVertexAndS(startNode, distance);
return worldDataQuery.GetRelativeLanes(*roadMultiStream, startDistanceOnStream, laneId, range, includeOncoming);
}
-RouteQueryResult<std::optional<int> > WorldImplementation::GetRelativeLaneId(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, double distance, GlobalRoadPositions targetPosition) const
+RouteQueryResult<std::optional<int>> WorldImplementation::GetRelativeLaneId(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t distance, GlobalRoadPositions targetPosition) const
{
const auto roadMultiStream = worldDataQuery.CreateRoadMultiStream(roadGraph, startNode);
- double startDistanceOnStream = roadMultiStream->GetPositionByVertexAndS(startNode, distance);
+ const auto startDistanceOnStream = roadMultiStream->GetPositionByVertexAndS(startNode, distance);
return worldDataQuery.GetRelativeLaneId(*roadMultiStream, startDistanceOnStream, laneId, targetPosition);
}
-RouteQueryResult<AgentInterfaces > WorldImplementation::GetAgentsInRange(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double startDistance, double backwardRange, double forwardRange) const
+RouteQueryResult<AgentInterfaces> WorldImplementation::GetAgentsInRange(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t startDistance, units::length::meter_t backwardRange, units::length::meter_t forwardRange) const
{
const auto laneMultiStream = worldDataQuery.CreateLaneMultiStream(roadGraph, startNode, laneId, startDistance);
- double startDistanceOnStream = laneMultiStream->GetPositionByVertexAndS(startNode, startDistance);
+ const auto startDistanceOnStream = laneMultiStream->GetPositionByVertexAndS(startNode, startDistance);
const auto queryResult = worldDataQuery.GetObjectsOfTypeInRange<OWL::Interfaces::MovingObject>(*laneMultiStream, startDistanceOnStream - backwardRange, startDistanceOnStream + forwardRange);
RouteQueryResult<AgentInterfaces> result;
- for (const auto& [node, objects]: queryResult)
+ for (const auto &[node, objects] : queryResult)
{
result[node] = get_transformed<AgentInterface>(objects);
}
return result;
}
-RouteQueryResult<std::vector<const WorldObjectInterface*>> WorldImplementation::GetObjectsInRange(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double startDistance, double backwardRange, double forwardRange) const
+RouteQueryResult<std::vector<const WorldObjectInterface *>> WorldImplementation::GetObjectsInRange(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t startDistance, units::length::meter_t backwardRange, units::length::meter_t forwardRange) const
{
const auto laneMultiStream = worldDataQuery.CreateLaneMultiStream(roadGraph, startNode, laneId, startDistance);
- double startDistanceOnStream = laneMultiStream->GetPositionByVertexAndS(startNode, startDistance);
+ const auto startDistanceOnStream = laneMultiStream->GetPositionByVertexAndS(startNode, startDistance);
const auto queryResult = worldDataQuery.GetObjectsOfTypeInRange<OWL::Interfaces::WorldObject>(*laneMultiStream, startDistanceOnStream - backwardRange, startDistanceOnStream + forwardRange);
- RouteQueryResult<std::vector<const WorldObjectInterface*>> result;
- for (const auto& [node, objects]: queryResult)
+ RouteQueryResult<std::vector<const WorldObjectInterface *>> result;
+ for (const auto &[node, objects] : queryResult)
{
result[node] = get_transformed<WorldObjectInterface>(objects);
}
return result;
}
-std::vector<const AgentInterface *> WorldImplementation::GetAgentsInRangeOfJunctionConnection(std::string connectingRoadId, double range) const
+std::vector<const AgentInterface *> WorldImplementation::GetAgentsInRangeOfJunctionConnection(std::string connectingRoadId, units::length::meter_t range) const
{
auto movingObjects = worldDataQuery.GetMovingObjectsInRangeOfJunctionConnection(connectingRoadId, range);
return get_transformed<AgentInterface>(movingObjects);
}
-double WorldImplementation::GetDistanceToConnectorEntrance(/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const
+units::length::meter_t WorldImplementation::GetDistanceToConnectorEntrance(/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const
{
return worldDataQuery.GetDistanceUntilObjectEntersConnector(/*position,*/ intersectingConnectorId, intersectingLaneId, ownConnectorId);
}
-double WorldImplementation::GetDistanceToConnectorDeparture(/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const
+units::length::meter_t WorldImplementation::GetDistanceToConnectorDeparture(/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const
{
return worldDataQuery.GetDistanceUntilObjectLeavesConnector(/*position,*/ intersectingConnectorId, intersectingLaneId, ownConnectorId);
}
-Position WorldImplementation::LaneCoord2WorldCoord(double distanceOnLane, double offset, std::string roadId,
- int laneId) const
+Position WorldImplementation::LaneCoord2WorldCoord(units::length::meter_t distanceOnLane, units::length::meter_t offset, std::string roadId,
+ int laneId) const
{
- OWL::CLane& lane = worldDataQuery.GetLaneByOdId(roadId, laneId, distanceOnLane);
+ OWL::CLane &lane = worldDataQuery.GetLaneByOdId(roadId, laneId, distanceOnLane);
return worldDataQuery.GetPositionByDistanceAndLane(lane, distanceOnLane, offset);
}
-GlobalRoadPositions WorldImplementation::WorldCoord2LaneCoord(double x, double y, double heading) const
+GlobalRoadPositions WorldImplementation::WorldCoord2LaneCoord(units::length::meter_t x, units::length::meter_t y, units::angle::radian_t heading) const
{
- return localizer.Locate({x,y}, heading);
+ return localizer.Locate({x, y}, heading);
}
bool WorldImplementation::IsSValidOnLane(std::string roadId, int laneId,
- double distance) //when necessary optional parameter with reference to get point
+ units::length::meter_t distance) //when necessary optional parameter with reference to get point
{
return worldDataQuery.IsSValidOnLane(roadId, laneId, distance);
}
bool WorldImplementation::IsDirectionalRoadExisting(const std::string &roadId, bool inOdDirection) const
{
- return worldData.GetRoadGraphVertexMapping().find(RouteElement {roadId, inOdDirection}) != worldData.GetRoadGraphVertexMapping().end();
+ return worldData.GetRoadGraphVertexMapping().find(RouteElement{roadId, inOdDirection}) != worldData.GetRoadGraphVertexMapping().end();
}
-bool WorldImplementation::IsLaneTypeValid(const std::string &roadId, const int laneId, const double distanceOnLane, const LaneTypes& validLaneTypes)
+bool WorldImplementation::IsLaneTypeValid(const std::string &roadId, const int laneId, const units::length::meter_t distanceOnLane, const LaneTypes &validLaneTypes)
{
- const auto& laneType = worldDataQuery.GetLaneByOdId(roadId, laneId, distanceOnLane).GetLaneType();
+ const auto &laneType = worldDataQuery.GetLaneByOdId(roadId, laneId, distanceOnLane).GetLaneType();
if (std::find(validLaneTypes.begin(), validLaneTypes.end(), laneType) == validLaneTypes.end())
{
@@ -468,84 +474,82 @@ bool WorldImplementation::IsLaneTypeValid(const std::string &roadId, const int l
return true;
}
-double WorldImplementation::GetLaneCurvature(std::string roadId, int laneId, double position) const
+units::curvature::inverse_meter_t WorldImplementation::GetLaneCurvature(std::string roadId, int laneId, units::length::meter_t position) const
{
- auto& lane = worldDataQuery.GetLaneByOdId(roadId, laneId, position);
+ auto &lane = worldDataQuery.GetLaneByOdId(roadId, laneId, position);
if (!lane.Exists())
{
- return 0.0;
+ return 0.0_i_m;
}
return lane.GetCurvature(position);
}
-RouteQueryResult<std::optional<double> > WorldImplementation::GetLaneCurvature(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double position, double distance) const
+RouteQueryResult<std::optional<units::curvature::inverse_meter_t>> WorldImplementation::GetLaneCurvature(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t position, units::length::meter_t distance) const
{
const auto laneMultiStream = worldDataQuery.CreateLaneMultiStream(roadGraph, startNode, laneId, position);
- double positionOnStream = laneMultiStream->GetPositionByVertexAndS(startNode, position);
+ const auto positionOnStream = laneMultiStream->GetPositionByVertexAndS(startNode, position);
return worldDataQuery.GetLaneCurvature(*laneMultiStream, positionOnStream + distance);
}
-double WorldImplementation::GetLaneWidth(std::string roadId, int laneId, double position) const
+units::length::meter_t WorldImplementation::GetLaneWidth(std::string roadId, int laneId, units::length::meter_t position) const
{
- auto& lane = worldDataQuery.GetLaneByOdId(roadId, laneId, position);
+ auto &lane = worldDataQuery.GetLaneByOdId(roadId, laneId, position);
if (!lane.Exists())
{
- return 0.0;
+ return 0.0_m;
}
return lane.GetWidth(position);
}
-RouteQueryResult<std::optional<double>> WorldImplementation::GetLaneWidth(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double position, double distance) const
+RouteQueryResult<std::optional<units::length::meter_t>> WorldImplementation::GetLaneWidth(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t position, units::length::meter_t distance) const
{
const auto laneMultiStream = worldDataQuery.CreateLaneMultiStream(roadGraph, startNode, laneId, position);
- double positionOnStream = laneMultiStream->GetPositionByVertexAndS(startNode, position);
+ const auto positionOnStream = laneMultiStream->GetPositionByVertexAndS(startNode, position);
return worldDataQuery.GetLaneWidth(*laneMultiStream, positionOnStream + distance);
}
-double WorldImplementation::GetLaneDirection(std::string roadId, int laneId, double position) const
+units::angle::radian_t WorldImplementation::GetLaneDirection(std::string roadId, int laneId, units::length::meter_t position) const
{
- auto& lane = worldDataQuery.GetLaneByOdId(roadId, laneId, position);
+ auto &lane = worldDataQuery.GetLaneByOdId(roadId, laneId, position);
if (!lane.Exists())
{
- return 0.0;
+ return 0.0_rad;
}
return lane.GetDirection(position);
}
-RouteQueryResult<std::optional<double> > WorldImplementation::GetLaneDirection(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double position, double distance) const
+RouteQueryResult<std::optional<units::angle::radian_t>> WorldImplementation::GetLaneDirection(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t position, units::length::meter_t distance) const
{
const auto laneMultiStream = worldDataQuery.CreateLaneMultiStream(roadGraph, startNode, laneId, position);
- double positionOnStream = laneMultiStream->GetPositionByVertexAndS(startNode, position);
+ const auto positionOnStream = laneMultiStream->GetPositionByVertexAndS(startNode, position);
return worldDataQuery.GetLaneDirection(*laneMultiStream, positionOnStream + distance);
}
-RouteQueryResult<double> WorldImplementation::GetDistanceToEndOfLane(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double initialSearchDistance, double maximumSearchLength) const
+RouteQueryResult<units::length::meter_t> WorldImplementation::GetDistanceToEndOfLane(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t initialSearchDistance, units::length::meter_t maximumSearchLength) const
{
return GetDistanceToEndOfLane(roadGraph, startNode, laneId, initialSearchDistance, maximumSearchLength,
{LaneType::Driving, LaneType::Exit, LaneType::OnRamp, LaneType::OffRamp, LaneType::Stop});
}
-RouteQueryResult<double> WorldImplementation::GetDistanceToEndOfLane(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double initialSearchDistance, double maximumSearchLength, const LaneTypes& laneTypes) const
+RouteQueryResult<units::length::meter_t> WorldImplementation::GetDistanceToEndOfLane(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t initialSearchDistance, units::length::meter_t maximumSearchLength, const LaneTypes &laneTypes) const
{
auto laneMultiStream = worldDataQuery.CreateLaneMultiStream(roadGraph, startNode, laneId, initialSearchDistance);
auto initialPositionOnStream = laneMultiStream->GetPositionByVertexAndS(startNode, initialSearchDistance);
return worldDataQuery.GetDistanceToEndOfLane(*laneMultiStream, initialPositionOnStream, maximumSearchLength, laneTypes);
}
-LaneSections WorldImplementation::GetLaneSections(const std::string& roadId) const
+LaneSections WorldImplementation::GetLaneSections(const std::string &roadId) const
{
LaneSections result;
- const auto& road = worldDataQuery.GetRoadByOdId(roadId);
+ const auto &road = worldDataQuery.GetRoadByOdId(roadId);
for (const auto §ion : road->GetSections())
{
LaneSection laneSection;
laneSection.startS = section->GetSOffset();
laneSection.endS = laneSection.startS + section->GetLength();
-
-
- for (const auto& lane : section->GetLanes())
+ for (const auto &lane : section->GetLanes())
{
laneSection.laneIds.push_back(lane->GetOdId());
}
@@ -556,17 +560,15 @@ LaneSections WorldImplementation::GetLaneSections(const std::string& roadId) con
return result;
}
-bool WorldImplementation::IntersectsWithAgent(double x, double y, double rotation, double length, double width,
- double center)
+bool WorldImplementation::IntersectsWithAgent(units::length::meter_t x, units::length::meter_t y, units::angle::radian_t rotation, units::length::meter_t length, units::length::meter_t width,
+ units::length::meter_t center)
{
-
polygon_t polyNewAgent = World::Localization::GetBoundingBox(x, y, length, width, rotation, center);
- for (std::pair<int, AgentInterface*> agent : GetAgents())
+ for (std::pair<int, AgentInterface *> agent : GetAgents())
{
polygon_t polyAgent = agent.second->GetBoundingBox2D();
-
bool intersects = bg::intersects(polyNewAgent, polyAgent);
if (intersects)
{
@@ -583,7 +585,7 @@ Position WorldImplementation::RoadCoord2WorldCoord(RoadPosition roadCoord, std::
return worldDataQuery.GetPositionByDistanceAndLane(lane, roadCoord.s, tOnLane);
}
-double WorldImplementation::GetRoadLength(const std::string& roadId) const
+units::length::meter_t WorldImplementation::GetRoadLength(const std::string &roadId) const
{
return worldDataQuery.GetRoadByOdId(roadId)->GetLength();
}
@@ -592,16 +594,16 @@ void WorldImplementation::InitTrafficObjects()
{
assert(trafficObjects.size() == 0);
- for (auto& baseTrafficObject : worldData.GetStationaryObjects())
+ for (auto &baseTrafficObject : worldData.GetStationaryObjects())
{
- TrafficObjectInterface* trafficObject = baseTrafficObject.second->GetLink<TrafficObjectInterface>();
+ TrafficObjectInterface *trafficObject = baseTrafficObject.second->GetLink<TrafficObjectInterface>();
trafficObjects.push_back(trafficObject);
worldObjects.push_back(trafficObject);
}
}
-RouteQueryResult<std::optional<double>> WorldImplementation::GetDistanceBetweenObjects(const RoadGraph& roadGraph, RoadGraphVertex startNode,
- double ownPosition, const GlobalRoadPositions &target) const
+RouteQueryResult<std::optional<units::length::meter_t>> WorldImplementation::GetDistanceBetweenObjects(const RoadGraph& roadGraph, RoadGraphVertex startNode,
+ units::length::meter_t ownPosition, const GlobalRoadPositions &target) const
{
const auto roadStream = worldDataQuery.CreateRoadMultiStream(roadGraph, startNode);
const auto ownStreamPosition = roadStream->GetPositionByVertexAndS(startNode, ownPosition);
@@ -612,3 +614,9 @@ RadioInterface &WorldImplementation::GetRadio()
{
return radio;
}
+
+uint64_t WorldImplementation::GetUniqueLaneId(std::string roadId, int laneId, units::length::meter_t position) const
+{
+ auto &lane = worldDataQuery.GetLaneByOdId(roadId, laneId, position);
+ return lane.GetId();
+}
diff --git a/sim/src/core/opSimulation/modules/World_OSI/WorldImplementation.h b/sim/src/core/opSimulation/modules/World_OSI/WorldImplementation.h
index 407faec0819c758463a073ef13e3a152c3a5f852..0deb6a893b81633f49f71ee0273714dfecfdd826 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/WorldImplementation.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/WorldImplementation.h
@@ -14,38 +14,35 @@
#pragma once
#include <algorithm>
-#include "include/worldInterface.h"
+
#include "AgentNetwork.h"
-#include "SceneryConverter.h"
-#include "include/parameterInterface.h"
+#include "EntityRepository.h"
#include "Localization.h"
#include "RadioImplementation.h"
-#include "include/dataBufferInterface.h"
-#include "EntityRepository.h"
+#include "SceneryConverter.h"
#include "WorldData.h"
#include "WorldDataQuery.h"
-#include "include/sceneryDynamicsInterface.h"
+#include "include/parameterInterface.h"
-namespace osi3
-{
+namespace osi3 {
class SensorView;
class SensorViewConfiguration;
-}
+} // namespace osi3
struct WorldParameterOSI
{
void Reset()
{
timeOfDay = "";
- visibilityDistance = 0;
+ visibilityDistance = 0_m;
friction = 0.0;
weather = "";
}
- std::string timeOfDay {""};
- int visibilityDistance {0};
- double friction {0.0};
- std::string weather {""};
+ std::string timeOfDay{""};
+ units::length::meter_t visibilityDistance{0};
+ double friction{0.0};
+ std::string weather{""};
TrafficRules trafficRules{};
};
@@ -95,24 +92,24 @@ class WorldImplementation : public WorldInterface
public:
const std::string MODULENAME = "WORLD";
- WorldImplementation(const CallbackInterface* callbacks, StochasticsInterface* stochastics, DataBufferWriteInterface* dataBuffer);
- WorldImplementation(const WorldImplementation&) = delete;
- WorldImplementation(WorldImplementation&&) = delete;
- WorldImplementation& operator=(const WorldImplementation&) = delete;
- WorldImplementation& operator=(WorldImplementation&&) = delete;
+ WorldImplementation(const CallbackInterface *callbacks, StochasticsInterface *stochastics, DataBufferWriteInterface *dataBuffer);
+ WorldImplementation(const WorldImplementation &) = delete;
+ WorldImplementation(WorldImplementation &&) = delete;
+ WorldImplementation &operator=(const WorldImplementation &) = delete;
+ WorldImplementation &operator=(WorldImplementation &&) = delete;
virtual ~WorldImplementation() override;
- AgentInterface* GetAgent(int id) const override;
- const std::vector<const WorldObjectInterface*>& GetWorldObjects() const override;
+ AgentInterface *GetAgent(int id) const override;
+ const std::vector<const WorldObjectInterface *> &GetWorldObjects() const override;
std::map<int, AgentInterface *> GetAgents() override;
const std::vector<int> GetRemovedAgentsInPreviousTimestep() override;
- const std::vector<const TrafficObjectInterface*>& GetTrafficObjects() const override;
- const TrafficRules& GetTrafficRules() const override;
+ const std::vector<const TrafficObjectInterface *> &GetTrafficObjects() const override;
+ const TrafficRules &GetTrafficRules() const override;
// framework internal methods to access members without restrictions
- void ExtractParameter(ParameterInterface* parameters) override;
+ void ExtractParameter(ParameterInterface *parameters) override;
void Reset() override;
void Clear() override;
@@ -120,102 +117,104 @@ public:
// model callbacks
std::string GetTimeOfDay() const override;
- void* GetWorldData() override;
+ void *GetWorldData() override;
void* GetOsiGroundTruth() const override;
void QueueAgentUpdate(std::function<void()> func) override;
- void QueueAgentRemove(const AgentInterface* agent) override;
- void RemoveAgent(const AgentInterface* agent);
+ void QueueAgentRemove(const AgentInterface *agent) override;
+ void RemoveAgent(const AgentInterface *agent);
void PublishGlobalData(int timestamp) override;
void SyncGlobalData(int timestamp) override;
- bool CreateScenery(const SceneryInterface* scenery, const SceneryDynamicsInterface& sceneryDynamics, const TurningRates& turningRates) override;
+ bool CreateScenery(const SceneryInterface* scenery, const TurningRates& turningRates) override;
- AgentInterface* CreateAgentAdapterForAgent() override
+ void SetWeather(const mantle_api::Weather& weather) override;
+
+ AgentInterface *CreateAgentAdapterForAgent() override
{
throw std::runtime_error("WorldImplementation::CreateAgentAdapterForAgent: Deprecated method not implemented (see worldInterface.h)");
}
- AgentInterface &CreateAgentAdapter(const AgentBlueprintInterface& agentBlueprint) override;
+ AgentInterface &CreateAgentAdapter(const AgentBuildInstructions &agentBuildInstructions) override;
- AgentInterface* GetEgoAgent() override;
+ AgentInterface *GetEgoAgent() override;
- AgentInterface* GetAgentByName(const std::string& scenarioName) override;
+ AgentInterface *GetAgentByName(const std::string &scenarioName) override;
RouteQueryResult<std::optional<GlobalRoadPosition>> ResolveRelativePoint(const RoadGraph& roadGraph, RoadGraphVertex startNode, ObjectPointRelative relativePoint, const WorldObjectInterface& object) const override;
- RouteQueryResult<AgentInterfaces> GetAgentsInRange(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double startDistance,
- double backwardRange, double forwardRange) const override;
- RouteQueryResult<std::vector<const WorldObjectInterface*>> GetObjectsInRange(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double startDistance,
- double backwardRange, double forwardRange) const override;
- AgentInterfaces GetAgentsInRangeOfJunctionConnection(std::string connectingRoadId, double range) const override;
+ RouteQueryResult<std::vector<const WorldObjectInterface *>> GetObjectsInRange(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t startDistance,
+ units::length::meter_t backwardRange, units::length::meter_t forwardRange) const override;
+ AgentInterfaces GetAgentsInRangeOfJunctionConnection(std::string connectingRoadId, units::length::meter_t range) const override;
- double GetDistanceToConnectorEntrance(/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const override;
- double GetDistanceToConnectorDeparture(/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const override;
+ units::length::meter_t GetDistanceToConnectorEntrance(/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const override;
+ units::length::meter_t GetDistanceToConnectorDeparture(/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId) const override;
- Position LaneCoord2WorldCoord(double distanceOnLane, double offset, std::string roadId,
- int laneId) const override;
+ Position LaneCoord2WorldCoord(units::length::meter_t distanceOnLane, units::length::meter_t offset, std::string roadId,
+ int laneId) const override;
- GlobalRoadPositions WorldCoord2LaneCoord(double x, double y, double heading) const override;
+ GlobalRoadPositions WorldCoord2LaneCoord(units::length::meter_t x, units::length::meter_t y, units::angle::radian_t heading) const override;
- bool IsSValidOnLane(std::string roadId, int laneId, double distance) override;
+ bool IsSValidOnLane(std::string roadId, int laneId, units::length::meter_t distance) override;
- bool IsDirectionalRoadExisting(const std::string& roadId, bool inOdDirection) const override;
+ bool IsDirectionalRoadExisting(const std::string &roadId, bool inOdDirection) const override;
- bool IsLaneTypeValid(const std::string &roadId, const int laneId, const double distanceOnLane, const LaneTypes& validLaneTypes) override;
+ bool IsLaneTypeValid(const std::string &roadId, const int laneId, const units::length::meter_t distanceOnLane, const LaneTypes &validLaneTypes) override;
- double GetLaneCurvature(std::string roadId, int laneId, double position) const override;
- RouteQueryResult<std::optional<double> > GetLaneCurvature(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double position, double distance) const override;
+ units::curvature::inverse_meter_t GetLaneCurvature(std::string roadId, int laneId, units::length::meter_t position) const override;
+ RouteQueryResult<std::optional<units::curvature::inverse_meter_t>> GetLaneCurvature(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t position, units::length::meter_t distance) const override;
- double GetLaneWidth(std::string roadId, int laneId, double position) const override;
- RouteQueryResult<std::optional<double> > GetLaneWidth(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double position, double distance) const override;
+ units::length::meter_t GetLaneWidth(std::string roadId, int laneId, units::length::meter_t position) const override;
+ RouteQueryResult<std::optional<units::length::meter_t>> GetLaneWidth(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t position, units::length::meter_t distance) const override;
- double GetLaneDirection(std::string roadId, int laneId, double position) const override;
- RouteQueryResult<std::optional<double> > GetLaneDirection(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double position, double distance) const override;
+ units::angle::radian_t GetLaneDirection(std::string roadId, int laneId, units::length::meter_t position) const override;
+ RouteQueryResult<std::optional<units::angle::radian_t>> GetLaneDirection(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t position, units::length::meter_t distance) const override;
- RouteQueryResult<double> GetDistanceToEndOfLane(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double initialSearchDistance,
- double maximumSearchLength) const override;
+ RouteQueryResult<units::length::meter_t> GetDistanceToEndOfLane(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t initialSearchDistance,
+ units::length::meter_t maximumSearchLength) const override;
- RouteQueryResult<double> GetDistanceToEndOfLane(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double initialSearchDistance,
- double maximumSearchLength, const LaneTypes& laneTypes) const override;
+ RouteQueryResult<units::length::meter_t> GetDistanceToEndOfLane(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t initialSearchDistance,
+ units::length::meter_t maximumSearchLength, const LaneTypes &laneTypes) const override;
- RouteQueryResult<std::optional<double>> GetDistanceBetweenObjects(const RoadGraph& roadGraph, RoadGraphVertex startNode, double ownPosition, const GlobalRoadPositions &target) const override;
+ RouteQueryResult<std::optional<units::length::meter_t>> GetDistanceBetweenObjects(const RoadGraph& roadGraph, RoadGraphVertex startNode, units::length::meter_t ownPosition, const GlobalRoadPositions &target) const override;
- LaneSections GetLaneSections(const std::string& roadId) const;
+ LaneSections GetLaneSections(const std::string &roadId) const;
- bool IntersectsWithAgent(double x, double y, double rotation, double length, double width, double center) override;
+ bool IntersectsWithAgent(units::length::meter_t x, units::length::meter_t y, units::angle::radian_t rotation, units::length::meter_t length, units::length::meter_t width, units::length::meter_t center) override;
Position RoadCoord2WorldCoord(RoadPosition roadCoord, std::string roadID) const override;
- double GetRoadLength(const std::string& roadId) const override;
+ units::length::meter_t GetRoadLength(const std::string &roadId) const override;
- double GetVisibilityDistance() const override;
+ units::length::meter_t GetVisibilityDistance() const override;
RouteQueryResult<Obstruction> GetObstruction(const RoadGraph &roadGraph, RoadGraphVertex startNode, const GlobalRoadPosition &ownPosition,
- const std::map<ObjectPoint, Common::Vector2d> &points, const RoadIntervals &touchedRoads) const override;
+ const std::map<ObjectPoint, Common::Vector2d<units::length::meter_t>> &points, const RoadIntervals &touchedRoads) const override;
- RouteQueryResult<std::vector<CommonTrafficSign::Entity>> GetTrafficSignsInRange(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId,
- double startDistance, double searchRange) const override;
+ RouteQueryResult<std::vector<CommonTrafficSign::Entity>> GetTrafficSignsInRange(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId,
+ units::length::meter_t startDistance, units::length::meter_t searchRange) const override;
- RouteQueryResult<std::vector<CommonTrafficSign::Entity>> GetRoadMarkingsInRange(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId,
- double startDistance, double searchRange) const override;
+ RouteQueryResult<std::vector<CommonTrafficSign::Entity>> GetRoadMarkingsInRange(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId,
+ units::length::meter_t startDistance, units::length::meter_t searchRange) const override;
- RouteQueryResult<std::vector<CommonTrafficLight::Entity>> GetTrafficLightsInRange(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId,
- double startDistance, double searchRange) const override;
+ RouteQueryResult<std::vector<CommonTrafficLight::Entity>> GetTrafficLightsInRange(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId,
+ units::length::meter_t startDistance, units::length::meter_t searchRange) const override;
- RouteQueryResult<std::vector<LaneMarking::Entity>> GetLaneMarkings(const RoadGraph& roadGraph, RoadGraphVertex startNode,
- int laneId, double startDistance, double range, Side side) const override;
+ RouteQueryResult<std::vector<LaneMarking::Entity>> GetLaneMarkings(const RoadGraph &roadGraph, RoadGraphVertex startNode,
+ int laneId, units::length::meter_t startDistance, units::length::meter_t range, Side side) const override;
- [[deprecated]] RouteQueryResult<RelativeWorldView::Roads> GetRelativeJunctions(const RoadGraph &roadGraph, RoadGraphVertex startNode, double startDistance, double range) const override;
+ [[deprecated]] RouteQueryResult<RelativeWorldView::Roads> GetRelativeJunctions(const RoadGraph &roadGraph, RoadGraphVertex startNode, units::length::meter_t startDistance, units::length::meter_t range) const override;
- RouteQueryResult<RelativeWorldView::Roads> GetRelativeRoads (const RoadGraph& roadGraph, RoadGraphVertex startNode, double startDistance, double range) const override;
+ RouteQueryResult<RelativeWorldView::Roads> GetRelativeRoads (const RoadGraph& roadGraph, RoadGraphVertex startNode, units::length::meter_t startDistance, units::length::meter_t range) const override;
- RouteQueryResult<RelativeWorldView::Lanes> GetRelativeLanes(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double distance, double range, bool includeOncoming = true) const override;
+ RouteQueryResult<RelativeWorldView::Lanes> GetRelativeLanes(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t distance, units::length::meter_t range, bool includeOncoming = true) const override;
- RouteQueryResult<std::optional<int>> GetRelativeLaneId(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double distance, GlobalRoadPositions targetPosition) const override;
+ RouteQueryResult<std::optional<int>> GetRelativeLaneId(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t distance, GlobalRoadPositions targetPosition) const override;
+ RouteQueryResult<AgentInterfaces> GetAgentsInRange(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t startDistance, units::length::meter_t backwardRange, units::length::meter_t forwardRange) const override;
+
std::vector<JunctionConnection> GetConnectionsOnJunction(std::string junctionId, std::string incomingRoadId) const override;
std::vector<IntersectingConnection> GetIntersectingConnections(std::string connectingRoadId) const override;
@@ -226,11 +225,11 @@ public:
RoadNetworkElement GetRoadPredecessor(std::string roadId) const override;
- std::pair<RoadGraph, RoadGraphVertex> GetRoadGraph(const RouteElement& start, int maxDepth, bool inDrivingDirection = true) const override;
+ std::pair<RoadGraph, RoadGraphVertex> GetRoadGraph(const RouteElement &start, int maxDepth, bool inDrivingDirection = true) const override;
- std::map<RoadGraphEdge, double> GetEdgeWeights (const RoadGraph& roadGraph) const override;
+ std::map<RoadGraphEdge, double> GetEdgeWeights(const RoadGraph &roadGraph) const override;
- std::unique_ptr<RoadStreamInterface> GetRoadStream(const std::vector<RouteElement>& route) const override;
+ std::unique_ptr<RoadStreamInterface> GetRoadStream(const std::vector<RouteElement> &route) const override;
double GetFriction() const override;
@@ -246,7 +245,7 @@ public:
{
throw std::runtime_error("WorldImplementation::SetTimeOfDay not implemented");
}
- virtual void SetWeekday([[maybe_unused]]Weekday weekday) override
+ virtual void SetWeekday([[maybe_unused]] Weekday weekday) override
{
throw std::runtime_error("WorldImplementation::SetWeekday not implemented");
}
@@ -285,6 +284,8 @@ public:
RadioInterface& GetRadio() override;
+ uint64_t GetUniqueLaneId(std::string roadId, int laneId, units::length::meter_t position) const override;
+
protected:
//-----------------------------------------------------------------------------
//! Provides callback to LOG() macro
@@ -295,9 +296,9 @@ protected:
//! @param[in] message Message to log
//-----------------------------------------------------------------------------
void Log(CbkLogLevel logLevel,
- const char* file,
+ const char *file,
int line,
- const std::string& message)
+ const std::string &message)
{
if (callbacks)
{
@@ -315,7 +316,7 @@ private:
WorldDataQuery worldDataQuery{worldData};
World::Localization::Localizer localizer{worldData};
- std::vector<const TrafficObjectInterface*> trafficObjects;
+ std::vector<const TrafficObjectInterface *> trafficObjects;
// world parameters
WorldParameterOSI worldParameter;
@@ -324,18 +325,18 @@ private:
TrafficLightNetwork trafficLightNetwork;
- const CallbackInterface* callbacks;
+ const CallbackInterface *callbacks;
- mutable std::vector<const WorldObjectInterface*> worldObjects;
+ mutable std::vector<const WorldObjectInterface *> worldObjects;
const int stepSizeLookingForValidS = 100;
- const SceneryInterface* scenery;
+ const SceneryInterface *scenery;
RadioImplementation radio;
- std::unordered_map<const OWL::Interfaces::MovingObject*, AgentInterface*> movingObjectMapping{{nullptr, nullptr}};
- std::unordered_map<const OWL::Interfaces::MovingObject*, TrafficObjectInterface*> stationaryObjectMapping{{nullptr, nullptr}};
+ std::unordered_map<const OWL::Interfaces::MovingObject *, AgentInterface *> movingObjectMapping{{nullptr, nullptr}};
+ std::unordered_map<const OWL::Interfaces::MovingObject *, TrafficObjectInterface *> stationaryObjectMapping{{nullptr, nullptr}};
- DataBufferWriteInterface* dataBuffer;
+ DataBufferWriteInterface *dataBuffer;
openpass::entity::Repository repository;
std::unique_ptr<SceneryConverter> sceneryConverter;
};
diff --git a/sim/src/core/opSimulation/modules/World_OSI/WorldObjectAdapter.cpp b/sim/src/core/opSimulation/modules/World_OSI/WorldObjectAdapter.cpp
index 50852b641aa24b4c3a646f69d5c1847931ce89eb..b4d2b4e6d5aeef37130e1f217c9bfeda7ce84c44 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/WorldObjectAdapter.cpp
+++ b/sim/src/core/opSimulation/modules/World_OSI/WorldObjectAdapter.cpp
@@ -27,12 +27,12 @@ const polygon_t& WorldObjectAdapter::GetBoundingBox2D() const
return boundingBox;
}
-double WorldObjectAdapter::GetDistanceReferencePointToLeadingEdge() const
+units::length::meter_t WorldObjectAdapter::GetDistanceReferencePointToLeadingEdge() const
{
return baseTrafficObject.GetDimension().length / 2.0;
}
-double WorldObjectAdapter::GetHeight() const
+units::length::meter_t WorldObjectAdapter::GetHeight() const
{
return baseTrafficObject.GetDimension().height;
}
@@ -42,32 +42,32 @@ int WorldObjectAdapter::GetId() const
return baseTrafficObject.GetId();
}
-double WorldObjectAdapter::GetLength() const
+units::length::meter_t WorldObjectAdapter::GetLength() const
{
return baseTrafficObject.GetDimension().length;
}
-double WorldObjectAdapter::GetPositionX() const
+units::length::meter_t WorldObjectAdapter::GetPositionX() const
{
return baseTrafficObject.GetReferencePointPosition().x;
}
-double WorldObjectAdapter::GetPositionY() const
+units::length::meter_t WorldObjectAdapter::GetPositionY() const
{
return baseTrafficObject.GetReferencePointPosition().y;
}
-double WorldObjectAdapter::GetWidth() const
+units::length::meter_t WorldObjectAdapter::GetWidth() const
{
return baseTrafficObject.GetDimension().width;
}
-double WorldObjectAdapter::GetYaw() const
+units::angle::radian_t WorldObjectAdapter::GetYaw() const
{
return baseTrafficObject.GetAbsOrientation().yaw;
}
-double WorldObjectAdapter::GetRoll() const
+units::angle::radian_t WorldObjectAdapter::GetRoll() const
{
return baseTrafficObject.GetAbsOrientation().roll;
}
@@ -79,28 +79,28 @@ const OWL::Interfaces::WorldObject& WorldObjectAdapter::GetBaseTrafficObject() c
const polygon_t WorldObjectAdapter::CalculateBoundingBox() const
{
- const double length = GetLength();
- const double width = GetWidth();
- const double height = GetHeight();
- const double rotation = GetYaw();
- const double roll = GetRoll();
+ const auto length = GetLength();
+ const auto width = GetWidth();
+ const auto height = GetHeight();
+ const auto rotation = GetYaw();
+ const auto roll = GetRoll();
- const double x = GetPositionX();
- const double y = GetPositionY();
+ const double x = units::unit_cast<double>(GetPositionX());
+ const double y = units::unit_cast<double>(GetPositionY());
- const double center = GetDistanceReferencePointToLeadingEdge();
+ const auto center = GetDistanceReferencePointToLeadingEdge();
- 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);
+ const auto halfWidth = width / 2.0;
+ const auto widthLeft = halfWidth * units::math::cos(roll) + (roll < 0_rad ? height * units::math::sin(-roll) : 0_m);
+ const auto widthRight = halfWidth * units::math::cos(roll) + (roll > 0_rad ? height * units::math::sin(roll) : 0_m);
point_t boxPoints[]
{
- {center - length, -widthRight},
- {center - length, widthLeft},
- {center, widthLeft},
- {center, -widthRight},
- {center - length, -widthRight}
+ {units::unit_cast<double>(center - length), units::unit_cast<double>(-widthRight)},
+ {units::unit_cast<double>(center - length), units::unit_cast<double>( widthLeft)},
+ {units::unit_cast<double>(center), units::unit_cast<double>( widthLeft)},
+ {units::unit_cast<double>(center), units::unit_cast<double>(-widthRight)},
+ {units::unit_cast<double>(center - length), units::unit_cast<double>(-widthRight)}
};
polygon_t box;
@@ -110,7 +110,7 @@ const polygon_t WorldObjectAdapter::CalculateBoundingBox() const
bt::translate_transformer<double, 2, 2> translate(x, y);
// rotation in mathematical negativ order (boost) -> invert to match
- bt::rotate_transformer<bg::radian, double, 2, 2> rotate(-rotation);
+ bt::rotate_transformer<bg::radian, double, 2, 2> rotate(-rotation.value());
bg::transform(box, boxTemp, rotate);
bg::transform(boxTemp, box, translate);
@@ -120,30 +120,36 @@ const polygon_t WorldObjectAdapter::CalculateBoundingBox() const
namespace WorldObjectCommon {
-double GetFrontDeltaS(double length, double width, double hdg, double distanceReferencePointToLeadingEdge)
+units::length::meter_t GetFrontDeltaS(units::length::meter_t length, units::length::meter_t width, units::angle::radian_t hdg, units::length::meter_t distanceReferencePointToLeadingEdge)
{
auto l_front = distanceReferencePointToLeadingEdge;
auto l_rear = distanceReferencePointToLeadingEdge - length;
auto w = width / 2;
- auto s1 = l_front * cos(hdg) - w * sin(hdg);
- auto s2 = l_front * cos(hdg) + w * sin(hdg);
- auto s3 = l_rear * cos(hdg) - w * sin(hdg);
- auto s4 = l_rear * cos(hdg) + w * sin(hdg);
+ const auto sinHeading = units::math::sin(hdg);
+ const auto cosHeading = units::math::cos(hdg);
+
+ const units::length::meter_t s1 = l_front * cosHeading - w * sinHeading;
+ const units::length::meter_t s2 = l_front * cosHeading + w * sinHeading;
+ const units::length::meter_t s3 = l_rear * cosHeading - w * sinHeading;
+ const units::length::meter_t s4 = l_rear * cosHeading + w * sinHeading;
return std::max({s1, s2, s3, s4});
}
-double GetRearDeltaS(double length, double width, double hdg, double distanceReferencePointToLeadingEdge)
+units::length::meter_t GetRearDeltaS(units::length::meter_t length, units::length::meter_t width, units::angle::radian_t hdg, units::length::meter_t distanceReferencePointToLeadingEdge)
{
auto l_front = distanceReferencePointToLeadingEdge;
auto l_rear = distanceReferencePointToLeadingEdge - length;
auto w = width / 2;
- auto s1 = l_front * cos(hdg) - w * sin(hdg);
- auto s2 = l_front * cos(hdg) + w * sin(hdg);
- auto s3 = l_rear * cos(hdg) - w * sin(hdg);
- auto s4 = l_rear * cos(hdg) + w * sin(hdg);
+ const auto sinHeading = units::math::sin(hdg);
+ const auto cosHeading = units::math::cos(hdg);
+
+ auto s1 = l_front * cosHeading - w * sinHeading;
+ auto s2 = l_front * cosHeading + w * sinHeading;
+ auto s3 = l_rear * cosHeading - w * sinHeading;
+ auto s4 = l_rear * cosHeading + w * sinHeading;
return std::min({s1, s2, s3, s4});
}
diff --git a/sim/src/core/opSimulation/modules/World_OSI/WorldObjectAdapter.h b/sim/src/core/opSimulation/modules/World_OSI/WorldObjectAdapter.h
index 313ed97894055e81d4dffbbeee6153cb831253ff..2378c45d707ed95b88c1230d086cffd91e9cf0d5 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/WorldObjectAdapter.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/WorldObjectAdapter.h
@@ -17,23 +17,23 @@ class WorldObjectAdapter : public virtual WorldObjectInterface
{
public:
const polygon_t& GetBoundingBox2D() const;
- double GetHeight() const;
+ units::length::meter_t GetHeight() const;
int GetId() const;
- double GetLength() const;
- double GetPositionX() const;
- double GetPositionY() const;
- double GetPositionLateral() const;
- double GetWidth() const;
- double GetYaw() const;
- double GetRoll() const;
- double GetDistanceReferencePointToLeadingEdge() const;
+ units::length::meter_t GetLength() const;
+ units::length::meter_t GetPositionX() const;
+ units::length::meter_t GetPositionY() const;
+ units::length::meter_t GetPositionLateral() const;
+ units::length::meter_t GetWidth() const;
+ units::angle::radian_t GetYaw() const;
+ units::angle::radian_t GetRoll() const;
+ units::length::meter_t GetDistanceReferencePointToLeadingEdge() const;
const OWL::Interfaces::WorldObject& GetBaseTrafficObject() const;
protected:
OWL::Interfaces::WorldObject& baseTrafficObject;
- double s{0.0};
+ units::length::meter_t s{0.0};
mutable bool boundingBoxNeedsUpdate{true};
private:
@@ -53,8 +53,8 @@ public:
namespace WorldObjectCommon {
-double GetFrontDeltaS(double length, double width, double hdg, double distanceReferencePointToLeadingEdge);
-double GetRearDeltaS(double length, double width, double hdg, double distanceReferencePointToLeadingEdge);
+units::length::meter_t GetFrontDeltaS(units::length::meter_t length, units::length::meter_t width, units::angle::radian_t hdg, units::length::meter_t distanceReferencePointToLeadingEdge);
+units::length::meter_t GetRearDeltaS(units::length::meter_t length, units::length::meter_t width, units::angle::radian_t hdg, units::length::meter_t distanceReferencePointToLeadingEdge);
} // namespace WorldObjectCommon
diff --git a/sim/src/core/opSimulation/modules/World_OSI/WorldToRoadCoordinateConverter.cpp b/sim/src/core/opSimulation/modules/World_OSI/WorldToRoadCoordinateConverter.cpp
index 6d51d7e02538ee895874fd378a43a4f0d34b1580..17ca9b3715d496cc28b39db8248ab16313271e1c 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/WorldToRoadCoordinateConverter.cpp
+++ b/sim/src/core/opSimulation/modules/World_OSI/WorldToRoadCoordinateConverter.cpp
@@ -16,7 +16,7 @@
namespace World {
namespace Localization {
-bool WorldToRoadCoordinateConverter::IsConvertible(const Common::Vector2d& point) const
+bool WorldToRoadCoordinateConverter::IsConvertible(const Common::Vector2d<units::length::meter_t>& point) const
{
return CommonHelper::IntersectionCalculation::IsWithin(element.laneGeometryElement.joints.current.points.left,
element.laneGeometryElement.joints.next.points.left,
@@ -25,7 +25,7 @@ bool WorldToRoadCoordinateConverter::IsConvertible(const Common::Vector2d& point
point);
}
-RoadPosition WorldToRoadCoordinateConverter::GetRoadCoordinate(const Common::Vector2d& point, double hdg) const
+RoadPosition WorldToRoadCoordinateConverter::GetRoadCoordinate(const Common::Vector2d<units::length::meter_t>& point, units::angle::radian_t hdg) const
{
const auto intersectionPoint = GetIntersectionPoint(point);
const auto s = CalcS(intersectionPoint);
@@ -34,15 +34,15 @@ RoadPosition WorldToRoadCoordinateConverter::GetRoadCoordinate(const Common::Vec
return {s, t, yaw};
}
-double WorldToRoadCoordinateConverter::GetS(const Common::Vector2d& point) const
+units::length::meter_t WorldToRoadCoordinateConverter::GetS(const Common::Vector2d<units::length::meter_t>& point) const
{
const auto intersectionPoint = GetIntersectionPoint(point);
return CalcS(intersectionPoint);
}
-Common::Vector2d WorldToRoadCoordinateConverter::GetIntersectionPoint(const Common::Vector2d& point) const
+Common::Vector2d<units::length::meter_t> WorldToRoadCoordinateConverter::GetIntersectionPoint(const Common::Vector2d<units::length::meter_t>& point) const
{
- Common::Vector2d intersectionPoint;
+ Common::Vector2d<units::length::meter_t> intersectionPoint;
if (element.tAxisCenter)
{
intersectionPoint = CommonHelper::CalculateIntersection(element.laneGeometryElement.joints.current.points.reference, element.referenceVector,
@@ -56,36 +56,35 @@ Common::Vector2d WorldToRoadCoordinateConverter::GetIntersectionPoint(const Comm
return intersectionPoint;
}
-double WorldToRoadCoordinateConverter::CalcS(const Common::Vector2d& intersectionPoint) const
+units::length::meter_t WorldToRoadCoordinateConverter::CalcS(const Common::Vector2d<units::length::meter_t>& intersectionPoint) const
{
- Common::Vector2d sVector = intersectionPoint - element.laneGeometryElement.joints.current.points.reference;
- return element.laneGeometryElement.joints.current.sOffset + sVector.Length() * element.referenceScale;
-
+ Common::Vector2d<units::length::meter_t> sVector = intersectionPoint - element.laneGeometryElement.joints.current.points.reference;
+ return element.laneGeometryElement.joints.current.sOffset + units::length::meter_t(sVector.Length() * element.referenceScale);
}
-double WorldToRoadCoordinateConverter::CalcT(const Common::Vector2d& point, const Common::Vector2d& intersectionPoint) const
+units::length::meter_t WorldToRoadCoordinateConverter::CalcT(const Common::Vector2d<units::length::meter_t>& point, const Common::Vector2d<units::length::meter_t>& intersectionPoint) const
{
- Common::Vector2d tVector = point - intersectionPoint;
- return IsLeftOfReferenceAxis(tVector) ? tVector.Length() : - tVector.Length();
-
+ Common::Vector2d<units::length::meter_t> tVector = point - intersectionPoint;
+ units::length::meter_t tCoordinate{tVector.Length()};
+ return IsLeftOfReferenceAxis(tVector) ? tCoordinate : -tCoordinate;
}
-double WorldToRoadCoordinateConverter::CalcYaw(double hdg) const
+units::angle::radian_t WorldToRoadCoordinateConverter::CalcYaw(units::angle::radian_t hdg) const
{
// Updated for direction awareness - might be an issue, when cars try to turn around
return CommonHelper::SetAngleToValidRange(hdg - element.laneGeometryElement.joints.current.sHdg);
}
-Common::Vector2d WorldToRoadCoordinateConverter::ProjectOntoReferenceAxis(const Common::Vector2d& point) const
+Common::Vector2d<units::length::meter_t> WorldToRoadCoordinateConverter::ProjectOntoReferenceAxis(const Common::Vector2d<units::length::meter_t>& point) const
{
const double lamdba = element.referenceVector.Dot(point - element.laneGeometryElement.joints.current.points.reference)
/ element.referenceVector.Dot(element.referenceVector);
return element.laneGeometryElement.joints.current.points.reference + element.referenceVector * lamdba;
}
-bool WorldToRoadCoordinateConverter::IsLeftOfReferenceAxis(const Common::Vector2d& vector) const
+bool WorldToRoadCoordinateConverter::IsLeftOfReferenceAxis(const Common::Vector2d<units::length::meter_t>& vector) const
{
- Common::Vector2d vectorToLeft{-element.referenceVector.y, element.referenceVector.x};
+ Common::Vector2d<units::length::meter_t> vectorToLeft{-element.referenceVector.y, element.referenceVector.x};
return vector.Dot(vectorToLeft) >= 0;
}
diff --git a/sim/src/core/opSimulation/modules/World_OSI/WorldToRoadCoordinateConverter.h b/sim/src/core/opSimulation/modules/World_OSI/WorldToRoadCoordinateConverter.h
index d26756d9f42bb754441ddb8da4416e91c25b7916..8c2563f5afed6a7a2af66d24c672b8af453d5e69 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/WorldToRoadCoordinateConverter.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/WorldToRoadCoordinateConverter.h
@@ -23,20 +23,20 @@ public:
element{localizationElement}
{}
- bool IsConvertible(const Common::Vector2d& point) const;
+ bool IsConvertible(const Common::Vector2d<units::length::meter_t>& point) const;
- RoadPosition GetRoadCoordinate(const Common::Vector2d& point, double hdg) const;
+ RoadPosition GetRoadCoordinate(const Common::Vector2d<units::length::meter_t>& point, units::angle::radian_t hdg) const;
- double GetS(const Common::Vector2d& point) const;
+ units::length::meter_t GetS(const Common::Vector2d<units::length::meter_t>& point) const;
private:
- Common::Vector2d GetIntersectionPoint(const Common::Vector2d& point) const;
- double CalcS(const Common::Vector2d& intersectionPoint) const;
- double CalcT(const Common::Vector2d& point, const Common::Vector2d& intersectionPoint) const;
- double CalcYaw(double hdg) const;
- Common::Vector2d ProjectOntoReferenceAxis(const Common::Vector2d& point) const;
+ Common::Vector2d<units::length::meter_t> GetIntersectionPoint(const Common::Vector2d<units::length::meter_t>& point) const;
+ units::length::meter_t CalcS(const Common::Vector2d<units::length::meter_t>& intersectionPoint) const;
+ units::length::meter_t CalcT(const Common::Vector2d<units::length::meter_t>& point, const Common::Vector2d<units::length::meter_t>& intersectionPoint) const;
+ units::angle::radian_t CalcYaw(units::angle::radian_t hdg) const;
+ Common::Vector2d<units::length::meter_t> ProjectOntoReferenceAxis(const Common::Vector2d<units::length::meter_t>& point) const;
- bool IsLeftOfReferenceAxis(const Common::Vector2d& vector) const;
+ bool IsLeftOfReferenceAxis(const Common::Vector2d<units::length::meter_t>& vector) const;
};
diff --git a/sim/src/core/opSimulation/modules/World_OSI/egoAgent.cpp b/sim/src/core/opSimulation/modules/World_OSI/egoAgent.cpp
index a96402e4cae0aa999fac24583a24f95385b8694a..79bfcec8e249490a7f2881984933f820fae486d8 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/egoAgent.cpp
+++ b/sim/src/core/opSimulation/modules/World_OSI/egoAgent.cpp
@@ -11,12 +11,12 @@
#include "egoAgent.h"
-const AgentInterface* EgoAgent::GetAgent() const
+const AgentInterface *EgoAgent::GetAgent() const
{
return agent;
}
-void EgoAgent::SetRoadGraph(const RoadGraph&& roadGraph, RoadGraphVertex current, RoadGraphVertex target)
+void EgoAgent::SetRoadGraph(const RoadGraph &&roadGraph, RoadGraphVertex current, RoadGraphVertex target)
{
graphValid = true;
this->roadGraph = roadGraph;
@@ -61,7 +61,7 @@ void EgoAgent::UpdatePositionInGraph()
rootOfWayToTargetGraph--;
auto routeElement = get(RouteElement(), wayToTarget, rootOfWayToTargetGraph);
auto [successorBegin, successorsEnd] = adjacent_vertices(current, roadGraph);
- auto successor = std::find_if(successorBegin, successorsEnd, [&](const auto& vertex){return get(RouteElement(), roadGraph, vertex) == routeElement;});
+ auto successor = std::find_if(successorBegin, successorsEnd, [&](const auto &vertex) { return get(RouteElement(), roadGraph, vertex) == routeElement; });
if (successor == successorsEnd)
{
graphValid = false;
@@ -91,17 +91,17 @@ void EgoAgent::SetNewTarget(size_t alternativeIndex)
SetWayToTarget(alternatives[alternativeIndex]);
}
-const std::string& EgoAgent::GetRoadId() const
+const std::string &EgoAgent::GetRoadId() const
{
return get(RouteElement(), roadGraph, current).roadId;
}
-double EgoAgent::GetVelocity(VelocityScope velocityScope) const
+units::velocity::meters_per_second_t EgoAgent::GetVelocity(VelocityScope velocityScope) const
{
return GetVelocity(velocityScope, agent);
}
-double EgoAgent::GetVelocity(VelocityScope velocityScope, const WorldObjectInterface *object) const
+units::velocity::meters_per_second_t EgoAgent::GetVelocity(VelocityScope velocityScope, const WorldObjectInterface *object) const
{
if (velocityScope == VelocityScope::Absolute)
{
@@ -112,16 +112,16 @@ double EgoAgent::GetVelocity(VelocityScope velocityScope, const WorldObjectInter
const auto referencePoint = GetReferencePointPosition();
if (!referencePoint.has_value())
{
- return std::numeric_limits<double>::quiet_NaN();
+ return units::velocity::meters_per_second_t(std::numeric_limits<double>::quiet_NaN());
}
- return object->GetVelocity().Projection(agent->GetYaw() + M_PI_2);
+ return object->GetVelocity().Projection(agent->GetYaw() + 90_deg);
}
else if (velocityScope == VelocityScope::Longitudinal)
{
const auto referencePoint = GetReferencePointPosition();
if (!referencePoint.has_value())
{
- return std::numeric_limits<double>::quiet_NaN();
+ return units::velocity::meters_per_second_t(std::numeric_limits<double>::quiet_NaN());
}
return object->GetVelocity().Projection(agent->GetYaw());
}
@@ -129,33 +129,35 @@ double EgoAgent::GetVelocity(VelocityScope velocityScope, const WorldObjectInter
throw std::invalid_argument("velocity scope not within valid bounds");
}
-double EgoAgent::GetDistanceToEndOfLane(double range, int relativeLane) const
+units::length::meter_t EgoAgent::GetDistanceToEndOfLane(units::length::meter_t range, int relativeLane) const
{
if (!graphValid)
{
- return NAN;
+ return units::length::meter_t{std::numeric_limits<double>::quiet_NaN()};
}
return world->GetDistanceToEndOfLane(wayToTarget,
rootOfWayToTargetGraph,
GetLaneIdFromRelative(relativeLane),
GetMainLocatePosition().value().roadPosition.s,
- range).at(0);
+ range)
+ .at(0);
}
-double EgoAgent::GetDistanceToEndOfLane(double range, int relativeLane, const LaneTypes& acceptableLaneTypes) const
+units::length::meter_t EgoAgent::GetDistanceToEndOfLane(units::length::meter_t range, int relativeLane, const LaneTypes &acceptableLaneTypes) const
{
if (!graphValid)
{
- return NAN;
+ return units::length::meter_t{std::numeric_limits<double>::quiet_NaN()};
}
return world->GetDistanceToEndOfLane(wayToTarget,
rootOfWayToTargetGraph,
GetLaneIdFromRelative(relativeLane),
GetMainLocatePosition().value().roadPosition.s,
- range, acceptableLaneTypes).at(0);
+ range, acceptableLaneTypes)
+ .at(0);
}
-RelativeWorldView::Lanes EgoAgent::GetRelativeLanes(double range, int relativeLane, bool includeOncoming) const
+RelativeWorldView::Lanes EgoAgent::GetRelativeLanes(units::length::meter_t range, int relativeLane, bool includeOncoming) const
{
if (!graphValid)
{
@@ -166,7 +168,8 @@ RelativeWorldView::Lanes EgoAgent::GetRelativeLanes(double range, int relativeLa
GetLaneIdFromRelative(relativeLane),
GetMainLocatePosition().value().roadPosition.s,
range,
- includeOncoming).at(0);
+ includeOncoming)
+ .at(0);
}
std::optional<int> EgoAgent::GetRelativeLaneId(const WorldObjectInterface *object, ObjectPoint point) const
@@ -180,10 +183,11 @@ std::optional<int> EgoAgent::GetRelativeLaneId(const WorldObjectInterface *objec
rootOfWayToTargetGraph,
GetMainLocatePosition().value().laneId,
GetMainLocatePosition().value().roadPosition.s,
- objectPosition).at(0);
+ objectPosition)
+ .at(0);
}
-std::vector<const WorldObjectInterface*> EgoAgent::GetObjectsInRange(double backwardRange, double forwardRange, int relativeLane) const
+std::vector<const WorldObjectInterface *> EgoAgent::GetObjectsInRange(units::length::meter_t backwardRange, units::length::meter_t forwardRange, int relativeLane) const
{
if (!graphValid)
{
@@ -194,7 +198,8 @@ std::vector<const WorldObjectInterface*> EgoAgent::GetObjectsInRange(double back
GetLaneIdFromRelative(relativeLane),
GetMainLocatePosition().value().roadPosition.s,
backwardRange,
- forwardRange).at(0);
+ forwardRange)
+ .at(0);
auto self = std::find(objectsInRange.cbegin(), objectsInRange.cend(), GetAgent());
@@ -206,18 +211,19 @@ std::vector<const WorldObjectInterface*> EgoAgent::GetObjectsInRange(double back
return objectsInRange;
}
-AgentInterfaces EgoAgent::GetAgentsInRange(double backwardRange, double forwardRange, int relativeLane) const
+AgentInterfaces EgoAgent::GetAgentsInRange(units::length::meter_t backwardRange, units::length::meter_t forwardRange, int relativeLane) const
{
if (!graphValid)
{
return {};
}
- auto agentsInRange = world->GetAgentsInRange(wayToTarget,
- rootOfWayToTargetGraph,
- GetLaneIdFromRelative(relativeLane),
+ auto agentsInRange = world->GetAgentsInRange(wayToTarget,
+ rootOfWayToTargetGraph,
+ GetLaneIdFromRelative(relativeLane),
GetMainLocatePosition().value().roadPosition.s,
- backwardRange,
- forwardRange).at(0);
+ backwardRange,
+ forwardRange)
+ .at(0);
auto self = std::find(agentsInRange.cbegin(), agentsInRange.cend(), GetAgent());
@@ -229,7 +235,7 @@ AgentInterfaces EgoAgent::GetAgentsInRange(double backwardRange, double forwardR
return agentsInRange;
}
-std::vector<CommonTrafficSign::Entity> EgoAgent::GetTrafficSignsInRange(double range, int relativeLane) const
+std::vector<CommonTrafficSign::Entity> EgoAgent::GetTrafficSignsInRange(units::length::meter_t range, int relativeLane) const
{
if (!graphValid)
{
@@ -239,10 +245,11 @@ std::vector<CommonTrafficSign::Entity> EgoAgent::GetTrafficSignsInRange(double r
rootOfWayToTargetGraph,
GetLaneIdFromRelative(relativeLane),
GetMainLocatePosition().value().roadPosition.s,
- range).at(0);
+ range)
+ .at(0);
}
-std::vector<CommonTrafficSign::Entity> EgoAgent::GetRoadMarkingsInRange(double range, int relativeLane) const
+std::vector<CommonTrafficSign::Entity> EgoAgent::GetRoadMarkingsInRange(units::length::meter_t range, int relativeLane) const
{
if (!graphValid)
{
@@ -252,10 +259,11 @@ std::vector<CommonTrafficSign::Entity> EgoAgent::GetRoadMarkingsInRange(double r
rootOfWayToTargetGraph,
GetLaneIdFromRelative(relativeLane),
GetMainLocatePosition().value().roadPosition.s,
- range).at(0);
+ range)
+ .at(0);
}
-std::vector<CommonTrafficLight::Entity> EgoAgent::GetTrafficLightsInRange(double range, int relativeLane) const
+std::vector<CommonTrafficLight::Entity> EgoAgent::GetTrafficLightsInRange(units::length::meter_t range, int relativeLane) const
{
if (!graphValid)
{
@@ -265,10 +273,11 @@ std::vector<CommonTrafficLight::Entity> EgoAgent::GetTrafficLightsInRange(double
rootOfWayToTargetGraph,
GetLaneIdFromRelative(relativeLane),
GetMainLocatePosition().value().roadPosition.s,
- range).at(0);
+ range)
+ .at(0);
}
-std::vector<LaneMarking::Entity> EgoAgent::GetLaneMarkingsInRange(double range, Side side, int relativeLane) const
+std::vector<LaneMarking::Entity> EgoAgent::GetLaneMarkingsInRange(units::length::meter_t range, Side side, int relativeLane) const
{
if (!graphValid)
{
@@ -279,10 +288,11 @@ std::vector<LaneMarking::Entity> EgoAgent::GetLaneMarkingsInRange(double range,
GetLaneIdFromRelative(relativeLane),
GetMainLocatePosition().value().roadPosition.s,
range,
- side).at(0);
+ side)
+ .at(0);
}
-std::optional<double> EgoAgent::GetDistanceToObject(const WorldObjectInterface* otherObject, const ObjectPoint& ownPoint, const ObjectPoint& otherPoint) const
+std::optional<units::length::meter_t> EgoAgent::GetDistanceToObject(const WorldObjectInterface* otherObject, const ObjectPoint& ownPoint, const ObjectPoint& otherPoint) const
{
if (!otherObject)
{
@@ -298,26 +308,27 @@ std::optional<double> EgoAgent::GetDistanceToObject(const WorldObjectInterface*
const auto& otherObjectPos = GetRoadPositions(otherPoint, otherObject);
const auto distance = world->GetDistanceBetweenObjects(wayToTarget, rootOfWayToTargetGraph,
ownPosition.value().roadPosition.s,
- otherObjectPos).at(0);
+ otherObjectPos)
+ .at(0);
return distance;
}
-std::optional<double> EgoAgent::GetNetDistance(const WorldObjectInterface *otherObject) const
+std::optional<units::length::meter_t> EgoAgent::GetNetDistance(const WorldObjectInterface *otherObject) const
{
const auto front = GetDistanceToObject(otherObject, ObjectPointRelative::Frontmost, ObjectPointRelative::Rearmost);
const auto rear = GetDistanceToObject(otherObject, ObjectPointRelative::Rearmost, ObjectPointRelative::Frontmost);
- if (front.has_value() && front.value() >= 0.0)
+ if (front.has_value() && front.value() >= 0.0_m)
{
return front;
}
- if (rear.has_value() && rear.value() <= 0.0)
+ if (rear.has_value() && rear.value() <= 0.0_m)
{
return rear;
}
if (front.has_value() || rear.has_value())
{
- return 0.0;
+ return 0.0_m;
}
return std::nullopt;
}
@@ -329,7 +340,7 @@ Obstruction EgoAgent::GetObstruction(const WorldObjectInterface* otherObject, co
return Obstruction::Invalid();
}
- std::map<ObjectPoint, Common::Vector2d> absolutePoints{};
+ std::map<ObjectPoint, Common::Vector2d<units::length::meter_t>> absolutePoints{};
for (const auto& point : points)
{
if (std::holds_alternative<ObjectPointRelative>(point))
@@ -353,11 +364,11 @@ Obstruction EgoAgent::GetObstruction(const WorldObjectInterface* otherObject, co
otherObject->GetTouchedRoads()).at(0);
}
-double EgoAgent::GetRelativeYaw() const
+units::angle::radian_t EgoAgent::GetRelativeYaw() const
{
if (!graphValid)
{
- return NAN;
+ return units::angle::radian_t{std::numeric_limits<double>::quiet_NaN()};
}
if (get(RouteElement(), roadGraph, current).inOdDirection)
{
@@ -365,36 +376,36 @@ double EgoAgent::GetRelativeYaw() const
}
else
{
- return std::fmod(GetMainLocatePosition().value().roadPosition.hdg + 2 * M_PI, 2 * M_PI) - M_PI;
+ return units::math::fmod(GetMainLocatePosition().value().roadPosition.hdg + 360_deg, 360_deg) - 180_deg;
}
}
-double EgoAgent::GetPositionLateral() const
+units::length::meter_t EgoAgent::GetPositionLateral() const
{
if (!graphValid)
{
- return NAN;
+ return units::length::meter_t{std::numeric_limits<double>::quiet_NaN()};
}
return get(RouteElement(), roadGraph, current).inOdDirection ? GetMainLocatePosition().value().roadPosition.t : -GetMainLocatePosition().value().roadPosition.t;
}
-double EgoAgent::GetLaneRemainder(Side side) const
+units::length::meter_t EgoAgent::GetLaneRemainder(Side side) const
{
- const auto& roadId = GetRoadId();
+ const auto &roadId = GetRoadId();
return side == Side::Left ? 0.5 * GetLaneWidth(0) - agent->GetTouchedRoads().at(roadId).tMax.roadPosition.t
: 0.5 * GetLaneWidth(0) + agent->GetTouchedRoads().at(roadId).tMin.roadPosition.t;
}
-double EgoAgent::GetLaneWidth(int relativeLane) const
+units::length::meter_t EgoAgent::GetLaneWidth(int relativeLane) const
{
if (!graphValid)
{
- return NAN;
+ return units::length::meter_t{std::numeric_limits<double>::quiet_NaN()};
}
return world->GetLaneWidth(GetRoadId(), GetLaneIdFromRelative(relativeLane), GetMainLocatePosition().value().roadPosition.s);
}
-std::optional<double> EgoAgent::GetLaneWidth(double distance, int relativeLane) const
+std::optional<units::length::meter_t> EgoAgent::GetLaneWidth(units::length::meter_t distance, int relativeLane) const
{
if (!graphValid)
{
@@ -403,16 +414,16 @@ std::optional<double> EgoAgent::GetLaneWidth(double distance, int relativeLane)
return world->GetLaneWidth(wayToTarget, rootOfWayToTargetGraph, GetLaneIdFromRelative(relativeLane), GetMainLocatePosition().value().roadPosition.s, distance).at(0);
}
-double EgoAgent::GetLaneCurvature(int relativeLane) const
+units::curvature::inverse_meter_t EgoAgent::GetLaneCurvature(int relativeLane) const
{
if (!graphValid)
{
- return NAN;
+ return units::curvature::inverse_meter_t{std::numeric_limits<double>::quiet_NaN()};
}
return world->GetLaneCurvature(GetRoadId(), GetLaneIdFromRelative(relativeLane), GetMainLocatePosition().value().roadPosition.s);
}
-std::optional<double> EgoAgent::GetLaneCurvature(double distance, int relativeLane) const
+std::optional<units::curvature::inverse_meter_t> EgoAgent::GetLaneCurvature(units::length::meter_t distance, int relativeLane) const
{
if (!graphValid)
{
@@ -421,16 +432,16 @@ std::optional<double> EgoAgent::GetLaneCurvature(double distance, int relativeLa
return world->GetLaneCurvature(wayToTarget, rootOfWayToTargetGraph, GetLaneIdFromRelative(relativeLane), GetMainLocatePosition().value().roadPosition.s, distance).at(0);
}
-double EgoAgent::GetLaneDirection(int relativeLane) const
+units::angle::radian_t EgoAgent::GetLaneDirection(int relativeLane) const
{
if (!graphValid)
{
- return NAN;
+ return units::angle::radian_t{std::numeric_limits<double>::quiet_NaN()};
}
return world->GetLaneDirection(GetRoadId(), GetLaneIdFromRelative(relativeLane), GetMainLocatePosition().value().roadPosition.s);
}
-std::optional<double> EgoAgent::GetLaneDirection(double distance, int relativeLane) const
+std::optional<units::angle::radian_t> EgoAgent::GetLaneDirection(units::length::meter_t distance, int relativeLane) const
{
if (!graphValid)
{
@@ -444,7 +455,7 @@ const std::optional<GlobalRoadPosition>& EgoAgent::GetMainLocatePosition() const
return mainLocatePosition;
}
-std::optional<GlobalRoadPosition> EgoAgent::GetReferencePointPosition(const WorldObjectInterface* object) const
+std::optional<GlobalRoadPosition> EgoAgent::GetReferencePointPosition(const WorldObjectInterface *object) const
{
return GetPositionOnRoute(object->GetRoadPosition(ObjectPointPredefined::Reference));
}
@@ -496,15 +507,15 @@ int EgoAgent::GetLaneIdFromRelative(int relativeLaneId) const
{
return 0;
}
- const auto& routeElement = get(RouteElement(), roadGraph, current);
+ const auto &routeElement = get(RouteElement(), roadGraph, current);
const auto mainLaneId = GetMainLocatePosition().value().laneId;
if (routeElement.inOdDirection)
{
- return mainLaneId + relativeLaneId + ((mainLaneId < 0) && (relativeLaneId >= -mainLaneId) ? 1 : 0) + ((mainLaneId > 0) && (relativeLaneId <= -mainLaneId) ? -1 : 0);
+ return mainLaneId + relativeLaneId + ((mainLaneId < 0) && (relativeLaneId >= -mainLaneId) ? 1 : 0) + ((mainLaneId > 0) && (relativeLaneId <= -mainLaneId) ? -1 : 0);
}
else
{
- return mainLaneId - relativeLaneId + ((mainLaneId < 0) && (relativeLaneId <= mainLaneId) ? 1 : 0) + ((mainLaneId > 0) && (relativeLaneId >= mainLaneId) ? -1 : 0);
+ return mainLaneId - relativeLaneId + ((mainLaneId < 0) && (relativeLaneId <= mainLaneId) ? 1 : 0) + ((mainLaneId > 0) && (relativeLaneId >= mainLaneId) ? -1 : 0);
}
}
@@ -517,7 +528,7 @@ std::optional<RouteElement> EgoAgent::GetPreviousRoad(size_t steps) const
return get(RouteElement(), wayToTarget, rootOfWayToTargetGraph + steps);
}
-std::optional<Position> EgoAgent::GetWorldPosition(double sDistance, double tDistance, double yaw) const
+std::optional<Position> EgoAgent::GetWorldPosition(units::length::meter_t sDistance, units::length::meter_t tDistance, units::angle::radian_t yaw) const
{
auto currentPosition = GetReferencePointPosition();
if (!currentPosition.has_value())
@@ -583,13 +594,13 @@ void EgoAgent::SetWayToTarget(RoadGraphVertex targetVertex)
rootOfWayToTargetGraph = vertex1;
}
-template<>
+template <>
ExecuteReturn<DistanceToEndOfLane> EgoAgentInterface::executeQuery(DistanceToEndOfLaneParameter param) const
{
return executeQueryDistanceToEndOfLane(param);
}
-template<>
+template <>
ExecuteReturn<ObjectsInRange> EgoAgentInterface::executeQuery(ObjectsInRangeParameter param) const
{
return executeQueryObjectsInRange(param);
@@ -608,7 +619,7 @@ ExecuteReturn<DistanceToEndOfLane> EgoAgent::executeQueryDistanceToEndOfLane(Dis
param.range);
std::vector<DistanceToEndOfLane> results;
std::transform(alternatives.cbegin(), alternatives.cend(), std::back_inserter(results),
- [&](const RoadGraphVertex& alternative){return queryResult.at(alternative);});
+ [&](const RoadGraphVertex &alternative) { return queryResult.at(alternative); });
return {results};
}
@@ -626,11 +637,11 @@ ExecuteReturn<ObjectsInRange> EgoAgent::executeQueryObjectsInRange(ObjectsInRang
param.forwardRange);
std::vector<ObjectsInRange> results;
std::transform(alternatives.cbegin(), alternatives.cend(), std::back_inserter(results),
- [&](const RoadGraphVertex& alternative){return queryResult.at(alternative);});
+ [&](const RoadGraphVertex &alternative) { return queryResult.at(alternative); });
return {results};
}
-RelativeWorldView::Roads EgoAgent::GetRelativeJunctions(double range) const
+RelativeWorldView::Roads EgoAgent::GetRelativeJunctions(units::length::meter_t range) const
{
if (!graphValid)
{
@@ -639,10 +650,11 @@ RelativeWorldView::Roads EgoAgent::GetRelativeJunctions(double range) const
return world->GetRelativeJunctions(wayToTarget,
rootOfWayToTargetGraph,
GetMainLocatePosition().value().roadPosition.s,
- range).at(0);
+ range)
+ .at(0);
}
-RelativeWorldView::Roads EgoAgent::GetRelativeRoads(double range) const
+RelativeWorldView::Roads EgoAgent::GetRelativeRoads(units::length::meter_t range) const
{
if (!graphValid)
{
diff --git a/sim/src/core/opSimulation/modules/World_OSI/egoAgent.h b/sim/src/core/opSimulation/modules/World_OSI/egoAgent.h
index f7b76edd4a0185c82f1e4c5644ce7491a3dc2015..6f61a474aa420ce6d9cade3dd39b1c6cfeece681 100644
--- a/sim/src/core/opSimulation/modules/World_OSI/egoAgent.h
+++ b/sim/src/core/opSimulation/modules/World_OSI/egoAgent.h
@@ -12,20 +12,23 @@
#pragma once
#include "include/agentInterface.h"
-#include "include/worldInterface.h"
#include "include/egoAgentInterface.h"
+#include "include/worldInterface.h"
-class EgoAgent: public EgoAgentInterface
+using namespace units::literals;
+
+class EgoAgent : public EgoAgentInterface
{
public:
- EgoAgent(const AgentInterface* agent, const WorldInterface* world) :
+ EgoAgent(const AgentInterface *agent, const WorldInterface *world) :
agent(agent),
world(world)
- {}
+ {
+ }
- const AgentInterface* GetAgent () const override;
+ const AgentInterface *GetAgent() const override;
- void SetRoadGraph(const RoadGraph&& roadGraph, RoadGraphVertex current, RoadGraphVertex target) override;
+ void SetRoadGraph(const RoadGraph &&roadGraph, RoadGraphVertex current, RoadGraphVertex target) override;
void Update() override;
@@ -33,72 +36,71 @@ public:
bool HasValidRoute() const override;
- void SetNewTarget (size_t alternativeIndex) override;
+ void SetNewTarget(size_t alternativeIndex) override;
- const std::string& GetRoadId() const override;
+ const std::string &GetRoadId() const override;
- double GetVelocity(VelocityScope velocityScope) const override;
+ units::velocity::meters_per_second_t GetVelocity(VelocityScope velocityScope) const override;
- double GetVelocity(VelocityScope velocityScope, const WorldObjectInterface* object) const override;
+ units::velocity::meters_per_second_t GetVelocity(VelocityScope velocityScope, const WorldObjectInterface *object) const override;
- double GetDistanceToEndOfLane (double range, int relativeLane = 0) const override;
+ units::length::meter_t GetDistanceToEndOfLane(units::length::meter_t range, int relativeLane = 0) const override;
- double GetDistanceToEndOfLane(double range, int relativeLane, const LaneTypes &acceptableLaneTypes) const override;
+ units::length::meter_t GetDistanceToEndOfLane(units::length::meter_t range, int relativeLane, const LaneTypes &acceptableLaneTypes) const override;
- RelativeWorldView::Lanes GetRelativeLanes(double range, int relativeLane = 0, bool includeOncoming = true) const override;
+ RelativeWorldView::Lanes GetRelativeLanes(units::length::meter_t range, int relativeLane = 0, bool includeOncoming = true) const override;
std::optional<int> GetRelativeLaneId(const WorldObjectInterface* object, ObjectPoint point) const override;
- [[deprecated]] RelativeWorldView::Roads GetRelativeJunctions(double range) const override;
+ [[deprecated]] RelativeWorldView::Roads GetRelativeJunctions(units::length::meter_t range) const override;
- RelativeWorldView::Roads GetRelativeRoads(double range) const override;
+ RelativeWorldView::Roads GetRelativeRoads(units::length::meter_t range) const override;
- std::vector<const WorldObjectInterface*> GetObjectsInRange (double backwardRange, double forwardRange, int relativeLane = 0) const override;
+ std::vector<const WorldObjectInterface *> GetObjectsInRange(units::length::meter_t backwardRange, units::length::meter_t forwardRange, int relativeLane = 0) const override;
- AgentInterfaces GetAgentsInRange (double backwardRange, double forwardRange, int relativeLane = 0) const override;
+ AgentInterfaces GetAgentsInRange(units::length::meter_t backwardRange, units::length::meter_t forwardRange, int relativeLane = 0) const override;
- std::vector<CommonTrafficSign::Entity> GetTrafficSignsInRange(double range, int relativeLane = 0) const override;
+ std::vector<CommonTrafficSign::Entity> GetTrafficSignsInRange(units::length::meter_t range, int relativeLane = 0) const override;
- std::vector<CommonTrafficSign::Entity> GetRoadMarkingsInRange(double range, int relativeLane = 0) const override;
+ std::vector<CommonTrafficSign::Entity> GetRoadMarkingsInRange(units::length::meter_t range, int relativeLane = 0) const override;
- std::vector<CommonTrafficLight::Entity> GetTrafficLightsInRange(double range, int relativeLane = 0) const override;
+ std::vector<CommonTrafficLight::Entity> GetTrafficLightsInRange(units::length::meter_t range, int relativeLane = 0) const override;
- std::vector<LaneMarking::Entity> GetLaneMarkingsInRange(double range, Side side, int relativeLane = 0) const override;
+ std::vector<LaneMarking::Entity> GetLaneMarkingsInRange(units::length::meter_t range, Side side, int relativeLane = 0) const override;
- std::optional<double> GetDistanceToObject(const WorldObjectInterface* otherObject, const ObjectPoint &ownPoint, const ObjectPoint &otherPoint) const override;
+ std::optional<units::length::meter_t> GetDistanceToObject(const WorldObjectInterface* otherObject, const ObjectPoint &ownPoint, const ObjectPoint &otherPoint) const override;
- std::optional<double> GetNetDistance(const WorldObjectInterface* otherObject) const override;
+ std::optional<units::length::meter_t> GetNetDistance(const WorldObjectInterface* otherObject) const override;
Obstruction GetObstruction(const WorldObjectInterface* otherObject, const std::vector<ObjectPoint> points) const override;
- double GetRelativeYaw () const override;
+ units::angle::radian_t GetRelativeYaw() const override;
- double GetPositionLateral() const override;
+ units::length::meter_t GetPositionLateral() const override;
- double GetLaneRemainder(Side side) const override;
+ units::length::meter_t GetLaneRemainder(Side side) const override;
- double GetLaneWidth(int relativeLane = 0) const override;
+ units::length::meter_t GetLaneWidth(int relativeLane = 0) const override;
- std::optional<double> GetLaneWidth(double distance, int relativeLane = 0) const override;
+ std::optional<units::length::meter_t> GetLaneWidth(units::length::meter_t distance, int relativeLane = 0) const override;
- double GetLaneCurvature(int relativeLane = 0) const override;
+ units::curvature::inverse_meter_t GetLaneCurvature(int relativeLane = 0) const override;
- std::optional<double> GetLaneCurvature(double distance, int relativeLane = 0) const override;
+ std::optional<units::curvature::inverse_meter_t> GetLaneCurvature(units::length::meter_t distance, int relativeLane = 0) const override;
- double GetLaneDirection(int relativeLane = 0) const override;
+ units::angle::radian_t GetLaneDirection(int relativeLane = 0) const override;
- std::optional<double> GetLaneDirection(double distance, int relativeLane = 0) const override;
+ std::optional<units::angle::radian_t> GetLaneDirection(units::length::meter_t distance, int relativeLane = 0) const override;
const std::optional<GlobalRoadPosition>& GetMainLocatePosition() const override;
std::optional<GlobalRoadPosition> GetReferencePointPosition() const override;
- int GetLaneIdFromRelative (int relativeLaneId) const override;
+ int GetLaneIdFromRelative(int relativeLaneId) const override;
- std::optional<Position> GetWorldPosition(double sDistance, double tDistance, double yaw = 0) const override;
+ std::optional<Position> GetWorldPosition(units::length::meter_t sDistance, units::length::meter_t tDistance, units::angle::radian_t yaw = 0_rad) const override;
GlobalRoadPositions GetRoadPositions(const ObjectPoint& point, const WorldObjectInterface* object) const override;
-
private:
std::optional<RouteElement> GetPreviousRoad(size_t steps = 1) const;
@@ -114,8 +116,8 @@ private:
void SetWayToTarget(RoadGraphVertex targetVertex);
- const AgentInterface* agent;
- const WorldInterface* world;
+ const AgentInterface *agent;
+ const WorldInterface *world;
bool graphValid{false};
RoadGraph roadGraph{};
RoadGraphVertex current{0};
diff --git a/sim/tests/fakes/gmock/fakeAgent.h b/sim/tests/fakes/gmock/fakeAgent.h
index 8bbc22083ef7f2f59e1b8b185576fbfab6f24501..8c8c9b27d13ce6b78f33cb3342922bd60a7552fe 100644
--- a/sim/tests/fakes/gmock/fakeAgent.h
+++ b/sim/tests/fakes/gmock/fakeAgent.h
@@ -12,55 +12,55 @@
#pragma once
#include "common/globalDefinitions.h"
-#include "gmock/gmock.h"
#include "fakeWorldObject.h"
+#include "gmock/gmock.h"
#include "include/agentInterface.h"
#include "include/egoAgentInterface.h"
class FakeAgent : public FakeWorldObject, public AgentInterface
{
- public:
+public:
MOCK_CONST_METHOD0(GetAgentId, int());
- MOCK_METHOD0(GetEgoAgent, EgoAgentInterface&());
+ MOCK_METHOD0(GetEgoAgent, EgoAgentInterface &());
MOCK_CONST_METHOD0(GetVehicleModelType, std::string());
- MOCK_CONST_METHOD0(GetVehicleModelParameters, VehicleModelParameters());
+ MOCK_CONST_METHOD0(GetVehicleModelParameters, std::shared_ptr<const mantle_api::EntityProperties>());
MOCK_CONST_METHOD0(GetDriverProfileName, std::string());
MOCK_CONST_METHOD0(GetScenarioName, std::string());
MOCK_CONST_METHOD0(GetAgentCategory, AgentCategory());
MOCK_CONST_METHOD0(GetAgentTypeName, std::string());
MOCK_CONST_METHOD0(IsEgoAgent, bool());
- MOCK_CONST_METHOD0(GetVelocityX, double());
- MOCK_CONST_METHOD0(GetVelocityY, double());
- MOCK_CONST_METHOD0(GetWheelbase, double());
+ MOCK_CONST_METHOD0(GetVelocityX, units::velocity::meters_per_second_t());
+ MOCK_CONST_METHOD0(GetVelocityY, units::velocity::meters_per_second_t());
+ MOCK_CONST_METHOD0(GetWheelbase, units::length::meter_t());
MOCK_CONST_METHOD0(GetGear, int());
- MOCK_CONST_METHOD0(GetDistanceCOGtoLeadingEdge, double());
- MOCK_CONST_METHOD0(GetAccelerationX, double());
- MOCK_CONST_METHOD0(GetAccelerationY, double());
+ MOCK_CONST_METHOD0(GetDistanceCOGtoLeadingEdge, units::length::meter_t());
+ MOCK_CONST_METHOD0(GetAccelerationX, units::acceleration::meters_per_second_squared_t());
+ MOCK_CONST_METHOD0(GetAccelerationY, units::acceleration::meters_per_second_squared_t());
MOCK_CONST_METHOD2(GetCollisionData, std::vector<void *>(int collisionPartnerId, int collisionDataId));
MOCK_CONST_METHOD0(GetPostCrashVelocity, PostCrashVelocity());
MOCK_METHOD1(SetPostCrashVelocity, void(PostCrashVelocity));
MOCK_CONST_METHOD0(GetCollisionPartners, std::vector<CollisionPartner>());
- MOCK_METHOD1(SetPositionX, void(double positionX));
- MOCK_METHOD1(SetPositionY, void(double positionY));
- MOCK_METHOD1(SetVehicleModelParameter, void(const VehicleModelParameters ¶meter));
- MOCK_METHOD1(SetVelocityX, void(double velocityX));
- MOCK_METHOD1(SetVelocityY, void(double velocityY));
- 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(SetPositionX, void(units::length::meter_t positionX));
+ MOCK_METHOD1(SetPositionY, void(units::length::meter_t positionY));
+ MOCK_METHOD1(SetVehicleModelParameter, void(std::shared_ptr<const mantle_api::EntityProperties> parameter));
+ MOCK_METHOD1(SetVelocityX, void(units::velocity::meters_per_second_t velocityX));
+ MOCK_METHOD1(SetVelocityY, void(units::velocity::meters_per_second_t velocityY));
+ MOCK_METHOD1(SetVelocity, void(units::velocity::meters_per_second_t value));
+ MOCK_METHOD1(SetAcceleration, void(units::acceleration::meters_per_second_squared_t value));
+ MOCK_METHOD1(SetYaw, void(units::angle::radian_t value));
+ MOCK_METHOD1(SetRoll, void(units::angle::radian_t value));
+ MOCK_METHOD1(SetDistanceTraveled, void(units::length::meter_t distanceTraveled));
+ MOCK_CONST_METHOD0(GetDistanceTraveled, units::length::meter_t());
MOCK_METHOD1(SetGear, void(int gear));
- MOCK_METHOD1(SetEngineSpeed, void(double engineSpeed));
+ MOCK_METHOD1(SetEngineSpeed, void(units::angular_velocity::revolutions_per_minute_t engineSpeed));
MOCK_METHOD1(SetEffAccelPedal, void(double percent));
MOCK_METHOD1(SetEffBrakePedal, void(double percent));
- MOCK_METHOD1(SetSteeringWheelAngle, void(double steeringWheelAngle));
- MOCK_METHOD3(SetWheelsRotationRateAndOrientation, void(double, double, double));
- MOCK_METHOD1(SetMaxAcceleration, void(double maxAcceleration));
- MOCK_METHOD1(SetMaxDeceleration, void(double maxDeceleration));
- MOCK_METHOD1(SetAccelerationX, void(double accelerationX));
- MOCK_METHOD1(SetAccelerationY, void(double accelerationY));
+ MOCK_METHOD1(SetSteeringWheelAngle, void(units::angle::radian_t steeringWheelAngle));
+ MOCK_METHOD3(SetWheelsRotationRateAndOrientation, void(units::angle::radian_t, units::velocity::meters_per_second_t, units::acceleration::meters_per_second_squared_t));
+ MOCK_METHOD1(SetMaxAcceleration, void(units::acceleration::meters_per_second_squared_t maxAcceleration));
+ MOCK_METHOD1(SetMaxDeceleration, void(units::acceleration::meters_per_second_squared_t maxDeceleration));
+ MOCK_METHOD1(SetAccelerationX, void(units::acceleration::meters_per_second_squared_t accelerationX));
+ MOCK_METHOD1(SetAccelerationY, void(units::acceleration::meters_per_second_squared_t accelerationY));
MOCK_METHOD1(UpdateCollision, void(CollisionPartner collisionPartner));
MOCK_METHOD0(Unlocate, void());
MOCK_METHOD0(Locate, bool());
@@ -80,23 +80,22 @@ class FakeAgent : public FakeWorldObject, public AgentInterface
MOCK_CONST_METHOD0(GetFlasher, bool());
MOCK_METHOD4(InitAgentParameter, bool(int id, int agentTypeId, const AgentSpawnItem *agentSpawnItem,
const SpawnItemParameterInterface &spawnItemParameter));
- MOCK_METHOD2(InitAgentParameter, bool(int id, AgentBlueprintInterface *agentBlueprint));
- MOCK_METHOD1(InitParameter, void(const AgentBlueprintInterface &agentBlueprint));
+ MOCK_METHOD1(InitParameter, void(const AgentBuildInstructions &agentBlueprint));
MOCK_CONST_METHOD0(IsValid, bool());
MOCK_CONST_METHOD0(GetAgentTypeId, int());
MOCK_CONST_METHOD0(IsAgentInWorld, bool());
MOCK_METHOD0(IsAgentAtEndOfRoad, bool());
MOCK_METHOD1(SetPosition, void(Position pos));
- MOCK_METHOD1(GetDistanceToFrontAgent, double(int laneId));
- MOCK_METHOD1(GetDistanceToRearAgent, double(int laneId));
+ MOCK_METHOD1(GetDistanceToFrontAgent, units::length::meter_t(int laneId));
+ MOCK_METHOD1(GetDistanceToRearAgent, units::length::meter_t(int laneId));
MOCK_METHOD0(RemoveSpecialAgentMarker, void());
MOCK_METHOD0(SetSpecialAgentMarker, void());
MOCK_METHOD0(SetObstacleFlag, void());
- MOCK_METHOD0(GetDistanceToSpecialAgent, double());
+ MOCK_METHOD0(GetDistanceToSpecialAgent, units::length::meter_t());
MOCK_METHOD0(IsObstacle, bool());
MOCK_CONST_METHOD0(IsLeavingWorld, bool());
MOCK_CONST_METHOD0(IsCrossingLanes, bool());
- MOCK_METHOD0(GetDistanceFrontAgentToEgo, double());
+ MOCK_METHOD0(GetDistanceFrontAgentToEgo, units::length::meter_t());
MOCK_METHOD0(HasTwoLeftLanes, bool());
MOCK_METHOD0(HasTwoRightLanes, bool());
MOCK_METHOD1(EstimateLaneChangeState, LaneChangeState(double thresholdLooming));
@@ -106,86 +105,86 @@ class FakeAgent : public FakeWorldObject, public AgentInterface
MOCK_CONST_METHOD0(IsFirstCarInLane, bool());
MOCK_CONST_METHOD0(GetTypeOfNearestMark, MarkType());
MOCK_CONST_METHOD0(GetTypeOfNearestMarkString, std::string());
- MOCK_CONST_METHOD1(GetDistanceToNearestMark, double(MarkType markType));
- MOCK_CONST_METHOD1(GetOrientationOfNearestMark, double(MarkType markType));
+ MOCK_CONST_METHOD1(GetDistanceToNearestMark, units::length::meter_t(MarkType markType));
+ MOCK_CONST_METHOD1(GetOrientationOfNearestMark, units::angle::radian_t(MarkType markType));
MOCK_CONST_METHOD1(GetViewDirectionToNearestMark, double(MarkType markType));
MOCK_CONST_METHOD1(GetAgentViewDirectionToNearestMark, AgentViewDirection(MarkType markType));
MOCK_CONST_METHOD2(GetDistanceToNearestMarkInViewDirection,
- double(MarkType markType, AgentViewDirection agentViewDirection));
- MOCK_CONST_METHOD2(GetDistanceToNearestMarkInViewDirection, double(MarkType markType, double mainViewDirection));
+ units::length::meter_t(MarkType markType, AgentViewDirection agentViewDirection));
+ MOCK_CONST_METHOD2(GetDistanceToNearestMarkInViewDirection, units::length::meter_t(MarkType markType, double mainViewDirection));
MOCK_CONST_METHOD2(GetOrientationOfNearestMarkInViewDirection,
- double(MarkType markType, AgentViewDirection agentViewDirection));
- MOCK_CONST_METHOD2(GetOrientationOfNearestMarkInViewDirection, double(MarkType markType, double mainViewDirection));
+ units::angle::radian_t(MarkType markType, AgentViewDirection agentViewDirection));
+ MOCK_CONST_METHOD2(GetOrientationOfNearestMarkInViewDirection, units::angle::radian_t(MarkType markType, double mainViewDirection));
MOCK_CONST_METHOD3(GetDistanceToNearestMarkInViewRange,
- double(MarkType markType, AgentViewDirection agentViewDirection, double range));
+ units::length::meter_t(MarkType markType, AgentViewDirection agentViewDirection, units::length::meter_t range));
MOCK_CONST_METHOD3(GetDistanceToNearestMarkInViewRange,
- double(MarkType markType, double mainViewDirection, double range));
+ units::length::meter_t(MarkType markType, double mainViewDirection, units::length::meter_t range));
MOCK_CONST_METHOD3(GetOrientationOfNearestMarkInViewRange,
- double(MarkType markType, AgentViewDirection agentViewDirection, double range));
+ units::angle::radian_t(MarkType markType, AgentViewDirection agentViewDirection, units::length::meter_t range));
MOCK_CONST_METHOD3(GetOrientationOfNearestMarkInViewRange,
- double(MarkType markType, double mainViewDirection, double range));
+ units::angle::radian_t(MarkType markType, double mainViewDirection, units::length::meter_t range));
MOCK_CONST_METHOD3(GetViewDirectionToNearestMarkInViewRange,
- double(MarkType markType, AgentViewDirection agentViewDirection, double range));
+ double(MarkType markType, AgentViewDirection agentViewDirection, units::length::meter_t range));
MOCK_CONST_METHOD3(GetViewDirectionToNearestMarkInViewRange,
- double(MarkType markType, double mainViewDirection, double range));
- MOCK_CONST_METHOD2(GetTypeOfNearestObject, std::string(AgentViewDirection agentViewDirection, double range));
- MOCK_CONST_METHOD2(GetTypeOfNearestObject, std::string(double mainViewDirection, double range));
+ double(MarkType markType, double mainViewDirection, units::length::meter_t range));
+ MOCK_CONST_METHOD2(GetTypeOfNearestObject, std::string(AgentViewDirection agentViewDirection, units::length::meter_t range));
+ MOCK_CONST_METHOD2(GetTypeOfNearestObject, std::string(double mainViewDirection, units::length::meter_t range));
MOCK_CONST_METHOD3(GetDistanceToNearestObjectInViewRange,
- double(ObjectType objectType, AgentViewDirection agentViewDirection, double range));
+ units::length::meter_t(ObjectType objectType, AgentViewDirection agentViewDirection, units::length::meter_t range));
MOCK_CONST_METHOD3(GetDistanceToNearestObjectInViewRange,
- double(ObjectType objectType, double mainViewDirection, double range));
+ units::length::meter_t(ObjectType objectType, double mainViewDirection, units::length::meter_t range));
MOCK_CONST_METHOD3(GetViewDirectionToNearestObjectInViewRange,
- double(ObjectType objectType, AgentViewDirection agentViewDirection, double range));
+ double(ObjectType objectType, AgentViewDirection agentViewDirection, units::length::meter_t range));
MOCK_CONST_METHOD3(GetViewDirectionToNearestObjectInViewRange,
- double(ObjectType objectType, double mainViewDirection, double range));
- MOCK_CONST_METHOD2(GetIdOfNearestAgent, int(AgentViewDirection agentViewDirection, double range));
- MOCK_CONST_METHOD2(GetIdOfNearestAgent, int(double mainViewDirection, double range));
+ double(ObjectType objectType, double mainViewDirection, units::length::meter_t range));
+ MOCK_CONST_METHOD2(GetIdOfNearestAgent, int(AgentViewDirection agentViewDirection, units::length::meter_t range));
+ MOCK_CONST_METHOD2(GetIdOfNearestAgent, int(double mainViewDirection, units::length::meter_t range));
MOCK_CONST_METHOD2(GetDistanceToNearestAgentInViewRange,
- double(AgentViewDirection agentViewDirection, double range));
- MOCK_CONST_METHOD2(GetDistanceToNearestAgentInViewRange, double(double mainViewDirection, double range));
+ units::length::meter_t(AgentViewDirection agentViewDirection, units::length::meter_t range));
+ MOCK_CONST_METHOD2(GetDistanceToNearestAgentInViewRange, units::length::meter_t(double mainViewDirection, units::length::meter_t range));
MOCK_CONST_METHOD2(GetViewDirectionToNearestAgentInViewRange,
- double(AgentViewDirection agentViewDirection, double range));
- MOCK_CONST_METHOD2(GetViewDirectionToNearestAgentInViewRange, double(double mainViewDirection, double range));
- MOCK_CONST_METHOD2(GetVisibilityToNearestAgentInViewRange, double(double mainViewDirection, double range));
- MOCK_CONST_METHOD0(GetYawRate, double());
- MOCK_METHOD1(SetYawRate, void(double yawRate));
- MOCK_CONST_METHOD0(GetCentripetalAcceleration, double());
- MOCK_METHOD1(SetCentripetalAcceleration, void(double centripetalAcceleration));
- MOCK_METHOD0(GetYawAcceleration, double());
- MOCK_METHOD1(SetYawAcceleration, void(double yawAcceleration));
- MOCK_CONST_METHOD0(GetTrajectoryTime, const std::vector<int>*());
- MOCK_CONST_METHOD0(GetTrajectoryXPos, const std::vector<double>*());
- MOCK_CONST_METHOD0(GetTrajectoryYPos, const std::vector<double>*());
- MOCK_CONST_METHOD0(GetTrajectoryVelocity, const std::vector<double>*());
- MOCK_CONST_METHOD0(GetTrajectoryAngle, const std::vector<double>*());
- MOCK_METHOD1(SetAccelerationIntention, void(double accelerationIntention));
- MOCK_CONST_METHOD0(GetAccelerationIntention, double());
- MOCK_METHOD1(SetDecelerationIntention, void(double decelerationIntention));
- MOCK_CONST_METHOD0(GetDecelerationIntention, double());
- MOCK_METHOD1(SetAngleIntention, void(double angleIntention));
- MOCK_CONST_METHOD0(GetAngleIntention, double());
+ double(AgentViewDirection agentViewDirection, units::length::meter_t range));
+ MOCK_CONST_METHOD2(GetViewDirectionToNearestAgentInViewRange, double(double mainViewDirection, units::length::meter_t range));
+ MOCK_CONST_METHOD2(GetVisibilityToNearestAgentInViewRange, double(double mainViewDirection, units::length::meter_t range));
+ MOCK_CONST_METHOD0(GetYawRate, units::angular_velocity::radians_per_second_t());
+ MOCK_METHOD1(SetYawRate, void(units::angular_velocity::radians_per_second_t yawRate));
+ MOCK_CONST_METHOD0(GetCentripetalAcceleration, units::acceleration::meters_per_second_squared_t());
+ MOCK_METHOD1(SetCentripetalAcceleration, void(units::acceleration::meters_per_second_squared_t centripetalAcceleration));
+ MOCK_METHOD0(GetYawAcceleration, units::angular_acceleration::radians_per_second_squared_t());
+ MOCK_METHOD1(SetYawAcceleration, void(units::angular_acceleration::radians_per_second_squared_t yawAcceleration));
+ MOCK_CONST_METHOD0(GetTrajectoryTime, const std::vector<int> *());
+ MOCK_CONST_METHOD0(GetTrajectoryXPos, const std::vector<units::length::meter_t> *());
+ MOCK_CONST_METHOD0(GetTrajectoryYPos, const std::vector<units::length::meter_t> *());
+ MOCK_CONST_METHOD0(GetTrajectoryVelocity, const std::vector<units::velocity::meters_per_second_t> *());
+ MOCK_CONST_METHOD0(GetTrajectoryAngle, const std::vector<units::angle::radian_t> *());
+ MOCK_METHOD1(SetAccelerationIntention, void(units::acceleration::meters_per_second_squared_t accelerationIntention));
+ MOCK_CONST_METHOD0(GetAccelerationIntention, units::acceleration::meters_per_second_squared_t());
+ MOCK_METHOD1(SetDecelerationIntention, void(units::acceleration::meters_per_second_squared_t decelerationIntention));
+ MOCK_CONST_METHOD0(GetDecelerationIntention, units::acceleration::meters_per_second_squared_t());
+ MOCK_METHOD1(SetAngleIntention, void(units::angle::radian_t angleIntention));
+ MOCK_CONST_METHOD0(GetAngleIntention, units::angle::radian_t());
MOCK_METHOD1(SetCollisionState, void(bool collisionState));
MOCK_CONST_METHOD0(GetCollisionState, bool());
- MOCK_CONST_METHOD0(GetAccelerationAbsolute, double());
+ MOCK_CONST_METHOD0(GetAccelerationAbsolute, units::acceleration::meters_per_second_squared_t());
MOCK_CONST_METHOD0(GetTouchedRoads, const RoadIntervals &());
- MOCK_CONST_METHOD1(GetAbsolutePosition, Common::Vector2d (const ObjectPoint& objectPoint));
+ MOCK_CONST_METHOD1(GetAbsolutePosition, Common::Vector2d<units::length::meter_t> (const ObjectPoint& objectPoint));
MOCK_CONST_METHOD1(GetRoadPosition, const GlobalRoadPositions& (const ObjectPoint& point));
MOCK_CONST_METHOD1(GetRoads, std::vector<std::string>(ObjectPoint point));
- MOCK_CONST_METHOD0(GetDistanceReferencePointToLeadingEdge, double());
- MOCK_CONST_METHOD0(GetEngineSpeed, double());
+ MOCK_CONST_METHOD0(GetDistanceReferencePointToLeadingEdge, units::length::meter_t());
+ MOCK_CONST_METHOD0(GetEngineSpeed, units::angular_velocity::revolutions_per_minute_t());
MOCK_CONST_METHOD0(GetEffAccelPedal, double());
MOCK_CONST_METHOD0(GetEffBrakePedal, double());
- MOCK_CONST_METHOD0(GetSteeringWheelAngle, double());
- MOCK_CONST_METHOD0(GetMaxAcceleration, double());
- MOCK_CONST_METHOD0(GetMaxDeceleration, double());
- MOCK_CONST_METHOD0(GetSpeedGoalMin, double());
- MOCK_CONST_METHOD0(GetSensorParameters, const openpass::sensors::Parameters&());
+ MOCK_CONST_METHOD0(GetSteeringWheelAngle, units::angle::radian_t());
+ MOCK_CONST_METHOD0(GetMaxAcceleration, units::acceleration::meters_per_second_squared_t());
+ MOCK_CONST_METHOD0(GetMaxDeceleration, units::acceleration::meters_per_second_squared_t());
+ MOCK_CONST_METHOD0(GetSpeedGoalMin, units::velocity::meters_per_second_t());
+ MOCK_CONST_METHOD0(GetSensorParameters, const openpass::sensors::Parameters &());
MOCK_METHOD1(SetSensorParameters, void(openpass::sensors::Parameters sensorParameters));
- MOCK_CONST_METHOD3(GetDistanceToConnectorEntrance, double (std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId));
- MOCK_CONST_METHOD3(GetDistanceToConnectorDeparture, double (std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId));
- MOCK_CONST_METHOD0(GetDistanceToNextJunction, double());
- MOCK_CONST_METHOD0(GetYawAcceleration, double());
- MOCK_CONST_METHOD0(GetTangentialAcceleration, double());
- MOCK_METHOD1(SetTangentialAcceleration, void(double));
- MOCK_METHOD3(SetVelocityVector, void(double, double, double));
+ MOCK_CONST_METHOD3(GetDistanceToConnectorEntrance, units::length::meter_t(std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId));
+ MOCK_CONST_METHOD3(GetDistanceToConnectorDeparture, units::length::meter_t(std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId));
+ MOCK_CONST_METHOD0(GetDistanceToNextJunction, units::length::meter_t());
+ MOCK_CONST_METHOD0(GetYawAcceleration, units::angular_acceleration::radians_per_second_squared_t());
+ MOCK_CONST_METHOD0(GetTangentialAcceleration, units::acceleration::meters_per_second_squared_t());
+ MOCK_METHOD1(SetTangentialAcceleration, void(units::acceleration::meters_per_second_squared_t));
+ MOCK_METHOD1(SetVelocityVector, void(const mantle_api::Vec3<units::velocity::meters_per_second_t> &velocity));
};
diff --git a/sim/tests/fakes/gmock/fakeAgentBlueprint.h b/sim/tests/fakes/gmock/fakeAgentBlueprint.h
deleted file mode 100644
index 666c947f79bab0bd74b9a1e65ff810c539860d48..0000000000000000000000000000000000000000
--- a/sim/tests/fakes/gmock/fakeAgentBlueprint.h
+++ /dev/null
@@ -1,68 +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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#pragma once
-
-#include "gmock/gmock.h"
-#include "include/agentBlueprintInterface.h"
-
-class FakeAgentBlueprint : public AgentBlueprintInterface {
- public:
- MOCK_METHOD1(SetVehicleComponentProfileNames,
- void(VehicleComponentProfileNames));
- MOCK_METHOD1(SetAgentCategory,
- void(AgentCategory agentTypeGroupName));
- MOCK_METHOD1(SetAgentProfileName,
- void(std::string agentTypeName));
- MOCK_METHOD1(SetVehicleProfileName,
- void(std::string vehicleModelName));
- MOCK_METHOD1(SetVehicleModelName,
- void(std::string vehicleModelName));
- MOCK_METHOD1(SetVehicleModelParameters,
- void(VehicleModelParameters vehicleModelParameters));
- MOCK_METHOD1(SetDriverProfileName,
- void(std::string));
- MOCK_METHOD1(SetSpawnParameter,
- void(SpawnParameter spawnParameter));
- MOCK_METHOD1(SetSpeedGoalMin,
- void(double));
- MOCK_CONST_METHOD0(GetAgentCategory,
- AgentCategory());
- MOCK_CONST_METHOD0(GetAgentProfileName,
- std::string());
- MOCK_CONST_METHOD0(GetVehicleProfileName,
- std::string());
- MOCK_CONST_METHOD0(GetVehicleModelName,
- std::string());
- MOCK_CONST_METHOD0(GetVehicleModelParameters,
- VehicleModelParameters());
- MOCK_CONST_METHOD0(GetVehicleComponentProfileNames,
- VehicleComponentProfileNames());
- MOCK_CONST_METHOD0(GetDriverProfileName,
- std::string());
- MOCK_CONST_METHOD0(GetObjectName,
- std::string());
- MOCK_CONST_METHOD0(GetAgentType,
- core::AgentTypeInterface&());
- MOCK_METHOD0(GetSpawnParameter,
- SpawnParameter&());
- MOCK_CONST_METHOD0(GetSpawnParameter,
- const SpawnParameter&());
- MOCK_CONST_METHOD0(GetSpeedGoalMin,
- double());
- MOCK_METHOD1(SetObjectName,
- void(std::string));
- MOCK_METHOD1(AddSensor,
- void(openpass::sensors::Parameter));
- MOCK_CONST_METHOD0(GetSensorParameters,
- openpass::sensors::Parameters());
- MOCK_METHOD1(SetAgentType,
- void (std::shared_ptr<core::AgentTypeInterface> agentType));
-};
diff --git a/sim/tests/fakes/gmock/fakeAgentBlueprintProvider.h b/sim/tests/fakes/gmock/fakeAgentBlueprintProvider.h
index 05310233a2f9e3b4a1f8d36380c34926296cd659..437c56707a508032b0c40a9acd6d0da90c6078b4 100644
--- a/sim/tests/fakes/gmock/fakeAgentBlueprintProvider.h
+++ b/sim/tests/fakes/gmock/fakeAgentBlueprintProvider.h
@@ -16,7 +16,8 @@
class FakeAgentBlueprintProvider : public AgentBlueprintProviderInterface {
public:
- MOCK_CONST_METHOD2(SampleAgent, AgentBlueprint(const std::string& agentProfileName, const openScenario::Parameters& assignedParameters));
+ MOCK_CONST_METHOD1(SampleSystem, System (const std::string &agentProfileName));
+ MOCK_CONST_METHOD1(SampleVehicleModelName, std::string (const std::string &agentProfileName));
};
diff --git a/sim/tests/fakes/gmock/fakeAgentFactory.h b/sim/tests/fakes/gmock/fakeAgentFactory.h
index e36b3771eff4a68851921da941a0e4c0b82df0e2..9cc9effcbfb15282c404a7b3b24de7261370cfb9 100644
--- a/sim/tests/fakes/gmock/fakeAgentFactory.h
+++ b/sim/tests/fakes/gmock/fakeAgentFactory.h
@@ -20,5 +20,5 @@ class FakeAgentFactory : public core::AgentFactoryInterface
public:
MOCK_METHOD0(ResetIds, void());
MOCK_METHOD0(Clear, void());
- MOCK_METHOD1(AddAgent, core::Agent*(AgentBlueprintInterface*));
+ MOCK_METHOD1(AddAgent, core::Agent*(const AgentBuildInstructions&));
};
diff --git a/sim/tests/fakes/gmock/fakeAgentSampler.h b/sim/tests/fakes/gmock/fakeAgentSampler.h
index 6512d834ecd8fada8a62ec3c19c2e348299e4bd8..c8424187530299810d9f2ed8e57803bcbdb04f2d 100644
--- a/sim/tests/fakes/gmock/fakeAgentSampler.h
+++ b/sim/tests/fakes/gmock/fakeAgentSampler.h
@@ -15,10 +15,10 @@
class FakeAgentSampler : public AgentSamplerInterface
{
public:
- MOCK_METHOD3(SampleAgent,
- bool(AgentBlueprintInterface*,
- LaneCategory,
- unsigned int));
+ MOCK_METHOD3(SampleSystem,
+ bool(AgentBlueprintInterface *,
+ LaneCategory,
+ unsigned int));
};
diff --git a/sim/tests/fakes/gmock/fakeConfigurationContainer.h b/sim/tests/fakes/gmock/fakeConfigurationContainer.h
index dcef7be397545bd7cd50c9c2bb95af1889b158bd..8dfe90f45c289c86041e49bfa5129ce69fe5aacd 100644
--- a/sim/tests/fakes/gmock/fakeConfigurationContainer.h
+++ b/sim/tests/fakes/gmock/fakeConfigurationContainer.h
@@ -22,14 +22,10 @@ public:
std::shared_ptr<SystemConfigInterface> ());
MOCK_CONST_METHOD0(GetSimulationConfig,
const SimulationConfigInterface * ());
- MOCK_CONST_METHOD0(GetScenery,
- const SceneryInterface * ());
- MOCK_CONST_METHOD0(GetScenario,
- const ScenarioInterface * ());
- MOCK_CONST_METHOD0(GetVehicleModels,
- const VehicleModelsInterface * ());
MOCK_CONST_METHOD0(GetProfiles,
const ProfilesInterface * ());
MOCK_CONST_METHOD0(GetSystemConfigs,
const std::map<std::string, std::shared_ptr<SystemConfigInterface>>& ());
+ MOCK_CONST_METHOD0(GetRuntimeInformation,
+ const openpass::common::RuntimeInformation& ());
};
diff --git a/sim/tests/fakes/gmock/fakeControlStrategies.h b/sim/tests/fakes/gmock/fakeControlStrategies.h
new file mode 100644
index 0000000000000000000000000000000000000000..3e871ee17b39f91a67f9bed49fbd3ec7fdefeafe
--- /dev/null
+++ b/sim/tests/fakes/gmock/fakeControlStrategies.h
@@ -0,0 +1,24 @@
+/********************************************************************************
+ * Copyright (c) 2022 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
+ * http://www.eclipse.org/legal/epl-2.0.
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ ********************************************************************************/
+
+#pragma once
+
+#include "include/controlStrategiesInterface.h"
+#include "gmock/gmock.h"
+
+class FakeControlStrategies : public ControlStrategiesInterface
+{
+public:
+ MOCK_METHOD1(GetStrategies, std::vector<std::shared_ptr<mantle_api::ControlStrategy>> (mantle_api::ControlStrategyType type));
+ MOCK_METHOD1(SetStrategies, void (std::vector<std::shared_ptr<mantle_api::ControlStrategy>> strategies));
+ MOCK_METHOD0(GetCustomCommands, const std::vector<std::string>& ());
+ MOCK_METHOD1(AddCustomCommand, void (const std::string& command));
+ MOCK_METHOD0(ResetCustomCommands, void ());
+};
diff --git a/sim/tests/fakes/gmock/fakeEgoAgent.h b/sim/tests/fakes/gmock/fakeEgoAgent.h
index 7172c960e43c9b3b03148be4f8c5f8ab5f94a4cd..12fed2670f0388a3d964bed5ff6027118ca5ad18 100644
--- a/sim/tests/fakes/gmock/fakeEgoAgent.h
+++ b/sim/tests/fakes/gmock/fakeEgoAgent.h
@@ -16,44 +16,44 @@
class FakeEgoAgent : public EgoAgentInterface
{
- public:
- MOCK_CONST_METHOD0(GetAgent, const AgentInterface* ());
- MOCK_METHOD3(SetRoadGraph, void (const RoadGraph&& roadGraph, RoadGraphVertex current, RoadGraphVertex target));
- MOCK_METHOD0(Update, void ());
- MOCK_CONST_METHOD0(HasValidRoute, bool ());
- MOCK_METHOD1(SetNewTarget, void (size_t alternativeIndex));
- MOCK_CONST_METHOD0(GetRoadId, const std::string& ());
- MOCK_CONST_METHOD1(GetVelocity, double (VelocityScope velocityScope));
- MOCK_CONST_METHOD2(GetVelocity, double (VelocityScope velocityScope, const WorldObjectInterface* object));
- MOCK_CONST_METHOD2(GetDistanceToEndOfLane, double (double range, int relativeLane));
- MOCK_CONST_METHOD3(GetDistanceToEndOfLane, double (double range, int relativeLane, const LaneTypes& acceptableLaneTypes));
- MOCK_CONST_METHOD3(GetRelativeLanes, RelativeWorldView::Lanes (double range, int relativeLane, bool includeOncoming));
+public:
+ MOCK_CONST_METHOD0(GetAgent, const AgentInterface *());
+ MOCK_METHOD3(SetRoadGraph, void(const RoadGraph &&roadGraph, RoadGraphVertex current, RoadGraphVertex target));
+ MOCK_METHOD0(Update, void());
+ MOCK_CONST_METHOD0(HasValidRoute, bool());
+ MOCK_METHOD1(SetNewTarget, void(size_t alternativeIndex));
+ MOCK_CONST_METHOD0(GetRoadId, const std::string &());
+ MOCK_CONST_METHOD1(GetVelocity, units::velocity::meters_per_second_t(VelocityScope velocityScope));
+ MOCK_CONST_METHOD2(GetVelocity, units::velocity::meters_per_second_t(VelocityScope velocityScope, const WorldObjectInterface *object));
+ MOCK_CONST_METHOD2(GetDistanceToEndOfLane, units::length::meter_t(units::length::meter_t range, int relativeLane));
+ MOCK_CONST_METHOD3(GetDistanceToEndOfLane, units::length::meter_t(units::length::meter_t range, int relativeLane, const LaneTypes &acceptableLaneTypes));
+ MOCK_CONST_METHOD3(GetRelativeLanes, RelativeWorldView::Lanes(units::length::meter_t range, int relativeLane, bool includeOncoming));
MOCK_CONST_METHOD2(GetRelativeLaneId, std::optional<int> (const WorldObjectInterface* object, ObjectPoint point));
- MOCK_CONST_METHOD1(GetRelativeJunctions, RelativeWorldView::Roads(double range));
- MOCK_CONST_METHOD1(GetRelativeRoads, RelativeWorldView::Roads(double range));
- MOCK_CONST_METHOD3(GetObjectsInRange, std::vector<const WorldObjectInterface*> (double backwardRange, double forwardRange, int relativeLane));
- MOCK_CONST_METHOD3(GetAgentsInRange, AgentInterfaces (double backwardRange, double forwardRange, int relativeLane));
- MOCK_CONST_METHOD2(GetTrafficSignsInRange, std::vector<CommonTrafficSign::Entity> (double range, int relativeLane));
- MOCK_CONST_METHOD2(GetRoadMarkingsInRange, std::vector<CommonTrafficSign::Entity> (double range, int relativeLane));
- MOCK_CONST_METHOD2(GetTrafficLightsInRange, std::vector<CommonTrafficLight::Entity> (double range, int relativeLane));
- MOCK_CONST_METHOD3(GetLaneMarkingsInRange, std::vector<LaneMarking::Entity> (double range, Side side, int relativeLane));
- MOCK_CONST_METHOD3(GetDistanceToObject, std::optional<double> (const WorldObjectInterface* otherObject, const ObjectPoint &ownPoint, const ObjectPoint &otherPoint));
- MOCK_CONST_METHOD1(GetNetDistance, std::optional<double> (const WorldObjectInterface* otherObject));
+ MOCK_CONST_METHOD1(GetRelativeJunctions, RelativeWorldView::Roads(units::length::meter_t range));
+ MOCK_CONST_METHOD1(GetRelativeRoads, RelativeWorldView::Roads(units::length::meter_t range));
+ MOCK_CONST_METHOD3(GetObjectsInRange, std::vector<const WorldObjectInterface*> (units::length::meter_t backwardRange, units::length::meter_t forwardRange, int relativeLane));
+ MOCK_CONST_METHOD3(GetAgentsInRange, AgentInterfaces (units::length::meter_t backwardRange, units::length::meter_t forwardRange, int relativeLane));
+ MOCK_CONST_METHOD2(GetTrafficSignsInRange, std::vector<CommonTrafficSign::Entity> (units::length::meter_t range, int relativeLane));
+ MOCK_CONST_METHOD2(GetRoadMarkingsInRange, std::vector<CommonTrafficSign::Entity> (units::length::meter_t range, int relativeLane));
+ MOCK_CONST_METHOD2(GetTrafficLightsInRange, std::vector<CommonTrafficLight::Entity> (units::length::meter_t range, int relativeLane));
+ MOCK_CONST_METHOD3(GetLaneMarkingsInRange, std::vector<LaneMarking::Entity> (units::length::meter_t range, Side side, int relativeLane));
+ MOCK_CONST_METHOD3(GetDistanceToObject, std::optional<units::length::meter_t> (const WorldObjectInterface* otherObject, const ObjectPoint &ownPoint, const ObjectPoint &otherPoint));
+ MOCK_CONST_METHOD1(GetNetDistance, std::optional<units::length::meter_t> (const WorldObjectInterface* otherObject));
MOCK_CONST_METHOD2(GetObstruction, Obstruction (const WorldObjectInterface* otherObject, const std::vector<ObjectPoint> points));
- MOCK_CONST_METHOD0(GetRelativeYaw, double ());
- MOCK_CONST_METHOD0(GetPositionLateral, double ());
- MOCK_CONST_METHOD1(GetLaneRemainder, double (Side side));
- MOCK_CONST_METHOD1(GetLaneWidth, double (int relativeLane));
- MOCK_CONST_METHOD2(GetLaneWidth, std::optional<double> (double distance, int relativeLane));
- MOCK_CONST_METHOD1(GetLaneCurvature, double (int relativeLane));
- MOCK_CONST_METHOD2(GetLaneCurvature, std::optional<double> (double distance, int relativeLane));
- MOCK_CONST_METHOD1(GetLaneDirection, double (int relativeLane));
- MOCK_CONST_METHOD2(GetLaneDirection, std::optional<double> (double distance, int relativeLane));
+ MOCK_CONST_METHOD0(GetPositionLateral, units::length::meter_t());
+ MOCK_CONST_METHOD0(GetRelativeYaw, units::angle::radian_t());
+ MOCK_CONST_METHOD1(GetLaneRemainder, units::length::meter_t(Side side));
+ MOCK_CONST_METHOD1(GetLaneWidth, units::length::meter_t(int relativeLane));
+ MOCK_CONST_METHOD2(GetLaneWidth, std::optional<units::length::meter_t>(units::length::meter_t distance, int relativeLane));
+ MOCK_CONST_METHOD1(GetLaneCurvature, units::curvature::inverse_meter_t(int relativeLane));
+ MOCK_CONST_METHOD2(GetLaneCurvature, std::optional<units::curvature::inverse_meter_t>(units::length::meter_t distance, int relativeLane));
+ MOCK_CONST_METHOD1(GetLaneDirection, units::angle::radian_t(int relativeLane));
+ MOCK_CONST_METHOD2(GetLaneDirection, std::optional<units::angle::radian_t>(units::length::meter_t distance, int relativeLane));
MOCK_CONST_METHOD0(GetMainLocatePosition, const std::optional<GlobalRoadPosition>&());
- MOCK_CONST_METHOD0(GetReferencePointPosition, std::optional<GlobalRoadPosition> ());
- MOCK_CONST_METHOD1(GetLaneIdFromRelative, int (int relativeLaneId));
- MOCK_CONST_METHOD3(GetWorldPosition, std::optional<Position> (double sDistance, double tDistance, double yaw));
+ MOCK_CONST_METHOD0(GetReferencePointPosition, std::optional<GlobalRoadPosition>());
+ MOCK_CONST_METHOD1(GetLaneIdFromRelative, int(int relativeLaneId));
+ MOCK_CONST_METHOD3(GetWorldPosition, std::optional<Position> (units::length::meter_t sDistance, units::length::meter_t tDistance, units::angle::radian_t yaw));
MOCK_CONST_METHOD2(GetRoadPositions, GlobalRoadPositions (const ObjectPoint& point, const WorldObjectInterface* object));
- MOCK_CONST_METHOD1(executeQueryDistanceToEndOfLane, ExecuteReturn<DistanceToEndOfLane> (DistanceToEndOfLaneParameter parameter));
- MOCK_CONST_METHOD1(executeQueryObjectsInRange, ExecuteReturn<ObjectsInRange> (ObjectsInRangeParameter parameter));
+ MOCK_CONST_METHOD1(executeQueryDistanceToEndOfLane, ExecuteReturn<DistanceToEndOfLane>(DistanceToEndOfLaneParameter parameter));
+ MOCK_CONST_METHOD1(executeQueryObjectsInRange, ExecuteReturn<ObjectsInRange>(ObjectsInRangeParameter parameter));
};
diff --git a/sim/tests/fakes/gmock/fakeEntityRepository.h b/sim/tests/fakes/gmock/fakeEntityRepository.h
new file mode 100644
index 0000000000000000000000000000000000000000..6b6f59539d4d367a0b91d90d35669bd5cbe24a64
--- /dev/null
+++ b/sim/tests/fakes/gmock/fakeEntityRepository.h
@@ -0,0 +1,37 @@
+/********************************************************************************
+ * Copyright (c) 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0.
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ ********************************************************************************/
+#pragma once
+
+#include "gmock/gmock.h"
+#include <MantleAPI/Test/test_utils.h>
+#include "include/entityRepositoryInterface.h"
+
+class FakeEntityRepository : public core::EntityRepositoryInterface
+{
+ public:
+ MOCK_METHOD2(Create, mantle_api::IVehicle& (const std::string& name, const mantle_api::VehicleProperties& properties));
+ MOCK_METHOD3(Create, mantle_api::IVehicle& (mantle_api::UniqueId id, const std::string& name, const mantle_api::VehicleProperties& properties));
+ MOCK_METHOD2(Create, mantle_api::IPedestrian& (const std::string& name, const mantle_api::PedestrianProperties& properties));
+ MOCK_METHOD3(Create, mantle_api::IPedestrian& (mantle_api::UniqueId id, const std::string& name, const mantle_api::PedestrianProperties& properties));
+ MOCK_METHOD2(Create, mantle_api::IStaticObject& (const std::string& name, const mantle_api::StaticObjectProperties& properties));
+ MOCK_METHOD3(Create, mantle_api::IStaticObject& (mantle_api::UniqueId id, const std::string& name, const mantle_api::StaticObjectProperties& properties));
+ MOCK_METHOD0(GetHost, mantle_api::IVehicle& ());
+ MOCK_METHOD1(Get, std::optional<std::reference_wrapper<mantle_api::IEntity>> (const std::string& name));
+ MOCK_METHOD1(Get, std::optional<std::reference_wrapper<mantle_api::IEntity>> (mantle_api::UniqueId id));
+ MOCK_CONST_METHOD1(Contains, bool (mantle_api::UniqueId id));
+ MOCK_METHOD1(Delete, void (const std::string& name));
+ MOCK_METHOD1(Delete, void (mantle_api::UniqueId id));
+ MOCK_CONST_METHOD0(GetEntities, const std::vector<std::unique_ptr<mantle_api::IEntity>>& ());
+ MOCK_METHOD1(RegisterEntityCreatedCallback, void (const std::function<void(mantle_api::IEntity&)>& callback));
+ MOCK_METHOD1(RegisterEntityDeletedCallback, void (const std::function<void(const std::string&)>& callback));
+ MOCK_METHOD1(RegisterEntityDeletedCallback, void (const std::function<void(mantle_api::UniqueId)>& callback));
+ MOCK_METHOD0(SpawnReadyAgents, bool ());
+ MOCK_METHOD0(ConsumeNewAgents, std::vector<core::Agent *> ());
+};
diff --git a/sim/tests/fakes/gmock/fakeEnvironment.h b/sim/tests/fakes/gmock/fakeEnvironment.h
new file mode 100644
index 0000000000000000000000000000000000000000..f8c54386636b240f6a0aa584fa4730251f574730
--- /dev/null
+++ b/sim/tests/fakes/gmock/fakeEnvironment.h
@@ -0,0 +1,41 @@
+/********************************************************************************
+ * Copyright (c) 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0.
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ ********************************************************************************/
+#pragma once
+
+#include "gmock/gmock.h"
+#include <MantleAPI/Common/i_geometry_helper.h>
+#include <MantleAPI/Test/test_utils.h>
+#include "include/environmentInterface.h"
+
+class FakeEnvironment : public core::EnvironmentInterface
+{
+ public:
+ MOCK_METHOD2(CreateMap, void (const std::string& map_file_path, const mantle_api::MapDetails& map_details));
+ MOCK_METHOD2(AddEntityToController, void (mantle_api::IEntity& entity, mantle_api::UniqueId controller_id));
+ MOCK_METHOD1(RemoveControllerFromEntity, void (mantle_api::UniqueId entity_id));
+ MOCK_METHOD2(UpdateControlStrategies, void (
+ mantle_api::UniqueId entity_id, std::vector<std::shared_ptr<mantle_api::ControlStrategy>> control_strategies));
+ MOCK_CONST_METHOD2(HasControlStrategyGoalBeenReached, bool (mantle_api::UniqueId entity_id, mantle_api::ControlStrategyType type));
+ MOCK_CONST_METHOD0(GetQueryService, const mantle_api::ILaneLocationQueryService& ());
+ MOCK_CONST_METHOD0(GetConverter, const mantle_api::ICoordConverter* ());
+ MOCK_CONST_METHOD0(GetGeometryHelper, const mantle_api::IGeometryHelper* ());
+ MOCK_METHOD1(SetDateTime, void (mantle_api::Time time));
+ MOCK_METHOD0(GetDateTime, mantle_api::Time ());
+ MOCK_METHOD0(GetSimulationTime, mantle_api::Time ());
+ MOCK_METHOD1(SetWeather, void (mantle_api::Weather weather));
+ MOCK_METHOD1(SetRoadCondition, void (std::vector<mantle_api::FrictionPatch> friction_patches));
+ MOCK_METHOD2(SetTrafficSignalState, void (const std::string& traffic_signal_name, const std::string& traffic_signal_state));
+ MOCK_METHOD3(ExecuteCustomCommand, void (const std::vector<std::string>& actors, const std::string& type, const std::string& command));
+ MOCK_METHOD0(GetEntityRepository, core::EntityRepositoryInterface& ());
+ MOCK_METHOD0(GetControllerRepository, mantle_api::MockControllerRepository& ());
+ MOCK_METHOD1(Step, void (const mantle_api::Time &simulationTime));
+ MOCK_METHOD1(SetWorld, void (WorldInterface* world));
+ MOCK_METHOD0(Reset, void ());
+};
diff --git a/sim/tests/fakes/gmock/fakeEventDetectorNetwork.h b/sim/tests/fakes/gmock/fakeEventDetectorNetwork.h
index bbb2050d0616f3338a727638705f18e4010ba62b..cbb38261af496306278ac01f9cfa7fc8d0b874f1 100644
--- a/sim/tests/fakes/gmock/fakeEventDetectorNetwork.h
+++ b/sim/tests/fakes/gmock/fakeEventDetectorNetwork.h
@@ -19,8 +19,8 @@ using namespace core;
class FakeEventDetectorNetwork : public EventDetectorNetworkInterface
{
public:
- MOCK_METHOD4(Instantiate,
- bool(const std::string, const ScenarioInterface*, EventNetworkInterface*, StochasticsInterface*));
+ MOCK_METHOD3(Instantiate,
+ bool(const std::string&, EventNetworkInterface*, StochasticsInterface*));
MOCK_METHOD0(Clear,
void());
MOCK_CONST_METHOD0(GetEventDetectors,
diff --git a/sim/tests/fakes/gmock/fakeManipulatorNetwork.h b/sim/tests/fakes/gmock/fakeManipulatorNetwork.h
index b7588b3b5735101385398453f19f4c1ba3595771..04c39aeed7b3e49394e98b690f54f26b431ff9de 100644
--- a/sim/tests/fakes/gmock/fakeManipulatorNetwork.h
+++ b/sim/tests/fakes/gmock/fakeManipulatorNetwork.h
@@ -16,8 +16,8 @@
class FakeManipulatorNetwork : public ManipulatorNetworkInterface
{
public:
- MOCK_METHOD3(Instantiate,
- bool(const std::string, const ScenarioInterface *, core::EventNetworkInterface *));
+ MOCK_METHOD2(Instantiate,
+ bool(const std::string&, core::EventNetworkInterface *));
MOCK_METHOD0(Clear,
void());
MOCK_CONST_METHOD0(GetManipulators,
diff --git a/sim/tests/fakes/gmock/fakeOdRoad.h b/sim/tests/fakes/gmock/fakeOdRoad.h
index 02975718df83b10221d4e59c5dc1d87f33069152..dcedfb965e84963d7d7d54c1b1ede4ef237e8cd6 100644
--- a/sim/tests/fakes/gmock/fakeOdRoad.h
+++ b/sim/tests/fakes/gmock/fakeOdRoad.h
@@ -16,18 +16,18 @@
class FakeOdRoad : public RoadInterface
{
public:
- MOCK_METHOD5(AddGeometryLine, bool(double s, double x, double y, double hdg, double length));
- MOCK_METHOD6(AddGeometryArc, bool(double s, double x, double y, double hdg, double length, double curvature));
+ MOCK_METHOD5(AddGeometryLine, bool(units::length::meter_t s, units::length::meter_t x, units::length::meter_t y, units::angle::radian_t hdg, units::length::meter_t length));
+ MOCK_METHOD6(AddGeometryArc, bool(units::length::meter_t s, units::length::meter_t x, units::length::meter_t y, units::angle::radian_t hdg, units::length::meter_t length, units::curvature::inverse_meter_t curvature));
MOCK_METHOD7(AddGeometrySpiral,
- bool(double s, double x, double y, double hdg, double length, double curvStart, double curvEnd));
+ bool(units::length::meter_t s, units::length::meter_t x, units::length::meter_t y, units::angle::radian_t hdg, units::length::meter_t length, units::curvature::inverse_meter_t curvStart, units::curvature::inverse_meter_t curvEnd));
MOCK_METHOD9(AddGeometryPoly3,
- bool(double s, double x, double y, double hdg, double length, double a, double b, double c, double d));
+ bool(units::length::meter_t s, units::length::meter_t x, units::length::meter_t y, units::angle::radian_t hdg, units::length::meter_t length, units::length::meter_t a, double b, units::unit_t<units::inverse<units::length::meter>> c, units::unit_t<units::inverse<units::squared<units::length::meter>>> d));
MOCK_METHOD6(AddGeometryParamPoly3,
- bool(double s, double x, double y, double hdg, double length, ParamPoly3Parameters parameters));
- MOCK_METHOD5(AddElevation, bool(double s, double a, double b, double c, double d));
- MOCK_METHOD5(AddLaneOffset, bool(double s, double a, double b, double c, double d));
+ bool(units::length::meter_t s, units::length::meter_t x, units::length::meter_t y, units::angle::radian_t hdg, units::length::meter_t length, ParamPoly3Parameters parameters));
+ MOCK_METHOD5(AddElevation, bool(units::length::meter_t s, units::length::meter_t a, double b, units::unit_t<units::inverse<units::length::meter>> c, units::unit_t<units::inverse<units::squared<units::length::meter>>> d));
+ MOCK_METHOD5(AddLaneOffset, bool(units::length::meter_t s, units::length::meter_t a, double b, units::unit_t<units::inverse<units::length::meter>> c, units::unit_t<units::inverse<units::squared<units::length::meter>>> d));
MOCK_METHOD4(AddLink, bool(RoadLinkType, RoadLinkElementType, const std::string &, ContactPointType));
- MOCK_METHOD1(AddRoadLaneSection, RoadLaneSectionInterface *(double start));
+ MOCK_METHOD1(AddRoadLaneSection, RoadLaneSectionInterface *(units::length::meter_t start));
MOCK_METHOD1(AddRoadSignal, void(const RoadSignalSpecification &signal));
MOCK_METHOD1(AddRoadObject, void(const RoadObjectSpecification &object));
MOCK_CONST_METHOD0(GetId, const std::string());
@@ -41,7 +41,7 @@ class FakeOdRoad : public RoadInterface
MOCK_METHOD1(SetInDirection, void(bool inDirection));
MOCK_CONST_METHOD0(GetInDirection, bool());
MOCK_METHOD1(AddRoadType, void(const RoadTypeSpecification &));
- MOCK_CONST_METHOD1(GetRoadType, RoadTypeInformation(double start));
+ MOCK_CONST_METHOD1(GetRoadType, RoadTypeInformation(units::length::meter_t start));
MOCK_CONST_METHOD0(GetJunctionId, const std::string());
MOCK_METHOD1(SetJunctionId, void(const std::string &id));
};
diff --git a/sim/tests/fakes/gmock/fakeProfiles.h b/sim/tests/fakes/gmock/fakeProfiles.h
index 893bf22d8927beaeea18e71a794eb0efe22a48e8..a9e27af1ce5c7c57a09848ff6bb99cf657a2587f 100644
--- a/sim/tests/fakes/gmock/fakeProfiles.h
+++ b/sim/tests/fakes/gmock/fakeProfiles.h
@@ -19,17 +19,19 @@ class FakeProfiles : public ProfilesInterface {
const std::unordered_map<std::string, AgentProfile> &());
MOCK_METHOD2(AddAgentProfile,
bool (std::string, AgentProfile));
- MOCK_CONST_METHOD0(GetVehicleProfiles,
- const std::unordered_map<std::string, VehicleProfile> &());
- MOCK_METHOD2(AddVehicleProfile,
- void (const std::string&, const VehicleProfile&));
+ MOCK_CONST_METHOD0(GetSystemProfiles,
+ const std::unordered_map<std::string, SystemProfile> &());
+ MOCK_METHOD2(AddSystemProfile,
+ void (const std::string&, const SystemProfile&));
MOCK_CONST_METHOD0(GetProfileGroups,
const ProfileGroups &());
MOCK_METHOD3(AddProfileGroup,
bool (std::string, std::string, openpass::parameter::ParameterSetLevel1));
MOCK_CONST_METHOD1(GetDriverProbabilities,
const StringProbabilities &(std::string));
- MOCK_CONST_METHOD1(GetVehicleProfileProbabilities,
+ MOCK_CONST_METHOD1(GetSystemProfileProbabilities,
+ const StringProbabilities &(std::string));
+ MOCK_CONST_METHOD1(GetVehicleModelsProbabilities,
const StringProbabilities &(std::string));
MOCK_CONST_METHOD2(GetProfile,
const openpass::parameter::ParameterSetLevel1& (const std::string&, const std::string&));
diff --git a/sim/tests/fakes/gmock/fakeRadio.h b/sim/tests/fakes/gmock/fakeRadio.h
index 95e9eaba7585a8e74d6420ee36ded8a2a7ecd3e2..1c22db2fbe43f688a9794613ea444feb3d872387 100644
--- a/sim/tests/fakes/gmock/fakeRadio.h
+++ b/sim/tests/fakes/gmock/fakeRadio.h
@@ -20,8 +20,8 @@
class FakeRadio : public RadioInterface
{
public:
- MOCK_METHOD4(Send, void(double, double, double, DetectedObject));
- MOCK_METHOD3(Receive, std::vector<DetectedObject>(double, double, double));
+ MOCK_METHOD4(Send, void(units::length::meter_t, units::length::meter_t, units::power::watt_t, DetectedObject));
+ MOCK_METHOD3(Receive, std::vector<DetectedObject>(units::length::meter_t, units::length::meter_t, units::sensitivity));
MOCK_METHOD0(Reset, void());
};
diff --git a/sim/tests/fakes/gmock/fakeRoadGeometry.h b/sim/tests/fakes/gmock/fakeRoadGeometry.h
index 1aa484596b0f39255d1361d2f19dcc91de03dc83..348244f9f8f55d1aa3cbe269fd3e7e2d371d1ce5 100644
--- a/sim/tests/fakes/gmock/fakeRoadGeometry.h
+++ b/sim/tests/fakes/gmock/fakeRoadGeometry.h
@@ -16,9 +16,9 @@
class FakeRoadGeometry : public RoadGeometryInterface
{
public:
- MOCK_CONST_METHOD2(GetCoord, Common::Vector2d (double geometryOffset, double laneOffset));
- MOCK_CONST_METHOD1(GetDir, double (double geometryOffset));
- MOCK_CONST_METHOD0(GetS, double ());
- MOCK_CONST_METHOD0(GetHdg, double ());
- MOCK_CONST_METHOD0(GetLength, double ());
+ MOCK_CONST_METHOD2(GetCoord, Common::Vector2d<units::length::meter_t>(units::length::meter_t geometryOffset, units::length::meter_t laneOffset));
+ MOCK_CONST_METHOD1(GetDir, units::angle::radian_t(units::length::meter_t geometryOffset));
+ MOCK_CONST_METHOD0(GetS, units::length::meter_t());
+ MOCK_CONST_METHOD0(GetHdg, units::angle::radian_t());
+ MOCK_CONST_METHOD0(GetLength, units::length::meter_t());
};
diff --git a/sim/tests/fakes/gmock/fakeRoadLane.h b/sim/tests/fakes/gmock/fakeRoadLane.h
index ca25efc44ce7c76e0ae7220287ffde1488aa6b31..8d7505fd6ba223bd9776d574f37546275dbc6361 100644
--- a/sim/tests/fakes/gmock/fakeRoadLane.h
+++ b/sim/tests/fakes/gmock/fakeRoadLane.h
@@ -16,9 +16,9 @@
class FakeRoadLane : public RoadLaneInterface
{
public:
- MOCK_METHOD5(AddWidth, bool (double sOffset, double a, double b, double c, double d));
- MOCK_METHOD5(AddBorder, bool (double sOffset, double a, double b, double c, double d));
- MOCK_METHOD6(AddRoadMark, bool (double sOffset,
+ MOCK_METHOD5(AddWidth, bool (units::length::meter_t sOffset, units::length::meter_t a, double b, units::unit_t<units::inverse<units::length::meter>> c, units::unit_t<units::inverse<units::squared<units::length::meter>>> d));
+ MOCK_METHOD5(AddBorder, bool (units::length::meter_t sOffset, units::length::meter_t a, double b, units::unit_t<units::inverse<units::length::meter>> c, units::unit_t<units::inverse<units::squared<units::length::meter>>> d));
+ MOCK_METHOD6(AddRoadMark, bool (units::length::meter_t sOffset,
RoadLaneRoadDescriptionType descType,
RoadLaneRoadMarkType roadMark,
RoadLaneRoadMarkColor color,
diff --git a/sim/tests/fakes/gmock/fakeRoadLaneSection.h b/sim/tests/fakes/gmock/fakeRoadLaneSection.h
index f050da7155c7a9a6b538b5e3902b6abf2e8544ff..f5e5463cfe7590da79336373043905031f3707d4 100644
--- a/sim/tests/fakes/gmock/fakeRoadLaneSection.h
+++ b/sim/tests/fakes/gmock/fakeRoadLaneSection.h
@@ -18,7 +18,7 @@ class FakeRoadLaneSection : public RoadLaneSectionInterface
public:
MOCK_METHOD2(AddRoadLane, RoadLaneInterface *(int id, RoadLaneType type));
MOCK_CONST_METHOD0(GetLanes, std::map<int, RoadLaneInterface *> &());
- MOCK_CONST_METHOD0(GetStart, double());
+ MOCK_CONST_METHOD0(GetStart, units::length::meter_t());
MOCK_METHOD1(SetInDirection, void(bool inDirection));
MOCK_METHOD1(SetLaneIndexOffset, void(int laneIndexOffset));
MOCK_METHOD1(SetId, void(int Id));
diff --git a/sim/tests/fakes/gmock/fakeRoadObject.h b/sim/tests/fakes/gmock/fakeRoadObject.h
index e4ba0d2927abf2dc4035b18e752c48b0706fac09..ace6ff588f8885119bc2ea571a4dc12b52193285 100644
--- a/sim/tests/fakes/gmock/fakeRoadObject.h
+++ b/sim/tests/fakes/gmock/fakeRoadObject.h
@@ -17,16 +17,16 @@ class FakeRoadObject : public RoadObjectInterface
public:
MOCK_CONST_METHOD0(GetType, RoadObjectType());
MOCK_CONST_METHOD0(GetId, std::string());
- MOCK_CONST_METHOD0(GetS, double());
- MOCK_CONST_METHOD0(GetT, double());
- MOCK_CONST_METHOD0(GetZOffset, double());
+ MOCK_CONST_METHOD0(GetS, units::length::meter_t());
+ MOCK_CONST_METHOD0(GetT, units::length::meter_t());
+ MOCK_CONST_METHOD0(GetZOffset, units::length::meter_t());
MOCK_CONST_METHOD1(IsValidForLane, bool(int));
- MOCK_CONST_METHOD0(GetLength, double());
- MOCK_CONST_METHOD0(GetWidth, double());
- MOCK_CONST_METHOD0(GetHdg, double());
- MOCK_CONST_METHOD0(GetHeight, double());
- MOCK_CONST_METHOD0(GetPitch, double());
- MOCK_CONST_METHOD0(GetRoll, double());
+ MOCK_CONST_METHOD0(GetLength, units::length::meter_t());
+ MOCK_CONST_METHOD0(GetWidth, units::length::meter_t());
+ MOCK_CONST_METHOD0(GetHdg, units::angle::radian_t());
+ MOCK_CONST_METHOD0(GetHeight, units::length::meter_t());
+ MOCK_CONST_METHOD0(GetPitch, units::angle::radian_t());
+ MOCK_CONST_METHOD0(GetRoll, units::angle::radian_t());
MOCK_CONST_METHOD0(GetName, std::string());
MOCK_CONST_METHOD0(IsContinuous, bool());
};
diff --git a/sim/tests/fakes/gmock/fakeRoadSignal.h b/sim/tests/fakes/gmock/fakeRoadSignal.h
index 442eb25e01e8b3c6a41d0e72276c5240d1aa9077..e930b6be3c86cad712aec42808deb22712734b5d 100644
--- a/sim/tests/fakes/gmock/fakeRoadSignal.h
+++ b/sim/tests/fakes/gmock/fakeRoadSignal.h
@@ -19,8 +19,8 @@ class FakeRoadSignal: public RoadSignalInterface
{
public:
MOCK_CONST_METHOD0(GetId, std::string ());
- MOCK_CONST_METHOD0(GetS, double ());
- MOCK_CONST_METHOD0(GetT, double ());
+ MOCK_CONST_METHOD0(GetS, units::length::meter_t ());
+ MOCK_CONST_METHOD0(GetT, units::length::meter_t ());
MOCK_CONST_METHOD1(IsValidForLane, bool (int laneId));
MOCK_CONST_METHOD0(GetCountry, std::string ());
MOCK_CONST_METHOD0(GetType, std::string ());
@@ -30,11 +30,11 @@ public:
MOCK_CONST_METHOD0(GetText, std::string ());
MOCK_CONST_METHOD0(GetDependencies, std::vector<std::string> ());
MOCK_CONST_METHOD0(GetIsDynamic, bool());
- MOCK_CONST_METHOD0(GetWidth, double ());
- MOCK_CONST_METHOD0(GetHeight, double ());
- MOCK_CONST_METHOD0(GetZOffset, double ());
- MOCK_CONST_METHOD0(GetPitch, double ());
- MOCK_CONST_METHOD0(GetRoll, double ());
+ MOCK_CONST_METHOD0(GetWidth, units::length::meter_t ());
+ MOCK_CONST_METHOD0(GetHeight, units::length::meter_t ());
+ MOCK_CONST_METHOD0(GetZOffset, units::length::meter_t ());
+ MOCK_CONST_METHOD0(GetPitch, units::angle::radian_t ());
+ MOCK_CONST_METHOD0(GetRoll, units::angle::radian_t ());
MOCK_CONST_METHOD0(GetOrientation, bool ());
- MOCK_CONST_METHOD0(GetHOffset, double ());
+ MOCK_CONST_METHOD0(GetHOffset, units::angle::radian_t ());
};
diff --git a/sim/tests/fakes/gmock/fakeScenario.h b/sim/tests/fakes/gmock/fakeScenario.h
deleted file mode 100644
index d32ed9d4bcf85fcea928d315e7827cf2781c8baf..0000000000000000000000000000000000000000
--- a/sim/tests/fakes/gmock/fakeScenario.h
+++ /dev/null
@@ -1,63 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2019-2021 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#pragma once
-
-#include "gmock/gmock.h"
-#include "include/scenarioInterface.h"
-
-class FakeScenario : public ScenarioInterface
-{
-public:
- MOCK_CONST_METHOD0(GetScenarioEntities,
- const std::vector<ScenarioEntity*>&());
- MOCK_CONST_METHOD0(GetVehicleCatalogPath,
- const std::string & ());
- MOCK_METHOD1(SetVehicleCatalogPath,
- void(const std::string&));
- MOCK_CONST_METHOD0(GetPedestrianCatalogPath,
- const std::string & ());
- MOCK_METHOD1(SetPedestrianCatalogPath,
- void(const std::string&));
- MOCK_CONST_METHOD0(GetTrajectoryCatalogPath,
- const std::string & ());
- MOCK_METHOD1(SetTrajectoryCatalogPath,
- void(const std::string&));
- MOCK_CONST_METHOD0(GetSceneryPath,
- const std::string & ());
- MOCK_METHOD1(SetSceneryPath,
- void(const std::string&));
- MOCK_CONST_METHOD0(GetSceneryDynamics,
- const SceneryDynamicsInterface& ());
- MOCK_METHOD1(AddTrafficSignalController,
- void (const openScenario::TrafficSignalController& controller));
- MOCK_METHOD1(AddScenarioEntity,
- void(const ScenarioEntity&));
- MOCK_METHOD1(AddScenarioGroupsByEntityNames,
- void(const std::map<std::string, std::vector<std::string>>&));
- MOCK_METHOD1(AddConditionalEventDetector,
- void(const openScenario::ConditionalEventDetectorInformation&));
- MOCK_METHOD2(AddAction,
- void(const openScenario::Action, const std::string));
- MOCK_CONST_METHOD0(GetEventDetectorInformations,
- const std::vector<openScenario::ConditionalEventDetectorInformation>&());
- MOCK_CONST_METHOD0(GetScenarioGroups,
- const std::map<std::string, std::vector<ScenarioEntity*>>&());
- MOCK_CONST_METHOD0(GetActions,
- std::vector<openScenario::ManipulatorInformation>());
- MOCK_CONST_METHOD0(GetEndTime,
- int());
- MOCK_METHOD1(SetEndTime,
- void(const double));
- MOCK_CONST_METHOD0(GetEntities,
- const std::vector<ScenarioEntity>&());
- MOCK_METHOD1(SetEnvironment,
- void (const openScenario::EnvironmentAction& ));
-};
diff --git a/sim/tests/fakes/gmock/fakeSpawnPointNetwork.h b/sim/tests/fakes/gmock/fakeSpawnPointNetwork.h
index aba8ec8f99316da017b52ebefbfd7d911a6e7677..05135a50ff6c9076c7f493a471f3dbae3885271a 100644
--- a/sim/tests/fakes/gmock/fakeSpawnPointNetwork.h
+++ b/sim/tests/fakes/gmock/fakeSpawnPointNetwork.h
@@ -18,19 +18,18 @@ namespace core {
class FakeSpawnPointNetwork : public SpawnPointNetworkInterface
{
public:
- MOCK_METHOD6(Instantiate,
- bool(const SpawnPointLibraryInfoCollection&,
- AgentFactoryInterface*,
- const AgentBlueprintProviderInterface*,
- StochasticsInterface*,
- const ScenarioInterface*,
- const std::optional<ProfileGroup>&));
+ MOCK_METHOD7(Instantiate,
+ bool(const SpawnPointLibraryInfoCollection& libraryInfos,
+ AgentFactoryInterface* agentFactory,
+ StochasticsInterface* stochastics,
+ const std::optional<ProfileGroup>& spawnPointProfiles,
+ ConfigurationContainerInterface* configurationContainer,
+ std::shared_ptr<mantle_api::IEnvironment> environment,
+ std::shared_ptr<Vehicles> vehicles));
MOCK_METHOD0(TriggerPreRunSpawnZones,
bool());
MOCK_METHOD1(TriggerRuntimeSpawnPoints,
bool(const int));
- MOCK_METHOD0(ConsumeNewAgents,
- std::vector<Agent*>());
MOCK_METHOD0(Clear,
void());
};
diff --git a/sim/tests/fakes/gmock/fakeStream.h b/sim/tests/fakes/gmock/fakeStream.h
index 43cc42ed42ef56aceb4cdefff68761c8a4ba9371..db35f05df2f0994bc6c29f683e5c7e8968fe7bb9 100644
--- a/sim/tests/fakes/gmock/fakeStream.h
+++ b/sim/tests/fakes/gmock/fakeStream.h
@@ -22,8 +22,8 @@ public:
MOCK_CONST_METHOD2(GetAgentsInRange, AgentInterfaces (const StreamPosition& start, const StreamPosition& end));
MOCK_CONST_METHOD2(GetObjectsInRange, std::vector<const WorldObjectInterface*> (const StreamPosition& start, const StreamPosition& end));
MOCK_CONST_METHOD2(GetStreamPosition, std::optional<StreamPosition> (const WorldObjectInterface* object, const ObjectPoint& point));
- MOCK_CONST_METHOD0(GetLength, double ());
- MOCK_CONST_METHOD0(GetLaneTypes, std::vector<std::pair<double, LaneType>> ());
+ MOCK_CONST_METHOD0(GetLength, units::length::meter_t ());
+ MOCK_CONST_METHOD0(GetLaneTypes, std::vector<std::pair<units::length::meter_t, LaneType>> ());
};
@@ -35,5 +35,5 @@ public:
MOCK_CONST_METHOD0(GetAllLaneStreams, std::vector<std::unique_ptr<LaneStreamInterface>> ());
MOCK_CONST_METHOD2(GetLaneStream, std::unique_ptr<LaneStreamInterface> (const StreamPosition& startPosition, const int laneId));
MOCK_CONST_METHOD1(GetLaneStream, std::unique_ptr<LaneStreamInterface> (const GlobalRoadPosition& startPosition));
- MOCK_CONST_METHOD0(GetLength, double ());
+ MOCK_CONST_METHOD0(GetLength, units::length::meter_t ());
};
diff --git a/sim/tests/fakes/gmock/fakeVehicleModels.h b/sim/tests/fakes/gmock/fakeVehicleModels.h
index 5a62670c152b49fc60ff45b779a503000f1db896..a3d35a0a9f6b091a1ab566495d2a34174ac0bfcc 100644
--- a/sim/tests/fakes/gmock/fakeVehicleModels.h
+++ b/sim/tests/fakes/gmock/fakeVehicleModels.h
@@ -15,12 +15,10 @@
class FakeVehicleModels : public VehicleModelsInterface {
public:
- MOCK_CONST_METHOD0(GetVehicleModelMap,
- const VehicleModelMap&());
+ MOCK_CONST_METHOD1(GetVehicleModel,
+ mantle_api::VehicleProperties(std::string));
MOCK_METHOD2(AddVehicleModel,
- void(const std::string&, const ParametrizedVehicleModelParameters&));
- MOCK_CONST_METHOD2(GetVehicleModel,
- VehicleModelParameters(std::string, const openScenario::Parameters&));
+ void(const std::string&, mantle_api::VehicleProperties));
};
diff --git a/sim/tests/fakes/gmock/fakeWorld.h b/sim/tests/fakes/gmock/fakeWorld.h
index c99587025f8d26d34870e5cd864c004a4449b8e5..66bfeab196e4412284d0fa3de54958114fa641e6 100644
--- a/sim/tests/fakes/gmock/fakeWorld.h
+++ b/sim/tests/fakes/gmock/fakeWorld.h
@@ -10,100 +10,98 @@
********************************************************************************/
#pragma once
+#include "common/globalDefinitions.h"
#include "gmock/gmock.h"
-
#include "include/parameterInterface.h"
-#include "include/sceneryDynamicsInterface.h"
#include "include/worldInterface.h"
-#include "common/globalDefinitions.h"
-#include "common/openScenarioDefinitions.h"
class FakeWorld : public WorldInterface
{
public:
MOCK_METHOD0(CreateAgentAdapterForAgent, AgentInterface*());
- MOCK_METHOD1(CreateAgentAdapter, AgentInterface&(const AgentBlueprintInterface &agentBlueprint));
+ MOCK_METHOD1(CreateAgentAdapter, AgentInterface&(const AgentBuildInstructions &agentBlueprint));
MOCK_CONST_METHOD1(GetAgent, AgentInterface*(int id));
MOCK_METHOD1(GetAgentByName, AgentInterface*(const std::string &scenarioName));
MOCK_METHOD0(GetEgoAgent, AgentInterface*());
MOCK_METHOD0(CreateGlobalDrivingView, bool());
- MOCK_METHOD3(CreateScenery, bool(const SceneryInterface *scenery, const SceneryDynamicsInterface& sceneryDynamics, const TurningRates& turningRates));
+ MOCK_METHOD2(CreateScenery, bool(const SceneryInterface *scenery, const TurningRates& turningRates));
+ MOCK_METHOD1(SetWeather, void(const mantle_api::Weather& weather));
MOCK_METHOD1(CreateWorldScenario, bool(const std::string &scenarioFilename));
MOCK_METHOD1(CreateWorldScenery, bool(const std::string &sceneryFilename));
MOCK_METHOD0(Instantiate, bool());
- MOCK_CONST_METHOD1(GetLaneSections, LaneSections(const std::string& roadId));
- MOCK_METHOD6(IntersectsWithAgent, bool(double x, double y, double rotation, double length, double width, double center));
+ MOCK_CONST_METHOD1(GetLaneSections, LaneSections(const std::string &roadId));
+ MOCK_METHOD6(IntersectsWithAgent, bool(units::length::meter_t x, units::length::meter_t y, units::angle::radian_t rotation, units::length::meter_t length, units::length::meter_t width, units::length::meter_t center));
MOCK_METHOD0(isInstantiated, bool());
- MOCK_METHOD3(IsSValidOnLane, bool(std::string roadId, int laneId, double distance));
+ MOCK_METHOD3(IsSValidOnLane, bool(std::string roadId, int laneId, units::length::meter_t distance));
MOCK_CONST_METHOD2(IsDirectionalRoadExisting, bool(const std::string &roadId, bool inOdDirection));
- MOCK_METHOD4(IsLaneTypeValid, bool(const std::string &roadId, const int laneId, const double distanceOnLane, const LaneTypes& validLaneTypes));
-
- MOCK_CONST_METHOD0(GetBicycle, const AgentInterface*());
+ MOCK_METHOD4(IsLaneTypeValid, bool(const std::string &roadId, const int laneId, const units::length::meter_t distanceOnLane, const LaneTypes& validLaneTypes));
+ MOCK_CONST_METHOD0(GetBicycle, const AgentInterface *());
MOCK_CONST_METHOD1(GetLastCarInlane, const AgentInterface*(int laneNumber));
MOCK_CONST_METHOD0(GetSpecialAgent, const AgentInterface*());
- MOCK_METHOD0(GetRemovedAgentsInPreviousTimestep, const std::vector<int> ());
- MOCK_METHOD0(GetAgents, std::map<int, AgentInterface*>());
- MOCK_CONST_METHOD0(GetTrafficObjects, const std::vector<const TrafficObjectInterface*>&());
- MOCK_CONST_METHOD0(GetWorldObjects, const std::vector<const WorldObjectInterface*>&());
- MOCK_CONST_METHOD5(GetDistanceToEndOfLane, RouteQueryResult<double> (const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double initialSearchDistance,
- double maximumSearchLength));
- MOCK_CONST_METHOD6(GetDistanceToEndOfLane, RouteQueryResult<double> (const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double initialSearchDistance,
- double maximumSearchLength, const LaneTypes& laneTypes));
+ MOCK_METHOD0(GetRemovedAgentsInPreviousTimestep, const std::vector<int>());
+ MOCK_METHOD0(GetAgents, std::map<int, AgentInterface *>());
+ MOCK_CONST_METHOD0(GetTrafficObjects, const std::vector<const TrafficObjectInterface *> &());
+ MOCK_CONST_METHOD0(GetWorldObjects, const std::vector<const WorldObjectInterface *> &());
+ MOCK_CONST_METHOD5(GetDistanceToEndOfLane, RouteQueryResult<units::length::meter_t>(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t initialSearchDistance,
+ units::length::meter_t maximumSearchLength));
+ MOCK_CONST_METHOD6(GetDistanceToEndOfLane, RouteQueryResult<units::length::meter_t>(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t initialSearchDistance,
+ units::length::meter_t maximumSearchLength, const LaneTypes &laneTypes));
MOCK_CONST_METHOD0(GetFriction, double());
- MOCK_CONST_METHOD3(GetLaneCurvature, double(std::string roadId, int laneId, double position));
- MOCK_CONST_METHOD5(GetLaneCurvature, RouteQueryResult<std::optional<double>>(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double position, double distance));
- MOCK_CONST_METHOD3(GetLaneDirection, double(std::string roadId, int laneId, double position));
- MOCK_CONST_METHOD5(GetLaneDirection, RouteQueryResult<std::optional<double>>(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double position, double distance));
- MOCK_CONST_METHOD3(GetLaneWidth, double(std::string roadId, int laneId, double position));
- MOCK_CONST_METHOD5(GetLaneWidth, RouteQueryResult<std::optional<double>>(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double position, double distance));
- MOCK_CONST_METHOD0(GetVisibilityDistance, double());
- MOCK_CONST_METHOD2(GetLaneId, int(uint64_t streamId, double endDistance));
- MOCK_CONST_METHOD4(LaneCoord2WorldCoord, Position(double distanceOnLane, double offset, std::string roadId, int laneId));
+ MOCK_CONST_METHOD3(GetLaneCurvature, units::curvature::inverse_meter_t(std::string roadId, int laneId, units::length::meter_t position));
+ MOCK_CONST_METHOD5(GetLaneCurvature, RouteQueryResult<std::optional<units::curvature::inverse_meter_t>>(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t position, units::length::meter_t distance));
+ MOCK_CONST_METHOD3(GetLaneDirection, units::angle::radian_t(std::string roadId, int laneId, units::length::meter_t position));
+ MOCK_CONST_METHOD5(GetLaneDirection, RouteQueryResult<std::optional<units::angle::radian_t>>(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t position, units::length::meter_t distance));
+ MOCK_CONST_METHOD3(GetLaneWidth, units::length::meter_t(std::string roadId, int laneId, units::length::meter_t position));
+ MOCK_CONST_METHOD5(GetLaneWidth, RouteQueryResult<std::optional<units::length::meter_t>>(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t position, units::length::meter_t distance));
+ MOCK_CONST_METHOD0(GetVisibilityDistance, units::length::meter_t());
+ MOCK_CONST_METHOD2(GetLaneId, int(uint64_t streamId, units::length::meter_t endDistance));
+ MOCK_CONST_METHOD4(LaneCoord2WorldCoord, Position(units::length::meter_t distanceOnLane, units::length::meter_t offset, std::string roadId, int laneId));
MOCK_CONST_METHOD2(RoadCoord2WorldCoord, Position(RoadPosition roadCoord, std::string roadID));
- MOCK_CONST_METHOD3(WorldCoord2LaneCoord, GlobalRoadPositions (double x, double y, double heading));
- MOCK_CONST_METHOD1(GetRoadLength, double(const std::string& roadId));
+ MOCK_CONST_METHOD3(WorldCoord2LaneCoord, GlobalRoadPositions(units::length::meter_t x, units::length::meter_t y, units::angle::radian_t heading));
+ MOCK_CONST_METHOD1(GetRoadLength, units::length::meter_t(const std::string &roadId));
MOCK_CONST_METHOD5(GetObstruction, RouteQueryResult<Obstruction>(const RoadGraph &roadGraph, RoadGraphVertex startNode, const GlobalRoadPosition &ownPosition,
- const std::map<ObjectPoint, Common::Vector2d> &points, const RoadIntervals &touchedRoads));
+ const std::map<ObjectPoint, Common::Vector2d<units::length::meter_t>> &points, const RoadIntervals &touchedRoads));
MOCK_CONST_METHOD0(GetTimeOfDay, std::string());
- MOCK_CONST_METHOD0(GetTrafficRules, const TrafficRules& ());
- MOCK_CONST_METHOD5(GetTrafficSignsInRange, RouteQueryResult<std::vector<CommonTrafficSign::Entity>>(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double startDistance, double searchRange));
- MOCK_CONST_METHOD5(GetRoadMarkingsInRange, RouteQueryResult<std::vector<CommonTrafficSign::Entity>>(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double startDistance, double searchRange));
- MOCK_CONST_METHOD5(GetTrafficLightsInRange, RouteQueryResult<std::vector<CommonTrafficLight::Entity>>(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double startDistance, double searchRange));
- MOCK_CONST_METHOD6(GetLaneMarkings, RouteQueryResult<std::vector<LaneMarking::Entity>> (const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double startDistance, double range, Side side));
- MOCK_CONST_METHOD6(GetAgentsInRange, RouteQueryResult<AgentInterfaces>(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double startDistance, double backwardRange, double forwardRange));
- MOCK_CONST_METHOD6(GetObjectsInRange, RouteQueryResult<std::vector<const WorldObjectInterface*>>(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double startDistance, double backwardRange, double forwardRange));
- MOCK_CONST_METHOD2(GetAgentsInRangeOfJunctionConnection, AgentInterfaces (std::string connectingRoadId, double range));
- MOCK_CONST_METHOD3(GetDistanceToConnectorEntrance, double (/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId));
- MOCK_CONST_METHOD3(GetDistanceToConnectorDeparture, double (/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId));
+ MOCK_CONST_METHOD0(GetTrafficRules, const TrafficRules &());
+ MOCK_CONST_METHOD5(GetTrafficSignsInRange, RouteQueryResult<std::vector<CommonTrafficSign::Entity>>(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t startDistance, units::length::meter_t searchRange));
+ MOCK_CONST_METHOD5(GetRoadMarkingsInRange, RouteQueryResult<std::vector<CommonTrafficSign::Entity>>(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t startDistance, units::length::meter_t searchRange));
+ MOCK_CONST_METHOD5(GetTrafficLightsInRange, RouteQueryResult<std::vector<CommonTrafficLight::Entity>>(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t startDistance, units::length::meter_t searchRange));
+ MOCK_CONST_METHOD6(GetLaneMarkings, RouteQueryResult<std::vector<LaneMarking::Entity>>(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t startDistance, units::length::meter_t range, Side side));
+ MOCK_CONST_METHOD6(GetAgentsInRange, RouteQueryResult<AgentInterfaces>(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t startDistance, units::length::meter_t backwardRange, units::length::meter_t forwardRange));
+ MOCK_CONST_METHOD6(GetObjectsInRange, RouteQueryResult<std::vector<const WorldObjectInterface *>>(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t startDistance, units::length::meter_t backwardRange, units::length::meter_t forwardRange));
+ MOCK_CONST_METHOD2(GetAgentsInRangeOfJunctionConnection, AgentInterfaces(std::string connectingRoadId, units::length::meter_t range));
+ MOCK_CONST_METHOD3(GetDistanceToConnectorEntrance, units::length::meter_t (/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId));
+ MOCK_CONST_METHOD3(GetDistanceToConnectorDeparture, units::length::meter_t (/*const ObjectPosition position,*/ std::string intersectingConnectorId, int intersectingLaneId, std::string ownConnectorId));
MOCK_CONST_METHOD0(GetGlobalDrivingView, void*());
MOCK_CONST_METHOD0(GetGlobalObjects, void*());
MOCK_METHOD0(Clear, void());
MOCK_METHOD1(ExtractParameter, void(ParameterInterface *parameters));
- MOCK_METHOD1(RemoveAgent, void(const AgentInterface*agent));
- MOCK_METHOD1(QueueAgentRemove, void(const AgentInterface*agent));
+ MOCK_METHOD1(RemoveAgent, void(const AgentInterface *agent));
+ MOCK_METHOD1(QueueAgentRemove, void(const AgentInterface *agent));
MOCK_METHOD1(QueueAgentUpdate, void(std::function<void()> func));
MOCK_METHOD2(QueueAgentUpdate, void(std::function<void(double)> func, double val));
MOCK_METHOD0(Reset, void());
MOCK_METHOD1(SetTimeOfDay, void(int timeOfDay));
MOCK_METHOD1(SetWeekday, void(Weekday weekday));
MOCK_METHOD1(SyncGlobalData, void(int timestamp));
- MOCK_METHOD1(PublishGlobalData, void (int timestamp));
+ MOCK_METHOD1(PublishGlobalData, void(int timestamp));
MOCK_CONST_METHOD0(GetOsiGroundTruth, void*());
- MOCK_METHOD0(GetWorldData, void*());
+ MOCK_METHOD0(GetWorldData, void *());
MOCK_CONST_METHOD0(GetWeekday, Weekday());
MOCK_CONST_METHOD2(GetConnectionsOnJunction, std::vector<JunctionConnection> (std::string junctionId, std::string incomingRoadId));
MOCK_CONST_METHOD1(GetIntersectingConnections, std::vector<IntersectingConnection> (std::string connectingRoadId));
MOCK_CONST_METHOD1(GetPrioritiesOnJunction, std::vector<JunctionConnectorPriority> (std::string junctionId));
MOCK_CONST_METHOD1(GetRoadSuccessor, RoadNetworkElement (std::string roadId));
MOCK_CONST_METHOD1(GetRoadPredecessor, RoadNetworkElement (std::string roadId));
- MOCK_CONST_METHOD4(GetDistanceBetweenObjects, RouteQueryResult<std::optional<double>> (const RoadGraph& roadGraph, RoadGraphVertex startNode, double ownPosition, const GlobalRoadPositions &target));
- MOCK_CONST_METHOD4(GetRelativeJunctions, RouteQueryResult<RelativeWorldView::Roads>(const RoadGraph &roadGraph, RoadGraphVertex startNode, double startDistance, double range));
- MOCK_CONST_METHOD4(GetRelativeRoads, RouteQueryResult<RelativeWorldView::Roads>(const RoadGraph& roadGraph, RoadGraphVertex startNode, double startDistance, double range));
- MOCK_CONST_METHOD6(GetRelativeLanes, RouteQueryResult<RelativeWorldView::Lanes>(const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double distance, double range, bool includeOncoming));
- MOCK_CONST_METHOD5(GetRelativeLaneId, RouteQueryResult<std::optional<int>> (const RoadGraph& roadGraph, RoadGraphVertex startNode, int laneId, double distance, GlobalRoadPositions targetPosition));
- MOCK_CONST_METHOD3(GetRoadGraph, std::pair<RoadGraph, RoadGraphVertex>(const RouteElement& start, int maxDepth, bool inDrivingDirection));
- MOCK_CONST_METHOD1(GetEdgeWeights, std::map<RoadGraphEdge, double>(const RoadGraph& roadGraph));
+ MOCK_CONST_METHOD4(GetDistanceBetweenObjects, RouteQueryResult<std::optional<units::length::meter_t>> (const RoadGraph &roadGraph, RoadGraphVertex startNode, units::length::meter_t ownPosition, const GlobalRoadPositions &target));
+ MOCK_CONST_METHOD4(GetRelativeJunctions, RouteQueryResult<RelativeWorldView::Roads>(const RoadGraph &roadGraph, RoadGraphVertex startNode, units::length::meter_t startDistance, units::length::meter_t range));
+ MOCK_CONST_METHOD4(GetRelativeRoads, RouteQueryResult<RelativeWorldView::Roads>(const RoadGraph &roadGraph, RoadGraphVertex startNode, units::length::meter_t startDistance, units::length::meter_t range));
+ MOCK_CONST_METHOD6(GetRelativeLanes, RouteQueryResult<RelativeWorldView::Lanes>(const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t distance, units::length::meter_t range, bool includeOncoming));
+ MOCK_CONST_METHOD5(GetRelativeLaneId, RouteQueryResult<std::optional<int>> (const RoadGraph &roadGraph, RoadGraphVertex startNode, int laneId, units::length::meter_t distance, GlobalRoadPositions targetPosition));
+ MOCK_CONST_METHOD3(GetRoadGraph, std::pair<RoadGraph, RoadGraphVertex>(const RouteElement &start, int maxDepth, bool inDrivingDirection));
+ MOCK_CONST_METHOD1(GetEdgeWeights, std::map<RoadGraphEdge, double>(const RoadGraph &roadGraph));
MOCK_CONST_METHOD1(GetRoadStream, std::unique_ptr<RoadStreamInterface> (const std::vector<RouteElement>& route));
- MOCK_CONST_METHOD4(ResolveRelativePoint, RouteQueryResult<std::optional<GlobalRoadPosition>> (const RoadGraph& roadGraph, RoadGraphVertex startNode, ObjectPointRelative relativePoint, const WorldObjectInterface& object));
+ MOCK_CONST_METHOD4(ResolveRelativePoint, RouteQueryResult<std::optional<GlobalRoadPosition>> (const RoadGraph &roadGraph, RoadGraphVertex startNode, ObjectPointRelative relativePoint, const WorldObjectInterface& object));
MOCK_METHOD0(GetRadio, RadioInterface&());
+ MOCK_CONST_METHOD3(GetUniqueLaneId, uint64_t(std::string roadId, int laneId, units::length::meter_t position));
};
diff --git a/sim/tests/fakes/gmock/fakeWorldObject.h b/sim/tests/fakes/gmock/fakeWorldObject.h
index 529fd3960b3f8aa9926865d3eafa40486e7d435f..f3ea39cd086b17ff2a0d9903751b38d92a1e9642 100644
--- a/sim/tests/fakes/gmock/fakeWorldObject.h
+++ b/sim/tests/fakes/gmock/fakeWorldObject.h
@@ -17,22 +17,22 @@ class FakeWorldObject : public virtual WorldObjectInterface
{
public:
MOCK_CONST_METHOD0(GetType, ObjectTypeOSI());
- MOCK_CONST_METHOD0(GetPositionX, double());
- MOCK_CONST_METHOD0(GetPositionY, double());
+ MOCK_CONST_METHOD0(GetPositionX, units::length::meter_t());
+ MOCK_CONST_METHOD0(GetPositionY, units::length::meter_t());
+ MOCK_CONST_METHOD0(GetWidth, units::length::meter_t ());
+ MOCK_CONST_METHOD0(GetLength, units::length::meter_t());
MOCK_CONST_METHOD1(GetRoadPosition, const GlobalRoadPositions& (const ObjectPoint& point));
MOCK_CONST_METHOD0(GetTouchedRoads, const RoadIntervals &());
- MOCK_CONST_METHOD1(GetAbsolutePosition, Common::Vector2d(const ObjectPoint &objectPoint));
- MOCK_CONST_METHOD0(GetWidth, double());
- MOCK_CONST_METHOD0(GetLength, double());
- MOCK_CONST_METHOD0(GetHeight, double());
- MOCK_CONST_METHOD0(GetYaw, double());
- MOCK_CONST_METHOD0(GetRoll, double());
+ MOCK_CONST_METHOD1(GetAbsolutePosition, Common::Vector2d<units::length::meter_t>(const ObjectPoint &objectPoint));
+ MOCK_CONST_METHOD0(GetHeight, units::length::meter_t());
+ MOCK_CONST_METHOD0(GetYaw, units::angle::radian_t());
+ MOCK_CONST_METHOD0(GetRoll, units::angle::radian_t());
MOCK_CONST_METHOD0(GetId, int());
MOCK_CONST_METHOD0(GetBoundingBox2D, const polygon_t& ());
- MOCK_CONST_METHOD0(GetDistanceReferencePointToLeadingEdge, double());
- MOCK_CONST_METHOD0(GetLaneDirection, double());
- MOCK_CONST_METHOD1(GetVelocity, Common::Vector2d(ObjectPoint));
- MOCK_CONST_METHOD1(GetAcceleration, Common::Vector2d(ObjectPoint));
+ MOCK_CONST_METHOD0(GetDistanceReferencePointToLeadingEdge, units::length::meter_t());
+ MOCK_CONST_METHOD0(GetVelocity, units::velocity::meters_per_second_t());
+ MOCK_CONST_METHOD1(GetVelocity, Common::Vector2d<units::velocity::meters_per_second_t>(ObjectPoint));
+ MOCK_CONST_METHOD1(GetAcceleration, Common::Vector2d<units::acceleration::meters_per_second_squared_t>(ObjectPoint));
MOCK_METHOD0(Unlocate, void());
MOCK_METHOD0(Locate, bool());
};
diff --git a/sim/tests/integrationTests/OpenPassSlave_IntegrationTests/OpenPassSlave_IntegrationTests.pro b/sim/tests/integrationTests/OpenPassSlave_IntegrationTests/OpenPassSlave_IntegrationTests.pro
new file mode 100644
index 0000000000000000000000000000000000000000..7ec66cd78dc42f75128d74d3e20792fd829a5fde
--- /dev/null
+++ b/sim/tests/integrationTests/OpenPassSlave_IntegrationTests/OpenPassSlave_IntegrationTests.pro
@@ -0,0 +1,159 @@
+#/*******************************************************************************
+#* Copyright (c) 2019, 2021 in-tech GmbH
+#* Copyright (c) 2021 ITK Engineering 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 OpenPassSlave_IntegationTests.pro
+# \brief This file contains tests for the OpenPassSlave module
+#-----------------------------------------------------------------------------/
+QT += xml
+
+CONFIG += OPENPASS_GTEST \
+ OPENPASS_GTEST_DEFAULT_MAIN
+include(../../testing.pri)
+
+OPENPASS_SLAVE = $$OPEN_SRC/core/slave
+CORE_SHARE = $$OPEN_SRC/core/common
+WORLD_OSI = $$OPEN_SRC/core/slave/modules/World_OSI
+
+INCLUDEPATH += . \
+ $$OPENPASS_SLAVE \
+ $$OPENPASS_SLAVE/framework \
+ $$OPENPASS_SLAVE/modelElements \
+ $$OPENPASS_SLAVE/bindings \
+ $$OPENPASS_SLAVE/importer/road \
+ $$OPEN_SRC/core \
+ $$CORE_SHARE/cephes \
+ $$WORLD_OSI \
+ $$WORLD_OSI/OWL \
+ $$WORLD_OSI/Localization \
+ $$OPEN_SRC/.. \
+ $$OPEN_SRC/../..
+
+SRC_SCENERY = $$OPENPASS_SLAVE/importer/scenery.cpp \
+ $$OPENPASS_SLAVE/importer/sceneryImporter.cpp \
+ $$OPENPASS_SLAVE/importer/road.cpp \
+ $$OPENPASS_SLAVE/importer/junction.cpp \
+ $$OPENPASS_SLAVE/importer/connection.cpp \
+ $$OPENPASS_SLAVE/importer/road/roadSignal.cpp \
+ $$OPENPASS_SLAVE/importer/road/roadObject.cpp \
+ $$OPENPASS_SLAVE/bindings/worldBinding.cpp \
+ $$OPENPASS_SLAVE/bindings/worldLibrary.cpp \
+ $$OPENPASS_SLAVE/modules/Stochastics/stochastics_implementation.cpp
+
+INC_SCENERY = $$OPENPASS_SLAVE/importer/scenery.h \
+ $$OPENPASS_SLAVE/importer/sceneryImporter.h \
+ $$OPENPASS_SLAVE/importer/road.h \
+ $$OPENPASS_SLAVE/importer/junction.h \
+ $$OPENPASS_SLAVE/importer/connection.h \
+ $$OPENPASS_SLAVE/importer/road/roadSignal.h \
+ $$OPENPASS_SLAVE/importer/road/roadObject.h \
+ $$OPENPASS_SLAVE/bindings/world.h \
+ $$OPENPASS_SLAVE/bindings/worldBinding.h \
+ $$OPENPASS_SLAVE/bindings/worldLibrary.h \
+ $$OPENPASS_SLAVE/modules/Stochastics/stochastics_implementation.h
+
+SRC_SYSTEMCONFIG = $$OPENPASS_SLAVE/importer/systemConfig.cpp \
+ $$OPENPASS_SLAVE/importer/systemConfigImporter.cpp \
+ $$OPENPASS_SLAVE/modelElements/agentType.cpp \
+ $$OPENPASS_SLAVE/modelElements/componentType.cpp
+
+INC_SYSTEMCONFIG = $$OPENPASS_SLAVE/importer/systemConfig.h \
+ $$OPENPASS_SLAVE/importer/systemConfigImporter.h \
+ $$OPENPASS_SLAVE/modelElements/agentType.h \
+ $$OPENPASS_SLAVE/modelElements/componentType.h
+
+SRC_VEHICLEMODELS = $$OPENPASS_SLAVE/importer/vehicleModels.cpp \
+ $$OPENPASS_SLAVE/importer/vehicleModelsImporter.cpp
+
+INC_VEHICLEMODELS = $$OPENPASS_SLAVE/importer/vehicleModels.h \
+ $$OPENPASS_SLAVE/importer/vehicleModelsImporter.h
+
+INC_SLAVECONFIG = $$OPENPASS_SLAVE/importer/slaveConfig.h \
+ $$OPENPASS_SLAVE/importer/slaveConfigImporter.h \
+ $$OPENPASS_SLAVE/framework/directories.h
+
+SRC_SLAVECONFIG = $$OPENPASS_SLAVE/importer/slaveConfig.cpp \
+ $$OPENPASS_SLAVE/importer/slaveConfigImporter.cpp \
+ $$OPENPASS_SLAVE/importer/parameterImporter.cpp \
+ $$OPENPASS_SLAVE/framework/directories.cpp
+
+SRC_CORESHARE = $$OPEN_SRC/common/xmlParser.cpp \
+ $$CORE_SHARE/log.cpp \
+ $$CORE_SHARE/callbacks.cpp \
+ $$CORE_SHARE/cephes/fresnl.c \
+ $$CORE_SHARE/cephes/const.c \
+ $$CORE_SHARE/cephes/polevl.c
+
+INC_CORESHARE = $$OPEN_SRC/common/xmlParser.h \
+ $$CORE_SHARE/log.h \
+ $$CORE_SHARE/callbacks.h
+
+SRC_WORLD = $$WORLD_OSI/WorldData.cpp \
+ $$WORLD_OSI/WorldDataQuery.cpp \
+ $$WORLD_OSI/WorldDataException.cpp \
+ $$WORLD_OSI/WorldObjectAdapter.cpp \
+ $$WORLD_OSI/AgentAdapter.cpp \
+ $$WORLD_OSI/OWL/DataTypes.cpp \
+ $$WORLD_OSI/OWL/OpenDriveTypeMapper.cpp \
+ $$WORLD_OSI/Localization.cpp \
+ $$WORLD_OSI/WorldToRoadCoordinateConverter.cpp \
+ $$WORLD_OSI/egoAgent.cpp \
+ $$WORLD_OSI/LaneStream.cpp \
+ $$WORLD_OSI/RoadStream.cpp
+
+INC_WORLD = $$WORLD_OSI/WorldData.h \
+ $$WORLD_OSI/WorldDataQuery.h \
+ $$WORLD_OSI/WorldDataException.h \
+ $$WORLD_OSI/WorldObjectAdapter.h \
+ $$WORLD_OSI/AgentAdapter.h \
+ $$WORLD_OSI/OWL/DataTypes.h \
+ $$WORLD_OSI/OWL/OpenDriveTypeMapper.h \
+ $$WORLD_OSI/Localization.h \
+ $$WORLD_OSI/WorldToRoadCoordinateConverter.h \
+ $$WORLD_OSI/egoAgent.h \
+ $$WORLD_OSI/LaneStream.h \
+ $$WORLD_OSI/RoadStream.h
+
+SOURCES += \
+ $$OPEN_SRC/common/commonTools.cpp \
+ $$OPEN_SRC/common/eventDetectorDefinitions.cpp \
+ $$OPENPASS_SLAVE/modelElements/agentBlueprint.cpp \
+ $$OPENPASS_SLAVE/modelElements/parameters.cpp \
+ SceneryImporter_IntegrationTests.cpp \
+ SlaveConfigImporter_IntegrationTests.cpp \
+ SystemConfigImporter_IntegrationTests.cpp \
+ VehicleModelsImporter_IntegrationTests.cpp \
+ $$SRC_SCENARIO \
+ $$SRC_SCENERY \
+ $$SRC_SYSTEMCONFIG \
+ $$SRC_VEHICLEMODELS \
+ $$SRC_CORESHARE \
+ $$SRC_WORLD \
+ $$SRC_SLAVECONFIG
+
+HEADERS += \
+ $$OPEN_SRC/common/commonTools.h \
+ $$INC_SCENARIO \
+ $$INC_SCENERY \
+ $$INC_SYSTEMCONFIG \
+ $$INC_VEHICLEMODELS \
+ $$INC_CORESHARE \
+ $$INC_WORLD \
+ $$INC_SLAVECONFIG
+
+
+LIBS += -lopen_simulation_interface -lprotobuf
+
+win32: {
+ LIBS += -lboost_filesystem-mt
+} else {
+ LIBS += -lboost_filesystem
+}
diff --git a/sim/tests/integrationTests/Spawner_IntegrationTests/CMakeLists.txt b/sim/tests/integrationTests/Spawner_IntegrationTests/CMakeLists.txt
index f9e3ccb94dfec56fc71fd4b6280d8339f9f34d15..9b7c2b0d2f90d17fa355a0a0578a7c4b42eee888 100644
--- a/sim/tests/integrationTests/Spawner_IntegrationTests/CMakeLists.txt
+++ b/sim/tests/integrationTests/Spawner_IntegrationTests/CMakeLists.txt
@@ -16,7 +16,6 @@ add_openpass_target(
SOURCES
${OPENPASS_SIMCORE_DIR}/core/common/log.cpp
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/agentBlueprint.cpp
${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/agent.cpp
${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/channel.cpp
${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/component.cpp
diff --git a/sim/tests/integrationTests/Spawner_IntegrationTests/Spawner_IntegrationTests.cpp b/sim/tests/integrationTests/Spawner_IntegrationTests/Spawner_IntegrationTests.cpp
index 6586ff5fd1f938eb147288c93e41934bfbcacac2..b1ea6f9b8f70a922c959a0aff6eee74e13862d4b 100644
--- a/sim/tests/integrationTests/Spawner_IntegrationTests/Spawner_IntegrationTests.cpp
+++ b/sim/tests/integrationTests/Spawner_IntegrationTests/Spawner_IntegrationTests.cpp
@@ -11,7 +11,6 @@
#include "SpawnerPreRunCommon.h"
#include "fakeAgent.h"
-#include "fakeAgentBlueprint.h"
#include "fakeAgentBlueprintProvider.h"
#include "fakeAgentFactory.h"
#include "fakeCallback.h"
@@ -19,6 +18,8 @@
#include "fakeStochastics.h"
#include "fakeStream.h"
#include "fakeWorld.h"
+#include "fakeEnvironment.h"
+#include "fakeEntityRepository.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
@@ -34,6 +35,8 @@ using ::testing::Return;
using ::testing::ReturnRef;
using ::testing::VariantWith;
+using namespace units::literals;
+
constexpr char ROADID[] = "MyRoad";
class SpawnerPreRun_IntegrationTests : public testing::Test
@@ -69,20 +72,23 @@ public:
ON_CALL(stochastics, GetUniformDistributed(2,4)).WillByDefault(Return(3));
ON_CALL(stochastics, GetUniformDistributed(0,DoubleEq(6))).WillByDefault(Return(1));
ON_CALL(stochastics, GetUniformDistributed(0,DoubleEq(41))).WillByDefault(Return(7));
- ON_CALL(agentFactory, AddAgent(_)).WillByDefault([&](AgentBlueprintInterface* bluePrint)
+ ON_CALL(agentFactory, AddAgent(_)).WillByDefault([&](const AgentBuildInstructions& agentBuildInstructions)
{
- agents.push_back(new core::Agent(&world, *bluePrint));
- auto laneId = -1 + static_cast<int>(bluePrint->GetSpawnParameter().positionY / 3.0);
+ agents.push_back(new core::Agent(&world, agentBuildInstructions));
+ auto laneId = -1 + static_cast<int>(agentBuildInstructions.spawnParameter.position.y / 3.0_m);
auto agent = new FakeAgent;
agentsOnLane[laneId].insert(agentsOnLane[laneId].begin(), agent);
- ON_CALL(*agent, GetPositionX()).WillByDefault(Return(bluePrint->GetSpawnParameter().positionX));
- ON_CALL(*agent, GetLength()).WillByDefault(Return(5.0));
- ON_CALL(*agent, GetDistanceReferencePointToLeadingEdge()).WillByDefault(Return(3.0));
- ON_CALL(*agent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{bluePrint->GetSpawnParameter().velocity, 0.0}));
- ON_CALL(*agent, GetAgentTypeName()).WillByDefault(Return(bluePrint->GetAgentProfileName()));
+ ON_CALL(*agent, GetPositionX()).WillByDefault(Return(agentBuildInstructions.spawnParameter.position.x));
+ ON_CALL(*agent, GetLength()).WillByDefault(Return(5.0_m));
+ ON_CALL(*agent, GetDistanceReferencePointToLeadingEdge()).WillByDefault(Return(3.0_m));
+ ON_CALL(*agent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{agentBuildInstructions.spawnParameter.velocity, 0.0_mps}));
+ ON_CALL(*agent, GetAgentTypeName()).WillByDefault(Return(agentBuildInstructions.system.agentProfileName));
return agents.back();
});
+ ON_CALL(*environment, GetEntityRepository()).WillByDefault(ReturnRef(entityRepository));
+ ON_CALL(*environment, GetControllerRepository()).WillByDefault(ReturnRef(controllerRepository));
+
RoadGraph roadGraph {};
RoadGraphVertex vertex {};
RouteElement routeElement{ROADID, true};
@@ -97,14 +103,14 @@ public:
ON_CALL(world, GetRoadGraph(_, _, _))
.WillByDefault(Return(std::pair<RoadGraph, RoadGraphVertex>{roadGraph, vertex}));
ON_CALL(world, LaneCoord2WorldCoord(_,_,_,_)).WillByDefault(
- [&](double distanceOnLane, double offset, std::string , int laneId)
- {return Position{distanceOnLane, offset + 3 * laneId + 1.5, 0, 0};});
+ [&](units::length::meter_t distanceOnLane, units::length::meter_t offset, std::string , int laneId)
+ {return Position{distanceOnLane, offset + 3_m * laneId + 1.5_m, 0_rad, 0_i_m};});
FakeRoadStream* roadStream = new FakeRoadStream;
ON_CALL(*roadStream, GetStreamPosition(_)).WillByDefault(
- [](const GlobalRoadPosition& roadPosition){return StreamPosition{roadPosition.roadPosition.s, 0};});
+ [](const GlobalRoadPosition& roadPosition){return StreamPosition{roadPosition.roadPosition.s, 0_m};});
FakeLaneStream* laneStream1 = new FakeLaneStream;
- ON_CALL(*laneStream1, GetLength()).WillByDefault(Return(10000));
+ ON_CALL(*laneStream1, GetLength()).WillByDefault(Return(10000_m));
ON_CALL(*laneStream1, GetAgentsInRange(_,_)).WillByDefault(
[&](StreamPosition start, StreamPosition end)
{
@@ -120,14 +126,14 @@ public:
return agentsInRange;
});
ON_CALL(*laneStream1, GetStreamPosition(_)).WillByDefault(
- [](const GlobalRoadPosition& roadPosition){return StreamPosition{roadPosition.roadPosition.s, 0};});
+ [](const GlobalRoadPosition& roadPosition){return StreamPosition{roadPosition.roadPosition.s, 0_m};});
ON_CALL(*laneStream1, GetRoadPosition(_)).WillByDefault(
- [](const StreamPosition& streamPosition){return GlobalRoadPosition{ROADID, -1, streamPosition.s, streamPosition.t, 0};});
- std::vector<std::pair<double, LaneType>> laneTypes{{0, LaneType::Driving}};
+ [](const StreamPosition& streamPosition){return GlobalRoadPosition{ROADID, -1, streamPosition.s, streamPosition.t, 0_rad};});
+ std::vector<std::pair<units::length::meter_t, LaneType>> laneTypes{{0_m, LaneType::Driving}};
ON_CALL(*laneStream1, GetLaneTypes()).WillByDefault(Return(laneTypes));
- ON_CALL(*laneStream1, GetStreamPosition(_, VariantWith<ObjectPointPredefined>(ObjectPointPredefined::RearCenter))).WillByDefault([](const WorldObjectInterface *object, const ObjectPoint &) { return StreamPosition{object->GetPositionX(), 0}; });
+ ON_CALL(*laneStream1, GetStreamPosition(_, VariantWith<ObjectPointPredefined>(ObjectPointPredefined::RearCenter))).WillByDefault([](const WorldObjectInterface *object, const ObjectPoint &) { return StreamPosition{object->GetPositionX(), 0_m}; });
FakeLaneStream* laneStream2 = new FakeLaneStream;
- ON_CALL(*laneStream2, GetLength()).WillByDefault(Return(10000));
+ ON_CALL(*laneStream2, GetLength()).WillByDefault(Return(10000_m));
ON_CALL(*laneStream2, GetAgentsInRange(_,_)).WillByDefault(
[&](StreamPosition start, StreamPosition end)
{
@@ -143,13 +149,13 @@ public:
return agentsInRange;
});
ON_CALL(*laneStream2, GetStreamPosition(_)).WillByDefault(
- [](const GlobalRoadPosition& roadPosition){return StreamPosition{roadPosition.roadPosition.s, 0};});
+ [](const GlobalRoadPosition& roadPosition){return StreamPosition{roadPosition.roadPosition.s, 0_m};});
ON_CALL(*laneStream2, GetRoadPosition(_)).WillByDefault(
- [](const StreamPosition& streamPosition){return GlobalRoadPosition{ROADID, -2, streamPosition.s, streamPosition.t, 0};});
+ [](const StreamPosition& streamPosition){return GlobalRoadPosition{ROADID, -2, streamPosition.s, streamPosition.t, 0_rad};});
ON_CALL(*laneStream2, GetLaneTypes()).WillByDefault(Return(laneTypes));
- ON_CALL(*laneStream2, GetStreamPosition(_, VariantWith<ObjectPointPredefined>(ObjectPointPredefined::RearCenter))).WillByDefault([](const WorldObjectInterface *object, const ObjectPoint &) { return StreamPosition{object->GetPositionX(), 0}; });
+ ON_CALL(*laneStream2, GetStreamPosition(_, VariantWith<ObjectPointPredefined>(ObjectPointPredefined::RearCenter))).WillByDefault([](const WorldObjectInterface *object, const ObjectPoint &) { return StreamPosition{object->GetPositionX(), 0_m}; });
FakeLaneStream* laneStream3 = new FakeLaneStream;
- ON_CALL(*laneStream3, GetLength()).WillByDefault(Return(10000));
+ ON_CALL(*laneStream3, GetLength()).WillByDefault(Return(10000_m));
ON_CALL(*laneStream3, GetAgentsInRange(_,_)).WillByDefault(
[&](StreamPosition start, StreamPosition end)
{
@@ -165,29 +171,32 @@ public:
return agentsInRange;
});
ON_CALL(*laneStream3, GetStreamPosition(_)).WillByDefault(
- [](const GlobalRoadPosition& roadPosition){return StreamPosition{roadPosition.roadPosition.s, 0};});
+ [](const GlobalRoadPosition& roadPosition){return StreamPosition{roadPosition.roadPosition.s, 0_m};});
ON_CALL(*laneStream3, GetRoadPosition(_)).WillByDefault(
- [](const StreamPosition& streamPosition){return GlobalRoadPosition{ROADID, -3, streamPosition.s, streamPosition.t, 0};});
+ [](const StreamPosition& streamPosition){return GlobalRoadPosition{ROADID, -3, streamPosition.s, streamPosition.t, 0_rad};});
ON_CALL(*laneStream3, GetLaneTypes()).WillByDefault(Return(laneTypes));
- ON_CALL(*laneStream3, GetStreamPosition(_, VariantWith<ObjectPointPredefined>(ObjectPointPredefined::RearCenter))).WillByDefault([](const WorldObjectInterface *object, const ObjectPoint &) { return StreamPosition{object->GetPositionX(), 0}; });
+ ON_CALL(*laneStream3, GetStreamPosition(_, VariantWith<ObjectPointPredefined>(ObjectPointPredefined::RearCenter))).WillByDefault([](const WorldObjectInterface *object, const ObjectPoint &) { return StreamPosition{object->GetPositionX(), 0_m}; });
ON_CALL(*roadStream, GetLaneStream(_,-1)).WillByDefault(Return(ByMove(std::unique_ptr<LaneStreamInterface>(laneStream1))));
ON_CALL(*roadStream, GetLaneStream(_,-2)).WillByDefault(Return(ByMove(std::unique_ptr<LaneStreamInterface>(laneStream2))));
ON_CALL(*roadStream, GetLaneStream(_,-3)).WillByDefault(Return(ByMove(std::unique_ptr<LaneStreamInterface>(laneStream3))));
ON_CALL(world, GetRoadStream(std::vector<RouteElement>{{ROADID,true}})).WillByDefault(Return(ByMove(std::unique_ptr<RoadStreamInterface>(roadStream))));
- LaneSection fakeLaneSection1 {1000.0, 1500.0, {-1, -2, -3}};
+ LaneSection fakeLaneSection1 {1000.0_m, 1500.0_m, {-1, -2, -3}};
LaneSections fakeLaneSections {fakeLaneSection1};
ON_CALL(world, GetLaneSections(ROADID))
.WillByDefault(Return(fakeLaneSections));
- AgentBlueprint agentBlueprint;
- VehicleModelParameters vehicleModelParameters;
- vehicleModelParameters.vehicleType = AgentVehicleType::Car;
- vehicleModelParameters.boundingBoxDimensions.length = 5.0;
- vehicleModelParameters.boundingBoxDimensions.width = 1.0;
- vehicleModelParameters.boundingBoxCenter.x = 0.5;
- agentBlueprint.SetVehicleModelParameters(vehicleModelParameters);
- ON_CALL(agentBlueprintProvider, SampleAgent(_,_)).WillByDefault(Return(agentBlueprint));
+ AgentBuildInstructions agentBuildInstructions;
+ auto vehicleModelParameters = std::make_shared<mantle_api::VehicleProperties>();
+ vehicleModelParameters->type = mantle_api::EntityType::kVehicle;
+ vehicleModelParameters->classification = mantle_api::VehicleClass::kMedium_car;
+ vehicleModelParameters->bounding_box.dimension.length = 5.0_m;
+ vehicleModelParameters->bounding_box.dimension.width = 1.0_m;
+ vehicleModelParameters->bounding_box.geometric_center.x = 0.5_m;
+ const std::string vehicleModelName = "TestVehicle";
+ ON_CALL(agentBlueprintProvider, SampleSystem(_)).WillByDefault(Return(agentBuildInstructions.system));
+ ON_CALL(agentBlueprintProvider, SampleVehicleModelName(_)).WillByDefault(Return(vehicleModelName));
+ vehicles->insert({vehicleModelName, vehicleModelParameters});
}
~SpawnerPreRun_IntegrationTests()
@@ -214,7 +223,11 @@ public:
FakeWorld world;
FakeAgentBlueprintProvider agentBlueprintProvider;
FakeStochastics stochastics;
- SpawnPointDependencies dependencies{&agentFactory, &world, &agentBlueprintProvider, &stochastics};
+ std::shared_ptr<FakeEnvironment> environment = std::make_shared<FakeEnvironment>();
+ FakeEntityRepository entityRepository;
+ mantle_api::MockControllerRepository controllerRepository;
+ std::shared_ptr<Vehicles> vehicles = std::make_shared<Vehicles>();
+ SpawnPointDependencies dependencies{&agentFactory, &world, &agentBlueprintProvider, &stochastics, environment, vehicles};
FakeParameter parameters;
std::shared_ptr<FakeParameter> spawnZone = std::make_shared<FakeParameter>();
@@ -263,7 +276,7 @@ const RelativeWorldView::Lane relativeLane0 {0, true, LaneType::Driving, std::nu
const RelativeWorldView::Lane relativeLaneMinus1 {-1, true, LaneType::Driving, std::nullopt, std::nullopt};
const RelativeWorldView::Lane relativeLaneMinus2 {-2, true, LaneType::Driving, std::nullopt, std::nullopt};
-void CheckTGap(std::vector<FakeAgent*> agentsOnLane, double expectedTGap, double minS, double maxS)
+void CheckTGap(std::vector<FakeAgent*> agentsOnLane, double expectedTGap, units::length::meter_t minS, units::length::meter_t maxS)
{
for (size_t i=0; i + 1 < agentsOnLane.size(); ++i)
{
@@ -273,14 +286,14 @@ void CheckTGap(std::vector<FakeAgent*> agentsOnLane, double expectedTGap, double
auto rearS = rearAgent->GetPositionX();
if (minS <= frontS && frontS <= maxS)
{
- double deltaS = frontS - rearS - rearAgent->GetLength();
- double velocity = rearAgent->GetVelocity(ObjectPointPredefined::Reference).Length();
- EXPECT_THAT(deltaS / velocity, DoubleEq(expectedTGap));
+ auto deltaS = frontS - rearS - rearAgent->GetLength();
+ auto velocity = rearAgent->GetVelocity(ObjectPointPredefined::Reference).Length();
+ EXPECT_THAT(deltaS.value() / velocity.value(), DoubleEq(expectedTGap));
}
}
}
-void CheckVelocity(std::vector<FakeAgent*> agentsOnLane, double expectedVelocity, double minS, double maxS)
+void CheckVelocity(std::vector<FakeAgent*> agentsOnLane, double expectedVelocity, units::length::meter_t minS, units::length::meter_t maxS)
{
for (size_t i=0; i + 1 < agentsOnLane.size(); ++i)
{
@@ -289,13 +302,13 @@ void CheckVelocity(std::vector<FakeAgent*> agentsOnLane, double expectedVelocity
auto rearAgent = agentsOnLane[i];
if (minS <= frontS && frontS <= maxS)
{
- double velocity = rearAgent->GetVelocity(ObjectPointPredefined::Reference).Length();
- EXPECT_THAT(velocity, DoubleEq(expectedVelocity));
+ auto velocity = rearAgent->GetVelocity(ObjectPointPredefined::Reference).Length();
+ EXPECT_THAT(velocity.value(), DoubleEq(expectedVelocity));
}
}
}
-void CheckAgentProfile(std::vector<FakeAgent*> agentsOnLane, std::string expectedProfile, double minS, double maxS)
+void CheckAgentProfile(std::vector<FakeAgent*> agentsOnLane, std::string expectedProfile, units::length::meter_t minS, units::length::meter_t maxS)
{
for (size_t i=0; i + 1 < agentsOnLane.size(); ++i)
{
@@ -320,44 +333,50 @@ TEST_F(SpawnerPreRun_IntegrationTests, ThreeContinuesLanes_SpawnWithCorrectTGapA
ON_CALL(*spawnZone, GetParametersDouble()).WillByDefault(ReturnRef(parametersDouble));
ON_CALL(world, GetDistanceToEndOfLane(_,_,_,_,_,_)).WillByDefault(
- [](const RoadGraph&, RoadGraphVertex startNode, int, double initialSearchDistance, double, const LaneTypes&)
+ [](const RoadGraph&, RoadGraphVertex startNode, int, units::length::meter_t initialSearchDistance, units::length::meter_t, const LaneTypes&)
{
- return RouteQueryResult<double>{{startNode, 2000.0 - initialSearchDistance}};
+ return RouteQueryResult<units::length::meter_t>{{startNode, 2000.0_m - initialSearchDistance}};
});
- ON_CALL(world, IsSValidOnLane(ROADID, AllOf(Le(-1),Ge(-3)),AllOf(Ge(0),Le(2000)))).WillByDefault(Return(true));
- ON_CALL(world, GetLaneWidth(_,_,_)).WillByDefault(Return(3.0));
- ON_CALL(world, GetRoadLength(_)).WillByDefault(Return(10000.));
+ ON_CALL(world, IsSValidOnLane(ROADID, AllOf(Le(-1),Ge(-3)),AllOf(Ge(0_m),Le(2000_m)))).WillByDefault(Return(true));
+ ON_CALL(world, GetLaneWidth(_,_,_)).WillByDefault(Return(3.0_m));
+ ON_CALL(world, GetRoadLength(_)).WillByDefault(Return(10000._m));
RouteQueryResult<std::vector<const WorldObjectInterface*>> noObjects{{0, {}}};
ON_CALL(world, GetObjectsInRange(_,_,_,_,_,_)).WillByDefault(Return(noObjects));
- RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus1{{0, {{0,0,{relativeLaneMinus2, relativeLaneMinus1, relativeLane0}}}}};
+ RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus1{{0, {{0_m,0_m,{relativeLaneMinus2, relativeLaneMinus1, relativeLane0}}}}};
ON_CALL(world, GetRelativeLanes(_,_,-1,_,_,_)).WillByDefault(Return(relativeLanesMinus1));
- RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus2{{0, {{0,0,{relativeLaneMinus1, relativeLane0, relativeLanePlus1}}}}};
+ RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus2{{0, {{0_m,0_m,{relativeLaneMinus1, relativeLane0, relativeLanePlus1}}}}};
ON_CALL(world, GetRelativeLanes(_,_,-2,_,_,_)).WillByDefault(Return(relativeLanesMinus2));
- RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus3{{0, {{0,0,{relativeLane0, relativeLanePlus1, relativeLanePlus2}}}}};
+ RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus3{{0, {{0_m,0_m,{relativeLane0, relativeLanePlus1, relativeLanePlus2}}}}};
ON_CALL(world, GetRelativeLanes(_,_,-3,_,_,_)).WillByDefault(Return(relativeLanesMinus3));
NiceMock<FakeAgent> fakeAgent;
ON_CALL(world, CreateAgentAdapter(_)).WillByDefault(ReturnRef(fakeAgent));
+ mantle_api::MockVehicle vehicle{};
+ ON_CALL(entityRepository, Create(_, testing::A<const mantle_api::VehicleProperties&>())).WillByDefault(ReturnRef(vehicle));
+
+ mantle_api::MockController controller{};
+ ON_CALL(controllerRepository, Create(_)).WillByDefault(ReturnRef(controller));
+
auto spawner = CreateSpawner();
- auto spawnedAgents = spawner.Trigger(0);
+ spawner.Trigger(0);
ASSERT_THAT(agentsOnLane[-3].empty(), false);
- CheckTGap(agentsOnLane[-3], 3, 1000, 1500);
- CheckVelocity(agentsOnLane[-3], 25, 1000, 1500);
- CheckAgentProfile(agentsOnLane[-3], "AgentProfile2a", 1000, 1500);
+ CheckTGap(agentsOnLane[-3], 3, 1000_m, 1500_m);
+ CheckVelocity(agentsOnLane[-3], 25, 1000_m, 1500_m);
+ CheckAgentProfile(agentsOnLane[-3], "AgentProfile2a", 1000_m, 1500_m);
ASSERT_THAT(agentsOnLane[-2].empty(), false);
- CheckTGap(agentsOnLane[-2], 2, 1000, 1500);
- CheckVelocity(agentsOnLane[-2], 27, 1000, 1500);
- CheckAgentProfile(agentsOnLane[-2], "AgentProfile1a", 1000, 1500);
+ CheckTGap(agentsOnLane[-2], 2, 1000_m, 1500_m);
+ CheckVelocity(agentsOnLane[-2], 27, 1000_m, 1500_m);
+ CheckAgentProfile(agentsOnLane[-2], "AgentProfile1a", 1000_m, 1500_m);
ASSERT_THAT(agentsOnLane[-1].empty(), false);
- CheckTGap(agentsOnLane[-1], 2, 1000, 1500);
- CheckVelocity(agentsOnLane[-1], 40.5, 1000, 1500);
- CheckAgentProfile(agentsOnLane[-1], "AgentProfile1a", 1000, 1500);
+ CheckTGap(agentsOnLane[-1], 2, 1000_m, 1500_m);
+ CheckVelocity(agentsOnLane[-1], 40.5, 1000_m, 1500_m);
+ CheckAgentProfile(agentsOnLane[-1], "AgentProfile1a", 1000_m, 1500_m);
}
TEST_F(SpawnerPreRun_IntegrationTests, IncreasingLaneNumber_SpawnWithCorrectTGapAndProfiles)
@@ -370,24 +389,24 @@ TEST_F(SpawnerPreRun_IntegrationTests, IncreasingLaneNumber_SpawnWithCorrectTGap
ON_CALL(*spawnZone, GetParametersDouble()).WillByDefault(ReturnRef(parametersDouble));
ON_CALL(world, GetDistanceToEndOfLane(_,_,_,_,_,_)).WillByDefault(
- [](const RoadGraph&, RoadGraphVertex startNode, int, double initialSearchDistance, double, const LaneTypes&)
- {return RouteQueryResult<double>{{startNode, 2000.0 - initialSearchDistance}};});
- ON_CALL(world, IsSValidOnLane(ROADID, AllOf(Le(-1),Ge(-2)),AllOf(Ge(0),Le(2000)))).WillByDefault(Return(true));
- ON_CALL(world, IsSValidOnLane(ROADID, -3,AllOf(Ge(1400),Le(2000)))).WillByDefault(Return(true));
- ON_CALL(world, GetLaneWidth(_,_,_)).WillByDefault(Return(3.0));
- ON_CALL(world, GetRoadLength(_)).WillByDefault(Return(10000.));
+ [](const RoadGraph&, RoadGraphVertex startNode, int, units::length::meter_t initialSearchDistance, units::length::meter_t, const LaneTypes&)
+ {return RouteQueryResult<units::length::meter_t>{{startNode, 2000.0_m - initialSearchDistance}};});
+ ON_CALL(world, IsSValidOnLane(ROADID, AllOf(Le(-1),Ge(-2)),AllOf(Ge(0_m),Le(2000_m)))).WillByDefault(Return(true));
+ ON_CALL(world, IsSValidOnLane(ROADID, -3,AllOf(Ge(1400_m),Le(2000_m)))).WillByDefault(Return(true));
+ ON_CALL(world, GetLaneWidth(_,_,_)).WillByDefault(Return(3.0_m));
+ ON_CALL(world, GetRoadLength(_)).WillByDefault(Return(10000._m));
RouteQueryResult<std::vector<const WorldObjectInterface*>> noObjects{{0, {}}};
ON_CALL(world, GetObjectsInRange(_,_,_,_,_,_)).WillByDefault(Return(noObjects));
- RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus1First{{0, {{0,0,{relativeLaneMinus1, relativeLane0}}}}};
- ON_CALL(world, GetRelativeLanes(_,_,-1,Le(1400),_,_)).WillByDefault(Return(relativeLanesMinus1First));
- RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus1Second{{0, {{0,0,{relativeLaneMinus2, relativeLaneMinus1, relativeLane0}}}}};
- ON_CALL(world, GetRelativeLanes(_,_,-1,Ge(1400),_,_)).WillByDefault(Return(relativeLanesMinus1Second));
- RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus2First{{0, {{0,0,{relativeLane0, relativeLanePlus1}}}}};
- ON_CALL(world, GetRelativeLanes(_,_,-2,Le(1400),_,_)).WillByDefault(Return(relativeLanesMinus2First));
- RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus2Second{{0, {{0,0,{relativeLaneMinus1, relativeLane0, relativeLanePlus1}}}}};
- ON_CALL(world, GetRelativeLanes(_,_,-2,Ge(1400),_,_)).WillByDefault(Return(relativeLanesMinus2Second));
- RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus3{{0, {{0,0,{relativeLane0, relativeLanePlus1, relativeLanePlus2}}}}};
+ RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus1First{{0, {{0_m,0_m,{relativeLaneMinus1, relativeLane0}}}}};
+ ON_CALL(world, GetRelativeLanes(_,_,-1,Le(1400_m),_,_)).WillByDefault(Return(relativeLanesMinus1First));
+ RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus1Second{{0, {{0_m,0_m,{relativeLaneMinus2, relativeLaneMinus1, relativeLane0}}}}};
+ ON_CALL(world, GetRelativeLanes(_,_,-1,Ge(1400_m),_,_)).WillByDefault(Return(relativeLanesMinus1Second));
+ RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus2First{{0, {{0_m,0_m,{relativeLane0, relativeLanePlus1}}}}};
+ ON_CALL(world, GetRelativeLanes(_,_,-2,Le(1400_m),_,_)).WillByDefault(Return(relativeLanesMinus2First));
+ RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus2Second{{0, {{0_m,0_m,{relativeLaneMinus1, relativeLane0, relativeLanePlus1}}}}};
+ ON_CALL(world, GetRelativeLanes(_,_,-2,Ge(1400_m),_,_)).WillByDefault(Return(relativeLanesMinus2Second));
+ RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus3{{0, {{0_m,0_m,{relativeLane0, relativeLanePlus1, relativeLanePlus2}}}}};
ON_CALL(world, GetRelativeLanes(_,_,-3,_,_,_)).WillByDefault(Return(relativeLanesMinus3));
NiceMock<FakeAgent> fakeAgent;
@@ -395,26 +414,32 @@ TEST_F(SpawnerPreRun_IntegrationTests, IncreasingLaneNumber_SpawnWithCorrectTGap
auto spawner = CreateSpawner();
- auto spawnedAgents = spawner.Trigger(0);
+ mantle_api::MockVehicle vehicle{};
+ ON_CALL(entityRepository, Create(_, testing::A<const mantle_api::VehicleProperties&>())).WillByDefault(ReturnRef(vehicle));
+
+ mantle_api::MockController controller{};
+ ON_CALL(controllerRepository, Create(_)).WillByDefault(ReturnRef(controller));
+
+ spawner.Trigger(0);
ASSERT_THAT(agentsOnLane[-3].empty(), false);
- CheckTGap(agentsOnLane[-3], 3, 1400, 1500);
- CheckVelocity(agentsOnLane[-3], 25, 1400, 1500);
- CheckAgentProfile(agentsOnLane[-3], "AgentProfile2a", 1400, 1500);
+ CheckTGap(agentsOnLane[-3], 3, 1400_m, 1500_m);
+ CheckVelocity(agentsOnLane[-3], 25, 1400_m, 1500_m);
+ CheckAgentProfile(agentsOnLane[-3], "AgentProfile2a", 1400_m, 1500_m);
ASSERT_THAT(agentsOnLane[-2].empty(), false);
- CheckTGap(agentsOnLane[-2], 2, 1400, 1500);
- CheckVelocity(agentsOnLane[-2], 27, 1400, 1500);
- CheckAgentProfile(agentsOnLane[-2], "AgentProfile1a", 1400, 1500);
- CheckTGap(agentsOnLane[-2], 3, 1000, 1400);
- CheckVelocity(agentsOnLane[-2], 25, 1000, 1400);
- CheckAgentProfile(agentsOnLane[-2], "AgentProfile2a", 1000, 1400);
+ CheckTGap(agentsOnLane[-2], 2, 1400_m, 1500_m);
+ CheckVelocity(agentsOnLane[-2], 27, 1400_m, 1500_m);
+ CheckAgentProfile(agentsOnLane[-2], "AgentProfile1a", 1400_m, 1500_m);
+ CheckTGap(agentsOnLane[-2], 3, 1000_m, 1400_m);
+ CheckVelocity(agentsOnLane[-2], 25, 1000_m, 1400_m);
+ CheckAgentProfile(agentsOnLane[-2], "AgentProfile2a", 1000_m, 1400_m);
ASSERT_THAT(agentsOnLane[-1].empty(), false);
- CheckTGap(agentsOnLane[-1], 2, 1000, 1500);
- CheckVelocity(agentsOnLane[-1], 40.5, 1400, 1500);
- CheckVelocity(agentsOnLane[-1], 27, 1000, 1400);
- CheckAgentProfile(agentsOnLane[-1], "AgentProfile1a", 1000, 1500);
+ CheckTGap(agentsOnLane[-1], 2, 1000_m, 1500_m);
+ CheckVelocity(agentsOnLane[-1], 40.5, 1400_m, 1500_m);
+ CheckVelocity(agentsOnLane[-1], 27, 1000_m, 1400_m);
+ CheckAgentProfile(agentsOnLane[-1], "AgentProfile1a", 1000_m, 1500_m);
}
TEST_F(SpawnerPreRun_IntegrationTests, DecreasingLaneNumber_SpawnWithCorrectTGapAndProfiles)
@@ -427,27 +452,27 @@ TEST_F(SpawnerPreRun_IntegrationTests, DecreasingLaneNumber_SpawnWithCorrectTGap
ON_CALL(*spawnZone, GetParametersDouble()).WillByDefault(ReturnRef(parametersDouble));
ON_CALL(world, GetDistanceToEndOfLane(_,_,-3,_,_,_)).WillByDefault(
- [](const RoadGraph&, RoadGraphVertex startNode, int, double initialSearchDistance, double, const LaneTypes&)
- {return RouteQueryResult<double>{{startNode, 1200.0 - initialSearchDistance}};});
+ [](const RoadGraph&, RoadGraphVertex startNode, int, units::length::meter_t initialSearchDistance, units::length::meter_t, const LaneTypes&)
+ {return RouteQueryResult<units::length::meter_t>{{startNode, 1200.0_m - initialSearchDistance}};});
ON_CALL(world, GetDistanceToEndOfLane(_,_,AllOf(Le(-1),Ge(-2)),_,_,_)).WillByDefault(
- [](const RoadGraph&, RoadGraphVertex startNode, int, double initialSearchDistance, double, const LaneTypes&)
- {return RouteQueryResult<double>{{startNode, 2000.0 - initialSearchDistance}};});
- ON_CALL(world, IsSValidOnLane(ROADID, AllOf(Le(-1),Ge(-2)),AllOf(Ge(0),Le(2000)))).WillByDefault(Return(true));
- ON_CALL(world, IsSValidOnLane(ROADID, -3,AllOf(Ge(0),Le(1200)))).WillByDefault(Return(true));
- ON_CALL(world, GetLaneWidth(_,_,_)).WillByDefault(Return(3.0));
- ON_CALL(world, GetRoadLength(_)).WillByDefault(Return(10000.));
+ [](const RoadGraph&, RoadGraphVertex startNode, int, units::length::meter_t initialSearchDistance, units::length::meter_t, const LaneTypes&)
+ {return RouteQueryResult<units::length::meter_t>{{startNode, 2000.0_m - initialSearchDistance}};});
+ ON_CALL(world, IsSValidOnLane(ROADID, AllOf(Le(-1),Ge(-2)),AllOf(Ge(0_m),Le(2000_m)))).WillByDefault(Return(true));
+ ON_CALL(world, IsSValidOnLane(ROADID, -3,AllOf(Ge(0_m),Le(1200_m)))).WillByDefault(Return(true));
+ ON_CALL(world, GetLaneWidth(_,_,_)).WillByDefault(Return(3.0_m));
+ ON_CALL(world, GetRoadLength(_)).WillByDefault(Return(10000._m));
RouteQueryResult<std::vector<const WorldObjectInterface*>> noObjects{{0, {}}};
ON_CALL(world, GetObjectsInRange(_,_,_,_,_,_)).WillByDefault(Return(noObjects));
- RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus1First{{0, {{0,0,{relativeLaneMinus2, relativeLaneMinus1, relativeLane0}}}}};
- ON_CALL(world, GetRelativeLanes(_,_,-1,Le(1200),_,_)).WillByDefault(Return(relativeLanesMinus1First));
- RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus1Second{{0, {{0,0,{relativeLaneMinus1, relativeLane0}}}}};
- ON_CALL(world, GetRelativeLanes(_,_,-1,Ge(1200),_,_)).WillByDefault(Return(relativeLanesMinus1Second));
- RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus2First{{0, {{0,0,{relativeLaneMinus1, relativeLane0, relativeLanePlus1}}}}};
- ON_CALL(world, GetRelativeLanes(_,_,-2,Le(1200),_,_)).WillByDefault(Return(relativeLanesMinus2First));
- RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus2Second{{0, {{0,0,{relativeLane0, relativeLanePlus1}}}}};
- ON_CALL(world, GetRelativeLanes(_,_,-2,Ge(1200),_,_)).WillByDefault(Return(relativeLanesMinus2Second));
- RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus3{{0, {{0,0,{relativeLane0, relativeLanePlus1, relativeLanePlus2}}}}};
+ RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus1First{{0, {{0_m,0_m,{relativeLaneMinus2, relativeLaneMinus1, relativeLane0}}}}};
+ ON_CALL(world, GetRelativeLanes(_,_,-1,Le(1200_m),_,_)).WillByDefault(Return(relativeLanesMinus1First));
+ RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus1Second{{0, {{0_m,0_m,{relativeLaneMinus1, relativeLane0}}}}};
+ ON_CALL(world, GetRelativeLanes(_,_,-1,Ge(1200_m),_,_)).WillByDefault(Return(relativeLanesMinus1Second));
+ RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus2First{{0, {{0_m,0_m,{relativeLaneMinus1, relativeLane0, relativeLanePlus1}}}}};
+ ON_CALL(world, GetRelativeLanes(_,_,-2,Le(1200_m),_,_)).WillByDefault(Return(relativeLanesMinus2First));
+ RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus2Second{{0, {{0_m,0_m,{relativeLane0, relativeLanePlus1}}}}};
+ ON_CALL(world, GetRelativeLanes(_,_,-2,Ge(1200_m),_,_)).WillByDefault(Return(relativeLanesMinus2Second));
+ RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus3{{0, {{0_m,0_m,{relativeLane0, relativeLanePlus1, relativeLanePlus2}}}}};
ON_CALL(world, GetRelativeLanes(_,_,-3,_,_,_)).WillByDefault(Return(relativeLanesMinus3));
NiceMock<FakeAgent> fakeAgent;
@@ -455,26 +480,32 @@ TEST_F(SpawnerPreRun_IntegrationTests, DecreasingLaneNumber_SpawnWithCorrectTGap
auto spawner = CreateSpawner();
- auto spawnedAgents = spawner.Trigger(0);
+ mantle_api::MockVehicle vehicle{};
+ ON_CALL(entityRepository, Create(_, testing::A<const mantle_api::VehicleProperties&>())).WillByDefault(ReturnRef(vehicle));
+
+ mantle_api::MockController controller{};
+ ON_CALL(controllerRepository, Create(_)).WillByDefault(ReturnRef(controller));
+
+ spawner.Trigger(0);
ASSERT_THAT(agentsOnLane[-3].empty(), false);
- CheckTGap(agentsOnLane[-3], 3, 1000, 1200);
- CheckVelocity(agentsOnLane[-3], 25, 1000, 1200);
- CheckAgentProfile(agentsOnLane[-3], "AgentProfile2a", 1000, 1200);
+ CheckTGap(agentsOnLane[-3], 3, 1000_m, 1200_m);
+ CheckVelocity(agentsOnLane[-3], 25, 1000_m, 1200_m);
+ CheckAgentProfile(agentsOnLane[-3], "AgentProfile2a", 1000_m, 1200_m);
ASSERT_THAT(agentsOnLane[-2].empty(), false);
- CheckTGap(agentsOnLane[-2], 3, 1200, 1500);
- CheckVelocity(agentsOnLane[-2], 25, 1200, 1500);
- CheckAgentProfile(agentsOnLane[-2], "AgentProfile2a", 1200, 1000);
- CheckTGap(agentsOnLane[-2], 2, 1000, 1200);
- CheckVelocity(agentsOnLane[-2], 27, 1000, 1200);
- CheckAgentProfile(agentsOnLane[-2], "AgentProfile1a", 1000, 1200);
+ CheckTGap(agentsOnLane[-2], 3, 1200_m, 1500_m);
+ CheckVelocity(agentsOnLane[-2], 25, 1200_m, 1500_m);
+ CheckAgentProfile(agentsOnLane[-2], "AgentProfile2a", 1200_m, 1000_m);
+ CheckTGap(agentsOnLane[-2], 2, 1000_m, 1200_m);
+ CheckVelocity(agentsOnLane[-2], 27, 1000_m, 1200_m);
+ CheckAgentProfile(agentsOnLane[-2], "AgentProfile1a", 1000_m, 1200_m);
ASSERT_THAT(agentsOnLane[-1].empty(), false);
- CheckTGap(agentsOnLane[-1], 2, 1000, 1500);
- CheckVelocity(agentsOnLane[-1], 27, 1200, 1500);
- CheckVelocity(agentsOnLane[-1], 40.5, 1000, 1200);
- CheckAgentProfile(agentsOnLane[-1], "AgentProfile1a", 1000, 1500);
+ CheckTGap(agentsOnLane[-1], 2, 1000_m, 1500_m);
+ CheckVelocity(agentsOnLane[-1], 27, 1200_m, 1500_m);
+ CheckVelocity(agentsOnLane[-1], 40.5, 1000_m, 1200_m);
+ CheckAgentProfile(agentsOnLane[-1], "AgentProfile1a", 1000_m, 1500_m);
}
TEST_F(SpawnerPreRun_IntegrationTests, RightLaneStartsAndEndsWithinRange_SpawnWithCorrectTGapAndProfiles)
@@ -487,31 +518,31 @@ TEST_F(SpawnerPreRun_IntegrationTests, RightLaneStartsAndEndsWithinRange_SpawnWi
ON_CALL(*spawnZone, GetParametersDouble()).WillByDefault(ReturnRef(parametersDouble));
ON_CALL(world, GetDistanceToEndOfLane(_,_,-3,_,_,_)).WillByDefault(
- [](const RoadGraph&, RoadGraphVertex startNode, int, double initialSearchDistance, double, const LaneTypes&)
- {return RouteQueryResult<double>{{startNode, 1400.0 - initialSearchDistance}};});
+ [](const RoadGraph&, RoadGraphVertex startNode, int, units::length::meter_t initialSearchDistance, units::length::meter_t, const LaneTypes&)
+ {return RouteQueryResult<units::length::meter_t>{{startNode, 1400.0_m - initialSearchDistance}};});
ON_CALL(world, GetDistanceToEndOfLane(_,_,AllOf(Le(-1),Ge(-2)),_,_,_)).WillByDefault(
- [](const RoadGraph&, RoadGraphVertex startNode, int, double initialSearchDistance, double, const LaneTypes&)
- {return RouteQueryResult<double>{{startNode, 2000.0 - initialSearchDistance}};});
- ON_CALL(world, IsSValidOnLane(ROADID, AllOf(Le(-1),Ge(-2)),AllOf(Ge(0),Le(2000)))).WillByDefault(Return(true));
- ON_CALL(world, IsSValidOnLane(ROADID, -3,AllOf(Ge(1200),Le(1400)))).WillByDefault(Return(true));
- ON_CALL(world, GetLaneWidth(_,_,_)).WillByDefault(Return(3.0));
- ON_CALL(world, GetRoadLength(_)).WillByDefault(Return(10000.));
+ [](const RoadGraph&, RoadGraphVertex startNode, int, units::length::meter_t initialSearchDistance, units::length::meter_t, const LaneTypes&)
+ {return RouteQueryResult<units::length::meter_t>{{startNode, 2000.0_m - initialSearchDistance}};});
+ ON_CALL(world, IsSValidOnLane(ROADID, AllOf(Le(-1),Ge(-2)),AllOf(Ge(0_m),Le(2000_m)))).WillByDefault(Return(true));
+ ON_CALL(world, IsSValidOnLane(ROADID, -3,AllOf(Ge(1200_m),Le(1400_m)))).WillByDefault(Return(true));
+ ON_CALL(world, GetLaneWidth(_,_,_)).WillByDefault(Return(3.0_m));
+ ON_CALL(world, GetRoadLength(_)).WillByDefault(Return(10000._m));
RouteQueryResult<std::vector<const WorldObjectInterface*>> noObjects{{0, {}}};
ON_CALL(world, GetObjectsInRange(_,_,_,_,_,_)).WillByDefault(Return(noObjects));
- RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus1First{{0, {{0,0,{relativeLaneMinus1, relativeLane0}}}}};
- ON_CALL(world, GetRelativeLanes(_,_,-1,Ge(1400),_,_)).WillByDefault(Return(relativeLanesMinus1First));
- RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus1Second{{0, {{0,0,{relativeLaneMinus2, relativeLaneMinus1, relativeLane0}}}}};
- ON_CALL(world, GetRelativeLanes(_,_,-1,AllOf(Ge(1200),Le(1400)),_,_)).WillByDefault(Return(relativeLanesMinus1Second));
- RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus1Third{{0, {{0,0,{relativeLaneMinus1, relativeLane0}}}}};
- ON_CALL(world, GetRelativeLanes(_,_,-1,Le(1200),_,_)).WillByDefault(Return(relativeLanesMinus1Third));
- RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus2First{{0, {{0,0,{relativeLane0, relativeLanePlus1}}}}};
- ON_CALL(world, GetRelativeLanes(_,_,-2,Ge(1400),_,_)).WillByDefault(Return(relativeLanesMinus2First));
- RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus2Second{{0, {{0,0,{relativeLaneMinus1, relativeLane0, relativeLanePlus1}}}}};
- ON_CALL(world, GetRelativeLanes(_,_,-2,AllOf(Ge(1200),Le(1400)),_,_)).WillByDefault(Return(relativeLanesMinus2Second));
- RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus2Third{{0, {{0,0,{relativeLane0, relativeLanePlus1}}}}};
- ON_CALL(world, GetRelativeLanes(_,_,-2,Le(1200),_,_)).WillByDefault(Return(relativeLanesMinus2Third));
- RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus3{{0, {{0,0,{relativeLane0, relativeLanePlus1, relativeLanePlus2}}}}};
+ RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus1First{{0, {{0_m,0_m,{relativeLaneMinus1, relativeLane0}}}}};
+ ON_CALL(world, GetRelativeLanes(_,_,-1,Ge(1400_m),_,_)).WillByDefault(Return(relativeLanesMinus1First));
+ RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus1Second{{0, {{0_m,0_m,{relativeLaneMinus2, relativeLaneMinus1, relativeLane0}}}}};
+ ON_CALL(world, GetRelativeLanes(_,_,-1,AllOf(Ge(1200_m),Le(1400_m)),_,_)).WillByDefault(Return(relativeLanesMinus1Second));
+ RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus1Third{{0, {{0_m,0_m,{relativeLaneMinus1, relativeLane0}}}}};
+ ON_CALL(world, GetRelativeLanes(_,_,-1,Le(1200_m),_,_)).WillByDefault(Return(relativeLanesMinus1Third));
+ RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus2First{{0, {{0_m,0_m,{relativeLane0, relativeLanePlus1}}}}};
+ ON_CALL(world, GetRelativeLanes(_,_,-2,Ge(1400_m),_,_)).WillByDefault(Return(relativeLanesMinus2First));
+ RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus2Second{{0, {{0_m,0_m,{relativeLaneMinus1, relativeLane0, relativeLanePlus1}}}}};
+ ON_CALL(world, GetRelativeLanes(_,_,-2,AllOf(Ge(1200_m),Le(1400_m)),_,_)).WillByDefault(Return(relativeLanesMinus2Second));
+ RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus2Third{{0, {{0_m,0_m,{relativeLane0, relativeLanePlus1}}}}};
+ ON_CALL(world, GetRelativeLanes(_,_,-2,Le(1200_m),_,_)).WillByDefault(Return(relativeLanesMinus2Third));
+ RouteQueryResult<RelativeWorldView::Lanes> relativeLanesMinus3{{0, {{0_m,0_m,{relativeLane0, relativeLanePlus1, relativeLanePlus2}}}}};
ON_CALL(world, GetRelativeLanes(_,_,-3,_,_,_)).WillByDefault(Return(relativeLanesMinus3));
NiceMock<FakeAgent> fakeAgent;
@@ -519,28 +550,34 @@ TEST_F(SpawnerPreRun_IntegrationTests, RightLaneStartsAndEndsWithinRange_SpawnWi
auto spawner = CreateSpawner();
- auto spawnedAgents = spawner.Trigger(0);
+ mantle_api::MockVehicle vehicle{};
+ ON_CALL(entityRepository, Create(_, testing::A<const mantle_api::VehicleProperties&>())).WillByDefault(ReturnRef(vehicle));
+
+ mantle_api::MockController controller{};
+ ON_CALL(controllerRepository, Create(_)).WillByDefault(ReturnRef(controller));
+
+ spawner.Trigger(0);
ASSERT_THAT(agentsOnLane[-3].empty(), false);
- CheckTGap(agentsOnLane[-3], 3, 1200, 1500);
- CheckVelocity(agentsOnLane[-3], 25, 1200, 1400);
- CheckAgentProfile(agentsOnLane[-3], "AgentProfile2a", 1200, 1400);
+ CheckTGap(agentsOnLane[-3], 3, 1200_m, 1500_m);
+ CheckVelocity(agentsOnLane[-3], 25, 1200_m, 1400_m);
+ CheckAgentProfile(agentsOnLane[-3], "AgentProfile2a", 1200_m, 1400_m);
ASSERT_THAT(agentsOnLane[-2].empty(), false);
- CheckTGap(agentsOnLane[-2], 3, 1400, 1500);
- CheckVelocity(agentsOnLane[-2], 25, 1400, 1500);
- CheckAgentProfile(agentsOnLane[-2], "AgentProfile2a", 1400, 1500);
- CheckTGap(agentsOnLane[-2], 2, 1200, 1400);
- CheckVelocity(agentsOnLane[-2], 27, 1200, 1400);
- CheckAgentProfile(agentsOnLane[-2], "AgentProfile1a", 1200, 1400);
- CheckTGap(agentsOnLane[-2], 3, 1000, 1200);
- CheckVelocity(agentsOnLane[-2], 25, 1000, 1200);
- CheckAgentProfile(agentsOnLane[-2], "AgentProfile2a", 1000, 1200);
+ CheckTGap(agentsOnLane[-2], 3, 1400_m, 1500_m);
+ CheckVelocity(agentsOnLane[-2], 25, 1400_m, 1500_m);
+ CheckAgentProfile(agentsOnLane[-2], "AgentProfile2a", 1400_m, 1500_m);
+ CheckTGap(agentsOnLane[-2], 2, 1200_m, 1400_m);
+ CheckVelocity(agentsOnLane[-2], 27, 1200_m, 1400_m);
+ CheckAgentProfile(agentsOnLane[-2], "AgentProfile1a", 1200_m, 1400_m);
+ CheckTGap(agentsOnLane[-2], 3, 1000_m, 1200_m);
+ CheckVelocity(agentsOnLane[-2], 25, 1000_m, 1200_m);
+ CheckAgentProfile(agentsOnLane[-2], "AgentProfile2a", 1000_m, 1200_m);
ASSERT_THAT(agentsOnLane[-1].empty(), false);
- CheckTGap(agentsOnLane[-1], 2, 1000, 1500);
- CheckVelocity(agentsOnLane[-1], 27, 1400, 1500);
- CheckVelocity(agentsOnLane[-1], 40.5, 1200, 1400);
- CheckVelocity(agentsOnLane[-1], 27, 1000, 1200);
- CheckAgentProfile(agentsOnLane[-1], "AgentProfile1a", 1000, 1500);
+ CheckTGap(agentsOnLane[-1], 2, 1000_m, 1500_m);
+ CheckVelocity(agentsOnLane[-1], 27, 1400_m, 1500_m);
+ CheckVelocity(agentsOnLane[-1], 40.5, 1200_m, 1400_m);
+ CheckVelocity(agentsOnLane[-1], 27, 1000_m, 1200_m);
+ CheckAgentProfile(agentsOnLane[-1], "AgentProfile1a", 1000_m, 1500_m);
}
diff --git a/sim/tests/integrationTests/opSimulation_IntegrationTests/CMakeLists.txt b/sim/tests/integrationTests/opSimulation_IntegrationTests/CMakeLists.txt
index 9e05b34af56ba3b47e364863721e7ae3df297a4b..c9b811852f8c7ff74a6b4e8f6883e64933422d9b 100644
--- a/sim/tests/integrationTests/opSimulation_IntegrationTests/CMakeLists.txt
+++ b/sim/tests/integrationTests/opSimulation_IntegrationTests/CMakeLists.txt
@@ -22,15 +22,6 @@ add_openpass_target(
# Parameter
${COMPONENT_SOURCE_DIR}/importer/parameterImporter.cpp
- # Scenario
- ScenarioImporter_IntegrationTests.cpp
- ${COMPONENT_SOURCE_DIR}/importer/eventDetectorImporter.cpp
- ${COMPONENT_SOURCE_DIR}/importer/oscImporterCommon.cpp
- ${COMPONENT_SOURCE_DIR}/importer/scenario.cpp
- ${COMPONENT_SOURCE_DIR}/importer/scenarioImporter.cpp
- ${COMPONENT_SOURCE_DIR}/importer/scenarioImporterHelper.cpp
- ${COMPONENT_SOURCE_DIR}/importer/sceneryDynamics.cpp
-
# Scenery
SceneryImporter_IntegrationTests.cpp
${COMPONENT_SOURCE_DIR}/importer/connection.cpp
@@ -51,17 +42,11 @@ add_openpass_target(
# SystemConfig
SystemConfigImporter_IntegrationTests.cpp
- ${COMPONENT_SOURCE_DIR}/modelElements/agentBlueprint.cpp
${COMPONENT_SOURCE_DIR}/modelElements/agentType.cpp
${COMPONENT_SOURCE_DIR}/modelElements/componentType.cpp
${COMPONENT_SOURCE_DIR}/importer/systemConfig.cpp
${COMPONENT_SOURCE_DIR}/importer/systemConfigImporter.cpp
- # VehicleModels
- VehicleModelsImporter_IntegrationTests.cpp
- ${COMPONENT_SOURCE_DIR}/importer/vehicleModels.cpp
- ${COMPONENT_SOURCE_DIR}/importer/vehicleModelsImporter.cpp
-
# World
${COMPONENT_SOURCE_DIR}/bindings/worldBinding.cpp
${COMPONENT_SOURCE_DIR}/bindings/worldLibrary.cpp
@@ -86,14 +71,6 @@ add_openpass_target(
# Parameter
${COMPONENT_SOURCE_DIR}/importer/parameterImporter.h
- # Scenario
- ${COMPONENT_SOURCE_DIR}/importer/eventDetectorImporter.h
- ${COMPONENT_SOURCE_DIR}/importer/oscImporterCommon.h
- ${COMPONENT_SOURCE_DIR}/importer/scenario.h
- ${COMPONENT_SOURCE_DIR}/importer/scenarioImporter.h
- ${COMPONENT_SOURCE_DIR}/importer/scenarioImporterHelper.h
- ${COMPONENT_SOURCE_DIR}/importer/sceneryDynamics.h
-
# Scenery
${COMPONENT_SOURCE_DIR}/importer/connection.h
${COMPONENT_SOURCE_DIR}/importer/junction.h
@@ -118,7 +95,6 @@ add_openpass_target(
# VehicleModels
${COMPONENT_SOURCE_DIR}/importer/vehicleModels.h
- ${COMPONENT_SOURCE_DIR}/importer/vehicleModelsImporter.h
# World
${COMPONENT_SOURCE_DIR}/bindings/world.h
diff --git a/sim/tests/integrationTests/opSimulation_IntegrationTests/Resources/ImporterTest/VehicleModelsCatalog.xosc b/sim/tests/integrationTests/opSimulation_IntegrationTests/Resources/ImporterTest/VehicleModelsCatalog.xosc
index 05da35c2c227d54f0e984f6abf9192f02d2ce956..95ed98fe284347aaa8929e67c73d642c887713cf 100644
--- a/sim/tests/integrationTests/opSimulation_IntegrationTests/Resources/ImporterTest/VehicleModelsCatalog.xosc
+++ b/sim/tests/integrationTests/opSimulation_IntegrationTests/Resources/ImporterTest/VehicleModelsCatalog.xosc
@@ -2,7 +2,7 @@
<OpenSCENARIO>
<FileHeader revMajor="0" revMinor="1" date="2018-12-04T10:00:00" description="openPASS vehicle models" author="in-tech GmbH"/>
<Catalog name="VehicleCatalog">
- <Vehicle name="car_one" vehicleCategory="car">
+ <Vehicle mass="1000.0" name="car_one" vehicleCategory="car">
<Properties>
<Property name="AirDragCoefficient" parameterType="double" value="1.1"/>
<Property name="AxleRatio" parameterType="double" value="2.2"/>
@@ -19,7 +19,6 @@
<Property name="MomentInertiaYaw" parameterType="double" value="0.0"/>
<Property name="NumberOfGears" parameterType="integer" value="1"/>
<Property name="SteeringRatio" parameterType="double" value="7.7"/>
- <Property name="Mass" parameterType="double" value="1000.0"/>
</Properties>
<BoundingBox>
<Center x="1.0" y="0.0" z="1.1"/>
@@ -31,7 +30,7 @@
<RearAxle maxSteering="0.0" wheelDiameter="0.5" trackWidth="1.0" positionX="0.0" positionZ="0.25"/>
</Axles>
</Vehicle>
- <Vehicle name="car_two" vehicleCategory="car">
+ <Vehicle mass="999.9" name="car_two" vehicleCategory="car">
<Properties>
<Property name="AirDragCoefficient" parameterType="double" value="2.2"/>
<Property name="AxleRatio" parameterType="double" value="3.3"/>
@@ -49,7 +48,6 @@
<Property name="MomentInertiaYaw" parameterType="double" value="0.0"/>
<Property name="NumberOfGears" parameterType="integer" value="2"/>
<Property name="SteeringRatio" parameterType="double" value="9.9"/>
- <Property name="Mass" parameterType="double" value="999.9"/>
</Properties>
<BoundingBox>
<Center x="2.0" y="0.0" z="2.2"/>
diff --git a/sim/tests/integrationTests/opSimulation_IntegrationTests/SceneryImporter_IntegrationTests.cpp b/sim/tests/integrationTests/opSimulation_IntegrationTests/SceneryImporter_IntegrationTests.cpp
index d33de7532547ab989da02837a56a199674574f72..90ff30485700b339415c54da37033b6625275926 100644
--- a/sim/tests/integrationTests/opSimulation_IntegrationTests/SceneryImporter_IntegrationTests.cpp
+++ b/sim/tests/integrationTests/opSimulation_IntegrationTests/SceneryImporter_IntegrationTests.cpp
@@ -10,37 +10,31 @@
********************************************************************************/
#define TESTING
-#include "gtest/gtest.h"
-#include "gmock/gmock.h"
-
#include <algorithm>
-
#include <filesystem>
+#include "AgentAdapter.h"
+#include "WorldData.h"
+#include "bindings/world.h"
#include "core/opSimulation/modules/Stochastics/stochastics_implementation.h"
+#include "fakeDataBuffer.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
#include "importer/scenery.h"
#include "importer/sceneryImporter.h"
-#include "modelElements/agentBlueprint.h"
-#include "bindings/world.h"
-#include "fakeDataBuffer.h"
-#include "fakeSceneryDynamics.h"
-#include "AgentAdapter.h"
-#include "WorldData.h"
-
-using ::testing::Return;
+using ::testing::Contains;
using ::testing::DoubleEq;
using ::testing::DoubleNear;
using ::testing::ElementsAre;
-using ::testing::Contains;
using ::testing::Eq;
using ::testing::IsEmpty;
using ::testing::IsTrue;
using ::testing::Ne;
-using ::testing::UnorderedElementsAre;
-using ::testing::SizeIs;
-using ::testing::IsEmpty;
using ::testing::NiceMock;
+using ::testing::Return;
+using ::testing::SizeIs;
+using ::testing::UnorderedElementsAre;
using namespace Configuration;
using namespace Importer;
@@ -55,7 +49,6 @@ struct TESTSCENERY_FACTORY
core::WorldBinding worldBinding;
core::World world;
Scenery scenery;
- openScenario::EnvironmentAction environment;
TESTSCENERY_FACTORY() :
worldBinding(libraryName, &callbacks, &stochastics, &fakeDataBuffer),
@@ -63,7 +56,7 @@ struct TESTSCENERY_FACTORY
{
}
- bool instantiate(const std::string& sceneryFile, const std::vector<openScenario::TrafficSignalController>&& trafficSignalControllers = {})
+ bool instantiate(const std::string &sceneryFile/*, const std::vector<TrafficSignalController> &&trafficSignalControllers = {}*/)
{
std::filesystem::path sceneryPath = std::filesystem::current_path() / "Resources" / "ImporterTest" / sceneryFile;
@@ -77,11 +70,7 @@ struct TESTSCENERY_FACTORY
return false;
}
- FakeSceneryDynamics sceneryDynamics;
- ON_CALL(sceneryDynamics, GetEnvironment()).WillByDefault(Return(environment));
- ON_CALL(sceneryDynamics, GetTrafficSignalControllers()).WillByDefault(Return(trafficSignalControllers));
-
- if (!(world.CreateScenery(&scenery, sceneryDynamics, {})))
+ if (!(world.CreateScenery(&scenery, {})))
{
return false;
}
@@ -91,52 +80,49 @@ struct TESTSCENERY_FACTORY
};
namespace RelativeWorldView {
-std::ostream& operator<<(std::ostream& os, const Lane& lane)
+std::ostream &operator<<(std::ostream &os, const Lane &lane)
{
os << "id: " << lane.relativeId << ", "
<< "direction: " << lane.inDrivingDirection << ","
<< "type: " << static_cast<int>(lane.type) << ","
<< "predecessor: " << lane.predecessor.value_or(-999) << ","
- << "successor: " <<lane.successor.value_or(-999);
+ << "successor: " << lane.successor.value_or(-999);
return os;
}
-}
+} // namespace RelativeWorldView
//! This enum is used to help checking lane connections as specified in the openDrive file.
//! Note: It's possible for two connected lanes to be each others predecessor/successor.
enum LaneConnectionType
{
- REGULAR = 0, //lane a has next lane b, lane b has previous lane a
- NEXT = 1, //lane a has next lane b, lane b has next lane a
- PREVIOUS = 2 //lane a has previous lane b, lane b has previous lane a
+ REGULAR = 0, //lane a has next lane b, lane b has previous lane a
+ NEXT = 1, //lane a has next lane b, lane b has next lane a
+ PREVIOUS = 2 //lane a has previous lane b, lane b has previous lane a
};
-
//! Helper function to sort all sections for a given road by their length
//! This is used to make checking the correct import of the sceneries easier
//! Note: in all sceneries section lengths in each road are increasing.
-std::vector<const OWL::Interfaces::Section*> GetDistanceSortedSectionsForRoad(OWL::Interfaces::WorldData* worldData, std::string roadId)
+std::vector<const OWL::Interfaces::Section *> GetDistanceSortedSectionsForRoad(OWL::Interfaces::WorldData *worldData, std::string roadId)
{
//Extract sections for given roadID
auto sections = worldData->GetRoads().at(roadId)->GetSections();
- std::vector<const OWL::Interfaces::Section*> queriedSections{sections.cbegin(),sections.cend()};
+ std::vector<const OWL::Interfaces::Section *> queriedSections{sections.cbegin(), sections.cend()};
//Sort by distance
std::sort(queriedSections.begin(), queriedSections.end(),
- [](auto s1, auto s2)
- {
- return s1->GetDistance(OWL::MeasurementPoint::RoadStart) < s2->GetDistance(OWL::MeasurementPoint::RoadStart);
- });
+ [](auto s1, auto s2) {
+ return s1->GetDistance(OWL::MeasurementPoint::RoadStart) < s2->GetDistance(OWL::MeasurementPoint::RoadStart);
+ });
return queriedSections;
}
//! Query lane by id for a given section
-const OWL::Interfaces::Lane* GetLaneById(const std::vector<const OWL::Interfaces::Lane*>& sectionLanes, int laneId)
+const OWL::Interfaces::Lane *GetLaneById(const std::vector<const OWL::Interfaces::Lane *> §ionLanes, int laneId)
{
- auto queriedLane = std::find_if(sectionLanes.begin(), sectionLanes.end(), [laneId](const OWL::Interfaces::Lane* lane)
- {
+ auto queriedLane = std::find_if(sectionLanes.begin(), sectionLanes.end(), [laneId](const OWL::Interfaces::Lane *lane) {
return lane->GetOdId() == laneId;
});
@@ -145,14 +131,14 @@ const OWL::Interfaces::Lane* GetLaneById(const std::vector<const OWL::Interfaces
//! Check if lanes are connected according to openDrive definition.
//! The connection (e.g. predecessor or succesor) can be specified for each lane.
-void CheckLaneConnections(const std::vector<const OWL::Interfaces::Lane*>& firstSectionLanes, std::vector<const OWL::Interfaces::Lane*> secondSectionLanes, int firstLaneId, int secondLaneId, LaneConnectionType howIsConnection = LaneConnectionType::REGULAR, bool strict = true)
+void CheckLaneConnections(const std::vector<const OWL::Interfaces::Lane *> &firstSectionLanes, std::vector<const OWL::Interfaces::Lane *> secondSectionLanes, int firstLaneId, int secondLaneId, LaneConnectionType howIsConnection = LaneConnectionType::REGULAR, bool strict = true)
{
auto firstLane = GetLaneById(firstSectionLanes, firstLaneId);
auto secondLane = GetLaneById(secondSectionLanes, secondLaneId);
if (strict)
{
- switch(howIsConnection)
+ switch (howIsConnection)
{
case PREVIOUS:
ASSERT_THAT(firstLane->GetPrevious(), ElementsAre(secondLane->GetId()));
@@ -170,7 +156,7 @@ void CheckLaneConnections(const std::vector<const OWL::Interfaces::Lane*>& first
}
else
{
- switch(howIsConnection)
+ switch (howIsConnection)
{
case PREVIOUS:
ASSERT_THAT(firstLane->GetPrevious(), Contains(secondLane->GetId()));
@@ -195,55 +181,54 @@ TEST(SceneryImporter_IntegrationTests, SingleRoad_ImportWithCorrectLanes)
TESTSCENERY_FACTORY tsf;
ASSERT_THAT(tsf.instantiate("IntegrationTestScenery.xodr"), IsTrue());
- auto& world = tsf.world;
+ auto &world = tsf.world;
RoadGraph roadGraph;
RoadGraphVertex root = add_vertex(RouteElement{"1", true}, roadGraph);
- const auto relativeLanes = world.GetRelativeLanes(roadGraph, root, -1, 0.0, 150.0).at(root);
+ const auto relativeLanes = world.GetRelativeLanes(roadGraph, root, -1, 0.0_m, 150.0_m).at(root);
ASSERT_EQ(relativeLanes.size(), 5);
const auto firstSection = relativeLanes.at(0);
- ASSERT_EQ(firstSection.startS, 0.0);
- ASSERT_EQ(firstSection.endS, 10.0);
+ ASSERT_EQ(firstSection.startS.value(), 0.0);
+ ASSERT_EQ(firstSection.endS.value(), 10.0);
ASSERT_THAT(firstSection.lanes, UnorderedElementsAre(RelativeWorldView::Lane{0, true, LaneType::Driving, std::nullopt, 0}));
const auto secondSection = relativeLanes.at(1);
- ASSERT_EQ(secondSection.startS, 10.0);
- ASSERT_EQ(secondSection.endS, 30.0);
+ ASSERT_EQ(secondSection.startS.value(), 10.0);
+ ASSERT_EQ(secondSection.endS.value(), 30.0);
ASSERT_THAT(secondSection.lanes, UnorderedElementsAre(RelativeWorldView::Lane{0, true, LaneType::Driving, 0, 0},
RelativeWorldView::Lane{-1, true, LaneType::Driving, std::nullopt, -1}));
const auto thirdSection = relativeLanes.at(2);
- ASSERT_EQ(thirdSection.startS, 30.0);
- ASSERT_EQ(thirdSection.endS, 60.0);
+ ASSERT_EQ(thirdSection.startS.value(), 30.0);
+ ASSERT_EQ(thirdSection.endS.value(), 60.0);
ASSERT_THAT(thirdSection.lanes, UnorderedElementsAre(RelativeWorldView::Lane{0, true, LaneType::Driving, 0, 0},
RelativeWorldView::Lane{-1, true, LaneType::Biking, -1, -1},
RelativeWorldView::Lane{-2, true, LaneType::Sidewalk, std::nullopt, -2}));
const auto forthSection = relativeLanes.at(3);
- ASSERT_EQ(forthSection.startS, 60.0);
- ASSERT_EQ(forthSection.endS, 100.0);
+ ASSERT_EQ(forthSection.startS.value(), 60.0);
+ ASSERT_EQ(forthSection.endS.value(), 100.0);
ASSERT_THAT(forthSection.lanes, UnorderedElementsAre(RelativeWorldView::Lane{0, true, LaneType::Stop, 0, std::nullopt},
RelativeWorldView::Lane{-1, true, LaneType::Driving, -1, -1},
RelativeWorldView::Lane{-2, true, LaneType::Driving, -2, -2}));
const auto fifthSection = relativeLanes.at(4);
- ASSERT_EQ(fifthSection.startS, 100.0);
- ASSERT_EQ(fifthSection.endS, 150.0);
+ ASSERT_EQ(fifthSection.startS.value(), 100.0);
+ ASSERT_EQ(fifthSection.endS.value(), 150.0);
ASSERT_THAT(fifthSection.lanes, UnorderedElementsAre(RelativeWorldView::Lane{-1, true, LaneType::Driving, -1, std::nullopt},
RelativeWorldView::Lane{-2, true, LaneType::Stop, -2, std::nullopt}));
- double maxSearchDistance = 1000.0;
- ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, root, -1, 0.0, maxSearchDistance, {LaneType::Driving, LaneType::Stop}).at(root), 100.0);
- ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, root, -2, 15.0, maxSearchDistance, {LaneType::Driving, LaneType::Biking}).at(root), 135.0);
- ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, root, -3, 35.0, maxSearchDistance, {LaneType::Driving, LaneType::Stop, LaneType::Sidewalk}).at(root), 115.0);
-
- EXPECT_THAT(world.GetLaneWidth("1", -1, 60.0), DoubleNear(3.0, EQUALITY_BOUND));
- EXPECT_THAT(world.GetLaneWidth("1", -2, 35.0), DoubleNear(4.0, EQUALITY_BOUND));
- EXPECT_THAT(world.GetLaneWidth("1", -2, 45.0), DoubleNear(4.5, EQUALITY_BOUND));
- EXPECT_THAT(world.GetLaneWidth("1", -2, 55.0), DoubleNear(5.0, EQUALITY_BOUND));
- EXPECT_THAT(world.GetLaneWidth("1", -3, 60.0), DoubleNear(5.0, EQUALITY_BOUND));
+ units::length::meter_t maxSearchDistance = 1000.0_m;
+ ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, root, -1, 0.0_m, maxSearchDistance, {LaneType::Driving, LaneType::Stop}).at(root).value(), 100.0);
+ ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, root, -2, 15.0_m, maxSearchDistance, {LaneType::Driving, LaneType::Biking}).at(root).value(), 135.0);
+ ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, root, -3, 35.0_m, maxSearchDistance, {LaneType::Driving, LaneType::Stop, LaneType::Sidewalk}).at(root).value(), 115.0);
+ EXPECT_THAT(world.GetLaneWidth("1", -1, 60.0_m).value(), DoubleNear(3.0, EQUALITY_BOUND));
+ EXPECT_THAT(world.GetLaneWidth("1", -2, 35.0_m).value(), DoubleNear(4.0, EQUALITY_BOUND));
+ EXPECT_THAT(world.GetLaneWidth("1", -2, 45.0_m).value(), DoubleNear(4.5, EQUALITY_BOUND));
+ EXPECT_THAT(world.GetLaneWidth("1", -2, 55.0_m).value(), DoubleNear(5.0, EQUALITY_BOUND));
+ EXPECT_THAT(world.GetLaneWidth("1", -3, 60.0_m).value(), DoubleNear(5.0, EQUALITY_BOUND));
}
TEST(SceneryImporter_IntegrationTests, MultipleRoads_ImportWithCorrectLanes)
@@ -251,7 +236,7 @@ TEST(SceneryImporter_IntegrationTests, MultipleRoads_ImportWithCorrectLanes)
TESTSCENERY_FACTORY tsf;
ASSERT_THAT(tsf.instantiate("MultipleRoadsIntegrationScenery.xodr"), IsTrue());
- auto& world = tsf.world;
+ auto &world = tsf.world;
RoadGraph roadGraph;
RoadGraphVertex node1 = add_vertex(RouteElement{"1", true}, roadGraph);
@@ -260,66 +245,65 @@ TEST(SceneryImporter_IntegrationTests, MultipleRoads_ImportWithCorrectLanes)
add_edge(node1, node2, roadGraph);
add_edge(node2, node3, roadGraph);
- const auto relativeLanes = world.GetRelativeLanes(roadGraph, node1, -1, 0.0, 6000.0).at(node3);
+ const auto relativeLanes = world.GetRelativeLanes(roadGraph, node1, -1, 0.0_m, 6000.0_m).at(node3);
ASSERT_EQ(relativeLanes.size(), 6);
const auto firstSection = relativeLanes.at(0);
- ASSERT_EQ(firstSection.startS, 0.0);
- ASSERT_EQ(firstSection.endS, 400.0);
+ ASSERT_EQ(firstSection.startS.value(), 0.0);
+ ASSERT_EQ(firstSection.endS.value(), 400.0);
ASSERT_THAT(firstSection.lanes, UnorderedElementsAre(RelativeWorldView::Lane{0, true, LaneType::Driving, std::nullopt, 0},
RelativeWorldView::Lane{-1, true, LaneType::Driving, std::nullopt, -1},
RelativeWorldView::Lane{-2, true, LaneType::Driving, std::nullopt, -2}));
const auto secondSection = relativeLanes.at(1);
- ASSERT_EQ(secondSection.startS, 400.0);
- ASSERT_EQ(secondSection.endS, 1000.0);
+ ASSERT_EQ(secondSection.startS.value(), 400.0);
+ ASSERT_EQ(secondSection.endS.value(), 1000.0);
ASSERT_THAT(secondSection.lanes, UnorderedElementsAre(RelativeWorldView::Lane{0, true, LaneType::Driving, 0, 0},
RelativeWorldView::Lane{-1, true, LaneType::Driving, -1, -1},
RelativeWorldView::Lane{-2, true, LaneType::Driving, -2, -2}));
const auto thirdSection = relativeLanes.at(2);
- ASSERT_EQ(thirdSection.startS, 1000.0);
- ASSERT_EQ(thirdSection.endS, 2100.0);
+ ASSERT_EQ(thirdSection.startS.value(), 1000.0);
+ ASSERT_EQ(thirdSection.endS.value(), 2100.0);
ASSERT_THAT(thirdSection.lanes, UnorderedElementsAre(RelativeWorldView::Lane{0, true, LaneType::Driving, 0, 0},
RelativeWorldView::Lane{-1, true, LaneType::Driving, -1, -1},
RelativeWorldView::Lane{-2, true, LaneType::Driving, -2, -2}));
const auto forthSection = relativeLanes.at(3);
- ASSERT_EQ(forthSection.startS, 2100.0);
- ASSERT_EQ(forthSection.endS, 3000.0);
+ ASSERT_EQ(forthSection.startS.value(), 2100.0);
+ ASSERT_EQ(forthSection.endS.value(), 3000.0);
ASSERT_THAT(forthSection.lanes, UnorderedElementsAre(RelativeWorldView::Lane{0, true, LaneType::Driving, 0, 0},
RelativeWorldView::Lane{-1, true, LaneType::Driving, -1, -1},
RelativeWorldView::Lane{-2, true, LaneType::Driving, -2, -2}));
const auto fifthSection = relativeLanes.at(4);
- ASSERT_EQ(fifthSection.startS, 3000.0);
- ASSERT_EQ(fifthSection.endS, 4400.0);
+ ASSERT_EQ(fifthSection.startS.value(), 3000.0);
+ ASSERT_EQ(fifthSection.endS.value(), 4400.0);
ASSERT_THAT(fifthSection.lanes, UnorderedElementsAre(RelativeWorldView::Lane{0, true, LaneType::Driving, 0, 0},
RelativeWorldView::Lane{-1, true, LaneType::Driving, -1, -1},
RelativeWorldView::Lane{-2, true, LaneType::Driving, -2, -2}));
const auto sixthSection = relativeLanes.at(5);
- ASSERT_EQ(sixthSection.startS, 4400.0);
- ASSERT_EQ(sixthSection.endS, 6000.0);
+ ASSERT_EQ(sixthSection.startS.value(), 4400.0);
+ ASSERT_EQ(sixthSection.endS.value(), 6000.0);
ASSERT_THAT(sixthSection.lanes, UnorderedElementsAre(RelativeWorldView::Lane{0, true, LaneType::Driving, 0, std::nullopt},
RelativeWorldView::Lane{-1, true, LaneType::Driving, -1, std::nullopt},
RelativeWorldView::Lane{-2, true, LaneType::Driving, -2, std::nullopt}));
- double maxSearchLength = 10000.0;
+ units::length::meter_t maxSearchLength = 10000.0_m;
//--------------------------------------------------------RoId, laneId, s, maxsearch
- ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node1, -1, 0.0, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node3), 6000.0);
- ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node1, -2, 650.0, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node3), 5350.0);
- ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node2, 2, 0.0, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node3), 3000.0);
- ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node2, 2, 1500.0, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node3), 4500.0);
- ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node3, -3, 0.0, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node3), 3000.0);
- ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node3, -3, 1500.0, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node3), 1500.0);
+ ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node1, -1, 0.0_m, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node3).value(), 6000.0);
+ ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node1, -2, 650.0_m, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node3).value(), 5350.0);
+ ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node2, 2, 0.0_m, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node3).value(), 3000.0);
+ ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node2, 2, 1500.0_m, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node3).value(), 4500.0);
+ ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node3, -3, 0.0_m, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node3).value(), 3000.0);
+ ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node3, -3, 1500.0_m, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node3).value(), 1500.0);
//-----------------------------RoId, laneId, s
- ASSERT_DOUBLE_EQ(world.GetLaneWidth("1", -1, 60.0), 3.0);
- ASSERT_DOUBLE_EQ(world.GetLaneWidth("1", -3, 999.9), 5.0);
- ASSERT_DOUBLE_EQ(world.GetLaneWidth("2", 1, 0.0), 3.0);
- ASSERT_DOUBLE_EQ(world.GetLaneWidth("3", -2, 1500.0), 4.0);
-
+ ASSERT_DOUBLE_EQ(world.GetLaneWidth("1", -1, 60.0_m).value(), 3.0);
+ ASSERT_DOUBLE_EQ(world.GetLaneWidth("1", -3, 999.9_m).value(), 5.0);
+ ASSERT_DOUBLE_EQ(world.GetLaneWidth("2", 1, 0.0_m).value(), 3.0);
+ ASSERT_DOUBLE_EQ(world.GetLaneWidth("3", -2, 1500.0_m).value(), 4.0);
}
TEST(SceneryImporter_IntegrationTests, MultipleRoadsWithJunctions_ImportWithCorrectLanes)
@@ -327,7 +311,7 @@ TEST(SceneryImporter_IntegrationTests, MultipleRoadsWithJunctions_ImportWithCorr
TESTSCENERY_FACTORY tsf;
ASSERT_THAT(tsf.instantiate("MultipleRoadsWithJunctionIntegrationScenery.xodr"), IsTrue());
- auto& world = tsf.world;
+ auto &world = tsf.world;
RoadGraph roadGraph;
RoadGraphVertex node1 = add_vertex(RouteElement{"1", true}, roadGraph);
@@ -340,27 +324,27 @@ TEST(SceneryImporter_IntegrationTests, MultipleRoadsWithJunctions_ImportWithCorr
add_edge(node1, node5, roadGraph);
add_edge(node5, node3, roadGraph);
- const auto relativeLanes = world.GetRelativeLanes(roadGraph, node1, -1, 0.0, 320.0);
+ const auto relativeLanes = world.GetRelativeLanes(roadGraph, node1, -1, 0.0_m, 320.0_m);
const auto relativeLanesUp = relativeLanes.at(node2);
ASSERT_EQ(relativeLanesUp.size(), 3);
const auto firstSectionUp = relativeLanesUp.at(0);
- ASSERT_EQ(firstSectionUp.startS, 0.0);
- ASSERT_EQ(firstSectionUp.endS, 100.0);
+ ASSERT_EQ(firstSectionUp.startS.value(), 0.0);
+ ASSERT_EQ(firstSectionUp.endS.value(), 100.0);
ASSERT_THAT(firstSectionUp.lanes, UnorderedElementsAre(RelativeWorldView::Lane{0, true, LaneType::Driving, std::nullopt, 0},
RelativeWorldView::Lane{-1, true, LaneType::Driving, std::nullopt, -1},
RelativeWorldView::Lane{-2, true, LaneType::Driving, std::nullopt, std::nullopt},
RelativeWorldView::Lane{-3, true, LaneType::Driving, std::nullopt, std::nullopt}));
const auto secondSectionUp = relativeLanesUp.at(1);
- ASSERT_EQ(secondSectionUp.startS, 100.0);
- ASSERT_EQ(secondSectionUp.endS, 120.0);
+ ASSERT_EQ(secondSectionUp.startS.value(), 100.0);
+ ASSERT_EQ(secondSectionUp.endS.value(), 120.0);
ASSERT_THAT(secondSectionUp.lanes, UnorderedElementsAre(RelativeWorldView::Lane{0, true, LaneType::Driving, 0, 0},
RelativeWorldView::Lane{-1, true, LaneType::Driving, -1, -1}));
const auto thirdSectionUp = relativeLanesUp.at(2);
- ASSERT_EQ(thirdSectionUp.startS, 120.0);
- ASSERT_EQ(thirdSectionUp.endS, 320.0);
+ ASSERT_EQ(thirdSectionUp.startS.value(), 120.0);
+ ASSERT_EQ(thirdSectionUp.endS.value(), 320.0);
ASSERT_THAT(thirdSectionUp.lanes, UnorderedElementsAre(RelativeWorldView::Lane{0, true, LaneType::Driving, 0, std::nullopt},
RelativeWorldView::Lane{-1, true, LaneType::Driving, -1, std::nullopt}));
@@ -368,50 +352,50 @@ TEST(SceneryImporter_IntegrationTests, MultipleRoadsWithJunctions_ImportWithCorr
ASSERT_EQ(relativeLanesDown.size(), 3);
const auto firstSectionDown = relativeLanesDown.at(0);
- ASSERT_EQ(firstSectionDown.startS, 0.0);
- ASSERT_EQ(firstSectionDown.endS, 100.0);
+ ASSERT_EQ(firstSectionDown.startS.value(), 0.0);
+ ASSERT_EQ(firstSectionDown.endS.value(), 100.0);
ASSERT_THAT(firstSectionDown.lanes, UnorderedElementsAre(RelativeWorldView::Lane{0, true, LaneType::Driving, std::nullopt, std::nullopt},
RelativeWorldView::Lane{-1, true, LaneType::Driving, std::nullopt, std::nullopt},
RelativeWorldView::Lane{-2, true, LaneType::Driving, std::nullopt, -1},
RelativeWorldView::Lane{-3, true, LaneType::Driving, std::nullopt, -2}));
const auto secondSectionDown = relativeLanesDown.at(1);
- ASSERT_EQ(secondSectionDown.startS, 100.0);
- ASSERT_EQ(secondSectionDown.endS, 120.0);
+ ASSERT_EQ(secondSectionDown.startS.value(), 100.0);
+ ASSERT_EQ(secondSectionDown.endS.value(), 120.0);
ASSERT_THAT(secondSectionDown.lanes, UnorderedElementsAre(RelativeWorldView::Lane{-1, true, LaneType::Driving, -2, -1},
RelativeWorldView::Lane{-2, true, LaneType::Driving, -3, -2}));
const auto thirdSectionDown = relativeLanesDown.at(2);
- ASSERT_EQ(thirdSectionDown.startS, 120.0);
- ASSERT_EQ(thirdSectionDown.endS, 420.0);
+ ASSERT_EQ(thirdSectionDown.startS.value(), 120.0);
+ ASSERT_EQ(thirdSectionDown.endS.value(), 420.0);
ASSERT_THAT(thirdSectionDown.lanes, UnorderedElementsAre(RelativeWorldView::Lane{-1, true, LaneType::Driving, -1, std::nullopt},
RelativeWorldView::Lane{-2, true, LaneType::Driving, -2, std::nullopt}));
- double maxSearchLength = 1000.0;
+ units::length::meter_t maxSearchLength = 1000.0_m;
//--------------------------------------------------------RoId, laneId, s, maxsearch
- ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node1, -1, 0.0, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node2), 320.0);
- ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node1, -2, 90.0, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node2), 230.0);
- ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node1, -3, 10.0, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node3), 410.0);
- ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node1, -4, 0.0, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node3), 420.0);
- ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node2, -1, 0.0, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node2), 200.0);
- ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node2, -2, 150.0, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node2), 50.0);
- ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node3, -1, 0.0, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node3), 300.0);
- ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node4, -1, 0.0, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node2), 220.0);
- ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node5, -2, 18.0, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node3), 302.0);
+ ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node1, -1, 0.0_m, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node2).value(), 320.0);
+ ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node1, -2, 90.0_m, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node2).value(), 230.0);
+ ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node1, -3, 10.0_m, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node3).value(), 410.0);
+ ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node1, -4, 0.0_m, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node3).value(), 420.0);
+ ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node2, -1, 0.0_m, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node2).value(), 200.0);
+ ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node2, -2, 150.0_m, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node2).value(), 50.0);
+ ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node3, -1, 0.0_m, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node3).value(), 300.0);
+ ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node4, -1, 0.0_m, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node2).value(), 220.0);
+ ASSERT_DOUBLE_EQ(world.GetDistanceToEndOfLane(roadGraph, node5, -2, 18.0_m, maxSearchLength, {LaneType::Driving, LaneType::Stop}).at(node3).value(), 302.0);
//-----------------------------RoId, laneId, s
- ASSERT_DOUBLE_EQ(world.GetLaneWidth("1", -1, 60.0), 3.0);
- ASSERT_DOUBLE_EQ(world.GetLaneWidth("1", -2, 95.0), 4.0);
- ASSERT_DOUBLE_EQ(world.GetLaneWidth("1", -3, 99.0), 5.0);
- ASSERT_DOUBLE_EQ(world.GetLaneWidth("1", -4, 0.0), 6.0);
- ASSERT_DOUBLE_EQ(world.GetLaneWidth("2", -1, 1.0), 3.0);
- ASSERT_DOUBLE_EQ(world.GetLaneWidth("2", -2, 20.0), 4.0);
- ASSERT_DOUBLE_EQ(world.GetLaneWidth("3", -1, 123.0), 5.0);
- ASSERT_DOUBLE_EQ(world.GetLaneWidth("3", -2, 200.0), 6.0);
- ASSERT_DOUBLE_EQ(world.GetLaneWidth("4", -1, 15.0), 3.0);
- ASSERT_DOUBLE_EQ(world.GetLaneWidth("4", -2, 15.0), 4.0);
- ASSERT_DOUBLE_EQ(world.GetLaneWidth("5", -1, 0.0), 5.0);
- ASSERT_DOUBLE_EQ(world.GetLaneWidth("5", -2, 15.0), 6.0);
+ ASSERT_DOUBLE_EQ(world.GetLaneWidth("1", -1, 60.0_m).value(), 3.0);
+ ASSERT_DOUBLE_EQ(world.GetLaneWidth("1", -2, 95.0_m).value(), 4.0);
+ ASSERT_DOUBLE_EQ(world.GetLaneWidth("1", -3, 99.0_m).value(), 5.0);
+ ASSERT_DOUBLE_EQ(world.GetLaneWidth("1", -4, 0.0_m).value(), 6.0);
+ ASSERT_DOUBLE_EQ(world.GetLaneWidth("2", -1, 1.0_m).value(), 3.0);
+ ASSERT_DOUBLE_EQ(world.GetLaneWidth("2", -2, 20.0_m).value(), 4.0);
+ ASSERT_DOUBLE_EQ(world.GetLaneWidth("3", -1, 123.0_m).value(), 5.0);
+ ASSERT_DOUBLE_EQ(world.GetLaneWidth("3", -2, 200.0_m).value(), 6.0);
+ ASSERT_DOUBLE_EQ(world.GetLaneWidth("4", -1, 15.0_m).value(), 3.0);
+ ASSERT_DOUBLE_EQ(world.GetLaneWidth("4", -2, 15.0_m).value(), 4.0);
+ ASSERT_DOUBLE_EQ(world.GetLaneWidth("5", -1, 0.0_m).value(), 5.0);
+ ASSERT_DOUBLE_EQ(world.GetLaneWidth("5", -2, 15.0_m).value(), 6.0);
}
TEST(SceneryImporter_IntegrationTests, TJunction_ImportWithCorrectLanes)
@@ -419,7 +403,7 @@ TEST(SceneryImporter_IntegrationTests, TJunction_ImportWithCorrectLanes)
TESTSCENERY_FACTORY tsf;
ASSERT_THAT(tsf.instantiate("TJunctionBig.xodr"), IsTrue());
- auto& world = tsf.world;
+ auto &world = tsf.world;
RoadGraph roadGraph;
RoadGraphVertex node1 = add_vertex(RouteElement{"R1", false}, roadGraph);
@@ -432,33 +416,33 @@ TEST(SceneryImporter_IntegrationTests, TJunction_ImportWithCorrectLanes)
add_edge(node2, node2_3, roadGraph);
add_edge(node2_3, node3, roadGraph);
- const auto relativeLanes = world.GetRelativeLanes(roadGraph, node2, -1, 0.0, 320.0);
+ const auto relativeLanes = world.GetRelativeLanes(roadGraph, node2, -1, 0.0_m, 320.0_m);
const auto relativeLanesLeft = relativeLanes.at(node1);
ASSERT_THAT(relativeLanesLeft, SizeIs(4));
const auto firstSectionLeft = relativeLanesLeft.at(0);
- ASSERT_THAT(firstSectionLeft.startS, DoubleEq(0.0));
- ASSERT_THAT(firstSectionLeft.endS, DoubleEq(200.0));
+ ASSERT_THAT(firstSectionLeft.startS.value(), DoubleEq(0.0));
+ ASSERT_THAT(firstSectionLeft.endS.value(), DoubleEq(200.0));
ASSERT_THAT(firstSectionLeft.lanes, UnorderedElementsAre(RelativeWorldView::Lane{2, false, LaneType::Driving, std::nullopt, std::nullopt},
RelativeWorldView::Lane{1, false, LaneType::Driving, std::nullopt, std::nullopt},
RelativeWorldView::Lane{0, true, LaneType::Driving, std::nullopt, 0},
RelativeWorldView::Lane{-1, true, LaneType::Driving, std::nullopt, -1}));
const auto secondSectionLeft = relativeLanesLeft.at(1);
- ASSERT_THAT(secondSectionLeft.startS, DoubleEq(200.0));
- ASSERT_THAT(secondSectionLeft.endS, DoubleEq(205.708));
+ ASSERT_THAT(secondSectionLeft.startS.value(), DoubleEq(200.0));
+ ASSERT_THAT(secondSectionLeft.endS.value(), DoubleEq(205.708));
ASSERT_THAT(secondSectionLeft.lanes, UnorderedElementsAre(RelativeWorldView::Lane{0, true, LaneType::Driving, 0, 0},
RelativeWorldView::Lane{-1, true, LaneType::Driving, -1, -1}));
const auto thirdSectionLeft = relativeLanesLeft.at(2);
- ASSERT_THAT(thirdSectionLeft.startS, DoubleEq(205.708));
- ASSERT_THAT(thirdSectionLeft.endS, DoubleEq(215.708));
+ ASSERT_THAT(thirdSectionLeft.startS.value(), DoubleEq(205.708));
+ ASSERT_THAT(thirdSectionLeft.endS.value(), DoubleEq(215.708));
ASSERT_THAT(thirdSectionLeft.lanes, UnorderedElementsAre(RelativeWorldView::Lane{0, true, LaneType::Driving, 0, 0},
- RelativeWorldView::Lane{-1, true, LaneType::Driving, -1, -1}));
+ RelativeWorldView::Lane{-1, true, LaneType::Driving, -1, -1}));
const auto forthSectionLeft = relativeLanesLeft.at(3);
- ASSERT_THAT(forthSectionLeft.startS, DoubleEq(215.708));
- ASSERT_THAT(forthSectionLeft.endS, DoubleEq(415.708));
+ ASSERT_THAT(forthSectionLeft.startS.value(), DoubleEq(215.708));
+ ASSERT_THAT(forthSectionLeft.endS.value(), DoubleEq(415.708));
ASSERT_THAT(forthSectionLeft.lanes, UnorderedElementsAre(RelativeWorldView::Lane{2, false, LaneType::Driving, std::nullopt, std::nullopt},
RelativeWorldView::Lane{1, false, LaneType::Driving, std::nullopt, std::nullopt},
RelativeWorldView::Lane{0, true, LaneType::Driving, 0, std::nullopt},
@@ -468,35 +452,34 @@ TEST(SceneryImporter_IntegrationTests, TJunction_ImportWithCorrectLanes)
ASSERT_THAT(relativeLanesRight, SizeIs(4));
const auto firstSectionRight = relativeLanesRight.at(0);
- ASSERT_THAT(firstSectionRight.startS, DoubleEq(0.0));
- ASSERT_THAT(firstSectionRight.endS, DoubleEq(200.0));
+ ASSERT_THAT(firstSectionRight.startS.value(), DoubleEq(0.0));
+ ASSERT_THAT(firstSectionRight.endS.value(), DoubleEq(200.0));
ASSERT_THAT(firstSectionRight.lanes, UnorderedElementsAre(RelativeWorldView::Lane{2, false, LaneType::Driving, std::nullopt, std::nullopt},
RelativeWorldView::Lane{1, false, LaneType::Driving, std::nullopt, std::nullopt},
RelativeWorldView::Lane{0, true, LaneType::Driving, std::nullopt, 0},
RelativeWorldView::Lane{-1, true, LaneType::Driving, std::nullopt, -1}));
const auto secondSectionRight = relativeLanesRight.at(1);
- ASSERT_THAT(secondSectionRight.startS, DoubleEq(200.0));
- ASSERT_THAT(secondSectionRight.endS, DoubleEq(210.0));
+ ASSERT_THAT(secondSectionRight.startS.value(), DoubleEq(200.0));
+ ASSERT_THAT(secondSectionRight.endS.value(), DoubleEq(210.0));
ASSERT_THAT(secondSectionRight.lanes, UnorderedElementsAre(RelativeWorldView::Lane{0, true, LaneType::Driving, 0, 0},
RelativeWorldView::Lane{-1, true, LaneType::Driving, -1, -1}));
const auto thirdSectionRight = relativeLanesRight.at(2);
- ASSERT_THAT(thirdSectionRight.startS, DoubleEq(210.0));
- ASSERT_THAT(thirdSectionRight.endS, DoubleEq(215.708));
+ ASSERT_THAT(thirdSectionRight.startS.value(), DoubleEq(210.0));
+ ASSERT_THAT(thirdSectionRight.endS.value(), DoubleEq(215.708));
ASSERT_THAT(thirdSectionRight.lanes, UnorderedElementsAre(RelativeWorldView::Lane{0, true, LaneType::Driving, 0, 0},
- RelativeWorldView::Lane{-1, true, LaneType::Driving, -1, -1}));
+ RelativeWorldView::Lane{-1, true, LaneType::Driving, -1, -1}));
const auto forthSectionRight = relativeLanesRight.at(3);
- ASSERT_THAT(forthSectionRight.startS, DoubleEq(215.708));
- ASSERT_THAT(forthSectionRight.endS, DoubleEq(415.708));
+ ASSERT_THAT(forthSectionRight.startS.value(), DoubleEq(215.708));
+ ASSERT_THAT(forthSectionRight.endS.value(), DoubleEq(415.708));
ASSERT_THAT(forthSectionRight.lanes, UnorderedElementsAre(RelativeWorldView::Lane{2, false, LaneType::Driving, std::nullopt, std::nullopt},
RelativeWorldView::Lane{1, false, LaneType::Driving, std::nullopt, std::nullopt},
RelativeWorldView::Lane{0, true, LaneType::Driving, 0, std::nullopt},
RelativeWorldView::Lane{-1, true, LaneType::Driving, -1, std::nullopt}));
}
-
//! Test correct lane predeccessor and successors
//! Scope is on WorldData and OWL-Level
TEST(SceneryImporter_IntegrationTests, SingleRoad_CheckForCorrectLaneConnections)
@@ -504,27 +487,27 @@ TEST(SceneryImporter_IntegrationTests, SingleRoad_CheckForCorrectLaneConnections
TESTSCENERY_FACTORY tsf;
ASSERT_THAT(tsf.instantiate("IntegrationTestScenery.xodr"), IsTrue());
- auto& world = tsf.world;
+ auto &world = tsf.world;
- OWL::Interfaces::WorldData* worldData = static_cast<OWL::Interfaces::WorldData*>(world.GetWorldData());
+ OWL::Interfaces::WorldData *worldData = static_cast<OWL::Interfaces::WorldData *>(world.GetWorldData());
ASSERT_EQ(worldData->GetRoads().at("1")->GetSections().size(), 5);
auto sections = GetDistanceSortedSectionsForRoad(worldData, "1");
const std::vector<int> numberOfLanesPerSection = {1, 2, 3, 3, 2};
- const std::vector<std::vector<int>> laneConnections = {{ -1}, {-1,-2}, {-1, -2, -3}, {0, -1, -2}};
+ const std::vector<std::vector<int>> laneConnections = {{-1}, {-1, -2}, {-1, -2, -3}, {0, -1, -2}};
- for(unsigned count = 0; count < 4; count++)
+ for (unsigned count = 0; count < 4; count++)
{
auto firstSection = sections.at(count);
auto firstSectionLanes = firstSection->GetLanes();
auto secondSection = sections.at(count + 1);
auto secondSectionLanes = secondSection->GetLanes();
- ASSERT_EQ(firstSectionLanes.size(), numberOfLanesPerSection[count]);
+ ASSERT_EQ(firstSectionLanes.size(), numberOfLanesPerSection[count]);
- for(int laneNumber = 0; laneNumber < numberOfLanesPerSection[count]; laneNumber++)
+ for (int laneNumber = 0; laneNumber < numberOfLanesPerSection[count]; laneNumber++)
{
int secondLaneId = laneConnections.at(count).at(static_cast<unsigned>(laneNumber));
if (secondLaneId != 0)
@@ -540,23 +523,23 @@ TEST(SceneryImporter_IntegrationTests, MultipleRoads_CheckForCorrectLaneConnecti
TESTSCENERY_FACTORY tsf;
ASSERT_THAT(tsf.instantiate("MultipleRoadsIntegrationScenery.xodr"), IsTrue());
- auto& world = tsf.world;
+ auto &world = tsf.world;
- OWL::Interfaces::WorldData* worldData = static_cast<OWL::Interfaces::WorldData*>(world.GetWorldData());
+ OWL::Interfaces::WorldData *worldData = static_cast<OWL::Interfaces::WorldData *>(world.GetWorldData());
ASSERT_EQ(worldData->GetRoads().at("1")->GetSections().size(), 2);
ASSERT_EQ(worldData->GetRoads().at("2")->GetSections().size(), 2);
ASSERT_EQ(worldData->GetRoads().at("3")->GetSections().size(), 2);
auto sectionsRoad1 = GetDistanceSortedSectionsForRoad(worldData, "1");
- const auto& lanesRoad1Section1 = sectionsRoad1.front()->GetLanes();
- const auto& lanesRoad1Section2 = sectionsRoad1.back()->GetLanes();
+ const auto &lanesRoad1Section1 = sectionsRoad1.front()->GetLanes();
+ const auto &lanesRoad1Section2 = sectionsRoad1.back()->GetLanes();
auto sectionsRoad2 = GetDistanceSortedSectionsForRoad(worldData, "2");
- const auto& lanesRoad2Section1 = sectionsRoad2.front()->GetLanes();
- const auto& lanesRoad2Section2 = sectionsRoad2.back()->GetLanes();
+ const auto &lanesRoad2Section1 = sectionsRoad2.front()->GetLanes();
+ const auto &lanesRoad2Section2 = sectionsRoad2.back()->GetLanes();
auto sectionsRoad3 = GetDistanceSortedSectionsForRoad(worldData, "3");
- const auto& lanesRoad3Section1 = sectionsRoad3.front()->GetLanes();
- const auto& lanesRoad3Section2 = sectionsRoad3.back()->GetLanes();
+ const auto &lanesRoad3Section1 = sectionsRoad3.front()->GetLanes();
+ const auto &lanesRoad3Section2 = sectionsRoad3.back()->GetLanes();
//check connections inside road
CheckLaneConnections(lanesRoad1Section1, lanesRoad1Section2, -1, -1);
@@ -586,9 +569,9 @@ TEST(SceneryImporter_IntegrationTests, MultipleRoadsWithJunctions_CheckForCorrec
TESTSCENERY_FACTORY tsf;
ASSERT_THAT(tsf.instantiate("MultipleRoadsWithJunctionIntegrationScenery.xodr"), IsTrue());
- auto& world = tsf.world;
+ auto &world = tsf.world;
- OWL::Interfaces::WorldData* worldData = static_cast<OWL::Interfaces::WorldData*>(world.GetWorldData());
+ OWL::Interfaces::WorldData *worldData = static_cast<OWL::Interfaces::WorldData *>(world.GetWorldData());
ASSERT_EQ(worldData->GetRoads().at("1")->GetSections().size(), 1);
ASSERT_EQ(worldData->GetRoads().at("2")->GetSections().size(), 1);
@@ -596,12 +579,11 @@ TEST(SceneryImporter_IntegrationTests, MultipleRoadsWithJunctions_CheckForCorrec
ASSERT_EQ(worldData->GetRoads().at("4")->GetSections().size(), 1);
ASSERT_EQ(worldData->GetRoads().at("5")->GetSections().size(), 1);
- const auto& lanesIncomingRoad = GetDistanceSortedSectionsForRoad(worldData, "1").back()->GetLanes();
- const auto& lanesUpperOutgoingRoad = GetDistanceSortedSectionsForRoad(worldData, "2").back()->GetLanes();
- const auto& lanesLowerOutgoingRoad = GetDistanceSortedSectionsForRoad(worldData, "3").back()->GetLanes();
- const auto& lanesUpperConnectingRoad = GetDistanceSortedSectionsForRoad(worldData, "4").back()->GetLanes();
- const auto& lanesLowerConnectingRoad = GetDistanceSortedSectionsForRoad(worldData, "5").back()->GetLanes();
-
+ const auto &lanesIncomingRoad = GetDistanceSortedSectionsForRoad(worldData, "1").back()->GetLanes();
+ const auto &lanesUpperOutgoingRoad = GetDistanceSortedSectionsForRoad(worldData, "2").back()->GetLanes();
+ const auto &lanesLowerOutgoingRoad = GetDistanceSortedSectionsForRoad(worldData, "3").back()->GetLanes();
+ const auto &lanesUpperConnectingRoad = GetDistanceSortedSectionsForRoad(worldData, "4").back()->GetLanes();
+ const auto &lanesLowerConnectingRoad = GetDistanceSortedSectionsForRoad(worldData, "5").back()->GetLanes();
//check connections between incoming road and connecting roads
CheckLaneConnections(lanesIncomingRoad, lanesUpperConnectingRoad, -1, -1);
@@ -623,9 +605,9 @@ TEST(SceneryImporter_IntegrationTests, TJunction_CheckForCorrectLaneConnections)
TESTSCENERY_FACTORY tsf;
ASSERT_THAT(tsf.instantiate("TJunctionBig.xodr"), IsTrue());
- auto& world = tsf.world;
+ auto &world = tsf.world;
- OWL::Interfaces::WorldData* worldData = static_cast<OWL::Interfaces::WorldData*>(world.GetWorldData());
+ OWL::Interfaces::WorldData *worldData = static_cast<OWL::Interfaces::WorldData *>(world.GetWorldData());
ASSERT_EQ(worldData->GetRoads().at("R1")->GetSections().size(), 1);
ASSERT_EQ(worldData->GetRoads().at("R2")->GetSections().size(), 1);
@@ -633,14 +615,13 @@ TEST(SceneryImporter_IntegrationTests, TJunction_CheckForCorrectLaneConnections)
ASSERT_EQ(worldData->GetRoads().at("R2-1")->GetSections().size(), 2);
ASSERT_EQ(worldData->GetRoads().at("R2-3")->GetSections().size(), 2);
- const auto& lanesRoad1 = GetDistanceSortedSectionsForRoad(worldData, "R1").back()->GetLanes();
- const auto& lanesRoad2 = GetDistanceSortedSectionsForRoad(worldData, "R2").back()->GetLanes();
- const auto& lanesRoad3 = GetDistanceSortedSectionsForRoad(worldData, "R3").back()->GetLanes();
- const auto& lanesRoad2_1first = GetDistanceSortedSectionsForRoad(worldData, "R2-1").front()->GetLanes();
- const auto& lanesRoad2_1second = GetDistanceSortedSectionsForRoad(worldData, "R2-1").back()->GetLanes();
- const auto& lanesRoad2_3first = GetDistanceSortedSectionsForRoad(worldData, "R2-3").front()->GetLanes();
- const auto& lanesRoad2_3second = GetDistanceSortedSectionsForRoad(worldData, "R2-3").back()->GetLanes();
-
+ const auto &lanesRoad1 = GetDistanceSortedSectionsForRoad(worldData, "R1").back()->GetLanes();
+ const auto &lanesRoad2 = GetDistanceSortedSectionsForRoad(worldData, "R2").back()->GetLanes();
+ const auto &lanesRoad3 = GetDistanceSortedSectionsForRoad(worldData, "R3").back()->GetLanes();
+ const auto &lanesRoad2_1first = GetDistanceSortedSectionsForRoad(worldData, "R2-1").front()->GetLanes();
+ const auto &lanesRoad2_1second = GetDistanceSortedSectionsForRoad(worldData, "R2-1").back()->GetLanes();
+ const auto &lanesRoad2_3first = GetDistanceSortedSectionsForRoad(worldData, "R2-3").front()->GetLanes();
+ const auto &lanesRoad2_3second = GetDistanceSortedSectionsForRoad(worldData, "R2-3").back()->GetLanes();
//check connections between incoming road and connecting roads
CheckLaneConnections(lanesRoad2, lanesRoad2_1second, -1, 1, LaneConnectionType::NEXT, false);
@@ -657,7 +638,7 @@ TEST(SceneryImporter_IntegrationTests, TJunction_CheckForCorrectLaneConnections)
CheckLaneConnections(lanesRoad2_3second, lanesRoad3, -2, 2, LaneConnectionType::NEXT, false);
}
-void CheckLaneNeighbours(OWL::Interfaces::WorldData* worldData, const std::vector<const OWL::Interfaces::Lane*>& lanes, int leftLaneId, int rightLaneId)
+void CheckLaneNeighbours(OWL::Interfaces::WorldData *worldData, const std::vector<const OWL::Interfaces::Lane *> &lanes, int leftLaneId, int rightLaneId)
{
auto leftLane = GetLaneById(lanes, leftLaneId);
auto rightLane = GetLaneById(lanes, rightLaneId);
@@ -671,13 +652,13 @@ TEST(SceneryImporter_IntegrationTests, TJunction_CheckForCorrectLaneNeighbours)
TESTSCENERY_FACTORY tsf;
ASSERT_THAT(tsf.instantiate("TJunctionBig.xodr"), IsTrue());
- auto& world = tsf.world;
+ auto &world = tsf.world;
- OWL::Interfaces::WorldData* worldData = static_cast<OWL::Interfaces::WorldData*>(world.GetWorldData());
+ OWL::Interfaces::WorldData *worldData = static_cast<OWL::Interfaces::WorldData *>(world.GetWorldData());
- const auto& lanesRoad2 = GetDistanceSortedSectionsForRoad(worldData, "R2").back()->GetLanes();
- const auto& lanesRoad2_1 = GetDistanceSortedSectionsForRoad(worldData, "R2-1").back()->GetLanes();
- const auto& lanesRoad2_3 = GetDistanceSortedSectionsForRoad(worldData, "R2-3").back()->GetLanes();
+ const auto &lanesRoad2 = GetDistanceSortedSectionsForRoad(worldData, "R2").back()->GetLanes();
+ const auto &lanesRoad2_1 = GetDistanceSortedSectionsForRoad(worldData, "R2-1").back()->GetLanes();
+ const auto &lanesRoad2_3 = GetDistanceSortedSectionsForRoad(worldData, "R2-3").back()->GetLanes();
CheckLaneNeighbours(worldData, lanesRoad2, 2, 1);
CheckLaneNeighbours(worldData, lanesRoad2, 1, -1);
@@ -692,7 +673,7 @@ TEST(SceneryImporter_IntegrationTests, TJunction_ImportWithCorrectLaneMarkings)
TESTSCENERY_FACTORY tsf;
ASSERT_THAT(tsf.instantiate("TJunctionBig.xodr"), IsTrue());
- auto& world = tsf.world;
+ auto &world = tsf.world;
RoadGraph roadGraph;
RoadGraphVertex node1 = add_vertex(RouteElement{"R1", true}, roadGraph);
@@ -701,54 +682,54 @@ TEST(SceneryImporter_IntegrationTests, TJunction_ImportWithCorrectLaneMarkings)
add_edge(node1, node1_2, roadGraph);
add_edge(node1_2, node2, roadGraph);
- auto laneMarkings = world.GetLaneMarkings(roadGraph, node1, 2, 0.0, 400.0, Side::Left).at(node2);
+ auto laneMarkings = world.GetLaneMarkings(roadGraph, node1, 2, 0.0_m, 400.0_m, Side::Left).at(node2);
ASSERT_THAT(laneMarkings, SizeIs(1));
- ASSERT_THAT(laneMarkings.at(0).relativeStartDistance, DoubleEq(0.0));
+ ASSERT_THAT(laneMarkings.at(0).relativeStartDistance.value(), DoubleEq(0.0));
ASSERT_THAT(laneMarkings.at(0).type, Eq(LaneMarking::Type::Solid));
- ASSERT_THAT(laneMarkings.at(0).width, DoubleEq(0.15));
+ ASSERT_THAT(laneMarkings.at(0).width.value(), DoubleEq(0.15));
ASSERT_THAT(laneMarkings.at(0).color, Eq(LaneMarking::Color::White));
- laneMarkings = world.GetLaneMarkings(roadGraph, node1, 2, 0.0, 400.0, Side::Right).at(node2);
+ laneMarkings = world.GetLaneMarkings(roadGraph, node1, 2, 0.0_m, 400.0_m, Side::Right).at(node2);
ASSERT_THAT(laneMarkings, SizeIs(1));
- ASSERT_THAT(laneMarkings.at(0).relativeStartDistance, DoubleEq(0.0));
+ ASSERT_THAT(laneMarkings.at(0).relativeStartDistance.value(), DoubleEq(0.0));
ASSERT_THAT(laneMarkings.at(0).type, Eq(LaneMarking::Type::Broken));
- ASSERT_THAT(laneMarkings.at(0).width, DoubleEq(0.15));
+ ASSERT_THAT(laneMarkings.at(0).width.value(), DoubleEq(0.15));
ASSERT_THAT(laneMarkings.at(0).color, Eq(LaneMarking::Color::White));
- laneMarkings = world.GetLaneMarkings(roadGraph, node1, 1, 0.0, 400.0, Side::Left).at(node2);
+ laneMarkings = world.GetLaneMarkings(roadGraph, node1, 1, 0.0_m, 400.0_m, Side::Left).at(node2);
ASSERT_THAT(laneMarkings, SizeIs(1));
- ASSERT_THAT(laneMarkings.at(0).relativeStartDistance, DoubleEq(0.0));
+ ASSERT_THAT(laneMarkings.at(0).relativeStartDistance.value(), DoubleEq(0.0));
ASSERT_THAT(laneMarkings.at(0).type, Eq(LaneMarking::Type::Broken));
- ASSERT_THAT(laneMarkings.at(0).width, DoubleEq(0.15));
+ ASSERT_THAT(laneMarkings.at(0).width.value(), DoubleEq(0.15));
ASSERT_THAT(laneMarkings.at(0).color, Eq(LaneMarking::Color::White));
- laneMarkings = world.GetLaneMarkings(roadGraph, node1, 1, 0.0, 400.0, Side::Right).at(node2);
+ laneMarkings = world.GetLaneMarkings(roadGraph, node1, 1, 0.0_m, 400.0_m, Side::Right).at(node2);
ASSERT_THAT(laneMarkings, SizeIs(1));
- ASSERT_THAT(laneMarkings.at(0).relativeStartDistance, DoubleEq(0.0));
+ ASSERT_THAT(laneMarkings.at(0).relativeStartDistance.value(), DoubleEq(0.0));
ASSERT_THAT(laneMarkings.at(0).type, Eq(LaneMarking::Type::Solid));
- ASSERT_THAT(laneMarkings.at(0).width, DoubleEq(0.15));
+ ASSERT_THAT(laneMarkings.at(0).width.value(), DoubleEq(0.15));
ASSERT_THAT(laneMarkings.at(0).color, Eq(LaneMarking::Color::White));
- laneMarkings = world.GetLaneMarkings(roadGraph, node1, -1, 0.0, 400.0, Side::Left).at(node2);
+ laneMarkings = world.GetLaneMarkings(roadGraph, node1, -1, 0.0_m, 400.0_m, Side::Left).at(node2);
ASSERT_THAT(laneMarkings, SizeIs(3));
- ASSERT_THAT(laneMarkings.at(0).relativeStartDistance, DoubleEq(0.0));
+ ASSERT_THAT(laneMarkings.at(0).relativeStartDistance.value(), DoubleEq(0.0));
ASSERT_THAT(laneMarkings.at(0).type, Eq(LaneMarking::Type::Solid));
- ASSERT_THAT(laneMarkings.at(0).width, DoubleEq(0.15));
+ ASSERT_THAT(laneMarkings.at(0).width.value(), DoubleEq(0.15));
ASSERT_THAT(laneMarkings.at(0).color, Eq(LaneMarking::Color::White));
- ASSERT_THAT(laneMarkings.at(1).relativeStartDistance, DoubleEq(200.0));
+ ASSERT_THAT(laneMarkings.at(1).relativeStartDistance.value(), DoubleEq(200.0));
ASSERT_THAT(laneMarkings.at(1).type, Eq(LaneMarking::Type::None));
- ASSERT_THAT(laneMarkings.at(2).relativeStartDistance, DoubleEq(215.708));
+ ASSERT_THAT(laneMarkings.at(2).relativeStartDistance.value(), DoubleEq(215.708));
ASSERT_THAT(laneMarkings.at(2).type, Eq(LaneMarking::Type::Solid));
- ASSERT_THAT(laneMarkings.at(2).width, DoubleEq(0.15));
+ ASSERT_THAT(laneMarkings.at(2).width.value(), DoubleEq(0.15));
ASSERT_THAT(laneMarkings.at(2).color, Eq(LaneMarking::Color::White));
}
//!Workaround, because the OSI lane is a private member
-osi3::Lane GetOsiLane(const OWL::Interfaces::Lane* lane)
+osi3::Lane GetOsiLane(const OWL::Interfaces::Lane *lane)
{
osi3::GroundTruth groundTruth;
lane->CopyToGroundTruth(groundTruth);
@@ -765,13 +746,13 @@ void CheckLanePairings(const OWL::Interfaces::Lane* lane, std::vector<std::pair<
}
}
-void CheckLaneNeighbours(OWL::Interfaces::WorldData* worldData, const std::vector<const OWL::Interfaces::Lane*>& lanes)
+void CheckLaneNeighbours(OWL::Interfaces::WorldData *worldData, const std::vector<const OWL::Interfaces::Lane *> &lanes)
{
auto nrOfLanes = static_cast<int>(lanes.size());
- for (int laneId = -1; -laneId < nrOfLanes; --laneId)
+ for (int laneId = -1; - laneId < nrOfLanes; --laneId)
{
auto firstLane = GetLaneById(lanes, laneId);
- auto secondLane = GetLaneById(lanes, laneId-1);
+ auto secondLane = GetLaneById(lanes, laneId - 1);
auto firstLaneId = firstLane->GetId();
auto secondLaneId = secondLane->GetId();
EXPECT_THAT(GetOsiLane(firstLane).classification().right_adjacent_lane_id(0).value(), secondLaneId);
@@ -779,7 +760,7 @@ void CheckLaneNeighbours(OWL::Interfaces::WorldData* worldData, const std::vecto
}
}
-void CheckLaneType(OWL::Interfaces::WorldData* worldData, const std::vector<const OWL::Interfaces::Lane*>& lanes, const std::vector<osi3::Lane_Classification_Type>& expectedTypes)
+void CheckLaneType(OWL::Interfaces::WorldData *worldData, const std::vector<const OWL::Interfaces::Lane *> &lanes, const std::vector<osi3::Lane_Classification_Type> &expectedTypes)
{
// Only negative lanes are checked and lane "0" is only a placeholder without internal representation.
// Calling GetLaneById with 0 would fail so start at 1.
@@ -793,7 +774,7 @@ void CheckLaneType(OWL::Interfaces::WorldData* worldData, const std::vector<cons
}
/*
-void CheckLaneSubtype(OWL::Interfaces::WorldData* worldData, const std::vector<const OWL::Interfaces::Lane*>& lanes, const std::vector<osi3::Lane_Classification_Subtype>& expectedTypes)
+void CheckLaneSubtype(OWL::Interfaces::WorldData *worldData, const std::vector<const OWL::Interfaces::Lane *> &lanes, const std::vector<osi3::Lane_Classification_Subtype> &expectedTypes)
{
// Only negative lanes are checked and lane "0" is only a placeholder without internal representation.
// Calling GetLaneById with 0 would fail so start at 1.
@@ -856,42 +837,30 @@ TEST(SceneryImporter_IntegrationTests, SingleRoad_CheckForCorrectOsiLaneClassifi
TESTSCENERY_FACTORY tsf;
ASSERT_THAT(tsf.instantiate("IntegrationTestScenery.xodr"), IsTrue());
- auto& world = tsf.world;
+ auto &world = tsf.world;
- OWL::Interfaces::WorldData* worldData = static_cast<OWL::Interfaces::WorldData*>(world.GetWorldData());
+ OWL::Interfaces::WorldData *worldData = static_cast<OWL::Interfaces::WorldData *>(world.GetWorldData());
ASSERT_EQ(worldData->GetRoads().at("1")->GetSections().size(), 5);
auto sections = GetDistanceSortedSectionsForRoad(worldData, "1");
- for(const auto section: sections)
+ for (const auto section : sections)
{
CheckLaneNeighbours(worldData, section->GetLanes());
}
- CheckLaneType(worldData, sections[0]->GetLanes(), {osi3::Lane_Classification_Type_TYPE_NONDRIVING,
- osi3::Lane_Classification_Type_TYPE_DRIVING});
+ CheckLaneType(worldData, sections[0]->GetLanes(), {osi3::Lane_Classification_Type_TYPE_NONDRIVING, osi3::Lane_Classification_Type_TYPE_DRIVING});
-// CheckLaneSubtype(worldData, sections[0]->GetLanes(), {osi3::Lane_Classification_Subtype_SUBTYPE_OTHER,
-// osi3::Lane_Classification_Subtype_SUBTYPE_NORMAL});
+ CheckLaneSubtype(worldData, sections[0]->GetLanes(), {osi3::Lane_Classification_Subtype_SUBTYPE_OTHER, osi3::Lane_Classification_Subtype_SUBTYPE_NORMAL});
- CheckLaneType(worldData, sections[1]->GetLanes(), {osi3::Lane_Classification_Type_TYPE_NONDRIVING,
- osi3::Lane_Classification_Type_TYPE_DRIVING,
- osi3::Lane_Classification_Type_TYPE_DRIVING});
+ CheckLaneType(worldData, sections[1]->GetLanes(), {osi3::Lane_Classification_Type_TYPE_NONDRIVING, osi3::Lane_Classification_Type_TYPE_DRIVING, osi3::Lane_Classification_Type_TYPE_DRIVING});
-// CheckLaneSubtype(worldData, sections[1]->GetLanes(), {osi3::Lane_Classification_Subtype_SUBTYPE_OTHER,
-// osi3::Lane_Classification_Subtype_SUBTYPE_NORMAL,
-// osi3::Lane_Classification_Subtype_SUBTYPE_NORMAL});
+ CheckLaneSubtype(worldData, sections[1]->GetLanes(), {osi3::Lane_Classification_Subtype_SUBTYPE_OTHER, osi3::Lane_Classification_Subtype_SUBTYPE_NORMAL, osi3::Lane_Classification_Subtype_SUBTYPE_NORMAL});
- CheckLaneType(worldData, sections[2]->GetLanes(), {osi3::Lane_Classification_Type_TYPE_NONDRIVING,
- osi3::Lane_Classification_Type_TYPE_DRIVING,
- osi3::Lane_Classification_Type_TYPE_NONDRIVING,
- osi3::Lane_Classification_Type_TYPE_NONDRIVING});
+ CheckLaneType(worldData, sections[2]->GetLanes(), {osi3::Lane_Classification_Type_TYPE_NONDRIVING, osi3::Lane_Classification_Type_TYPE_DRIVING, osi3::Lane_Classification_Type_TYPE_NONDRIVING, osi3::Lane_Classification_Type_TYPE_NONDRIVING});
-// CheckLaneSubtype(worldData, sections[2]->GetLanes(), {osi3::Lane_Classification_Subtype_SUBTYPE_OTHER,
-// osi3::Lane_Classification_Subtype_SUBTYPE_NORMAL,
-// osi3::Lane_Classification_Subtype_SUBTYPE_BIKING,
-// osi3::Lane_Classification_Subtype_SUBTYPE_SIDEWALK});
+ CheckLaneSubtype(worldData, sections[2]->GetLanes(), {osi3::Lane_Classification_Subtype_SUBTYPE_OTHER, osi3::Lane_Classification_Subtype_SUBTYPE_NORMAL, osi3::Lane_Classification_Subtype_SUBTYPE_BIKING, osi3::Lane_Classification_Subtype_SUBTYPE_SIDEWALK});
}
TEST(SceneryImporter_IntegrationTests, MultipleRoadsWithJunctions_CheckForCorrectOsiLaneClassification)
@@ -899,9 +868,9 @@ TEST(SceneryImporter_IntegrationTests, MultipleRoadsWithJunctions_CheckForCorrec
TESTSCENERY_FACTORY tsf;
ASSERT_THAT(tsf.instantiate("MultipleRoadsWithJunctionIntegrationScenery.xodr"), IsTrue());
- auto& world = tsf.world;
+ auto &world = tsf.world;
- OWL::Interfaces::WorldData* worldData = static_cast<OWL::Interfaces::WorldData*>(world.GetWorldData());
+ OWL::Interfaces::WorldData *worldData = static_cast<OWL::Interfaces::WorldData *>(world.GetWorldData());
ASSERT_EQ(worldData->GetRoads().at("1")->GetSections().size(), 1);
@@ -909,11 +878,7 @@ TEST(SceneryImporter_IntegrationTests, MultipleRoadsWithJunctions_CheckForCorrec
CheckLaneNeighbours(worldData, sections1[0]->GetLanes());
- CheckLaneType(worldData, sections1[0]->GetLanes(), {osi3::Lane_Classification_Type_TYPE_NONDRIVING,
- osi3::Lane_Classification_Type_TYPE_DRIVING,
- osi3::Lane_Classification_Type_TYPE_DRIVING,
- osi3::Lane_Classification_Type_TYPE_DRIVING,
- osi3::Lane_Classification_Type_TYPE_DRIVING});
+ CheckLaneType(worldData, sections1[0]->GetLanes(), {osi3::Lane_Classification_Type_TYPE_NONDRIVING, osi3::Lane_Classification_Type_TYPE_DRIVING, osi3::Lane_Classification_Type_TYPE_DRIVING, osi3::Lane_Classification_Type_TYPE_DRIVING, osi3::Lane_Classification_Type_TYPE_DRIVING});
ASSERT_EQ(worldData->GetRoads().at("4")->GetSections().size(), 1);
@@ -921,9 +886,7 @@ TEST(SceneryImporter_IntegrationTests, MultipleRoadsWithJunctions_CheckForCorrec
CheckLaneNeighbours(worldData, sections4[0]->GetLanes());
- CheckLaneType(worldData, sections4[0]->GetLanes(), {osi3::Lane_Classification_Type_TYPE_NONDRIVING,
- osi3::Lane_Classification_Type_TYPE_INTERSECTION,
- osi3::Lane_Classification_Type_TYPE_INTERSECTION});
+ CheckLaneType(worldData, sections4[0]->GetLanes(), {osi3::Lane_Classification_Type_TYPE_NONDRIVING, osi3::Lane_Classification_Type_TYPE_INTERSECTION, osi3::Lane_Classification_Type_TYPE_INTERSECTION});
}
TEST(SceneryImporter_IntegrationTests, MultipleRoadsWithNonIntersectingJunctions_JunctionsHaveNoIntersectionInformation)
@@ -931,30 +894,30 @@ TEST(SceneryImporter_IntegrationTests, MultipleRoadsWithNonIntersectingJunctions
TESTSCENERY_FACTORY tsf;
ASSERT_THAT(tsf.instantiate("MultipleRoadsWithJunctionIntegrationScenery.xodr"), IsTrue());
- auto& world = tsf.world;
+ auto &world = tsf.world;
- OWL::Interfaces::WorldData* worldData = static_cast<OWL::Interfaces::WorldData*>(world.GetWorldData());
- const auto& junctionMap = worldData->GetJunctions();
+ OWL::Interfaces::WorldData *worldData = static_cast<OWL::Interfaces::WorldData *>(world.GetWorldData());
+ const auto &junctionMap = worldData->GetJunctions();
ASSERT_THAT(junctionMap.size(), 1);
- const auto& junction = junctionMap.begin()->second;
+ const auto &junction = junctionMap.begin()->second;
ASSERT_THAT(junction->GetIntersections().size(), 0);
}
MATCHER_P(GeometryDoublePairEq, comparisonPair, "")
{
- constexpr static const double EPS = 1e-3; // epsilon value for geometric comparisons
- return std::abs(arg.first - comparisonPair.first) < EPS && std::abs(arg.second - comparisonPair.second) < EPS;
+ constexpr static const double EPS = 1e-3; // epsilon value for geometric comparisons
+ return std::abs(arg.first.value() - comparisonPair.first) < EPS && std::abs(arg.second.value() - comparisonPair.second) < EPS;
}
TEST(SceneryImporter_IntegrationTests, MultipleRoadsWithIntersectingJunctions_JunctionsHaveIntersectionInformation)
{
TESTSCENERY_FACTORY tsf;
ASSERT_THAT(tsf.instantiate("IntersectedJunctionScenery.xodr"), IsTrue());
- auto& world = tsf.world;
- OWL::Interfaces::WorldData* worldData = static_cast<OWL::Interfaces::WorldData*>(world.GetWorldData());
+ auto &world = tsf.world;
+ OWL::Interfaces::WorldData *worldData = static_cast<OWL::Interfaces::WorldData *>(world.GetWorldData());
WorldDataQuery worldDataQuery(*worldData);
const std::string verticalRoadStringId = "vertical_connecting";
@@ -963,10 +926,10 @@ TEST(SceneryImporter_IntegrationTests, MultipleRoadsWithIntersectingJunctions_Ju
const auto verticalRoad = worldDataQuery.GetRoadByOdId(verticalRoadStringId);
const auto horizontalRoad = worldDataQuery.GetRoadByOdId(horizontalRoadStringId);
- const auto& verticalLane1 = worldDataQuery.GetLaneByOdId(verticalRoadStringId, -1, 0.0);
- const auto& verticalLane2 = worldDataQuery.GetLaneByOdId(verticalRoadStringId, -2, 0.0);
- const auto& horizontalLane1 = worldDataQuery.GetLaneByOdId(horizontalRoadStringId, -1, 0.0);
- const auto& horizontalLane2 = worldDataQuery.GetLaneByOdId(horizontalRoadStringId, -2, 0.0);
+ const auto &verticalLane1 = worldDataQuery.GetLaneByOdId(verticalRoadStringId, -1, 0.0_m);
+ const auto &verticalLane2 = worldDataQuery.GetLaneByOdId(verticalRoadStringId, -2, 0.0_m);
+ const auto &horizontalLane1 = worldDataQuery.GetLaneByOdId(horizontalRoadStringId, -1, 0.0_m);
+ const auto &horizontalLane2 = worldDataQuery.GetLaneByOdId(horizontalRoadStringId, -2, 0.0_m);
const std::pair<OWL::Id, OWL::Id> v1h1{verticalLane1.GetId(), horizontalLane1.GetId()};
const std::pair<OWL::Id, OWL::Id> v1h2{verticalLane1.GetId(), horizontalLane2.GetId()};
@@ -988,10 +951,10 @@ TEST(SceneryImporter_IntegrationTests, MultipleRoadsWithIntersectingJunctions_Ju
const std::pair<double, double> h2v1SOffset{7, 10};
const std::pair<double, double> h2v2SOffset{4, 7};
- const auto& junctionMap = worldData->GetJunctions();
+ const auto &junctionMap = worldData->GetJunctions();
ASSERT_THAT(junctionMap.size(), 1);
- const auto& junction = junctionMap.begin()->second;
+ const auto &junction = junctionMap.begin()->second;
ASSERT_THAT(junction->GetIntersections().size(), 2);
std::vector<OWL::IntersectionInfo> verticalIntersectionInfos;
@@ -1006,10 +969,10 @@ TEST(SceneryImporter_IntegrationTests, MultipleRoadsWithIntersectingJunctions_Ju
ASSERT_THAT(verticalIntersectionInfos.size(), 1);
ASSERT_THAT(horizontalIntersectionInfos.size(), 1);
- const auto& verticalConnectionInfo = verticalIntersectionInfos.front();
- const auto& horizontalConnectionInfo = horizontalIntersectionInfos.front();
+ const auto &verticalConnectionInfo = verticalIntersectionInfos.front();
+ const auto &horizontalConnectionInfo = horizontalIntersectionInfos.front();
- ASSERT_THAT(verticalConnectionInfo.intersectingRoad, Eq(horizontalRoad->GetId()));// horizontalRoadIdPair->first);
+ ASSERT_THAT(verticalConnectionInfo.intersectingRoad, Eq(horizontalRoad->GetId())); // horizontalRoadIdPair->first);
ASSERT_THAT(horizontalConnectionInfo.intersectingRoad, Eq(verticalRoad->GetId()));
ASSERT_THAT(verticalConnectionInfo.relativeRank, IntersectingConnectionRank::Higher);
@@ -1026,30 +989,32 @@ TEST(SceneryImporter_IntegrationTests, MultipleRoadsWithIntersectingJunctions_Ju
ASSERT_THAT(horizontalConnectionInfo.sOffsets.at(h2v2), GeometryDoublePairEq(h2v2SOffset));
}
-[[nodiscard]] AgentInterface& ADD_AGENT (core::World& world,
- double x, double y, double width = 1.0, double length = 1.0)
+[[nodiscard]] AgentInterface& ADD_AGENT(core::World &world,
+ units::length::meter_t x, units::length::meter_t y, units::length::meter_t width = 1.0_m, units::length::meter_t length = 1.0_m)
{
- VehicleModelParameters vehicleParameter;
- vehicleParameter.vehicleType = AgentVehicleType::Car;
- vehicleParameter.boundingBoxDimensions.width = width;
- vehicleParameter.boundingBoxDimensions.length = length;
- vehicleParameter.boundingBoxCenter.x = 0.0;
+ AgentBuildInstructions agentBuildInstructions;
+ agentBuildInstructions.agentCategory = AgentCategory::Scenario;
+
+ auto vehicleParameter = std::make_shared<mantle_api::VehicleProperties>();
+ vehicleParameter->type = mantle_api::EntityType::kVehicle;
+ vehicleParameter->classification = mantle_api::VehicleClass::kMedium_car;
+ vehicleParameter->bounding_box.dimension.width = width;
+ vehicleParameter->bounding_box.dimension.length = length;
+ vehicleParameter->bounding_box.geometric_center.x = 0.0_m;
+
+ agentBuildInstructions.entityProperties = vehicleParameter;
SpawnParameter spawnParameter;
- spawnParameter.positionX = x;
- spawnParameter.positionY = y;
- spawnParameter.velocity = 1.0;
- spawnParameter.yawAngle = 0.0;
- auto position = world.WorldCoord2LaneCoord(x,y,0);
+ agentBuildInstructions.spawnParameter.position.x = x;
+ agentBuildInstructions.spawnParameter.position.y = y;
+ agentBuildInstructions.spawnParameter.velocity = 1.0_mps;
+ agentBuildInstructions.spawnParameter.orientation.yaw = 0.0_rad;
+ auto position = world.WorldCoord2LaneCoord(x, y, 0_rad);
RoadGraph roadGraph;
auto vertex = add_vertex(RouteElement{position.cbegin()->second.roadId, true}, roadGraph);
- spawnParameter.route = {roadGraph, vertex, vertex};
-
- AgentBlueprint agentBlueprint;
- agentBlueprint.SetVehicleModelParameters(vehicleParameter);
- agentBlueprint.SetSpawnParameter(spawnParameter);
+ agentBuildInstructions.spawnParameter.route = {roadGraph, vertex, vertex};
- return world.CreateAgentAdapter(agentBlueprint);
+ return world.CreateAgentAdapter(agentBuildInstructions);
}
TEST(GetObjectsInRange_IntegrationTests, OneObjectOnQueriedLane)
@@ -1058,14 +1023,14 @@ TEST(GetObjectsInRange_IntegrationTests, OneObjectOnQueriedLane)
ASSERT_THAT(tsf.instantiate("SceneryLeftLaneEnds.xodr"), IsTrue());
auto& world = tsf.world;
- auto& agent0 = ADD_AGENT(world, 10.0, 2.0);
- auto& agent1 = ADD_AGENT(world, 10.0, 5.0);
- auto& agent2 = ADD_AGENT(world, 10.0, 9.0);
+ auto& agent0 = ADD_AGENT(world, 10.0_m, 2.0_m);
+ auto& agent1 = ADD_AGENT(world, 10.0_m, 5.0_m);
+ auto& agent2 = ADD_AGENT(world, 10.0_m, 9.0_m);
world.SyncGlobalData(0);
RoadGraph roadGraph;
RoadGraphVertex root = add_vertex(RouteElement{"1", true}, roadGraph);
- const auto objectsInRange = world.GetObjectsInRange(roadGraph, root, -3, 0, 0, 500).at(root);
+ const auto objectsInRange = world.GetObjectsInRange(roadGraph, root, -3, 0_m, 0_m, 500_m).at(root);
ASSERT_THAT(objectsInRange, SizeIs(1));
ASSERT_THAT(objectsInRange.at(0), Eq(world.GetAgent(1)));
}
@@ -1076,13 +1041,13 @@ TEST(GetObjectsInRange_IntegrationTests, NoObjectOnQueriedLane)
ASSERT_THAT(tsf.instantiate("SceneryLeftLaneEnds.xodr"), IsTrue());
auto& world = tsf.world;
- auto& agent0 = ADD_AGENT(world, 10.0, 2.0);
- auto& agent1 = ADD_AGENT(world, 10.0, 9.0);
+ auto& agent0 = ADD_AGENT(world, 10.0_m, 2.0_m);
+ auto& agent1 = ADD_AGENT(world, 10.0_m, 9.0_m);
world.SyncGlobalData(0);
RoadGraph roadGraph;
RoadGraphVertex root = add_vertex(RouteElement{"1", true}, roadGraph);
- const auto objectsInRange = world.GetObjectsInRange(roadGraph, root, -3, 0, 0, 500).at(root);
+ const auto objectsInRange = world.GetObjectsInRange(roadGraph, root, -3, 0_m, 0_m, 500_m).at(root);
ASSERT_THAT(objectsInRange, IsEmpty());
}
@@ -1092,15 +1057,15 @@ TEST(GetObjectsInRange_IntegrationTests, TwoObjectsInDifferentSections)
ASSERT_THAT(tsf.instantiate("SceneryLeftLaneEnds.xodr"), IsTrue());
auto& world = tsf.world;
- auto& agent0 = ADD_AGENT(world, 10.0, 2.0);
- auto& agent1 = ADD_AGENT(world, 310.0, 5.0);
- auto& agent2 = ADD_AGENT(world, 10.0, 5.0);
- auto& agent3 = ADD_AGENT(world, 10.0, 9.0);
+ auto& agent0 = ADD_AGENT(world, 10.0_m, 2.0_m);
+ auto& agent1 = ADD_AGENT(world, 310.0_m, 5.0_m);
+ auto& agent2 = ADD_AGENT(world, 10.0_m, 5.0_m);
+ auto& agent3 = ADD_AGENT(world, 10.0_m, 9.0_m);
world.SyncGlobalData(0);
RoadGraph roadGraph;
RoadGraphVertex root = add_vertex(RouteElement{"1", true}, roadGraph);
- const auto objectsInRange = world.GetObjectsInRange(roadGraph, root, -3, 0, 0, 500).at(root);
+ const auto objectsInRange = world.GetObjectsInRange(roadGraph, root, -3, 0_m, 0_m, 500_m).at(root);
ASSERT_THAT(objectsInRange, SizeIs(2));
ASSERT_THAT(objectsInRange.at(0), Eq(world.GetAgent(2)));
ASSERT_THAT(objectsInRange.at(1), Eq(world.GetAgent(1)));
@@ -1112,14 +1077,14 @@ TEST(GetObjectsInRange_IntegrationTests, OneObjectOnSectionBorder)
ASSERT_THAT(tsf.instantiate("SceneryLeftLaneEnds.xodr"), IsTrue());
auto& world = tsf.world;
- auto& agent0 = ADD_AGENT(world, 300.0, 2.0);
- auto& agent1 = ADD_AGENT(world, 300.0, 5.0);
- auto& agent2 = ADD_AGENT(world, 300.0, 9.0);
+ auto& agent0 = ADD_AGENT(world, 300.0_m, 2.0_m);
+ auto& agent1 = ADD_AGENT(world, 300.0_m, 5.0_m);
+ auto& agent2 = ADD_AGENT(world, 300.0_m, 9.0_m);
world.SyncGlobalData(0);
RoadGraph roadGraph;
RoadGraphVertex root = add_vertex(RouteElement{"1", true}, roadGraph);
- const auto objectsInRange = world.GetObjectsInRange(roadGraph, root, -3, 0, 0, 500).at(root);
+ const auto objectsInRange = world.GetObjectsInRange(roadGraph, root, -3, 0_m, 0_m, 500_m).at(root);
ASSERT_THAT(objectsInRange, SizeIs(1));
ASSERT_THAT(objectsInRange.at(0), Eq(world.GetAgent(1)));
}
@@ -1130,10 +1095,10 @@ TEST(GetObjectsInRange_IntegrationTests, MultipleRoads)
ASSERT_THAT(tsf.instantiate("MultipleRoadsIntegrationScenery.xodr"), IsTrue());
auto& world = tsf.world;
- auto& agent0 = ADD_AGENT(world, 510.0, 6.0);
- auto& agent1 = ADD_AGENT(world, 1300.0, 2.0);
- auto& agent2 = ADD_AGENT(world, 510.0, 2.0);
- auto& agent3 = ADD_AGENT(world, 510.0, -1.0);
+ auto& agent0 = ADD_AGENT(world, 510.0_m, 6.0_m);
+ auto& agent1 = ADD_AGENT(world, 1300.0_m, 2.0_m);
+ auto& agent2 = ADD_AGENT(world, 510.0_m, 2.0_m);
+ auto& agent3 = ADD_AGENT(world, 510.0_m, -1.0_m);
world.SyncGlobalData(0);
RoadGraph roadGraph;
@@ -1142,7 +1107,7 @@ TEST(GetObjectsInRange_IntegrationTests, MultipleRoads)
RoadGraphVertex node3 = add_vertex(RouteElement{"3", true}, roadGraph);
add_edge(node1, node2, roadGraph);
add_edge(node2, node3, roadGraph);
- const auto objectsInRange = world.GetObjectsInRange(roadGraph, node1, -2, 500, 0, 1500).at(node3);
+ const auto objectsInRange = world.GetObjectsInRange(roadGraph, node1, -2, 500_m, 0_m, 1500_m).at(node3);
ASSERT_THAT(objectsInRange, SizeIs(2));
ASSERT_THAT(objectsInRange.at(0), Eq(world.GetAgent(2)));
ASSERT_THAT(objectsInRange.at(1), Eq(world.GetAgent(1)));
@@ -1154,25 +1119,25 @@ TEST(Locator_IntegrationTests, AgentOnStraightRoad_CalculatesCorrectLocateResult
ASSERT_THAT(tsf.instantiate("MultipleRoadsIntegrationScenery.xodr"), IsTrue());
auto& world = tsf.world;
- const auto& agent1 = ADD_AGENT(world, 399.0, 1.0, 2.0, 5.0);
- const auto& agent2 = ADD_AGENT(world, 2500.0, 1.0, 2.0, 5.0);
+ const auto& agent1 = ADD_AGENT(world, 399.0_m, 1.0_m, 2.0_m, 5.0_m);
+ const auto& agent2 = ADD_AGENT(world, 2500.0_m, 1.0_m, 2.0_m, 5.0_m);
world.SyncGlobalData(0);
EXPECT_THAT(agent1.GetRoads(ObjectPointPredefined::FrontCenter), ElementsAre("1"));
EXPECT_THAT(agent1.GetRoadPosition(ObjectPointPredefined::FrontCenter).at("1").laneId, Eq(-2));
- EXPECT_THAT(agent1.GetTouchedRoads().at("1").sMin.roadPosition.s, DoubleNear(396.5, 0.01));
- EXPECT_THAT(agent1.GetTouchedRoads().at("1").sMax.roadPosition.s, DoubleNear(401.5, 0.01));
- EXPECT_THAT(agent1.GetTouchedRoads().at("1").tMin.roadPosition.t, DoubleNear(2.0, 0.01));
+ EXPECT_THAT(agent1.GetTouchedRoads().at("1").sMin.roadPosition.s.value(), DoubleNear(396.5, 0.01));
+ EXPECT_THAT(agent1.GetTouchedRoads().at("1").sMax.roadPosition.s.value(), DoubleNear(401.5, 0.01));
+ EXPECT_THAT(agent1.GetTouchedRoads().at("1").tMin.roadPosition.t.value(), DoubleNear(2.0, 0.01));
EXPECT_THAT(agent1.GetTouchedRoads().at("1").tMin.laneId, Eq(-3));
- EXPECT_THAT(agent1.GetTouchedRoads().at("1").tMax.roadPosition.t, DoubleNear(-0.5, 0.01));
+ EXPECT_THAT(agent1.GetTouchedRoads().at("1").tMax.roadPosition.t.value(), DoubleNear(-0.5, 0.01));
EXPECT_THAT(agent1.GetTouchedRoads().at("1").tMax.laneId, Eq(-2));
EXPECT_THAT(agent2.GetRoads(ObjectPointPredefined::FrontCenter), ElementsAre("2"));
EXPECT_THAT(agent2.GetRoadPosition(ObjectPointPredefined::FrontCenter).at("2").laneId, Eq(2));
- EXPECT_THAT(agent2.GetTouchedRoads().at("2").sMin.roadPosition.s, DoubleNear(497.5, 0.01));
- EXPECT_THAT(agent2.GetTouchedRoads().at("2").sMax.roadPosition.s, DoubleNear(502.5, 0.01));
- EXPECT_THAT(agent2.GetTouchedRoads().at("2").tMin.roadPosition.t, DoubleNear(0.5, 0.01));
+ EXPECT_THAT(agent2.GetTouchedRoads().at("2").sMin.roadPosition.s.value(), DoubleNear(497.5, 0.01));
+ EXPECT_THAT(agent2.GetTouchedRoads().at("2").sMax.roadPosition.s.value(), DoubleNear(502.5, 0.01));
+ EXPECT_THAT(agent2.GetTouchedRoads().at("2").tMin.roadPosition.t.value(), DoubleNear(0.5, 0.01));
EXPECT_THAT(agent2.GetTouchedRoads().at("2").tMin.laneId, Eq(2));
- EXPECT_THAT(agent2.GetTouchedRoads().at("2").tMax.roadPosition.t, DoubleNear(-2.0, 0.01));
+ EXPECT_THAT(agent2.GetTouchedRoads().at("2").tMax.roadPosition.t.value(), DoubleNear(-2.0, 0.01));
EXPECT_THAT(agent2.GetTouchedRoads().at("2").tMax.laneId, Eq(3));
}
@@ -1182,17 +1147,17 @@ TEST(Locator_IntegrationTests, AgentOnJunction_CalculatesCorrectLocateResult)
ASSERT_THAT(tsf.instantiate("TJunction.xodr"), IsTrue());
auto& world = tsf.world;
- auto& agent = ADD_AGENT(world, 208.0, -2.0, 2.0, 4.0);
+ auto& agent = ADD_AGENT(world, 208.0_m, -2.0_m, 2.0_m, 4.0_m);
world.SyncGlobalData(0);
- EXPECT_THAT(agent.GetTouchedRoads().at("R1-3").sMin.roadPosition.s, DoubleNear(6.0, 0.01));
- EXPECT_THAT(agent.GetTouchedRoads().at("R1-3").sMax.roadPosition.s, DoubleNear(10.0, 0.01));
- EXPECT_THAT(agent.GetTouchedRoads().at("R2-3").sMin.roadPosition.s, DoubleNear(M_PI, 0.15)); //front left corner
- EXPECT_THAT(agent.GetTouchedRoads().at("R2-3").sMax.roadPosition.s, DoubleNear(std::atan(2.5) * 6, 0.15)); //intersection point on right boundary
- EXPECT_THAT(agent.GetTouchedRoads().at("R3-2").sMin.roadPosition.s, DoubleNear(std::acos(5.0 / 6.0) * 6, 0.15)); //intersection point on left boundary
- EXPECT_THAT(agent.GetTouchedRoads().at("R3-2").sMax.roadPosition.s, DoubleNear(std::atan(2.0) * 6, 0.15)); //rear right corner
- EXPECT_THAT(agent.GetTouchedRoads().at("R2-1").sMin.roadPosition.s, DoubleNear(std::asin(0.3) * 6, 0.15)); //rear left corner
- EXPECT_THAT(agent.GetTouchedRoads().at("R2-1").sMax.roadPosition.s, DoubleNear(std::atan(5.0 / 6.0) * 6, 0.15)); //intersection point on right boundary
+ EXPECT_THAT(agent.GetTouchedRoads().at("R1-3").sMin.roadPosition.s.value(), DoubleNear(6.0, 0.01));
+ EXPECT_THAT(agent.GetTouchedRoads().at("R1-3").sMax.roadPosition.s.value(), DoubleNear(10.0, 0.01));
+ EXPECT_THAT(agent.GetTouchedRoads().at("R2-3").sMin.roadPosition.s.value(), DoubleNear(M_PI, 0.15)); //front left corner
+ EXPECT_THAT(agent.GetTouchedRoads().at("R2-3").sMax.roadPosition.s.value(), DoubleNear(std::atan(2.5) * 6, 0.15)); //intersection point on right boundary
+ EXPECT_THAT(agent.GetTouchedRoads().at("R3-2").sMin.roadPosition.s.value(), DoubleNear(std::acos(5.0 / 6.0) * 6, 0.15)); //intersection point on left boundary
+ EXPECT_THAT(agent.GetTouchedRoads().at("R3-2").sMax.roadPosition.s.value(), DoubleNear(std::atan(2.0) * 6, 0.15)); //rear right corner
+ EXPECT_THAT(agent.GetTouchedRoads().at("R2-1").sMin.roadPosition.s.value(), DoubleNear(std::asin(0.3) * 6, 0.15)); //rear left corner
+ EXPECT_THAT(agent.GetTouchedRoads().at("R2-1").sMax.roadPosition.s.value(), DoubleNear(std::atan(5.0 / 6.0) * 6, 0.15)); //intersection point on right boundary
}
TEST(SceneryImporter_IntegrationTests, SingleRoad_ImportWithCorrectLaneMarkings)
@@ -1200,161 +1165,162 @@ TEST(SceneryImporter_IntegrationTests, SingleRoad_ImportWithCorrectLaneMarkings)
TESTSCENERY_FACTORY tsf;
ASSERT_THAT(tsf.instantiate("IntegrationTestScenery.xodr"), IsTrue());
- auto& world = tsf.world;
+ auto &world = tsf.world;
RoadGraph roadGraph;
RoadGraphVertex root = add_vertex(RouteElement{"1", true}, roadGraph);
- auto laneMarkings = world.GetLaneMarkings(roadGraph, root, -1, 0.0, 99.0, Side::Left).at(root);
+ auto laneMarkings = world.GetLaneMarkings(roadGraph, root, -1, 0.0_m, 99.0_m, Side::Left).at(root);
ASSERT_THAT(laneMarkings, SizeIs(5));
- ASSERT_THAT(laneMarkings.at(0).relativeStartDistance, DoubleEq(0.0));
+ ASSERT_THAT(laneMarkings.at(0).relativeStartDistance.value(), DoubleEq(0.0));
ASSERT_THAT(laneMarkings.at(0).type, Eq(LaneMarking::Type::Solid));
- ASSERT_THAT(laneMarkings.at(0).width, DoubleEq(0.15));
+ ASSERT_THAT(laneMarkings.at(0).width.value(), DoubleEq(0.15));
ASSERT_THAT(laneMarkings.at(0).color, Eq(LaneMarking::Color::White));
- ASSERT_THAT(laneMarkings.at(1).relativeStartDistance, DoubleEq(10.0));
+ ASSERT_THAT(laneMarkings.at(1).relativeStartDistance.value(), DoubleEq(10.0));
ASSERT_THAT(laneMarkings.at(1).type, Eq(LaneMarking::Type::None));
- ASSERT_THAT(laneMarkings.at(1).width, DoubleEq(0.15));
+ ASSERT_THAT(laneMarkings.at(1).width.value(), DoubleEq(0.15));
ASSERT_THAT(laneMarkings.at(1).color, Eq(LaneMarking::Color::White));
- ASSERT_THAT(laneMarkings.at(2).relativeStartDistance, DoubleEq(18.0));
+ ASSERT_THAT(laneMarkings.at(2).relativeStartDistance.value(), DoubleEq(18.0));
ASSERT_THAT(laneMarkings.at(2).type, Eq(LaneMarking::Type::Solid));
- ASSERT_THAT(laneMarkings.at(2).width, DoubleEq(0.3));
+ ASSERT_THAT(laneMarkings.at(2).width.value(), DoubleEq(0.3));
ASSERT_THAT(laneMarkings.at(2).color, Eq(LaneMarking::Color::White));
- ASSERT_THAT(laneMarkings.at(3).relativeStartDistance, DoubleEq(30.0));
+ ASSERT_THAT(laneMarkings.at(3).relativeStartDistance.value(), DoubleEq(30.0));
- laneMarkings = world.GetLaneMarkings(roadGraph, root, -1, 0.0, 99.0, Side::Right).at(root);
+ laneMarkings = world.GetLaneMarkings(roadGraph, root, -1, 0.0_m, 99.0_m, Side::Right).at(root);
ASSERT_THAT(laneMarkings, SizeIs(5));
- ASSERT_THAT(laneMarkings.at(0).relativeStartDistance, DoubleEq(0.0));
+ ASSERT_THAT(laneMarkings.at(0).relativeStartDistance.value(), DoubleEq(0.0));
ASSERT_THAT(laneMarkings.at(0).type, Eq(LaneMarking::Type::Broken));
- ASSERT_THAT(laneMarkings.at(0).width, DoubleEq(0.15));
+ ASSERT_THAT(laneMarkings.at(0).width.value(), DoubleEq(0.15));
ASSERT_THAT(laneMarkings.at(0).color, Eq(LaneMarking::Color::Yellow));
- ASSERT_THAT(laneMarkings.at(1).relativeStartDistance, DoubleEq(10.0));
+ ASSERT_THAT(laneMarkings.at(1).relativeStartDistance.value(), DoubleEq(10.0));
ASSERT_THAT(laneMarkings.at(1).type, Eq(LaneMarking::Type::Broken_Solid));
- ASSERT_THAT(laneMarkings.at(1).width, DoubleEq(0.3));
+ ASSERT_THAT(laneMarkings.at(1).width.value(), DoubleEq(0.3));
ASSERT_THAT(laneMarkings.at(1).color, Eq(LaneMarking::Color::Red));
- ASSERT_THAT(laneMarkings.at(2).relativeStartDistance, DoubleEq(21.0));
+ ASSERT_THAT(laneMarkings.at(2).relativeStartDistance.value(), DoubleEq(21.0));
ASSERT_THAT(laneMarkings.at(2).type, Eq(LaneMarking::Type::Solid_Broken));
- ASSERT_THAT(laneMarkings.at(2).width, DoubleEq(0.3));
+ ASSERT_THAT(laneMarkings.at(2).width.value(), DoubleEq(0.3));
ASSERT_THAT(laneMarkings.at(2).color, Eq(LaneMarking::Color::Blue));
- ASSERT_THAT(laneMarkings.at(3).relativeStartDistance, DoubleEq(30.0));
+ ASSERT_THAT(laneMarkings.at(3).relativeStartDistance.value(), DoubleEq(30.0));
ASSERT_THAT(laneMarkings.at(3).type, Eq(LaneMarking::Type::None));
- laneMarkings = world.GetLaneMarkings(roadGraph, root, -2, 11.0, 88.0, Side::Left).at(root);
+ laneMarkings = world.GetLaneMarkings(roadGraph, root, -2, 11.0_m, 88.0_m, Side::Left).at(root);
ASSERT_THAT(laneMarkings, SizeIs(4));
- ASSERT_THAT(laneMarkings.at(0).relativeStartDistance, DoubleEq(-1.0));
+ ASSERT_THAT(laneMarkings.at(0).relativeStartDistance.value(), DoubleEq(-1.0));
ASSERT_THAT(laneMarkings.at(0).type, Eq(LaneMarking::Type::Broken_Solid));
- ASSERT_THAT(laneMarkings.at(0).width, DoubleEq(0.3));
+ ASSERT_THAT(laneMarkings.at(0).width.value(), DoubleEq(0.3));
ASSERT_THAT(laneMarkings.at(0).color, Eq(LaneMarking::Color::Red));
- ASSERT_THAT(laneMarkings.at(1).relativeStartDistance, DoubleEq(10.0));
+ ASSERT_THAT(laneMarkings.at(1).relativeStartDistance.value(), DoubleEq(10.0));
ASSERT_THAT(laneMarkings.at(1).type, Eq(LaneMarking::Type::Solid_Broken));
- ASSERT_THAT(laneMarkings.at(1).width, DoubleEq(0.3));
+ ASSERT_THAT(laneMarkings.at(1).width.value(), DoubleEq(0.3));
ASSERT_THAT(laneMarkings.at(1).color, Eq(LaneMarking::Color::Blue));
- ASSERT_THAT(laneMarkings.at(2).relativeStartDistance, DoubleEq(19.0));
+ ASSERT_THAT(laneMarkings.at(2).relativeStartDistance.value(), DoubleEq(19.0));
- laneMarkings = world.GetLaneMarkings(roadGraph, root, -2, 11.0, 88.0, Side::Right).at(root);
+ laneMarkings = world.GetLaneMarkings(roadGraph, root, -2, 11.0_m, 88.0_m, Side::Right).at(root);
ASSERT_THAT(laneMarkings, SizeIs(4));
- ASSERT_THAT(laneMarkings.at(0).relativeStartDistance, DoubleEq(-1.0));
+ ASSERT_THAT(laneMarkings.at(0).relativeStartDistance.value(), DoubleEq(-1.0));
ASSERT_THAT(laneMarkings.at(0).type, Eq(LaneMarking::Type::Broken_Broken));
- ASSERT_THAT(laneMarkings.at(0).width, DoubleEq(0.15));
+ ASSERT_THAT(laneMarkings.at(0).width.value(), DoubleEq(0.15));
ASSERT_THAT(laneMarkings.at(0).color, Eq(LaneMarking::Color::White));
- ASSERT_THAT(laneMarkings.at(1).relativeStartDistance, DoubleEq(4.0));
+ ASSERT_THAT(laneMarkings.at(1).relativeStartDistance.value(), DoubleEq(4.0));
ASSERT_THAT(laneMarkings.at(1).type, Eq(LaneMarking::Type::Solid_Solid));
- ASSERT_THAT(laneMarkings.at(1).width, DoubleEq(0.3));
+ ASSERT_THAT(laneMarkings.at(1).width.value(), DoubleEq(0.3));
ASSERT_THAT(laneMarkings.at(1).color, Eq(LaneMarking::Color::White));
- ASSERT_THAT(laneMarkings.at(2).relativeStartDistance, DoubleEq(19.0));
+ ASSERT_THAT(laneMarkings.at(2).relativeStartDistance.value(), DoubleEq(19.0));
}
-TEST(SceneryImporter_IntegrationTests, SingleRoad_ImportWithCorrectTrafficSigns)
+// TODO Reactivate after TrafficSignalController is available in MantleAPI
+/*TEST(SceneryImporter_IntegrationTests, SingleRoad_ImportWithCorrectTrafficSigns)
{
- openScenario::TrafficSignalController trafficSignalController;
+ TrafficSignalController trafficSignalController;
trafficSignalController.delay = 0.0;
- trafficSignalController.phases.push_back(openScenario::TrafficSignalControllerPhase{"", 1, {{"8", "red yellow"}, {"9", "green"}}});
+ trafficSignalController.phases.push_back(TrafficSignalControllerPhase{"", 1, {{"8", "red yellow"}, {"9", "green"}}});
TESTSCENERY_FACTORY tsf;
ASSERT_THAT(tsf.instantiate("IntegrationTestScenery.xodr", {trafficSignalController}), IsTrue());
- auto& world = tsf.world;
+ auto &world = tsf.world;
RoadGraph roadGraph;
RoadGraphVertex root = add_vertex(RouteElement{"1", true}, roadGraph);
- auto trafficSigns = world.GetTrafficSignsInRange(roadGraph, root, -1, 5, 90).at(root);
+ auto trafficSigns = world.GetTrafficSignsInRange(roadGraph, root, -1, 5_m, 90_m).at(root);
std::sort(trafficSigns.begin(), trafficSigns.end(),
- [](CommonTrafficSign::Entity first, CommonTrafficSign::Entity second){return first.relativeDistance < second.relativeDistance;});
+ [](CommonTrafficSign::Entity first, CommonTrafficSign::Entity second) { return first.relativeDistance < second.relativeDistance; });
ASSERT_THAT(trafficSigns, SizeIs(3));
- ASSERT_THAT(trafficSigns.at(0).relativeDistance, DoubleEq(10.0));
+ ASSERT_THAT(trafficSigns.at(0).relativeDistance.value(), DoubleEq(10.0));
ASSERT_THAT(trafficSigns.at(0).type, Eq(CommonTrafficSign::Type::MaximumSpeedLimit));
ASSERT_THAT(trafficSigns.at(0).value, DoubleNear(50 / 3.6, 1e-3));
ASSERT_THAT(trafficSigns.at(0).unit, Eq(CommonTrafficSign::Unit::MeterPerSecond));
ASSERT_THAT(trafficSigns.at(0).supplementarySigns, IsEmpty());
- ASSERT_THAT(trafficSigns.at(1).relativeDistance, DoubleEq(30.0));
+ ASSERT_THAT(trafficSigns.at(1).relativeDistance.value(), DoubleEq(30.0));
ASSERT_THAT(trafficSigns.at(1).type, Eq(CommonTrafficSign::Type::SpeedLimitZoneBegin));
ASSERT_THAT(trafficSigns.at(1).value, DoubleNear(30 / 3.6, 1e-3));
ASSERT_THAT(trafficSigns.at(1).unit, Eq(CommonTrafficSign::Unit::MeterPerSecond));
ASSERT_THAT(trafficSigns.at(1).supplementarySigns, IsEmpty());
- ASSERT_THAT(trafficSigns.at(2).relativeDistance, DoubleEq(31.0));
+ ASSERT_THAT(trafficSigns.at(2).relativeDistance.value(), DoubleEq(31.0));
ASSERT_THAT(trafficSigns.at(2).type, Eq(CommonTrafficSign::Type::AnnounceLeftLaneEnd));
ASSERT_THAT(trafficSigns.at(2).value, Eq(2));
ASSERT_THAT(trafficSigns.at(2).supplementarySigns, IsEmpty());
- trafficSigns = world.GetTrafficSignsInRange(roadGraph, root, -2, 11, 90).at(root);
+ trafficSigns = world.GetTrafficSignsInRange(roadGraph, root, -2, 11_m, 90_m).at(root);
std::sort(trafficSigns.begin(), trafficSigns.end(),
- [](CommonTrafficSign::Entity first, CommonTrafficSign::Entity second){return first.relativeDistance < second.relativeDistance;});
+ [](CommonTrafficSign::Entity first, CommonTrafficSign::Entity second) { return first.relativeDistance < second.relativeDistance; });
ASSERT_THAT(trafficSigns, SizeIs(5));
- ASSERT_THAT(trafficSigns.at(0).relativeDistance, DoubleEq(4.0));
+ ASSERT_THAT(trafficSigns.at(0).relativeDistance.value(), DoubleEq(4.0));
ASSERT_THAT(trafficSigns.at(0).type, Eq(CommonTrafficSign::Type::MaximumSpeedLimit));
ASSERT_THAT(trafficSigns.at(0).value, DoubleNear(50 / 3.6, 1e-3));
ASSERT_THAT(trafficSigns.at(0).unit, Eq(CommonTrafficSign::Unit::MeterPerSecond));
ASSERT_THAT(trafficSigns.at(0).supplementarySigns, IsEmpty());
- ASSERT_THAT(trafficSigns.at(1).relativeDistance, DoubleEq(14.0));
+ ASSERT_THAT(trafficSigns.at(1).relativeDistance.value(), DoubleEq(14.0));
ASSERT_THAT(trafficSigns.at(1).type, Eq(CommonTrafficSign::Type::OvertakingBanBegin));
ASSERT_THAT(trafficSigns.at(1).supplementarySigns, IsEmpty());
- ASSERT_THAT(trafficSigns.at(2).relativeDistance, DoubleEq(24.0));
+ ASSERT_THAT(trafficSigns.at(2).relativeDistance.value(), DoubleEq(24.0));
ASSERT_THAT(trafficSigns.at(2).type, Eq(CommonTrafficSign::Type::SpeedLimitZoneBegin));
ASSERT_THAT(trafficSigns.at(2).value, DoubleNear(30 / 3.6, 1e-3));
ASSERT_THAT(trafficSigns.at(2).unit, Eq(CommonTrafficSign::Unit::MeterPerSecond));
ASSERT_THAT(trafficSigns.at(2).supplementarySigns, IsEmpty());
- ASSERT_THAT(trafficSigns.at(3).relativeDistance, DoubleEq(25.0));
+ ASSERT_THAT(trafficSigns.at(3).relativeDistance.value(), DoubleEq(25.0));
ASSERT_THAT(trafficSigns.at(3).type, Eq(CommonTrafficSign::Type::AnnounceLeftLaneEnd));
ASSERT_THAT(trafficSigns.at(3).value, Eq(2));
ASSERT_THAT(trafficSigns.at(3).unit, Eq(CommonTrafficSign::Unit::None));
ASSERT_THAT(trafficSigns.at(3).supplementarySigns, IsEmpty());
- ASSERT_THAT(trafficSigns.at(4).relativeDistance, DoubleEq(29.0));
+ ASSERT_THAT(trafficSigns.at(4).relativeDistance.value(), DoubleEq(29.0));
ASSERT_THAT(trafficSigns.at(4).type, Eq(CommonTrafficSign::Type::Stop));
ASSERT_THAT(trafficSigns.at(4).supplementarySigns, SizeIs(1));
ASSERT_THAT(trafficSigns.at(4).supplementarySigns.front().type, Eq(CommonTrafficSign::Type::DistanceIndication));
ASSERT_THAT(trafficSigns.at(4).supplementarySigns.front().value, DoubleEq(200.0));
ASSERT_THAT(trafficSigns.at(4).supplementarySigns.front().unit, Eq(CommonTrafficSign::Unit::Meter));
- auto roadMarkings = world.GetRoadMarkingsInRange(roadGraph, root, -2, 11, 90).at(root);
+ auto roadMarkings = world.GetRoadMarkingsInRange(roadGraph, root, -2, 11_m, 90_m).at(root);
ASSERT_THAT(roadMarkings, SizeIs(1));
- ASSERT_THAT(roadMarkings.at(0).relativeDistance, DoubleEq(30.0));
+ ASSERT_THAT(roadMarkings.at(0).relativeDistance.value(), DoubleEq(30.0));
ASSERT_THAT(roadMarkings.at(0).type, Eq(CommonTrafficSign::Type::Stop));
- auto trafficLights = world.GetTrafficLightsInRange(roadGraph, root, -2, 11, 90).at(root);
+ auto trafficLights = world.GetTrafficLightsInRange(roadGraph, root, -2, 11_m, 90_m).at(root);
ASSERT_THAT(trafficLights.size(), Eq(1));
- ASSERT_THAT(trafficLights.at(0).relativeDistance, DoubleEq(49.0));
+ ASSERT_THAT(trafficLights.at(0).relativeDistance.value(), DoubleEq(49.0));
ASSERT_THAT(trafficLights.at(0).type, Eq(CommonTrafficLight::Type::ThreeLightsLeft));
ASSERT_THAT(trafficLights.at(0).state, Eq(CommonTrafficLight::State::RedYellow));
- trafficLights = world.GetTrafficLightsInRange(roadGraph, root, -3, 31, 90).at(root);
+ trafficLights = world.GetTrafficLightsInRange(roadGraph, root, -3, 31_m, 90_m).at(root);
ASSERT_THAT(trafficLights.size(), Eq(2));
- ASSERT_THAT(trafficLights.at(0).relativeDistance, DoubleEq(29.0));
+ ASSERT_THAT(trafficLights.at(0).relativeDistance.value(), DoubleEq(29.0));
ASSERT_THAT(trafficLights.at(0).type, Eq(CommonTrafficLight::Type::ThreeLightsLeft));
ASSERT_THAT(trafficLights.at(0).state, Eq(CommonTrafficLight::State::RedYellow));
- ASSERT_THAT(trafficLights.at(1).relativeDistance, DoubleEq(34.0));
+ ASSERT_THAT(trafficLights.at(1).relativeDistance.value(), DoubleEq(34.0));
ASSERT_THAT(trafficLights.at(1).type, Eq(CommonTrafficLight::Type::ThreeLights));
ASSERT_THAT(trafficLights.at(1).state, Eq(CommonTrafficLight::State::Green));
-}
+}*/
TEST(SceneryImporter_IntegrationTests, SingleRoad_ImportWithCorrectTrafficSignGeometriess)
{
TESTSCENERY_FACTORY tsf;
ASSERT_THAT(tsf.instantiate("IntegrationTestScenery.xodr"), IsTrue());
- auto& world = tsf.world;
+ auto &world = tsf.world;
- OWL::Interfaces::WorldData* worldData = static_cast<OWL::Interfaces::WorldData*>(world.GetWorldData());
+ OWL::Interfaces::WorldData *worldData = static_cast<OWL::Interfaces::WorldData *>(world.GetWorldData());
const auto& groundTruth = worldData->GetOsiGroundTruth();
ASSERT_THAT(groundTruth.traffic_sign_size(), Eq(5));
- auto& trafficSign0 = groundTruth.traffic_sign(0);
+ auto &trafficSign0 = groundTruth.traffic_sign(0);
ASSERT_THAT(trafficSign0.main_sign().base().position().x(), DoubleEq(15));
ASSERT_THAT(trafficSign0.main_sign().base().position().y(), DoubleEq(-0.5));
ASSERT_THAT(trafficSign0.main_sign().base().position().z(), DoubleEq(1.7));
@@ -1362,7 +1328,7 @@ TEST(SceneryImporter_IntegrationTests, SingleRoad_ImportWithCorrectTrafficSignGe
ASSERT_THAT(trafficSign0.main_sign().base().dimension().height(), DoubleEq(0.4));
ASSERT_THAT(trafficSign0.main_sign().base().orientation().yaw(), DoubleEq(0.0));
- auto& trafficSign1 = groundTruth.traffic_sign(1);
+ auto &trafficSign1 = groundTruth.traffic_sign(1);
ASSERT_THAT(trafficSign1.main_sign().base().position().x(), DoubleEq(25));
ASSERT_THAT(trafficSign1.main_sign().base().position().y(), DoubleEq(-0.5));
ASSERT_THAT(trafficSign1.main_sign().base().position().z(), DoubleEq(1.7));
@@ -1370,7 +1336,7 @@ TEST(SceneryImporter_IntegrationTests, SingleRoad_ImportWithCorrectTrafficSignGe
ASSERT_THAT(trafficSign1.main_sign().base().dimension().height(), DoubleEq(0.4));
ASSERT_THAT(trafficSign1.main_sign().base().orientation().yaw(), DoubleNear(0.1, 1e-3));
- auto& trafficSign2 = groundTruth.traffic_sign(2);
+ auto &trafficSign2 = groundTruth.traffic_sign(2);
ASSERT_THAT(trafficSign2.main_sign().base().position().x(), DoubleEq(35));
ASSERT_THAT(trafficSign2.main_sign().base().position().y(), DoubleEq(-0.5));
ASSERT_THAT(trafficSign2.main_sign().base().position().z(), DoubleEq(1.7));
@@ -1378,7 +1344,7 @@ TEST(SceneryImporter_IntegrationTests, SingleRoad_ImportWithCorrectTrafficSignGe
ASSERT_THAT(trafficSign2.main_sign().base().dimension().height(), DoubleEq(0.4));
ASSERT_THAT(trafficSign2.main_sign().base().orientation().yaw(), DoubleEq(-M_PI + 0.1));
- auto& trafficSign3 = groundTruth.traffic_sign(3);
+ auto &trafficSign3 = groundTruth.traffic_sign(3);
ASSERT_THAT(trafficSign3.main_sign().base().position().x(), DoubleEq(36));
ASSERT_THAT(trafficSign3.main_sign().base().position().y(), DoubleEq(-0.5));
ASSERT_THAT(trafficSign3.main_sign().base().position().z(), DoubleEq(2.0));
@@ -1386,7 +1352,7 @@ TEST(SceneryImporter_IntegrationTests, SingleRoad_ImportWithCorrectTrafficSignGe
ASSERT_THAT(trafficSign3.main_sign().base().dimension().height(), DoubleEq(1.0));
ASSERT_THAT(trafficSign3.main_sign().base().orientation().yaw(), DoubleEq(0.0));
- auto& trafficSign4 = groundTruth.traffic_sign(4);
+ auto &trafficSign4 = groundTruth.traffic_sign(4);
ASSERT_THAT(trafficSign4.main_sign().base().position().x(), DoubleEq(40));
ASSERT_THAT(trafficSign4.main_sign().base().position().y(), DoubleEq(-0.5));
ASSERT_THAT(trafficSign4.main_sign().base().position().z(), DoubleEq(1.7));
@@ -1402,7 +1368,7 @@ TEST(SceneryImporter_IntegrationTests, SingleRoad_ImportWithCorrectTrafficSignGe
ASSERT_THAT(groundTruth.road_marking_size(), Eq(2));
- auto& roadMarking1 = groundTruth.road_marking(0);
+ auto &roadMarking1 = groundTruth.road_marking(0);
ASSERT_THAT(roadMarking1.base().position().x(), DoubleEq(10));
ASSERT_THAT(roadMarking1.base().position().y(), DoubleEq(7.5));
ASSERT_THAT(roadMarking1.base().position().z(), DoubleEq(0.0));
@@ -1411,7 +1377,7 @@ TEST(SceneryImporter_IntegrationTests, SingleRoad_ImportWithCorrectTrafficSignGe
ASSERT_THAT(roadMarking1.base().orientation().yaw(), DoubleEq(0.0));
ASSERT_THAT(roadMarking1.classification().traffic_main_sign_type(), Eq(osi3::TrafficSign_MainSign_Classification_Type::TrafficSign_MainSign_Classification_Type_TYPE_ZEBRA_CROSSING));
- auto& roadMarking2 = groundTruth.road_marking(1);
+ auto &roadMarking2 = groundTruth.road_marking(1);
ASSERT_THAT(roadMarking2.base().position().x(), DoubleEq(41));
ASSERT_THAT(roadMarking2.base().position().y(), DoubleEq(0.5));
ASSERT_THAT(roadMarking2.base().position().z(), DoubleEq(0.0));
@@ -1426,7 +1392,7 @@ TEST(SceneryImporter_IntegrationTests, TJunction_ImportWithCorrectConnectionsAnd
TESTSCENERY_FACTORY tsf;
ASSERT_THAT(tsf.instantiate("TJunction.xodr"), IsTrue());
- auto& world = tsf.world;
+ auto &world = tsf.world;
auto connections = world.GetConnectionsOnJunction("J0", "R1");
ASSERT_THAT(connections, SizeIs(2));
@@ -1457,8 +1423,7 @@ TEST(SceneryImporter_IntegrationTests, TJunction_ImportWithCorrectConnectionsAnd
auto priorities = world.GetPrioritiesOnJunction("J0");
std::sort(priorities.begin(), priorities.end(),
- [](const JunctionConnectorPriority& first, const JunctionConnectorPriority& second)
- {return first.high < second.high || (first.high == second.high && first.low < second.low);});
+ [](const JunctionConnectorPriority &first, const JunctionConnectorPriority &second) { return first.high < second.high || (first.high == second.high && first.low < second.low); });
ASSERT_THAT(priorities.at(0).high, Eq("R1-2"));
ASSERT_THAT(priorities.at(0).low, Eq("R3-2"));
ASSERT_THAT(priorities.at(1).high, Eq("R1-3"));
@@ -1479,8 +1444,8 @@ TEST(GetObstruction_IntegrationTests, AgentsOnStraightRoad)
ASSERT_THAT(tsf.instantiate("SceneryLeftLaneEnds.xodr"), IsTrue());
auto& world = tsf.world;
- auto& agent0 = ADD_AGENT(world, 10.0, 2.0);
- auto& agent1 = ADD_AGENT(world, 100.0, 2.5, 2.0);
+ auto& agent0 = ADD_AGENT(world, 10.0_m, 2.0_m);
+ auto& agent1 = ADD_AGENT(world, 100.0_m, 2.5_m, 2.0_m);
world.SyncGlobalData(0);
auto& egoAgent = agent0.GetEgoAgent();
@@ -1488,8 +1453,8 @@ TEST(GetObstruction_IntegrationTests, AgentsOnStraightRoad)
auto root = add_vertex(RouteElement{"1", true}, roadGraph);
egoAgent.SetRoadGraph(std::move(roadGraph), root, root);
const auto obstruction = egoAgent.GetObstruction(&agent1, {ObjectPointRelative::Leftmost, ObjectPointRelative::Rightmost});
- EXPECT_THAT(obstruction.lateralDistances.at(ObjectPointRelative::Leftmost), DoubleEq(1.5));
- EXPECT_THAT(obstruction.lateralDistances.at(ObjectPointRelative::Rightmost), DoubleEq(-0.5));
+ EXPECT_THAT(obstruction.lateralDistances.at(ObjectPointRelative::Leftmost).value(), DoubleEq(1.5));
+ EXPECT_THAT(obstruction.lateralDistances.at(ObjectPointRelative::Rightmost).value(), DoubleEq(-0.5));
}
TEST(GetObstruction_IntegrationTests, AgentBehindJunction)
@@ -1498,8 +1463,8 @@ TEST(GetObstruction_IntegrationTests, AgentBehindJunction)
ASSERT_THAT(tsf.instantiate("TJunction.xodr"), IsTrue());
auto& world = tsf.world;
- auto& agent0 = ADD_AGENT(world, 10.0, -3.0);
- auto& agent1 = ADD_AGENT(world, 203.5, -10.0, 1.0, 3.0);
+ auto& agent0 = ADD_AGENT(world, 10.0_m, -3.0_m);
+ auto& agent1 = ADD_AGENT(world, 203.5_m, -10.0_m, 1.0_m, 3.0_m);
world.SyncGlobalData(0);
auto& egoAgent = agent0.GetEgoAgent();
@@ -1511,8 +1476,8 @@ TEST(GetObstruction_IntegrationTests, AgentBehindJunction)
add_edge(node2, node3, roadGraph);
egoAgent.SetRoadGraph(std::move(roadGraph), node1, node3);
const auto obstruction = egoAgent.GetObstruction(&agent1, {ObjectPointRelative::Leftmost, ObjectPointRelative::Rightmost});
- EXPECT_THAT(obstruction.lateralDistances.at(ObjectPointRelative::Leftmost), DoubleNear(2.0, 1e-3));
- EXPECT_THAT(obstruction.lateralDistances.at(ObjectPointRelative::Rightmost), DoubleNear(-1.0, 1e-3));
+ EXPECT_THAT(obstruction.lateralDistances.at(ObjectPointRelative::Leftmost).value(), DoubleNear(2.0, 1e-3));
+ EXPECT_THAT(obstruction.lateralDistances.at(ObjectPointRelative::Rightmost).value(), DoubleNear(-1.0, 1e-3));
}
TEST(EgoAgent_IntegrationTests, GetWorldPosition_MultipleRoads)
@@ -1521,7 +1486,7 @@ TEST(EgoAgent_IntegrationTests, GetWorldPosition_MultipleRoads)
ASSERT_THAT(tsf.instantiate("MultipleRoadsIntegrationScenery.xodr"), IsTrue());
auto& world = tsf.world;
- auto& agent0 = ADD_AGENT(world, 10.0, 2.0);
+ auto& agent0 = ADD_AGENT(world, 10.0_m, 2.0_m);
world.SyncGlobalData(0);
auto& egoAgent = agent0.GetEgoAgent();
@@ -1533,20 +1498,20 @@ TEST(EgoAgent_IntegrationTests, GetWorldPosition_MultipleRoads)
add_edge(node2, node3, roadGraph);
egoAgent.SetRoadGraph(std::move(roadGraph), node1, node3);
- const auto worldPosition1 = egoAgent.GetWorldPosition(500, -1, 0).value();
- EXPECT_THAT(worldPosition1.xPos, DoubleNear(510, 1e-3));
- EXPECT_THAT(worldPosition1.yPos, DoubleNear(1, 1e-3));
- EXPECT_THAT(worldPosition1.yawAngle, DoubleNear(0, 1e-3));
+ const auto worldPosition1 = egoAgent.GetWorldPosition(500_m, -1_m, 0_rad).value();
+ EXPECT_THAT(worldPosition1.xPos.value(), DoubleNear(510, 1e-3));
+ EXPECT_THAT(worldPosition1.yPos.value(), DoubleNear(1, 1e-3));
+ EXPECT_THAT(worldPosition1.yawAngle.value(), DoubleNear(0, 1e-3));
- const auto worldPosition2 = egoAgent.GetWorldPosition(1500, 2, 0).value();
- EXPECT_THAT(worldPosition2.xPos, DoubleNear(1510, 1e-3));
- EXPECT_THAT(worldPosition2.yPos, DoubleNear(4, 1e-3));
- EXPECT_THAT(worldPosition2.yawAngle, DoubleNear(0, 1e-3));
+ const auto worldPosition2 = egoAgent.GetWorldPosition(1500_m, 2_m, 0_rad).value();
+ EXPECT_THAT(worldPosition2.xPos.value(), DoubleNear(1510, 1e-3));
+ EXPECT_THAT(worldPosition2.yPos.value(), DoubleNear(4, 1e-3));
+ EXPECT_THAT(worldPosition2.yawAngle.value(), DoubleNear(0, 1e-3));
- const auto worldPosition3 = egoAgent.GetWorldPosition(3500, 2, 0).value();
- EXPECT_THAT(worldPosition3.xPos, DoubleNear(3510, 1e-3));
- EXPECT_THAT(worldPosition3.yPos, DoubleNear(4, 1e-3));
- EXPECT_THAT(worldPosition3.yawAngle, DoubleNear(0, 1e-3));
+ const auto worldPosition3 = egoAgent.GetWorldPosition(3500_m, 2_m, 0_rad).value();
+ EXPECT_THAT(worldPosition3.xPos.value(), DoubleNear(3510, 1e-3));
+ EXPECT_THAT(worldPosition3.yPos.value(), DoubleNear(4, 1e-3));
+ EXPECT_THAT(worldPosition3.yawAngle.value(), DoubleNear(0, 1e-3));
}
TEST(EgoAgent_IntegrationTests, GetWorldPosition_Junction)
@@ -1555,7 +1520,7 @@ TEST(EgoAgent_IntegrationTests, GetWorldPosition_Junction)
ASSERT_THAT(tsf.instantiate("TJunction.xodr"), IsTrue());
auto& world = tsf.world;
- auto& agent0 = ADD_AGENT(world, 10.0, -1.0);
+ auto& agent0 = ADD_AGENT(world, 10.0_m, -1.0_m);
world.SyncGlobalData(0);
auto& egoAgent = agent0.GetEgoAgent();
@@ -1567,13 +1532,13 @@ TEST(EgoAgent_IntegrationTests, GetWorldPosition_Junction)
add_edge(node2, node3, roadGraph);
egoAgent.SetRoadGraph(std::move(roadGraph), node1, node3);
- const auto worldPosition1 = egoAgent.GetWorldPosition(100, -1, 0).value();
- EXPECT_THAT(worldPosition1.xPos, DoubleNear(110, 1e-3));
- EXPECT_THAT(worldPosition1.yPos, DoubleNear(-2, 1e-3));
- EXPECT_THAT(worldPosition1.yawAngle, DoubleNear(0, 1e-3));
+ const auto worldPosition1 = egoAgent.GetWorldPosition(100_m, -1_m, 0_rad).value();
+ EXPECT_THAT(worldPosition1.xPos.value(), DoubleNear(110, 1e-3));
+ EXPECT_THAT(worldPosition1.yPos.value(), DoubleNear(-2, 1e-3));
+ EXPECT_THAT(worldPosition1.yawAngle.value(), DoubleNear(0, 1e-3));
- const auto worldPosition2 = egoAgent.GetWorldPosition(209.424778, -1, 0).value();
- EXPECT_THAT(worldPosition2.xPos, DoubleNear(204, 1e-3));
- EXPECT_THAT(worldPosition2.yPos, DoubleNear(-16, 1e-3));
- EXPECT_THAT(worldPosition2.yawAngle, DoubleNear(-M_PI_2, 1e-3));
+ const auto worldPosition2 = egoAgent.GetWorldPosition(209.424778_m, -1_m, 0_rad).value();
+ EXPECT_THAT(worldPosition2.xPos.value(), DoubleNear(204, 1e-3));
+ EXPECT_THAT(worldPosition2.yPos.value(), DoubleNear(-16, 1e-3));
+ EXPECT_THAT(worldPosition2.yawAngle.value(), DoubleNear(-M_PI_2, 1e-3));
}
diff --git a/sim/tests/integrationTests/opSimulation_IntegrationTests/VehicleModelsImporter_IntegrationTests.cpp b/sim/tests/integrationTests/opSimulation_IntegrationTests/VehicleModelsImporter_IntegrationTests.cpp
index 0653cfc1985ba79f997f8f38940c427073b2289e..b1f5acc9c40fbd8a36616e8b35ba0f42c2f438ce 100644
--- a/sim/tests/integrationTests/opSimulation_IntegrationTests/VehicleModelsImporter_IntegrationTests.cpp
+++ b/sim/tests/integrationTests/opSimulation_IntegrationTests/VehicleModelsImporter_IntegrationTests.cpp
@@ -1,5 +1,6 @@
/********************************************************************************
* Copyright (c) 2017-2019 in-tech GmbH
+ * 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -31,25 +32,26 @@ TEST(VehicleModelImporter, GivenVehicleAndPedestrianCatalogs_ImportsAllModels)
vehicleModels));
auto vehicleModel1 = vehicleModels.GetVehicleModel("car_one");
- EXPECT_THAT(vehicleModel1.vehicleType, Eq(AgentVehicleType::Car));
+ EXPECT_THAT(vehicleModel1.vehicleType, Eq(mantle_api::VehicleClass::kMedium_car));
+ EXPECT_THAT(vehicleModel1.mass, DoubleEq(1000.0));
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.bounding_box.dimension.width, DoubleEq(1.0));
+ EXPECT_THAT(vehicleModel1.bounding_box.dimension.length, DoubleEq(4.0));
+ EXPECT_THAT(vehicleModel1.bounding_box.dimension.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.front_axle.bb_center_to_axle_center.x, 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.rear_axle.bb_center_to_axle_center.x, DoubleEq(0.0));
EXPECT_THAT(vehicleModel1.rearAxle.positionZ, DoubleEq(0.25));
EXPECT_THAT(vehicleModel1.properties, ElementsAre(
std::make_pair("AirDragCoefficient", 1.1),
@@ -58,7 +60,6 @@ TEST(VehicleModelImporter, GivenVehicleAndPedestrianCatalogs_ImportsAllModels)
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.),
@@ -70,25 +71,26 @@ TEST(VehicleModelImporter, GivenVehicleAndPedestrianCatalogs_ImportsAllModels)
std::make_pair("SteeringRatio", 7.7)));
auto vehicleModel2 = vehicleModels.GetVehicleModel("car_two");
- EXPECT_THAT(vehicleModel2.vehicleType, Eq(AgentVehicleType::Car));
+ EXPECT_THAT(vehicleModel2.vehicleType, Eq(mantle_api::VehicleClass::kMedium_car));
+ EXPECT_THAT(vehicleModel1.mass, DoubleEq(999.9));
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.bounding_box.dimension.width, DoubleEq(1.5));
+ EXPECT_THAT(vehicleModel2.bounding_box.dimension.length, DoubleEq(3.0));
+ EXPECT_THAT(vehicleModel2.bounding_box.dimension.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.front_axle.bb_center_to_axle_center.x, 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.rear_axle.bb_center_to_axle_center.x, DoubleEq(0.0));
EXPECT_THAT(vehicleModel2.rearAxle.positionZ, DoubleEq(0.2));
EXPECT_THAT(vehicleModel2.properties, ElementsAre(
std::make_pair("AirDragCoefficient", 2.2),
@@ -98,7 +100,6 @@ TEST(VehicleModelImporter, GivenVehicleAndPedestrianCatalogs_ImportsAllModels)
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.),
@@ -110,15 +111,19 @@ TEST(VehicleModelImporter, GivenVehicleAndPedestrianCatalogs_ImportsAllModels)
std::make_pair("SteeringRatio", 9.9)));
auto pedestrianModel1 = vehicleModels.GetVehicleModel("pedestrian_one");
- EXPECT_THAT(pedestrianModel1.vehicleType, Eq(AgentVehicleType::Pedestrian));
- EXPECT_THAT(pedestrianModel1.boundingBoxDimensions.length, DoubleEq(5.5));
- EXPECT_THAT(pedestrianModel1.boundingBoxDimensions.width, DoubleEq(4.4));
- EXPECT_THAT(pedestrianModel1.boundingBoxDimensions.height, DoubleEq(6.6));
+ // workaround for ground truth not being able to handle pedestrians
+ //EXPECT_THAT(pedestrianModel1.vehicleType, Eq(AgentVehicleType::Pedestrian));
+ EXPECT_THAT(pedestrianModel1.vehicleType, Eq(mantle_api::VehicleClass::kMedium_car));
+ EXPECT_THAT(pedestrianModel1.bounding_box.dimension.length, DoubleEq(5.5));
+ EXPECT_THAT(pedestrianModel1.bounding_box.dimension.width, DoubleEq(4.4));
+ EXPECT_THAT(pedestrianModel1.bounding_box.dimension.height, DoubleEq(6.6));
auto pedestrianModel2 = vehicleModels.GetVehicleModel("pedestrian_two");
- EXPECT_THAT(pedestrianModel2.vehicleType, Eq(AgentVehicleType::Pedestrian));
- EXPECT_THAT(pedestrianModel2.boundingBoxDimensions.length, DoubleEq(2.2));
- EXPECT_THAT(pedestrianModel2.boundingBoxDimensions.width, DoubleEq(3.3));
- EXPECT_THAT(pedestrianModel2.boundingBoxDimensions.height, DoubleEq(1.1));
+ // workaround for ground truth not being able to handle pedestrians
+ //EXPECT_THAT(pedestrianModel2.vehicleType, Eq(AgentVehicleType::Pedestrian));
+ EXPECT_THAT(pedestrianModel2.vehicleType, Eq(mantle_api::VehicleClass::kMedium_car));
+ EXPECT_THAT(pedestrianModel2.bounding_box.dimension.length, DoubleEq(2.2));
+ EXPECT_THAT(pedestrianModel2.bounding_box.dimension.width, DoubleEq(3.3));
+ EXPECT_THAT(pedestrianModel2.bounding_box.dimension.height, DoubleEq(1.1));
}
diff --git a/sim/tests/unitTests/CMakeLists.txt b/sim/tests/unitTests/CMakeLists.txt
index 90b13aa811842d55157c88d714bc00b7ff0c9593..5f26d8e5aae8daf4d5bc6eb1811d027041dde210 100644
--- a/sim/tests/unitTests/CMakeLists.txt
+++ b/sim/tests/unitTests/CMakeLists.txt
@@ -23,7 +23,6 @@ add_subdirectory(components/Dynamics_Collision)
add_subdirectory(components/Dynamics_TF)
add_subdirectory(components/Dynamics_TwoTrack)
add_subdirectory(components/LimiterAccVehComp)
-add_subdirectory(components/OpenScenarioActions)
add_subdirectory(components/SensorAggregation_OSI)
add_subdirectory(components/SensorFusionErrorless_OSI)
add_subdirectory(components/Sensor_Driver)
@@ -32,11 +31,9 @@ add_subdirectory(components/SignalPrioritizer)
add_subdirectory(core/opSimulation)
add_subdirectory(core/opSimulation/modules/BasicDataBuffer)
-add_subdirectory(core/opSimulation/modules/EventDetector)
add_subdirectory(core/opSimulation/modules/Observation_Log)
add_subdirectory(core/opSimulation/modules/SpawnerPreRunCommon)
add_subdirectory(core/opSimulation/modules/SpawnerRuntimeCommon)
-add_subdirectory(core/opSimulation/modules/SpawnerScenario)
add_subdirectory(core/opSimulation/modules/SpawnerWorldAnalyzer)
add_subdirectory(core/opSimulation/modules/World_OSI)
add_subdirectory(core/opSimulation/Scheduler)
diff --git a/sim/tests/unitTests/common/commonHelper_Tests.cpp b/sim/tests/unitTests/common/commonHelper_Tests.cpp
index 791c47600f9f41cc96b710299940f66a59a70475..6c04f6751176b9f2baa5f28c53ef562ae126f8ce 100644
--- a/sim/tests/unitTests/common/commonHelper_Tests.cpp
+++ b/sim/tests/unitTests/common/commonHelper_Tests.cpp
@@ -74,22 +74,16 @@ TEST_P(GetRoadWithLowestHeading_Test, GetRoadWithLowestHeading)
}
INSTANTIATE_TEST_SUITE_P(GetRoadWithLowestHeadingTestCase, GetRoadWithLowestHeading_Test, ::testing::Values(
-// roadPositions expectedResult
- GetRoadWithLowestHeading_Data{{{"RoadA",{"RoadA",-1,0,0,0.1}}}, {"RoadA", true}},
- GetRoadWithLowestHeading_Data{{{"RoadA",{"RoadA",-1,0,0,0.1+M_PI}}}, {"RoadA", false}},
- GetRoadWithLowestHeading_Data{{{"RoadA",{"RoadA",-1,0,0,-0.1}},{"RoadB",{"RoadB",-1,0,0,0.2}}}, {"RoadA", true}},
- GetRoadWithLowestHeading_Data{{{"RoadA",{"RoadA",-1,0,0,-0.2}},{"RoadB",{"RoadB",-1,0,0,0.1}}}, {"RoadB", true}},
- GetRoadWithLowestHeading_Data{{{"RoadA",{"RoadA",-1,0,0,-0.1+M_PI}},{"RoadB",{"RoadB",-1,0,0,0.2}}}, {"RoadA", false}},
- GetRoadWithLowestHeading_Data{{{"RoadA",{"RoadA",-1,0,0,-0.2}},{"RoadB",{"RoadB",-1,0,0,M_PI+0.1}}}, {"RoadB", false}}
-));
+ // roadPositions expectedResult
+ GetRoadWithLowestHeading_Data{{{"RoadA", {"RoadA", -1, 0_m, 0_m, 0.1_rad}}}, {"RoadA", true}}, GetRoadWithLowestHeading_Data{{{"RoadA", {"RoadA", -1, 0_m, 0_m, 0.1_rad + units::angle::radian_t(M_PI)}}}, {"RoadA", false}}, GetRoadWithLowestHeading_Data{{{"RoadA", {"RoadA", -1, 0_m, 0_m, -0.1_rad}}, {"RoadB", {"RoadB", -1, 0_m, 0_m, 0.2_rad}}}, {"RoadA", true}}, GetRoadWithLowestHeading_Data{{{"RoadA", {"RoadA", -1, 0_m, 0_m, -0.2_rad}}, {"RoadB", {"RoadB", -1, 0_m, 0_m, 0.1_rad}}}, {"RoadB", true}}, GetRoadWithLowestHeading_Data{{{"RoadA", {"RoadA", -1, 0_m, 0_m, -0.1_rad + units::angle::radian_t(M_PI)}}, {"RoadB", {"RoadB", -1, 0_m, 0_m, 0.2_rad}}}, {"RoadA", false}}, GetRoadWithLowestHeading_Data{{{"RoadA", {"RoadA", -1, 0_m, 0_m, -0.2_rad}}, {"RoadB", {"RoadB", -1, 0_m, 0_m, units::angle::radian_t(M_PI) + 0.1_rad}}}, {"RoadB", false}}));
class SetAngleToValidRange_Data
{
public:
// do not change order of items
// unless you also change it in INSTANTIATE_TEST_CASE_P
- double angle;
- double normalizedAngle;
+ units::angle::radian_t angle;
+ units::angle::radian_t normalizedAngle;
/// \brief This stream will be shown in case the test fails
friend std::ostream& operator<<(std::ostream& os, const SetAngleToValidRange_Data& data)
@@ -106,36 +100,34 @@ TEST_P(SetAngleToValidRange, ReturnsAngleWithinPlusMinusPi)
{
auto data = GetParam();
- double normalizedAngle = CommonHelper::SetAngleToValidRange(data.angle);
+ auto normalizedAngle = CommonHelper::SetAngleToValidRange(data.angle);
- ASSERT_THAT(normalizedAngle, DoubleNear(data.normalizedAngle, 1e-3));
+ ASSERT_THAT(normalizedAngle.value(), DoubleNear(data.normalizedAngle.value(), 1e-3));
}
INSTANTIATE_TEST_SUITE_P(AngleList, SetAngleToValidRange,
- /* angle expectedNormalizedAngle */
- testing::Values(
- SetAngleToValidRange_Data{ 0.0, 0.0 },
- SetAngleToValidRange_Data{ M_PI_4, M_PI_4 },
- SetAngleToValidRange_Data{ -M_PI_4, -M_PI_4 },
- SetAngleToValidRange_Data{ M_PI_2, M_PI_2 },
- SetAngleToValidRange_Data{ -M_PI_2, -M_PI_2 },
- SetAngleToValidRange_Data{ 3.0 * M_PI_4, 3.0 * M_PI_4 },
- SetAngleToValidRange_Data{ -3.0 * M_PI_4, -3.0 * M_PI_4 },
- SetAngleToValidRange_Data{ 2.0 * M_PI + M_PI_4, M_PI_4 },
- SetAngleToValidRange_Data{ -2.0 * M_PI - M_PI_4, -M_PI_4 },
- SetAngleToValidRange_Data{ 2.0 * M_PI + M_PI_2, M_PI_2 },
- SetAngleToValidRange_Data{ -2.0 * M_PI - M_PI_2, -M_PI_2 },
- SetAngleToValidRange_Data{ 4.0 * M_PI + M_PI_2, M_PI_2 },
- SetAngleToValidRange_Data{ -4.0 * M_PI - M_PI_2, -M_PI_2 }
- )
-);
+ /* angle expectedNormalizedAngle */
+ testing::Values(
+ SetAngleToValidRange_Data{units::angle::radian_t(0.0), units::angle::radian_t(0.0)},
+ SetAngleToValidRange_Data{units::angle::radian_t(M_PI_4), units::angle::radian_t(M_PI_4)},
+ SetAngleToValidRange_Data{units::angle::radian_t(-M_PI_4), units::angle::radian_t(-M_PI_4)},
+ SetAngleToValidRange_Data{units::angle::radian_t(M_PI_2), units::angle::radian_t(M_PI_2)},
+ SetAngleToValidRange_Data{units::angle::radian_t(-M_PI_2), units::angle::radian_t(-M_PI_2)},
+ SetAngleToValidRange_Data{units::angle::radian_t(3.0 * M_PI_4), units::angle::radian_t(3.0 * M_PI_4)},
+ SetAngleToValidRange_Data{units::angle::radian_t(-3.0 * M_PI_4), units::angle::radian_t(-3.0 * M_PI_4)},
+ SetAngleToValidRange_Data{units::angle::radian_t(2.0 * M_PI + M_PI_4), units::angle::radian_t(M_PI_4)},
+ SetAngleToValidRange_Data{units::angle::radian_t(-2.0 * M_PI - M_PI_4), units::angle::radian_t(-M_PI_4)},
+ SetAngleToValidRange_Data{units::angle::radian_t(2.0 * M_PI + M_PI_2), units::angle::radian_t(M_PI_2)},
+ SetAngleToValidRange_Data{units::angle::radian_t(-2.0 * M_PI - M_PI_2), units::angle::radian_t(-M_PI_2)},
+ SetAngleToValidRange_Data{units::angle::radian_t(4.0 * M_PI + M_PI_2), units::angle::radian_t(M_PI_2)},
+ SetAngleToValidRange_Data{units::angle::radian_t(-4.0 * M_PI - M_PI_2), units::angle::radian_t(-M_PI_2)}));
struct GetIntersectionPoints_Data
{
- std::vector<Common::Vector2d> firstQuadrangle;
- std::vector<Common::Vector2d> secondQuadrangle;
+ std::vector<Common::Vector2d<units::length::meter_t>> firstQuadrangle;
+ std::vector<Common::Vector2d<units::length::meter_t>> secondQuadrangle;
bool firstIsRectangular;
- std::vector<Common::Vector2d> expectedIntersection;
+ std::vector<Common::Vector2d<units::length::meter_t>> expectedIntersection;
};
class GetIntersectionPoints_Test : public testing::Test,
@@ -152,22 +144,24 @@ TEST_P(GetIntersectionPoints_Test, CorrectIntersectionPoints)
INSTANTIATE_TEST_CASE_P(BothRectangular, GetIntersectionPoints_Test,
testing::Values(
- //Element corners Object corners Intersection points
-GetIntersectionPoints_Data{{{1,1},{1,3},{3,3},{3,1}}, {{2,4},{2,6},{4,6},{4,4}}, true, {}},
-GetIntersectionPoints_Data{{{1,1},{1,3},{3,3},{3,1}}, {{2,2},{2,6},{4,6},{4,2}}, true, {{2,2},{2,3},{3,2},{3,3}}},
-GetIntersectionPoints_Data{{{1,1},{1,3},{3,3},{3,1}}, {{0,0},{0,4},{4,4},{4,0}}, true, {{1,1},{1,3},{3,3},{3,1}}},
-GetIntersectionPoints_Data{{{1,1},{1,3},{3,3},{3,1}}, {{2,2},{2,2.5},{2.5,2.5},{2.5,2}}, true, {{2,2},{2,2.5},{2.5,2.5},{2.5,2}}},
-GetIntersectionPoints_Data{{{1,1},{1,3},{3,3},{3,1}}, {{1,4},{3,6},{6,3},{4,1}}, true, {{3,2},{2,3},{3,3}}},
-GetIntersectionPoints_Data{{{-1,0},{0,1},{1,0},{0,-1}}, {{0,0},{1,1},{2,0},{1,-1}}, true, {{0,0},{0.5,0.5},{1,0},{0.5,-0.5}}}));
+ //Element corners Object corners Intersection points
+ GetIntersectionPoints_Data{{{1_m, 1_m}, {1_m, 3_m}, {3_m, 3_m}, {3_m, 1_m}}, {{2_m, 4_m}, {2_m, 6_m}, {4_m, 6_m}, {4_m, 4_m}}, true, {}},
+ GetIntersectionPoints_Data{{{1_m, 1_m}, {1_m, 3_m}, {3_m, 3_m}, {3_m, 1_m}}, {{2_m, 2_m}, {2_m, 6_m}, {4_m, 6_m}, {4_m, 2_m}}, true, {{2_m, 2_m}, {2_m, 3_m}, {3_m, 2_m}, {3_m, 3_m}}},
+ GetIntersectionPoints_Data{{{1_m, 1_m}, {1_m, 3_m}, {3_m, 3_m}, {3_m, 1_m}}, {{0_m, 0_m}, {0_m, 4_m}, {4_m, 4_m}, {4_m, 0_m}}, true, {{1_m, 1_m}, {1_m, 3_m}, {3_m, 3_m}, {3_m, 1_m}}},
+ GetIntersectionPoints_Data{{{1_m, 1_m}, {1_m, 3_m}, {3_m, 3_m}, {3_m, 1_m}}, {{2_m, 2_m}, {2_m, 2.5_m}, {2.5_m, 2.5_m}, {2.5_m, 2_m}}, true, {{2_m, 2_m}, {2_m, 2.5_m}, {2.5_m, 2.5_m}, {2.5_m, 2_m}}},
+ GetIntersectionPoints_Data{{{1_m, 1_m}, {1_m, 3_m}, {3_m, 3_m}, {3_m, 1_m}}, {{1_m, 4_m}, {3_m, 6_m}, {6_m, 3_m}, {4_m, 1_m}}, true, {{3_m, 2_m}, {2_m, 3_m}, {3_m, 3_m}}},
+ GetIntersectionPoints_Data{{{1_m, 1_m}, {1_m, 3_m}, {3_m, 3_m}, {3_m, 1_m}}, {{1_m, 1_m}, {1_m ,3_m}, {3_m, 3_m}, {3_m, 1_m}}, true, {{1_m, 1_m}, {1_m, 3_m}, {3_m, 3_m}, {3_m, 1_m}}},
+ GetIntersectionPoints_Data{{{-1_m, 0_m}, {0_m, 1_m}, {1_m, 0_m}, {0_m, -1_m}}, {{0_m, 0_m}, {1_m, 1_m}, {2_m, 0_m}, {1_m, -1_m}}, true, {{0_m, 0_m}, {0.5_m, 0.5_m}, {1_m, 0_m}, {0.5_m, -0.5_m}}}));
INSTANTIATE_TEST_CASE_P(SecondNotRectangular, GetIntersectionPoints_Test,
testing::Values(
- //Element corners Object corners Intersection points
-GetIntersectionPoints_Data{{{1,1},{1,2},{3,4},{3,1}}, {{2,5},{2,6},{4,6},{4,5}}, false, {}},
-GetIntersectionPoints_Data{{{1,1},{1,2},{3,4},{3,1}}, {{2,2},{2,6},{4,6},{4,2}}, false, {{2,2},{2,3},{3,2},{3,4}}},
-GetIntersectionPoints_Data{{{1,1},{1,2},{3,4},{3,1}}, {{0,0},{0,5},{4,5},{4,0}}, false, {{1,1},{1,2},{3,4},{3,1}}},
-GetIntersectionPoints_Data{{{1,1},{1,2},{3,4},{3,1}}, {{2,2},{2,2.5},{2.5,2.5},{2.5,2}}, false, {{2,2},{2,2.5},{2.5,2.5},{2.5,2}}},
-GetIntersectionPoints_Data{{{1,1},{1,2},{3,4},{3,1}}, {{-2,0},{-2,2},{0,2},{0,0}}, false, {}}));
+ //Element corners Object corners Intersection points
+ GetIntersectionPoints_Data{{{1_m, 1_m}, {1_m, 2_m}, {3_m, 4_m}, {3_m, 1_m}}, {{2_m, 5_m}, {2_m, 6_m}, {4_m, 6_m}, {4_m, 5_m}}, false, {}},
+ GetIntersectionPoints_Data{{{1_m, 1_m}, {1_m, 2_m}, {3_m, 4_m}, {3_m, 1_m}}, {{2_m, 2_m}, {2_m, 6_m}, {4_m, 6_m}, {4_m, 2_m}}, false, {{2_m, 2_m}, {2_m, 3_m}, {3_m, 2_m}, {3_m, 4_m}}},
+ GetIntersectionPoints_Data{{{1_m, 1_m}, {1_m, 2_m}, {3_m, 4_m}, {3_m, 1_m}}, {{0_m, 0_m}, {0_m, 5_m}, {4_m, 5_m}, {4_m, 0_m}}, false, {{1_m, 1_m}, {1_m, 2_m}, {3_m, 4_m}, {3_m, 1_m}}},
+ GetIntersectionPoints_Data{{{1_m, 1_m}, {1_m, 2_m}, {3_m, 4_m}, {3_m, 1_m}}, {{2_m, 2_m}, {2_m, 2.5_m}, {2.5_m, 2.5_m}, {2.5_m, 2_m}}, false, {{2_m, 2_m}, {2_m, 2.5_m}, {2.5_m, 2.5_m}, {2.5_m, 2_m}}},
+ GetIntersectionPoints_Data{{{1_m, 1_m}, {1_m, 2_m}, {3_m, 4_m}, {3_m, 1_m}}, {{-2_m, 0_m}, {-2_m, 2_m}, {0_m, 2_m}, {0_m, 0_m}}, false, {}},
+ GetIntersectionPoints_Data{{{1_m, 1_m}, {1_m, 2_m}, {3_m, 4_m}, {3_m, 1_m}}, {{1_m, 1_m}, {1_m, 2_m}, {3_m, 4_m}, {3_m, 1_m}}, false, {{1_m, 1_m}, {1_m, 2_m}, {3_m, 4_m}, {3_m, 1_m}}}));
/// Data table with the basic Informations for situations
/// \see PointQuery
@@ -176,16 +170,16 @@ struct WithinPolygon_Data
// do not change order of items
// unless you also change it in INSTANTIATE_TEST_CASE_P
// (see bottom of file)
- double Ax;
- double Ay;
- double Bx;
- double By;
- double Dx;
- double Dy;
- double Cx;
- double Cy;
- double Px;
- double Py;
+ units::length::meter_t Ax;
+ units::length::meter_t Ay;
+ units::length::meter_t Bx;
+ units::length::meter_t By;
+ units::length::meter_t Dx;
+ units::length::meter_t Dy;
+ units::length::meter_t Cx;
+ units::length::meter_t Cy;
+ units::length::meter_t Px;
+ units::length::meter_t Py;
bool withinPolygon;
/// \brief This stream will be shown in case the test fails
@@ -211,7 +205,7 @@ class WithinPolygon: public ::testing::Test,
TEST_P(WithinPolygon, ParameterTest)
{
auto data = GetParam();
- Common::Vector2d point = {data.Px, data.Py};
+ Common::Vector2d<units::length::meter_t> point = {data.Px, data.Py};
ASSERT_THAT(CommonHelper::IntersectionCalculation::IsWithin({data.Ax, data.Ay}, {data.Bx, data.By}, {data.Cx, data.Cy}, {data.Dx, data.Dy}, point),
Eq(data.withinPolygon));
}
@@ -219,68 +213,62 @@ TEST_P(WithinPolygon, ParameterTest)
INSTANTIATE_TEST_CASE_P(OutsideBoundarySet, WithinPolygon,
testing::Values(
// /* Ax Ay Bx By Dx Dy Cx Cy Px Py withinPolygon */
- WithinPolygon_Data{ -10.0, 10.0, 10.0, 10.0, 10.0, -10.0, -10.0, -10.0, -10.1, 0.0, false },
- WithinPolygon_Data{ -10.0, 10.0, 10.0, 10.0, 10.0, -10.0, -10.0, -10.0, 10.1, 0.0, false },
- WithinPolygon_Data{ -10.0, 10.0, 10.0, 10.0, 10.0, -10.0, -10.0, -10.0, 0.0, -10.1, false },
- WithinPolygon_Data{ -10.0, 10.0, 10.0, 10.0, 10.0, -10.0, -10.0, -10.0, 0.0, 10.1, false },
+ WithinPolygon_Data{-10.0_m, 10.0_m, 10.0_m, 10.0_m, 10.0_m, -10.0_m, -10.0_m, -10.0_m, -10.1_m, 0.0_m, false},
+ WithinPolygon_Data{-10.0_m, 10.0_m, 10.0_m, 10.0_m, 10.0_m, -10.0_m, -10.0_m, -10.0_m, 10.1_m, 0.0_m, false},
+ WithinPolygon_Data{-10.0_m, 10.0_m, 10.0_m, 10.0_m, 10.0_m, -10.0_m, -10.0_m, -10.0_m, 0.0_m, -10.1_m, false},
+ WithinPolygon_Data{-10.0_m, 10.0_m, 10.0_m, 10.0_m, 10.0_m, -10.0_m, -10.0_m, -10.0_m, 0.0_m, 10.1_m, false},
// 180° rotated
- WithinPolygon_Data{ 10.0, -10.0, -10.0, -10.0, -10.0, 10.0, 10.0, 10.0, -10.1, 0.0, false },
- WithinPolygon_Data{ 10.0, -10.0, -10.0, -10.0, -10.0, 10.0, 10.0, 10.0, 10.1, 0.0, false },
- WithinPolygon_Data{ 10.0, -10.0, -10.0, -10.0, -10.0, 10.0, 10.0, 10.0, 0.0, -10.1, false },
- WithinPolygon_Data{ 10.0, -10.0, -10.0, -10.0, -10.0, 10.0, 10.0, 10.0, 0.0, 10.1, false },
+ WithinPolygon_Data{10.0_m, -10.0_m, -10.0_m, -10.0_m, -10.0_m, 10.0_m, 10.0_m, 10.0_m, -10.1_m, 0.0_m, false},
+ WithinPolygon_Data{10.0_m, -10.0_m, -10.0_m, -10.0_m, -10.0_m, 10.0_m, 10.0_m, 10.0_m, 10.1_m, 0.0_m, false},
+ WithinPolygon_Data{10.0_m, -10.0_m, -10.0_m, -10.0_m, -10.0_m, 10.0_m, 10.0_m, 10.0_m, 0.0_m, -10.1_m, false},
+ WithinPolygon_Data{10.0_m, -10.0_m, -10.0_m, -10.0_m, -10.0_m, 10.0_m, 10.0_m, 10.0_m, 0.0_m, 10.1_m, false},
// 45° rotated
- WithinPolygon_Data{ 0.0, 10.0, 10.0, 0.0, 0.0, -10.0, -10.0, 0.0, -7.0, -7.0, false },
- WithinPolygon_Data{ 0.0, 10.0, 10.0, 0.0, 0.0, -10.0, -10.0, 0.0, 7.0, -7.0, false },
- WithinPolygon_Data{ 0.0, 10.0, 10.0, 0.0, 0.0, -10.0, -10.0, 0.0, 7.0, 7.0, false },
- WithinPolygon_Data{ 0.0, 10.0, 10.0, 0.0, 0.0, -10.0, -10.0, 0.0, -7.0, 7.0, false },
+ WithinPolygon_Data{0.0_m, 10.0_m, 10.0_m, 0.0_m, 0.0_m, -10.0_m, -10.0_m, 0.0_m, -7.0_m, -7.0_m, false},
+ WithinPolygon_Data{0.0_m, 10.0_m, 10.0_m, 0.0_m, 0.0_m, -10.0_m, -10.0_m, 0.0_m, 7.0_m, -7.0_m, false},
+ WithinPolygon_Data{0.0_m, 10.0_m, 10.0_m, 0.0_m, 0.0_m, -10.0_m, -10.0_m, 0.0_m, 7.0_m, 7.0_m, false},
+ WithinPolygon_Data{0.0_m, 10.0_m, 10.0_m, 0.0_m, 0.0_m, -10.0_m, -10.0_m, 0.0_m, -7.0_m, 7.0_m, false},
// other direction
- WithinPolygon_Data{ 10.0, -10.0, 10.0, 10.0, -10.0, 10.0, -10.0, -10.0, -10.1, 0.0, false },
- WithinPolygon_Data{ 10.0, -10.0, 10.0, 10.0, -10.0, 10.0, -10.0, -10.0, 10.1, 0.0, false },
- WithinPolygon_Data{ 10.0, -10.0, 10.0, 10.0, -10.0, 10.0, -10.0, -10.0, 0.0, -10.1, false },
- WithinPolygon_Data{ 10.0, -10.0, 10.0, 10.0, -10.0, 10.0, -10.0, -10.0, 0.0, 10.1, false }
- )
- );
+ WithinPolygon_Data{10.0_m, -10.0_m, 10.0_m, 10.0_m, -10.0_m, 10.0_m, -10.0_m, -10.0_m, -10.1_m, 0.0_m, false},
+ WithinPolygon_Data{10.0_m, -10.0_m, 10.0_m, 10.0_m, -10.0_m, 10.0_m, -10.0_m, -10.0_m, 10.1_m, 0.0_m, false},
+ WithinPolygon_Data{10.0_m, -10.0_m, 10.0_m, 10.0_m, -10.0_m, 10.0_m, -10.0_m, -10.0_m, 0.0_m, -10.1_m, false},
+ WithinPolygon_Data{10.0_m, -10.0_m, 10.0_m, 10.0_m, -10.0_m, 10.0_m, -10.0_m, -10.0_m, 0.0_m, 10.1_m, false}));
INSTANTIATE_TEST_CASE_P(InsideBoundarySet, WithinPolygon,
testing::Values(
/* Ax Ay Bx By Dx Dy Cx Cy Px Py withinPolygon */
- WithinPolygon_Data{ -12.3, 13.4, 15.6, 17.8, 19.2, -10.1, -12.3, -14.5, 0.0, 0.0, true },
- WithinPolygon_Data{ -12.3, 13.4, 15.6, 17.8, 19.2, -10.1, -12.3, -14.5, -10.0, -10.0, true },
- WithinPolygon_Data{ -12.3, 13.4, 15.6, 17.8, 19.2, -10.1, -12.3, -14.5, 10.0, -10.0, true },
- WithinPolygon_Data{ -12.3, 13.4, 15.6, 17.8, 19.2, -10.1, -12.3, -14.5, -10.0, 10.0, true },
- WithinPolygon_Data{ -12.3, 13.4, 15.6, 17.8, 19.2, -10.1, -12.3, -14.5, 10.0, 10.0, true },
+ WithinPolygon_Data{-12.3_m, 13.4_m, 15.6_m, 17.8_m, 19.2_m, -10.1_m, -12.3_m, -14.5_m, 0.0_m, 0.0_m, true},
+ WithinPolygon_Data{-12.3_m, 13.4_m, 15.6_m, 17.8_m, 19.2_m, -10.1_m, -12.3_m, -14.5_m, -10.0_m, -10.0_m, true},
+ WithinPolygon_Data{-12.3_m, 13.4_m, 15.6_m, 17.8_m, 19.2_m, -10.1_m, -12.3_m, -14.5_m, 10.0_m, -10.0_m, true},
+ WithinPolygon_Data{-12.3_m, 13.4_m, 15.6_m, 17.8_m, 19.2_m, -10.1_m, -12.3_m, -14.5_m, -10.0_m, 10.0_m, true},
+ WithinPolygon_Data{-12.3_m, 13.4_m, 15.6_m, 17.8_m, 19.2_m, -10.1_m, -12.3_m, -14.5_m, 10.0_m, 10.0_m, true},
// 45° rotated
- WithinPolygon_Data{ 0.0, 10.0, 10.0, 0.0, 0.0, -10.0, -10.0, 0.0, -3.0, -3.0, true },
- WithinPolygon_Data{ 0.0, 10.0, 10.0, 0.0, 0.0, -10.0, -10.0, 0.0, -3.0, 3.0, true },
- WithinPolygon_Data{ 0.0, 10.0, 10.0, 0.0, 0.0, -10.0, -10.0, 0.0, 3.0, -3.0, true },
- WithinPolygon_Data{ 0.0, 10.0, 10.0, 0.0, 0.0, -10.0, -10.0, 0.0, -3.0, 3.0, true },
+ WithinPolygon_Data{0.0_m, 10.0_m, 10.0_m, 0.0_m, 0.0_m, -10.0_m, -10.0_m, 0.0_m, -3.0_m, -3.0_m, true},
+ WithinPolygon_Data{0.0_m, 10.0_m, 10.0_m, 0.0_m, 0.0_m, -10.0_m, -10.0_m, 0.0_m, -3.0_m, 3.0_m, true},
+ WithinPolygon_Data{0.0_m, 10.0_m, 10.0_m, 0.0_m, 0.0_m, -10.0_m, -10.0_m, 0.0_m, 3.0_m, -3.0_m, true},
+ WithinPolygon_Data{0.0_m, 10.0_m, 10.0_m, 0.0_m, 0.0_m, -10.0_m, -10.0_m, 0.0_m, -3.0_m, 3.0_m, true},
// something in between
- WithinPolygon_Data{ -12.3, 13.4, 15.6, 17.8, 19.0, -12.0, -12.1, -12.2, 0.0, 0.0, true },
- WithinPolygon_Data{ -12.3, 13.4, 15.6, 17.8, 19.0, -12.0, -12.1, -12.2, -10.0, -10.0, true }
- )
- );
+ WithinPolygon_Data{-12.3_m, 13.4_m, 15.6_m, 17.8_m, 19.0_m, -12.0_m, -12.1_m, -12.2_m, 0.0_m, 0.0_m, true},
+ WithinPolygon_Data{-12.3_m, 13.4_m, 15.6_m, 17.8_m, 19.0_m, -12.0_m, -12.1_m, -12.2_m, -10.0_m, -10.0_m, true}));
INSTANTIATE_TEST_CASE_P(OnEdgeSet, WithinPolygon,
testing::Values(
/* Ax Ay Bx By Dx Dy Cx Cy Px Py withinPolygon */
- WithinPolygon_Data{ -10.0, 10.0, 10.0, 10.0, 10.0, -10.0, -10.0, -10.0, 10.0, 0.0, true },
- WithinPolygon_Data{ -10.0, 10.0, 10.0, 10.0, 10.0, -10.0, -10.0, -10.0, 0.0, 10.0, true },
- WithinPolygon_Data{ -10.0, 10.0, 10.0, 10.0, 10.0, -10.0, -10.0, -10.0, 0.0, -10.0, true },
- WithinPolygon_Data{ -10.0, 10.0, 10.0, 10.0, 10.0, -10.0, -10.0, -10.0, -10.0, 0.0, true },
+ WithinPolygon_Data{-10.0_m, 10.0_m, 10.0_m, 10.0_m, 10.0_m, -10.0_m, -10.0_m, -10.0_m, 10.0_m, 0.0_m, true},
+ WithinPolygon_Data{-10.0_m, 10.0_m, 10.0_m, 10.0_m, 10.0_m, -10.0_m, -10.0_m, -10.0_m, 0.0_m, 10.0_m, true},
+ WithinPolygon_Data{-10.0_m, 10.0_m, 10.0_m, 10.0_m, 10.0_m, -10.0_m, -10.0_m, -10.0_m, 0.0_m, -10.0_m, true},
+ WithinPolygon_Data{-10.0_m, 10.0_m, 10.0_m, 10.0_m, 10.0_m, -10.0_m, -10.0_m, -10.0_m, -10.0_m, 0.0_m, true},
// diagonal in between
- WithinPolygon_Data{ -10.0, 10.0, 10.0, 10.0, 10.0, -10.0, -10.0, -10.0, 2.0, 2.0, true },
- WithinPolygon_Data{ -10.0, 10.0, 10.0, 10.0, 10.0, -10.0, -10.0, -10.0, 2.0, -2.0, true },
- WithinPolygon_Data{ -10.0, 10.0, 10.0, 10.0, 10.0, -10.0, -10.0, -10.0, -2.0, -2.0, true },
- WithinPolygon_Data{ -10.0, 10.0, 10.0, 10.0, 10.0, -10.0, -10.0, -10.0, -2.0, 2.0, true },
+ WithinPolygon_Data{-10.0_m, 10.0_m, 10.0_m, 10.0_m, 10.0_m, -10.0_m, -10.0_m, -10.0_m, 2.0_m, 2.0_m, true},
+ WithinPolygon_Data{-10.0_m, 10.0_m, 10.0_m, 10.0_m, 10.0_m, -10.0_m, -10.0_m, -10.0_m, 2.0_m, -2.0_m, true},
+ WithinPolygon_Data{-10.0_m, 10.0_m, 10.0_m, 10.0_m, 10.0_m, -10.0_m, -10.0_m, -10.0_m, -2.0_m, -2.0_m, true},
+ WithinPolygon_Data{-10.0_m, 10.0_m, 10.0_m, 10.0_m, 10.0_m, -10.0_m, -10.0_m, -10.0_m, -2.0_m, 2.0_m, true},
// 45° rotated deges
- WithinPolygon_Data{ 0.0, 10.0, 10.0, 0.0, 0.0, -10.0, -10.0, 0.0, 5.0, 5.0, true },
- WithinPolygon_Data{ 0.0, 10.0, 10.0, 0.0, 0.0, -10.0, -10.0, 0.0, -5.0, 5.0, true },
- WithinPolygon_Data{ 0.0, 10.0, 10.0, 0.0, 0.0, -10.0, -10.0, 0.0, 5.0, 5.0, true },
- WithinPolygon_Data{ 0.0, 10.0, 10.0, 0.0, 0.0, -10.0, -10.0, 0.0, 5.0, -5.0, true },
+ WithinPolygon_Data{0.0_m, 10.0_m, 10.0_m, 0.0_m, 0.0_m, -10.0_m, -10.0_m, 0.0_m, 5.0_m, 5.0_m, true},
+ WithinPolygon_Data{0.0_m, 10.0_m, 10.0_m, 0.0_m, 0.0_m, -10.0_m, -10.0_m, 0.0_m, -5.0_m, 5.0_m, true},
+ WithinPolygon_Data{0.0_m, 10.0_m, 10.0_m, 0.0_m, 0.0_m, -10.0_m, -10.0_m, 0.0_m, 5.0_m, 5.0_m, true},
+ WithinPolygon_Data{0.0_m, 10.0_m, 10.0_m, 0.0_m, 0.0_m, -10.0_m, -10.0_m, 0.0_m, 5.0_m, -5.0_m, true},
// 45° rotated diagonal in between
- WithinPolygon_Data{ 0.0, 10.0, 10.0, 0.0, 0.0, -10.0, -10.0, 0.0, 0.0, -7.0, true },
- WithinPolygon_Data{ 0.0, 10.0, 10.0, 0.0, 0.0, -10.0, -10.0, 0.0, 0.0, -7.0, true },
- WithinPolygon_Data{ 0.0, 10.0, 10.0, 0.0, 0.0, -10.0, -10.0, 0.0, 7.0, 0.0, true },
- WithinPolygon_Data{ 0.0, 10.0, 10.0, 0.0, 0.0, -10.0, -10.0, 0.0, -7.0, 0.0, true }
- )
- );
+ WithinPolygon_Data{0.0_m, 10.0_m, 10.0_m, 0.0_m, 0.0_m, -10.0_m, -10.0_m, 0.0_m, 0.0_m, -7.0_m, true},
+ WithinPolygon_Data{0.0_m, 10.0_m, 10.0_m, 0.0_m, 0.0_m, -10.0_m, -10.0_m, 0.0_m, 0.0_m, -7.0_m, true},
+ WithinPolygon_Data{0.0_m, 10.0_m, 10.0_m, 0.0_m, 0.0_m, -10.0_m, -10.0_m, 0.0_m, 7.0_m, 0.0_m, true},
+ WithinPolygon_Data{0.0_m, 10.0_m, 10.0_m, 0.0_m, 0.0_m, -10.0_m, -10.0_m, 0.0_m, -7.0_m, 0.0_m, true}));
diff --git a/sim/tests/unitTests/common/routeCalculation_Tests.cpp b/sim/tests/unitTests/common/routeCalculation_Tests.cpp
index 4d1dc2d8e1857b1e04ad59136f1a27c5b1bf95cf..c746e1e7c2bb1e14937eceb0c5b7b60f01a126b5 100644
--- a/sim/tests/unitTests/common/routeCalculation_Tests.cpp
+++ b/sim/tests/unitTests/common/routeCalculation_Tests.cpp
@@ -32,8 +32,8 @@ TEST(RouteCalculation, NoPreviousRoad_BothPointsOnSameRoad)
FakeStochastics stochastics;
ON_CALL(agent, GetEgoAgent()).WillByDefault(ReturnRef(egoAgent));
- GlobalRoadPositions referencePoint = {{"RoadA", GlobalRoadPosition{"RoadA", -2, 10, 0, 0.2}},{"RoadB", GlobalRoadPosition{"RoadB", -2, 10, 0, 0.1}}};
- GlobalRoadPositions mainLocatePoint = {{"RoadA", GlobalRoadPosition{"RoadA", -2, 10, 0, 0}}};
+ GlobalRoadPositions referencePoint = {{"RoadA", GlobalRoadPosition{"RoadA", -2, 10_m, 0_m, 0.2_rad}},{"RoadB", GlobalRoadPosition{"RoadB", -2, 10_m, 0_m, 0.1_rad}}};
+ GlobalRoadPositions mainLocatePoint = {{"RoadA", GlobalRoadPosition{"RoadA", -2, 10_m, 0_m, 0_rad}}};
ON_CALL(agent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::Reference))).WillByDefault(ReturnRef(referencePoint));
ON_CALL(agent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter))).WillByDefault(ReturnRef(mainLocatePoint));
@@ -81,8 +81,8 @@ TEST(RouteCalculation, WithPreviousRoad_BothPointsOnSameRoad)
FakeStochastics stochastics;
ON_CALL(agent, GetEgoAgent()).WillByDefault(ReturnRef(egoAgent));
- GlobalRoadPositions referencePoint = {{"RoadA", GlobalRoadPosition{"RoadA", -2, 10, 0, 0.2}},{"RoadB", GlobalRoadPosition{"RoadB", -2, 10, 0, 0.1}}};
- GlobalRoadPositions mainLocatePoint = {{"RoadA", GlobalRoadPosition{"RoadA", -2, 10, 0, 0}}};
+ GlobalRoadPositions referencePoint = {{"RoadA", GlobalRoadPosition{"RoadA", -2, 10_m, 0_m, 0.2_rad}},{"RoadB", GlobalRoadPosition{"RoadB", -2, 10_m, 0_m, 0.1_rad}}};
+ GlobalRoadPositions mainLocatePoint = {{"RoadA", GlobalRoadPosition{"RoadA", -2, 10_m, 0_m, 0_rad}}};
ON_CALL(agent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::Reference))).WillByDefault(ReturnRef(referencePoint));
ON_CALL(agent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter))).WillByDefault(ReturnRef(mainLocatePoint));
@@ -126,8 +126,8 @@ TEST(RouteCalculation, NoPreviousRoad_MainLocatorOnNextRoad)
FakeStochastics stochastics;
ON_CALL(agent, GetEgoAgent()).WillByDefault(ReturnRef(egoAgent));
- GlobalRoadPositions referencePoint = {{"RoadA", GlobalRoadPosition{"RoadA", -2, 10, 0, 0.2}},{"RoadB", GlobalRoadPosition{"RoadB", -2, 10, 0, 0.1}}};
- GlobalRoadPositions mainLocatePoint = {{"RoadD", GlobalRoadPosition{"RoadD", -2, 10, 0, 0}}};
+ GlobalRoadPositions referencePoint = {{"RoadA", GlobalRoadPosition{"RoadA", -2, 10_m, 0_m, 0.2_rad}},{"RoadB", GlobalRoadPosition{"RoadB", -2, 10_m, 0_m, 0.1_rad}}};
+ GlobalRoadPositions mainLocatePoint = {{"RoadD", GlobalRoadPosition{"RoadD", -2, 10_m, 0_m, 0_rad}}};
ON_CALL(agent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::Reference))).WillByDefault(ReturnRef(referencePoint));
ON_CALL(agent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter))).WillByDefault(ReturnRef(mainLocatePoint));
@@ -179,8 +179,8 @@ TEST(RouteCalculation, WithPreviousRoad_MainLocatorOnNextRoad)
FakeStochastics stochastics;
ON_CALL(agent, GetEgoAgent()).WillByDefault(ReturnRef(egoAgent));
- GlobalRoadPositions referencePoint = {{"RoadA", GlobalRoadPosition{"RoadA", -2, 10, 0, 0.2}},{"RoadB", GlobalRoadPosition{"RoadB", -2, 10, 0, 0.1}}};
- GlobalRoadPositions mainLocatePoint = {{"RoadD", GlobalRoadPosition{"RoadD", -2, 10, 0, 0}}};
+ GlobalRoadPositions referencePoint = {{"RoadA", GlobalRoadPosition{"RoadA", -2, 10_m, 0_m, 0.2_rad}},{"RoadB", GlobalRoadPosition{"RoadB", -2, 10_m, 0_m, 0.1_rad}}};
+ GlobalRoadPositions mainLocatePoint = {{"RoadD", GlobalRoadPosition{"RoadD", -2, 10_m, 0_m, 0_rad}}};
ON_CALL(agent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::Reference))).WillByDefault(ReturnRef(referencePoint));
ON_CALL(agent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter))).WillByDefault(ReturnRef(mainLocatePoint));
@@ -228,8 +228,8 @@ TEST(RouteCalculation, PointsOnUnconnectedRoads)
FakeStochastics stochastics;
ON_CALL(agent, GetEgoAgent()).WillByDefault(ReturnRef(egoAgent));
- GlobalRoadPositions referencePoint = {{"RoadA", GlobalRoadPosition{"RoadA", -2, 10, 0, 0.2}},{"RoadB", GlobalRoadPosition{"RoadB", -2, 10, 0, 0.1}}};
- GlobalRoadPositions mainLocatePoint = {{"RoadC", GlobalRoadPosition{"RoadC", -2, 10, 0, 0}}};
+ GlobalRoadPositions referencePoint = {{"RoadA", GlobalRoadPosition{"RoadA", -2, 10_m, 0_m, 0.2_rad}},{"RoadB", GlobalRoadPosition{"RoadB", -2, 10_m, 0_m, 0.1_rad}}};
+ GlobalRoadPositions mainLocatePoint = {{"RoadC", GlobalRoadPosition{"RoadC", -2, 10_m, 0_m, 0_rad}}};
ON_CALL(agent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::Reference))).WillByDefault(ReturnRef(referencePoint));
ON_CALL(agent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter))).WillByDefault(ReturnRef(mainLocatePoint));
diff --git a/sim/tests/unitTests/common/ttcCalculation_Tests.cpp b/sim/tests/unitTests/common/ttcCalculation_Tests.cpp
index 55067cafa3bc48491ba4a5e693bce25253c52c1c..4e6ce3603e0a950aeacdb62bb4a120fb97aa1feb 100644
--- a/sim/tests/unitTests/common/ttcCalculation_Tests.cpp
+++ b/sim/tests/unitTests/common/ttcCalculation_Tests.cpp
@@ -29,28 +29,30 @@ using ::testing::NiceMock;
using ::testing::DoubleNear;
using ::testing::_;
+using namespace units::literals;
+
struct TtcCalculationTest_Data
{
- double egoX;
- double egoY;
- double egoVelocityX;
- double egoVelocityY;
- double egoAcceleration;
- double egoYaw;
- double egoYawRate;
- double egoYawAcceleration;
- double opponentX;
- double opponentY;
- double opponentVelocityX;
- double opponentVelocityY;
- double opponentAcceleration;
- double opponentYaw;
- double opponentYawRate;
- double opponentYawAcceleration;
- double longitudinalBoundary;
- double lateralBoundary;
+ units::length::meter_t egoX;
+ units::length::meter_t egoY;
+ units::velocity::meters_per_second_t egoVelocityX;
+ units::velocity::meters_per_second_t egoVelocityY;
+ units::acceleration::meters_per_second_squared_t egoAcceleration;
+ units::angle::radian_t egoYaw;
+ units::angular_velocity::radians_per_second_t egoYawRate;
+ units::angular_acceleration::radians_per_second_squared_t egoYawAcceleration;
+ units::length::meter_t opponentX;
+ units::length::meter_t opponentY;
+ units::velocity::meters_per_second_t opponentVelocityX;
+ units::velocity::meters_per_second_t opponentVelocityY;
+ units::acceleration::meters_per_second_squared_t opponentAcceleration;
+ units::angle::radian_t opponentYaw;
+ units::angular_velocity::radians_per_second_t opponentYawRate;
+ units::angular_acceleration::radians_per_second_squared_t opponentYawAcceleration;
+ units::length::meter_t longitudinalBoundary;
+ units::length::meter_t lateralBoundary;
- double expectedTtc;
+ units::time::second_t expectedTtc;
};
class TtcCalcualtionTest: public ::TestWithParam<TtcCalculationTest_Data>
@@ -61,46 +63,46 @@ TEST_P(TtcCalcualtionTest, CalculateObjectTTC_ReturnsCorrectTtc)
{
auto data = GetParam();
double fakeCycleTime = 10;
- double fakeMaxTtc = 10.0;
+ units::time::second_t fakeMaxTtc = 10.0_s;
NiceMock<FakeAgent> ego;
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, GetRoll()).WillByDefault(Return(0.0_rad));
ON_CALL(ego, GetYawRate()).WillByDefault(Return(data.egoYawRate));
ON_CALL(ego, GetYawAcceleration()).WillByDefault(Return(data.egoYawAcceleration));
ON_CALL(ego, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{data.egoVelocityX, data.egoVelocityY}));
- ON_CALL(ego, GetAcceleration(_)).WillByDefault(Return(Common::Vector2d{data.egoAcceleration * std::cos(data.egoYaw), data.egoAcceleration * std::sin(data.egoYaw)}));
- ON_CALL(ego, GetLength()).WillByDefault(Return(2.0));
- ON_CALL(ego, GetWidth()).WillByDefault(Return(1.0));
- ON_CALL(ego, GetDistanceReferencePointToLeadingEdge()).WillByDefault(Return(1.0));
+ ON_CALL(ego, GetAcceleration(_)).WillByDefault(Return(Common::Vector2d{data.egoAcceleration * units::math::cos(data.egoYaw), data.egoAcceleration * units::math::sin(data.egoYaw)}));
+ ON_CALL(ego, GetLength()).WillByDefault(Return(2.0_m));
+ ON_CALL(ego, GetWidth()).WillByDefault(Return(1.0_m));
+ ON_CALL(ego, GetDistanceReferencePointToLeadingEdge()).WillByDefault(Return(1.0_m));
NiceMock<FakeAgent> opponent;
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, GetRoll()).WillByDefault(Return(0.0_rad));
ON_CALL(opponent, GetYawRate()).WillByDefault(Return(data.opponentYawRate));
ON_CALL(opponent, GetYawAcceleration()).WillByDefault(Return(data.opponentYawAcceleration));
ON_CALL(opponent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{data.opponentVelocityX, data.opponentVelocityY}));
- ON_CALL(opponent, GetAcceleration(_)).WillByDefault(Return(Common::Vector2d{data.opponentAcceleration * std::cos(data.opponentYaw), data.opponentAcceleration * std::sin(data.opponentYaw)}));
- ON_CALL(opponent, GetLength()).WillByDefault(Return(2.0));
- ON_CALL(opponent, GetWidth()).WillByDefault(Return(1.0));
- ON_CALL(opponent, GetDistanceReferencePointToLeadingEdge()).WillByDefault(Return(1.0));
+ ON_CALL(opponent, GetAcceleration(_)).WillByDefault(Return(Common::Vector2d{data.opponentAcceleration * units::math::cos(data.opponentYaw), data.opponentAcceleration * units::math::sin(data.opponentYaw)}));
+ ON_CALL(opponent, GetLength()).WillByDefault(Return(2.0_m));
+ ON_CALL(opponent, GetWidth()).WillByDefault(Return(1.0_m));
+ ON_CALL(opponent, GetDistanceReferencePointToLeadingEdge()).WillByDefault(Return(1.0_m));
auto result = TtcCalculations::CalculateObjectTTC(ego, opponent, fakeMaxTtc, data.longitudinalBoundary, data.lateralBoundary, fakeCycleTime);
- ASSERT_THAT(result, DoubleNear(data.expectedTtc, 0.001));
+ ASSERT_THAT(result.value(), DoubleNear(data.expectedTtc.value(), 0.001));
}
INSTANTIATE_TEST_CASE_P(TtcCalculationTestCase, TtcCalcualtionTest, ::testing::Values(
-// Ego opponent
-// x, y, v_x, v_y, a, yaw, yawRate, yawAcc, x, y, v_x, v_y, a, yaw, yawRate, yawAcc, long, lat, ttc
-TtcCalculationTest_Data{ -20.0, 0.0, 10.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 12.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, DBL_MAX},
-TtcCalculationTest_Data{ 0.0, 0.0, 12.0, 0.0, 0.0, 0.0, 0.0, 0.0, -20.0, 0.0, 10.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, DBL_MAX},
-TtcCalculationTest_Data{ 0.0, 10.0, 10.0, 0.0, 0.0, 0.0, 0.0, 0.0, 40.5, 10.0, 2.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.82},
-TtcCalculationTest_Data{ 20.0, -10.0, 10.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.0, -10.0, 40.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.44},
-TtcCalculationTest_Data{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 14.0, 0.0, -5.0, 0.0, -M_PI_2, 0.0, 0.0, 10.0, 5.0, 1.0},
-TtcCalculationTest_Data{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -50.0, 0.0, 5.0, 0.0, 2.0, 0.0, 0.0, 0.0, 0.0, 0.0, 4.87},
-TtcCalculationTest_Data{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -10.0, -10.0, 0.0, 10.0, 0.0, M_PI_2, -1.0, 0.0, 0.0, 0.0, 1.38}
+// Ego opponent
+// x, y, v_x, v_y, a, yaw, yawRate, yawAcc, x, y, v_x, v_y, a, yaw, yawRate, yawAcc, long, lat, ttc
+TtcCalculationTest_Data{ -20.0_m, 0.0_m, 10.0_mps, 0.0_mps, 0.0_mps_sq, 0.0_rad, 0.0_rad_per_s, 0.0_rad_per_s_sq, 0.0_m, 0.0_m, 12.0_mps, 0.0_mps, 0.0_mps_sq, 0.0_rad, 0.0_rad_per_s, 0.0_rad_per_s_sq, 0.0_m, 0.0_m, units::time::second_t(std::numeric_limits<double>::max())},
+TtcCalculationTest_Data{ 0.0_m, 0.0_m, 12.0_mps, 0.0_mps, 0.0_mps_sq, 0.0_rad, 0.0_rad_per_s, 0.0_rad_per_s_sq, -20.0_m, 0.0_m, 10.0_mps, 0.0_mps, 0.0_mps_sq, 0.0_rad, 0.0_rad_per_s, 0.0_rad_per_s_sq, 0.0_m, 0.0_m, units::time::second_t(std::numeric_limits<double>::max())},
+TtcCalculationTest_Data{ 0.0_m, 10.0_m, 10.0_mps, 0.0_mps, 0.0_mps_sq, 0.0_rad, 0.0_rad_per_s, 0.0_rad_per_s_sq, 40.5_m, 10.0_m, 2.0_mps, 0.0_mps, 0.0_mps_sq, 0.0_rad, 0.0_rad_per_s, 0.0_rad_per_s_sq, 0.0_m, 0.0_m, 4.82_s},
+TtcCalculationTest_Data{ 20.0_m, -10.0_m, 10.0_mps, 0.0_mps, 0.0_mps_sq, 0.0_rad, 0.0_rad_per_s, 0.0_rad_per_s_sq, 5.0_m, -10.0_m, 40.0_mps, 0.0_mps, 0.0_mps_sq, 0.0_rad, 0.0_rad_per_s, 0.0_rad_per_s_sq, 0.0_m, 0.0_m, 0.44_s},
+TtcCalculationTest_Data{ 0.0_m, 0.0_m, 0.0_mps, 0.0_mps, 0.0_mps_sq, 0.0_rad, 0.0_rad_per_s, 0.0_rad_per_s_sq, 0.0_m, 14.0_m, 0.0_mps, -5.0_mps, 0.0_mps_sq, -90_deg, 0.0_rad_per_s, 0.0_rad_per_s_sq, 10.0_m, 5.0_m, 1.0_s},
+TtcCalculationTest_Data{ 0.0_m, 0.0_m, 0.0_mps, 0.0_mps, 0.0_mps_sq, 0.0_rad, 0.0_rad_per_s, 0.0_rad_per_s_sq, -50.0_m, 0.0_m, 5.0_mps, 0.0_mps, 2.0_mps_sq, 0.0_rad, 0.0_rad_per_s, 0.0_rad_per_s_sq, 0.0_m, 0.0_m, 4.87_s},
+TtcCalculationTest_Data{ 0.0_m, 0.0_m, 0.0_mps, 0.0_mps, 0.0_mps_sq, 0.0_rad, 0.0_rad_per_s, 0.0_rad_per_s_sq, -10.0_m, -10.0_m, 0.0_mps, 10.0_mps, 0.0_mps_sq, 90_deg, -1.0_rad_per_s, 0.0_rad_per_s_sq, 0.0_m, 0.0_m, 1.38_s}
));
diff --git a/sim/tests/unitTests/components/AlgorithmAEB/AlgorithmAebOSIUnitTests.h b/sim/tests/unitTests/components/AlgorithmAEB/AlgorithmAebOSIUnitTests.h
index 864cf605ce32c7068f7c7fb670b55dc7774dd49d..24827004ec248cbdabaa080e4f0951649885a8b6 100644
--- a/sim/tests/unitTests/components/AlgorithmAEB/AlgorithmAebOSIUnitTests.h
+++ b/sim/tests/unitTests/components/AlgorithmAEB/AlgorithmAebOSIUnitTests.h
@@ -30,7 +30,7 @@ public:
delete implementation;
}
- void SetEgoValues(double velocity, double acceleration, double yawRate);
+ void SetEgoValues(units::velocity::meters_per_second_t velocity, units::acceleration::meters_per_second_squared_t acceleration, units::angular_velocity::radians_per_second_t yawRate);
AlgorithmAutonomousEmergencyBrakingImplementation *implementation;
NiceMock<FakeWorld> fakeWorldInterface;
diff --git a/sim/tests/unitTests/components/AlgorithmAEB/AlgorithmAeb_Tests.cpp b/sim/tests/unitTests/components/AlgorithmAEB/AlgorithmAeb_Tests.cpp
index 5897e158080245f87becb48980037ff674b353fb..b5b7697c150acb4b004a82c529745ecfd6c1c50d 100644
--- a/sim/tests/unitTests/components/AlgorithmAEB/AlgorithmAeb_Tests.cpp
+++ b/sim/tests/unitTests/components/AlgorithmAEB/AlgorithmAeb_Tests.cpp
@@ -23,9 +23,11 @@ using ::testing::NiceMock;
using ::testing::Return;
using ::testing::ReturnRef;
+using namespace units::literals;
+
TEST_F(AlgorithmAutonomousEmergencyBraking_UnitTest, ActualTTCLessThanBrakeTTCWithStationaryObject_ShouldActivateAEB)
{
- SetEgoValues(20.0, 0.0, 0.0);
+ SetEgoValues(20.0_mps, 0.0_mps_sq, 0.0_rad_per_s);
osi3::SensorData sensorData;
auto stationaryObject = sensorData.add_stationary_object();
@@ -39,12 +41,12 @@ TEST_F(AlgorithmAutonomousEmergencyBraking_UnitTest, ActualTTCLessThanBrakeTTCWi
implementation->UpdateInput(0, std::make_shared<SensorDataSignal>(sensorData), 0);
implementation->Trigger(0);
- EXPECT_LT(implementation->GetAcceleration(), 0.0);
+ EXPECT_LT(implementation->GetAcceleration().value(), 0.0);
}
TEST_F(AlgorithmAutonomousEmergencyBraking_UnitTest, ActualTTCLessThanBrakeTTCWithMovingObject_ShouldActivateAEB)
{
- SetEgoValues(20.0, 0.0, 0.0);
+ SetEgoValues(20.0_mps, 0.0_mps_sq, 0.0_rad_per_s);
osi3::SensorData sensorData;
auto movingObject = sensorData.add_moving_object();
@@ -62,12 +64,12 @@ TEST_F(AlgorithmAutonomousEmergencyBraking_UnitTest, ActualTTCLessThanBrakeTTCWi
implementation->UpdateInput(0, std::make_shared<SensorDataSignal>(sensorData), 0);
implementation->Trigger(0);
- EXPECT_LT(implementation->GetAcceleration(), 0.0);
+ EXPECT_LT(implementation->GetAcceleration().value(), 0.0);
}
TEST_F(AlgorithmAutonomousEmergencyBraking_UnitTest, ActualTTCMoreThanBrakeTTC_ShouldNotActivateAEB)
{
- SetEgoValues(20.0, 0.0, 0.0);
+ SetEgoValues(20.0_mps, 0.0_mps_sq, 0.0_rad_per_s);
osi3::SensorData sensorData;
auto movingObject = sensorData.add_moving_object();
@@ -85,7 +87,7 @@ TEST_F(AlgorithmAutonomousEmergencyBraking_UnitTest, ActualTTCMoreThanBrakeTTC_S
implementation->UpdateInput(0, std::make_shared<SensorDataSignal>(sensorData), 0);
implementation->Trigger(0);
- EXPECT_GE(implementation->GetAcceleration(), 0.0);
+ EXPECT_GE(implementation->GetAcceleration().value(), 0.0);
}
AlgorithmAutonomousEmergencyBraking_UnitTest::AlgorithmAutonomousEmergencyBraking_UnitTest()
@@ -108,9 +110,9 @@ AlgorithmAutonomousEmergencyBraking_UnitTest::AlgorithmAutonomousEmergencyBrakin
ON_CALL(*aebParameters, GetParameterLists()).WillByDefault(ReturnRef(parameterLists));
ON_CALL(*aebParameters, GetParametersDouble()).WillByDefault(ReturnRef(doubleParameters));
- ON_CALL(fakeEgoAgent, GetLength()).WillByDefault(Return(2.0));
- ON_CALL(fakeEgoAgent, GetWidth()).WillByDefault(Return(1.0));
- ON_CALL(fakeEgoAgent, GetDistanceReferencePointToLeadingEdge()).WillByDefault(Return(1.0));
+ ON_CALL(fakeEgoAgent, GetLength()).WillByDefault(Return(2.0_m));
+ ON_CALL(fakeEgoAgent, GetWidth()).WillByDefault(Return(1.0_m));
+ ON_CALL(fakeEgoAgent, GetDistanceReferencePointToLeadingEdge()).WillByDefault(Return(1.0_m));
int fakeCycleTime = 50;
@@ -127,10 +129,10 @@ AlgorithmAutonomousEmergencyBraking_UnitTest::AlgorithmAutonomousEmergencyBrakin
&fakeEgoAgent);
}
-void AlgorithmAutonomousEmergencyBraking_UnitTest::SetEgoValues(double velocity, double acceleration, double yawRate)
+void AlgorithmAutonomousEmergencyBraking_UnitTest::SetEgoValues(units::velocity::meters_per_second_t velocity, units::acceleration::meters_per_second_squared_t acceleration, units::angular_velocity::radians_per_second_t yawRate)
{
- ON_CALL(fakeEgoAgent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{velocity, 0.0}));
- ON_CALL(fakeEgoAgent, GetAcceleration(_)).WillByDefault(Return(Common::Vector2d{acceleration, 0.0}));
- ON_CALL(fakeEgoAgent, GetYaw()).WillByDefault(Return(0.0));
+ ON_CALL(fakeEgoAgent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{velocity, 0.0_mps}));
+ ON_CALL(fakeEgoAgent, GetAcceleration(_)).WillByDefault(Return(Common::Vector2d{acceleration, 0.0_mps_sq}));
+ ON_CALL(fakeEgoAgent, GetYaw()).WillByDefault(Return(0.0_rad));
ON_CALL(fakeEgoAgent, GetYawRate()).WillByDefault(Return(yawRate));
}
diff --git a/sim/tests/unitTests/components/Algorithm_AFDM/Afdm_Tests.cpp b/sim/tests/unitTests/components/Algorithm_AFDM/Afdm_Tests.cpp
index d369d72e7bd3e48a07d71b1e95ca0f23dc8afd74..4f8867ba73c4a2f469c57d9d92b77d8286e88830 100644
--- a/sim/tests/unitTests/components/Algorithm_AFDM/Afdm_Tests.cpp
+++ b/sim/tests/unitTests/components/Algorithm_AFDM/Afdm_Tests.cpp
@@ -54,7 +54,7 @@ TEST(AgentFollowingDriverModel, TriggerWithNoFrontAgentAndVelocityHigherWish_Acc
SurroundingObjects surroundingObjects;
surroundingObjects.objectFront.exist = false;
- vehicleInfo.absoluteVelocity = 200.0/3.6;
+ vehicleInfo.absoluteVelocity = units::velocity::kilometers_per_hour_t(200.0);
const auto sensorDriverSignal0 = std::make_shared<SensorDriverSignal const>(vehicleInfo,
trafficRuleInfo,
geometricInfo,
@@ -66,12 +66,12 @@ TEST(AgentFollowingDriverModel, TriggerWithNoFrontAgentAndVelocityHigherWish_Acc
implementation.UpdateOutput(2, outputSignal, 0);
auto brakingSignal = std::static_pointer_cast<AccelerationSignal const>(outputSignal);
- double acceleration = brakingSignal->acceleration;
+ units::acceleration::meters_per_second_squared_t acceleration = brakingSignal->acceleration;
- ASSERT_THAT(acceleration, Ge(-maxDeceleration));
- ASSERT_THAT(acceleration, Le(maxAcceleration));
+ ASSERT_THAT(acceleration.value(), Ge(-maxDeceleration));
+ ASSERT_THAT(acceleration.value(), Le(maxAcceleration));
- vehicleInfo.absoluteVelocity = 20.0/3.6;
+ vehicleInfo.absoluteVelocity = units::velocity::kilometers_per_hour_t(20.0);
const auto sensorDriverSignal1 = std::make_shared<SensorDriverSignal const>(vehicleInfo,
trafficRuleInfo,
geometricInfo,
@@ -84,8 +84,8 @@ TEST(AgentFollowingDriverModel, TriggerWithNoFrontAgentAndVelocityHigherWish_Acc
brakingSignal = std::static_pointer_cast<AccelerationSignal const>(outputSignal);
acceleration = brakingSignal->acceleration;
- ASSERT_THAT(acceleration, Ge(-maxDeceleration));
- ASSERT_THAT(acceleration, Le(maxAcceleration));
+ ASSERT_THAT(acceleration.value(), Ge(-maxDeceleration));
+ ASSERT_THAT(acceleration.value(), Le(maxAcceleration));
}
TEST(AgentFollowingDriverModel, TriggerWithNoFrontAgentAndVelocityIsWish_HoldVWish)
@@ -114,7 +114,7 @@ TEST(AgentFollowingDriverModel, TriggerWithNoFrontAgentAndVelocityIsWish_HoldVWi
SurroundingObjects surroundingObjects;
surroundingObjects.objectFront.exist = false;
- vehicleInfo.absoluteVelocity = 120.0/3.6;
+ vehicleInfo.absoluteVelocity = units::velocity::kilometers_per_hour_t(120.0);
const auto sensorDriverSignal = std::make_shared<SensorDriverSignal const>(vehicleInfo,
trafficRuleInfo,
geometricInfo,
@@ -126,8 +126,8 @@ TEST(AgentFollowingDriverModel, TriggerWithNoFrontAgentAndVelocityIsWish_HoldVWi
implementation.UpdateOutput(2, outputSignal, 0);
auto brakingSignal = std::static_pointer_cast<AccelerationSignal const>(outputSignal);
- double acceleration = brakingSignal->acceleration;
- ASSERT_THAT(acceleration, DoubleEq(0.0));
+ units::acceleration::meters_per_second_squared_t acceleration = brakingSignal->acceleration;
+ ASSERT_THAT(acceleration.value(), DoubleEq(0.0));
}
TEST(AgentFollowingDriverModel, TriggerWithNoFrontAgentAndVelocityHigherWish_AccUntilWish)
@@ -156,7 +156,7 @@ TEST(AgentFollowingDriverModel, TriggerWithNoFrontAgentAndVelocityHigherWish_Acc
SurroundingObjects surroundingObjects;
surroundingObjects.objectFront.exist = false;
- vehicleInfo.absoluteVelocity = 150.0/3.6;
+ vehicleInfo.absoluteVelocity = units::velocity::kilometers_per_hour_t(150.0);
const auto sensorDriverSignal0 = std::make_shared<SensorDriverSignal const>(vehicleInfo,
trafficRuleInfo,
geometricInfo,
@@ -168,10 +168,10 @@ TEST(AgentFollowingDriverModel, TriggerWithNoFrontAgentAndVelocityHigherWish_Acc
implementation.UpdateOutput(2, outputSignal, 0);
auto brakingSignal = std::static_pointer_cast<AccelerationSignal const>(outputSignal);
- double acceleration = brakingSignal->acceleration;
- ASSERT_THAT(acceleration, Lt(0.0));
+ units::acceleration::meters_per_second_squared_t acceleration = brakingSignal->acceleration;
+ ASSERT_THAT(acceleration.value(), Lt(0.0));
- vehicleInfo.absoluteVelocity = 120.0/3.6;
+ vehicleInfo.absoluteVelocity = units::velocity::kilometers_per_hour_t(120.0);
const auto sensorDriverSignal1 = std::make_shared<SensorDriverSignal const>(vehicleInfo,
trafficRuleInfo,
geometricInfo,
@@ -183,5 +183,5 @@ TEST(AgentFollowingDriverModel, TriggerWithNoFrontAgentAndVelocityHigherWish_Acc
brakingSignal = std::static_pointer_cast<AccelerationSignal const>(outputSignal);
acceleration = brakingSignal->acceleration;
- ASSERT_THAT(acceleration, DoubleEq(0.0));
+ ASSERT_THAT(acceleration.value(), DoubleEq(0.0));
}
diff --git a/sim/tests/unitTests/components/Algorithm_FmuWrapper/OsmpFmuUnitTests.cpp b/sim/tests/unitTests/components/Algorithm_FmuWrapper/OsmpFmuUnitTests.cpp
index 62f021aea4e30c4af6f311a1248a4228b525e4f9..bf8cf17fa35e40417ba8dfa534433e7569a04189 100644
--- a/sim/tests/unitTests/components/Algorithm_FmuWrapper/OsmpFmuUnitTests.cpp
+++ b/sim/tests/unitTests/components/Algorithm_FmuWrapper/OsmpFmuUnitTests.cpp
@@ -13,17 +13,25 @@
#include "OsmpFmuHandler.h"
+using namespace units::literals;
+
using ::testing::Eq;
#ifdef USE_EXTENDED_OSI
TEST(OsmpFmuUnitTests, GetTrafficCommandFromOpenScenarioTrajectory_FollowTrajectoryAction)
{
- openScenario::Trajectory trajectory;
- trajectory.points.emplace_back(openScenario::TrajectoryPoint{0.0, 0.1, -0.2, 0.3});
- trajectory.points.emplace_back(openScenario::TrajectoryPoint{5.1, -1.1, 1.2, 1.3});
- trajectory.points.emplace_back(openScenario::TrajectoryPoint{15.2, 2.1, -2.2, -2.3});
- openScenario::TrajectoryTimeReference timeReference{"", 0.0, 0.0};
- trajectory.timeReference = timeReference;
+ mantle_api::Pose fakePose1{{0.1_m, -0.2_m, 0_m}, {0.3_rad, 0_rad, 0_rad}};
+ mantle_api::Pose fakePose2{{-1.1_m, 1.2_m, 0_m}, {1.3_rad, 0_rad, 0_rad}};
+ mantle_api::Pose fakePose3{{2.1_m, -2.2_m, 0_m}, {-2.3_rad, 0_rad, 0_rad}};
+
+ mantle_api::PolyLinePoint fakePolyLinePoint1{fakePose1, 0_s};
+ mantle_api::PolyLinePoint fakePolyLinePoint2{fakePose2, 5.1_s};
+ mantle_api::PolyLinePoint fakePolyLinePoint3{fakePose3, 15.2_s};
+
+ mantle_api::PolyLine polyLine{fakePolyLinePoint1, fakePolyLinePoint2, fakePolyLinePoint3};
+
+ mantle_api::Trajectory trajectory;
+ trajectory.type = polyLine;
osi3::TrafficCommand trafficCommand;
OsmpFmuHandler::AddTrafficCommandActionFromOpenScenarioTrajectory(trafficCommand.add_action(), trajectory);
@@ -55,10 +63,18 @@ TEST(OsmpFmuUnitTests, GetTrafficCommandFromOpenScenarioTrajectory_FollowTraject
TEST(OsmpFmuUnitTests, GetTrafficCommandFromOpenScenarioTrajectory_FollowPathAction)
{
- openScenario::Trajectory trajectory;
- trajectory.points.emplace_back(openScenario::TrajectoryPoint{0.0, 0.1, -0.2, 0.3});
- trajectory.points.emplace_back(openScenario::TrajectoryPoint{5.1, -1.1, 1.2, 1.3});
- trajectory.points.emplace_back(openScenario::TrajectoryPoint{15.2, 2.1, -2.2, -2.3});
+ mantle_api::Pose fakePose1{{0.1_m, -0.2_m, 0_m}, {0.3_rad, 0_rad, 0_rad}};
+ mantle_api::Pose fakePose2{{-1.1_m, 1.2_m, 0_m}, {1.3_rad, 0_rad, 0_rad}};
+ mantle_api::Pose fakePose3{{2.1_m, -2.2_m, 0_m}, {-2.3_rad, 0_rad, 0_rad}};
+
+ mantle_api::PolyLinePoint fakePolyLinePoint1{fakePose1};
+ mantle_api::PolyLinePoint fakePolyLinePoint2{fakePose2};
+ mantle_api::PolyLinePoint fakePolyLinePoint3{fakePose3};
+
+ mantle_api::PolyLine polyLine{fakePolyLinePoint1, fakePolyLinePoint2, fakePolyLinePoint3};
+
+ mantle_api::Trajectory trajectory;
+ trajectory.type = polyLine;
osi3::TrafficCommand trafficCommand;
OsmpFmuHandler::AddTrafficCommandActionFromOpenScenarioTrajectory(trafficCommand.add_action(), trajectory);
@@ -84,8 +100,8 @@ TEST(OsmpFmuUnitTests, GetTrafficCommandFromOpenScenarioTrajectory_FollowPathAct
TEST(OsmpFmuUnitTests, GetTrafficCommandFromOpenScenarioPosition)
{
- constexpr double x = 3.14, y = 42.0;
- openScenario::Position position = openScenario::WorldPosition{3.14, 42.0};
+ constexpr units::length::meter_t x = 3.14_m, y = 42.0_m;
+ mantle_api::Position position = mantle_api::Vec3<units::length::meter_t>{x, y, 0_m};
osi3::TrafficCommand trafficCommand;
OsmpFmuHandler::AddTrafficCommandActionFromOpenScenarioPosition(trafficCommand.add_action(), position, nullptr, nullptr);
@@ -95,8 +111,8 @@ TEST(OsmpFmuUnitTests, GetTrafficCommandFromOpenScenarioPosition)
ASSERT_TRUE(hasAcquireGlobalPositionAction);
const auto &positionAction = action.acquire_global_position_action();
ASSERT_TRUE(positionAction.has_position());
- ASSERT_EQ(positionAction.position().x(), x);
- ASSERT_EQ(positionAction.position().y(), y);
+ ASSERT_EQ(positionAction.position().x(), x.value());
+ ASSERT_EQ(positionAction.position().y(), y.value());
ASSERT_FALSE(positionAction.position().has_z());
ASSERT_FALSE(positionAction.has_orientation());
ASSERT_FALSE(positionAction.orientation().has_roll());
diff --git a/sim/tests/unitTests/components/Algorithm_Lateral/algorithmLateral_Tests.cpp b/sim/tests/unitTests/components/Algorithm_Lateral/algorithmLateral_Tests.cpp
index 6ceaac37d6757347654866507c92eb6cd68b34dc..87dd046042ef71b15f1100dab1892b7ad15a4354 100644
--- a/sim/tests/unitTests/components/Algorithm_Lateral/algorithmLateral_Tests.cpp
+++ b/sim/tests/unitTests/components/Algorithm_Lateral/algorithmLateral_Tests.cpp
@@ -32,15 +32,15 @@ using ::testing::ReturnRef;
/// \brief Data table for definition of individual test cases for AreaOfInterest::EGO_FRONT
struct DataFor_AlgorithmLateralDriverImplementation_Trigger
{
- double input_LongitudinalVelocity;
- double input_LateralDeviation;
- double input_HeadingError;
- double input_LastSteeringWheelAngle;
- std::vector<double> input_CurvatureSegmentsNear;
- std::vector<double> input_CurvatureSegmentsFar;
- double input_KappaRoad;
- double input_KappaManeuver;
- double result_SteeringWheelAngle;
+ units::velocity::meters_per_second_t input_LongitudinalVelocity;
+ units::length::meter_t input_LateralDeviation;
+ units::angle::radian_t input_HeadingError;
+ units::angle::degree_t input_LastSteeringWheelAngle;
+ std::vector<units::curvature::inverse_meter_t> input_CurvatureSegmentsNear;
+ std::vector<units::curvature::inverse_meter_t> input_CurvatureSegmentsFar;
+ units::curvature::inverse_meter_t input_KappaRoad;
+ units::curvature::inverse_meter_t input_KappaManeuver;
+ units::angle::degree_t result_SteeringWheelAngle;
/// \brief This stream will be shown in case the test fails
friend std::ostream& operator<<(std::ostream& os, const DataFor_AlgorithmLateralDriverImplementation_Trigger& obj)
@@ -71,28 +71,28 @@ TEST_P(LateralDriverTrigger, LateralDriver_CheckTriggerFunction)
// Set data for test
LateralSignal lateralSignal {ComponentState::Acting,
- 0.0,
+ {0.0_m,
data.input_LateralDeviation,
- 20.,
+ 20.0_rad_per_s_sq,
data.input_HeadingError,
- 10.,
- data.input_KappaManeuver,
+ 10._Hz,
+ data.input_KappaManeuver},
data.input_KappaRoad,
data.input_CurvatureSegmentsNear,
data.input_CurvatureSegmentsFar};
stubLateralDriver->SetLateralInput(lateralSignal);
stubLateralDriver->SetVehicleParameter(10.,
- 2 * M_PI,
- 3.);
+ units::angle::radian_t(2 * M_PI),
+ 3.0_m);
stubLateralDriver->SetVelocityAndSteeringWheelAngle(data.input_LongitudinalVelocity,
data.input_LastSteeringWheelAngle);
// Call test
stubLateralDriver->Trigger(0);
- double result = stubLateralDriver->GetDesiredSteeringWheelAngle();
+ auto result = stubLateralDriver->GetDesiredSteeringWheelAngle();
// Results must be within 1% of analytical results (since excact matches can't be guaranteed)
- bool resultLegit = std::fabs(data.result_SteeringWheelAngle - result) <= .01 * std::fabs(data.result_SteeringWheelAngle);
+ bool resultLegit = units::math::fabs(data.result_SteeringWheelAngle - result) <= .01 * units::math::fabs(data.result_SteeringWheelAngle);
// Evaluate result
ASSERT_TRUE(resultLegit) << "SteeringWheelAngle: " << result << std::endl;
@@ -101,28 +101,24 @@ TEST_P(LateralDriverTrigger, LateralDriver_CheckTriggerFunction)
/**********************************************************
* The test data (must be defined below test) *
**********************************************************/
-INSTANTIATE_TEST_CASE_P(Default, LateralDriverTrigger,testing::Values
-(
- /*
- double input_LongitudinalVelocity;
- double input_LateralDeviation;
- double input_HeadingError;
- double input_LastSteeringWheelAngle;
- std::vector<double> input_CurvatureSegmentsNear;
- std::vector<double> input_CurvatureSegmentsFar;
- double input_KappaRoad;
- double input_KappaManeuver;
- double result_SteeringWheelAngle;
+INSTANTIATE_TEST_CASE_P(Default, LateralDriverTrigger, testing::Values(
+ /*
+ units::velocity::meters_per_second_t input_LongitudinalVelocity;
+ units::length::meter_t input_LateralDeviation;
+ units::angle::radian_t input_HeadingError;
+ units::angle::degree_t input_LastSteeringWheelAngle;
+ std::vector<units::curvature::inverse_meter_t> input_CurvatureSegmentsNear;
+ std::vector<units::curvature::inverse_meter_t> input_CurvatureSegmentsFar;
+ units::curvature::inverse_meter_t input_KappaRoad;
+ units::curvature::inverse_meter_t input_KappaManeuver;
+ units::angle::degree_t result_SteeringWheelAngle;
*/
-
- DataFor_AlgorithmLateralDriverImplementation_Trigger{50., 0., 0., 0. * M_PI / 180.0, {0., 0., 0., 0., 0.}, {0., 0., 0., 0., 0.}, 0., 0., 000.000000 * M_PI / 180.}, // Driving straight
- DataFor_AlgorithmLateralDriverImplementation_Trigger{50., 1., 0., 0. * M_PI / 180.0, {0., 0., 0., 0., 0.}, {0., 0., 0., 0., 0.}, 0., 0., 013.750987 * M_PI / 180.}, // Lateral deviation from trajectory
- DataFor_AlgorithmLateralDriverImplementation_Trigger{50., 0., 1., 300. * M_PI / 180.0, {0., 0., 0., 0., 0.}, {0., 0., 0., 0., 0.}, 0., 0., 332.000000 * M_PI / 180.}, // Lateral deviation from trajectory with non central steering wheel capped to 320°/s (actual 343.77467)
- DataFor_AlgorithmLateralDriverImplementation_Trigger{50., 0., 2., 350. * M_PI / 180.0, {0., 0., 0., 0., 0.}, {0., 0., 0., 0., 0.}, 0., 0., 360.000000 * M_PI / 180.}, // Curvature of trajectory, 687.54935° capped at 360°
- DataFor_AlgorithmLateralDriverImplementation_Trigger{50., 2., 1., 350. * M_PI / 180.0, {0., 0., 0., 0., 0.}, {0., 0., 0., 0., 0.}, 0., 0., 360.000000 * M_PI / 180.} // Total steering wheel angle, 371.27665° capped at 360°
-)
-);
-
+ DataFor_AlgorithmLateralDriverImplementation_Trigger{50._mps, 0._m, 0._rad, 0._deg, {0._i_m, 0._i_m, 0._i_m, 0._i_m, 0._i_m}, {0._i_m, 0._i_m, 0._i_m, 0._i_m, 0._i_m}, 0._i_m, 0._i_m, 000.000000_deg}, // Driving straight
+ DataFor_AlgorithmLateralDriverImplementation_Trigger{50._mps, 1._m, 0._rad, 0._deg, {0._i_m, 0._i_m, 0._i_m, 0._i_m, 0._i_m}, {0._i_m, 0._i_m, 0._i_m, 0._i_m, 0._i_m}, 0._i_m, 0._i_m, 013.750987_deg}, // Lateral deviation from trajectory
+ DataFor_AlgorithmLateralDriverImplementation_Trigger{50._mps, 0._m, 1._rad, 300._deg, {0._i_m, 0._i_m, 0._i_m, 0._i_m, 0._i_m}, {0._i_m, 0._i_m, 0._i_m, 0._i_m, 0._i_m}, 0._i_m, 0._i_m, 332.000000_deg}, // Lateral deviation from trajectory with non central steering wheel capped to 320°/s (actual 343.77467)
+ DataFor_AlgorithmLateralDriverImplementation_Trigger{50._mps, 0._m, 2._rad, 350._deg, {0._i_m, 0._i_m, 0._i_m, 0._i_m, 0._i_m}, {0._i_m, 0._i_m, 0._i_m, 0._i_m, 0._i_m}, 0._i_m, 0._i_m, 360.000000_deg}, // Curvature of trajectory, 687.54935° capped at 360°
+ DataFor_AlgorithmLateralDriverImplementation_Trigger{50._mps, 2._m, 1._rad, 350._deg, {0._i_m, 0._i_m, 0._i_m, 0._i_m, 0._i_m}, {0._i_m, 0._i_m, 0._i_m, 0._i_m, 0._i_m}, 0._i_m, 0._i_m, 360.000000_deg} // Total steering wheel angle, 371.27665° capped at 360°
+ ));
/*******************************************
* CHECK Update input *
@@ -169,7 +165,7 @@ struct DataFor_AlgorithmLateralDriverImplementation_UpdateInput
struct DataFor_AlgorithmLateralDriverImplementation_UpdateOutput
{
- double input_DesiredSteeringWheelAngle;
+ units::angle::radian_t input_DesiredSteeringWheelAngle;
bool input_IsActive;
/// \brief This stream will be shown in case the test fails
@@ -214,7 +210,7 @@ TEST_P(LateralDriverUpdateOutput, LateralDriver_CheckFunction_UpdateOutput)
} else
{
ASSERT_EQ(signal->componentState, ComponentState::Disabled);
- ASSERT_EQ(signal->steeringWheelAngle, 0.);
+ ASSERT_EQ(signal->steeringWheelAngle, 0._rad);
}
}
@@ -222,14 +218,10 @@ TEST_P(LateralDriverUpdateOutput, LateralDriver_CheckFunction_UpdateOutput)
/**********************************************************
* The test data (must be defined below test) *
**********************************************************/
-INSTANTIATE_TEST_CASE_P(Default, LateralDriverUpdateOutput,testing::Values
-(
- /*
+INSTANTIATE_TEST_CASE_P(Default, LateralDriverUpdateOutput, testing::Values(
+ /*
double input_DesiredSteeringWheelAngle;
bool input_IsActive;
*/
- DataFor_AlgorithmLateralDriverImplementation_UpdateOutput{0.27 * M_PI / 180., true},
- DataFor_AlgorithmLateralDriverImplementation_UpdateOutput{0.74 * M_PI / 180., false}
-)
-);
+ DataFor_AlgorithmLateralDriverImplementation_UpdateOutput{units::angle::radian_t(0.27 * M_PI / 180.), true}, DataFor_AlgorithmLateralDriverImplementation_UpdateOutput{units::angle::radian_t(0.74 * M_PI / 180.), false}));
diff --git a/sim/tests/unitTests/components/Algorithm_Lateral/testAlgorithmLateralImplementation.h b/sim/tests/unitTests/components/Algorithm_Lateral/testAlgorithmLateralImplementation.h
index ea3b5826eb53b677b03657eb86b09b5dd54f60f0..d082119297e7258b2faef00ff2978eada9d96d9a 100644
--- a/sim/tests/unitTests/components/Algorithm_Lateral/testAlgorithmLateralImplementation.h
+++ b/sim/tests/unitTests/components/Algorithm_Lateral/testAlgorithmLateralImplementation.h
@@ -54,24 +54,27 @@ public:
~TestAlgorithmLateralImplementation(){}
- void SetDesiredSteeringWheelAngle(double Angle) {out_desiredSteeringWheelAngle = Angle;}
+ void SetDesiredSteeringWheelAngle(units::angle::radian_t angle)
+ {
+ out_desiredSteeringWheelAngle = angle;
+ }
void SetIsActive(bool active) {isActive = active;}
void SetLateralInput(const LateralSignal lateralSignal) {steeringController.SetLateralInput(lateralSignal);}
void SetVehicleParameter(const double &steeringRatio,
- const double &maximumSteeringWheelAngleAmplitude,
- const double &wheelbase)
+ const units::angle::radian_t &maximumSteeringWheelAngleAmplitude,
+ const units::length::meter_t &wheelbase)
{
steeringController.SetVehicleParameter(steeringRatio,
maximumSteeringWheelAngleAmplitude,
wheelbase);
}
- void SetVelocityAndSteeringWheelAngle(const double &velocity,
- const double &steeringWheelAngle)
+ void SetVelocityAndSteeringWheelAngle(const units::velocity::meters_per_second_t &velocity,
+ const units::angle::radian_t &steeringWheelAngle)
{
steeringController.SetVelocityAndSteeringWheelAngle(velocity, steeringWheelAngle);
}
- double GetDesiredSteeringWheelAngle() {return out_desiredSteeringWheelAngle;}
+ units::angle::radian_t GetDesiredSteeringWheelAngle() {return out_desiredSteeringWheelAngle;}
};
diff --git a/sim/tests/unitTests/components/Algorithm_Longitudinal/algorithmLongitudinal_Tests.cpp b/sim/tests/unitTests/components/Algorithm_Longitudinal/algorithmLongitudinal_Tests.cpp
index 7701d0170144e584fb2528b4f7b699661e05cc3f..a6d84470db4e4ff4b6444767f41c3a79742b9e76 100644
--- a/sim/tests/unitTests/components/Algorithm_Longitudinal/algorithmLongitudinal_Tests.cpp
+++ b/sim/tests/unitTests/components/Algorithm_Longitudinal/algorithmLongitudinal_Tests.cpp
@@ -1,6 +1,7 @@
/********************************************************************************
* Copyright (c) 2019 AMFD GmbH
* 2019 in-tech GmbH
+ * 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -22,14 +23,16 @@ using ::testing::_;
using ::testing::ReturnRef;
using ::testing::DoubleEq;
+using namespace units::literals;
+
/********************************************
* CHECK GetEngineTorqueMax *
********************************************/
struct DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMax
{
- double input_EngineSpeed;
- double result_EngineTorqueMax;
+ units::angular_velocity::revolutions_per_minute_t input_EngineSpeed;
+ units::torque::newton_meter_t result_EngineTorqueMax;
/// \brief This stream will be shown in case the test fails
friend std::ostream& operator<<(std::ostream& os, const DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMax& obj)
@@ -51,16 +54,16 @@ TEST_P(AlgorithmLongitudinalCalculationsGetEngineTorqueMax, AlgorithmLongitudina
DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMax data = GetParam();
// Set up test
- VehicleModelParameters vehicleParameters;
- vehicleParameters.properties = {{"MaximumEngineTorque", 270.},
- {"MinimumEngineSpeed", 800.},
- {"MaximumEngineSpeed", 4000.}};
+ mantle_api::VehicleProperties vehicleParameters;
+ vehicleParameters.properties = {{"MaximumEngineTorque", "270.0"},
+ {"MinimumEngineSpeed", "800.0"},
+ {"MaximumEngineSpeed", "4000.0"}};
std::function<void (CbkLogLevel, const char*, int, const std::string&)> Log;
- AlgorithmLongitudinalCalculations calculation{0.0, 0.0, vehicleParameters, Log};
+ AlgorithmLongitudinalCalculations calculation{0.0_mps, 0.0_mps_sq, vehicleParameters, Log};
// Call test
- double result = calculation.GetEngineTorqueMax(data.input_EngineSpeed);
+ auto result = calculation.GetEngineTorqueMax(data.input_EngineSpeed);
// Evaluate result
ASSERT_EQ(result, data.result_EngineTorqueMax);
@@ -69,21 +72,18 @@ TEST_P(AlgorithmLongitudinalCalculationsGetEngineTorqueMax, AlgorithmLongitudina
/**********************************************************
* The test data (must be defined below test) *
**********************************************************/
-INSTANTIATE_TEST_CASE_P(Default, AlgorithmLongitudinalCalculationsGetEngineTorqueMax,testing::Values
-(
- /*
+INSTANTIATE_TEST_CASE_P(Default, AlgorithmLongitudinalCalculationsGetEngineTorqueMax, testing::Values(
+ /*
double input_EngineSpeed;
double result_EngineTorqueMax;
*/
- DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMax{ 700., 170.}, // Speed below minimum
- DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMax{1000., 190.}, // Speed below minimum + 1000 but above minimum
- DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMax{5000., 230.}, // Speed above maximum
- DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMax{3500., 250.}, // Speed above maximum - 1000 but below maximum
- DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMax{3000., 270.} // Speed within threshold
-)
-);
-
+ DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMax{700._rpm, 170._Nm}, // Speed below minimum
+ DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMax{1000._rpm, 190._Nm}, // Speed below minimum + 1000 but above minimum
+ DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMax{5000._rpm, 230._Nm}, // Speed above maximum
+ DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMax{3500._rpm, 250._Nm}, // Speed above maximum - 1000 but below maximum
+ DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMax{3000._rpm, 270._Nm} // Speed within threshold
+ ));
/********************************************
* CHECK GetEngineTorqueMin *
@@ -91,8 +91,8 @@ INSTANTIATE_TEST_CASE_P(Default, AlgorithmLongitudinalCalculationsGetEngineTorqu
struct DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMin
{
- double input_EngineSpeed;
- double result_EngineTorqueMax;
+ units::angular_velocity::revolutions_per_minute_t input_EngineSpeed;
+ units::torque::newton_meter_t result_EngineTorqueMax;
/// \brief This stream will be shown in case the test fails
friend std::ostream& operator<<(std::ostream& os, const DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMin& obj)
@@ -114,17 +114,17 @@ TEST_P(AlgorithmLongitudinalCalculationsGetEngineTorqueMin, AlgorithmLongitudina
DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMin data = GetParam();
// Set up test
- VehicleModelParameters vehicleParameters;
- vehicleParameters.properties = {{"MaximumEngineTorque", 270.},
- {"MinimumEngineTorque", 30.},
- {"MinimumEngineSpeed", 800.},
- {"MaximumEngineSpeed", 4000.}};
+ mantle_api::VehicleProperties vehicleParameters;
+ vehicleParameters.properties = {{"MaximumEngineTorque", "270."},
+ {"MinimumEngineTorque", "30."},
+ {"MinimumEngineSpeed", "800."},
+ {"MaximumEngineSpeed", "4000."}};
std::function<void (CbkLogLevel, const char*, int, const std::string&)> Log;
- AlgorithmLongitudinalCalculations calculation{0.0, 0.0, vehicleParameters, Log};
+ AlgorithmLongitudinalCalculations calculation{0.0_mps, 0.0_mps_sq, vehicleParameters, Log};
// Call test
- double result = calculation.GetEngineTorqueMin(data.input_EngineSpeed);
+ auto result = calculation.GetEngineTorqueMin(data.input_EngineSpeed);
// Evaluate result
ASSERT_EQ(result, data.result_EngineTorqueMax);
@@ -133,19 +133,17 @@ TEST_P(AlgorithmLongitudinalCalculationsGetEngineTorqueMin, AlgorithmLongitudina
/**********************************************************
* The test data (must be defined below test) *
**********************************************************/
-INSTANTIATE_TEST_CASE_P(Default, AlgorithmLongitudinalCalculationsGetEngineTorqueMin,testing::Values
-(
- /*
+INSTANTIATE_TEST_CASE_P(Default, AlgorithmLongitudinalCalculationsGetEngineTorqueMin, testing::Values(
+ /*
double input_EngineSpeed;
double result_EngineTorqueMax;
*/
- DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMin{5000., -23.}, // Speed above max engine speed
- DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMin{3000., -27.}, // Speed within threshold
- DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMin{ 700., -17.}, // Speed below minimum
- DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMin{1000., -19.} // Speed below minimum - 1000 but not below minimum
-)
-);
+ DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMin{5000._rpm, -23._Nm}, // Speed above max engine speed
+ DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMin{3000._rpm, -27._Nm}, // Speed within threshold
+ DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMin{700._rpm, -17._Nm}, // Speed below minimum
+ DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueMin{1000._rpm, -19._Nm} // Speed below minimum - 1000 but not below minimum
+ ));
/********************************************
* CHECK GetAccFromEngineTorque *
@@ -153,9 +151,9 @@ INSTANTIATE_TEST_CASE_P(Default, AlgorithmLongitudinalCalculationsGetEngineTorqu
struct DataFor_AlgorithmLongitudinalCalculations_GetAccFromEngineTorque
{
- double input_EngineTorque;
+ units::torque::newton_meter_t input_EngineTorque;
int input_ChosenGear;
- double result_AccelerationFromEngineTorque;
+ units::acceleration::meters_per_second_squared_t result_AccelerationFromEngineTorque;
/// \brief This stream will be shown in case the test fails
friend std::ostream& operator<<(std::ostream& os, const DataFor_AlgorithmLongitudinalCalculations_GetAccFromEngineTorque& obj)
@@ -178,23 +176,23 @@ TEST_P(AlgorithmLongitudinalCalculationsGetAccFromEngineTorque, AlgorithmLongitu
DataFor_AlgorithmLongitudinalCalculations_GetAccFromEngineTorque data = GetParam();
// Set up test
- VehicleModelParameters 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;
+ mantle_api::VehicleProperties vehicleParameters;
+ vehicleParameters.properties = {{"AxleRatio", "2.8"},
+ {"GearRatio0", "0"},
+ {"GearRatio1", "4.1"},
+ {"GearRatio2", "2.5"},
+ {"GearRatio3", "1.4"},
+ {"GearRatio4", "1"},
+ {"GearRatio5", ".9"},
+ {"GearRatio6", ".7"}};
+ vehicleParameters.mass = 800._kg;
+ vehicleParameters.rear_axle.wheel_diameter = 0.7_m;
std::function<void (CbkLogLevel, const char*, int, const std::string&)> Log;
- AlgorithmLongitudinalCalculations calculation{0.0, 0.0, vehicleParameters, Log};
+ AlgorithmLongitudinalCalculations calculation{0.0_mps, 0.0_mps_sq, vehicleParameters, Log};
// Call test
- double result = calculation.GetAccFromEngineTorque(data.input_EngineTorque, data.input_ChosenGear);
+ auto result = calculation.GetAccFromEngineTorque(data.input_EngineTorque, data.input_ChosenGear);
// Evaluate result
ASSERT_EQ(result, data.result_AccelerationFromEngineTorque);
@@ -203,20 +201,18 @@ TEST_P(AlgorithmLongitudinalCalculationsGetAccFromEngineTorque, AlgorithmLongitu
/**********************************************************
* The test data (must be defined below test) *
**********************************************************/
-INSTANTIATE_TEST_CASE_P(Default, AlgorithmLongitudinalCalculationsGetAccFromEngineTorque,testing::Values
-(
- /*
+INSTANTIATE_TEST_CASE_P(Default, AlgorithmLongitudinalCalculationsGetAccFromEngineTorque, testing::Values(
+ /*
double input_EngineTorque;
int input_ChosenGear;
double result_AccelerationFromEngineTorque;
*/
- DataFor_AlgorithmLongitudinalCalculations_GetAccFromEngineTorque{ 0., 0, 0.}, // No Torque
- DataFor_AlgorithmLongitudinalCalculations_GetAccFromEngineTorque{100., 4, 1.}, // Normal, 4th gear
- DataFor_AlgorithmLongitudinalCalculations_GetAccFromEngineTorque{200., 0, 0.}, // Neutral gear
- DataFor_AlgorithmLongitudinalCalculations_GetAccFromEngineTorque{300., 5, 2.7} // Normal, 5th gear
-)
-);
+ DataFor_AlgorithmLongitudinalCalculations_GetAccFromEngineTorque{0._Nm, 0, 0._mps_sq}, // No Torque
+ DataFor_AlgorithmLongitudinalCalculations_GetAccFromEngineTorque{100._Nm, 4, 1._mps_sq}, // Normal, 4th gear
+ DataFor_AlgorithmLongitudinalCalculations_GetAccFromEngineTorque{200._Nm, 0, 0._mps_sq}, // Neutral gear
+ DataFor_AlgorithmLongitudinalCalculations_GetAccFromEngineTorque{300._Nm, 5, 2.7_mps_sq} // Normal, 5th gear
+ ));
/********************************************
* CHECK GetEngineSpeedByVelocity *
@@ -224,8 +220,8 @@ INSTANTIATE_TEST_CASE_P(Default, AlgorithmLongitudinalCalculationsGetAccFromEngi
struct DataFor_AlgorithmLongitudinalCalculations_GetEngineSpeedByVelocity
{
- double input_Velocity;
- double result_EngineSpeed;
+ units::velocity::meters_per_second_t input_Velocity;
+ units::angular_velocity::revolutions_per_minute_t result_EngineSpeed;
/// \brief This stream will be shown in case the test fails
friend std::ostream& operator<<(std::ostream& os, const DataFor_AlgorithmLongitudinalCalculations_GetEngineSpeedByVelocity& obj)
@@ -247,22 +243,22 @@ TEST_P(AlgorithmLongitudinalCalculationsGetEngineSpeedByVelocity, AlgorithmLongi
DataFor_AlgorithmLongitudinalCalculations_GetEngineSpeedByVelocity data = GetParam();
// Set up tests
- VehicleModelParameters 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;
+ mantle_api::VehicleProperties vehicleParameters;
+ vehicleParameters.properties = {{"AxleRatio", "1"},
+ {"GearRatio1", "4.1"},
+ {"GearRatio2", "2.5"},
+ {"GearRatio3", "1.4"},
+ {"GearRatio4", "1.0"},
+ {"GearRatio5", ".9"},
+ {"GearRatio6", ".7"}};
+ vehicleParameters.mass = 800._kg;
+ vehicleParameters.rear_axle.wheel_diameter = 0.5_m;
std::function<void (CbkLogLevel, const char*, int, const std::string&)> Log;
- AlgorithmLongitudinalCalculations calculation{0.0, 0.0, vehicleParameters, Log};
+ AlgorithmLongitudinalCalculations calculation{0.0_mps, 0.0_mps_sq, vehicleParameters, Log};
// Call test
- double result = calculation.GetEngineSpeedByVelocity(data.input_Velocity, 4) * 2 * M_PI;
+ auto result = calculation.GetEngineSpeedByVelocity(data.input_Velocity, 4) * 2 * M_PI;
// Evaluate result
ASSERT_EQ(result, data.result_EngineSpeed);
@@ -271,18 +267,13 @@ TEST_P(AlgorithmLongitudinalCalculationsGetEngineSpeedByVelocity, AlgorithmLongi
/**********************************************************
* The test data (must be defined below test) *
**********************************************************/
-INSTANTIATE_TEST_CASE_P(Default, AlgorithmLongitudinalCalculationsGetEngineSpeedByVelocity,testing::Values
-(
- /*
+INSTANTIATE_TEST_CASE_P(Default, AlgorithmLongitudinalCalculationsGetEngineSpeedByVelocity, testing::Values(
+ /*
double input_Velocity;
double result_EngineSpeed;
*/
- DataFor_AlgorithmLongitudinalCalculations_GetEngineSpeedByVelocity{0., 0.},
- DataFor_AlgorithmLongitudinalCalculations_GetEngineSpeedByVelocity{50., 12000.},
- DataFor_AlgorithmLongitudinalCalculations_GetEngineSpeedByVelocity{20., 4800.}
-)
-);
+ DataFor_AlgorithmLongitudinalCalculations_GetEngineSpeedByVelocity{0._mps, 0._rpm}, DataFor_AlgorithmLongitudinalCalculations_GetEngineSpeedByVelocity{50._mps, 12000._rpm}, DataFor_AlgorithmLongitudinalCalculations_GetEngineSpeedByVelocity{20._mps, 4800._rpm}));
/********************************************
* CHECK GetEngineTorqueAtGear *
@@ -290,9 +281,9 @@ INSTANTIATE_TEST_CASE_P(Default, AlgorithmLongitudinalCalculationsGetEngineSpeed
struct DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueAtGear
{
- double input_Acceleration;
+ units::acceleration::meters_per_second_squared_t input_Acceleration;
int input_Gear;
- double result_TorqueAtGear;
+ units::torque::newton_meter_t result_TorqueAtGear;
/// \brief This stream will be shown in case the test fails
friend std::ostream& operator<<(std::ostream& os, const DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueAtGear& obj)
@@ -315,23 +306,23 @@ TEST_P(AlgorithmLongitudinalCalculationsGetEngineTorqueAtGear, AlgorithmLongitud
DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueAtGear data = GetParam();
// Set up tests
- VehicleModelParameters 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;
+ mantle_api::VehicleProperties vehicleParameters;
+ vehicleParameters.properties = {{"AxleRatio", "1.0"},
+ {"GearRatio1", "4.1"},
+ {"GearRatio2", "2.5"},
+ {"GearRatio3", "1.4"},
+ {"GearRatio4", "1.0"},
+ {"GearRatio5", "0.9"},
+ {"GearRatio6", "0.7"},
+ {"NumberOfGears", "6"}};
+ vehicleParameters.mass = 500._kg;
+ vehicleParameters.rear_axle.wheel_diameter = 0.5_m;
std::function<void (CbkLogLevel, const char*, int, const std::string&)> Log;
- AlgorithmLongitudinalCalculations calculation{0.0, 0.0, vehicleParameters, Log};
+ AlgorithmLongitudinalCalculations calculation{0.0_mps, 0.0_mps_sq, vehicleParameters, Log};
// Call test
- double result = calculation.GetEngineTorqueAtGear(data.input_Gear, data.input_Acceleration);
+ auto result = calculation.GetEngineTorqueAtGear(data.input_Gear, data.input_Acceleration);
// Evaluate result
ASSERT_EQ(result, data.result_TorqueAtGear);
@@ -340,20 +331,18 @@ TEST_P(AlgorithmLongitudinalCalculationsGetEngineTorqueAtGear, AlgorithmLongitud
/**********************************************************
* The test data (must be defined below test) *
**********************************************************/
-INSTANTIATE_TEST_CASE_P(Default, AlgorithmLongitudinalCalculationsGetEngineTorqueAtGear,testing::Values
-(
- /*
+INSTANTIATE_TEST_CASE_P(Default, AlgorithmLongitudinalCalculationsGetEngineTorqueAtGear, testing::Values(
+ /*
double input_Acceleration;
int input_Gear;
double result_TorqueAtGear;
*/
- DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueAtGear{0., 1, 0.}, // No acceleration
- DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueAtGear{1., 0, 0.}, // Neutral gear
- DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueAtGear{1., 4, 125.}, // Normal, gear ratio 1.
- DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueAtGear{1., 2, 50.} // Normal, gear ratio 2.5
-)
-);
+ DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueAtGear{0._mps_sq, 1, 0._Nm}, // No acceleration
+ DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueAtGear{1._mps_sq, 0, 0._Nm}, // Neutral gear
+ DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueAtGear{1._mps_sq, 4, 125._Nm}, // Normal, gear ratio 1.
+ DataFor_AlgorithmLongitudinalCalculations_GetEngineTorqueAtGear{1._mps_sq, 2, 50._Nm} // Normal, gear ratio 2.5
+ ));
/********************************************
* CHECK PedalPosition *
@@ -361,8 +350,8 @@ INSTANTIATE_TEST_CASE_P(Default, AlgorithmLongitudinalCalculationsGetEngineTorqu
struct DataFor_AlgorithmLongitudinalCalculations_PedalPosition
{
- double input_Acceleration;
- double engineTorqueMax;
+ units::acceleration::meters_per_second_squared_t input_Acceleration;
+ units::torque::newton_meter_t engineTorqueMax;
double result_AcceleratorPedalPosition;
double result_BrakePedalPosition;
@@ -388,18 +377,18 @@ TEST_P(AlgorithmLongitudinalCalculationsPedalPosition, AlgorithmLongitudinalCalc
DataFor_AlgorithmLongitudinalCalculations_PedalPosition data = GetParam();
// Set up test
- VehicleModelParameters vehicleParameters;
- vehicleParameters.properties = {{"AxleRatio", 1},
- {"GearRatio1", 1},
- {"NumberOfGears", 1},
- {"MaximumEngineTorque", data.engineTorqueMax},
- {"MinimumEngineSpeed", -10000},
- {"MaximumEngineSpeed", 10000},
- {"Mass", 1000}};
- vehicleParameters.rearAxle.wheelDiameter = 2.;
+ mantle_api::VehicleProperties vehicleParameters;
+ vehicleParameters.properties = {{"AxleRatio", "1"},
+ {"GearRatio1", "1"},
+ {"NumberOfGears", "1"},
+ {"MaximumEngineTorque", std::to_string(data.engineTorqueMax.value())},
+ {"MinimumEngineSpeed", "-10000"},
+ {"MaximumEngineSpeed", " 10000"}};
+ vehicleParameters.mass = 1000._kg;
+ vehicleParameters.rear_axle.wheel_diameter = 2._m;
std::function<void (CbkLogLevel, const char*, int, const std::string&)> Log;
- AlgorithmLongitudinalCalculations calculation{0.0, data.input_Acceleration, vehicleParameters, Log};
+ AlgorithmLongitudinalCalculations calculation{0.0_mps, data.input_Acceleration, vehicleParameters, Log};
// Call test
calculation.CalculatePedalPositions();
@@ -414,30 +403,19 @@ TEST_P(AlgorithmLongitudinalCalculationsPedalPosition, AlgorithmLongitudinalCalc
/**********************************************************
* The test data (must be defined below test) *
**********************************************************/
-INSTANTIATE_TEST_CASE_P(Default, AlgorithmLongitudinalCalculationsPedalPosition,testing::Values
-(
- /*
+INSTANTIATE_TEST_CASE_P(Default, AlgorithmLongitudinalCalculationsPedalPosition, testing::Values(
+ /*
double input_Acceleration;
double engineTorqueMax;
double result_AcceleratorPedalPosition;
double result_BrakePedalPosition;
*/
- DataFor_AlgorithmLongitudinalCalculations_PedalPosition{ // Brake
- -5.005,
- 1000.0,
- 0.0, 0.5},
- DataFor_AlgorithmLongitudinalCalculations_PedalPosition{ // Decelerate, no brake
- -0.05,
- 1000.0,
- 50. / 1100.0, 0.0},
- DataFor_AlgorithmLongitudinalCalculations_PedalPosition{ // No Acceleration
- 0.0,
- 2000.0,
- 200.0 / 2200.0, 0.0},
- DataFor_AlgorithmLongitudinalCalculations_PedalPosition{ // Accelerate
- 1.5,
- 2000.0,
- 1700.0 / 2200.0, 0.0}
-)
-);
+ DataFor_AlgorithmLongitudinalCalculations_PedalPosition{// Brake
+ -5.005_mps_sq, 1000.0_Nm, 0.0, 0.5},
+ DataFor_AlgorithmLongitudinalCalculations_PedalPosition{// Decelerate, no brake
+ -0.05_mps_sq, 1000.0_Nm, 50. / 1100.0, 0.0},
+ DataFor_AlgorithmLongitudinalCalculations_PedalPosition{// No Acceleration
+ 0.0_mps_sq, 2000.0_Nm, 200.0 / 2200.0, 0.0},
+ DataFor_AlgorithmLongitudinalCalculations_PedalPosition{// Accelerate
+ 1.5_mps_sq, 2000.0_Nm, 1700.0 / 2200.0, 0.0}));
diff --git a/sim/tests/unitTests/components/ComponentController/componentController_Tests.cpp b/sim/tests/unitTests/components/ComponentController/componentController_Tests.cpp
index b3f44fe8b6c0400dded813580e8200afc09a1579..22fbe7a44a6ae7d9af00c6dd28a2aeba140b20a4 100644
--- a/sim/tests/unitTests/components/ComponentController/componentController_Tests.cpp
+++ b/sim/tests/unitTests/components/ComponentController/componentController_Tests.cpp
@@ -14,7 +14,6 @@
#include "dontCare.h"
#include "fakeCallback.h"
-#include "fakeEventNetwork.h"
#include "fakeAgent.h"
#include "condition.h"
@@ -22,7 +21,6 @@
#include "componentControllerImpl.h"
#include "common/agentCompToCompCtrlSignal.h"
#include "common/compCtrlToAgentCompSignal.h"
-#include "common/events/componentStateChangeEvent.h"
using ::testing::_;
using ::testing::DontCare;
@@ -36,7 +34,6 @@ using namespace ComponentControl;
TEST(ComponentController_UpdateOutput, HasComponentWarningSignal_ForwardsWarningToDriver)
{
NiceMock<FakeAgent> fakeAgent;
- NiceMock<FakeEventNetwork> fakeEventNetwork;
ComponentControllerImplementation componentController{DontCare<std::string>(),
DontCare<bool>(),
DontCare<int>(),
@@ -49,7 +46,7 @@ TEST(ComponentController_UpdateOutput, HasComponentWarningSignal_ForwardsWarning
nullptr,
nullptr,
&fakeAgent,
- &fakeEventNetwork};
+ nullptr};
// register linkId 0 as an undefined component in statemanager
const int testLinkId = 0;
@@ -155,8 +152,8 @@ TEST(StateManager_GetMaxReachableStateOfComponentAtLocalLinkId, ComponentStateEq
componentStateInformation->AddStateCondition(std::move(componentStateEquality), ComponentState::Acting);
stateManager.AddComponent(localLinkId, componentStateInformation);
- std::vector<const openpass::events::ComponentStateChangeEvent *> placeholderEventList {};
- stateManager.UpdateMaxReachableStatesForRegisteredComponents(placeholderEventList);
+ std::vector<std::pair<std::string, ComponentState>> componentStates{};
+ stateManager.UpdateMaxReachableStatesForRegisteredComponents(componentStates);
ASSERT_EQ(stateManager.GetMaxReachableStateOfComponentAtLocalLinkId(localLinkId), ComponentState::Acting);
}
@@ -176,8 +173,8 @@ TEST(StateManager_GetMaxReachableStateOfComponentAtLocalLinkId, ComponentStateEq
componentStateInformation->AddStateCondition(std::move(componentStateEquality), ComponentState::Acting);
stateManager.AddComponent(localLinkId, componentStateInformation);
- std::vector<const openpass::events::ComponentStateChangeEvent *> placeholderEventList {};
- stateManager.UpdateMaxReachableStatesForRegisteredComponents(placeholderEventList);
+ std::vector<std::pair<std::string, ComponentState>> componentStates{};
+ stateManager.UpdateMaxReachableStatesForRegisteredComponents(componentStates);
ASSERT_EQ(stateManager.GetMaxReachableStateOfComponentAtLocalLinkId(localLinkId), ComponentState::Undefined);
}
@@ -209,13 +206,13 @@ TEST(StateManager_GetMaxReachableStateOfComponentAtLocalLinkId, TwoConditionsFul
stateManager.AddComponent(localLinkIdA, testComponentAStateInformation);
stateManager.AddComponent(localLinkIdB, testComponentBStateInformation);
- std::vector<const openpass::events::ComponentStateChangeEvent *> placeholderEventList {};
- stateManager.UpdateMaxReachableStatesForRegisteredComponents(placeholderEventList);
+ std::vector<std::pair<std::string, ComponentState>> componentStates{};
+ stateManager.UpdateMaxReachableStatesForRegisteredComponents(componentStates);
ASSERT_EQ(stateManager.GetMaxReachableStateOfComponentAtLocalLinkId(localLinkIdA), ComponentState::Armed);
}
-TEST(StateManager_GetMaxReachableStateOfComponentAtLocalLinkId, ComponentMaxStateSetByEvent_ConditionsIgnored)
+TEST(StateManager_GetMaxReachableStateOfComponentAtLocalLinkId, ComponentMaxStateSetByCommand_ConditionsIgnored)
{
const std::string componentName = "TestComponent";
const int localLinkId = 0;
@@ -238,16 +235,8 @@ TEST(StateManager_GetMaxReachableStateOfComponentAtLocalLinkId, ComponentMaxStat
openpass::type::AffectedEntities affected {};
affected.entities.push_back(agentId);
- auto event = std::make_unique<openpass::events::ComponentStateChangeEvent const>(0,
- "",
- "",
- triggering,
- affected,
- componentName,
- ComponentState::Disabled);
- std::vector<const openpass::events::ComponentStateChangeEvent *> placeholderEventList {};
- placeholderEventList.push_back(event.get());
- stateManager.UpdateMaxReachableStatesForRegisteredComponents(placeholderEventList);
+ std::vector<std::pair<std::string, ComponentState>> componentStates = {{componentName, ComponentState::Disabled}};
+ stateManager.UpdateMaxReachableStatesForRegisteredComponents(componentStates);
ASSERT_EQ(stateManager.GetMaxReachableStateOfComponentAtLocalLinkId(localLinkId), ComponentState::Disabled);
}
diff --git a/sim/tests/unitTests/components/Dynamics_Collision/dynamicsCollision_Tests.cpp b/sim/tests/unitTests/components/Dynamics_Collision/dynamicsCollision_Tests.cpp
index 695f1c2c3a9c3fb6654270c0fd08fb2aa077415c..a6dd7efc946d8788826ea37c0cf337bdd225a282 100644
--- a/sim/tests/unitTests/components/Dynamics_Collision/dynamicsCollision_Tests.cpp
+++ b/sim/tests/unitTests/components/Dynamics_Collision/dynamicsCollision_Tests.cpp
@@ -1,5 +1,5 @@
/********************************************************************************
- * Copyright (c) 2019-2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ * Copyright (c) 2019-2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -27,13 +27,13 @@ class DynamicsCollision_Test : public ::testing::Test
public:
DynamicsCollision_Test()
{
- heavyVehicle.properties = {{"Mass", 2000.0}};
- lightVehicle.properties = {{"Mass", 1000.0}};
+ heavyVehicle->mass = 2000.0_kg;
+ lightVehicle->mass = 1000.0_kg;
}
protected:
- VehicleModelParameters heavyVehicle;
- VehicleModelParameters lightVehicle;
+ std::shared_ptr<mantle_api::VehicleProperties> heavyVehicle = std::make_shared<mantle_api::VehicleProperties>();
+ std::shared_ptr<mantle_api::VehicleProperties> lightVehicle = std::make_shared<mantle_api::VehicleProperties>();
};
TEST_F(DynamicsCollision_Test, CollisionOfTwoAgentsOnlyInXDirection)
@@ -43,14 +43,14 @@ TEST_F(DynamicsCollision_Test, CollisionOfTwoAgentsOnlyInXDirection)
std::pair<ObjectTypeOSI,int> pair0 = std::make_pair(ObjectTypeOSI::Vehicle, 0);
std::pair<ObjectTypeOSI,int> pair1 = std::make_pair(ObjectTypeOSI::Vehicle, 1);
- ON_CALL(agent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{40.0, 0.0}));
- ON_CALL(agent, GetYaw()).WillByDefault(Return(0.0));
+ ON_CALL(agent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{40.0_mps, 0.0_mps}));
+ ON_CALL(agent, GetYaw()).WillByDefault(Return(0.0_rad));
ON_CALL(agent, GetVehicleModelParameters()).WillByDefault(Return(heavyVehicle));
std::vector<std::pair<ObjectTypeOSI,int>> collisionPartnersAgent {pair1};
ON_CALL(agent, GetCollisionPartners()).WillByDefault(Return(collisionPartnersAgent));
- ON_CALL(opponent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{10.0, 0.0}));
- ON_CALL(opponent, GetYaw()).WillByDefault(Return(0.0));
+ ON_CALL(opponent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{10.0_mps, 0.0_mps}));
+ ON_CALL(opponent, GetYaw()).WillByDefault(Return(0.0_rad));
ON_CALL(opponent, GetVehicleModelParameters()).WillByDefault(Return(lightVehicle));
std::vector<std::pair<ObjectTypeOSI,int>> collisionPartnersOpponent {pair0};
ON_CALL(opponent, GetCollisionPartners()).WillByDefault(Return(collisionPartnersOpponent));
@@ -75,8 +75,8 @@ TEST_F(DynamicsCollision_Test, CollisionOfTwoAgentsOnlyInXDirection)
dynamicsCollision.Trigger(0);
- ASSERT_THAT(dynamicsCollision.GetVelocity(), DoubleNear(30.0, 1e-3));
- ASSERT_THAT(dynamicsCollision.GetMovingDirection(), DoubleNear(0.0, 1e-3));
+ ASSERT_THAT(dynamicsCollision.GetVelocity().value(), DoubleNear(30.0, 1e-3));
+ ASSERT_THAT(dynamicsCollision.GetMovingDirection().value(), DoubleNear(0.0, 1e-3));
}
TEST_F(DynamicsCollision_Test, CollisionOfTwoAgentsOrthogonal)
@@ -86,14 +86,14 @@ TEST_F(DynamicsCollision_Test, CollisionOfTwoAgentsOrthogonal)
std::pair<ObjectTypeOSI,int> pair0 = std::make_pair(ObjectTypeOSI::Vehicle, 0);
std::pair<ObjectTypeOSI,int> pair1 = std::make_pair(ObjectTypeOSI::Vehicle, 1);
- ON_CALL(agent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{40.0, 0.0}));
- ON_CALL(agent, GetYaw()).WillByDefault(Return(0.0));
+ ON_CALL(agent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{40.0_mps, 0.0_mps}));
+ ON_CALL(agent, GetYaw()).WillByDefault(Return(0.0_rad));
ON_CALL(agent, GetVehicleModelParameters()).WillByDefault(Return(lightVehicle));
std::vector<std::pair<ObjectTypeOSI,int>> collisionPartnersAgent {pair1};
ON_CALL(agent, GetCollisionPartners()).WillByDefault(Return(collisionPartnersAgent));
- ON_CALL(opponent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{0.0, 40.0}));
- ON_CALL(opponent, GetYaw()).WillByDefault(Return(0.5 * M_PI));
+ ON_CALL(opponent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{0.0_mps, 40.0_mps}));
+ ON_CALL(opponent, GetYaw()).WillByDefault(Return(90_deg));
ON_CALL(opponent, GetVehicleModelParameters()).WillByDefault(Return(lightVehicle));
std::vector<std::pair<ObjectTypeOSI,int>> collisionPartnersOpponent {pair0};
ON_CALL(opponent, GetCollisionPartners()).WillByDefault(Return(collisionPartnersOpponent));
@@ -119,8 +119,8 @@ TEST_F(DynamicsCollision_Test, CollisionOfTwoAgentsOrthogonal)
dynamicsCollision.Trigger(0);
double expectedVelocity = 20.0 * std::sqrt(2);
- ASSERT_THAT(dynamicsCollision.GetVelocity(), DoubleNear(expectedVelocity, 1e-3));
- ASSERT_THAT(dynamicsCollision.GetMovingDirection(), DoubleNear(0.25 * M_PI, 1e-3));
+ ASSERT_THAT(dynamicsCollision.GetVelocity().value(), DoubleNear(expectedVelocity, 1e-3));
+ ASSERT_THAT(dynamicsCollision.GetMovingDirection().value(), DoubleNear(0.25 * M_PI, 1e-3));
}
TEST_F(DynamicsCollision_Test, CollisionOfTwoAgentsOpposingDirections)
@@ -130,14 +130,14 @@ TEST_F(DynamicsCollision_Test, CollisionOfTwoAgentsOpposingDirections)
std::pair<ObjectTypeOSI,int> pair0 = std::make_pair(ObjectTypeOSI::Vehicle, 0);
std::pair<ObjectTypeOSI,int> pair1 = std::make_pair(ObjectTypeOSI::Vehicle, 1);
- ON_CALL(agent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{-10.0 * M_SQRT2, -10.0 * M_SQRT2}));
- ON_CALL(agent, GetYaw()).WillByDefault(Return(1.25 * M_PI));
+ ON_CALL(agent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{units::velocity::meters_per_second_t{-10.0 * M_SQRT2, -10.0 * M_SQRT2}}));
+ ON_CALL(agent, GetYaw()).WillByDefault(Return(225_deg));
ON_CALL(agent, GetVehicleModelParameters()).WillByDefault(Return(heavyVehicle));
std::vector<std::pair<ObjectTypeOSI,int>> collisionPartnersAgent {pair1};
ON_CALL(agent, GetCollisionPartners()).WillByDefault(Return(collisionPartnersAgent));
- ON_CALL(opponent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{20.0 * M_SQRT2, 20.0 * M_SQRT2}));
- ON_CALL(opponent, GetYaw()).WillByDefault(Return(0.25 * M_PI));
+ ON_CALL(opponent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{units::velocity::meters_per_second_t{20.0 * M_SQRT2, 20.0 * M_SQRT2}}));
+ ON_CALL(opponent, GetYaw()).WillByDefault(Return(45_deg));
ON_CALL(opponent, GetVehicleModelParameters()).WillByDefault(Return(lightVehicle));
std::vector<std::pair<ObjectTypeOSI,int>> collisionPartnersOpponent {pair0};
ON_CALL(opponent, GetCollisionPartners()).WillByDefault(Return(collisionPartnersOpponent));
@@ -162,7 +162,7 @@ TEST_F(DynamicsCollision_Test, CollisionOfTwoAgentsOpposingDirections)
dynamicsCollision.Trigger(0);
- ASSERT_NEAR(dynamicsCollision.GetVelocity(), 0.0, 1e-9);
+ ASSERT_NEAR(dynamicsCollision.GetVelocity().value(), 0.0, 1e-9);
}
TEST_F(DynamicsCollision_Test, CollisionOfThreeAgentsOnlyInXDirection)
@@ -174,20 +174,20 @@ TEST_F(DynamicsCollision_Test, CollisionOfThreeAgentsOnlyInXDirection)
std::pair<ObjectTypeOSI,int> pair1 = std::make_pair(ObjectTypeOSI::Vehicle, 1);
std::pair<ObjectTypeOSI,int> pair2 = std::make_pair(ObjectTypeOSI::Vehicle, 2);
- ON_CALL(agent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{40.0, 0.0}));
- ON_CALL(agent, GetYaw()).WillByDefault(Return(0.0));
+ ON_CALL(agent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{40.0_mps, 0.0_mps}));
+ ON_CALL(agent, GetYaw()).WillByDefault(Return(0.0_rad));
ON_CALL(agent, GetVehicleModelParameters()).WillByDefault(Return(heavyVehicle));
std::vector<std::pair<ObjectTypeOSI,int>> collisionPartnersAgent {pair1, pair2};
ON_CALL(agent, GetCollisionPartners()).WillByDefault(Return(collisionPartnersAgent));
- ON_CALL(opponent1, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{20.0, 0.0}));
- ON_CALL(opponent1, GetYaw()).WillByDefault(Return(0.0));
+ ON_CALL(opponent1, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{20.0_mps, 0.0_mps}));
+ ON_CALL(opponent1, GetYaw()).WillByDefault(Return(0.0_rad));
ON_CALL(opponent1, GetVehicleModelParameters()).WillByDefault(Return(lightVehicle));
std::vector<std::pair<ObjectTypeOSI,int>> collisionPartnersOpponent1 {pair0, pair2};
ON_CALL(opponent1, GetCollisionPartners()).WillByDefault(Return(collisionPartnersOpponent1));
- ON_CALL(opponent2, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{0.0, 0.0}));
- ON_CALL(opponent2, GetYaw()).WillByDefault(Return(0.0));
+ ON_CALL(opponent2, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{0.0_mps, 0.0_mps}));
+ ON_CALL(opponent2, GetYaw()).WillByDefault(Return(0.0_rad));
ON_CALL(opponent2, GetVehicleModelParameters()).WillByDefault(Return(lightVehicle));
std::vector<std::pair<ObjectTypeOSI,int>> collisionPartnersOpponent2 {pair1, pair0};
ON_CALL(opponent2, GetCollisionPartners()).WillByDefault(Return(collisionPartnersOpponent2));
@@ -213,8 +213,8 @@ TEST_F(DynamicsCollision_Test, CollisionOfThreeAgentsOnlyInXDirection)
dynamicsCollision.Trigger(0);
- ASSERT_THAT(dynamicsCollision.GetVelocity(), DoubleNear(25.0, 1e-3));
- ASSERT_THAT(dynamicsCollision.GetMovingDirection(), DoubleNear(0.0, 1e-3));
+ ASSERT_THAT(dynamicsCollision.GetVelocity().value(), DoubleNear(25.0, 1e-3));
+ ASSERT_THAT(dynamicsCollision.GetMovingDirection().value(), DoubleNear(0.0, 1e-3));
}
TEST_F(DynamicsCollision_Test, CollisionOfThreeAgentsInDifferentDirections)
@@ -226,20 +226,20 @@ TEST_F(DynamicsCollision_Test, CollisionOfThreeAgentsInDifferentDirections)
std::pair<ObjectTypeOSI,int> pair1 = std::make_pair(ObjectTypeOSI::Vehicle, 1);
std::pair<ObjectTypeOSI,int> pair2 = std::make_pair(ObjectTypeOSI::Vehicle, 2);
- ON_CALL(agent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{0.0, -30.0}));
- ON_CALL(agent, GetYaw()).WillByDefault(Return(-0.5 * M_PI));
+ ON_CALL(agent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{0.0_mps, -30.0_mps}));
+ ON_CALL(agent, GetYaw()).WillByDefault(Return(-90_deg));
ON_CALL(agent, GetVehicleModelParameters()).WillByDefault(Return(lightVehicle));
std::vector<std::pair<ObjectTypeOSI,int>> collisionPartnersAgent {pair1, pair2};
ON_CALL(agent, GetCollisionPartners()).WillByDefault(Return(collisionPartnersAgent));
- ON_CALL(opponent1, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{30.0, -30.0}));
- ON_CALL(opponent1, GetYaw()).WillByDefault(Return(-0.25 * M_PI));
+ ON_CALL(opponent1, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{30.0_mps, -30.0_mps}));
+ ON_CALL(opponent1, GetYaw()).WillByDefault(Return(-45_deg));
ON_CALL(opponent1, GetVehicleModelParameters()).WillByDefault(Return(lightVehicle));
std::vector<std::pair<ObjectTypeOSI,int>> collisionPartnersOpponent1 {pair0, pair2};
ON_CALL(opponent1, GetCollisionPartners()).WillByDefault(Return(collisionPartnersOpponent1));
- ON_CALL(opponent2, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{30.0, 0.0}));
- ON_CALL(opponent2, GetYaw()).WillByDefault(Return(0.0));
+ ON_CALL(opponent2, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{30.0_mps, 0.0_mps}));
+ ON_CALL(opponent2, GetYaw()).WillByDefault(Return(0.0_deg));
ON_CALL(opponent2, GetVehicleModelParameters()).WillByDefault(Return(lightVehicle));
std::vector<std::pair<ObjectTypeOSI,int>> collisionPartnersOpponent2 {pair1, pair0};
ON_CALL(opponent2, GetCollisionPartners()).WillByDefault(Return(collisionPartnersOpponent2));
@@ -266,8 +266,8 @@ TEST_F(DynamicsCollision_Test, CollisionOfThreeAgentsInDifferentDirections)
dynamicsCollision.Trigger(0);
double expectedVelocity = 20.0 * std::sqrt(2);
- ASSERT_THAT(dynamicsCollision.GetVelocity(), DoubleNear(expectedVelocity, 1e-3));
- ASSERT_THAT(dynamicsCollision.GetMovingDirection(), DoubleNear(-0.25 * M_PI, 1e-3));
+ ASSERT_THAT(dynamicsCollision.GetVelocity().value(), DoubleNear(expectedVelocity, 1e-3));
+ ASSERT_THAT(dynamicsCollision.GetMovingDirection().value(), DoubleNear(-0.25 * M_PI, 1e-3));
}
TEST_F(DynamicsCollision_Test, CollisionOfAgentWithFixedObject)
@@ -275,8 +275,8 @@ TEST_F(DynamicsCollision_Test, CollisionOfAgentWithFixedObject)
NiceMock<FakeAgent> agent;
std::pair<ObjectTypeOSI,int> pair = std::make_pair(ObjectTypeOSI::Object, 0);
- ON_CALL(agent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{40.0, 0.0}));
- ON_CALL(agent, GetYaw()).WillByDefault(Return(0.0));
+ ON_CALL(agent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{40.0_mps, 0.0_mps}));
+ ON_CALL(agent, GetYaw()).WillByDefault(Return(0.0_deg));
ON_CALL(agent, GetVehicleModelParameters()).WillByDefault(Return(heavyVehicle));
std::vector<std::pair<ObjectTypeOSI,int>> collisionPartnersAgent {pair};
ON_CALL(agent, GetCollisionPartners()).WillByDefault(Return(collisionPartnersAgent));
@@ -300,7 +300,7 @@ TEST_F(DynamicsCollision_Test, CollisionOfAgentWithFixedObject)
dynamicsCollision.Trigger(0);
- ASSERT_THAT(dynamicsCollision.GetVelocity(), DoubleNear(0.0, 1e-3));
+ ASSERT_THAT(dynamicsCollision.GetVelocity().value(), DoubleNear(0.0, 1e-3));
}
diff --git a/sim/tests/unitTests/components/Dynamics_TF/dynamicsTF_Tests.cpp b/sim/tests/unitTests/components/Dynamics_TF/dynamicsTF_Tests.cpp
index d36030d1a55af1a753a4bfa8dcbd364daf4730ce..52cd4ba0c094c6f47aa8dc30c6567778fb658a1f 100644
--- a/sim/tests/unitTests/components/Dynamics_TF/dynamicsTF_Tests.cpp
+++ b/sim/tests/unitTests/components/Dynamics_TF/dynamicsTF_Tests.cpp
@@ -15,7 +15,6 @@
#include "fakeAgent.h"
#include "fakeParameter.h"
#include "trajectoryTester.h"
-#include "common/trajectorySignal.h"
using ::testing::Return;
using ::testing::ReturnRef;
@@ -26,42 +25,53 @@ using ::testing::DontCare;
using ::testing::DoubleNear;
static void AssertDynamicsSignalEquality(std::shared_ptr<DynamicsSignal const> signal,
- double x,
- double y,
- double yaw,
- double yawRate,
- double yawAcceleration,
- double velocity,
- double acceleration,
- double distance)
+ units::length::meter_t x,
+ units::length::meter_t y,
+ units::angle::radian_t yaw,
+ units::angular_velocity::radians_per_second_t yawRate,
+ units::angular_acceleration::radians_per_second_squared_t yawAcceleration,
+ units::velocity::meters_per_second_t velocity,
+ units::acceleration::meters_per_second_squared_t acceleration,
+ units::length::meter_t distance)
{
- ASSERT_THAT(signal->positionX, DoubleNear(x, 1e-3));
- ASSERT_THAT(signal->positionY, DoubleNear(y, 1e-3));
- ASSERT_THAT(signal->yaw, DoubleNear(yaw, 1e-3));
- ASSERT_THAT(signal->yawRate, DoubleNear(yawRate, 1e-3));
- ASSERT_THAT(signal->yawAcceleration, DoubleNear(yawAcceleration, 1e-3));
- ASSERT_THAT(signal->velocity, DoubleNear(velocity, 1e-3));
- ASSERT_THAT(signal->acceleration, DoubleNear(acceleration, 1e-3));
- ASSERT_THAT(signal->travelDistance, DoubleNear(distance, 1e-3));
+ ASSERT_THAT(signal->dynamicsInformation.positionX.value(), DoubleNear(x.value(), 1e-3));
+ ASSERT_THAT(signal->dynamicsInformation.positionY.value(), DoubleNear(y.value(), 1e-3));
+ ASSERT_THAT(signal->dynamicsInformation.yaw.value(), DoubleNear(yaw.value(), 1e-3));
+ ASSERT_THAT(signal->dynamicsInformation.yawRate.value(), DoubleNear(yawRate.value(), 1e-3));
+ ASSERT_THAT(signal->dynamicsInformation.yawAcceleration.value(), DoubleNear(yawAcceleration.value(), 1e-3));
+ ASSERT_THAT(signal->dynamicsInformation.velocity.value(), DoubleNear(velocity.value(), 1e-3));
+ ASSERT_THAT(signal->dynamicsInformation.acceleration.value(), DoubleNear(acceleration.value(), 1e-3));
+ ASSERT_THAT(signal->dynamicsInformation.travelDistance.value(), DoubleNear(distance.value(), 1e-3));
}
TEST(TrajectoryFollowerImplementation_WithoutExternalAcceleration_Unittests, DeactivationAfterEndOfTrajectory)
{
- TrajectoryPoint fakePosition1{0, 0, 0, 0};
- TrajectoryPoint fakePosition2{0.1, 0, 2, 0.1};
- TrajectoryPoint fakePosition3{0.2, 0, 4, 0.1};
+ mantle_api::Pose fakePose1{{0_m, 0_m, 0_m}, {0_rad, 0_rad, 0_rad}};
+ mantle_api::Pose fakePose2{{0_m, 2_m, 0_m}, {0.1_rad, 0_rad, 0_rad}};
+ mantle_api::Pose fakePose3{{0_m, 4_m, 0_m}, {0.31_rad, 0_rad, 0_rad}};
- Trajectory fakeCoordinates = {{fakePosition1, fakePosition2, fakePosition3}, ""};
+ mantle_api::PolyLinePoint fakePolyLinePoint1{fakePose1, 0_s};
+ mantle_api::PolyLinePoint fakePolyLinePoint2{fakePose2, 0.1_s};
+ mantle_api::PolyLinePoint fakePolyLinePoint3{fakePose3, 0.2_s};
+
+ mantle_api::PolyLine polyLine{fakePolyLinePoint1, fakePolyLinePoint2, fakePolyLinePoint3};
+
+ Trajectory fakeCoordinates = {"", polyLine};
+ auto controlStrategy = std::make_shared<mantle_api::FollowTrajectoryControlStrategy>();
+ controlStrategy->trajectory = fakeCoordinates;
+ std::vector<std::shared_ptr<mantle_api::ControlStrategy>> controlStrategies{controlStrategy};
TrajectoryTester trajectoryTester(DontCare<bool>(),
true);
+
+ ON_CALL(*trajectoryTester.controlStrategies, GetStrategies(mantle_api::ControlStrategyType::kFollowTrajectory)).
+ WillByDefault(Return(controlStrategies));
+
std::shared_ptr<TrajectoryFollowerImplementation> trajectoryFollower = trajectoryTester.trajectoryFollower;
std::shared_ptr<SignalInterface const> resultSignalInterface;
std::shared_ptr<DynamicsSignal const> result;
- const auto trajectorySignal = std::make_shared<TrajectorySignal>(ComponentState::Acting, fakeCoordinates);
- trajectoryFollower->UpdateInput(2, trajectorySignal, 0);
trajectoryFollower->Trigger(0);
trajectoryFollower->Trigger(100);
trajectoryFollower->Trigger(200);
@@ -74,100 +84,123 @@ TEST(TrajectoryFollowerImplementation_WithoutExternalAcceleration_Unittests, Dea
TEST(TrajectoryFollowerImplementation_WithoutExternalAcceleration_Unittests, LinearTrajectoryWithoutInterpolation)
{
- TrajectoryPoint fakePosition1{0, 0, 0, 0};
- TrajectoryPoint fakePosition2{0.2, 3, 4, 0.1};
- TrajectoryPoint fakePosition3{0.4, 9, 12, 0.4};
- Trajectory fakeCoordinates = {{fakePosition1, fakePosition2, fakePosition3}, ""};
+ mantle_api::Pose fakePose1{{0_m, 0_m, 0_m}, {0_rad, 0_rad, 0_rad}};
+ mantle_api::Pose fakePose2{{3_m, 4_m, 0_m}, {0.1_rad, 0_rad, 0_rad}};
+ mantle_api::Pose fakePose3{{9_m, 12_m, 0_m}, {0.4_rad, 0_rad, 0_rad}};
+
+ mantle_api::PolyLinePoint fakePolyLinePoint1{fakePose1, 0_s};
+ mantle_api::PolyLinePoint fakePolyLinePoint2{fakePose2, 0.2_s};
+ mantle_api::PolyLinePoint fakePolyLinePoint3{fakePose3, 0.4_s};
+
+ mantle_api::PolyLine polyLine{fakePolyLinePoint1, fakePolyLinePoint2, fakePolyLinePoint3};
+
+ Trajectory fakeCoordinates = {"", polyLine};
+ auto controlStrategy = std::make_shared<mantle_api::FollowTrajectoryControlStrategy>();
+ controlStrategy->trajectory = fakeCoordinates;
+ std::vector<std::shared_ptr<mantle_api::ControlStrategy>> controlStrategies{controlStrategy};
TrajectoryTester trajectoryTester(DontCare<bool>(),
DontCare<bool>(),
200);
+
+ ON_CALL(*trajectoryTester.controlStrategies, GetStrategies(mantle_api::ControlStrategyType::kFollowTrajectory)).
+ WillByDefault(Return(controlStrategies));
std::shared_ptr<TrajectoryFollowerImplementation> trajectoryFollower = trajectoryTester.trajectoryFollower;
std::shared_ptr<SignalInterface const> resultSignalInterface;
std::shared_ptr<DynamicsSignal const> result;
- const auto trajectorySignal = std::make_shared<TrajectorySignal>(ComponentState::Acting, fakeCoordinates);
- trajectoryFollower->UpdateInput(2, trajectorySignal, 0);
trajectoryFollower->Trigger(0);
trajectoryFollower->UpdateOutput(0, resultSignalInterface, 0);
result = std::dynamic_pointer_cast<DynamicsSignal const>(resultSignalInterface);
- AssertDynamicsSignalEquality(result, 3.0, 4.0, 0.1, 0.5, 2.5, 25.0, 125.0, 5.0);
+ AssertDynamicsSignalEquality(result, 3.0_m, 4.0_m, 0.1_rad, 0.5_rad_per_s, 2.5_rad_per_s_sq, 25.0_mps, 125.0_mps_sq, 5.0_m);
trajectoryFollower->Trigger(200);
trajectoryFollower->UpdateOutput(0, resultSignalInterface, 200);
result = std::dynamic_pointer_cast<DynamicsSignal const>(resultSignalInterface);
- AssertDynamicsSignalEquality(result, 9.0, 12.0, 0.4, 1.5, 5.0, 50.0, 125.0, 10.0);
+ AssertDynamicsSignalEquality(result, 9.0_m, 12.0_m, 0.4_rad, 1.5_rad_per_s, 5.0_rad_per_s_sq, 50.0_mps, 125.0_mps_sq, 10.0_m);
}
TEST(TrajectoryFollowerImplementation_WithoutExternalAcceleration_Unittests, LinearTrajectoryWithInterpolation)
{
- TrajectoryPoint fakePosition1{0, 10, 10, -1};
- TrajectoryPoint fakePosition2{0.1, 13, 6, -0.5};
- TrajectoryPoint fakePosition3{0.4, 16, 9, 1};
- TrajectoryPoint fakePosition4{0.8, 16, 13, 1};
- Trajectory fakeCoordinates = {{fakePosition1, fakePosition2, fakePosition3, fakePosition4}, ""};
+ mantle_api::Pose fakePose1{{10_m, 10_m, 0_m}, {-1_rad, 0_rad, 0_rad}};
+ mantle_api::Pose fakePose2{{13_m, 6_m, 0_m}, {-0.5_rad, 0_rad, 0_rad}};
+ mantle_api::Pose fakePose3{{16_m, 9_m, 0_m}, {1_rad, 0_rad, 0_rad}};
+ mantle_api::Pose fakePose4{{16_m, 13_m, 0_m}, {1_rad, 0_rad, 0_rad}};
+
+ mantle_api::PolyLinePoint fakePolyLinePoint1{fakePose1, 0_s};
+ mantle_api::PolyLinePoint fakePolyLinePoint2{fakePose2, 0.1_s};
+ mantle_api::PolyLinePoint fakePolyLinePoint3{fakePose3, 0.4_s};
+ mantle_api::PolyLinePoint fakePolyLinePoint4{fakePose4, 0.8_s};
+
+ mantle_api::PolyLine polyLine{fakePolyLinePoint1, fakePolyLinePoint2, fakePolyLinePoint3, fakePolyLinePoint4};
+
+ Trajectory fakeCoordinates = {"", polyLine};
+ auto controlStrategy = std::make_shared<mantle_api::FollowTrajectoryControlStrategy>();
+ controlStrategy->trajectory = fakeCoordinates;
+ std::vector<std::shared_ptr<mantle_api::ControlStrategy>> controlStrategies{controlStrategy};
FakeAgent fakeAgent;
- ON_CALL(fakeAgent, GetPositionX()).WillByDefault(Return(10.0));
- ON_CALL(fakeAgent, GetPositionY()).WillByDefault(Return(10.0));
- ON_CALL(fakeAgent, GetYaw()).WillByDefault(Return(-1.0));
+ ON_CALL(fakeAgent, GetPositionX()).WillByDefault(Return(10.0_m));
+ ON_CALL(fakeAgent, GetPositionY()).WillByDefault(Return(10.0_m));
+ ON_CALL(fakeAgent, GetYaw()).WillByDefault(Return(-1.0_rad));
TrajectoryTester trajectoryTester(DontCare<bool>(),
DontCare<bool>(),
nullptr,
&fakeAgent,
200);
+
+ ON_CALL(*trajectoryTester.controlStrategies, GetStrategies(mantle_api::ControlStrategyType::kFollowTrajectory)).
+ WillByDefault(Return(controlStrategies));
std::shared_ptr<TrajectoryFollowerImplementation> trajectoryFollower = trajectoryTester.trajectoryFollower;
std::shared_ptr<SignalInterface const> resultSignalInterface;
std::shared_ptr<DynamicsSignal const> result;
- double velocity {0};
- double acceleration {0};
- double distance {0.0};
+ units::velocity::meters_per_second_t velocity{0};
+ units::acceleration::meters_per_second_squared_t acceleration{0};
+ units::length::meter_t distance {0.0};
- const double cycleTimeInSeconds = 0.2;
+ const units::time::second_t cycleTimeInSeconds{0.2};
- const auto trajectorySignal = std::make_shared<TrajectorySignal>(ComponentState::Acting, fakeCoordinates);
- trajectoryFollower->UpdateInput(2, trajectorySignal, 0);
trajectoryFollower->Trigger(0);
trajectoryFollower->UpdateOutput(0, resultSignalInterface, 0);
result = std::dynamic_pointer_cast<DynamicsSignal const>(resultSignalInterface);
- distance = (5 + std::sqrt(2));
+ distance = (5_m + units::math::sqrt(2_sq_m));
velocity = distance / cycleTimeInSeconds;
acceleration = velocity / cycleTimeInSeconds;
AssertDynamicsSignalEquality(result,
- 14,
- 7,
- 0.0,
- 1.0 / cycleTimeInSeconds,
- 25.0,
- velocity,
- acceleration,
- distance);
+ 14_m,
+ 7_m,
+ 0.0_rad,
+ 1.0_rad / cycleTimeInSeconds,
+ 25.0_rad_per_s_sq,
+ velocity,
+ acceleration,
+ distance);
trajectoryFollower->Trigger(200);
trajectoryFollower->UpdateOutput(0, resultSignalInterface, 100);
result = std::dynamic_pointer_cast<DynamicsSignal const>(resultSignalInterface);
- double previousVelocity = velocity;
- distance = std::sqrt(8);
+ auto previousVelocity = velocity;
+ distance = units::math::sqrt(8_sq_m);
velocity = distance / cycleTimeInSeconds;
acceleration = (velocity - previousVelocity) / cycleTimeInSeconds;
AssertDynamicsSignalEquality(result,
- 16.0,
- 9.0,
- 1.0,
- 1.0 / cycleTimeInSeconds,
- 0.0,
- velocity,
- acceleration,
- distance);
+ 16.0_m,
+ 9.0_m,
+ 1.0_rad,
+ 1.0_rad / cycleTimeInSeconds,
+ 0.0_rad_per_s_sq,
+ velocity,
+ acceleration,
+ distance);
trajectoryFollower->Trigger(400);
trajectoryFollower->UpdateOutput(0, resultSignalInterface, 400);
@@ -175,105 +208,130 @@ TEST(TrajectoryFollowerImplementation_WithoutExternalAcceleration_Unittests, Lin
result = std::dynamic_pointer_cast<DynamicsSignal const>(resultSignalInterface);
previousVelocity = velocity;
- distance = 2.0;
+ distance = 2.0_m;
velocity = distance / cycleTimeInSeconds;
acceleration = (velocity - previousVelocity) / cycleTimeInSeconds;
AssertDynamicsSignalEquality(result,
- 16.0,
- 11.0,
- 1.0,
- 0.0,
- -25.0,
- velocity,
- acceleration,
- distance);
+ 16.0_m,
+ 11.0_m,
+ 1.0_rad,
+ 0.0_rad_per_s,
+ -25.0_rad_per_s_sq,
+ velocity,
+ acceleration,
+ distance);
}
TEST(TrajectoryFollowerImplementation_WithExternalAcceleration_Unittests, LinearTrajectoryWithInterpolation)
{
- TrajectoryPoint fakePosition1{0, 10.0, 10.0, 0};
- TrajectoryPoint fakePosition2{0.2, 13.0, 14.0, 0.2};
- TrajectoryPoint fakePosition3{0.4, 15.0, 14.0, 0.4};
- TrajectoryPoint fakePosition4{0.6, 15.0, 16.0, 0.6};
- TrajectoryPoint fakePosition5{0.8, 17.0, 16.0, 0.8};
- Trajectory fakeCoordinates = {{fakePosition1, fakePosition2, fakePosition3, fakePosition4, fakePosition5}, ""};
+ mantle_api::Pose fakePose1{{10_m, 10_m, 0_m}, {0_rad, 0_rad, 0_rad}};
+ mantle_api::Pose fakePose2{{13_m, 14_m, 0_m}, {0.2_rad, 0_rad, 0_rad}};
+ mantle_api::Pose fakePose3{{15_m, 14_m, 0_m}, {0.4_rad, 0_rad, 0_rad}};
+ mantle_api::Pose fakePose4{{15_m, 16_m, 0_m}, {0.6_rad, 0_rad, 0_rad}};
+ mantle_api::Pose fakePose5{{17_m, 16_m, 0_m}, {0.8_rad, 0_rad, 0_rad}};
+
+ mantle_api::PolyLinePoint fakePolyLinePoint1{fakePose1, 0_s};
+ mantle_api::PolyLinePoint fakePolyLinePoint2{fakePose2, 0.2_s};
+ mantle_api::PolyLinePoint fakePolyLinePoint3{fakePose3, 0.4_s};
+ mantle_api::PolyLinePoint fakePolyLinePoint4{fakePose4, 0.6_s};
+ mantle_api::PolyLinePoint fakePolyLinePoint5{fakePose5, 0.8_s};
+
+ mantle_api::PolyLine polyLine{fakePolyLinePoint1, fakePolyLinePoint2, fakePolyLinePoint3, fakePolyLinePoint4, fakePolyLinePoint5};
+
+ Trajectory fakeCoordinates{"", polyLine};
+ auto controlStrategy = std::make_shared<mantle_api::FollowTrajectoryControlStrategy>();
+ controlStrategy->trajectory = fakeCoordinates;
+ std::vector<std::shared_ptr<mantle_api::ControlStrategy>> controlStrategies{controlStrategy};
FakeAgent fakeAgent;
- ON_CALL(fakeAgent, GetPositionX()).WillByDefault(Return(10.0));
- ON_CALL(fakeAgent, GetPositionY()).WillByDefault(Return(10.0));
- ON_CALL(fakeAgent, GetYaw()).WillByDefault(Return(0.0));
+ ON_CALL(fakeAgent, GetPositionX()).WillByDefault(Return(10.0_m));
+ ON_CALL(fakeAgent, GetPositionY()).WillByDefault(Return(10.0_m));
+ ON_CALL(fakeAgent, GetYaw()).WillByDefault(Return(0.0_rad));
TrajectoryTester trajectoryTester(DontCare<bool>(),
DontCare<bool>(),
nullptr,
&fakeAgent,
200);
+
+ ON_CALL(*trajectoryTester.controlStrategies, GetStrategies(mantle_api::ControlStrategyType::kFollowTrajectory)).
+ WillByDefault(Return(controlStrategies));
std::shared_ptr<TrajectoryFollowerImplementation> trajectoryFollower = trajectoryTester.trajectoryFollower;
std::shared_ptr<SignalInterface const> resultSignalInterface;
std::shared_ptr<DynamicsSignal const> result;
- auto inputSignal = std::make_shared<AccelerationSignal>(ComponentState::Acting, -50.0);
+ auto inputSignal = std::make_shared<AccelerationSignal>(ComponentState::Acting, -50.0_mps_sq);
- const auto trajectorySignal = std::make_shared<TrajectorySignal>(ComponentState::Acting, fakeCoordinates);
- trajectoryFollower->UpdateInput(2, trajectorySignal, 0);
trajectoryFollower->Trigger(0);
trajectoryFollower->UpdateOutput(0, resultSignalInterface, 0);
result = std::dynamic_pointer_cast<DynamicsSignal const>(resultSignalInterface);
- AssertDynamicsSignalEquality(result, 13.0, 14.0, 0.2, 1.0, 5.0, 25.0, 125.0, 5.0);
+ AssertDynamicsSignalEquality(result, 13.0_m, 14.0_m, 0.2_rad, 1.0_rad_per_s, 5.0_rad_per_s_sq, 25.0_mps, 125.0_mps_sq, 5.0_m);
trajectoryFollower->UpdateInput(1, inputSignal, 0);
trajectoryFollower->Trigger(200);
trajectoryFollower->UpdateOutput(0, resultSignalInterface, 200);
result = std::dynamic_pointer_cast<DynamicsSignal const>(resultSignalInterface);
- AssertDynamicsSignalEquality(result, 15.0, 15.0, 0.5, 1.5, 2.5, 15.0, -50.0, 3.0);
-
+ AssertDynamicsSignalEquality(result, 15.0_m, 15.0_m, 0.5_rad, 1.5_rad_per_s, 2.5_rad_per_s_sq, 15.0_mps, -50.0_mps_sq, 3.0_m);
trajectoryFollower->UpdateInput(1, inputSignal, 0);
trajectoryFollower->Trigger(400);
trajectoryFollower->UpdateOutput(0, resultSignalInterface, 400);
result = std::dynamic_pointer_cast<DynamicsSignal const>(resultSignalInterface);
- AssertDynamicsSignalEquality(result, 15.0, 16.0, 0.6, 0.5, -5.0, 5.0, -50.0, 1.0);
+ AssertDynamicsSignalEquality(result, 15.0_m, 16.0_m, 0.6_rad, 0.5_rad_per_s, -5.0_rad_per_s_sq, 5.0_mps, -50.0_mps_sq, 1.0_m);
- inputSignal = std::make_shared<AccelerationSignal>(ComponentState::Acting, 0.0);
+ inputSignal = std::make_shared<AccelerationSignal>(ComponentState::Acting, 0.0_mps_sq);
trajectoryFollower->UpdateInput(1, inputSignal, 0);
trajectoryFollower->Trigger(600);
trajectoryFollower->UpdateOutput(0, resultSignalInterface, 600);
result = std::dynamic_pointer_cast<DynamicsSignal const>(resultSignalInterface);
- AssertDynamicsSignalEquality(result, 16.0, 16.0, 0.7, 0.5, 0, 5.0, 0.0, 1.0);
+ AssertDynamicsSignalEquality(result, 16.0_m, 16.0_m, 0.7_rad, 0.5_rad_per_s, 0.0_rad_per_s_sq, 5.0_mps, 0.0_mps_sq, 1.0_m);
}
TEST(TrajectoryFollowerImplementation_WithExternalAcceleration_Unittests, DeactivationForNegativeVelocity)
{
- TrajectoryPoint fakePosition1{0, 10.0, 10.0, 0};
- TrajectoryPoint fakePosition2{0.2, 13.0, 14.0, 0.2};
- TrajectoryPoint fakePosition3{0.4, 15.0, 14.0, 0.4};
- TrajectoryPoint fakePosition4{0.6, 15.0, 16.0, 0.6};
- TrajectoryPoint fakePosition5{0.8, 17.0, 16.0, 0.8};
- Trajectory fakeCoordinates = {{fakePosition1, fakePosition2, fakePosition3, fakePosition4, fakePosition5}, ""};
+ mantle_api::Pose fakePose1{{10_m, 10_m, 0_m}, {0_rad, 0_rad, 0_rad}};
+ mantle_api::Pose fakePose2{{13_m, 14_m, 0_m}, {0.2_rad, 0_rad, 0_rad}};
+ mantle_api::Pose fakePose3{{15_m, 14_m, 0_m}, {0.4_rad, 0_rad, 0_rad}};
+ mantle_api::Pose fakePose4{{15_m, 16_m, 0_m}, {0.6_rad, 0_rad, 0_rad}};
+ mantle_api::Pose fakePose5{{17_m, 16_m, 0_m}, {0.8_rad, 0_rad, 0_rad}};
+
+ mantle_api::PolyLinePoint fakePolyLinePoint1{fakePose1, 0_s};
+ mantle_api::PolyLinePoint fakePolyLinePoint2{fakePose2, 0.2_s};
+ mantle_api::PolyLinePoint fakePolyLinePoint3{fakePose3, 0.4_s};
+ mantle_api::PolyLinePoint fakePolyLinePoint4{fakePose4, 0.6_s};
+ mantle_api::PolyLinePoint fakePolyLinePoint5{fakePose5, 0.8_s};
+
+ mantle_api::PolyLine polyLine{fakePolyLinePoint1, fakePolyLinePoint2, fakePolyLinePoint3, fakePolyLinePoint4, fakePolyLinePoint5};
+
+ Trajectory fakeCoordinates{"", polyLine};
+ auto controlStrategy = std::make_shared<mantle_api::FollowTrajectoryControlStrategy>();
+ controlStrategy->trajectory = fakeCoordinates;
+ std::vector<std::shared_ptr<mantle_api::ControlStrategy>> controlStrategies{controlStrategy};
FakeAgent fakeAgent;
- ON_CALL(fakeAgent, GetPositionX()).WillByDefault(Return(10.0));
- ON_CALL(fakeAgent, GetPositionY()).WillByDefault(Return(10.0));
- ON_CALL(fakeAgent, GetYaw()).WillByDefault(Return(0.0));
+ ON_CALL(fakeAgent, GetPositionX()).WillByDefault(Return(10.0_m));
+ ON_CALL(fakeAgent, GetPositionY()).WillByDefault(Return(10.0_m));
+ ON_CALL(fakeAgent, GetYaw()).WillByDefault(Return(0.0_rad));
TrajectoryTester trajectoryTester(DontCare<bool>(),
true,
nullptr,
&fakeAgent,
200);
+
+ ON_CALL(*trajectoryTester.controlStrategies, GetStrategies(mantle_api::ControlStrategyType::kFollowTrajectory)).
+ WillByDefault(Return(controlStrategies));
std::shared_ptr<TrajectoryFollowerImplementation> trajectoryFollower = trajectoryTester.trajectoryFollower;
std::shared_ptr<SignalInterface const> resultSignalInterface;
std::shared_ptr<DynamicsSignal const> result;
- auto inputSignal = std::make_shared<AccelerationSignal>(ComponentState::Acting, -50.0);
+ auto inputSignal = std::make_shared<AccelerationSignal>(ComponentState::Acting, -50.0_mps_sq);
- const auto trajectorySignal = std::make_shared<TrajectorySignal>(ComponentState::Acting, fakeCoordinates);
- trajectoryFollower->UpdateInput(2, trajectorySignal, 0);
trajectoryFollower->Trigger(0);
trajectoryFollower->UpdateInput(1, inputSignal, 0);
@@ -294,45 +352,54 @@ TEST(TrajectoryFollowerImplementation_WithExternalAcceleration_Unittests, Deacti
TEST(TrajectoryFollowerImplementation_WithExternalAcceleration_Unittests, MultipleTimestepsWithinTwoCoordinates)
{
- TrajectoryPoint fakePosition1{0.0, 0.0, 0, 0};
- TrajectoryPoint fakePosition2{0.3, 9.0, 0.0, 0.0};
- Trajectory fakeCoordinates = {{fakePosition1, fakePosition2}, ""};
+ mantle_api::Pose fakePose1{{0_m, 0_m, 0_m}, {0_rad, 0_rad, 0_rad}};
+ mantle_api::Pose fakePose2{{9_m, 0_m, 0_m}, {0_rad, 0_rad, 0_rad}};
+
+ mantle_api::PolyLinePoint fakePolyLinePoint1{fakePose1, 0_s};
+ mantle_api::PolyLinePoint fakePolyLinePoint2{fakePose2, 0.3_s};
+
+ mantle_api::PolyLine polyLine{fakePolyLinePoint1, fakePolyLinePoint2};
+
+ Trajectory fakeCoordinates{"", polyLine};
+ auto controlStrategy = std::make_shared<mantle_api::FollowTrajectoryControlStrategy>();
+ controlStrategy->trajectory = fakeCoordinates;
+ std::vector<std::shared_ptr<mantle_api::ControlStrategy>> controlStrategies{controlStrategy};
TrajectoryTester trajectoryTester(DontCare<bool>(),
DontCare<bool>());
+
+ ON_CALL(*trajectoryTester.controlStrategies, GetStrategies(mantle_api::ControlStrategyType::kFollowTrajectory)).
+ WillByDefault(Return(controlStrategies));
std::shared_ptr<TrajectoryFollowerImplementation> trajectoryFollower = trajectoryTester.trajectoryFollower;
std::shared_ptr<SignalInterface const> resultSignalInterface;
std::shared_ptr<DynamicsSignal const> result;
- auto inputSignal = std::make_shared<AccelerationSignal>(ComponentState::Acting, -150.0);
+ auto inputSignal = std::make_shared<AccelerationSignal>(ComponentState::Acting, -150.0_mps_sq);
- const auto trajectorySignal = std::make_shared<TrajectorySignal>(ComponentState::Acting, fakeCoordinates);
- trajectoryFollower->UpdateInput(2, trajectorySignal, 0);
trajectoryFollower->Trigger(0);
trajectoryFollower->UpdateOutput(0, resultSignalInterface, 0);
result = std::dynamic_pointer_cast<DynamicsSignal const>(resultSignalInterface);
- AssertDynamicsSignalEquality(result, 3.0, 0.0, 0.0, 0.0, 0.0, 30.0, 300.0, 3.0);
+ AssertDynamicsSignalEquality(result, 3.0_m, 0.0_m, 0.0_rad, 0.0_rad_per_s, 0.0_rad_per_s_sq, 30.0_mps, 300.0_mps_sq, 3.0_m);
trajectoryFollower->Trigger(100);
trajectoryFollower->UpdateOutput(0, resultSignalInterface, 100);
result = std::dynamic_pointer_cast<DynamicsSignal const>(resultSignalInterface);
- AssertDynamicsSignalEquality(result, 6.0, 0.0, 0, 0, 0.0, 30.0, 0.0, 3.0);
+ AssertDynamicsSignalEquality(result, 6.0_m, 0.0_m, 0_rad, 0_rad_per_s, 0.0_rad_per_s_sq, 30.0_mps, 0.0_mps_sq, 3.0_m);
trajectoryFollower->UpdateInput(1, inputSignal, 200);
trajectoryFollower->Trigger(200);
trajectoryFollower->UpdateOutput(0, resultSignalInterface, 200);
result = std::dynamic_pointer_cast<DynamicsSignal const>(resultSignalInterface);
- AssertDynamicsSignalEquality(result, 7.5, 0.0, 0.0, 0, 0.0, 15.0, -150.0, 1.5);
+ AssertDynamicsSignalEquality(result, 7.5_m, 0.0_m, 0.0_rad, 0_rad_per_s, 0.0_rad_per_s_sq, 15.0_mps, -150.0_mps_sq, 1.5_m);
- inputSignal = std::make_shared<AccelerationSignal>(ComponentState::Disabled, 0.0);
+ inputSignal = std::make_shared<AccelerationSignal>(ComponentState::Disabled, 0.0_mps_sq);
trajectoryFollower->UpdateInput(1, inputSignal, 300);
trajectoryFollower->Trigger(300);
trajectoryFollower->UpdateOutput(0, resultSignalInterface, 300);
result = std::dynamic_pointer_cast<DynamicsSignal const>(resultSignalInterface);
- AssertDynamicsSignalEquality(result, 9.0, 0.0, 0, 0, 0.0, 15.0, 0.0, 1.5);
+ AssertDynamicsSignalEquality(result, 9.0_m, 0.0_m, 0_rad, 0_rad_per_s, 0.0_rad_per_s_sq, 15.0_mps, 0.0_mps_sq, 1.5_m);
}
-
diff --git a/sim/tests/unitTests/components/Dynamics_TF/trajectoryTester.cpp b/sim/tests/unitTests/components/Dynamics_TF/trajectoryTester.cpp
index 7c118d7ac53dfbb3d2346a5c853d20aed359c60d..335ad8826adb7bc0bd66053fad01b4aa10f329c8 100644
--- a/sim/tests/unitTests/components/Dynamics_TF/trajectoryTester.cpp
+++ b/sim/tests/unitTests/components/Dynamics_TF/trajectoryTester.cpp
@@ -9,6 +9,8 @@
********************************************************************************/
#include "trajectoryTester.h"
+using testing::Return;
+
TrajectoryTester::TrajectoryTester(const int cycleTime)
{
fakeBools.insert({"EnforceTrajectory", DontCare<bool>});
@@ -29,7 +31,8 @@ TrajectoryTester::TrajectoryTester(const int cycleTime)
&fakeParameters,
&fakePublisher,
nullptr,
- &fakeAgent);
+ &fakeAgent,
+ controlStrategies);
}
TrajectoryTester::TrajectoryTester(const bool enforceTrajectory, const bool automaticDeactivation, const int cycleTime)
@@ -52,7 +55,8 @@ TrajectoryTester::TrajectoryTester(const bool enforceTrajectory, const bool auto
&fakeParameters,
&fakePublisher,
nullptr,
- &fakeAgent);
+ &fakeAgent,
+ controlStrategies);
}
TrajectoryTester::TrajectoryTester(const bool enforceTrajectory,
@@ -78,7 +82,8 @@ TrajectoryTester::TrajectoryTester(const bool enforceTrajectory,
&fakeParameters,
&fakePublisher,
nullptr,
- &fakeAgent);
+ &fakeAgent,
+ controlStrategies);
}
TrajectoryTester::TrajectoryTester(const bool enforceTrajectory,
@@ -105,5 +110,6 @@ TrajectoryTester::TrajectoryTester(const bool enforceTrajectory,
&fakeParameters,
&fakePublisher,
nullptr,
- fakeAgent);
+ fakeAgent,
+ controlStrategies);
}
diff --git a/sim/tests/unitTests/components/Dynamics_TF/trajectoryTester.h b/sim/tests/unitTests/components/Dynamics_TF/trajectoryTester.h
index d1e5d2e34469c5e31de001f211a662811f2e95c6..25ea67584921a0907c89ecd0107cac1abf837f28 100644
--- a/sim/tests/unitTests/components/Dynamics_TF/trajectoryTester.h
+++ b/sim/tests/unitTests/components/Dynamics_TF/trajectoryTester.h
@@ -17,6 +17,7 @@
#include "fakeParameter.h"
#include "fakeAgent.h"
#include "fakeWorld.h"
+#include "fakeControlStrategies.h"
#include "tfImplementation.h"
@@ -32,8 +33,6 @@ public:
std::vector<int> fakeActingAgents {1};
- EventContainer fakeEmptyEventContainer = {};
-
NiceMock<FakePublisher> fakePublisher;
std::map<std::string, bool> fakeBools;
@@ -43,6 +42,8 @@ public:
std::shared_ptr<TrajectoryFollowerImplementation> trajectoryFollower;
+ std::shared_ptr<FakeControlStrategies> controlStrategies = std::make_shared<FakeControlStrategies>();
+
TrajectoryTester(const int cycleTime = 100);
TrajectoryTester(const bool enforceTrajectory,
diff --git a/sim/tests/unitTests/components/Dynamics_TwoTrack/UT_Dynamics2TM/tst_ut_dynamics2tmtest.cpp b/sim/tests/unitTests/components/Dynamics_TwoTrack/UT_Dynamics2TM/tst_ut_dynamics2tmtest.cpp
index 76548b2893cb3990621c8d0a59ba563cd65ae859..e1bebc9f403fa4e665c37493ca8a54c13f2b2208 100644
--- a/sim/tests/unitTests/components/Dynamics_TwoTrack/UT_Dynamics2TM/tst_ut_dynamics2tmtest.cpp
+++ b/sim/tests/unitTests/components/Dynamics_TwoTrack/UT_Dynamics2TM/tst_ut_dynamics2tmtest.cpp
@@ -221,7 +221,7 @@ void UT_Dynamics2TMTest::testCase1()
vehicle->InitSetGeometry(x_wheelbase, x_COG, y_track, y_COG);
vehicle->InitSetTire(vel*std::cos(angleSlide), F_max, F_slide, s_max, r_tire, 1.0);
- Common::Vector2d vVel(vel*std::cos(angleSlide), vel*std::sin(angleSlide));
+ Common::Vector2d<units::length::meter_t> vVel(vel * std::cos(angleSlide), vel * std::sin(angleSlide));
vehicle->SetVelocity(vVel, rateYaw);
std::array<double, 4> brkSuper = {0.0, 0.0, 0.0, 0.0};
diff --git a/sim/tests/unitTests/components/LimiterAccVehComp/limiterAccVehComp_Tests.cpp b/sim/tests/unitTests/components/LimiterAccVehComp/limiterAccVehComp_Tests.cpp
index 84c5dfcf8fbbd5012fd447e940ee1314b3e05711..a5622cc3e11034b7ff693edfac1e07d79d3277fe 100644
--- a/sim/tests/unitTests/components/LimiterAccVehComp/limiterAccVehComp_Tests.cpp
+++ b/sim/tests/unitTests/components/LimiterAccVehComp/limiterAccVehComp_Tests.cpp
@@ -1,5 +1,6 @@
/********************************************************************************
* Copyright (c) 2018-2019 in-tech GmbH
+ * 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -25,15 +26,15 @@ using ::testing::_;
struct LimiterTestParameter {
LimiterTestParameter(const double &maximumLimit,
const double &minimumLimit,
- const double ¤tVelocity,
- const double &airDragCoefficient,
- const double &axleRatio,
- const double &frontSurface,
- const double &maximumEngineTorque,
- const double &maximumEngineSpeed,
- const double &minimumEngineSpeed,
- const double &staticWheelRadius,
- const double &weight,
+ const units::velocity::meters_per_second_t ¤tVelocity,
+ const std::string &airDragCoefficient,
+ const std::string &axleRatio,
+ const std::string &frontSurface,
+ const std::string &maximumEngineTorque,
+ const std::string &maximumEngineSpeed,
+ const std::string &minimumEngineSpeed,
+ const units::length::meter_t &staticWheelRadius,
+ const units::mass::kilogram_t &weight,
const std::vector<double> &gearRatios):
maximumLimit(maximumLimit),
minimumLimit(minimumLimit),
@@ -51,15 +52,15 @@ struct LimiterTestParameter {
const double maximumLimit;
const double minimumLimit;
- const double currentVelocity; // in kmh
- const double airDragCoefficient;
- const double axleRatio;
- const double frontSurface;
- const double maximumEngineTorque;
- const double maximumEngineSpeed;
- const double minimumEngineSpeed;
- const double staticWheelRadius;
- const double weight;
+ const units::velocity::meters_per_second_t currentVelocity;
+ const std::string airDragCoefficient;
+ const std::string axleRatio;
+ const std::string frontSurface;
+ const std::string maximumEngineTorque;
+ const std::string maximumEngineSpeed;
+ const std::string minimumEngineSpeed;
+ const units::length::meter_t staticWheelRadius;
+ const units::mass::kilogram_t weight;
const std::vector<double> gearRatios;
};
@@ -75,7 +76,7 @@ TEST_P(MaximumLimit,
const LimiterTestParameter testInput = GetParam();
NiceMock<FakeAgent> fakeAgent;
- ON_CALL(fakeAgent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{testInput.currentVelocity / 3.6, 0.0}));
+ ON_CALL(fakeAgent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{testInput.currentVelocity, 0.0_mps}));
NiceMock<FakeWorld> fakeWorld;
ON_CALL(fakeWorld, GetFriction()).WillByDefault(Return(1.0));
@@ -93,23 +94,23 @@ TEST_P(MaximumLimit,
nullptr,
&fakeAgent);
- const auto accelerationInputSignal = std::make_shared<AccelerationSignal const>(ComponentState::Acting, INFINITY);
+ const auto accelerationInputSignal = std::make_shared<AccelerationSignal const>(ComponentState::Acting, units::acceleration::meters_per_second_squared_t(INFINITY));
- VehicleModelParameters fakeVehicleParameters;
- fakeVehicleParameters.properties = {{"Mass", testInput.weight},
- {"FrontSurface", testInput.frontSurface},
+ mantle_api::VehicleProperties fakeVehicleParameters;
+ fakeVehicleParameters.mass = testInput.weight;
+ fakeVehicleParameters.properties = {{"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()}};
+ {"FrictionCoefficient", "1.0"},
+ {"NumberOfGears", std::to_string(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.properties.insert({"GearRatio"+std::to_string(i+1), std::to_string(testInput.gearRatios[i])});
}
- fakeVehicleParameters.rearAxle.wheelDiameter = 2 * testInput.staticWheelRadius;
+ fakeVehicleParameters.rear_axle.wheel_diameter = 2 * testInput.staticWheelRadius;
const auto vehicleParameterInputSignal = std::make_shared<ParametersVehicleSignal const>(fakeVehicleParameters);
@@ -121,10 +122,10 @@ TEST_P(MaximumLimit,
std::shared_ptr<SignalInterface const> signalInterface;
limiter.UpdateOutput(0, signalInterface, DontCare<double>());
- double resultAcceleration = std::dynamic_pointer_cast<AccelerationSignal const>(signalInterface)->acceleration;
+ auto resultAcceleration = std::dynamic_pointer_cast<AccelerationSignal const>(signalInterface)->acceleration;
// ASSERT
- ASSERT_NEAR(resultAcceleration, testInput.maximumLimit, 0.001);
+ ASSERT_NEAR(resultAcceleration.value(), testInput.maximumLimit, 0.001);
}
INSTANTIATE_TEST_CASE_P(Default, MaximumLimit,
@@ -133,11 +134,11 @@ INSTANTIATE_TEST_CASE_P(Default, MaximumLimit,
// maximumEngineTorque, maximumEngineSpeed, minimumEngineSpeed, staticWheelRadius, weight, gearRatios
testing::Values(
- LimiterTestParameter{7.6668, 0, 30.0, 0.28, 2.813, 2.2, 270, 6000, 900, 0.318, 1525.0, { 0.0, 5.0, 3.2, 2.143, 1.72, 1.314, 1.0, 0.822, 0.64 }},
- LimiterTestParameter{6.5065, 0, 50.0, 0.28, 2.813, 2.2, 270, 6000, 900, 0.318, 1525.0, { 0.0, 5.0, 3.2, 2.143, 1.72, 1.314, 1.0, 0.822, 0.64 }},
- LimiterTestParameter{4.5591, 0, 70.0, 0.28, 2.813, 2.2, 270, 6000, 900, 0.318, 1525.0, { 0.0, 5.0, 3.2, 2.143, 1.72, 1.314, 1.0, 0.822, 0.64 }},
- LimiterTestParameter{3.0062, 0, 100.0, 0.28, 2.813, 2.2, 270, 6000, 900, 0.318, 1525.0, { 0.0, 5.0, 3.2, 2.143, 1.72, 1.314, 1.0, 0.822, 0.64 }},
- LimiterTestParameter{0.67098, 0, 200.0, 0.28, 2.813, 2.2, 270, 6000, 900, 0.318, 1525.0, { 0.0, 5.0, 3.2, 2.143, 1.72, 1.314, 1.0, 0.822, 0.64 }}
+ LimiterTestParameter{7.6668, 0, 30.0_kph, "0.28", "2.813", "2.2", "270", "6000", "900", 0.318_m, 1525.0_kg, { 0.0, 5.0, 3.2, 2.143, 1.72, 1.314, 1.0, 0.822, 0.64 }},
+ LimiterTestParameter{6.5065, 0, 50.0_kph, "0.28", "2.813", "2.2", "270", "6000", "900", 0.318_m, 1525.0_kg, { 0.0, 5.0, 3.2, 2.143, 1.72, 1.314, 1.0, 0.822, 0.64 }},
+ LimiterTestParameter{4.5591, 0, 70.0_kph, "0.28", "2.813", "2.2", "270", "6000", "900", 0.318_m, 1525.0_kg, { 0.0, 5.0, 3.2, 2.143, 1.72, 1.314, 1.0, 0.822, 0.64 }},
+ LimiterTestParameter{3.0062, 0, 100.0_kph, "0.28", "2.813", "2.2", "270", "6000", "900", 0.318_m, 1525.0_kg, { 0.0, 5.0, 3.2, 2.143, 1.72, 1.314, 1.0, 0.822, 0.64 }},
+ LimiterTestParameter{0.67098, 0, 200.0_kph, "0.28", "2.813", "2.2", "270", "6000", "900", 0.318_m, 1525.0_kg, { 0.0, 5.0, 3.2, 2.143, 1.72, 1.314, 1.0, 0.822, 0.64 }}
)
);
diff --git a/sim/tests/unitTests/components/OpenScenarioActions/CMakeLists.txt b/sim/tests/unitTests/components/OpenScenarioActions/CMakeLists.txt
deleted file mode 100644
index 88419b1eda4558e694426b6c4eed22b7eb8cc02a..0000000000000000000000000000000000000000
--- a/sim/tests/unitTests/components/OpenScenarioActions/CMakeLists.txt
+++ /dev/null
@@ -1,43 +0,0 @@
-################################################################################
-# Copyright (c) 2020-2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-#
-# This program and the accompanying materials are made available under the
-# terms of the Eclipse Public License 2.0 which is available at
-# http://www.eclipse.org/legal/epl-2.0.
-#
-# SPDX-License-Identifier: EPL-2.0
-################################################################################
-set(COMPONENT_TEST_NAME OpenScenarioActions_Tests)
-set(COMPONENT_SOURCE_DIR ${OPENPASS_SIMCORE_DIR}/components/OpenScenarioActions/src)
-
-add_openpass_target(
- NAME ${COMPONENT_TEST_NAME} TYPE test COMPONENT module
- DEFAULT_MAIN
-
- SOURCES
- openScenarioActions_Tests.cpp
- ${COMPONENT_SOURCE_DIR}/openScenarioActionsImpl.cpp
- ${COMPONENT_SOURCE_DIR}/oscActionsCalculation.cpp
- ${COMPONENT_SOURCE_DIR}/transformLaneChange.cpp
- ${COMPONENT_SOURCE_DIR}/transformSpeedAction.cpp
- ${COMPONENT_SOURCE_DIR}/transformAcquirePosition.cpp
- ${COMPONENT_SOURCE_DIR}/transformDefaultCustomCommandAction.cpp
- ${COMPONENT_SOURCE_DIR}/transformSpeedAction.cpp
-
- HEADERS
- ${COMPONENT_SOURCE_DIR}/openScenarioActionsImpl.h
- ${COMPONENT_SOURCE_DIR}/oscActionsCalculation.h
- ${OPENPASS_SIMCORE_DIR}/common/events/laneChangeEvent.h
- ${OPENPASS_SIMCORE_DIR}/common/events/trajectoryEvent.h
- ${OPENPASS_SIMCORE_DIR}/common/trajectorySignal.h
- ${OPENPASS_SIMCORE_DIR}/common/acquirePositionSignal.h
- ${COMPONENT_SOURCE_DIR}/transformDefaultCustomCommandAction.h
- ${OPENPASS_SIMCORE_DIR}/common/speedActionSignal.h
-
- INCDIRS
- ${COMPONENT_SOURCE_DIR}
-
- LIBRARIES
- Qt5::Core
-)
-
diff --git a/sim/tests/unitTests/components/SensorFusionErrorless_OSI/sensorFusionErrorless_Tests.cpp b/sim/tests/unitTests/components/SensorFusionErrorless_OSI/sensorFusionErrorless_Tests.cpp
index 6780a8c67be8f3e7d103dd319c75e04690838c68..a6ca7bf05abb6a4a033201f5eb4cfc7d91c2ea71 100644
--- a/sim/tests/unitTests/components/SensorFusionErrorless_OSI/sensorFusionErrorless_Tests.cpp
+++ b/sim/tests/unitTests/components/SensorFusionErrorless_OSI/sensorFusionErrorless_Tests.cpp
@@ -238,10 +238,10 @@ TEST(SensorFusionErrorless_Tests, ConvertToVehicleCoordinates_SetsCorrectVelocit
{
NiceMock<FakeAgent> fakeAgent;
ON_CALL(fakeAgent, GetVelocity(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::Reference)))
- .WillByDefault(Return(Common::Vector2d{20.0,10.0}));
- ON_CALL(fakeAgent, GetVelocity(VariantWith<ObjectPointCustom>(ObjectPointCustom{-2.0, 1.5})))
- .WillByDefault(Return(Common::Vector2d{20.2,10.1}));
- ON_CALL(fakeAgent, GetYaw()).WillByDefault(Return(-M_PI_2));
+ .WillByDefault(Return(Common::Vector2d{20.0_mps,10.0_mps}));
+ ON_CALL(fakeAgent, GetVelocity(VariantWith<ObjectPointCustom>(ObjectPointCustom{-2.0_m, 1.5_m})))
+ .WillByDefault(Return(Common::Vector2d{20.2_mps,10.1_mps}));
+ ON_CALL(fakeAgent, GetYaw()).WillByDefault(Return(-90_deg));
osi3::DetectedMovingObject object;
object.mutable_base()->mutable_velocity()->set_x(5.0);
@@ -262,10 +262,10 @@ TEST(SensorFusionErrorless_Tests, ConvertToVehicleCoordinates_SetsCorrectAcceler
{
NiceMock<FakeAgent> fakeAgent;
ON_CALL(fakeAgent, GetAcceleration(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::Reference)))
- .WillByDefault(Return(Common::Vector2d{20.0,10.0}));
- ON_CALL(fakeAgent, GetAcceleration(VariantWith<ObjectPointCustom>(ObjectPointCustom{-2.0, 1.5})))
- .WillByDefault(Return(Common::Vector2d{20.2,10.1}));
- ON_CALL(fakeAgent, GetYaw()).WillByDefault(Return(-M_PI_2));
+ .WillByDefault(Return(Common::Vector2d{20.0_mps_sq,10.0_mps_sq}));
+ ON_CALL(fakeAgent, GetAcceleration(VariantWith<ObjectPointCustom>(ObjectPointCustom{-2.0_m, 1.5_m})))
+ .WillByDefault(Return(Common::Vector2d{20.2_mps_sq,10.1_mps_sq}));
+ ON_CALL(fakeAgent, GetYaw()).WillByDefault(Return(-90_deg));
osi3::DetectedMovingObject object;
object.mutable_base()->mutable_acceleration()->set_x(5.0);
diff --git a/sim/tests/unitTests/components/Sensor_Driver/sensorDriver_Tests.cpp b/sim/tests/unitTests/components/Sensor_Driver/sensorDriver_Tests.cpp
index 2fcd0515fced48a5868e9acedf3f588946c41944..7c13dcc987de623713e2ba5c33a2cf43394defe4 100644
--- a/sim/tests/unitTests/components/Sensor_Driver/sensorDriver_Tests.cpp
+++ b/sim/tests/unitTests/components/Sensor_Driver/sensorDriver_Tests.cpp
@@ -47,28 +47,28 @@ TEST(SensorDriver_UnitTests, CorrectInformationInSignal)
RoadGraphVertex target = add_vertex(roadGraph);
RoadGraphEdge edge = add_edge(start, target, roadGraph).first;
- GlobalRoadPositions frontPosition{{roadId, GlobalRoadPosition{roadId, -2, 50, 4.0, 0.5}}};
+ GlobalRoadPositions frontPosition{{roadId, GlobalRoadPosition{roadId, -2, 50_m, 4.0_m, 0.5_rad}}};
ON_CALL(fakeAgent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter))).WillByDefault(ReturnRef(frontPosition));
ON_CALL(fakeEgoAgent, GetReferencePointPosition()).WillByDefault(Return(frontPosition.at(roadId)));
- ON_CALL(fakeAgent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{2.0, 0.0}));
- ON_CALL(fakeAgent, GetAcceleration(_)).WillByDefault(Return(Common::Vector2d{3.0, 0.0}));
+ ON_CALL(fakeAgent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{2.0_mps, 0.0_mps}));
+ ON_CALL(fakeAgent, GetAcceleration(_)).WillByDefault(Return(Common::Vector2d{3.0_mps_sq, 0.0_mps_sq}));
ON_CALL(fakeAgent, IsCrossingLanes()).WillByDefault(Return(true));
- ON_CALL(fakeEgoAgent, GetPositionLateral()).WillByDefault(Return(4.0));
- ON_CALL(fakeEgoAgent, GetRelativeYaw()).WillByDefault(Return(5.0));
- ON_CALL(fakeEgoAgent, GetLaneRemainder(Side::Left)).WillByDefault(Return(6.0));
- ON_CALL(fakeEgoAgent, GetLaneRemainder(Side::Right)).WillByDefault(Return(7.0));
+ ON_CALL(fakeEgoAgent, GetPositionLateral()).WillByDefault(Return(4.0_m));
+ ON_CALL(fakeEgoAgent, GetRelativeYaw()).WillByDefault(Return(5.0_rad));
+ ON_CALL(fakeEgoAgent, GetLaneRemainder(Side::Left)).WillByDefault(Return(6.0_m));
+ ON_CALL(fakeEgoAgent, GetLaneRemainder(Side::Right)).WillByDefault(Return(7.0_m));
std::vector<std::pair<ObjectTypeOSI, int>> collisionPartners = {{ObjectTypeOSI::Vehicle, 1}};
ON_CALL(fakeAgent, GetCollisionPartners()).WillByDefault(Return(collisionPartners));
ON_CALL(fakeAgent, GetRoads(_)).WillByDefault(Return(std::vector<std::string>{roadId}));
- ON_CALL(fakeEgoAgent, GetLaneCurvature(1)).WillByDefault(Return(0.5));
- ON_CALL(fakeEgoAgent, GetLaneCurvature(0)).WillByDefault(Return(0.6));
- ON_CALL(fakeEgoAgent, GetLaneCurvature(-1)).WillByDefault(Return(0.7));
- ON_CALL(fakeEgoAgent, GetLaneWidth(1)).WillByDefault(Return(5.0));
- ON_CALL(fakeEgoAgent, GetLaneWidth(0)).WillByDefault(Return(6.0));
- ON_CALL(fakeEgoAgent, GetLaneWidth(-1)).WillByDefault(Return(7.0));
- ON_CALL(fakeEgoAgent, GetDistanceToEndOfLane(_, 1)).WillByDefault(Return(100.0));
- ON_CALL(fakeEgoAgent, GetDistanceToEndOfLane(_, 0)).WillByDefault(Return(200.0));
- ON_CALL(fakeEgoAgent, GetDistanceToEndOfLane(_, -1)).WillByDefault(Return(300.0));
+ ON_CALL(fakeEgoAgent, GetLaneCurvature(1)).WillByDefault(Return(0.5_i_m));
+ ON_CALL(fakeEgoAgent, GetLaneCurvature(0)).WillByDefault(Return(0.6_i_m));
+ ON_CALL(fakeEgoAgent, GetLaneCurvature(-1)).WillByDefault(Return(0.7_i_m));
+ ON_CALL(fakeEgoAgent, GetLaneWidth(1)).WillByDefault(Return(5.0_m));
+ ON_CALL(fakeEgoAgent, GetLaneWidth(0)).WillByDefault(Return(6.0_m));
+ ON_CALL(fakeEgoAgent, GetLaneWidth(-1)).WillByDefault(Return(7.0_m));
+ ON_CALL(fakeEgoAgent, GetDistanceToEndOfLane(_, 1)).WillByDefault(Return(100.0_m));
+ ON_CALL(fakeEgoAgent, GetDistanceToEndOfLane(_, 0)).WillByDefault(Return(200.0_m));
+ ON_CALL(fakeEgoAgent, GetDistanceToEndOfLane(_, -1)).WillByDefault(Return(300.0_m));
CommonTrafficSign::Entity trafficSign;
std::vector<CommonTrafficSign::Entity> trafficSigns{{trafficSign}};
ON_CALL(fakeEgoAgent, GetTrafficSignsInRange(_, 1)).WillByDefault(Return(trafficSigns));
@@ -77,15 +77,12 @@ TEST(SensorDriver_UnitTests, CorrectInformationInSignal)
LaneMarking::Entity laneMarking;
std::vector<LaneMarking::Entity> laneMarkings{{laneMarking}};
ON_CALL(fakeEgoAgent, GetLaneMarkingsInRange(_, _, _)).WillByDefault(Return(laneMarkings));
- RelativeWorldView::Lanes relativeLanes {{0.0, 0.0,
- {{-1, true, LaneType::Driving, std::nullopt, std::nullopt},
- {0, true, LaneType::Driving, std::nullopt, std::nullopt},
- {1, true, LaneType::Driving, std::nullopt, std::nullopt}}}};
+ RelativeWorldView::Lanes relativeLanes{{0.0_m, 0.0_m, {{-1, true, LaneType::Driving, std::nullopt, std::nullopt}, {0, true, LaneType::Driving, std::nullopt, std::nullopt}, {1, true, LaneType::Driving, std::nullopt, std::nullopt}}}};
ON_CALL(fakeEgoAgent, GetRelativeLanes(_, _, _)).WillByDefault(Return(relativeLanes));
ON_CALL(fakeWorld, GetRoadGraph(RouteElement{roadId, true}, _, true)).WillByDefault(Return(std::make_pair(roadGraph, start)));
ON_CALL(fakeWorld, IsDirectionalRoadExisting(roadId, true)).WillByDefault(Return(true));
- ON_CALL(fakeWorld, GetVisibilityDistance()).WillByDefault(Return(123.4));
+ ON_CALL(fakeWorld, GetVisibilityDistance()).WillByDefault(Return(123.4_m));
std::map<RoadGraphEdge, double> edgeWeights{{edge, 1.0}};
ON_CALL(fakeWorld, GetEdgeWeights(_)).WillByDefault([&edgeWeights](const RoadGraph& graph){auto [firstEdge, edgeEnd] = edges(graph); return std::map<RoadGraphEdge, double>{{*firstEdge, 1.0}};} );
@@ -94,25 +91,25 @@ TEST(SensorDriver_UnitTests, CorrectInformationInSignal)
NiceMock<FakeAgent> otherAgent;
std::vector<const WorldObjectInterface *> objectsInFront{{&otherAgent}};
- EXPECT_CALL(fakeEgoAgent, GetObjectsInRange(0.0,_,0)).WillRepeatedly(Return(objectsInFront));
+ EXPECT_CALL(fakeEgoAgent, GetObjectsInRange(0.0_m, _, 0)).WillRepeatedly(Return(objectsInFront));
ON_CALL(otherAgent, GetId()).WillByDefault(Return(2));
- ON_CALL(fakeEgoAgent, GetNetDistance(&otherAgent)).WillByDefault(Return(50.0));
- ON_CALL(otherAgent, GetYaw()).WillByDefault(Return(0.1));
- ON_CALL(otherAgent, GetLength()).WillByDefault(Return(1.0));
- ON_CALL(otherAgent, GetWidth()).WillByDefault(Return(1.1));
- ON_CALL(otherAgent, GetHeight()).WillByDefault(Return(1.2));
- ON_CALL(otherAgent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{10.0, 0.0}));
- ON_CALL(otherAgent, GetAcceleration(_)).WillByDefault(Return(Common::Vector2d{11.0, 0.0}));
+ ON_CALL(fakeEgoAgent, GetNetDistance(&otherAgent)).WillByDefault(Return(50.0_m));
+ ON_CALL(otherAgent, GetYaw()).WillByDefault(Return(0.1_rad));
+ ON_CALL(otherAgent, GetLength()).WillByDefault(Return(1.0_m));
+ ON_CALL(otherAgent, GetWidth()).WillByDefault(Return(1.1_m));
+ ON_CALL(otherAgent, GetHeight()).WillByDefault(Return(1.2_m));
+ ON_CALL(otherAgent, GetVelocity(_)).WillByDefault(Return(Common::Vector2d{10.0_mps, 0.0_mps}));
+ ON_CALL(otherAgent, GetAcceleration(_)).WillByDefault(Return(Common::Vector2d{11.0_mps_sq, 0.0_mps_sq}));
NiceMock<FakeWorldObject> trafficObject;
std::vector<const WorldObjectInterface *> objectsBehind{{&trafficObject}};
- EXPECT_CALL(fakeEgoAgent, GetObjectsInRange(_,0.0,1)).WillRepeatedly(Return(objectsBehind));
+ EXPECT_CALL(fakeEgoAgent, GetObjectsInRange(_, 0.0_m, 1)).WillRepeatedly(Return(objectsBehind));
ON_CALL(trafficObject, GetId()).WillByDefault(Return(3));
- ON_CALL(fakeEgoAgent, GetNetDistance(&trafficObject)).WillByDefault(Return(60.0));
- ON_CALL(trafficObject, GetYaw()).WillByDefault(Return(0.2));
- ON_CALL(trafficObject, GetLength()).WillByDefault(Return(2.0));
- ON_CALL(trafficObject, GetWidth()).WillByDefault(Return(2.1));
- ON_CALL(trafficObject, GetHeight()).WillByDefault(Return(2.2));
+ ON_CALL(fakeEgoAgent, GetNetDistance(&trafficObject)).WillByDefault(Return(60.0_m));
+ ON_CALL(trafficObject, GetYaw()).WillByDefault(Return(0.2_rad));
+ ON_CALL(trafficObject, GetLength()).WillByDefault(Return(2.0_m));
+ ON_CALL(trafficObject, GetWidth()).WillByDefault(Return(2.1_m));
+ ON_CALL(trafficObject, GetHeight()).WillByDefault(Return(2.2_m));
SensorDriverImplementation sensorDriver("SensorDriver",
false,
@@ -134,28 +131,28 @@ TEST(SensorDriver_UnitTests, CorrectInformationInSignal)
std::shared_ptr<const SensorDriverSignal> sensorDriverSignal = std::dynamic_pointer_cast<const SensorDriverSignal>(data);
auto ownVehicleInformation = sensorDriverSignal->GetOwnVehicleInformation();
- EXPECT_THAT(ownVehicleInformation.absoluteVelocity, Eq(2.0));
- EXPECT_THAT(ownVehicleInformation.acceleration, Eq(3.0));
- EXPECT_THAT(ownVehicleInformation.lateralPosition, Eq(4.0));
- EXPECT_THAT(ownVehicleInformation.heading, Eq(5.0));
- EXPECT_THAT(ownVehicleInformation.distanceToLaneBoundaryLeft, Eq(6.0));
- EXPECT_THAT(ownVehicleInformation.distanceToLaneBoundaryRight, Eq(7.0));
+ EXPECT_THAT(ownVehicleInformation.absoluteVelocity.value(), Eq(2.0));
+ EXPECT_THAT(ownVehicleInformation.acceleration.value(), Eq(3.0));
+ EXPECT_THAT(ownVehicleInformation.lateralPosition.value(), Eq(4.0));
+ EXPECT_THAT(ownVehicleInformation.heading.value(), Eq(5.0));
+ EXPECT_THAT(ownVehicleInformation.distanceToLaneBoundaryLeft.value(), Eq(6.0));
+ EXPECT_THAT(ownVehicleInformation.distanceToLaneBoundaryRight.value(), Eq(7.0));
EXPECT_THAT(ownVehicleInformation.collision, Eq(true));
auto geometryInformation = sensorDriverSignal->GetGeometryInformation();
- EXPECT_THAT(geometryInformation.visibilityDistance, Eq(123.4));
+ EXPECT_THAT(geometryInformation.visibilityDistance.value(), Eq(123.4));
EXPECT_THAT(geometryInformation.laneEgo.exists, Eq(true));
- EXPECT_THAT(geometryInformation.laneEgo.curvature, Eq(0.6));
- EXPECT_THAT(geometryInformation.laneEgo.width, Eq(6.0));
- EXPECT_THAT(geometryInformation.laneEgo.distanceToEndOfLane, Eq(200.0));
+ EXPECT_THAT(geometryInformation.laneEgo.curvature.value(), Eq(0.6));
+ EXPECT_THAT(geometryInformation.laneEgo.width.value(), Eq(6.0));
+ EXPECT_THAT(geometryInformation.laneEgo.distanceToEndOfLane.value(), Eq(200.0));
EXPECT_THAT(geometryInformation.laneLeft.exists, Eq(true));
- EXPECT_THAT(geometryInformation.laneLeft.curvature, Eq(0.5));
- EXPECT_THAT(geometryInformation.laneLeft.width, Eq(5.0));
- EXPECT_THAT(geometryInformation.laneLeft.distanceToEndOfLane, Eq(100.0));
+ EXPECT_THAT(geometryInformation.laneLeft.curvature.value(), Eq(0.5));
+ EXPECT_THAT(geometryInformation.laneLeft.width.value(), Eq(5.0));
+ EXPECT_THAT(geometryInformation.laneLeft.distanceToEndOfLane.value(), Eq(100.0));
EXPECT_THAT(geometryInformation.laneRight.exists, Eq(true));
- EXPECT_THAT(geometryInformation.laneRight.curvature, Eq(0.7));
- EXPECT_THAT(geometryInformation.laneRight.width, Eq(7.0));
- EXPECT_THAT(geometryInformation.laneRight.distanceToEndOfLane, Eq(300.0));
+ EXPECT_THAT(geometryInformation.laneRight.curvature.value(), Eq(0.7));
+ EXPECT_THAT(geometryInformation.laneRight.width.value(), Eq(7.0));
+ EXPECT_THAT(geometryInformation.laneRight.distanceToEndOfLane.value(), Eq(300.0));
auto trafficRuleInformation = sensorDriverSignal->GetTrafficRuleInformation();
EXPECT_THAT(trafficRuleInformation.laneEgo.trafficSigns.size(), Eq(1));
@@ -166,22 +163,22 @@ TEST(SensorDriver_UnitTests, CorrectInformationInSignal)
EXPECT_THAT(surroundingObjects.objectFront.exist, Eq(true));
EXPECT_THAT(surroundingObjects.objectFront.isStatic, Eq(false));
EXPECT_THAT(surroundingObjects.objectFront.id, Eq(2));
- EXPECT_THAT(surroundingObjects.objectFront.absoluteVelocity, Eq(10.0));
- EXPECT_THAT(surroundingObjects.objectFront.acceleration, Eq(11.0));
- EXPECT_THAT(surroundingObjects.objectFront.heading, Eq(0.1));
- EXPECT_THAT(surroundingObjects.objectFront.length, Eq(1.0));
- EXPECT_THAT(surroundingObjects.objectFront.width, Eq(1.1));
- EXPECT_THAT(surroundingObjects.objectFront.height, Eq(1.2));
- EXPECT_THAT(surroundingObjects.objectFront.relativeLongitudinalDistance, Eq(50.0));
-// EXPECT_THAT(surroundingObjects.objectFront.relativeLateralDistance, DoubleEq(-2.0));
+ EXPECT_THAT(surroundingObjects.objectFront.absoluteVelocity.value(), Eq(10.0));
+ EXPECT_THAT(surroundingObjects.objectFront.acceleration.value(), Eq(11.0));
+ EXPECT_THAT(surroundingObjects.objectFront.heading.value(), Eq(0.1));
+ EXPECT_THAT(surroundingObjects.objectFront.length.value(), Eq(1.0));
+ EXPECT_THAT(surroundingObjects.objectFront.width.value(), Eq(1.1));
+ EXPECT_THAT(surroundingObjects.objectFront.height.value(), Eq(1.2));
+ EXPECT_THAT(surroundingObjects.objectFront.relativeLongitudinalDistance.value(), Eq(50.0));
+ // EXPECT_THAT(surroundingObjects.objectFront.relativeLateralDistance, DoubleEq(-2.0));
EXPECT_THAT(surroundingObjects.objectRearLeft.exist, Eq(true));
EXPECT_THAT(surroundingObjects.objectRearLeft.isStatic, Eq(true));
EXPECT_THAT(surroundingObjects.objectRearLeft.id, Eq(3));
- EXPECT_THAT(surroundingObjects.objectRearLeft.heading, Eq(0.2));
- EXPECT_THAT(surroundingObjects.objectRearLeft.length, Eq(2.0));
- EXPECT_THAT(surroundingObjects.objectRearLeft.width, Eq(2.1));
- EXPECT_THAT(surroundingObjects.objectRearLeft.height, Eq(2.2));
- EXPECT_THAT(surroundingObjects.objectRearLeft.relativeLongitudinalDistance, Eq(60.0));
+ EXPECT_THAT(surroundingObjects.objectRearLeft.heading.value(), Eq(0.2));
+ EXPECT_THAT(surroundingObjects.objectRearLeft.length.value(), Eq(2.0));
+ EXPECT_THAT(surroundingObjects.objectRearLeft.width.value(), Eq(2.1));
+ EXPECT_THAT(surroundingObjects.objectRearLeft.height.value(), Eq(2.2));
+ EXPECT_THAT(surroundingObjects.objectRearLeft.relativeLongitudinalDistance.value(), Eq(60.0));
EXPECT_THAT(surroundingObjects.objectRear.exist, Eq(false));
EXPECT_THAT(surroundingObjects.objectFrontLeft.exist, Eq(false));
EXPECT_THAT(surroundingObjects.objectFrontRight.exist, Eq(false));
@@ -195,15 +192,15 @@ TEST(SensorDriverCalculations_UnitTests, GetLateralDistanceToObjectSameLane)
ON_CALL(egoAgent, GetLaneIdFromRelative(-1)).WillByDefault(Return(-4));
ON_CALL(egoAgent, GetLaneIdFromRelative(0)).WillByDefault(Return(-3));
ON_CALL(egoAgent, GetLaneIdFromRelative(1)).WillByDefault(Return(-2));
- ON_CALL(egoAgent, GetPositionLateral()).WillByDefault(Return(0.5));
+ ON_CALL(egoAgent, GetPositionLateral()).WillByDefault(Return(0.5_m));
NiceMock<FakeAgent> otherAgent;
- GlobalRoadPositions otherAgentPosition{{"MyRoad", GlobalRoadPosition{"MyRoad", -3, 50, -1.0, 0}}};
+ GlobalRoadPositions otherAgentPosition{{"MyRoad", GlobalRoadPosition{"MyRoad", -3, 50_m, -1.0_m, 0_rad}}};
ON_CALL(otherAgent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::Reference))).WillByDefault(ReturnRef(otherAgentPosition));
SensorDriverCalculations sensorDriverCalculations(egoAgent);
- double lateralDistance = sensorDriverCalculations.GetLateralDistanceToObject("MyRoad", &otherAgent);
- ASSERT_THAT(lateralDistance, Eq(-1.5));
+ auto lateralDistance = sensorDriverCalculations.GetLateralDistanceToObject("MyRoad", &otherAgent);
+ ASSERT_THAT(lateralDistance.value(), Eq(-1.5));
}
TEST(SensorDriverCalculations_UnitTests, GetLateralDistanceToObjectLeftLane)
@@ -213,19 +210,19 @@ TEST(SensorDriverCalculations_UnitTests, GetLateralDistanceToObjectLeftLane)
ON_CALL(egoAgent, GetLaneIdFromRelative(-1)).WillByDefault(Return(-4));
ON_CALL(egoAgent, GetLaneIdFromRelative(0)).WillByDefault(Return(-3));
ON_CALL(egoAgent, GetLaneIdFromRelative(1)).WillByDefault(Return(-2));
- GlobalRoadPositions position{{"MyRoad",GlobalRoadPosition{"",-3,0,0.5,0}}};
+ GlobalRoadPositions position{{"MyRoad",GlobalRoadPosition{"",-3,0_m,0.5_m,0_rad}}};
ON_CALL(agent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter))).WillByDefault(ReturnRef(position));
- ON_CALL(egoAgent, GetPositionLateral()).WillByDefault(Return(0.5));
- ON_CALL(egoAgent, GetLaneWidth(0)).WillByDefault(Return(4.0));
- ON_CALL(egoAgent, GetLaneWidth(1)).WillByDefault(Return(5.0));
+ ON_CALL(egoAgent, GetPositionLateral()).WillByDefault(Return(0.5_m));
+ ON_CALL(egoAgent, GetLaneWidth(0)).WillByDefault(Return(4.0_m));
+ ON_CALL(egoAgent, GetLaneWidth(1)).WillByDefault(Return(5.0_m));
NiceMock<FakeAgent> otherAgent;
- GlobalRoadPositions otherAgentPosition{{"MyRoad", GlobalRoadPosition{"MyRoad", -2, 50, -1.0, 0}}};
+ GlobalRoadPositions otherAgentPosition{{"MyRoad", GlobalRoadPosition{"MyRoad", -2, 50_m, -1.0_m, 0_rad}}};
ON_CALL(otherAgent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::Reference))).WillByDefault(ReturnRef(otherAgentPosition));
SensorDriverCalculations sensorDriverCalculations(egoAgent);
- double lateralDistance = sensorDriverCalculations.GetLateralDistanceToObject("MyRoad", &otherAgent);
- ASSERT_THAT(lateralDistance, Eq(3.0));
+ auto lateralDistance = sensorDriverCalculations.GetLateralDistanceToObject("MyRoad", &otherAgent);
+ ASSERT_THAT(lateralDistance.value(), Eq(3.0));
}
TEST(SensorDriverCalculations_UnitTests, GetLateralDistanceToObjectRightLane)
@@ -235,17 +232,17 @@ TEST(SensorDriverCalculations_UnitTests, GetLateralDistanceToObjectRightLane)
ON_CALL(egoAgent, GetLaneIdFromRelative(-1)).WillByDefault(Return(-4));
ON_CALL(egoAgent, GetLaneIdFromRelative(0)).WillByDefault(Return(-3));
ON_CALL(egoAgent, GetLaneIdFromRelative(1)).WillByDefault(Return(-2));
- GlobalRoadPositions position{{"MyRoad",GlobalRoadPosition{"",-3,0,0.5,0}}};
+ GlobalRoadPositions position{{"MyRoad",GlobalRoadPosition{"",-3,0_m,0.5_m,0_rad}}};
ON_CALL(agent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter))).WillByDefault(ReturnRef(position));
- ON_CALL(egoAgent, GetPositionLateral()).WillByDefault(Return(0.5));
- ON_CALL(egoAgent, GetLaneWidth(0)).WillByDefault(Return(4.0));
- ON_CALL(egoAgent, GetLaneWidth(-1)).WillByDefault(Return(5.0));
+ ON_CALL(egoAgent, GetPositionLateral()).WillByDefault(Return(0.5_m));
+ ON_CALL(egoAgent, GetLaneWidth(0)).WillByDefault(Return(4.0_m));
+ ON_CALL(egoAgent, GetLaneWidth(-1)).WillByDefault(Return(5.0_m));
NiceMock<FakeAgent> otherAgent;
- GlobalRoadPositions otherAgentPosition{{"MyRoad", GlobalRoadPosition{"MyRoad", -4, 50, -1.0, 0}}};
+ GlobalRoadPositions otherAgentPosition{{"MyRoad", GlobalRoadPosition{"MyRoad", -4, 50_m, -1.0_m, 0_rad}}};
ON_CALL(otherAgent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::Reference))).WillByDefault(ReturnRef(otherAgentPosition));
SensorDriverCalculations sensorDriverCalculations(egoAgent);
- double lateralDistance = sensorDriverCalculations.GetLateralDistanceToObject("MyRoad", &otherAgent);
- ASSERT_THAT(lateralDistance, Eq(-6.0));
+ auto lateralDistance = sensorDriverCalculations.GetLateralDistanceToObject("MyRoad", &otherAgent);
+ ASSERT_THAT(lateralDistance.value(), Eq(-6.0));
}
diff --git a/sim/tests/unitTests/components/Sensor_OSI/sensorOSI_Tests.cpp b/sim/tests/unitTests/components/Sensor_OSI/sensorOSI_Tests.cpp
index c507a984fd397b11cc4ebda575cb3056ee244aa6..fe137f2665a7c1fa259cec0b12e301773596f52b 100644
--- a/sim/tests/unitTests/components/Sensor_OSI/sensorOSI_Tests.cpp
+++ b/sim/tests/unitTests/components/Sensor_OSI/sensorOSI_Tests.cpp
@@ -10,6 +10,8 @@
********************************************************************************/
#include <QtGlobal>
+#include <string>
+#include <cmath>
#include "gtest/gtest.h"
#include "gmock/gmock.h"
@@ -40,12 +42,12 @@ class DetectObjects_Data
public:
double detectionRange;
double openingAngleH;
- double mountingPositionLongitudinal;
- double mountingPositionLateral;
- double mountingPositionYaw;
- double sensorX;
- double sensorY;
- double vehicleYaw;
+ units::length::meter_t mountingPositionLongitudinal;
+ units::length::meter_t mountingPositionLateral;
+ units::angle::radian_t mountingPositionYaw;
+ units::length::meter_t sensorX;
+ units::length::meter_t sensorY;
+ units::angle::radian_t vehicleYaw;
bool enableVisualObstruction;
std::vector<MovingObjectParameter> movingObjects;
std::vector<StationaryObjectParameter> stationaryObjects;
@@ -66,8 +68,7 @@ public:
ON_CALL(fakeStochastics, GetLogNormalDistributed(_, _)).WillByDefault(Return(1));
fakeDoubles = {{"FailureProbability", 0}, {"Latency", 0},
- {"RequiredPercentageOfVisibleArea", 0.4},{"Height", 0.0},
- {"Pitch", 0.0}, {"Roll", 0.0}};
+ {"RequiredPercentageOfVisibleArea", 0.4}};
ON_CALL(fakeParameters, GetParametersDouble()).WillByDefault(ReturnRef(fakeDoubles));
@@ -77,6 +78,14 @@ public:
fakeBools = {};
ON_CALL(fakeParameters, GetParametersBool()).WillByDefault(ReturnRef(fakeBools));
+ fakeStrings = {{"Position", "Position1"}};
+ ON_CALL(fakeParameters, GetParametersString()).WillByDefault(ReturnRef(fakeStrings));
+
+ fakeVehicleModelParameters->properties = {{"SensorPosition/Position1/Height", "0.0"},
+ {"SensorPosition/Position1/Pitch", "0.0"},
+ {"SensorPosition/Position1/Roll", "0.0"}};
+ ON_CALL(fakeAgent, GetVehicleModelParameters()).WillByDefault(Return(fakeVehicleModelParameters));
+
ON_CALL(fakeWorldInterface, GetWorldData()).WillByDefault(Return(&fakeWorldData));
}
@@ -91,32 +100,34 @@ public:
std::map<std::string, double> fakeDoubles;
std::map<std::string, int> fakeInts;
std::map<std::string, bool> fakeBools;
+ std::map<std::string, const std::string> fakeStrings;
+ std::shared_ptr<mantle_api::VehicleProperties> fakeVehicleModelParameters = std::make_shared<mantle_api::VehicleProperties>();
};
void AddMovingObjectToSensorView (osi3::SensorView &sensorView, MovingObjectParameter &objectParameter)
{
osi3::MovingObject* movingObject = sensorView.mutable_global_ground_truth()->add_moving_object();
- movingObject->mutable_base()->mutable_position()->set_x(objectParameter.position.x);
- movingObject->mutable_base()->mutable_position()->set_y(objectParameter.position.y);
+ movingObject->mutable_base()->mutable_position()->set_x(objectParameter.position.x.value());
+ movingObject->mutable_base()->mutable_position()->set_y(objectParameter.position.y.value());
movingObject->mutable_base()->mutable_dimension()->set_length(5);
movingObject->mutable_base()->mutable_dimension()->set_width(2);
movingObject->mutable_vehicle_attributes()->mutable_bbcenter_to_rear()->set_x(-0.5);
- movingObject->mutable_base()->mutable_orientation()->set_yaw(objectParameter.yaw);
- movingObject->mutable_base()->mutable_velocity()->set_x(objectParameter.velocity.x);
- movingObject->mutable_base()->mutable_velocity()->set_y(objectParameter.velocity.y);
- movingObject->mutable_base()->mutable_acceleration()->set_x(objectParameter.acceleration.x);
- movingObject->mutable_base()->mutable_acceleration()->set_y(objectParameter.acceleration.y);
+ movingObject->mutable_base()->mutable_orientation()->set_yaw(objectParameter.yaw.value());
+ movingObject->mutable_base()->mutable_velocity()->set_x(objectParameter.velocity.x.value());
+ movingObject->mutable_base()->mutable_velocity()->set_y(objectParameter.velocity.y.value());
+ movingObject->mutable_base()->mutable_acceleration()->set_x(objectParameter.acceleration.x.value());
+ movingObject->mutable_base()->mutable_acceleration()->set_y(objectParameter.acceleration.y.value());
movingObject->mutable_id()->set_value(objectParameter.id);
}
void AddStationaryObjectToSensorView (osi3::SensorView &sensorView, StationaryObjectParameter &objectParameter)
{
osi3::StationaryObject* stationaryObject = sensorView.mutable_global_ground_truth()->add_stationary_object();
- stationaryObject->mutable_base()->mutable_position()->set_x(objectParameter.position.x);
- stationaryObject->mutable_base()->mutable_position()->set_y(objectParameter.position.y);
+ stationaryObject->mutable_base()->mutable_position()->set_x(objectParameter.position.x.value());
+ stationaryObject->mutable_base()->mutable_position()->set_y(objectParameter.position.y.value());
stationaryObject->mutable_base()->mutable_dimension()->set_length(5);
stationaryObject->mutable_base()->mutable_dimension()->set_width(2);
- stationaryObject->mutable_base()->mutable_orientation()->set_yaw(objectParameter.yaw);
+ stationaryObject->mutable_base()->mutable_orientation()->set_yaw(objectParameter.yaw.value());
stationaryObject->mutable_id()->set_value(objectParameter.id);
}
@@ -125,17 +136,19 @@ TEST_P(DetectObjects, StoresSensorDataWithDetectedObjects)
auto data = GetParam();
fakeDoubles["DetectionRange"] = data.detectionRange;
fakeDoubles["OpeningAngleH"] = data.openingAngleH;
- fakeDoubles["Longitudinal"] = data.mountingPositionLongitudinal;
- fakeDoubles["Lateral"] = data.mountingPositionLateral;
- fakeDoubles["Yaw"] = data.mountingPositionYaw;
+ fakeVehicleModelParameters->properties["SensorPosition/Position1/Longitudinal"] = std::to_string(data.mountingPositionLongitudinal.value());
+ fakeVehicleModelParameters->properties["SensorPosition/Position1/Lateral"] = std::to_string(data.mountingPositionLateral.value());
+ std::stringstream yawString; //Use stringstream, because std::to_string is not precise enough
+ yawString << std::setprecision(12) << data.mountingPositionYaw.value();
+ fakeVehicleModelParameters->properties["SensorPosition/Position1/Yaw"] = yawString.str();
fakeBools["EnableVisualObstruction"] = data.enableVisualObstruction;
sensorView->mutable_host_vehicle_id()->set_value(1);
const ObjectPointCustom mountingPosition{data.mountingPositionLongitudinal, data.mountingPositionLateral};
- MovingObjectParameter hostVehicle{1, {0, 0}, {9.0, 4.0}, {-2.1, 3.1}, data.vehicleYaw};
+ MovingObjectParameter hostVehicle{1, {0_m, 0_m}, {9.0_mps, 4.0_mps}, {-2.1_mps_sq, 3.1_mps_sq}, data.vehicleYaw};
AddMovingObjectToSensorView(*sensorView, hostVehicle);
ON_CALL(fakeAgent, GetAbsolutePosition(VariantWith<ObjectPointCustom>(mountingPosition))).WillByDefault(Return(Common::Vector2d{data.sensorX, data.sensorY}));
- ON_CALL(fakeAgent, GetVelocity(VariantWith<ObjectPointCustom>(mountingPosition))).WillByDefault(Return(Common::Vector2d{10.0, 5.0}));
- ON_CALL(fakeAgent, GetAcceleration(VariantWith<ObjectPointCustom>(mountingPosition))).WillByDefault(Return(Common::Vector2d{-2.0, 3.0}));
+ ON_CALL(fakeAgent, GetVelocity(VariantWith<ObjectPointCustom>(mountingPosition))).WillByDefault(Return(Common::Vector2d{10.0_mps, 5.0_mps}));
+ ON_CALL(fakeAgent, GetAcceleration(VariantWith<ObjectPointCustom>(mountingPosition))).WillByDefault(Return(Common::Vector2d{-2.0_mps_sq, 3.0_mps_sq}));
for (auto object : data.movingObjects)
{
AddMovingObjectToSensorView(*sensorView, object);
@@ -197,31 +210,31 @@ TEST_P(DetectObjects, StoresSensorDataWithDetectedObjects)
}
}
-MovingObjectParameter testMovingObject2{2, {110.0, 100.0}, {5.0, 7.0}, {-0.2, 0.3}, 0.5};
-MovingObjectParameter testMovingObject3{3, {150.0, 54.0}, {6.0, 8.0}, {0.0, 0.0}, 0.0};
-MovingObjectParameter testMovingObject4{4, {130.0, 403.0}, {7.0, 9.0}, {-0.1, 0.4}, 0.0};
-MovingObjectParameter testMovingObject5{5, {101.0, 130.0}, {8.0, 10.0}, {-0.3, 0.5}, 0.0};
-MovingObjectParameter testMovingObject6{6, {70.0, 134.0}, {9.0, 11.0}, {-0.3, 0.5}, -0.5};
-MovingObjectParameter testMovingObject7{7, {0.0, 50.0}, {10.0, 12.0}, {-0.2, 0.2}, 0.0};
+MovingObjectParameter testMovingObject2{2, {110.0_m, 100.0_m}, {5.0_mps, 7.0_mps}, {-0.2_mps_sq, 0.3_mps_sq}, 0.5_rad};
+MovingObjectParameter testMovingObject3{3, {150.0_m, 54.0_m}, {6.0_mps, 8.0_mps}, {0.0_mps_sq, 0.0_mps_sq}, 0.0_rad};
+MovingObjectParameter testMovingObject4{4, {130.0_m, 403.0_m}, {7.0_mps, 9.0_mps}, {-0.1_mps_sq, 0.4_mps_sq}, 0.0_rad};
+MovingObjectParameter testMovingObject5{5, {101.0_m, 130.0_m}, {8.0_mps, 10.0_mps}, {-0.3_mps_sq, 0.5_mps_sq}, 0.0_rad};
+MovingObjectParameter testMovingObject6{6, {70.0_m, 134.0_m}, {9.0_mps, 11.0_mps}, {-0.3_mps_sq, 0.5_mps_sq}, -0.5_rad};
+MovingObjectParameter testMovingObject7{7, {0.0_m, 50.0_m}, {10.0_mps, 12.0_mps}, {-0.2_mps_sq, 0.2_mps_sq}, 0.0_rad};
std::vector<MovingObjectParameter> testMovingObjects{testMovingObject2, testMovingObject3, testMovingObject4, testMovingObject5, testMovingObject6, testMovingObject7};
-MovingObjectParameter expectedMovingObject2_a{2, {10.0, 0.0}, {-5.0, 2.0}, {1.8, -2.7}, 0.5};
-MovingObjectParameter expectedMovingObject3_a{3, {50.0, -46.0}, {-4.0, 3.0}, {2.0, -3.0}, 0.0};
+MovingObjectParameter expectedMovingObject2_a{2, {10.0_m, 0.0_m}, {-5.0_mps, 2.0_mps}, {1.8_mps_sq, -2.7_mps_sq}, 0.5_rad};
+MovingObjectParameter expectedMovingObject3_a{3, {50.0_m, -46.0_m}, {-4.0_mps, 3.0_mps}, {2.0_mps_sq, -3.0_mps_sq}, 0.0_rad};
std::vector<MovingObjectParameter> expectedMovingObjects_a{expectedMovingObject2_a, expectedMovingObject3_a};
std::vector<OWL::Id> expectedMovingObjectsVisibleIds_a{expectedMovingObject2_a.id, expectedMovingObject3_a.id};
std::vector<OWL::Id> expectedMovingObjectsDetectedIds_a{expectedMovingObject2_a.id, expectedMovingObject3_a.id};
-MovingObjectParameter expectedMovingObject5_b{5, {1.0, 30.0}, {-2.0, 5.0}, {1.7, -2.5}, 0.0};
+MovingObjectParameter expectedMovingObject5_b{5, {1.0_m, 30.0_m}, {-2.0_mps, 5.0_mps}, {1.7_mps_sq, -2.5_mps_sq}, 0.0_rad};
std::vector<MovingObjectParameter> expectedMovingObjects_b{expectedMovingObject2_a, expectedMovingObject3_a, expectedMovingObject5_b};
std::vector<OWL::Id> expectedMovingObjectsVisibleIds_b{expectedMovingObject2_a.id, expectedMovingObject3_a.id, expectedMovingObject5_b.id};
std::vector<OWL::Id> expectedMovingObjectsDetectedIds_b{expectedMovingObject2_a.id, expectedMovingObject3_a.id, expectedMovingObject5_b.id};
-MovingObjectParameter expectedMovingObject6_c{6, {-30.0, 34.0}, {-1.0, 6.0}, {1.7, -2.5}, -0.5};
+MovingObjectParameter expectedMovingObject6_c{6, {-30.0_m, 34.0_m}, {-1.0_mps, 6.0_mps}, {1.7_mps_sq, -2.5_mps_sq}, -0.5_rad};
std::vector<MovingObjectParameter> expectedMovingObjects_c{expectedMovingObject2_a, expectedMovingObject3_a, expectedMovingObject5_b, expectedMovingObject6_c};
std::vector<OWL::Id> expectedMovingObjectsVisibleIds_c{expectedMovingObject2_a.id, expectedMovingObject3_a.id, expectedMovingObject5_b.id, expectedMovingObject6_c.id};
std::vector<OWL::Id> expectedMovingObjectsDetectedIds_c{expectedMovingObject2_a.id, expectedMovingObject3_a.id, expectedMovingObject5_b.id, expectedMovingObject6_c.id};
-MovingObjectParameter expectedMovingObject7_d{7, {-100, -50.0}, {0.0, 7.0}, {1.8, -2.8}, 0.0};
+MovingObjectParameter expectedMovingObject7_d{7, {-100_m, -50.0_m}, {0.0_mps, 7.0_mps}, {1.8_mps_sq, -2.8_mps_sq}, 0.0_rad};
std::vector<MovingObjectParameter> expectedMovingObjects_d{expectedMovingObject2_a, expectedMovingObject3_a, expectedMovingObject5_b, expectedMovingObject6_c, expectedMovingObject7_d};
std::vector<OWL::Id> expectedMovingObjectsVisibleIds_d{expectedMovingObject2_a.id, expectedMovingObject3_a.id, expectedMovingObject5_b.id, expectedMovingObject6_c.id, expectedMovingObject7_d.id};
std::vector<OWL::Id> expectedMovingObjectsDetectedIds_d{expectedMovingObject2_a.id, expectedMovingObject3_a.id, expectedMovingObject5_b.id, expectedMovingObject6_c.id, expectedMovingObject7_d.id};
@@ -230,69 +243,69 @@ std::vector<MovingObjectParameter> expectedMovingObjects_e{expectedMovingObject2
std::vector<OWL::Id> expectedMovingObjectsVisibleIds_e{expectedMovingObject2_a.id, expectedMovingObject3_a.id};
std::vector<OWL::Id> expectedMovingObjectsDetectedIds_e{expectedMovingObject2_a.id, expectedMovingObject3_a.id};
-MovingObjectParameter expectedMovingObject7_f{7, {30.0, 0.0}, {7.0, 0.0}, {-2.8, -1.8}, -M_PI * 0.5};
+MovingObjectParameter expectedMovingObject7_f{7, {30.0_m, 0.0_m}, {7.0_mps, 0.0_mps}, {-2.8_mps_sq, -1.8_mps_sq}, -90_deg};
std::vector<MovingObjectParameter> expectedMovingObjects_f{expectedMovingObject7_f};
std::vector<OWL::Id> expectedMovingObjectsVisibleIds_f{expectedMovingObject7_f.id};
std::vector<OWL::Id> expectedMovingObjectsDetectedIds_f{expectedMovingObject7_f.id};
-StationaryObjectParameter testStationaryObject12{12, {110.0, 100.0}, 0.5};
-StationaryObjectParameter testStationaryObject13{13, {150.0, 54.0}, 0.0};
-StationaryObjectParameter testStationaryObject14{14, {130.0, 403.0}, 0.0};
-StationaryObjectParameter testStationaryObject15{15, {101.0, 130.0}, 0.0};
-StationaryObjectParameter testStationaryObject16{16, {70.0, 134.0}, -0.5};
-StationaryObjectParameter testStationaryObject17{17, {0.0, 50.0}, 0.0};
+StationaryObjectParameter testStationaryObject12{12, {110.0_m, 100.0_m}, 0.5_rad};
+StationaryObjectParameter testStationaryObject13{13, {150.0_m, 54.0_m}, 0.0_rad};
+StationaryObjectParameter testStationaryObject14{14, {130.0_m, 403.0_m}, 0.0_rad};
+StationaryObjectParameter testStationaryObject15{15, {101.0_m, 130.0_m}, 0.0_rad};
+StationaryObjectParameter testStationaryObject16{16, { 70.0_m, 134.0_m}, -0.5_rad};
+StationaryObjectParameter testStationaryObject17{17, { 0.0_m, 50.0_m}, 0.0_rad};
std::vector<StationaryObjectParameter> testStationaryObjects{testStationaryObject12, testStationaryObject13, testStationaryObject14, testStationaryObject15, testStationaryObject16, testStationaryObject17};
-StationaryObjectParameter expectedStationaryObject12_a{12, {10.0, 0.0}, 0.5};
-StationaryObjectParameter expectedStationaryObject13_a{13, {50.0, -46.0}, 0.0};
+StationaryObjectParameter expectedStationaryObject12_a{12, {10.0_m, 0.0_m}, 0.5_rad};
+StationaryObjectParameter expectedStationaryObject13_a{13, {50.0_m, -46.0_m}, 0.0_rad};
std::vector<StationaryObjectParameter> expectedStationaryObjects_a{expectedStationaryObject12_a, expectedStationaryObject13_a};
-StationaryObjectParameter expectedStationaryObject15_b{15, {1.0, 30.0}, 0.0};
+StationaryObjectParameter expectedStationaryObject15_b{15, {1.0_m, 30.0_m}, 0.0_rad};
std::vector<StationaryObjectParameter> expectedStationaryObjects_b{expectedStationaryObject12_a, expectedStationaryObject13_a, expectedStationaryObject15_b};
-StationaryObjectParameter expectedStationaryObject16_c{16, {-30.0, 34.0}, -0.5};
+StationaryObjectParameter expectedStationaryObject16_c{16, {-30.0_m, 34.0_m}, -0.5_rad};
std::vector<StationaryObjectParameter> expectedStationaryObjects_c{expectedStationaryObject12_a, expectedStationaryObject13_a, expectedStationaryObject15_b, expectedStationaryObject16_c};
-StationaryObjectParameter expectedStationaryObject17_d{17, {-100.0, -50.0}, 0.0};
+StationaryObjectParameter expectedStationaryObject17_d{17, {-100.0_m, -50.0_m}, 0.0_rad};
std::vector<StationaryObjectParameter> expectedStationaryObjects_d{expectedStationaryObject12_a, expectedStationaryObject13_a, expectedStationaryObject15_b, expectedStationaryObject16_c, expectedStationaryObject17_d};
std::vector<StationaryObjectParameter> expectedStationaryObjects_e{expectedStationaryObject12_a, expectedStationaryObject13_a};
-StationaryObjectParameter expectedStationaryObject17_f{17, {30.0, 0.0}, -M_PI * 0.5};
+StationaryObjectParameter expectedStationaryObject17_f{17, {30.0_m, 0.0_m}, -90_deg};
std::vector<StationaryObjectParameter> expectedStationaryObjects_f{expectedStationaryObject17_f};
INSTANTIATE_TEST_CASE_P(WithoutObstruction, DetectObjects,
::testing::Values(
-// openingAngle lateral positionX vehicleYaw movingObjects expectedMovingObjects
-// range | longitudinal| sensorYaw | positionY | visualObstruction | stationaryObjects | expectedStationaryObjects
-// | | | | | | | | | | | | |
- DetectObjects_Data{0.0 , M_PI * 0.5, 0.0, 0.0, 0.0, 100.0, 100.0, 0.0, false, testMovingObjects, testStationaryObjects, {}, {}, {}, {}}, //zero range => no detected objects
- DetectObjects_Data{300.0, M_PI * 0.5, 0.0, 0.0, 0.0, 100.0, 100.0, 0.0, false, {} , {}, {}, {}, {}, {}}, //no other objects beside host
- DetectObjects_Data{300.0, M_PI * 0.5, 2.0, 3.0, 0.0, 100.0, 100.0, 0.0, false, testMovingObjects, testStationaryObjects, expectedMovingObjects_a, expectedStationaryObjects_a, expectedMovingObjectsVisibleIds_a, expectedMovingObjectsDetectedIds_a}, //opening angle small
- DetectObjects_Data{300.0, M_PI , 2.0, 3.0, 0.0, 100.0, 100.0, 0.0, false, testMovingObjects, testStationaryObjects, expectedMovingObjects_b, expectedStationaryObjects_b, expectedMovingObjectsVisibleIds_b, expectedMovingObjectsDetectedIds_b}, //half circle
- DetectObjects_Data{300.0, M_PI * 1.5, 2.0, 3.0, 0.0, 100.0, 100.0, 0.0, false, testMovingObjects, testStationaryObjects, expectedMovingObjects_c, expectedStationaryObjects_c, expectedMovingObjectsVisibleIds_c, expectedMovingObjectsDetectedIds_c}, //opening angle big
- DetectObjects_Data{300.0, M_PI * 2.0, 2.0, 3.0, 0.0, 100.0, 100.0, 0.0, false, testMovingObjects, testStationaryObjects, expectedMovingObjects_d, expectedStationaryObjects_d, expectedMovingObjectsVisibleIds_d, expectedMovingObjectsDetectedIds_d}, //full circle
- DetectObjects_Data{300.0, M_PI * 0.5, 2.0, 3.0, -M_PI * 0.5, 100.0, 100.0, M_PI * 0.5, false, testMovingObjects, testStationaryObjects, expectedMovingObjects_e, expectedStationaryObjects_e, expectedMovingObjectsVisibleIds_e, expectedMovingObjectsDetectedIds_e}, //vehicle is rotated
- DetectObjects_Data{30.5, M_PI * 0.5, 10.0, -10.0, 0.0, 0.0, 20.0, M_PI * 0.5, false, testMovingObjects, testStationaryObjects, expectedMovingObjects_f, expectedStationaryObjects_f, expectedMovingObjectsVisibleIds_f, expectedMovingObjectsDetectedIds_f}) //vehicle is pointing upwards, test correct sensorPosition
+// openingAngle lateral positionX vehicleYaw movingObjects expectedMovingObjects
+// range | longitudinal | sensorYaw | positionY | visualObstruction | stationaryObjects | expectedStationaryObjects
+// | | | | | | | | | | | | |
+ DetectObjects_Data{0.0 , M_PI * 0.5, 0.0_m, 0.0_m, 0.0_rad, 100.0_m, 100.0_m, 0.0_rad, false, testMovingObjects, testStationaryObjects, {}, {}, {}, {}}, //zero range => no detected objects
+ DetectObjects_Data{300.0, M_PI * 0.5, 0.0_m, 0.0_m, 0.0_rad, 100.0_m, 100.0_m, 0.0_rad, false, {} , {}, {}, {}, {}, {}}, //no other objects beside host
+ DetectObjects_Data{300.0, M_PI * 0.5, 2.0_m, 3.0_m, 0.0_rad, 100.0_m, 100.0_m, 0.0_rad, false, testMovingObjects, testStationaryObjects, expectedMovingObjects_a, expectedStationaryObjects_a, expectedMovingObjectsVisibleIds_a, expectedMovingObjectsDetectedIds_a}, //opening angle small
+ DetectObjects_Data{300.0, M_PI , 2.0_m, 3.0_m, 0.0_rad, 100.0_m, 100.0_m, 0.0_rad, false, testMovingObjects, testStationaryObjects, expectedMovingObjects_b, expectedStationaryObjects_b, expectedMovingObjectsVisibleIds_b, expectedMovingObjectsDetectedIds_b}, //half circle
+ DetectObjects_Data{300.0, M_PI * 1.5, 2.0_m, 3.0_m, 0.0_rad, 100.0_m, 100.0_m, 0.0_rad, false, testMovingObjects, testStationaryObjects, expectedMovingObjects_c, expectedStationaryObjects_c, expectedMovingObjectsVisibleIds_c, expectedMovingObjectsDetectedIds_c}, //opening angle big
+ DetectObjects_Data{300.0, M_PI * 2.0, 2.0_m, 3.0_m, 0.0_rad, 100.0_m, 100.0_m, 0.0_rad, false, testMovingObjects, testStationaryObjects, expectedMovingObjects_d, expectedStationaryObjects_d, expectedMovingObjectsVisibleIds_d, expectedMovingObjectsDetectedIds_d}, //full circle
+ DetectObjects_Data{300.0, M_PI * 0.5, 2.0_m, 3.0_m, -90_deg, 100.0_m, 100.0_m, 90_deg, false, testMovingObjects, testStationaryObjects, expectedMovingObjects_e, expectedStationaryObjects_e, expectedMovingObjectsVisibleIds_e, expectedMovingObjectsDetectedIds_e}, //vehicle is rotated
+ DetectObjects_Data{30.5, M_PI * 0.5, 10.0_m, -10.0_m, 0.0_rad, 0.0_m, 20.0_m, 90_deg, false, testMovingObjects, testStationaryObjects, expectedMovingObjects_f, expectedStationaryObjects_f, expectedMovingObjectsVisibleIds_f, expectedMovingObjectsDetectedIds_f}) //vehicle is pointing upwards, test correct sensorPosition
);
//Obstruction Tests (RequiredPercentageOfVisibleArea = 40%)
//Test A
//Object 3 is behind Object 2, Object 5 is only partially inside detection field
-MovingObjectParameter testMovingObjectObstruction2{2, {50.0, 0.0}, {5.0, 7.0}, {-0.2, 0.3}, 0.0};
-MovingObjectParameter testMovingObjectObstruction3{3, {100.0, 0.0}, {6.0, 8.0}, {-0.3, 0.4}, 0.0};// shadowed by 2
-MovingObjectParameter testMovingObjectObstruction4{4, {50.0, 10.0}, {7.0, 9.0}, {-0.4, 0.5}, 0.0};
-MovingObjectParameter testMovingObjectObstruction5{5, {50.0, 51.0}, {8.0, 10.0}, {-0.4, 0.5}, 0.0};// only 30% inside detection field
+MovingObjectParameter testMovingObjectObstruction2{2, {50.0_m, 0.0_m}, {5.0_mps, 7.0_mps}, {-0.2_mps_sq, 0.3_mps_sq}, 0.0_rad};
+MovingObjectParameter testMovingObjectObstruction3{3, {100.0_m, 0.0_m}, {6.0_mps, 8.0_mps}, {-0.3_mps_sq, 0.4_mps_sq}, 0.0_rad};// shadowed by 2
+MovingObjectParameter testMovingObjectObstruction4{4, {50.0_m, 10.0_m}, {7.0_mps, 9.0_mps}, {-0.4_mps_sq, 0.5_mps_sq}, 0.0_rad};
+MovingObjectParameter testMovingObjectObstruction5{5, {50.0_m, 51.0_m}, {8.0_mps, 10.0_mps}, {-0.4_mps_sq, 0.5_mps_sq}, 0.0_rad};// only 30% inside detection field
std::vector<MovingObjectParameter> testMovingObjectsObstruction_a{testMovingObjectObstruction2, testMovingObjectObstruction3, testMovingObjectObstruction4, testMovingObjectObstruction5};
-MovingObjectParameter expectedMovingObjectObstruction2{2, {50.0, 0.0}, {-5.0, 2.0}, {1.8, -2.7}, 0.0};
-MovingObjectParameter expectedMovingObjectObstruction4{4, {50.0, 10.0}, {-3.0, 4.0}, {1.6, -2.5}, 0.0};
+MovingObjectParameter expectedMovingObjectObstruction2{2, {50.0_m, 0.0_m}, {-5.0_mps, 2.0_mps}, {1.8_mps_sq, -2.7_mps_sq}, 0.0_rad};
+MovingObjectParameter expectedMovingObjectObstruction4{4, {50.0_m, 10.0_m}, {-3.0_mps, 4.0_mps}, {1.6_mps_sq, -2.5_mps_sq}, 0.0_rad};
std::vector<MovingObjectParameter> expectedMovingObjectsObstruction_a{expectedMovingObjectObstruction2, expectedMovingObjectObstruction4};
std::vector<OWL::Id> expectedVisibleMovingObjectIdsObstruction_a{testMovingObjectObstruction2.id, testMovingObjectObstruction4.id, testMovingObjectObstruction5.id};
std::vector<OWL::Id> expectedDetectedMovingObjectIdsObstruction_a{testMovingObjectObstruction2.id, testMovingObjectObstruction4.id};
//Test B
//Like Test A but with StationaryObjects as Objects 2 and 5
-StationaryObjectParameter testStationaryObjectObstruction2{2, {50.0, 0.0}, 0.0};
-StationaryObjectParameter testStationaryObjectObstruction5{4, {50.0, 51.0}, 0.0};// only 30% inside detection field
+StationaryObjectParameter testStationaryObjectObstruction2{2, {50.0_m, 0.0_m}, 0.0_rad};
+StationaryObjectParameter testStationaryObjectObstruction5{4, {50.0_m, 51.0_m}, 0.0_rad};// only 30% inside detection field
std::vector<MovingObjectParameter> testMovingObjectsObstruction_b{testMovingObjectObstruction3, testMovingObjectObstruction4};
std::vector<StationaryObjectParameter> testStationaryObjectsObstruction_b{testStationaryObjectObstruction2, testStationaryObjectObstruction5};
-StationaryObjectParameter expectedStationaryObjectObstruction2{2, {50.0, 0.0}, 0.0};
+StationaryObjectParameter expectedStationaryObjectObstruction2{2, {50.0_m, 0.0_m}, 0.0_rad};
std::vector<MovingObjectParameter> expectedMovingObjectsObstruction_b{ expectedMovingObjectObstruction4};
std::vector<StationaryObjectParameter> expectedStationaryObjectsObstruction_b{expectedStationaryObjectObstruction2};
std::vector<OWL::Id> expectedVisibleMovingObjectIdsObstruction_b{testMovingObjectObstruction4.id};
@@ -300,48 +313,48 @@ std::vector<OWL::Id> expectedDetectedMovingObjectIdsObstruction_b{testMovingObje
//Test C
//Objects rotated; Object 7 is 50% shadowed by Object 6
-MovingObjectParameter testMovingObjectObstruction6{6, {50.0, 2.5}, {5.0, 7.0}, {-0.2, 0.3}, M_PI * 0.5};
-MovingObjectParameter testMovingObjectObstruction7{7, {70.0, 0.0}, {6.0, 8.0}, {-0.2, 0.3}, M_PI * 0.5};
+MovingObjectParameter testMovingObjectObstruction6{6, {50.0_m, 2.5_m}, {5.0_mps, 7.0_mps}, {-0.2_mps_sq, 0.3_mps_sq}, 90_deg};
+MovingObjectParameter testMovingObjectObstruction7{7, {70.0_m, 0.0_m}, {6.0_mps, 8.0_mps}, {-0.2_mps_sq, 0.3_mps_sq}, 90_deg};
std::vector<MovingObjectParameter> testMovingObjectsObstruction_c{testMovingObjectObstruction6, testMovingObjectObstruction7};
-MovingObjectParameter expectedMovingObjectObstruction6{6, {50.0, 2.5}, {-5.0, 2.0}, {1.8, -2.7}, M_PI * 0.5};
-MovingObjectParameter expectedMovingObjectObstruction7{7, {70.0, 0.0}, {-4.0, 3.0}, {1.8, -2.7}, M_PI * 0.5};
+MovingObjectParameter expectedMovingObjectObstruction6{6, {50.0_m, 2.5_m}, {-5.0_mps, 2.0_mps}, {1.8_mps_sq, -2.7_mps_sq}, 90_deg};
+MovingObjectParameter expectedMovingObjectObstruction7{7, {70.0_m, 0.0_m}, {-4.0_mps, 3.0_mps}, {1.8_mps_sq, -2.7_mps_sq}, 90_deg};
std::vector<MovingObjectParameter> expectedMovingObjectsObstruction_c{expectedMovingObjectObstruction6, expectedMovingObjectObstruction7};
std::vector<OWL::Id> expectedVisibleMovingObjectIdsObstruction_c{testMovingObjectObstruction6.id, testMovingObjectObstruction7.id};
std::vector<OWL::Id> expectedDetectedMovingObjectIdsObstruction_c{testMovingObjectObstruction6.id, testMovingObjectObstruction7.id};
//Test D
//Objects rotated and half circle; Object 9 is 70% shadowed by Object 8
-MovingObjectParameter testMovingObjectObstruction8{8, {11.0, 7.5}, {5.0, 7.0}, {-0.2, 0.3}, M_PI * 0.5};
-MovingObjectParameter testMovingObjectObstruction9{9, {101.0, 100.0}, {6.0, 8.0}, {-0.2, 0.3}, M_PI * 0.5};
+MovingObjectParameter testMovingObjectObstruction8{8, {11.0_m, 7.5_m}, {5.0_mps, 7.0_mps}, {-0.2_mps_sq, 0.3_mps_sq}, 90_deg};
+MovingObjectParameter testMovingObjectObstruction9{9, {101.0_m, 100.0_m}, {6.0_mps, 8.0_mps}, {-0.2_mps_sq, 0.3_mps_sq}, 90_deg};
std::vector<MovingObjectParameter> testMovingObjectsObstruction_d{testMovingObjectObstruction8, testMovingObjectObstruction9};
-MovingObjectParameter expectedMovingObjectObstruction8{8, {11.0, 7.5}, {-5.0, 2.0}, {1.8, -2.7}, M_PI * 0.5};
+MovingObjectParameter expectedMovingObjectObstruction8{8, {11.0_m, 7.5_m}, {-5.0_mps, 2.0_mps}, {1.8_mps_sq, -2.7_mps_sq}, 90_deg};
std::vector<MovingObjectParameter> expectedMovingObjectsObstruction_d{expectedMovingObjectObstruction8};
std::vector<OWL::Id> expectedVisibleMovingObjectIdsObstruction_d{testMovingObjectObstruction8.id, testMovingObjectObstruction9.id};
std::vector<OWL::Id> expectedDetectedMovingObjectIdsObstruction_d{testMovingObjectObstruction8.id};
//Test E
//Objects 10 and 11 partially shadow Object 12 with less then 40% but together with more than 70%
-MovingObjectParameter testMovingObjectObstruction10{10, {97.0, 3.0}, {5.0, 7.0}, {-0.2, 0.3}, M_PI * 0.5};
-MovingObjectParameter testMovingObjectObstruction11{11, {97.0, -3.0}, {6.0, 8.0}, {-0.2, 0.3}, M_PI * 0.5};
-MovingObjectParameter testMovingObjectObstruction12{12, {100.0, 0.0}, {6.0, 8.0}, {-0.2, 0.3}, M_PI * 0.5};
+MovingObjectParameter testMovingObjectObstruction10{10, {97.0_m, 3.0_m}, {5.0_mps, 7.0_mps}, {-0.2_mps_sq, 0.3_mps_sq}, 90_deg};
+MovingObjectParameter testMovingObjectObstruction11{11, {97.0_m, -3.0_m}, {6.0_mps, 8.0_mps}, {-0.2_mps_sq, 0.3_mps_sq}, 90_deg};
+MovingObjectParameter testMovingObjectObstruction12{12, {100.0_m, 0.0_m}, {6.0_mps, 8.0_mps}, {-0.2_mps_sq, 0.3_mps_sq}, 90_deg};
std::vector<MovingObjectParameter> testMovingObjectsObstruction_e{testMovingObjectObstruction10, testMovingObjectObstruction11, testMovingObjectObstruction12};
-MovingObjectParameter expectedMovingObjectObstruction10{10, {97.0, 3.0}, {-5.0, 2.0}, {1.8, -2.7}, M_PI * 0.5};
-MovingObjectParameter expectedMovingObjectObstruction11{11, {97.0, -3.0}, {-4.0, 3.0}, {1.8, -2.7}, M_PI * 0.5};
+MovingObjectParameter expectedMovingObjectObstruction10{10, {97.0_m, 3.0_m}, {-5.0_mps, 2.0_mps}, {1.8_mps_sq, -2.7_mps_sq}, 90_deg};
+MovingObjectParameter expectedMovingObjectObstruction11{11, {97.0_m, -3.0_m}, {-4.0_mps, 3.0_mps}, {1.8_mps_sq, -2.7_mps_sq}, 90_deg};
std::vector<MovingObjectParameter> expectedMovingObjectsObstruction_e{expectedMovingObjectObstruction10, expectedMovingObjectObstruction11};
std::vector<OWL::Id> expectedVisibleMovingObjectIdsObstruction_e{testMovingObjectObstruction10.id, testMovingObjectObstruction11.id, testMovingObjectObstruction12.id};
std::vector<OWL::Id> expectedDetectedMovingObjectIdsObstruction_e{testMovingObjectObstruction10.id, testMovingObjectObstruction11.id};
INSTANTIATE_TEST_CASE_P(WithObstruction, DetectObjects,
::testing::Values(
-// openingAngle lateral positionX vehicleYaw movingObjects expectedMovingObjects
-// range | longitudinal| yaw |position | visualObstruction | stationaryObjects | expectedStationaryObjects
-// | | | | | | | | | | | | |
- DetectObjects_Data{300.0, M_PI * 0.5, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, true, {} , {}, {}, {}, {}, {}}, //no other objects beside host
- DetectObjects_Data{300.0, M_PI * 0.5, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, true, testMovingObjectsObstruction_a, {}, expectedMovingObjectsObstruction_a, {}, expectedVisibleMovingObjectIdsObstruction_a, expectedDetectedMovingObjectIdsObstruction_a}, //Test A
- DetectObjects_Data{300.0, M_PI * 0.5, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, true, testMovingObjectsObstruction_b, testStationaryObjectsObstruction_b, expectedMovingObjectsObstruction_b, expectedStationaryObjectsObstruction_b, expectedVisibleMovingObjectIdsObstruction_b, expectedDetectedMovingObjectIdsObstruction_b}, //Test B
- DetectObjects_Data{300.0, M_PI * 0.5, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, true, testMovingObjectsObstruction_c, {}, expectedMovingObjectsObstruction_c, {}, expectedVisibleMovingObjectIdsObstruction_c, expectedDetectedMovingObjectIdsObstruction_c}, //Test C
- DetectObjects_Data{300.0, M_PI * 1.0, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, true, testMovingObjectsObstruction_d, {}, expectedMovingObjectsObstruction_d, {}, expectedVisibleMovingObjectIdsObstruction_d, expectedDetectedMovingObjectIdsObstruction_d}, //Test D
- DetectObjects_Data{300.0, M_PI * 0.5, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, true, testMovingObjectsObstruction_e, {}, expectedMovingObjectsObstruction_e, {}, expectedVisibleMovingObjectIdsObstruction_e, expectedDetectedMovingObjectIdsObstruction_e}) //Test E
+// openingAngle lateral positionX vehicleYaw movingObjects expectedMovingObjects
+// range | longitudinal | yaw | positionY | visualObstruction | stationaryObjects | expectedStationaryObjects
+// | | | | | | | | | | | | |
+ DetectObjects_Data{300.0, M_PI * 0.5, 0.5_m, 0.0_m, 0.0_rad, 0.0_m, 0.0_m, 0.0_rad, true, {} , {}, {}, {}, {}, {}}, //no other objects beside host
+ DetectObjects_Data{300.0, M_PI * 0.5, 0.5_m, 0.0_m, 0.0_rad, 0.0_m, 0.0_m, 0.0_rad, true, testMovingObjectsObstruction_a, {}, expectedMovingObjectsObstruction_a, {}, expectedVisibleMovingObjectIdsObstruction_a, expectedDetectedMovingObjectIdsObstruction_a}, //Test A
+ DetectObjects_Data{300.0, M_PI * 0.5, 0.5_m, 0.0_m, 0.0_rad, 0.0_m, 0.0_m, 0.0_rad, true, testMovingObjectsObstruction_b, testStationaryObjectsObstruction_b, expectedMovingObjectsObstruction_b, expectedStationaryObjectsObstruction_b, expectedVisibleMovingObjectIdsObstruction_b, expectedDetectedMovingObjectIdsObstruction_b}, //Test B
+ DetectObjects_Data{300.0, M_PI * 0.5, 0.5_m, 0.0_m, 0.0_rad, 0.0_m, 0.0_m, 0.0_rad, true, testMovingObjectsObstruction_c, {}, expectedMovingObjectsObstruction_c, {}, expectedVisibleMovingObjectIdsObstruction_c, expectedDetectedMovingObjectIdsObstruction_c}, //Test C
+ DetectObjects_Data{300.0, M_PI * 1.0, 0.5_m, 0.0_m, 0.0_rad, 0.0_m, 0.0_m, 0.0_rad, true, testMovingObjectsObstruction_d, {}, expectedMovingObjectsObstruction_d, {}, expectedVisibleMovingObjectIdsObstruction_d, expectedDetectedMovingObjectIdsObstruction_d}, //Test D
+ DetectObjects_Data{300.0, M_PI * 0.5, 0.5_m, 0.0_m, 0.0_rad, 0.0_m, 0.0_m, 0.0_rad, true, testMovingObjectsObstruction_e, {}, expectedMovingObjectsObstruction_e, {}, expectedVisibleMovingObjectIdsObstruction_e, expectedDetectedMovingObjectIdsObstruction_e}) //Test E
);
// This test should be enabled as soon as the mounting position of the sensor is taken into account of all readings in SensorData
@@ -355,30 +368,30 @@ TEST_F(DetectObjects, DISABLED_CompareMovingObjectsWithMountingPosition)
fakeDoubles["DetectionRange"] = 300.0;
fakeDoubles["OpeningAngleH"] = M_PI * 2.0;
- fakeDoubles["Longitudinal"] = sensor_mounting_posOffX;
- fakeDoubles["Lateral"] = sensor_mounting_posOffY;
- fakeDoubles["Yaw"] = sensor_mounting_Yaw;
+ fakeVehicleModelParameters->properties["SensorPosition/Position1/Longitudinal"] = std::to_string(sensor_mounting_posOffX);
+ fakeVehicleModelParameters->properties["SensorPosition/Position1/Lateral"] = std::to_string(sensor_mounting_posOffY);
+ fakeVehicleModelParameters->properties["SensorPosition/Position1/Yaw"] = std::to_string(sensor_mounting_Yaw);
fakeBools["EnableVisualObstruction"] = false;
sensorView->mutable_host_vehicle_id()->set_value(1);
- auto yawZero = 0.0;
- auto YawOrtho = M_PI / 2.0;
- auto YawOpposing = M_PI;
+ auto yawZero = 0.0_rad;
+ auto YawOrtho = units::angle::radian_t(M_PI / 2.0);
+ auto YawOpposing = units::angle::radian_t(M_PI);
std::vector<MovingObjectParameter> expectedMovingObjects {};
std::vector<StationaryObjectParameter> expectedStationaryObjects {};
- MovingObjectParameter hostVehicle{1, {0.0, 0.0}, {0.0, 0.0}, {0, 0}, yawZero};
+ MovingObjectParameter hostVehicle{1, {0.0_m, 0.0_m}, {0.0_mps, 0.0_mps}, {0_mps_sq, 0_mps_sq}, yawZero};
AddMovingObjectToSensorView(*sensorView, hostVehicle);
- MovingObjectParameter orthoVehicle{2, {2.0, 2.0}, {0.0, 0.0}, {0, 0}, YawOrtho};
- MovingObjectParameter opposingVehicle{3, {8.0, 0.0}, {0.0, 0.0}, {0, 0}, YawOpposing};
+ MovingObjectParameter orthoVehicle{2, {2.0_m, 2.0_m}, {0.0_mps, 0.0_mps}, {0_mps_sq, 0_mps_sq}, YawOrtho};
+ MovingObjectParameter opposingVehicle{3, {8.0_m, 0.0_m}, {0.0_mps, 0.0_mps}, {0_mps_sq, 0_mps_sq}, YawOpposing};
AddMovingObjectToSensorView(*sensorView, orthoVehicle);
AddMovingObjectToSensorView(*sensorView, opposingVehicle);
expectedMovingObjects.emplace_back(orthoVehicle);
expectedMovingObjects.emplace_back(opposingVehicle);
- StationaryObjectParameter orthoObject {10, {2,-2}, YawOrtho};
+ StationaryObjectParameter orthoObject {10, {2_m,-2_m}, YawOrtho};
AddStationaryObjectToSensorView(*sensorView, orthoObject);
expectedStationaryObjects.emplace_back(orthoObject);
@@ -433,9 +446,9 @@ TEST_F(DetectObjects, DISABLED_CompareMovingObjectsWithMountingPosition)
auto sensorData_s0_pos_Z = sensorData.moving_object(0).base().position().z();
//Are Moving Objects correct rotated to each other
- ASSERT_EQ(sensorData_m0_yaw_ortho - movingHost_yaw, world_yawDelta_Ortho);
- ASSERT_EQ(sensorData_m1_yaw_opposite - movingHost_yaw, world_yawDelta_Opposite);
- ASSERT_EQ(sensorData_s0_yaw_ortho - movingHost_yaw, world_yawDelta_Ortho);
+ ASSERT_EQ(sensorData_m0_yaw_ortho - movingHost_yaw, world_yawDelta_Ortho.value());
+ ASSERT_EQ(sensorData_m1_yaw_opposite - movingHost_yaw, world_yawDelta_Opposite.value());
+ ASSERT_EQ(sensorData_s0_yaw_ortho - movingHost_yaw, world_yawDelta_Ortho.value());
/*ASSERT_EQ(sensorData.has_mounting_position(), true);
ASSERT_EQ(sensorData.mounting_position().orientation().yaw(), sensor_mounting_Yaw);
@@ -448,9 +461,9 @@ TEST_F(DetectObjects, DISABLED_CompareMovingObjectsWithMountingPosition)
ASSERT_EQ(sensorData.sensor_view(0).mounting_position().position().y(), sensor_mounting_posOffY);
//Are Absolute values in SensorSpace?
- ASSERT_EQ(sensorData_m0_yaw_ortho + sensor_mounting_Yaw, world_yawDelta_Ortho );
- ASSERT_EQ(sensorData_m1_yaw_opposite + sensor_mounting_Yaw, world_yawDelta_Opposite);
- ASSERT_EQ(sensorData_s0_yaw_ortho + sensor_mounting_Yaw, world_yawDelta_Opposite);
+ ASSERT_EQ(sensorData_m0_yaw_ortho + sensor_mounting_Yaw, world_yawDelta_Ortho.value());
+ ASSERT_EQ(sensorData_m1_yaw_opposite + sensor_mounting_Yaw, world_yawDelta_Opposite.value());
+ ASSERT_EQ(sensorData_s0_yaw_ortho + sensor_mounting_Yaw, world_yawDelta_Opposite.value());
ASSERT_EQ(sensorData_m0_pos_X + sensor_mounting_posOffX, groundTruth->moving_object(1).base().position().x());
ASSERT_EQ(sensorData_m1_pos_X + sensor_mounting_posOffX, groundTruth->moving_object(2).base().position().x());
diff --git a/sim/tests/unitTests/components/Sensor_OSI/sensorOSI_Tests.h b/sim/tests/unitTests/components/Sensor_OSI/sensorOSI_Tests.h
index d291e5c6c59894ddca4e95a67bb7e2bb8f23dc66..7072af9b93f96c43665848b3207f785f2ff79dc5 100644
--- a/sim/tests/unitTests/components/Sensor_OSI/sensorOSI_Tests.h
+++ b/sim/tests/unitTests/components/Sensor_OSI/sensorOSI_Tests.h
@@ -24,9 +24,9 @@ public:
SensorGeometric2DWithObstruction_UnitTests();
virtual ~SensorGeometric2DWithObstruction_UnitTests() = 0;
- void PlaceEgo(double x, double y, double yaw);
- void PlaceAgent(double x, double y, double length, double width, double yaw);
- void InitSensor(double range, double openingAngleH, bool obstruction, double minAreaPercentage);
+ void PlaceEgo(units::length::meter_t x, units::length::meter_t y, units::angle::radian_t yaw);
+ void PlaceAgent(units::length::meter_t x, units::length::meter_t y, units::length::meter_t length, units::length::meter_t width, units::angle::radian_t yaw);
+ void InitSensor(units::length::meter_t range, double openingAngleH, bool obstruction, double minAreaPercentage);
const std::vector<DetectedObject> DetectAndSortObjects();
const polygon_t& GetBBByAgentId(size_t id);
diff --git a/sim/tests/unitTests/components/Sensor_OSI/sensorOSI_TestsCommon.h b/sim/tests/unitTests/components/Sensor_OSI/sensorOSI_TestsCommon.h
index b63dc4dcfa05bfadbd0bbaf118d5c584ec2063af..7a17a9c6eb5c214632c441fff930f4e82e283748 100644
--- a/sim/tests/unitTests/components/Sensor_OSI/sensorOSI_TestsCommon.h
+++ b/sim/tests/unitTests/components/Sensor_OSI/sensorOSI_TestsCommon.h
@@ -17,10 +17,10 @@ class MovingObjectParameter
{
public:
MovingObjectParameter(unsigned int id,
- Common::Vector2d position,
- Common::Vector2d velocity,
- Common::Vector2d acceleration,
- double yaw) :
+ Common::Vector2d<units::length::meter_t> position,
+ Common::Vector2d<units::velocity::meters_per_second_t> velocity,
+ Common::Vector2d<units::acceleration::meters_per_second_squared_t> acceleration,
+ units::angle::radian_t yaw) :
id(id),
position(position),
velocity(velocity),
@@ -31,10 +31,10 @@ public:
MovingObjectParameter (const osi3::DetectedMovingObject& movingObject)
{
id = movingObject.header().ground_truth_id(0).value();
- position = Common::Vector2d(movingObject.base().position().x(), movingObject.base().position().y());
- velocity = Common::Vector2d(movingObject.base().velocity().x(), movingObject.base().velocity().y());
- acceleration = Common::Vector2d(movingObject.base().acceleration().x(), movingObject.base().acceleration().y());
- yaw = movingObject.base().orientation().yaw();
+ position = Common::Vector2d<units::length::meter_t>(units::length::meter_t(movingObject.base().position().x()), units::length::meter_t(movingObject.base().position().y()));
+ velocity = Common::Vector2d<units::velocity::meters_per_second_t>(units::velocity::meters_per_second_t(movingObject.base().velocity().x()), units::velocity::meters_per_second_t(movingObject.base().velocity().y()));
+ acceleration = Common::Vector2d<units::acceleration::meters_per_second_squared_t>(units::acceleration::meters_per_second_squared_t(movingObject.base().acceleration().x()), units::acceleration::meters_per_second_squared_t(movingObject.base().acceleration().y()));
+ yaw = units::angle::radian_t(movingObject.base().orientation().yaw());
}
bool operator==(const MovingObjectParameter& rhs) const
@@ -51,7 +51,7 @@ public:
return false;
}
- if ((yaw - rhs.yaw) > EPSILON)
+ if ((yaw - rhs.yaw) > units::angle::radian_t(EPSILON))
{
return false;
}
@@ -72,18 +72,18 @@ public:
}
unsigned int id;
- Common::Vector2d position;
- Common::Vector2d velocity;
- Common::Vector2d acceleration;
- double yaw;
+ Common::Vector2d<units::length::meter_t> position;
+ Common::Vector2d<units::velocity::meters_per_second_t> velocity;
+ Common::Vector2d<units::acceleration::meters_per_second_squared_t> acceleration;
+ units::angle::radian_t yaw;
};
class StationaryObjectParameter
{
public:
StationaryObjectParameter(unsigned int id,
- Common::Vector2d position,
- double yaw) :
+ Common::Vector2d<units::length::meter_t> position,
+ units::angle::radian_t yaw) :
id(id),
position(position),
yaw(yaw)
@@ -92,8 +92,8 @@ public:
StationaryObjectParameter (const osi3::DetectedStationaryObject& stationaryObject)
{
id = stationaryObject.header().ground_truth_id(0).value();
- position = Common::Vector2d(stationaryObject.base().position().x(), stationaryObject.base().position().y());
- yaw = stationaryObject.base().orientation().yaw();
+ position = Common::Vector2d<units::length::meter_t>(units::length::meter_t(stationaryObject.base().position().x()), units::length::meter_t(stationaryObject.base().position().y()));
+ yaw = units::angle::radian_t(stationaryObject.base().orientation().yaw());
}
bool operator==(const StationaryObjectParameter& rhs) const
@@ -108,7 +108,7 @@ public:
return false;
}
- if ((yaw - rhs.yaw) > EPSILON)
+ if ((yaw - rhs.yaw) > units::angle::radian_t(EPSILON))
{
return false;
}
@@ -127,6 +127,6 @@ public:
}
unsigned int id;
- Common::Vector2d position;
- double yaw;
+ Common::Vector2d<units::length::meter_t> position;
+ units::angle::radian_t yaw;
};
diff --git a/sim/tests/unitTests/core/opSimulation/CMakeLists.txt b/sim/tests/unitTests/core/opSimulation/CMakeLists.txt
index c09516d67c17ec910e596d0fd72cede586fcea0a..01a6198d8d76a9a735852d0f016c94ca5156db45 100644
--- a/sim/tests/unitTests/core/opSimulation/CMakeLists.txt
+++ b/sim/tests/unitTests/core/opSimulation/CMakeLists.txt
@@ -36,14 +36,6 @@ add_openpass_target(
# EventNetwork
eventNetwork_Tests.cpp
${COMPONENT_SOURCE_DIR}/framework/eventNetwork.cpp
- ${COMPONENT_SOURCE_DIR}/importer/eventDetectorImporter.cpp
-
- # ImporterCommon
- ${COMPONENT_SOURCE_DIR}/importer/importerCommon.cpp
-
- # ManipulatorImporter
- manipulatorImporter_Tests.cpp
- ${COMPONENT_SOURCE_DIR}/importer/oscImporterCommon.cpp
# ParameterImporter
parameterImporter_Tests.cpp
@@ -51,6 +43,7 @@ add_openpass_target(
# ProfilesImporter
profilesImporter_Tests.cpp
+ ${COMPONENT_SOURCE_DIR}/importer/importerCommon.cpp
${COMPONENT_SOURCE_DIR}/importer/profiles.cpp
${COMPONENT_SOURCE_DIR}/importer/profilesImporter.cpp
@@ -63,14 +56,6 @@ add_openpass_target(
sampler_Tests.cpp
${COMPONENT_SOURCE_DIR}/framework/sampler.cpp
- # ScenarioImporter
- scenarioImporter_Tests.cpp
- ${COMPONENT_SOURCE_DIR}/importer/oscImporterCommon.cpp
- ${COMPONENT_SOURCE_DIR}/importer/scenario.cpp
- ${COMPONENT_SOURCE_DIR}/importer/scenarioImporter.cpp
- ${COMPONENT_SOURCE_DIR}/importer/scenarioImporterHelper.cpp
- ${COMPONENT_SOURCE_DIR}/importer/sceneryDynamics.cpp
-
# SceneryImporter
roadGeometry_Tests.cpp
sceneryImporter_Tests.cpp
@@ -91,11 +76,7 @@ add_openpass_target(
${COMPONENT_SOURCE_DIR}/importer/systemConfig.cpp
${COMPONENT_SOURCE_DIR}/importer/systemConfigImporter.cpp
- # VehicleModelsImporter
- vehicleModelsImporter_Tests.cpp
${COMPONENT_SOURCE_DIR}/importer/vehicleModels.cpp
- ${COMPONENT_SOURCE_DIR}/importer/vehicleModelsImporter.cpp
-
HEADERS
${OPENPASS_SIMCORE_DIR}/core/common/log.h
@@ -115,18 +96,12 @@ add_openpass_target(
# EventNetwork
${COMPONENT_SOURCE_DIR}/framework/eventNetwork.h
- ${COMPONENT_SOURCE_DIR}/importer/eventDetectorImporter.h
-
- # ImporterCommon
- ${COMPONENT_SOURCE_DIR}/importer/importerCommon.h
-
- # ManipulatorImporter
- ${COMPONENT_SOURCE_DIR}/importer/oscImporterCommon.h
# ParameterImporter
${COMPONENT_SOURCE_DIR}/importer/parameterImporter.h
# ProfilesImporter
+ ${COMPONENT_SOURCE_DIR}/importer/importerCommon.h
${COMPONENT_SOURCE_DIR}/importer/profiles.h
${COMPONENT_SOURCE_DIR}/importer/profilesImporter.h
@@ -137,13 +112,6 @@ add_openpass_target(
# Sampler
${COMPONENT_SOURCE_DIR}/framework/sampler.h
- # ScenarioImporter
- ${COMPONENT_SOURCE_DIR}/importer/oscImporterCommon.h
- ${COMPONENT_SOURCE_DIR}/importer/scenario.h
- ${COMPONENT_SOURCE_DIR}/importer/scenarioImporter.h
- ${COMPONENT_SOURCE_DIR}/importer/scenarioImporterHelper.h
- ${COMPONENT_SOURCE_DIR}/importer/sceneryDynamics.h
-
# SceneryImporter
${COMPONENT_SOURCE_DIR}/importer/connection.h
${COMPONENT_SOURCE_DIR}/importer/junction.h
@@ -156,10 +124,7 @@ add_openpass_target(
${COMPONENT_SOURCE_DIR}/importer/simulationConfig.h
${COMPONENT_SOURCE_DIR}/importer/simulationConfigImporter.h
- # VehicleModelsImporter
${COMPONENT_SOURCE_DIR}/importer/vehicleModels.h
- ${COMPONENT_SOURCE_DIR}/importer/vehicleModelsImporter.h
-
INCDIRS
${COMPONENT_SOURCE_DIR}
${COMPONENT_SOURCE_DIR}/..
diff --git a/sim/tests/unitTests/core/opSimulation/Scheduler/CMakeLists.txt b/sim/tests/unitTests/core/opSimulation/Scheduler/CMakeLists.txt
index d75eda7cfd5b69c3ba5d60177f1d55348b329273..053af2df51304e55c2f75aee0b9101295cc2855c 100644
--- a/sim/tests/unitTests/core/opSimulation/Scheduler/CMakeLists.txt
+++ b/sim/tests/unitTests/core/opSimulation/Scheduler/CMakeLists.txt
@@ -21,13 +21,11 @@ add_openpass_target(
${COMPONENT_SOURCE_DIR}/schedulerTasks.cpp
${COMPONENT_SOURCE_DIR}/taskBuilder.cpp
${COMPONENT_SOURCE_DIR}/tasks.cpp
- ${OPENPASS_SIMCORE_DIR}/common/eventDetectorDefinitions.cpp
${OPENPASS_SIMCORE_DIR}/core/common/log.cpp
${OPENPASS_SIMCORE_DIR}/core/opSimulation/bindings/eventDetectorBinding.cpp
${OPENPASS_SIMCORE_DIR}/core/opSimulation/bindings/eventDetectorLibrary.cpp
${OPENPASS_SIMCORE_DIR}/core/opSimulation/framework/agentDataPublisher.cpp
${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/agent.cpp
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/agentBlueprint.cpp
${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/channel.cpp
${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/component.cpp
${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/parameters.cpp
diff --git a/sim/tests/unitTests/core/opSimulation/Scheduler/agentParser_Tests.cpp b/sim/tests/unitTests/core/opSimulation/Scheduler/agentParser_Tests.cpp
index 04ad7d8a7a5be146b664788951e633ad94d3efb0..b0ecda24e66dd5a4fc984302c738c7f6fa5fb69a 100644
--- a/sim/tests/unitTests/core/opSimulation/Scheduler/agentParser_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/Scheduler/agentParser_Tests.cpp
@@ -15,7 +15,6 @@
#include "channel.h"
#include "component.h"
#include "fakeAgent.h"
-#include "fakeAgentBlueprint.h"
#include "fakeComponent.h"
#include "fakeWorld.h"
#include "gmock/gmock.h"
@@ -37,12 +36,12 @@ using namespace core::scheduling;
TEST(AgentParser, RecurringComponent_IsParsed)
{
- NiceMock<FakeAgentBlueprint> fakeAgentBlueprint;
+ AgentBuildInstructions agentBuildInstructions;
NiceMock<FakeWorld> fakeWorld;
NiceMock<FakeAgent> fakeAgent;
EXPECT_CALL(fakeWorld, CreateAgentAdapter(_)).WillOnce(ReturnRef(fakeAgent));
- Agent testAgent(&fakeWorld, fakeAgentBlueprint);
+ Agent testAgent(&fakeWorld, agentBuildInstructions);
Channel testChannel(1);
Component testTargetComponent("", &testAgent);
@@ -77,12 +76,12 @@ TEST(AgentParser, RecurringComponent_IsParsed)
TEST(AgentParser, ThreeRecurringComponents_AreParsed)
{
- NiceMock<FakeAgentBlueprint> fakeAgentBlueprint;
+ AgentBuildInstructions agentBuildInstructions;
NiceMock<FakeWorld> fakeWorld;
NiceMock<FakeAgent> fakeAgent;
EXPECT_CALL(fakeWorld, CreateAgentAdapter(_)).WillOnce(ReturnRef(fakeAgent));
- Agent testAgent(&fakeWorld, fakeAgentBlueprint);
+ Agent testAgent(&fakeWorld, agentBuildInstructions);
Channel testChannel(1);
Component testTargetComponent("", &testAgent);
@@ -135,12 +134,12 @@ TEST(AgentParser, ThreeRecurringComponents_AreParsed)
TEST(AgentParser, NonRecurringComponent_IsParsed)
{
- NiceMock<FakeAgentBlueprint> fakeAgentBlueprint;
+ AgentBuildInstructions agentBuildInstructions;
NiceMock<FakeWorld> fakeWorld;
NiceMock<FakeAgent> fakeAgent;
EXPECT_CALL(fakeWorld, CreateAgentAdapter(_)).WillOnce(ReturnRef(fakeAgent));
- Agent testAgent(&fakeWorld, fakeAgentBlueprint);
+ Agent testAgent(&fakeWorld, agentBuildInstructions);
Channel testChannel(1);
Component testTargetComponent("", &testAgent);
@@ -174,12 +173,12 @@ TEST(AgentParser, NonRecurringComponent_IsParsed)
TEST(AgentParser, MixedComponents_AreParsedWithRightTaskType)
{
- NiceMock<FakeAgentBlueprint> fakeAgentBlueprint;
+ AgentBuildInstructions agentBuildInstructions;
NiceMock<FakeWorld> fakeWorld;
NiceMock<FakeAgent> fakeAgent;
EXPECT_CALL(fakeWorld, CreateAgentAdapter(_)).WillOnce(ReturnRef(fakeAgent));
- Agent testAgent(&fakeWorld, fakeAgentBlueprint);
+ Agent testAgent(&fakeWorld, agentBuildInstructions);
Channel testChannel(1);
Component testTargetComponent("", &testAgent);
diff --git a/sim/tests/unitTests/core/opSimulation/Scheduler/scheduler_Tests.cpp b/sim/tests/unitTests/core/opSimulation/Scheduler/scheduler_Tests.cpp
index 8f8442094c05de04615f2b319a763524fa6ae818..1f10a89c77a6e5bf736663d5286b3b1520e536d5 100644
--- a/sim/tests/unitTests/core/opSimulation/Scheduler/scheduler_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/Scheduler/scheduler_Tests.cpp
@@ -15,17 +15,24 @@
#include "eventDetector.h"
#include "eventDetectorLibrary.h"
#include "fakeDataBuffer.h"
+#include "fakeEnvironment.h"
#include "fakeEventDetectorNetwork.h"
#include "fakeEventNetwork.h"
#include "fakeManipulatorNetwork.h"
#include "fakeObservationNetwork.h"
#include "fakeSpawnPointNetwork.h"
#include "fakeWorld.h"
+#include "fakeAgentFactory.h"
+#include "fakeConfigurationContainer.h"
+#include "fakeStochastics.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
#include "scheduler.h"
#include "schedulerTasks.h"
#include "runResult.h"
+#include "environment.h"
+#include "agentBlueprintProvider.h"
+#include "common/globalDefinitions.h"
using namespace core::scheduling;
@@ -76,6 +83,10 @@ TEST(DISABLED_Scheduler, RunWorks)
NiceMock<FakeManipulatorNetwork> fakeManipulatorNetwork;
NiceMock<FakeObservationNetwork> fakeObservationNetwork;
NiceMock<FakeEventDetectorNetwork> fakeEventDetectorNetwork;
+ NiceMock<FakeStochastics> fakestochastics;
+ NiceMock<FakeConfigurationContainer> fakeConfigurationContainer;
+ NiceMock<FakeEnvironment> fakeEnvironment;
+ ON_CALL(fakeEnvironment, GetSimulationTime());
NiceMock<FakeEventNetwork> fakeEventNetwork;
core::EventDetectorLibrary edl("", nullptr);
@@ -88,8 +99,8 @@ TEST(DISABLED_Scheduler, RunWorks)
ON_CALL(fakeEventDetectorNetwork, GetEventDetectors()).WillByDefault(Return(fakeEventDetectors));
- Scheduler scheduler(fakeWorld, fakeSpawnPointNetwork, fakeEventDetectorNetwork, fakeManipulatorNetwork, fakeObservationNetwork, fakeDataBuffer);
+ Scheduler scheduler(fakeWorld, fakeSpawnPointNetwork, fakeEventDetectorNetwork, fakeManipulatorNetwork, fakeObservationNetwork, fakeDataBuffer, fakeEnvironment);
RunResult runResult{};
- scheduler.Run(0, 300, runResult, fakeEventNetwork);
+ scheduler.Run(0, runResult, fakeEventNetwork, nullptr);
}
diff --git a/sim/tests/unitTests/core/opSimulation/Scheduler/taskBuilder_Tests.cpp b/sim/tests/unitTests/core/opSimulation/Scheduler/taskBuilder_Tests.cpp
index 5456f2d1756ec800c12e5187cf77d7197195d832..c2507934ebc1a94f00f92e6995a0e63f90394031 100644
--- a/sim/tests/unitTests/core/opSimulation/Scheduler/taskBuilder_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/Scheduler/taskBuilder_Tests.cpp
@@ -9,7 +9,6 @@
********************************************************************************/
#include <vector>
-#include "include/scenarioInterface.h"
#include "eventDetector.h"
#include "fakeDataBuffer.h"
#include "fakeEventDetectorNetwork.h"
@@ -51,7 +50,8 @@ TEST(TaskBuilder, SpawningTaskCreation_Works)
nullptr,
&fakeEventDetectorNetwork,
&fakeManipulatorNetwork,
- &fakeDataBuffer);
+ &fakeDataBuffer,
+ nullptr);
auto commonTasks = taskBuilder.CreateSpawningTasks();
ASSERT_THAT(commonTasks, SizeIs(Gt(size_t(0))));
@@ -86,7 +86,8 @@ TEST(TaskBuilder, PreAgentTaskCreation_Works)
nullptr,
&fakeEventDetectorNetwork,
&fakeManipulatorNetwork,
- &fakeDataBuffer);
+ &fakeDataBuffer,
+ nullptr);
auto commonTasks = taskBuilder.CreatePreAgentTasks();
ASSERT_THAT(commonTasks, SizeIs(Gt(size_t(0))));
@@ -113,7 +114,8 @@ TEST(TaskBuilder, SynchronizeTaskCreation_Works)
nullptr,
&fakeEventDetectorNetwork,
&fakeManipulatorNetwork,
- &fakeDataBuffer);
+ &fakeDataBuffer,
+ nullptr);
auto finalizeTasks = taskBuilder.CreateSynchronizeTasks();
ASSERT_THAT(finalizeTasks, SizeIs(Gt(size_t(0))));
diff --git a/sim/tests/unitTests/core/opSimulation/agentSampler_Tests.cpp b/sim/tests/unitTests/core/opSimulation/agentSampler_Tests.cpp
index da87d0c3382e627e7f8683fc95b2e3b5aa1f6c08..3192710e51bfaf72fee22b2daf3925726d9cb60e 100644
--- a/sim/tests/unitTests/core/opSimulation/agentSampler_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/agentSampler_Tests.cpp
@@ -11,13 +11,11 @@
#include "gtest/gtest.h"
#include "gmock/gmock.h"
-#include "fakeAgentBlueprint.h"
#include "fakeProfiles.h"
#include "fakeConfigurationContainer.h"
#include "fakeStochastics.h"
#include "fakeVehicleModels.h"
#include "fakeParameter.h"
-#include "fakeScenario.h"
#include "fakeAgentType.h"
#include "fakeSystemConfig.h"
@@ -53,18 +51,18 @@ TEST(DynamicProfileSampler, SampleDriverProfile)
ASSERT_THAT(sampledProfiles.driverProfileName, "SomeDriver");
}
-TEST(DynamicProfileSampler, SampleVehicleProfile)
+TEST(DynamicProfileSampler, SampleSystemProfile)
{
NiceMock<FakeStochastics> fakeStochastics;
NiceMock<FakeProfiles> fakeProfiles;
- StringProbabilities vehicleProbabilities {{"SomeVehicle", 1.0}};
- ON_CALL(fakeProfiles, GetVehicleProfileProbabilities("SomeAgentProfile")).WillByDefault(ReturnRef(vehicleProbabilities));
+ StringProbabilities systemProbabilities {{"SomeSystem", 1.0}};
+ ON_CALL(fakeProfiles, GetSystemProfileProbabilities("SomeAgentProfile")).WillByDefault(ReturnRef(systemProbabilities));
ON_CALL(fakeStochastics, GetUniformDistributed(_,_)).WillByDefault(Return(0));
SampledProfiles sampledProfiles = SampledProfiles::make("SomeAgentProfile", fakeStochastics, &fakeProfiles)
- .SampleVehicleProfile();
+ .SampleSystemProfile();
- ASSERT_THAT(sampledProfiles.vehicleProfileName, "SomeVehicle");
+ ASSERT_THAT(sampledProfiles.systemProfileName, "SomeSystem");
}
TEST(DynamicProfileSampler, SampleVehicleComponentProfiles)
@@ -77,17 +75,17 @@ TEST(DynamicProfileSampler, SampleVehicleComponentProfiles)
someComponent.type = "SomeComponent";
someComponent.componentProfiles = probabilities;
- VehicleProfile someVehicleProfile;
- someVehicleProfile.vehicleComponents = {{someComponent}};
- std::unordered_map<std::string, VehicleProfile> vehicleProfiles {{"SomeVehicle", someVehicleProfile}};
- ON_CALL(fakeProfiles, GetVehicleProfiles()).WillByDefault(ReturnRef(vehicleProfiles));
+ SystemProfile someSystemProfile;
+ someSystemProfile.vehicleComponents = {{someComponent}};
+ std::unordered_map<std::string, SystemProfile> systemProfiles {{"SomeSystem", someSystemProfile}};
+ ON_CALL(fakeProfiles, GetSystemProfiles()).WillByDefault(ReturnRef(systemProfiles));
ON_CALL(fakeStochastics, GetUniformDistributed(_,_)).WillByDefault(Return(0));
- StringProbabilities vehicleProbabilities {{"SomeVehicle", 1.0}};
- ON_CALL(fakeProfiles, GetVehicleProfileProbabilities("SomeAgentProfile")).WillByDefault(ReturnRef(vehicleProbabilities));
+ StringProbabilities systemProbabilities {{"SomeSystem", 1.0}};
+ ON_CALL(fakeProfiles, GetSystemProfileProbabilities("SomeAgentProfile")).WillByDefault(ReturnRef(systemProbabilities));
SampledProfiles sampledProfiles = SampledProfiles::make("SomeAgentProfile", fakeStochastics, &fakeProfiles)
- .SampleVehicleProfile()
+ .SampleSystemProfile()
.SampleVehicleComponentProfiles();
ASSERT_THAT(sampledProfiles.vehicleComponentProfileNames.at("SomeComponent"), "SomeProfile");
@@ -99,7 +97,6 @@ TEST(DynamicAgentTypeGenerator, GatherBasicComponents)
SampledProfiles sampledProfiles = SampledProfiles::make("", fakeStochastics, nullptr);
auto systemConfigBlueprint = std::make_shared<NiceMock<FakeSystemConfig>>();
NiceMock<FakeProfiles> profiles;
- NiceMock<FakeVehicleModels> vehicleModels;
DefaultComponents defaultComponents;
DynamicParameters dynamicParameters = DynamicParameters::empty();
@@ -116,7 +113,7 @@ TEST(DynamicAgentTypeGenerator, GatherBasicComponents)
ON_CALL(*systemConfigBlueprint, GetSystems()).WillByDefault(ReturnRef(systems));
- AgentBuildInformation agentBuildInformation = AgentBuildInformation::make(sampledProfiles, dynamicParameters, systemConfigBlueprint, &profiles, &vehicleModels)
+ AgentBuildInformation agentBuildInformation = AgentBuildInformation::make(sampledProfiles, dynamicParameters, systemConfigBlueprint, &profiles)
.GatherBasicComponents();
ASSERT_THAT(agentBuildInformation.agentType->GetComponents().size(), Eq(defaultComponents.basicComponentNames.size()));
@@ -132,7 +129,6 @@ TEST(DynamicAgentTypeGenerator, GatherDriverComponents)
SampledProfiles sampledProfiles = SampledProfiles::make("", fakeStochastics, nullptr);
auto systemConfigBlueprint = std::make_shared<NiceMock<FakeSystemConfig>>();
NiceMock<FakeProfiles> profiles;
- NiceMock<FakeVehicleModels> vehicleModels;
DefaultComponents defaultComponents;
DynamicParameters dynamicParameters = DynamicParameters::empty();
@@ -166,7 +162,7 @@ TEST(DynamicAgentTypeGenerator, GatherDriverComponents)
ON_CALL(*systemConfigBlueprint, GetSystems()).WillByDefault(ReturnRef(systems));
- AgentBuildInformation agentBuildInformation = AgentBuildInformation::make(sampledProfiles, dynamicParameters, systemConfigBlueprint, &profiles, &vehicleModels)
+ AgentBuildInformation agentBuildInformation = AgentBuildInformation::make(sampledProfiles, dynamicParameters, systemConfigBlueprint, &profiles)
.GatherDriverComponents();
ASSERT_THAT(agentBuildInformation.agentType->GetComponents().size(), Eq(defaultComponents.driverComponentNames.size() + 5));
@@ -187,11 +183,10 @@ TEST(DynamicAgentTypeGenerator, GatherVehicleComponents)
SampledProfiles sampledProfiles = SampledProfiles::make("", fakeStochastics, nullptr);
auto systemConfigBlueprint = std::make_shared<NiceMock<FakeSystemConfig>>();
NiceMock<FakeProfiles> profiles;
- NiceMock<FakeVehicleModels> vehicleModels;
DefaultComponents defaultComponents;
DynamicParameters dynamicParameters = DynamicParameters::empty();
- sampledProfiles.vehicleProfileName = "SomeVehicle";
+ sampledProfiles.systemProfileName = "SomeSystem";
sampledProfiles.vehicleComponentProfileNames = {{"VehicleComponentA", "ProfileA"}, {"VehicleComponentB", "ProfileB"}};
op::ParameterSetLevel1 parametersAA {{"aa", 0}};
@@ -210,11 +205,11 @@ TEST(DynamicAgentTypeGenerator, GatherVehicleComponents)
VehicleComponent vehicleComponentB;
vehicleComponentB.type = "VehicleComponentB";
- VehicleProfile vehicleProfile;
- vehicleProfile.vehicleComponents = {{vehicleComponentA, vehicleComponentB}};
+ SystemProfile systemProfile;
+ systemProfile.vehicleComponents = {{vehicleComponentA, vehicleComponentB}};
- std::unordered_map<std::string, VehicleProfile> vehicleProfiles {{"SomeVehicle", vehicleProfile}};
- ON_CALL(profiles, GetVehicleProfiles()).WillByDefault(ReturnRef(vehicleProfiles));
+ std::unordered_map<std::string, SystemProfile> systemProfiles {{"SomeSystem", systemProfile}};
+ ON_CALL(profiles, GetSystemProfiles()).WillByDefault(ReturnRef(systemProfiles));
auto fakeAgentType = std::make_shared<NiceMock<core::FakeAgentType>>();
std::map<int, std::shared_ptr< core::AgentTypeInterface>> systems = {{0, fakeAgentType}};
@@ -230,7 +225,7 @@ TEST(DynamicAgentTypeGenerator, GatherVehicleComponents)
ON_CALL(*fakeAgentType, GetComponents()).WillByDefault(ReturnRef(components));
ON_CALL(*systemConfigBlueprint, GetSystems()).WillByDefault(ReturnRef(systems));
- AgentBuildInformation agentBuildInformation = AgentBuildInformation::make(sampledProfiles, dynamicParameters, systemConfigBlueprint, &profiles, &vehicleModels)
+ AgentBuildInformation agentBuildInformation = AgentBuildInformation::make(sampledProfiles, dynamicParameters, systemConfigBlueprint, &profiles)
.GatherVehicleComponents();
ASSERT_THAT(agentBuildInformation.agentType->GetComponents().size(), Eq(defaultComponents.vehicleComponentNames.size() + 2));
@@ -253,12 +248,11 @@ TEST(DynamicAgentTypeGenerator, GatherSensors)
SampledProfiles sampledProfiles = SampledProfiles::make("", fakeStochastics, nullptr);
auto systemConfigBlueprint = std::make_shared<NiceMock<FakeSystemConfig>>();
NiceMock<FakeProfiles> profiles;
- NiceMock<FakeVehicleModels> vehicleModels;
DefaultComponents defaultComponents;
DynamicParameters dynamicParameters = DynamicParameters::empty();
dynamicParameters.sensorLatencies = {{5, 1.0}, {7, 2.0}};
- sampledProfiles.vehicleProfileName = "SomeVehicle";
+ sampledProfiles.systemProfileName = "SomeSystem";
openpass::sensors::Profile sensorProfileA;
sensorProfileA.name = "ProfileA";
@@ -273,27 +267,22 @@ TEST(DynamicAgentTypeGenerator, GatherSensors)
ON_CALL(profiles, CloneProfile("SensorTypeA", "ProfileA")).WillByDefault(Return(parameter));
ON_CALL(profiles, CloneProfile("SensorTypeB", "ProfileB")).WillByDefault(Return(parameter));
- VehicleProfile vehicleProfile;
+ SystemProfile systemProfile;
openpass::sensors::Parameter sensorA;
sensorA.id = 5;
sensorA.profile = sensorProfileA;
-
- openpass::sensors::Position positionA;
- positionA.longitudinal = 2.0;
- sensorA.position = positionA;
+ sensorA.positionName = "PositionA";
openpass::sensors::Parameter sensorB;
sensorB.id = 7;
sensorB.profile = sensorProfileB;
+ sensorB.positionName = "PositionB";
- openpass::sensors::Position positionB;
- positionB.longitudinal = 3.0;
- sensorB.position = positionB;
- vehicleProfile.sensors = {sensorA, sensorB};
+ systemProfile.sensors = {sensorA, sensorB};
- std::unordered_map<std::string, VehicleProfile> vehicleProfiles {{"SomeVehicle", vehicleProfile}};
- ON_CALL(profiles, GetVehicleProfiles()).WillByDefault(ReturnRef(vehicleProfiles));
+ std::unordered_map<std::string, SystemProfile> systemProfiles {{"SomeSystem", systemProfile}};
+ ON_CALL(profiles, GetSystemProfiles()).WillByDefault(ReturnRef(systemProfiles));
auto fakeAgentType = std::make_shared<NiceMock<core::FakeAgentType>>();
std::map<int, std::shared_ptr<core::AgentTypeInterface>> systems = {{0, fakeAgentType}};
@@ -310,7 +299,7 @@ TEST(DynamicAgentTypeGenerator, GatherSensors)
ON_CALL(*fakeAgentType, GetComponents()).WillByDefault(ReturnRef(components));
ON_CALL(*systemConfigBlueprint, GetSystems()).WillByDefault(ReturnRef(systems));
- AgentBuildInformation agentBuildInformation = AgentBuildInformation::make(sampledProfiles, dynamicParameters, systemConfigBlueprint, &profiles, &vehicleModels)
+ AgentBuildInformation agentBuildInformation = AgentBuildInformation::make(sampledProfiles, dynamicParameters, systemConfigBlueprint, &profiles)
.GatherSensors();
const auto& gatheredComponents = agentBuildInformation.agentType->GetComponents();
@@ -332,53 +321,22 @@ TEST(DynamicAgentTypeGenerator, GatherSensors)
ASSERT_THAT(gatheredComponents.at("Sensor_7")->GetOutputLinks().at(3), Eq(101));
}
-TEST(DynamicAgentTypeGenerator, SetVehicleModelParameters)
-{
- NiceMock<FakeStochastics> fakeStochastics;
- SampledProfiles sampledProfiles = SampledProfiles::make("", fakeStochastics, nullptr);
- auto systemConfigBlueprint = std::make_shared<NiceMock<FakeSystemConfig>>();
- NiceMock<FakeProfiles> profiles;
- NiceMock<FakeVehicleModels> vehicleModels;
- DynamicParameters dynamicParameters = DynamicParameters::empty();
-
- sampledProfiles.vehicleProfileName = "SomeVehicle";
-
- VehicleProfile vehicleProfile;
- vehicleProfile.vehicleModel = "SomeVehicleModel";
- std::unordered_map<std::string, VehicleProfile> vehicleProfiles{{"SomeVehicle", vehicleProfile}};
- ON_CALL(profiles, GetVehicleProfiles()).WillByDefault(ReturnRef(vehicleProfiles));
-
- VehicleModelParameters vehicleModelParameters;
- vehicleModelParameters.boundingBoxDimensions.length = 5.0;
- vehicleModelParameters.boundingBoxDimensions.width = 2.0;
- ON_CALL(vehicleModels, GetVehicleModel("SomeVehicleModel", _)).WillByDefault(Return(vehicleModelParameters));
- openScenario::Parameters assignedParameters;
-
- AgentBuildInformation agentBuildInformation =
- AgentBuildInformation::make(sampledProfiles, dynamicParameters, systemConfigBlueprint, &profiles, &vehicleModels)
- .SetVehicleModelParameters(assignedParameters);
-
- ASSERT_THAT(agentBuildInformation.vehicleModelName, Eq("SomeVehicleModel"));
- ASSERT_THAT(agentBuildInformation.vehicleModelParameters.boundingBoxDimensions.length, Eq(5.0));
- ASSERT_THAT(agentBuildInformation.vehicleModelParameters.boundingBoxDimensions.width, Eq(2.0));
-}
-
TEST(DynamicParametersSampler, SampleSensorLatencies)
{
NiceMock<FakeStochastics> fakeStochastics;
ON_CALL(fakeStochastics, GetNormalDistributed(_,_)).WillByDefault(Return(10));
- std::string vehicleProfileName ="SomeVehicle";
+ std::string systemProfileName ="SomeSystem";
openpass::sensors::Parameter sensorParameter;
sensorParameter.id = 5;
sensorParameter.profile.name = "SomeProfile";
sensorParameter.profile.type = "SomeSensorType";
- VehicleProfile vehicleProfile;
- vehicleProfile.sensors = {{sensorParameter}};
+ SystemProfile systemProfile;
+ systemProfile.sensors = {{sensorParameter}};
Profiles profiles;
- profiles.AddVehicleProfile(vehicleProfileName, vehicleProfile);
+ profiles.AddSystemProfile(systemProfileName, systemProfile);
openpass::parameter::ParameterSetLevel1 parameter{{"Latency", op::NormalDistribution{10.0, 0.0, 5.0, 15.0}}};
ProfileGroup profileGroup{{"SomeProfile", parameter}};
@@ -386,7 +344,7 @@ TEST(DynamicParametersSampler, SampleSensorLatencies)
profiles.AddProfileGroup("SomeSensorType", "SomeProfile", parameter);
- DynamicParameters dynamicParameters = DynamicParameters::make(fakeStochastics, vehicleProfileName, &profiles).SampleSensorLatencies();
+ DynamicParameters dynamicParameters = DynamicParameters::make(fakeStochastics, systemProfileName, &profiles).SampleSensorLatencies();
ASSERT_THAT(dynamicParameters.sensorLatencies.at(5), DoubleEq(10.0));
}
diff --git a/sim/tests/unitTests/core/opSimulation/modules/SpawnerPreRunCommon/CMakeLists.txt b/sim/tests/unitTests/core/opSimulation/modules/SpawnerPreRunCommon/CMakeLists.txt
index 5e7f364a5faca278e22d15d955600f19dbaca4a3..2878cd5d0a138d82a00756f71e04a2bc0da75a17 100644
--- a/sim/tests/unitTests/core/opSimulation/modules/SpawnerPreRunCommon/CMakeLists.txt
+++ b/sim/tests/unitTests/core/opSimulation/modules/SpawnerPreRunCommon/CMakeLists.txt
@@ -27,7 +27,6 @@ add_openpass_target(
${OPENPASS_SIMCORE_DIR}/core/opSimulation/framework/dynamicAgentTypeGenerator.cpp
${OPENPASS_SIMCORE_DIR}/core/opSimulation/framework/sampler.cpp
${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/agent.cpp
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/agentBlueprint.cpp
${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/agentType.cpp
${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/channel.cpp
${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/component.cpp
@@ -47,7 +46,6 @@ add_openpass_target(
${OPENPASS_SIMCORE_DIR}/core/opSimulation/framework/dynamicAgentTypeGenerator.h
${OPENPASS_SIMCORE_DIR}/core/opSimulation/framework/sampler.h
${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/agent.h
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/agentBlueprint.h
${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/agentType.h
${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/channel.h
${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/component.h
diff --git a/sim/tests/unitTests/core/opSimulation/modules/SpawnerPreRunCommon/spawnerPreRunCommon_Tests.cpp b/sim/tests/unitTests/core/opSimulation/modules/SpawnerPreRunCommon/spawnerPreRunCommon_Tests.cpp
index c836c5896554738ed5659320b35d3c0fc1021f68..034ebab4235c37025b93696c7428bd9b8b5c15f6 100644
--- a/sim/tests/unitTests/core/opSimulation/modules/SpawnerPreRunCommon/spawnerPreRunCommon_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/modules/SpawnerPreRunCommon/spawnerPreRunCommon_Tests.cpp
@@ -124,13 +124,13 @@ TEST(SpawnerPreRunCommonParameterExtractor, ExtractSpawnAreas_AllOptionalParamet
ON_CALL(*roadStreamLong, GetLaneStream(_,-1)).WillByDefault(Return(ByMove(std::unique_ptr<LaneStreamInterface>(laneStream1))));
LaneStreamInterface* laneStream2 = new FakeLaneStream;
ON_CALL(*roadStreamLong, GetLaneStream(_,-2)).WillByDefault(Return(ByMove(std::unique_ptr<LaneStreamInterface>(laneStream2))));
- ON_CALL(*roadStreamLong, GetLength()).WillByDefault(Return(1500.0));
+ ON_CALL(*roadStreamLong, GetLength()).WillByDefault(Return(1500.0_m));
ON_CALL(*roadStreamLong, GetStreamPosition(_)).WillByDefault([](GlobalRoadPosition position)
{if(position.roadId == "RoadA")
- {return StreamPosition{position.roadPosition.s, 0};}
+ {return StreamPosition{position.roadPosition.s, 0_m};}
if(position.roadId == "RoadB")
- {return StreamPosition{position.roadPosition.s + 1000.0, 0};}
- return StreamPosition{-1, 0};});
+ {return StreamPosition{position.roadPosition.s + 1000.0_m, 0_m};}
+ return StreamPosition{-1_m, 0_m};});
ON_CALL(fakeWorld, GetRoadStream(std::vector<RouteElement>{{"RoadA", true}, {"RoadB", true}})).
WillByDefault(Return(ByMove(std::move(roadStreamLong))));
@@ -139,30 +139,30 @@ TEST(SpawnerPreRunCommonParameterExtractor, ExtractSpawnAreas_AllOptionalParamet
ON_CALL(*roadStreamShort, GetLaneStream(_,-3)).WillByDefault(Return(ByMove(std::unique_ptr<LaneStreamInterface>(laneStream3))));
LaneStreamInterface* laneStream4 = new FakeLaneStream;
ON_CALL(*roadStreamShort, GetLaneStream(_,-4)).WillByDefault(Return(ByMove(std::unique_ptr<LaneStreamInterface>(laneStream4))));
- ON_CALL(*roadStreamShort, GetLength()).WillByDefault(Return(1000.0));
+ ON_CALL(*roadStreamShort, GetLength()).WillByDefault(Return(1000.0_m));
ON_CALL(*roadStreamShort, GetStreamPosition(_)).WillByDefault([](GlobalRoadPosition position)
{if(position.roadId == "RoadA")
- {return StreamPosition{position.roadPosition.s, 0};}
- return StreamPosition{-1, 0};});
+ {return StreamPosition{position.roadPosition.s, 0_m};}
+ return StreamPosition{-1_m, 0_m};});
ON_CALL(fakeWorld, GetRoadStream(std::vector<RouteElement>{{"RoadA", true}})).
WillByDefault(Return(ByMove(std::move(roadStreamShort))));
- ON_CALL(fakeWorld, GetRoadLength(_)).WillByDefault(Return(1000.));
+ ON_CALL(fakeWorld, GetRoadLength(_)).WillByDefault(Return(1000._m));
auto result = ExtractSpawnAreas(parameter, fakeWorld, &callbacks);
ASSERT_THAT(result, SizeIs(4));
EXPECT_THAT(result.at(0).laneStream.get(), Eq(laneStream1));
- EXPECT_THAT(result.at(0).sStart, Eq(10.0));
- EXPECT_THAT(result.at(0).sEnd, Eq(1050.0));
+ EXPECT_THAT(result.at(0).sStart.value(), Eq(10.0));
+ EXPECT_THAT(result.at(0).sEnd.value(), Eq(1050.0));
EXPECT_THAT(result.at(1).laneStream.get(), Eq(laneStream2));
- EXPECT_THAT(result.at(1).sStart, Eq(10.0));
- EXPECT_THAT(result.at(1).sEnd, Eq(1050.0));
+ EXPECT_THAT(result.at(1).sStart.value(), Eq(10.0));
+ EXPECT_THAT(result.at(1).sEnd.value(), Eq(1050.0));
EXPECT_THAT(result.at(2).laneStream.get(), Eq(laneStream3));
- EXPECT_THAT(result.at(2).sStart, Eq(15.0));
- EXPECT_THAT(result.at(2).sEnd, Eq(55.0));
+ EXPECT_THAT(result.at(2).sStart.value(), Eq(15.0));
+ EXPECT_THAT(result.at(2).sEnd.value(), Eq(55.0));
EXPECT_THAT(result.at(3).laneStream.get(), Eq(laneStream4));
- EXPECT_THAT(result.at(3).sStart, Eq(15.0));
- EXPECT_THAT(result.at(3).sEnd, Eq(55.0));
+ EXPECT_THAT(result.at(3).sStart.value(), Eq(15.0));
+ EXPECT_THAT(result.at(3).sEnd.value(), Eq(55.0));
}
TEST(SpawnerPreRunCommonParameterExtractor, ExtractSpawnAreas_NoOptionalParameters)
@@ -211,7 +211,7 @@ TEST(SpawnerPreRunCommonParameterExtractor, ExtractSpawnAreas_NoOptionalParamete
laneStreamsA.emplace_back(laneStream1);
laneStreamsA.emplace_back(laneStream2);
ON_CALL(*roadStreamLong, GetAllLaneStreams()).WillByDefault(Return(ByMove(std::move(laneStreamsA))));
- ON_CALL(*roadStreamLong, GetLength()).WillByDefault(Return(1500.0));
+ ON_CALL(*roadStreamLong, GetLength()).WillByDefault(Return(1500.0_m));
ON_CALL(fakeWorld, GetRoadStream(std::vector<RouteElement>{{"RoadA", true}, {"RoadB", true}})).
WillByDefault(Return(ByMove(std::move(roadStreamLong))));
@@ -222,26 +222,26 @@ TEST(SpawnerPreRunCommonParameterExtractor, ExtractSpawnAreas_NoOptionalParamete
laneStreamsB.emplace_back(laneStream3);
laneStreamsB.emplace_back(laneStream4);
ON_CALL(*roadStreamShort, GetAllLaneStreams()).WillByDefault(Return(ByMove(std::move(laneStreamsB))));
- ON_CALL(*roadStreamShort, GetLength()).WillByDefault(Return(1000.0));
+ ON_CALL(*roadStreamShort, GetLength()).WillByDefault(Return(1000.0_m));
ON_CALL(fakeWorld, GetRoadStream(std::vector<RouteElement>{{"RoadA", true}})).
WillByDefault(Return(ByMove(std::move(roadStreamShort))));
- ON_CALL(fakeWorld, GetRoadLength(_)).WillByDefault(Return(1000.));
+ ON_CALL(fakeWorld, GetRoadLength(_)).WillByDefault(Return(1000._m));
auto result = ExtractSpawnAreas(parameter, fakeWorld, &callbacks);
ASSERT_THAT(result, SizeIs(4));
EXPECT_THAT(result.at(0).laneStream.get(), Eq(laneStream1));
- EXPECT_THAT(result.at(0).sStart, Eq(0.0));
- EXPECT_THAT(result.at(0).sEnd, Eq(1500.0));
+ EXPECT_THAT(result.at(0).sStart.value(), Eq(0.0));
+ EXPECT_THAT(result.at(0).sEnd.value(), Eq(1500.0));
EXPECT_THAT(result.at(1).laneStream.get(), Eq(laneStream2));
- EXPECT_THAT(result.at(1).sStart, Eq(0.0));
- EXPECT_THAT(result.at(1).sEnd, Eq(1500.0));
+ EXPECT_THAT(result.at(1).sStart.value(), Eq(0.0));
+ EXPECT_THAT(result.at(1).sEnd.value(), Eq(1500.0));
EXPECT_THAT(result.at(2).laneStream.get(), Eq(laneStream3));
- EXPECT_THAT(result.at(2).sStart, Eq(0.0));
- EXPECT_THAT(result.at(2).sEnd, Eq(1000.0));
+ EXPECT_THAT(result.at(2).sStart.value(), Eq(0.0));
+ EXPECT_THAT(result.at(2).sEnd.value(), Eq(1000.0));
EXPECT_THAT(result.at(3).laneStream.get(), Eq(laneStream4));
- EXPECT_THAT(result.at(3).sStart, Eq(0.0));
- EXPECT_THAT(result.at(3).sEnd, Eq(1000.0));
+ EXPECT_THAT(result.at(3).sStart.value(), Eq(0.0));
+ EXPECT_THAT(result.at(3).sEnd.value(), Eq(1000.0));
}
TEST(SpawnerPreRunCommonParameterExtractor, ExtractSpawnAreasWithSOutOfRange_ReturnsValidS)
@@ -288,13 +288,13 @@ TEST(SpawnerPreRunCommonParameterExtractor, ExtractSpawnAreasWithSOutOfRange_Ret
ON_CALL(*roadStreamLong, GetLaneStream(_,-1)).WillByDefault(Return(ByMove(std::unique_ptr<LaneStreamInterface>(laneStream1))));
LaneStreamInterface* laneStream2 = new FakeLaneStream;
ON_CALL(*roadStreamLong, GetLaneStream(_,-2)).WillByDefault(Return(ByMove(std::unique_ptr<LaneStreamInterface>(laneStream2))));
- ON_CALL(*roadStreamLong, GetLength()).WillByDefault(Return(1500.0));
+ ON_CALL(*roadStreamLong, GetLength()).WillByDefault(Return(1500.0_m));
ON_CALL(*roadStreamLong, GetStreamPosition(_)).WillByDefault([](GlobalRoadPosition position)
{if(position.roadId == "RoadA")
- {return StreamPosition{position.roadPosition.s, 0};}
+ {return StreamPosition{position.roadPosition.s, 0_m};}
if(position.roadId == "RoadB")
- {return StreamPosition{position.roadPosition.s + 1000.0, 0};}
- return StreamPosition{-1, 0};});
+ {return StreamPosition{position.roadPosition.s + 1000.0_m, 0_m};}
+ return StreamPosition{-1_m, 0_m};});
ON_CALL(fakeWorld, GetRoadStream(std::vector<RouteElement>{{"RoadA", true}, {"RoadB", true}})).
WillByDefault(Return(ByMove(std::move(roadStreamLong))));
@@ -305,32 +305,32 @@ TEST(SpawnerPreRunCommonParameterExtractor, ExtractSpawnAreasWithSOutOfRange_Ret
laneStreamsB.emplace_back(laneStream3);
laneStreamsB.emplace_back(laneStream4);
ON_CALL(*roadStreamShort, GetAllLaneStreams()).WillByDefault(Return(ByMove(std::move(laneStreamsB))));
- ON_CALL(*roadStreamShort, GetLength()).WillByDefault(Return(1000.0));
+ ON_CALL(*roadStreamShort, GetLength()).WillByDefault(Return(1000.0_m));
ON_CALL(*roadStreamShort, GetStreamPosition(_)).WillByDefault([](GlobalRoadPosition position)
{if(position.roadId == "RoadA")
- {return StreamPosition{position.roadPosition.s, 0};}
- return StreamPosition{-1, 0};});
+ {return StreamPosition{position.roadPosition.s, 0_m};}
+ return StreamPosition{-1_m, 0_m};});
ON_CALL(fakeWorld, GetRoadStream(std::vector<RouteElement>{{"RoadA", true}})).
WillByDefault(Return(ByMove(std::move(roadStreamShort))));
- ON_CALL(fakeWorld, GetRoadLength("RoadA")).WillByDefault(Return(1000.));
- ON_CALL(fakeWorld, GetRoadLength("RoadB")).WillByDefault(Return(500.));
+ ON_CALL(fakeWorld, GetRoadLength("RoadA")).WillByDefault(Return(1000._m));
+ ON_CALL(fakeWorld, GetRoadLength("RoadB")).WillByDefault(Return(500._m));
auto result = ExtractSpawnAreas(parameter, fakeWorld, &callbacks);
ASSERT_THAT(result, SizeIs(4));
EXPECT_THAT(result.at(0).laneStream.get(), Eq(laneStream1));
- EXPECT_THAT(result.at(0).sStart, Eq(0.0));
- EXPECT_THAT(result.at(0).sEnd, Eq(1500.0));
+ EXPECT_THAT(result.at(0).sStart.value(), Eq(0.0));
+ EXPECT_THAT(result.at(0).sEnd.value(), Eq(1500.0));
EXPECT_THAT(result.at(1).laneStream.get(), Eq(laneStream2));
- EXPECT_THAT(result.at(1).sStart, Eq(0.0));
- EXPECT_THAT(result.at(1).sEnd, Eq(1500.0));
+ EXPECT_THAT(result.at(1).sStart.value(), Eq(0.0));
+ EXPECT_THAT(result.at(1).sEnd.value(), Eq(1500.0));
EXPECT_THAT(result.at(2).laneStream.get(), Eq(laneStream3));
- EXPECT_THAT(result.at(2).sStart, Eq(10.0));
- EXPECT_THAT(result.at(2).sEnd, Eq(1000.0));
+ EXPECT_THAT(result.at(2).sStart.value(), Eq(10.0));
+ EXPECT_THAT(result.at(2).sEnd.value(), Eq(1000.0));
EXPECT_THAT(result.at(3).laneStream.get(), Eq(laneStream4));
- EXPECT_THAT(result.at(3).sStart, Eq(10.0));
- EXPECT_THAT(result.at(3).sEnd, Eq(1000.0));
+ EXPECT_THAT(result.at(3).sStart.value(), Eq(10.0));
+ EXPECT_THAT(result.at(3).sEnd.value(), Eq(1000.0));
}
TEST(SpawnerPreRunCommonParameterExtractor, ExtractSpawnAreas_AgainstOdDirection)
@@ -366,27 +366,27 @@ TEST(SpawnerPreRunCommonParameterExtractor, ExtractSpawnAreas_AgainstOdDirection
ON_CALL(*roadStream, GetLaneStream(_,1)).WillByDefault(Return(ByMove(std::unique_ptr<LaneStreamInterface>(laneStream1))));
LaneStreamInterface* laneStream2 = new FakeLaneStream;
ON_CALL(*roadStream, GetLaneStream(_,2)).WillByDefault(Return(ByMove(std::unique_ptr<LaneStreamInterface>(laneStream2))));
- ON_CALL(*roadStream, GetLength()).WillByDefault(Return(1500.0));
+ ON_CALL(*roadStream, GetLength()).WillByDefault(Return(1500.0_m));
ON_CALL(*roadStream, GetStreamPosition(_)).WillByDefault([](GlobalRoadPosition position)
{if(position.roadId == "RoadA")
- {return StreamPosition{1000. - position.roadPosition.s, 0};}
+ {return StreamPosition{1000._m - position.roadPosition.s, 0_m};}
if(position.roadId == "RoadB")
- {return StreamPosition{1500. - position.roadPosition.s, 0};}
- return StreamPosition{-1, 0};});
+ {return StreamPosition{1500._m - position.roadPosition.s, 0_m};}
+ return StreamPosition{-1_m, 0_m};});
ON_CALL(fakeWorld, GetRoadStream(std::vector<RouteElement>{{"RoadA", false}, {"RoadB", false}})).
WillByDefault(Return(ByMove(std::move(roadStream))));
- ON_CALL(fakeWorld, GetRoadLength("RoadA")).WillByDefault(Return(1000.));
- ON_CALL(fakeWorld, GetRoadLength("RoadB")).WillByDefault(Return(500.));
+ ON_CALL(fakeWorld, GetRoadLength("RoadA")).WillByDefault(Return(1000._m));
+ ON_CALL(fakeWorld, GetRoadLength("RoadB")).WillByDefault(Return(500._m));
auto result = ExtractSpawnAreas(parameter, fakeWorld, &callbacks);
ASSERT_THAT(result, SizeIs(2));
EXPECT_THAT(result.at(0).laneStream.get(), Eq(laneStream1));
- EXPECT_THAT(result.at(0).sStart, Eq(990.0));
- EXPECT_THAT(result.at(0).sEnd, Eq(1450.0));
+ EXPECT_THAT(result.at(0).sStart.value(), Eq(990.0));
+ EXPECT_THAT(result.at(0).sEnd.value(), Eq(1450.0));
EXPECT_THAT(result.at(1).laneStream.get(), Eq(laneStream2));
- EXPECT_THAT(result.at(1).sStart, Eq(990.0));
- EXPECT_THAT(result.at(1).sEnd, Eq(1450.0));
+ EXPECT_THAT(result.at(1).sStart.value(), Eq(990.0));
+ EXPECT_THAT(result.at(1).sEnd.value(), Eq(1450.0));
}
@@ -430,13 +430,13 @@ TEST(SpawnerPreRunCommonParameterExtractor, ExtractSpawnAreas_AllLanesBothDirect
std::vector<std::unique_ptr<LaneStreamInterface>> laneStreamsIn{};
laneStreamsIn.emplace_back(laneStreamIn);
ON_CALL(*roadStreamIn, GetAllLaneStreams()).WillByDefault(Return(ByMove(std::move(laneStreamsIn))));
- ON_CALL(*roadStreamIn, GetLength()).WillByDefault(Return(1500.0));
+ ON_CALL(*roadStreamIn, GetLength()).WillByDefault(Return(1500.0_m));
ON_CALL(*roadStreamIn, GetStreamPosition(_)).WillByDefault([](GlobalRoadPosition position)
{if(position.roadId == "RoadA")
- {return StreamPosition{position.roadPosition.s, 0};}
+ {return StreamPosition{position.roadPosition.s, 0_m};}
if(position.roadId == "RoadB")
- {return StreamPosition{1000. + position.roadPosition.s, 0};}
- return StreamPosition{-1, 0};});
+ {return StreamPosition{1000._m + position.roadPosition.s, 0_m};}
+ return StreamPosition{-1_m, 0_m};});
ON_CALL(fakeWorld, GetRoadStream(std::vector<RouteElement>{{"RoadA", true}, {"RoadB", true}})).
WillByDefault(Return(ByMove(std::move(roadStreamIn))));
@@ -445,25 +445,25 @@ TEST(SpawnerPreRunCommonParameterExtractor, ExtractSpawnAreas_AllLanesBothDirect
std::vector<std::unique_ptr<LaneStreamInterface>> laneStreamsAgainst{};
laneStreamsAgainst.emplace_back(laneStreamAgainst);
ON_CALL(*roadStreamAgainst, GetAllLaneStreams()).WillByDefault(Return(ByMove(std::move(laneStreamsAgainst))));
- ON_CALL(*roadStreamAgainst, GetLength()).WillByDefault(Return(1500.0));
+ ON_CALL(*roadStreamAgainst, GetLength()).WillByDefault(Return(1500.0_m));
ON_CALL(*roadStreamAgainst, GetStreamPosition(_)).WillByDefault([](GlobalRoadPosition position)
{if(position.roadId == "RoadA")
- {return StreamPosition{1500. - position.roadPosition.s, 0};}
+ {return StreamPosition{1500._m - position.roadPosition.s, 0_m};}
if(position.roadId == "RoadB")
- {return StreamPosition{500. - position.roadPosition.s, 0};}
- return StreamPosition{-1, 0};});
+ {return StreamPosition{500._m - position.roadPosition.s, 0_m};}
+ return StreamPosition{-1_m, 0_m};});
ON_CALL(fakeWorld, GetRoadStream(std::vector<RouteElement>{{"RoadB", false}, {"RoadA", false}})).
WillByDefault(Return(ByMove(std::move(roadStreamAgainst))));
- ON_CALL(fakeWorld, GetRoadLength("RoadA")).WillByDefault(Return(1000.));
- ON_CALL(fakeWorld, GetRoadLength("RoadB")).WillByDefault(Return(500.));
+ ON_CALL(fakeWorld, GetRoadLength("RoadA")).WillByDefault(Return(1000._m));
+ ON_CALL(fakeWorld, GetRoadLength("RoadB")).WillByDefault(Return(500._m));
auto result = ExtractSpawnAreas(parameter, fakeWorld, &callbacks);
ASSERT_THAT(result, SizeIs(2));
EXPECT_THAT(result.at(0).laneStream.get(), Eq(laneStreamIn));
- EXPECT_THAT(result.at(0).sStart, Eq(10.0));
- EXPECT_THAT(result.at(0).sEnd, Eq(1050.0));
+ EXPECT_THAT(result.at(0).sStart.value(), Eq(10.0));
+ EXPECT_THAT(result.at(0).sEnd.value(), Eq(1050.0));
EXPECT_THAT(result.at(1).laneStream.get(), Eq(laneStreamAgainst));
- EXPECT_THAT(result.at(1).sStart, Eq(450.0));
- EXPECT_THAT(result.at(1).sEnd, Eq(1490.0));
+ EXPECT_THAT(result.at(1).sStart.value(), Eq(450.0));
+ EXPECT_THAT(result.at(1).sEnd.value(), Eq(1490.0));
}
diff --git a/sim/tests/unitTests/core/opSimulation/modules/SpawnerRuntimeCommon/CMakeLists.txt b/sim/tests/unitTests/core/opSimulation/modules/SpawnerRuntimeCommon/CMakeLists.txt
index 929b10b9fefe88f2f89d93c565ef422850482666..0413d3f24fa993e6cc4d3763bd8afd43f5997288 100644
--- a/sim/tests/unitTests/core/opSimulation/modules/SpawnerRuntimeCommon/CMakeLists.txt
+++ b/sim/tests/unitTests/core/opSimulation/modules/SpawnerRuntimeCommon/CMakeLists.txt
@@ -26,7 +26,6 @@ add_openpass_target(
${OPENPASS_SIMCORE_DIR}/core/opSimulation/framework/dynamicAgentTypeGenerator.cpp
${OPENPASS_SIMCORE_DIR}/core/opSimulation/framework/sampler.cpp
${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/agent.cpp
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/agentBlueprint.cpp
${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/agentType.cpp
${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/channel.cpp
${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/component.cpp
@@ -46,7 +45,6 @@ add_openpass_target(
${OPENPASS_SIMCORE_DIR}/core/opSimulation/framework/dynamicAgentTypeGenerator.h
${OPENPASS_SIMCORE_DIR}/core/opSimulation/framework/sampler.h
${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/agent.h
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/agentBlueprint.h
${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/agentType.h
${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/channel.h
${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/component.h
diff --git a/sim/tests/unitTests/core/opSimulation/modules/SpawnerRuntimeCommon/spawnerRuntimeCommon_Tests.cpp b/sim/tests/unitTests/core/opSimulation/modules/SpawnerRuntimeCommon/spawnerRuntimeCommon_Tests.cpp
index 477f3c19217b79e44c9c5b1e433ef3fb212dd5c0..7ab5dd57741c76e8a3582e3ca57d2135642d5b53 100644
--- a/sim/tests/unitTests/core/opSimulation/modules/SpawnerRuntimeCommon/spawnerRuntimeCommon_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/modules/SpawnerRuntimeCommon/spawnerRuntimeCommon_Tests.cpp
@@ -131,11 +131,11 @@ TEST(SpawnerRuntimeCommonParameterExtractor, ExtractSpawnPointParameters)
const auto result = SpawnPointRuntimeCommonParameterExtractor::ExtractSpawnPointParameters(parameter, worldAnalyzer, validLaneTypes, &callbacks);
const auto spawnPositions = result.spawnPositions;
- ASSERT_THAT(result.spawnPositions, UnorderedElementsAre(SpawnPosition{"RoadA", 1, 10.},
- SpawnPosition{"RoadA", 2, 10.},
- SpawnPosition{"RoadA", 3, 10.},
- SpawnPosition{"RoadB", -1, 11.},
- SpawnPosition{"RoadB", -2, 11.}));
+ ASSERT_THAT(result.spawnPositions, UnorderedElementsAre(SpawnPosition{"RoadA", 1, 10._m},
+ SpawnPosition{"RoadA", 2, 10._m},
+ SpawnPosition{"RoadA", 3, 10._m},
+ SpawnPosition{"RoadB", -1, 11._m},
+ SpawnPosition{"RoadB", -2, 11._m}));
SpawningAgentProfile spawningAgentProfile1 = {"Profile1", openpass::parameter::NormalDistribution{1.,2.,3.,4.}, {0.1,0.2}, openpass::parameter::NormalDistribution{2.,3.,4.,5.}};
SpawningAgentProfile spawningAgentProfile2 = {"Profile2", openpass::parameter::NormalDistribution{1.,2.,3.,4.}, {0.1,0.2}, openpass::parameter::NormalDistribution{2.,3.,4.,5.}};
@@ -196,10 +196,10 @@ TEST(SpawnerRuntimeCommonParameterExtractor, ExtractSpawnPoints)
const auto result = SpawnPointRuntimeCommonParameterExtractor::ExtractSpawnPoints(parameter, worldAnalyzer, validLaneTypes, &callbacks);
- ASSERT_THAT(result, UnorderedElementsAre(SpawnPosition{roadA, 1, 10.},
- SpawnPosition{roadA, 2, 10.},
- SpawnPosition{roadA, 3, 10.},
- SpawnPosition{roadB , -1, 11.}));
+ ASSERT_THAT(result, UnorderedElementsAre(SpawnPosition{roadA, 1, 10._m},
+ SpawnPosition{roadA, 2, 10._m},
+ SpawnPosition{roadA, 3, 10._m},
+ SpawnPosition{roadB , -1, 11._m}));
SpawningAgentProfile spawningAgentProfile1 = {"Profile1", openpass::parameter::NormalDistribution{1.,2.,3.,4.}, {0.1,0.2}, openpass::parameter::NormalDistribution{2.,3.,4.,5.}};
SpawningAgentProfile spawningAgentProfile2 = {"Profile2", openpass::parameter::NormalDistribution{1.,2.,3.,4.}, {0.1,0.2}, openpass::parameter::NormalDistribution{2.,3.,4.,5.}};
diff --git a/sim/tests/unitTests/core/opSimulation/modules/SpawnerScenario/CMakeLists.txt b/sim/tests/unitTests/core/opSimulation/modules/SpawnerScenario/CMakeLists.txt
deleted file mode 100644
index 30615404b2e4bf4ae9a82b7f51e75f1994b4455e..0000000000000000000000000000000000000000
--- a/sim/tests/unitTests/core/opSimulation/modules/SpawnerScenario/CMakeLists.txt
+++ /dev/null
@@ -1,69 +0,0 @@
-################################################################################
-# Copyright (c) 2021 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
-#
-# This program and the accompanying materials are made available under the
-# terms of the Eclipse Public License 2.0 which is available at
-# http://www.eclipse.org/legal/epl-2.0.
-#
-# SPDX-License-Identifier: EPL-2.0
-################################################################################
-set(COMPONENT_TEST_NAME SpawnerScenario_Tests)
-set(COMPONENT_SOURCE_DIR ${OPENPASS_SIMCORE_DIR}/core/opSimulation/modules/Spawners/Scenario)
-
-add_openpass_target(
- NAME ${COMPONENT_TEST_NAME} TYPE test COMPONENT core
- DEFAULT_MAIN
-
- SOURCES
- spawnerScenario_Tests.cpp
- ${COMPONENT_SOURCE_DIR}/SpawnerScenario.cpp
- ${OPENPASS_SIMCORE_DIR}/core/common/log.cpp
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/framework/agentBlueprintProvider.cpp
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/framework/agentDataPublisher.cpp
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/framework/dynamicProfileSampler.cpp
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/framework/dynamicParametersSampler.cpp
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/framework/dynamicAgentTypeGenerator.cpp
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/framework/sampler.cpp
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/agent.cpp
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/agentBlueprint.cpp
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/agentType.cpp
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/channel.cpp
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/component.cpp
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/componentType.cpp
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/parameters.cpp
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/bindings/modelBinding.cpp
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/bindings/modelLibrary.cpp
-
- HEADERS
- ${COMPONENT_SOURCE_DIR}/SpawnerScenario.h
- ${OPENPASS_SIMCORE_DIR}/core/common/log.h
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/framework/agentBlueprintProvider.h
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/framework/agentDataPublisher.h
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/framework/dynamicProfileSampler.h
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/framework/dynamicParametersSampler.h
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/framework/dynamicAgentTypeGenerator.h
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/framework/sampler.h
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/agent.h
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/agentBlueprint.h
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/agentType.h
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/channel.h
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/component.h
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/componentType.h
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements/parameters.h
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/bindings/modelBinding.h
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/bindings/modelLibrary.h
-
- INCDIRS
- ${COMPONENT_SOURCE_DIR}
- ${COMPONENT_SOURCE_DIR}/..
- ${OPENPASS_SIMCORE_DIR}/core
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/bindings
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/framework
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/importer
- ${OPENPASS_SIMCORE_DIR}/core/opSimulation/modelElements
-
- LIBRARIES
- Qt5::Core
- CoreCommon
-)
diff --git a/sim/tests/unitTests/core/opSimulation/modules/SpawnerScenario/spawnerScenario_Tests.cpp b/sim/tests/unitTests/core/opSimulation/modules/SpawnerScenario/spawnerScenario_Tests.cpp
deleted file mode 100644
index e98a721c33d42e946cc17560ad08d18fb5f55d42..0000000000000000000000000000000000000000
--- a/sim/tests/unitTests/core/opSimulation/modules/SpawnerScenario/spawnerScenario_Tests.cpp
+++ /dev/null
@@ -1,384 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2019-2020 in-tech GmbH
- * 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
- *
- * This program and the accompanying materials are made available under the
- * terms of the Eclipse Public License 2.0 which is available at
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-
-#include "SpawnerScenario.h"
-#include "agentBlueprint.h"
-#include "dontCare.h"
-#include "fakeAgent.h"
-#include "fakeAgentBlueprintProvider.h"
-#include "fakeAgentFactory.h"
-#include "fakeStochastics.h"
-#include "fakeScenario.h"
-#include "fakeWorld.h"
-#include "gmock/gmock.h"
-#include "gtest/gtest.h"
-
-using ::testing::_;
-using ::testing::DontCare;
-using ::testing::Matcher;
-using ::testing::NiceMock;
-using ::testing::Return;
-using ::testing::ReturnRef;
-
-MATCHER_P(MatchesAgentBlueprint, referenceAgentBlueprint, "matches blueprint")
-{
- if (!(arg->GetAgentProfileName() == referenceAgentBlueprint.GetAgentProfileName() && arg->GetAgentCategory() == referenceAgentBlueprint.GetAgentCategory()) && arg->GetObjectName() == referenceAgentBlueprint.GetObjectName())
- {
- return false;
- }
- const auto actualSpawnParameters = arg->GetSpawnParameter();
- const auto expectedSpawnParameters = referenceAgentBlueprint.GetSpawnParameter();
- if (!(actualSpawnParameters.velocity == expectedSpawnParameters.velocity && actualSpawnParameters.positionX == expectedSpawnParameters.positionX && actualSpawnParameters.yawAngle == expectedSpawnParameters.yawAngle))
- {
- return false;
- }
- const auto actualVehicleModelParameters = arg->GetVehicleModelParameters();
- const auto expectedVehicleModelParameters = referenceAgentBlueprint.GetVehicleModelParameters();
- if (!(actualVehicleModelParameters.boundingBoxDimensions.length == expectedVehicleModelParameters.boundingBoxDimensions.length
- && actualVehicleModelParameters.boundingBoxDimensions.width == expectedVehicleModelParameters.boundingBoxDimensions.width
- && actualVehicleModelParameters.boundingBoxCenter.x == expectedVehicleModelParameters.boundingBoxCenter.x))
- {
- return false;
- }
-
- return true;
-}
-
-TEST(SpawnPointScenario, Trigger_SpawnsEgoAgentAccordingToScenarioWorldPosition)
-{
- NiceMock<FakeWorld> fakeWorld;
- NiceMock<FakeScenario> fakeScenario;
- NiceMock<FakeAgentBlueprintProvider> fakeAgentBlueprintProvider;
- NiceMock<FakeAgentFactory> fakeAgentFactory;
- NiceMock<FakeStochastics> fakeStochastics;
-
- SpawnPointDependencies dependencies(&fakeAgentFactory, &fakeWorld, &fakeAgentBlueprintProvider, &fakeStochastics);
- dependencies.scenario = &fakeScenario;
-
- const std::string entityName = "Ego";
- constexpr double x = 10.0;
- constexpr double y = 5.0;
- constexpr double heading = 0.5;
- constexpr double velocity = 25;
- constexpr double acceleration = 25;
-
- openScenario::WorldPosition worldPosition{x, y, std::nullopt, heading, std::nullopt, std::nullopt};
-
- ScenarioEntity entity;
- entity.name = entityName;
- entity.catalogReference.entryName = entityName;
- entity.spawnInfo.velocity = velocity;
- entity.spawnInfo.acceleration = acceleration;
- entity.spawnInfo.position = worldPosition;
-
- std::vector<ScenarioEntity> entities{entity};
- std::optional<AgentBlueprint> actualAgentBlueprintOptional;
- AgentBlueprint actualAgentBlueprint;
- VehicleModelParameters vehicleModelParameters;
- vehicleModelParameters.boundingBoxDimensions.length = 1;
- vehicleModelParameters.boundingBoxDimensions.width = 0.5;
- vehicleModelParameters.boundingBoxCenter.x = 0.;
- actualAgentBlueprint.SetVehicleModelParameters(vehicleModelParameters);
- actualAgentBlueprintOptional = actualAgentBlueprint;
-
- SpawnParameter expectedSpawnParameter;
- expectedSpawnParameter.velocity = velocity;
- expectedSpawnParameter.positionX = x;
- expectedSpawnParameter.positionY = y;
- expectedSpawnParameter.yawAngle = heading;
-
- AgentBlueprint expectedAgentBlueprint;
- expectedAgentBlueprint.SetVehicleModelParameters(vehicleModelParameters);
- expectedAgentBlueprint.SetAgentProfileName(entityName);
- expectedAgentBlueprint.SetAgentCategory(AgentCategory::Ego);
- expectedAgentBlueprint.SetObjectName(entityName);
- expectedAgentBlueprint.SetSpawnParameter(expectedSpawnParameter);
-
- ON_CALL(fakeScenario, GetEntities())
- .WillByDefault(ReturnRef(entities));
-
- ON_CALL(fakeAgentBlueprintProvider, SampleAgent(entity.catalogReference.entryName, _))
- .WillByDefault(Return(actualAgentBlueprint));
- ON_CALL(fakeWorld, IntersectsWithAgent(_, _, _, _, _, _))
- .WillByDefault(Return(false));
- GlobalRoadPositions roadPositions{{"Road1",{"Road1",-1,0,0,0}}};
- ON_CALL(fakeWorld, WorldCoord2LaneCoord(x,y,heading)).WillByDefault(Return(roadPositions));
- RoadGraph roadGraph{};
- auto vertex = add_vertex(RouteElement{"Road1",true}, roadGraph);
- ON_CALL(fakeWorld, GetRoadGraph(RouteElement{"Road1",true}, _, true)).WillByDefault(Return(std::make_pair(roadGraph, vertex)));
- ON_CALL(fakeWorld, IsDirectionalRoadExisting("Road1", true)).WillByDefault(Return(true));
-
- // If this is called and the blueprints match, we're creating our Agent correctly
- EXPECT_CALL(fakeAgentFactory, AddAgent(MatchesAgentBlueprint(expectedAgentBlueprint)))
- // There is no interface for agent, so we need to fake a valid object (!= nullptr)
- // If the spawnpoint ever needs a true object, this will crash (!)
- .WillOnce(Return(reinterpret_cast<core::Agent*>(0x1234)));
-
- SpawnerScenario spawnerScenario{&dependencies, nullptr};
- spawnerScenario.Trigger(0);
-}
-
-TEST(SpawnerScenario, Trigger_SpawnsEgoAgentAccordingToScenarioLanePosition)
-{
- NiceMock<FakeWorld> fakeWorld;
- NiceMock<FakeScenario> fakeScenario;
- NiceMock<FakeAgentBlueprintProvider> fakeAgentBlueprintProvider;
- NiceMock<FakeAgentFactory> fakeAgentFactory;
- NiceMock<FakeStochastics> fakeStochastics;
-
- SpawnPointDependencies dependencies(&fakeAgentFactory, &fakeWorld, &fakeAgentBlueprintProvider, &fakeStochastics);
- dependencies.scenario = &fakeScenario;
-
- const std::string entityName = "Ego";
- const std::string roadId = "ROADID";
- constexpr int laneId = -1;
- constexpr double s = 10;
- constexpr double offset = 0;
- constexpr double velocity = 25;
- constexpr double acceleration = 25;
-
- openScenario::LanePosition lanePosition;
- lanePosition.roadId = roadId;
- lanePosition.laneId = laneId;
- lanePosition.s = s;
- lanePosition.offset = offset;
-
- ScenarioEntity entity;
- entity.name = entityName;
- entity.catalogReference.entryName = entityName;
- entity.spawnInfo.velocity = velocity;
- entity.spawnInfo.acceleration = acceleration;
- entity.spawnInfo.position = lanePosition;
-
- std::vector<ScenarioEntity> entities{entity};
- std::optional<AgentBlueprint> actualAgentBlueprintOptional;
- AgentBlueprint actualAgentBlueprint;
- VehicleModelParameters vehicleModelParameters;
- vehicleModelParameters.boundingBoxDimensions.length = 1;
- vehicleModelParameters.boundingBoxDimensions.width = 0.5;
- vehicleModelParameters.boundingBoxCenter.x = 0.;
- actualAgentBlueprint.SetVehicleModelParameters(vehicleModelParameters);
- actualAgentBlueprintOptional = actualAgentBlueprint;
-
- SpawnParameter expectedSpawnParameter;
- constexpr double expectedX = 100.0;
- constexpr double expectedY = 10.0;
- constexpr double expectedYaw = 1.0;
- expectedSpawnParameter.velocity = velocity;
- expectedSpawnParameter.positionX = expectedX;
- expectedSpawnParameter.positionY = expectedY;
- expectedSpawnParameter.yawAngle = expectedYaw;
-
- AgentBlueprint expectedAgentBlueprint;
- expectedAgentBlueprint.SetVehicleModelParameters(vehicleModelParameters);
- expectedAgentBlueprint.SetAgentProfileName(entityName);
- expectedAgentBlueprint.SetAgentCategory(AgentCategory::Ego);
- expectedAgentBlueprint.SetObjectName(entityName);
- expectedAgentBlueprint.SetSpawnParameter(expectedSpawnParameter);
-
- Position position{expectedX, expectedY, expectedYaw, 0};
-
- ON_CALL(fakeScenario, GetEntities()).WillByDefault(ReturnRef(entities));
-
- ON_CALL(fakeAgentBlueprintProvider, SampleAgent(entity.catalogReference.entryName, _))
- .WillByDefault(Return(actualAgentBlueprint));
- ON_CALL(fakeWorld, IsSValidOnLane(roadId, laneId, s))
- .WillByDefault(Return(true));
- ON_CALL(fakeWorld, IsSValidOnLane(roadId, laneId, s))
- .WillByDefault(Return(true));
- ON_CALL(fakeWorld, GetLaneWidth(roadId, laneId, s))
- .WillByDefault(Return(0.75));
- ON_CALL(fakeWorld, LaneCoord2WorldCoord(s, offset, roadId, laneId))
- .WillByDefault(Return(position));
- ON_CALL(fakeWorld, IntersectsWithAgent(_, _, _, _, _, _))
- .WillByDefault(Return(false));
- GlobalRoadPositions roadPositions{{"Road1",{"Road1",-1,0,0,0}}};
- ON_CALL(fakeWorld, WorldCoord2LaneCoord(expectedX,expectedY,expectedYaw)).WillByDefault(Return(roadPositions));
- RoadGraph roadGraph{};
- auto vertex = add_vertex(RouteElement{"Road1",true}, roadGraph);
- ON_CALL(fakeWorld, GetRoadGraph(RouteElement{"Road1",true}, _, true)).WillByDefault(Return(std::make_pair(roadGraph, vertex)));
- ON_CALL(fakeWorld, IsDirectionalRoadExisting("Road1", true)).WillByDefault(Return(true));
-
- // If this is called and the blueprints match, we're creating our Agent correctly
- EXPECT_CALL(fakeAgentFactory, AddAgent(MatchesAgentBlueprint(expectedAgentBlueprint)))
- // There is no interface for agent, so we need to fake a valid object (!= nullptr)
- // If the spawnpoint ever needs a true object, this will crash (!)
- .WillOnce(Return(reinterpret_cast<core::Agent*>(0x1234)));
-
- SpawnerScenario spawnerScenario{&dependencies, nullptr};
- spawnerScenario.Trigger(0);
-}
-
-TEST(SpawnerScenario, Trigger_SpawnsScenarioAgentAccordingToScenarioWorldPosition)
-{
- NiceMock<FakeWorld> fakeWorld;
- NiceMock<FakeScenario> fakeScenario;
- NiceMock<FakeAgentBlueprintProvider> fakeAgentBlueprintProvider;
- NiceMock<FakeAgentFactory> fakeAgentFactory;
- NiceMock<FakeStochastics> fakeStochastics;
-
- SpawnPointDependencies dependencies(&fakeAgentFactory, &fakeWorld, &fakeAgentBlueprintProvider, &fakeStochastics);
- dependencies.scenario = &fakeScenario;
-
- const std::string entityName = "ENTITY";
- constexpr double x = 10.0;
- constexpr double y = 5.0;
- constexpr double heading = 0.5;
- constexpr double velocity = 25;
- constexpr double acceleration = 25;
-
- openScenario::WorldPosition worldPosition{x, y, std::nullopt, heading, std::nullopt, std::nullopt};
-
- ScenarioEntity entity;
- entity.name = entityName;
- entity.catalogReference.entryName = entityName;
- entity.spawnInfo.velocity = velocity;
- entity.spawnInfo.acceleration = acceleration;
- entity.spawnInfo.position = worldPosition;
-
- std::vector<ScenarioEntity> entities{entity};
- std::optional<AgentBlueprint> actualAgentBlueprintOptional;
- AgentBlueprint actualAgentBlueprint;
- VehicleModelParameters vehicleModelParameters;
- vehicleModelParameters.boundingBoxDimensions.length = 1;
- vehicleModelParameters.boundingBoxDimensions.width = 0.5;
- vehicleModelParameters.boundingBoxCenter.x = 0.;
- actualAgentBlueprint.SetVehicleModelParameters(vehicleModelParameters);
- actualAgentBlueprintOptional = actualAgentBlueprint;
-
- SpawnParameter expectedSpawnParameter;
- expectedSpawnParameter.velocity = velocity;
- expectedSpawnParameter.positionX = x;
- expectedSpawnParameter.positionY = y;
- expectedSpawnParameter.yawAngle = heading;
-
- AgentBlueprint expectedAgentBlueprint;
- expectedAgentBlueprint.SetVehicleModelParameters(vehicleModelParameters);
- expectedAgentBlueprint.SetAgentProfileName(entityName);
- expectedAgentBlueprint.SetAgentCategory(AgentCategory::Scenario);
- expectedAgentBlueprint.SetObjectName(entityName);
- expectedAgentBlueprint.SetSpawnParameter(expectedSpawnParameter);
-
- ON_CALL(fakeScenario, GetEntities())
- .WillByDefault(ReturnRef(entities));
-
- ON_CALL(fakeAgentBlueprintProvider, SampleAgent(entity.catalogReference.entryName, _))
- .WillByDefault(Return(actualAgentBlueprint));
- ON_CALL(fakeWorld, IntersectsWithAgent(_, _, _, _, _, _))
- .WillByDefault(Return(false));
- GlobalRoadPositions roadPositions{{"Road1",{"Road1",-1,0,0,0}}};
- ON_CALL(fakeWorld, WorldCoord2LaneCoord(x,y,heading)).WillByDefault(Return(roadPositions));
- RoadGraph roadGraph{};
- auto vertex = add_vertex(RouteElement{"Road1",true}, roadGraph);
- ON_CALL(fakeWorld, GetRoadGraph(RouteElement{"Road1",true}, _, true)).WillByDefault(Return(std::make_pair(roadGraph, vertex)));
- ON_CALL(fakeWorld, IsDirectionalRoadExisting("Road1", true)).WillByDefault(Return(true));
-
- // If this is called and the blueprints match, we're creating our Agent correctly
- EXPECT_CALL(fakeAgentFactory, AddAgent(MatchesAgentBlueprint(expectedAgentBlueprint)))
- // There is no interface for agent, so we need to fake a valid object (!= nullptr)
- // If the spawnpoint ever needs a true object, this will crash (!)
- .WillOnce(Return(reinterpret_cast<core::Agent*>(0x1234)));
-
- SpawnerScenario spawnerScenario{&dependencies, nullptr};
- spawnerScenario.Trigger(0);
-}
-
-TEST(SpawnerScenario, Trigger_SpawnsScenarioAgentAccordingToScenarioLanePosition)
-{
- NiceMock<FakeWorld> fakeWorld;
- NiceMock<FakeScenario> fakeScenario;
- NiceMock<FakeAgentBlueprintProvider> fakeAgentBlueprintProvider;
- NiceMock<FakeAgentFactory> fakeAgentFactory;
- NiceMock<FakeStochastics> fakeStochastics;
-
- SpawnPointDependencies dependencies(&fakeAgentFactory, &fakeWorld, &fakeAgentBlueprintProvider, &fakeStochastics);
- dependencies.scenario = &fakeScenario;
-
- const std::string entityName = "ENTITY";
- const std::string roadId = "ROADID";
- constexpr int laneId = -1;
- constexpr double s = 10;
- constexpr double offset = 0;
- constexpr double velocity = 25;
- constexpr double acceleration = 25;
-
- openScenario::LanePosition lanePosition;
- lanePosition.roadId = roadId;
- lanePosition.laneId = laneId;
- lanePosition.s = s;
- lanePosition.offset = offset;
-
- ScenarioEntity entity;
- entity.name = entityName;
- entity.catalogReference.entryName = entityName;
- entity.spawnInfo.velocity = velocity;
- entity.spawnInfo.acceleration = acceleration;
- entity.spawnInfo.position = lanePosition;
-
- std::vector<ScenarioEntity> entities{entity};
- std::optional<AgentBlueprint> actualAgentBlueprintOptional;
- AgentBlueprint actualAgentBlueprint;
- VehicleModelParameters vehicleModelParameters;
- vehicleModelParameters.boundingBoxDimensions.length = 1;
- vehicleModelParameters.boundingBoxDimensions.width = 0.5;
- vehicleModelParameters.boundingBoxCenter.x = 0.;
- actualAgentBlueprint.SetVehicleModelParameters(vehicleModelParameters);
- actualAgentBlueprintOptional = actualAgentBlueprint;
-
- SpawnParameter expectedSpawnParameter;
- constexpr double expectedX = 100.0;
- constexpr double expectedY = 10.0;
- constexpr double expectedYaw = 1.0;
- expectedSpawnParameter.velocity = velocity;
- expectedSpawnParameter.positionX = expectedX;
- expectedSpawnParameter.positionY = expectedY;
- expectedSpawnParameter.yawAngle = expectedYaw;
-
- AgentBlueprint expectedAgentBlueprint;
- expectedAgentBlueprint.SetVehicleModelParameters(vehicleModelParameters);
- expectedAgentBlueprint.SetAgentProfileName(entityName);
- expectedAgentBlueprint.SetAgentCategory(AgentCategory::Scenario);
- expectedAgentBlueprint.SetObjectName(entityName);
- expectedAgentBlueprint.SetSpawnParameter(expectedSpawnParameter);
-
- Position position{expectedX, expectedY, expectedYaw, 0};
-
- ON_CALL(fakeScenario, GetEntities())
- .WillByDefault(ReturnRef(entities));
-
- ON_CALL(fakeAgentBlueprintProvider, SampleAgent(entity.catalogReference.entryName, _))
- .WillByDefault(Return(actualAgentBlueprint));
- ON_CALL(fakeWorld, IsSValidOnLane(roadId, laneId, s))
- .WillByDefault(Return(true));
- ON_CALL(fakeWorld, IsSValidOnLane(roadId, laneId, s))
- .WillByDefault(Return(true));
- ON_CALL(fakeWorld, GetLaneWidth(roadId, laneId, s))
- .WillByDefault(Return(0.75));
- ON_CALL(fakeWorld, LaneCoord2WorldCoord(s, offset, roadId, laneId))
- .WillByDefault(Return(position));
- ON_CALL(fakeWorld, IntersectsWithAgent(_, _, _, _, _, _))
- .WillByDefault(Return(false));
- GlobalRoadPositions roadPositions{{"Road1",{"Road1",-1,0,0,0}}};
- ON_CALL(fakeWorld, WorldCoord2LaneCoord(expectedX,expectedY,expectedYaw)).WillByDefault(Return(roadPositions));
- RoadGraph roadGraph{};
- auto vertex = add_vertex(RouteElement{"Road1",true}, roadGraph);
- ON_CALL(fakeWorld, GetRoadGraph(RouteElement{"Road1",true}, _, true)).WillByDefault(Return(std::make_pair(roadGraph, vertex)));
- ON_CALL(fakeWorld, IsDirectionalRoadExisting("Road1", true)).WillByDefault(Return(true));
-
- // If this is called and the blueprints match, we're creating our Agent correctly
- EXPECT_CALL(fakeAgentFactory, AddAgent(MatchesAgentBlueprint(expectedAgentBlueprint)))
- // There is no interface for agent, so we need to fake a valid object (!= nullptr)
- // If the spawnpoint ever needs a true object, this will crash (!)
- .WillOnce(Return(reinterpret_cast<core::Agent*>(0x1234)));
-
- SpawnerScenario spawnerScenario{&dependencies, nullptr};
- spawnerScenario.Trigger(0);
-}
diff --git a/sim/tests/unitTests/core/opSimulation/modules/SpawnerWorldAnalyzer/spawnerWorldAnalyzer_Tests.cpp b/sim/tests/unitTests/core/opSimulation/modules/SpawnerWorldAnalyzer/spawnerWorldAnalyzer_Tests.cpp
index 1b53291bd527534a390f9dde7cbe5f7947ebfc70..946c87b08fd7e93aced74b24c7effdf568593fdd 100644
--- a/sim/tests/unitTests/core/opSimulation/modules/SpawnerWorldAnalyzer/spawnerWorldAnalyzer_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/modules/SpawnerWorldAnalyzer/spawnerWorldAnalyzer_Tests.cpp
@@ -8,15 +8,13 @@
* SPDX-License-Identifier: EPL-2.0
********************************************************************************/
-#include "gtest/gtest.h"
-#include "gmock/gmock.h"
-
#include "common/WorldAnalyzer.h"
-
+#include "dontCare.h"
#include "fakeAgent.h"
-#include "fakeWorld.h"
#include "fakeStream.h"
-#include "dontCare.h"
+#include "fakeWorld.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
using ::testing::_;
using ::testing::AllOf;
@@ -32,21 +30,20 @@ using ::testing::ReturnRef;
using ::testing::UnorderedElementsAreArray;
using ::testing::VariantWith;
-namespace
-{
+namespace {
- static const auto NO_AGENTS_IN_RANGE = AgentInterfaces{};
- static const auto NO_OBJECTS_IN_RANGE = std::vector<const WorldObjectInterface*>{};
+static const auto NO_AGENTS_IN_RANGE = AgentInterfaces{};
+static const auto NO_OBJECTS_IN_RANGE = std::vector<const WorldObjectInterface *>{};
- static inline std::pair<RoadGraph, RoadGraphVertex> GetSingleVertexRoadGraph(const RouteElement& routeElement)
- {
- RoadGraph roadGraph;
- auto vertex = add_vertex(routeElement, roadGraph);
- return {roadGraph, vertex};
- }
+static inline std::pair<RoadGraph, RoadGraphVertex> GetSingleVertexRoadGraph(const RouteElement &routeElement)
+{
+ RoadGraph roadGraph;
+ auto vertex = add_vertex(routeElement, roadGraph);
+ return {roadGraph, vertex};
}
+} // namespace
-bool operator== (const RoadGraph& lhs, const RoadGraph& rhs)
+bool operator==(const RoadGraph &lhs, const RoadGraph &rhs)
{
return get(RouteElement(), lhs, 0) == get(RouteElement(), rhs, 0);
}
@@ -56,27 +53,27 @@ TEST(WorldAnalyzer, GetValidLaneSpawningRanges_NoScenarioAgentsAllDrivingLanes_R
const RoadId roadId{"ROADID"};
const auto [roadGraph, vertex] = GetSingleVertexRoadGraph(RouteElement{roadId, true});
const LaneId laneId{-1};
- const SPosition sStart{0};
- const SPosition sEnd{100};
- const LaneSection fakeLaneSection {sStart, sEnd, {laneId}};
- const LaneSections fakeLaneSections {fakeLaneSection};
- const Ranges expectedValidRanges {{sStart, sEnd}};
- const RouteQueryResult<double> endOfLaneResult {{vertex, sEnd}};
+ const SPosition sStart{0_m};
+ const SPosition sEnd{100_m};
+ const LaneSection fakeLaneSection{sStart, sEnd, {laneId}};
+ const LaneSections fakeLaneSections{fakeLaneSection};
+ const Ranges expectedValidRanges{{sStart, sEnd}};
+ const RouteQueryResult<units::length::meter_t> endOfLaneResult{{vertex, sEnd}};
const LaneTypes validLaneTypes = {LaneType::Driving};
std::unique_ptr<FakeLaneStream> laneStream = std::make_unique<FakeLaneStream>();
- ON_CALL(*laneStream, GetLength()).WillByDefault(Return(10000));
- EXPECT_CALL(*laneStream, GetAgentsInRange(StreamPosition{sStart, 0},
- StreamPosition{sEnd, 0}))
- .WillOnce(Return(NO_AGENTS_IN_RANGE));
- EXPECT_CALL(*laneStream, GetLaneTypes()).WillOnce(Return(std::vector<std::pair<double, LaneType>>{std::make_pair(0, LaneType::Driving)}));
+ ON_CALL(*laneStream, GetLength()).WillByDefault(Return(10000_m));
+ EXPECT_CALL(*laneStream, GetAgentsInRange(StreamPosition{sStart, 0_m},
+ StreamPosition{sEnd, 0_m}))
+ .WillOnce(Return(NO_AGENTS_IN_RANGE));
+ EXPECT_CALL(*laneStream, GetLaneTypes()).WillOnce(Return(std::vector<std::pair<units::length::meter_t, LaneType>>{std::make_pair(0_m, LaneType::Driving)}));
FakeWorld fakeWorld;
WorldAnalyzer worldAnalyzer(&fakeWorld,
- [](const auto&) {});
+ [](const auto &) {});
- const auto& actualResult = worldAnalyzer.GetValidLaneSpawningRanges(std::move(laneStream), sStart, sEnd, validLaneTypes);
+ const auto &actualResult = worldAnalyzer.GetValidLaneSpawningRanges(std::move(laneStream), sStart, sEnd, validLaneTypes);
EXPECT_THAT(actualResult,
expectedValidRanges);
}
@@ -86,30 +83,30 @@ TEST(WorldAnalyzer, GetValidLaneSpawningRanges_NoScenarioAgentsMixedLaneTypes_Re
const RoadId roadId{"ROADID"};
const auto [roadGraph, vertex] = GetSingleVertexRoadGraph(RouteElement{roadId, true});
const LaneId laneId{-1};
- const SPosition sStart{10};
- const SPosition sEnd{100};
- const SPosition sLaneType1{0};
- const SPosition sLaneType2{50};
- const SPosition sLaneType3{90};
- const LaneSection fakeLaneSection {sStart, sEnd, {laneId}};
- const LaneSections fakeLaneSections {fakeLaneSection};
- const Ranges expectedValidRanges {{sStart, sLaneType2}, {sLaneType3, sEnd}};
- const RouteQueryResult<double> endOfLaneResult {{vertex, sEnd}};
+ const SPosition sStart{10_m};
+ const SPosition sEnd{100_m};
+ const SPosition sLaneType1{0_m};
+ const SPosition sLaneType2{50_m};
+ const SPosition sLaneType3{90_m};
+ const LaneSection fakeLaneSection{sStart, sEnd, {laneId}};
+ const LaneSections fakeLaneSections{fakeLaneSection};
+ const Ranges expectedValidRanges{{sStart, sLaneType2}, {sLaneType3, sEnd}};
+ const RouteQueryResult<units::length::meter_t> endOfLaneResult{{vertex, sEnd}};
const LaneTypes validLaneTypes = {LaneType::Driving};
std::unique_ptr<FakeLaneStream> laneStream = std::make_unique<FakeLaneStream>();
- ON_CALL(*laneStream, GetLength()).WillByDefault(Return(10000));
- ON_CALL(*laneStream, GetAgentsInRange(_,_))
- .WillByDefault(Return(NO_AGENTS_IN_RANGE));
- std::vector<std::pair<double, LaneType>> laneTypes{{sLaneType1, LaneType::Driving},{sLaneType2, LaneType::None}, {sLaneType3, LaneType::Driving}};
+ ON_CALL(*laneStream, GetLength()).WillByDefault(Return(10000_m));
+ ON_CALL(*laneStream, GetAgentsInRange(_, _))
+ .WillByDefault(Return(NO_AGENTS_IN_RANGE));
+ std::vector<std::pair<units::length::meter_t, LaneType>> laneTypes{{sLaneType1, LaneType::Driving}, {sLaneType2, LaneType::None}, {sLaneType3, LaneType::Driving}};
EXPECT_CALL(*laneStream, GetLaneTypes()).WillOnce(Return(laneTypes));
FakeWorld fakeWorld;
WorldAnalyzer worldAnalyzer(&fakeWorld,
- [](const auto&) {});
+ [](const auto &) {});
- const auto& actualResult = worldAnalyzer.GetValidLaneSpawningRanges(std::move(laneStream), sStart, sEnd, validLaneTypes);
+ const auto &actualResult = worldAnalyzer.GetValidLaneSpawningRanges(std::move(laneStream), sStart, sEnd, validLaneTypes);
EXPECT_THAT(actualResult,
expectedValidRanges);
}
@@ -125,11 +122,12 @@ struct GetValidLaneSpawningRanges_OneAgent_Data
const std::vector<Range> expectedValidRanges;
};
-class GetValidLaneSpawningRanges_OneAgent : public::testing::TestWithParam<GetValidLaneSpawningRanges_OneAgent_Data>
+class GetValidLaneSpawningRanges_OneAgent : public ::testing::TestWithParam<GetValidLaneSpawningRanges_OneAgent_Data>
{
public:
GetValidLaneSpawningRanges_OneAgent()
- {}
+ {
+ }
FakeAgent fakeAgent;
FakeWorld fakeWorld;
@@ -141,30 +139,30 @@ TEST_P(GetValidLaneSpawningRanges_OneAgent, GetValidLaneSpawningRanges)
const auto data = GetParam();
const LaneTypes validLaneTypes = {LaneType::Driving};
- ON_CALL(*laneStream, GetLength()).WillByDefault(Return(10000));
- EXPECT_CALL(*laneStream, GetAgentsInRange(StreamPosition{data.sStart, 0},
- StreamPosition{data.sEnd, 0}))
- .WillOnce(Return(AgentInterfaces{&fakeAgent}));
+ ON_CALL(*laneStream, GetLength()).WillByDefault(Return(10000_m));
+ EXPECT_CALL(*laneStream, GetAgentsInRange(StreamPosition{data.sStart, 0_m},
+ StreamPosition{data.sEnd, 0_m}))
+ .WillOnce(Return(AgentInterfaces{&fakeAgent}));
EXPECT_CALL(fakeAgent, GetAgentCategory())
- .WillRepeatedly(Return(data.agentCategory));
+ .WillRepeatedly(Return(data.agentCategory));
EXPECT_CALL(*laneStream, GetStreamPosition(&fakeAgent, VariantWith<ObjectPointPredefined>(ObjectPointPredefined::RearCenter)))
- .WillRepeatedly(Return(StreamPosition{data.scenarioAgentBounds.first, 0.}));
+ .WillRepeatedly(Return(StreamPosition{data.scenarioAgentBounds.first, 0._m}));
EXPECT_CALL(*laneStream, GetStreamPosition(&fakeAgent, VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter)))
- .WillRepeatedly(Return(StreamPosition{data.scenarioAgentBounds.second, 0.}));
+ .WillRepeatedly(Return(StreamPosition{data.scenarioAgentBounds.second, 0._m}));
- EXPECT_CALL(*laneStream, GetLaneTypes()).WillOnce(Return(std::vector<std::pair<double, LaneType>>{std::make_pair(0, LaneType::Driving)}));
+ EXPECT_CALL(*laneStream, GetLaneTypes()).WillOnce(Return(std::vector<std::pair<units::length::meter_t, LaneType>>{std::make_pair(0_m, LaneType::Driving)}));
WorldAnalyzer worldAnalyzer{&fakeWorld,
- [](const auto&) {}};
+ [](const auto &) {}};
- const auto& actualResult = worldAnalyzer.GetValidLaneSpawningRanges(std::move(laneStream), data.sStart, data.sEnd, validLaneTypes);
+ const auto &actualResult = worldAnalyzer.GetValidLaneSpawningRanges(std::move(laneStream), data.sStart, data.sEnd, validLaneTypes);
- Ranges expectedValidLaneRanges {};
+ Ranges expectedValidLaneRanges{};
- for (const auto& range : data.expectedValidRanges)
+ for (const auto &range : data.expectedValidRanges)
{
expectedValidLaneRanges.emplace_back(range.first, range.second);
}
@@ -173,21 +171,20 @@ TEST_P(GetValidLaneSpawningRanges_OneAgent, GetValidLaneSpawningRanges)
}
INSTANTIATE_TEST_CASE_P(WorldAnalyzer_AltersValidSpawnRangeCorrectly, GetValidLaneSpawningRanges_OneAgent,
- ::testing::Values(
- // sStart | sEnd | agentCategory | bounds | expectedValidRanges |
- // single common agent does not impact valid ranges
- GetValidLaneSpawningRanges_OneAgent_Data{0, 100, AgentCategory::Common, {5, 10}, {{0, 100}}},
- // single ego agent renders agent bounds invalid as spawning points
- GetValidLaneSpawningRanges_OneAgent_Data{0, 100, AgentCategory::Ego, {5, 10}, {{0, 4.999}, {10.001, 100}}},
- // single scenario agent renders agent bounds invalid as spawning points
- GetValidLaneSpawningRanges_OneAgent_Data{0, 100, AgentCategory::Scenario, {5, 10}, {{0, 4.999}, {10.001, 100}}},
- // a range entirely encapsulated by a single agent is invalid
- GetValidLaneSpawningRanges_OneAgent_Data{25, 30, AgentCategory::Scenario, {20, 35}, {}},
- // a single ego agent outside the range leave full range valid
- GetValidLaneSpawningRanges_OneAgent_Data{0, 100, AgentCategory::Ego, {105,110}, {{0, 100}}},
- // a single scenario agent outside the range leave full range valid
- GetValidLaneSpawningRanges_OneAgent_Data{0, 100, AgentCategory::Scenario, {105,110}, {{0, 100}}}
- ));
+ ::testing::Values(
+ // sStart | sEnd | agentCategory | bounds | expectedValidRanges |
+ // single common agent does not impact valid ranges
+ GetValidLaneSpawningRanges_OneAgent_Data{0_m, 100_m, AgentCategory::Common, {5_m, 10_m}, {{0_m, 100_m}}},
+ // single ego agent renders agent bounds invalid as spawning points
+ GetValidLaneSpawningRanges_OneAgent_Data{0_m, 100_m, AgentCategory::Ego, {5_m, 10_m}, {{0_m, 4.999_m}, {10.001_m, 100_m}}},
+ // single scenario agent renders agent bounds invalid as spawning points
+ GetValidLaneSpawningRanges_OneAgent_Data{0_m, 100_m, AgentCategory::Scenario, {5_m, 10_m}, {{0_m, 4.999_m}, {10.001_m, 100_m}}},
+ // a range entirely encapsulated by a single agent is invalid
+ GetValidLaneSpawningRanges_OneAgent_Data{25_m, 30_m, AgentCategory::Scenario, {20_m, 35_m}, {}},
+ // a single ego agent outside the range leave full range valid
+ GetValidLaneSpawningRanges_OneAgent_Data{0_m, 100_m, AgentCategory::Ego, {105_m, 110_m}, {{0_m, 100_m}}},
+ // a single scenario agent outside the range leave full range valid
+ GetValidLaneSpawningRanges_OneAgent_Data{0_m, 100_m, AgentCategory::Scenario, {105_m, 110_m}, {{0_m, 100_m}}}));
struct GetValidLaneSpawningRanges_TwoAgents_Data
{
@@ -203,11 +200,12 @@ struct GetValidLaneSpawningRanges_TwoAgents_Data
const std::vector<Range> expectedValidRanges;
};
-class GetValidLaneSpawningRanges_TwoAgents : public::testing::TestWithParam<GetValidLaneSpawningRanges_TwoAgents_Data>
+class GetValidLaneSpawningRanges_TwoAgents : public ::testing::TestWithParam<GetValidLaneSpawningRanges_TwoAgents_Data>
{
public:
GetValidLaneSpawningRanges_TwoAgents()
- {}
+ {
+ }
FakeAgent firstFakeAgent;
FakeAgent secondFakeAgent;
@@ -219,41 +217,41 @@ TEST_P(GetValidLaneSpawningRanges_TwoAgents, GetValidLaneSpawningRanges)
{
const auto data = GetParam();
- ON_CALL(*laneStream, GetLength()).WillByDefault(Return(10000));
- EXPECT_CALL(*laneStream, GetAgentsInRange(StreamPosition{data.sStart, 0},
- StreamPosition{data.sEnd, 0}))
- .WillOnce(Return(AgentInterfaces{&firstFakeAgent, &secondFakeAgent}));
+ ON_CALL(*laneStream, GetLength()).WillByDefault(Return(10000_m));
+ EXPECT_CALL(*laneStream, GetAgentsInRange(StreamPosition{data.sStart, 0_m},
+ StreamPosition{data.sEnd, 0_m}))
+ .WillOnce(Return(AgentInterfaces{&firstFakeAgent, &secondFakeAgent}));
EXPECT_CALL(firstFakeAgent, GetAgentCategory())
- .WillRepeatedly(Return(data.firstAgentCategory));
+ .WillRepeatedly(Return(data.firstAgentCategory));
EXPECT_CALL(*laneStream, GetStreamPosition(&firstFakeAgent, VariantWith<ObjectPointPredefined>(ObjectPointPredefined::RearCenter)))
- .WillRepeatedly(Return(StreamPosition{data.firstScenarioAgentBounds.first, 0.}));
+ .WillRepeatedly(Return(StreamPosition{data.firstScenarioAgentBounds.first, 0._m}));
EXPECT_CALL(*laneStream, GetStreamPosition(&firstFakeAgent, VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter)))
- .WillRepeatedly(Return(StreamPosition{data.firstScenarioAgentBounds.second, 0.}));
+ .WillRepeatedly(Return(StreamPosition{data.firstScenarioAgentBounds.second, 0._m}));
EXPECT_CALL(secondFakeAgent, GetAgentCategory())
- .WillRepeatedly(Return(data.secondAgentCategory));
+ .WillRepeatedly(Return(data.secondAgentCategory));
EXPECT_CALL(*laneStream, GetStreamPosition(&secondFakeAgent, VariantWith<ObjectPointPredefined>(ObjectPointPredefined::RearCenter)))
- .WillRepeatedly(Return(StreamPosition{data.secondScenarioAgentBounds.first, 0.}));
+ .WillRepeatedly(Return(StreamPosition{data.secondScenarioAgentBounds.first, 0._m}));
EXPECT_CALL(*laneStream, GetStreamPosition(&secondFakeAgent, VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter)))
- .WillRepeatedly(Return(StreamPosition{data.secondScenarioAgentBounds.second, 0.}));
+ .WillRepeatedly(Return(StreamPosition{data.secondScenarioAgentBounds.second, 0._m}));
- EXPECT_CALL(*laneStream, GetLaneTypes()).WillOnce(Return(std::vector<std::pair<double, LaneType>>{std::make_pair(0, LaneType::Driving)}));
+ EXPECT_CALL(*laneStream, GetLaneTypes()).WillOnce(Return(std::vector<std::pair<units::length::meter_t, LaneType>>{std::make_pair(0_m, LaneType::Driving)}));
WorldAnalyzer worldAnalyzer{&fakeWorld,
- [](const auto&) {}};
+ [](const auto &) {}};
const LaneTypes validLaneTypes = {LaneType::Driving};
- const auto& actualResult = worldAnalyzer.GetValidLaneSpawningRanges(std::move(laneStream), data.sStart, data.sEnd, validLaneTypes);
+ const auto &actualResult = worldAnalyzer.GetValidLaneSpawningRanges(std::move(laneStream), data.sStart, data.sEnd, validLaneTypes);
- Ranges expectedValidLaneRanges {};
+ Ranges expectedValidLaneRanges{};
- for (const auto& range : data.expectedValidRanges)
+ for (const auto &range : data.expectedValidRanges)
{
expectedValidLaneRanges.emplace_back(range.first, range.second);
}
@@ -262,48 +260,48 @@ TEST_P(GetValidLaneSpawningRanges_TwoAgents, GetValidLaneSpawningRanges)
}
INSTANTIATE_TEST_CASE_P(WorldAnalyzer_AltersValidSpawnRangeCorrectly, GetValidLaneSpawningRanges_TwoAgents,
- ::testing::Values(
- //sStart | sEnd | firstAgentCategory | firstScenarioAgentBounds | secondAgentCategory | secondAgentBounds | shouldHaveValidRanges | expectedValidRanges
- // only common agents -- full range should be valid
- GetValidLaneSpawningRanges_TwoAgents_Data{0, 100, AgentCategory::Common, DontCare<Range>(), AgentCategory::Common, DontCare<Range>(), {{0, 100}}},
- // only a scenario agent and a common agent (the reverse will act as a one agent situation with the agent having category common)
- // only range outside of agent bounds should be valid
- GetValidLaneSpawningRanges_TwoAgents_Data{0, 100, AgentCategory::Ego, {5, 10}, AgentCategory::Common, {20, 25}, {{0, 4.999}, {10.001, 100}}}, // the first value of further ranges are padded with .01 to avoid re-detecting the same agent
- GetValidLaneSpawningRanges_TwoAgents_Data{0, 100, AgentCategory::Scenario, {5, 10}, AgentCategory::Common, {20, 25}, {{0, 4.999}, {10.001, 100}}},
- // two internal scenario agents
- // spawn range before rear of nearest agent and after front of furthest agent is valid
- GetValidLaneSpawningRanges_TwoAgents_Data{0, 100, AgentCategory::Ego, {5, 10}, AgentCategory::Scenario, {25, 50}, {{0, 4.999}, {50.001, 100}}},
- GetValidLaneSpawningRanges_TwoAgents_Data{0, 100, AgentCategory::Scenario, {5, 10}, AgentCategory::Scenario, {25, 50}, {{0, 4.999}, {50.001, 100}}},
- // two external scenario agents encapsualting spawn range -- no valid spawn range
- GetValidLaneSpawningRanges_TwoAgents_Data{10, 100, AgentCategory::Ego, {0, 5}, AgentCategory::Scenario, {100, 105}, {}},
- GetValidLaneSpawningRanges_TwoAgents_Data{10, 100, AgentCategory::Scenario, {0, 5}, AgentCategory::Scenario, {100, 105}, {}},
- // one internal scenario agent and one external (beyond range) -- partial valid spawn range
- GetValidLaneSpawningRanges_TwoAgents_Data{10, 100, AgentCategory::Scenario, {0, 5}, AgentCategory::Scenario, {50, 55}, {{55.001, 100}}},
- // one internal scenario agent and one external (before range) -- partial valid spawn range
- GetValidLaneSpawningRanges_TwoAgents_Data{0, 75, AgentCategory::Scenario, {50, 55}, AgentCategory::Scenario, {100, 105}, {{0, 49.999}}},
- // two external agents (outside of range - beyond) -- full valid range
- GetValidLaneSpawningRanges_TwoAgents_Data{0, 100, AgentCategory::Ego, {105, 110}, AgentCategory::Scenario, {125, 130}, {{0, 100}}},
- // two external agents (outside of range - before) -- full valid range
- GetValidLaneSpawningRanges_TwoAgents_Data{100, 200, AgentCategory::Scenario, {0, 5}, AgentCategory::Scenario, {55, 60}, {{100, 200}}}
- ));
+ ::testing::Values(
+ //sStart | sEnd | firstAgentCategory | firstScenarioAgentBounds | secondAgentCategory | secondAgentBounds | shouldHaveValidRanges | expectedValidRanges
+ // only common agents -- full range should be valid
+ GetValidLaneSpawningRanges_TwoAgents_Data{0_m, 100_m, AgentCategory::Common, DontCare<Range>(), AgentCategory::Common, DontCare<Range>(), {{0_m, 100_m}}},
+ // only a scenario agent and a common agent (the reverse will act as a one agent situation with the agent having category common)
+ // only range outside of agent bounds should be valid
+ GetValidLaneSpawningRanges_TwoAgents_Data{0_m, 100_m, AgentCategory::Ego, {5_m, 10_m}, AgentCategory::Common, {20_m, 25_m}, {{0_m, 4.999_m}, {10.001_m, 100_m}}}, // the first value of further ranges are padded with .01 to avoid re-detecting the same agent
+ GetValidLaneSpawningRanges_TwoAgents_Data{0_m, 100_m, AgentCategory::Scenario, {5_m, 10_m}, AgentCategory::Common, {20_m, 25_m}, {{0_m, 4.999_m}, {10.001_m, 100_m}}},
+ // two internal scenario agents
+ // spawn range before rear of nearest agent and after front of furthest agent is valid
+ GetValidLaneSpawningRanges_TwoAgents_Data{0_m, 100_m, AgentCategory::Ego, {5_m, 10_m}, AgentCategory::Scenario, {25_m, 50_m}, {{0_m, 4.999_m}, {50.001_m, 100_m}}},
+ GetValidLaneSpawningRanges_TwoAgents_Data{0_m, 100_m, AgentCategory::Scenario, {5_m, 10_m}, AgentCategory::Scenario, {25_m, 50_m}, {{0_m, 4.999_m}, {50.001_m, 100_m}}},
+ // two external scenario agents encapsualting spawn range -- no valid spawn range
+ GetValidLaneSpawningRanges_TwoAgents_Data{10_m, 100_m, AgentCategory::Ego, {0_m, 5_m}, AgentCategory::Scenario, {100_m, 105_m}, {}},
+ GetValidLaneSpawningRanges_TwoAgents_Data{10_m, 100_m, AgentCategory::Scenario, {0_m, 5_m}, AgentCategory::Scenario, {100_m, 105_m}, {}},
+ // one internal scenario agent and one external (beyond range) -- partial valid spawn range
+ GetValidLaneSpawningRanges_TwoAgents_Data{10_m, 100_m, AgentCategory::Scenario, {0_m, 5_m}, AgentCategory::Scenario, {50_m, 55_m}, {{55.001_m, 100_m}}},
+ // one internal scenario agent and one external (before range) -- partial valid spawn range
+ GetValidLaneSpawningRanges_TwoAgents_Data{0_m, 75_m, AgentCategory::Scenario, {50_m, 55_m}, AgentCategory::Scenario, {100_m, 105_m}, {{0_m, 49.999_m}}},
+ // two external agents (outside of range - beyond) -- full valid range
+ GetValidLaneSpawningRanges_TwoAgents_Data{0_m, 100_m, AgentCategory::Ego, {105_m, 110_m}, AgentCategory::Scenario, {125_m, 130_m}, {{0_m, 100_m}}},
+ // two external agents (outside of range - before) -- full valid range
+ GetValidLaneSpawningRanges_TwoAgents_Data{100_m, 200_m, AgentCategory::Scenario, {0_m, 5_m}, AgentCategory::Scenario, {55_m, 60_m}, {{100_m, 200_m}}}));
struct CalculateSpawnVelocityToPreventCrashing_Data
{
- const double opponentRearDistanceFromStartOfRoad;
- const double opponentVelocity;
-
- const double intendedSpawnPosition;
- const double agentFrontLength;
- const double agentRearLength;
- const double intendedVelocity;
- const double expectedAdjustedVelocity;
+ const units::length::meter_t opponentRearDistanceFromStartOfRoad;
+ const units::velocity::meters_per_second_t opponentVelocity;
+
+ const units::length::meter_t intendedSpawnPosition;
+ const units::length::meter_t agentFrontLength;
+ const units::length::meter_t agentRearLength;
+ const units::velocity::meters_per_second_t intendedVelocity;
+ const units::velocity::meters_per_second_t expectedAdjustedVelocity;
};
-class CalculateSpawnVelocityToPreventCrashingTests : public::testing::TestWithParam<CalculateSpawnVelocityToPreventCrashing_Data>
+class CalculateSpawnVelocityToPreventCrashingTests : public ::testing::TestWithParam<CalculateSpawnVelocityToPreventCrashing_Data>
{
public:
CalculateSpawnVelocityToPreventCrashingTests()
- {}
+ {
+ }
FakeWorld fakeWorld;
FakeAgent fakeAgent;
@@ -318,16 +316,16 @@ TEST_P(CalculateSpawnVelocityToPreventCrashingTests, AdjustsVelocityToPreventCra
std::unique_ptr<FakeLaneStream> laneStream = std::make_unique<FakeLaneStream>();
- EXPECT_CALL(*laneStream, GetObjectsInRange(_,_))
- .WillOnce(Return(std::vector<const WorldObjectInterface*>{&fakeAgent}));
+ EXPECT_CALL(*laneStream, GetObjectsInRange(_, _))
+ .WillOnce(Return(std::vector<const WorldObjectInterface *>{&fakeAgent}));
EXPECT_CALL(*laneStream, GetStreamPosition(&fakeAgent, VariantWith<ObjectPointPredefined>(ObjectPointPredefined::RearCenter)))
- .WillOnce(Return(StreamPosition{data.opponentRearDistanceFromStartOfRoad, 0.}));
+ .WillOnce(Return(StreamPosition{data.opponentRearDistanceFromStartOfRoad, 0._m}));
EXPECT_CALL(fakeAgent, GetVelocity(_))
- .WillOnce(Return(Common::Vector2d{data.opponentVelocity, 0.0}))
- .WillOnce(Return(Common::Vector2d{data.opponentVelocity, 0.0}));
+ .WillOnce(Return(Common::Vector2d{data.opponentVelocity, 0.0_mps}))
+ .WillOnce(Return(Common::Vector2d{data.opponentVelocity, 0.0_mps}));
- const auto emptyLoggingCallback = [](const std::string&) {};
+ const auto emptyLoggingCallback = [](const std::string &) {};
WorldAnalyzer worldAnalyzer(&fakeWorld,
emptyLoggingCallback);
const auto actualAdjustedVelocity = worldAnalyzer.CalculateSpawnVelocityToPreventCrashing(std::move(laneStream),
@@ -336,31 +334,31 @@ TEST_P(CalculateSpawnVelocityToPreventCrashingTests, AdjustsVelocityToPreventCra
data.agentRearLength,
data.intendedVelocity);
- EXPECT_THAT(actualAdjustedVelocity, DoubleEq(data.expectedAdjustedVelocity));
+ EXPECT_THAT(actualAdjustedVelocity.value(), DoubleEq(data.expectedAdjustedVelocity.value()));
}
INSTANTIATE_TEST_CASE_P(WorldAnalyzer_CalculateSpawnVelocityToPreventCrashing, CalculateSpawnVelocityToPreventCrashingTests,
- ::testing::Values(
- // opponentRearDistanceFromStartOfRoad | opponentVelocity | intendedSpawnPosition | agentFrontLength | agentRearLength | intendedVelocity | expectedAdjustedVelocity |
- CalculateSpawnVelocityToPreventCrashing_Data{ 60, 20, 49.5, 0.5, 0.5, 30, 25.0}
-));
+ ::testing::Values(
+ // opponentRearDistanceFromStartOfRoad | opponentVelocity | intendedSpawnPosition | agentFrontLength | agentRearLength | intendedVelocity | expectedAdjustedVelocity |
+ CalculateSpawnVelocityToPreventCrashing_Data{60_m, 20_mps, 49.5_m, 0.5_m, 0.5_m, 30_mps, 25.0_mps}));
struct SpawnWillCauseCrash_Data
{
const SPosition spawnPosition;
- const double spawnVelocity;
+ const units::velocity::meters_per_second_t spawnVelocity;
const Direction direction;
const bool objectExistsInSearchDirection;
const SPosition objectPosition;
- const double objectVelocity;
+ const units::velocity::meters_per_second_t objectVelocity;
const bool expectedSpawnWillCauseCrashResult;
};
-class SpawnWillCauseCrashTests : public::testing::TestWithParam<SpawnWillCauseCrash_Data>
+class SpawnWillCauseCrashTests : public ::testing::TestWithParam<SpawnWillCauseCrash_Data>
{
public:
SpawnWillCauseCrashTests()
- {}
+ {
+ }
FakeWorld fakeWorld;
FakeAgent fakeObjectInLane;
@@ -372,37 +370,37 @@ TEST_P(SpawnWillCauseCrashTests, PredictsCrashesAccurately)
const auto data = GetParam();
const SPosition sPosition{data.spawnPosition};
- const double agentFrontLength{.5};
- const double agentRearLength{.5};
- const double velocity{data.spawnVelocity};
+ const units::length::meter_t agentFrontLength{.5};
+ const units::length::meter_t agentRearLength{.5};
+ const units::velocity::meters_per_second_t velocity{data.spawnVelocity};
if (!data.objectExistsInSearchDirection)
{
- EXPECT_CALL(*laneStream, GetObjectsInRange(_,_))
- .WillOnce(Return(NO_OBJECTS_IN_RANGE));
+ EXPECT_CALL(*laneStream, GetObjectsInRange(_, _))
+ .WillOnce(Return(NO_OBJECTS_IN_RANGE));
}
else
{
- std::vector<const WorldObjectInterface*> objectsInRange{&fakeObjectInLane};
- EXPECT_CALL(*laneStream, GetObjectsInRange(_,_))
- .WillOnce(Return(objectsInRange));
+ std::vector<const WorldObjectInterface *> objectsInRange{&fakeObjectInLane};
+ EXPECT_CALL(*laneStream, GetObjectsInRange(_, _))
+ .WillOnce(Return(objectsInRange));
EXPECT_CALL(fakeObjectInLane, GetVelocity(_))
- .WillOnce(Return(Common::Vector2d{data.objectVelocity, 0.0}));
+ .WillOnce(Return(Common::Vector2d{data.objectVelocity, 0.0_mps}));
if (data.direction == Direction::FORWARD)
{
EXPECT_CALL(*laneStream, GetStreamPosition(&fakeObjectInLane, VariantWith<ObjectPointPredefined>(ObjectPointPredefined::RearCenter)))
- .WillOnce(Return(StreamPosition{data.objectPosition, 0.}));
+ .WillOnce(Return(StreamPosition{data.objectPosition, 0._m}));
}
else
{
EXPECT_CALL(*laneStream, GetStreamPosition(&fakeObjectInLane, VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter)))
- .WillOnce(Return(StreamPosition{data.objectPosition, 0.}));
+ .WillOnce(Return(StreamPosition{data.objectPosition, 0._m}));
}
}
- const auto emptyLoggingCallback = [](const std::string&) {};
+ const auto emptyLoggingCallback = [](const std::string &) {};
WorldAnalyzer worldAnalyzer(&fakeWorld,
emptyLoggingCallback);
const auto actualSpawnWillCauseCrashResult = worldAnalyzer.SpawnWillCauseCrash(std::move(laneStream),
@@ -416,9 +414,8 @@ TEST_P(SpawnWillCauseCrashTests, PredictsCrashesAccurately)
}
INSTANTIATE_TEST_CASE_P(WorldAnalyzer_SpawnWillCauseCrash, SpawnWillCauseCrashTests,
- ::testing::Values(
+ ::testing::Values(
// spawnPosition | spawnVelocity | direction | objectExistsInSearchDirection | objectPosition | objectVelocity | expectedSpawnWillCauseCrashResult
- SpawnWillCauseCrash_Data{DontCare<SPosition>(), DontCare<double>(), Direction::FORWARD, false, DontCare<SPosition>(), DontCare<double>(), false},
- SpawnWillCauseCrash_Data{ 0, 30.0, Direction::FORWARD, true, 75.0, 0.0, true},
- SpawnWillCauseCrash_Data{ 75.0, 0.0, Direction::BACKWARD, true, 0.0, 30.0, true}
-));
+ SpawnWillCauseCrash_Data{DontCare<SPosition>(), DontCare<units::velocity::meters_per_second_t>(), Direction::FORWARD, false, DontCare<SPosition>(), DontCare<units::velocity::meters_per_second_t>(), false},
+ SpawnWillCauseCrash_Data{0_m, 30.0_mps, Direction::FORWARD, true, 75.0_m, 0.0_mps, true},
+ SpawnWillCauseCrash_Data{75.0_m, 0.0_mps, Direction::BACKWARD, true, 0.0_m, 30.0_mps, true}));
diff --git a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/Generators/laneGenerator.h b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/Generators/laneGenerator.h
index a3ce0e29970940b546953dd7d971249e4af2de23..89874ee824429abed834537b14f1ee178db44f42 100644
--- a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/Generators/laneGenerator.h
+++ b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/Generators/laneGenerator.h
@@ -17,11 +17,11 @@ struct LaneGeometryElementsGenerator {
std::vector<OWL::Interfaces::LaneGeometryElements*> laneGeometryElementsContainer;
const OWL::Interfaces::LaneGeometryElements& SimpleLane(
- Common::Vector2d origin,
- double width,
+ Common::Vector2d<units::length::meter_t> origin,
+ units::length::meter_t width,
int numberOfElements,
double elementLength,
- double hdg = 0.0
+ units::angle::radian_t hdg = 0.0
)
{
auto laneGeometryElements = new OWL::Interfaces::LaneGeometryElements();
diff --git a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/Generators/laneGeometryElementGenerator.h b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/Generators/laneGeometryElementGenerator.h
index f3f282c0037b48b4d564fe2e4eb13e157a548eca..01395077fee5dda899b4a054a366b47eb72b9bed 100644
--- a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/Generators/laneGeometryElementGenerator.h
+++ b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/Generators/laneGeometryElementGenerator.h
@@ -16,101 +16,87 @@ namespace Testing {
struct LaneGeometryElementGenerator
{
-
-static Primitive::LaneGeometryElement RectangularLaneGeometryElement(
- Common::Vector2d origin,
- double width,
- double length,
- double hdg = 0.0,
- OWL::Interfaces::Lane* lane = nullptr)
-{
- Common::Vector2d current_left {
- origin.x - width/2 * std::sin(hdg),
- origin.y + width/2 * std::cos(hdg)
- };
-
- Common::Vector2d current_reference = origin;
-
- Common::Vector2d current_right {
- origin.x + width/2 * std::sin(hdg),
- origin.y - width/2 * std::cos(hdg)
- };
-
- Common::Vector2d next_left {
- origin.x + length*std::cos(hdg) - width/2 * std::sin(hdg),
- origin.y + length*std::sin(hdg) + width/2 * std::cos(hdg)
- };
-
- Common::Vector2d next_reference {
- origin.x + length*std::cos(hdg),
- origin.y + length*std::sin(hdg)
- };
-
- Common::Vector2d next_right {
- origin.x + length*std::cos(hdg) + width/2 * std::sin(hdg),
- origin.y + length*std::sin(hdg) - width/2 * std::cos(hdg)
- };
-
- OWL::Primitive::LaneGeometryJoint current
- {
- {
- current_left,
- current_reference,
- current_right
- },
- 0.0,
- 0.0,
- hdg
- };
-
- OWL::Primitive::LaneGeometryJoint next
+ static Primitive::LaneGeometryElement RectangularLaneGeometryElement(
+ Common::Vector2d<units::length::meter_t> origin,
+ units::length::meter_t width,
+ units::length::meter_t length,
+ units::angle::radian_t hdg = 0.0_rad,
+ OWL::Interfaces::Lane *lane = nullptr)
{
- {
- next_left,
- next_reference,
- next_right
- },
- 0.0,
- length,
- hdg
- };
-
- return OWL::Primitive::LaneGeometryElement(current, next, lane);
-}
+ Common::Vector2d<units::length::meter_t> current_left{
+ origin.x - width / 2 * units::math::sin(hdg),
+ origin.y + width / 2 * units::math::cos(hdg)};
+
+ Common::Vector2d<units::length::meter_t> current_reference = origin;
+
+ Common::Vector2d<units::length::meter_t> current_right{
+ origin.x + width / 2 * units::math::sin(hdg),
+ origin.y - width / 2 * units::math::cos(hdg)};
+
+ Common::Vector2d<units::length::meter_t> next_left{
+ origin.x + length * units::math::cos(hdg) - width / 2 * units::math::sin(hdg),
+ origin.y + length * units::math::sin(hdg) + width / 2 * units::math::cos(hdg)};
+
+ Common::Vector2d<units::length::meter_t> next_reference{
+ origin.x + length * units::math::cos(hdg),
+ origin.y + length * units::math::sin(hdg)};
+
+ Common::Vector2d<units::length::meter_t> next_right{
+ origin.x + length * units::math::cos(hdg) + width / 2 * units::math::sin(hdg),
+ origin.y + length * units::math::sin(hdg) - width / 2 * units::math::cos(hdg)};
+
+ OWL::Primitive::LaneGeometryJoint current{
+ {current_left,
+ current_reference,
+ current_right},
+ 0.0_i_m,
+ 0.0_m,
+ hdg};
+
+ OWL::Primitive::LaneGeometryJoint next{
+ {next_left,
+ next_reference,
+ next_right},
+ 0.0_i_m,
+ length,
+ hdg};
+
+ return OWL::Primitive::LaneGeometryElement(current, next, lane);
+ }
static Primitive::LaneGeometryElement RectangularLaneGeometryElementWithCurvature(
- Common::Vector2d origin,
- double width,
- double length,
- double curvatureStart,
- double curvatureEnd,
- double hdg = 0.0)
+ Common::Vector2d<units::length::meter_t> origin,
+ units::length::meter_t width,
+ units::length::meter_t length,
+ units::curvature::inverse_meter_t curvatureStart,
+ units::curvature::inverse_meter_t curvatureEnd,
+ units::angle::radian_t hdg = 0.0_rad)
{
- Common::Vector2d current_left {
- origin.x - width/2 * std::sin(hdg),
- origin.y + width/2 * std::cos(hdg)
+ Common::Vector2d<units::length::meter_t> current_left {
+ origin.x - width/2 * units::math::sin(hdg),
+ origin.y + width/2 * units::math::cos(hdg)
};
- Common::Vector2d current_reference = origin;
+ Common::Vector2d<units::length::meter_t> current_reference = origin;
- Common::Vector2d current_right {
- origin.x + width/2 * std::sin(hdg),
- origin.y - width/2 * std::cos(hdg)
+ Common::Vector2d<units::length::meter_t> current_right {
+ origin.x + width/2 * units::math::sin(hdg),
+ origin.y - width/2 * units::math::cos(hdg)
};
- Common::Vector2d next_left {
- origin.x + length*std::cos(hdg) - width/2 * std::sin(hdg),
- origin.y + length*std::sin(hdg) + width/2 * std::cos(hdg)
+ Common::Vector2d<units::length::meter_t> next_left {
+ origin.x + length*units::math::cos(hdg) - width/2 * units::math::sin(hdg),
+ origin.y + length*units::math::sin(hdg) + width/2 * units::math::cos(hdg)
};
- Common::Vector2d next_reference {
- origin.x + length*std::cos(hdg),
- origin.y + length*std::sin(hdg)
+ Common::Vector2d<units::length::meter_t> next_reference {
+ origin.x + length*units::math::cos(hdg),
+ origin.y + length*units::math::sin(hdg)
};
- Common::Vector2d next_right {
- origin.x + length*std::cos(hdg) + width/2 * std::sin(hdg),
- origin.y + length*std::sin(hdg) - width/2 * std::cos(hdg)
+ Common::Vector2d<units::length::meter_t> next_right {
+ origin.x + length*units::math::cos(hdg) + width/2 * units::math::sin(hdg),
+ origin.y + length*units::math::sin(hdg) - width/2 * units::math::cos(hdg)
};
OWL::Primitive::LaneGeometryJoint current
@@ -121,7 +107,7 @@ static Primitive::LaneGeometryElement RectangularLaneGeometryElementWithCurvatur
current_right
},
curvatureStart,
- 0.0,
+ 0.0_m,
hdg
};
@@ -141,28 +127,28 @@ static Primitive::LaneGeometryElement RectangularLaneGeometryElementWithCurvatur
}
static Primitive::LaneGeometryElement TriangularLaneGeometryElement(
- Common::Vector2d origin,
- double width,
- double length,
- double hdg = 0.0)
+ Common::Vector2d<units::length::meter_t> origin,
+ units::length::meter_t width,
+ units::length::meter_t length,
+ units::angle::radian_t hdg = 0.0_rad)
{
- Common::Vector2d current_left = origin;
- Common::Vector2d current_reference = origin;
- Common::Vector2d current_right = origin;
+ Common::Vector2d<units::length::meter_t> current_left = origin;
+ Common::Vector2d<units::length::meter_t> current_reference = origin;
+ Common::Vector2d<units::length::meter_t> current_right = origin;
- Common::Vector2d next_left {
- origin.x + length*std::cos(hdg) - width/2 * std::sin(hdg),
- origin.y + length*std::sin(hdg) + width/2 * std::cos(hdg)
+ Common::Vector2d<units::length::meter_t> next_left {
+ origin.x + length*units::math::cos(hdg) - width/2 * units::math::sin(hdg),
+ origin.y + length*units::math::sin(hdg) + width/2 * units::math::cos(hdg)
};
- Common::Vector2d next_reference {
- origin.x + length*std::cos(hdg),
- origin.y + length*std::sin(hdg)
+ Common::Vector2d<units::length::meter_t> next_reference {
+ origin.x + length*units::math::cos(hdg),
+ origin.y + length*units::math::sin(hdg)
};
- Common::Vector2d next_right {
- origin.x + length*std::cos(hdg) + width/2 * std::sin(hdg),
- origin.y + length*std::sin(hdg) - width/2 * std::cos(hdg)
+ Common::Vector2d<units::length::meter_t> next_right {
+ origin.x + length*units::math::cos(hdg) + width/2 * units::math::sin(hdg),
+ origin.y + length*units::math::sin(hdg) - width/2 * units::math::cos(hdg)
};
OWL::Primitive::LaneGeometryJoint current
@@ -172,8 +158,8 @@ static Primitive::LaneGeometryElement TriangularLaneGeometryElement(
current_reference,
current_right
},
- 0.0,
- 0.0,
+ 0.0_i_m,
+ 0.0_m,
hdg
};
@@ -184,7 +170,7 @@ static Primitive::LaneGeometryElement TriangularLaneGeometryElement(
next_reference,
next_right
},
- 0.0,
+ 0.0_i_m,
length,
hdg
};
@@ -193,37 +179,37 @@ static Primitive::LaneGeometryElement TriangularLaneGeometryElement(
}
static Primitive::LaneGeometryElement CurvedLaneGeometryElement(
- Common::Vector2d origin,
- double width,
- double length,
- double sDistance,
- double radius)
+ Common::Vector2d<units::length::meter_t> origin,
+ units::length::meter_t width,
+ units::length::meter_t length,
+ units::length::meter_t sDistance,
+ units::length::meter_t radius)
{
double openingAngle = length / radius;
- Common::Vector2d current_left {
+ Common::Vector2d<units::length::meter_t> current_left {
origin.x,
origin.y + width/2
};
- Common::Vector2d current_reference = origin;
+ Common::Vector2d<units::length::meter_t> current_reference = origin;
- Common::Vector2d current_right {
+ Common::Vector2d<units::length::meter_t> current_right {
origin.x,
origin.y - width/2
};
- Common::Vector2d next_left {
+ Common::Vector2d<units::length::meter_t> next_left {
origin.x + radius * std::sin(openingAngle) - width/2 * std::sin(openingAngle),
origin.y + radius * (1 - std::cos(openingAngle)) + width/2 * std::cos(openingAngle)
};
- Common::Vector2d next_reference {
+ Common::Vector2d<units::length::meter_t> next_reference {
origin.x + radius * std::sin(openingAngle),
origin.y + radius * (1 - std::cos(openingAngle))
};
- Common::Vector2d next_right {
+ Common::Vector2d<units::length::meter_t> next_right {
origin.x + radius * std::sin(openingAngle) + width/2 * std::sin(openingAngle),
origin.y + radius * (1 - std::cos(openingAngle)) - width/2 * std::cos(openingAngle)
};
@@ -236,8 +222,8 @@ static Primitive::LaneGeometryElement CurvedLaneGeometryElement(
current_right
},
1.0 / radius,
- 0.0,
- 0.0
+ 0.0_m,
+ 0.0_rad
};
OWL::Primitive::LaneGeometryJoint next
@@ -249,7 +235,7 @@ static Primitive::LaneGeometryElement CurvedLaneGeometryElement(
},
1.0 / radius,
sDistance,
- 0.0
+ 0.0_rad
};
return OWL::Primitive::LaneGeometryElement(current, next, nullptr);
diff --git a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/Generators/laneGeometryElementGenerator_Tests.cpp b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/Generators/laneGeometryElementGenerator_Tests.cpp
index 3b1ea55b352ad681f828b382e4dde798af4a058c..3dc47451742c4d362200303060a15e70e7e6faa0 100644
--- a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/Generators/laneGeometryElementGenerator_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/Generators/laneGeometryElementGenerator_Tests.cpp
@@ -22,18 +22,18 @@ struct LaneGeometryElementGenerator_DataSet
// (see bottom of file)
// data for generator
- Common::Vector2d origin;
- double width;
- double length;
- double hdg;
+ Common::Vector2d<units::length::meter_t> origin;
+ units::length::meter_t width;
+ units::length::meter_t length;
+ units::angle::radian_t hdg;
// expected values
- Common::Vector2d currentLeft;
- Common::Vector2d currentReference;
- Common::Vector2d currentRight;
- Common::Vector2d nextLeft;
- Common::Vector2d nextReference;
- Common::Vector2d nextRight;
+ Common::Vector2d<units::length::meter_t> currentLeft;
+ Common::Vector2d<units::length::meter_t> currentReference;
+ Common::Vector2d<units::length::meter_t> currentRight;
+ Common::Vector2d<units::length::meter_t> nextLeft;
+ Common::Vector2d<units::length::meter_t> nextReference;
+ Common::Vector2d<units::length::meter_t> nextRight;
/// \brief This stream will be shown in case the test fails
friend std::ostream& operator<<(std::ostream& os, const LaneGeometryElementGenerator_DataSet& obj)
@@ -75,19 +75,19 @@ TEST_P(LaneGeometryElementGenerator, RectangularLaneGeometryElementVerification)
auto current = elementUnderTest.joints.current;
auto next = elementUnderTest.joints.next;
- EXPECT_THAT(current.points.left.x, DoubleNear(data.currentLeft.x, 1e-2));
- EXPECT_THAT(current.points.left.y, DoubleNear(data.currentLeft.y, 1e-2));
- EXPECT_THAT(current.points.reference.x, DoubleNear(data.currentReference.x, 1e-2));
- EXPECT_THAT(current.points.reference.y, DoubleNear(data.currentReference.y, 1e-2));
- EXPECT_THAT(current.points.right.x, DoubleNear(data.currentRight.x, 1e-2));
- EXPECT_THAT(current.points.right.y, DoubleNear(data.currentRight.y, 1e-2));
-
- EXPECT_THAT(next.points.left.x, DoubleNear(data.nextLeft.x, 1e-2));
- EXPECT_THAT(next.points.left.y, DoubleNear(data.nextLeft.y, 1e-2));
- EXPECT_THAT(next.points.reference.x, DoubleNear(data.nextReference.x, 1e-2));
- EXPECT_THAT(next.points.reference.y, DoubleNear(data.nextReference.y, 1e-2));
- EXPECT_THAT(next.points.right.x, DoubleNear(data.nextRight.x, 1e-2));
- EXPECT_THAT(next.points.right.y, DoubleNear(data.nextRight.y, 1e-2));
+ EXPECT_THAT(current.points.left.x.value(), DoubleNear(data.currentLeft.x.value(), 1e-2));
+ EXPECT_THAT(current.points.left.y.value(), DoubleNear(data.currentLeft.y.value(), 1e-2));
+ EXPECT_THAT(current.points.reference.x.value(), DoubleNear(data.currentReference.x.value(), 1e-2));
+ EXPECT_THAT(current.points.reference.y.value(), DoubleNear(data.currentReference.y.value(), 1e-2));
+ EXPECT_THAT(current.points.right.x.value(), DoubleNear(data.currentRight.x.value(), 1e-2));
+ EXPECT_THAT(current.points.right.y.value(), DoubleNear(data.currentRight.y.value(), 1e-2));
+
+ EXPECT_THAT(next.points.left.x.value(), DoubleNear(data.nextLeft.x.value(), 1e-2));
+ EXPECT_THAT(next.points.left.y.value(), DoubleNear(data.nextLeft.y.value(), 1e-2));
+ EXPECT_THAT(next.points.reference.x.value(), DoubleNear(data.nextReference.x.value(), 1e-2));
+ EXPECT_THAT(next.points.reference.y.value(), DoubleNear(data.nextReference.y.value(), 1e-2));
+ EXPECT_THAT(next.points.right.x.value(), DoubleNear(data.nextRight.x.value(), 1e-2));
+ EXPECT_THAT(next.points.right.y.value(), DoubleNear(data.nextRight.y.value(), 1e-2));
}
@@ -105,43 +105,43 @@ TEST_P(LaneGeometryElementGenerator, TriangularLaneGeometryElementVerification)
auto current = elementUnderTest.joints.current;
auto next = elementUnderTest.joints.next;
- EXPECT_THAT(current.points.left.x, DoubleNear(data.currentReference.x, 1e-2));
- EXPECT_THAT(current.points.left.y, DoubleNear(data.currentReference.y, 1e-2));
- EXPECT_THAT(current.points.reference.x, DoubleNear(data.currentReference.x, 1e-2));
- EXPECT_THAT(current.points.reference.y, DoubleNear(data.currentReference.y, 1e-2));
- EXPECT_THAT(current.points.right.x, DoubleNear(data.currentReference.x, 1e-2));
- EXPECT_THAT(current.points.right.y, DoubleNear(data.currentReference.y, 1e-2));
-
- EXPECT_THAT(next.points.left.x, DoubleNear(data.nextLeft.x, 1e-2));
- EXPECT_THAT(next.points.left.y, DoubleNear(data.nextLeft.y, 1e-2));
- EXPECT_THAT(next.points.reference.x, DoubleNear(data.nextReference.x, 1e-2));
- EXPECT_THAT(next.points.reference.y, DoubleNear(data.nextReference.y, 1e-2));
- EXPECT_THAT(next.points.right.x, DoubleNear(data.nextRight.x, 1e-2));
- EXPECT_THAT(next.points.right.y, DoubleNear(data.nextRight.y, 1e-2));
+ EXPECT_THAT(current.points.left.x.value(), DoubleNear(data.currentReference.x.value(), 1e-2));
+ EXPECT_THAT(current.points.left.y.value(), DoubleNear(data.currentReference.y.value(), 1e-2));
+ EXPECT_THAT(current.points.reference.x.value(), DoubleNear(data.currentReference.x.value(), 1e-2));
+ EXPECT_THAT(current.points.reference.y.value(), DoubleNear(data.currentReference.y.value(), 1e-2));
+ EXPECT_THAT(current.points.right.x.value(), DoubleNear(data.currentReference.x.value(), 1e-2));
+ EXPECT_THAT(current.points.right.y.value(), DoubleNear(data.currentReference.y.value(), 1e-2));
+
+ EXPECT_THAT(next.points.left.x.value(), DoubleNear(data.nextLeft.x.value(), 1e-2));
+ EXPECT_THAT(next.points.left.y.value(), DoubleNear(data.nextLeft.y.value(), 1e-2));
+ EXPECT_THAT(next.points.reference.x.value(), DoubleNear(data.nextReference.x.value(), 1e-2));
+ EXPECT_THAT(next.points.reference.y.value(), DoubleNear(data.nextReference.y.value(), 1e-2));
+ EXPECT_THAT(next.points.right.x.value(), DoubleNear(data.nextRight.x.value(), 1e-2));
+ EXPECT_THAT(next.points.right.y.value(), DoubleNear(data.nextRight.y.value(), 1e-2));
}
INSTANTIATE_TEST_CASE_P(RandomSetWithRotatingHeading, LaneGeometryElementGenerator,
testing::Values(
- /* origin width length hdg curr_left curr_ref curr_right next_left next_ref next_right */
- /* v v v v v v v v v v */
- LaneGeometryElementGenerator_DataSet{{-16, 1}, 8, 12, -6.28, {-16.01, 5.00}, {-16.00, 1.00}, {-15.99, -3.00}, { -4.01, 5.04}, { -4.00, 1.04}, { -3.99, -2.96}},
- LaneGeometryElementGenerator_DataSet{{ 7, 0}, 4, 12, -5.50, { 5.59, 1.42}, { 7.00, 0.00}, { 8.41, -1.42}, { 14.09, 9.88}, { 15.50, 8.47}, { 16.92, 7.05}},
- LaneGeometryElementGenerator_DataSet{{ -7, 10}, 3, 12, -4.71, { -8.50, 10.00}, { -7.00, 10.00}, { -5.50, 10.00}, { -8.53, 22.00}, { -7.03, 22.00}, { -5.53, 22.00}},
- LaneGeometryElementGenerator_DataSet{{-17, 13}, 7, 12, -3.93, {-19.48, 10.53}, {-17.00, 13.00}, {-14.52, 15.47}, {-27.94, 19.04}, {-25.46, 21.51}, {-22.98, 23.98}},
- LaneGeometryElementGenerator_DataSet{{-17, 7}, 9, 11, -3.14, {-16.99, 2.50}, {-17.00, 7.00}, {-17.01, 11.50}, {-27.99, 2.48}, {-28.00, 6.98}, {-28.01, 11.48}},
- LaneGeometryElementGenerator_DataSet{{ -1, 14}, 3, 11, -2.36, { 0.06, 12.94}, { -1.00, 14.00}, { -2.06, 15.06}, { -7.75, 5.19}, { -8.81, 6.25}, { -9.86, 7.32}},
- LaneGeometryElementGenerator_DataSet{{-15, 8}, 3, 11, -1.57, {-13.50, 8.00}, {-15.00, 8.00}, {-16.50, 8.00}, {-13.49, -3.00}, {-14.99, -3.00}, {-16.49, -3.00}},
- LaneGeometryElementGenerator_DataSet{{-15, 6}, 3, 11, -0.79, {-13.93, 7.06}, {-15.00, 6.00}, {-16.07, 4.94}, { -6.19, -0.76}, { -7.26, -1.81}, { -8.32, -2.87}},
- LaneGeometryElementGenerator_DataSet{{ 19, 3}, 10, 12, 0.00, { 19.00, 8.00}, { 19.00, 3.00}, { 19.00, -2.00}, { 31.00, 8.00}, { 31.00, 3.00}, { 31.00, -2.00}},
- LaneGeometryElementGenerator_DataSet{{-12, -9}, 6, 12, 0.79, {-14.13, -6.89}, {-12.00, -9.00}, { -9.87, -11.11}, { -5.68, 1.64}, { -3.55, -0.48}, { -1.42, -2.59}},
- LaneGeometryElementGenerator_DataSet{{ 5, -17}, 3, 10, 1.57, { 3.50, -17.00}, { 5.00, -17.00}, { 6.50, -17.00}, { 3.51, -7.00}, { 5.01, -7.00}, { 6.51, -7.00}},
- LaneGeometryElementGenerator_DataSet{{ 14, -8}, 9, 11, 2.36, { 10.83, -11.19}, { 14.00, -8.00}, { 17.17, -4.81}, { 3.02, -3.45}, { 6.19, -0.25}, { 9.36, 2.94}},
- LaneGeometryElementGenerator_DataSet{{ 1, -2}, 6, 12, 3.14, { 1.00, -5.00}, { 1.00, -2.00}, { 1.00, 1.00}, {-11.00, -4.98}, {-11.00, -1.98}, {-11.00, 1.02}},
- LaneGeometryElementGenerator_DataSet{{ -3, 16}, 5, 10, 3.93, { -1.23, 14.24}, { -3.00, 16.00}, { -4.77, 17.76}, { -8.28, 7.15}, {-10.05, 8.91}, {-11.82, 10.67}},
- LaneGeometryElementGenerator_DataSet{{ 14, -20}, 6, 11, 4.71, { 17.00, -20.01}, { 14.00, -20.00}, { 11.00, -19.99}, { 16.97, -31.01}, { 13.97, -31.00}, { 10.97, -30.99}},
- LaneGeometryElementGenerator_DataSet{{ 14, 1}, 9, 11, 5.5, { 17.17, 4.19}, { 14.00, 1.00}, { 10.83, -2.19}, { 24.97, -3.57}, { 21.80, -6.76}, { 18.62, -9.95}},
- LaneGeometryElementGenerator_DataSet{{ 5, 6}, 8, 11, 6.28, { 5.01, 10.00}, { 5.00, 6.00}, { 4.99, 2.00}, { 16.01, 9.96}, { 16.00, 5.96}, { 15.99, 1.96}},
- LaneGeometryElementGenerator_DataSet{{ 5, 6}, 6, 0, 0.0, { 5.00, 9.00}, { 5.00, 6.00}, { 5.00, 3.00}, { 5.00, 9.00}, { 5.00, 6.00}, { 5.00, 3.00}}
+ /* origin width length hdg curr_left curr_ref curr_right next_left next_ref next_right */
+ /* v v v v v v v v v v */
+ LaneGeometryElementGenerator_DataSet{{-16_m, 1_m}, 8_m, 12_m, -6.28_rad, {-16.01_m, 5.00_m}, {-16.00_m, 1.00_m}, {-15.99_m, -3.00_m}, { -4.01_m, 5.04_m}, { -4.00_m, 1.04_m}, { -3.99_m, -2.96_m}},
+ LaneGeometryElementGenerator_DataSet{{ 7_m, 0_m}, 4_m, 12_m, -5.50_rad, { 5.59_m, 1.42_m}, { 7.00_m, 0.00_m}, { 8.41_m, -1.42_m}, { 14.09_m, 9.88_m}, { 15.50_m, 8.47_m}, { 16.92_m, 7.05_m}},
+ LaneGeometryElementGenerator_DataSet{{ -7_m, 10_m}, 3_m, 12_m, -4.71_rad, { -8.50_m, 10.00_m}, { -7.00_m, 10.00_m}, { -5.50_m, 10.00_m}, { -8.53_m, 22.00_m}, { -7.03_m, 22.00_m}, { -5.53_m, 22.00_m}},
+ LaneGeometryElementGenerator_DataSet{{-17_m, 13_m}, 7_m, 12_m, -3.93_rad, {-19.48_m, 10.53_m}, {-17.00_m, 13.00_m}, {-14.52_m, 15.47_m}, {-27.94_m, 19.04_m}, {-25.46_m, 21.51_m}, {-22.98_m, 23.98_m}},
+ LaneGeometryElementGenerator_DataSet{{-17_m, 7_m}, 9_m, 11_m, -3.14_rad, {-16.99_m, 2.50_m}, {-17.00_m, 7.00_m}, {-17.01_m, 11.50_m}, {-27.99_m, 2.48_m}, {-28.00_m, 6.98_m}, {-28.01_m, 11.48_m}},
+ LaneGeometryElementGenerator_DataSet{{ -1_m, 14_m}, 3_m, 11_m, -2.36_rad, { 0.06_m, 12.94_m}, { -1.00_m, 14.00_m}, { -2.06_m, 15.06_m}, { -7.75_m, 5.19_m}, { -8.81_m, 6.25_m}, { -9.86_m, 7.32_m}},
+ LaneGeometryElementGenerator_DataSet{{-15_m, 8_m}, 3_m, 11_m, -1.57_rad, {-13.50_m, 8.00_m}, {-15.00_m, 8.00_m}, {-16.50_m, 8.00_m}, {-13.49_m, -3.00_m}, {-14.99_m, -3.00_m}, {-16.49_m, -3.00_m}},
+ LaneGeometryElementGenerator_DataSet{{-15_m, 6_m}, 3_m, 11_m, -0.79_rad, {-13.93_m, 7.06_m}, {-15.00_m, 6.00_m}, {-16.07_m, 4.94_m}, { -6.19_m, -0.76_m}, { -7.26_m, -1.81_m}, { -8.32_m, -2.87_m}},
+ LaneGeometryElementGenerator_DataSet{{ 19_m, 3_m}, 10_m, 12_m, 0.00_rad, { 19.00_m, 8.00_m}, { 19.00_m, 3.00_m}, { 19.00_m, -2.00_m}, { 31.00_m, 8.00_m}, { 31.00_m, 3.00_m}, { 31.00_m, -2.00_m}},
+ LaneGeometryElementGenerator_DataSet{{-12_m, -9_m}, 6_m, 12_m, 0.79_rad, {-14.13_m, -6.89_m}, {-12.00_m, -9.00_m}, { -9.87_m, -11.11_m}, { -5.68_m, 1.64_m}, { -3.55_m, -0.48_m}, { -1.42_m, -2.59_m}},
+ LaneGeometryElementGenerator_DataSet{{ 5_m, -17_m}, 3_m, 10_m, 1.57_rad, { 3.50_m, -17.00_m}, { 5.00_m, -17.00_m}, { 6.50_m, -17.00_m}, { 3.51_m, -7.00_m}, { 5.01_m, -7.00_m}, { 6.51_m, -7.00_m}},
+ LaneGeometryElementGenerator_DataSet{{ 14_m, -8_m}, 9_m, 11_m, 2.36_rad, { 10.83_m, -11.19_m}, { 14.00_m, -8.00_m}, { 17.17_m, -4.81_m}, { 3.02_m, -3.45_m}, { 6.19_m, -0.25_m}, { 9.36_m, 2.94_m}},
+ LaneGeometryElementGenerator_DataSet{{ 1_m, -2_m}, 6_m, 12_m, 3.14_rad, { 1.00_m, -5.00_m}, { 1.00_m, -2.00_m}, { 1.00_m, 1.00_m}, {-11.00_m, -4.98_m}, {-11.00_m, -1.98_m}, {-11.00_m, 1.02_m}},
+ LaneGeometryElementGenerator_DataSet{{ -3_m, 16_m}, 5_m, 10_m, 3.93_rad, { -1.23_m, 14.24_m}, { -3.00_m, 16.00_m}, { -4.77_m, 17.76_m}, { -8.28_m, 7.15_m}, {-10.05_m, 8.91_m}, {-11.82_m, 10.67_m}},
+ LaneGeometryElementGenerator_DataSet{{ 14_m, -20_m}, 6_m, 11_m, 4.71_rad, { 17.00_m, -20.01_m}, { 14.00_m, -20.00_m}, { 11.00_m, -19.99_m}, { 16.97_m, -31.01_m}, { 13.97_m, -31.00_m}, { 10.97_m, -30.99_m}},
+ LaneGeometryElementGenerator_DataSet{{ 14_m, 1_m}, 9_m, 11_m, 5.5_rad, { 17.17_m, 4.19_m}, { 14.00_m, 1.00_m}, { 10.83_m, -2.19_m}, { 24.97_m, -3.57_m}, { 21.80_m, -6.76_m}, { 18.62_m, -9.95_m}},
+ LaneGeometryElementGenerator_DataSet{{ 5_m, 6_m}, 8_m, 11_m, 6.28_rad, { 5.01_m, 10.00_m}, { 5.00_m, 6.00_m}, { 4.99_m, 2.00_m}, { 16.01_m, 9.96_m}, { 16.00_m, 5.96_m}, { 15.99_m, 1.96_m}},
+ LaneGeometryElementGenerator_DataSet{{ 5_m, 6_m}, 6_m, 0_m, 0.0_rad, { 5.00_m, 9.00_m}, { 5.00_m, 6.00_m}, { 5.00_m, 3.00_m}, { 5.00_m, 9.00_m}, { 5.00_m, 6.00_m}, { 5.00_m, 3.00_m}}
));
diff --git a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/agentAdapter_Tests.cpp b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/agentAdapter_Tests.cpp
index 37183e0a5e6efaff095e6f65fb827a722ec03e03..ff72d7ec9d7d512b217cd97c0ded2d52164683e5 100644
--- a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/agentAdapter_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/agentAdapter_Tests.cpp
@@ -16,27 +16,26 @@
#include "fakeWorld.h"
#include "fakeWorldData.h"
#include "fakeCallback.h"
-#include "fakeAgentBlueprint.h"
#include "fakeLocalizer.h"
#include "Localization.h"
#include <optional>
-using ::testing::Return;
-using ::testing::ReturnRef;
-using ::testing::IsNull;
using ::testing::_;
+using ::testing::AllOf;
+using ::testing::DoubleEq;
+using ::testing::ElementsAreArray;
using ::testing::Eq;
using ::testing::Ge;
+using ::testing::IsNull;
using ::testing::Le;
using ::testing::Lt;
-using ::testing::AllOf;
-using ::testing::DoubleEq;
-using ::testing::ElementsAreArray;
+using ::testing::Return;
+using ::testing::ReturnRef;
class AgentAdapterTest
{
public:
-explicit AgentAdapterTest(const AgentVehicleType type, OWL::Implementation::MovingObject& obj) :
+explicit AgentAdapterTest(OWL::Implementation::MovingObject& obj, const mantle_api::EntityType type, const mantle_api::VehicleClass classification = mantle_api::VehicleClass::kInvalid) :
fakeLocalizer(fakeWorldData), fakeWorld(), fakeCallbacks()
{
RoadGraph graph = RoadGraph(2);
@@ -47,17 +46,16 @@ explicit AgentAdapterTest(const AgentVehicleType type, OWL::Implementation::Movi
route.target = 0;
route.roadGraph = graph;
- spawnParameter.positionX = 0;
- spawnParameter.positionY = 0;
- spawnParameter.yawAngle = 0;
- spawnParameter.velocity = 0;
- spawnParameter.acceleration = 0;
- spawnParameter.gear = 1;
- spawnParameter.route = route;
+ agentBuildInstructions.spawnParameter.position.x = 0_m;
+ agentBuildInstructions.spawnParameter.position.y = 0_m;
+ agentBuildInstructions.spawnParameter.orientation.yaw = 0_rad;
+ agentBuildInstructions.spawnParameter.velocity = 0_mps;
+ agentBuildInstructions.spawnParameter.acceleration = 0_mps_sq;
+ agentBuildInstructions.spawnParameter.gear = 1;
+ agentBuildInstructions.spawnParameter.route = route;
ON_CALL(fakeWorldData, AddMovingObject(321)).WillByDefault(ReturnRef(obj));
- ON_CALL(fakeAgentBlueprint, GetSpawnParameter()).WillByDefault(ReturnRef(spawnParameter));
- ON_CALL(fakeAgentBlueprint, GetSensorParameters()).WillByDefault(Return(sensorParameter));
+ agentBuildInstructions.system.sensorParameters = sensorParameter;
World::Localization::Result localizerResult;
ON_CALL(fakeLocalizer, Locate(_,_)).WillByDefault(Return(localizerResult));
@@ -65,116 +63,135 @@ explicit AgentAdapterTest(const AgentVehicleType type, OWL::Implementation::Movi
switch (type)
{
- case AgentVehicleType::Pedestrian:
- ON_CALL(fakeAgentBlueprint, GetVehicleModelParameters()).WillByDefault(Return(returnPedestrian()));
+ case mantle_api::EntityType::kOther:
+ agentBuildInstructions.entityProperties = returnOther();
break;
- case AgentVehicleType::Car:
- ON_CALL(fakeAgentBlueprint, GetVehicleModelParameters()).WillByDefault(Return(returnCar()));
+ case mantle_api::EntityType::kPedestrian:
+ agentBuildInstructions.entityProperties = returnPedestrian();
break;
- case AgentVehicleType::Motorbike:
- ON_CALL(fakeAgentBlueprint, GetVehicleModelParameters()).WillByDefault(Return(returnMotorbike()));
+ case mantle_api::EntityType::kAnimal:
+ agentBuildInstructions.entityProperties = returnAnimal();
break;
- case AgentVehicleType::NONE:
- ON_CALL(fakeAgentBlueprint, GetVehicleModelParameters()).WillByDefault(Return(returnNONE()));
+ case mantle_api::EntityType::kStatic:
+ agentBuildInstructions.entityProperties = returnStaticObject();
break;
- case AgentVehicleType::Undefined:
- ON_CALL(fakeAgentBlueprint, GetVehicleModelParameters()).WillByDefault(Return(returnUndefined()));
- break;
- case AgentVehicleType::Bicycle:
- ON_CALL(fakeAgentBlueprint, GetVehicleModelParameters()).WillByDefault(Return(returnBicycle()));
- break;
- case AgentVehicleType::Truck:
- ON_CALL(fakeAgentBlueprint, GetVehicleModelParameters()).WillByDefault(Return(returnTruck()));
+ case mantle_api::EntityType::kVehicle:
+ switch(classification)
+ {
+ case mantle_api::VehicleClass::kMedium_car:
+ agentBuildInstructions.entityProperties = returnCar();
+ break;
+ case mantle_api::VehicleClass::kMotorbike:
+ agentBuildInstructions.entityProperties = returnMotorbike();
+ break;
+ case mantle_api::VehicleClass::kBicycle:
+ agentBuildInstructions.entityProperties = returnBicycle();
+ break;
+ case mantle_api::VehicleClass::kHeavy_truck:
+ agentBuildInstructions.entityProperties = returnHeavyTruck();
+ break;
+ }
break;
}
- agentAdapter->InitParameter(fakeAgentBlueprint);
+ agentAdapter->InitParameter(agentBuildInstructions);
}
- static VehicleModelParameters returnNONE()
+ static std::shared_ptr<mantle_api::EntityProperties> returnOther()
{
- VehicleModelParameters params;
- params.vehicleType = AgentVehicleType::NONE;
- return params;
+ auto defaultOther = std::make_shared<mantle_api::EntityProperties>();
+ defaultOther->type = mantle_api::EntityType::kOther;
+ return defaultOther;
}
- static VehicleModelParameters returnUndefined()
+ static std::shared_ptr<mantle_api::VehicleProperties> returnBicycle()
{
- VehicleModelParameters params;
- params.vehicleType = AgentVehicleType::Undefined;
- return params;
- }
-
- static VehicleModelParameters returnBicycle()
- {
- VehicleModelParameters params;
+ auto params = std::make_shared<mantle_api::VehicleProperties>();
params = returnMotorbike();
- params.vehicleType = AgentVehicleType::Bicycle;
+ params->type = mantle_api::EntityType::kVehicle;
+ params->classification = mantle_api::VehicleClass::kBicycle;
return params;
}
- static VehicleModelParameters returnTruck()
+ static std::shared_ptr<mantle_api::VehicleProperties> returnHeavyTruck()
{
- VehicleModelParameters params;
+ auto params = std::make_shared<mantle_api::VehicleProperties>();
params = returnCar();
- params.vehicleType = AgentVehicleType::Truck;
+ params->type = mantle_api::EntityType::kVehicle;
+ params->classification = mantle_api::VehicleClass::kHeavy_truck;
return params;
}
- static VehicleModelParameters returnPedestrian()
+ static std::shared_ptr<mantle_api::EntityProperties> returnPedestrian()
{
- VehicleModelParameters defaultPedestrian;
- defaultPedestrian.vehicleType = AgentVehicleType::Pedestrian;
+ auto defaultPedestrian = std::make_shared<mantle_api::EntityProperties>();
+ defaultPedestrian->type = mantle_api::EntityType::kPedestrian;
return defaultPedestrian;
}
- static VehicleModelParameters returnCar()
+ static std::shared_ptr<mantle_api::EntityProperties> returnAnimal()
+ {
+ auto defaultAnimal = std::make_shared<mantle_api::EntityProperties>();
+ defaultAnimal->type = mantle_api::EntityType::kAnimal;
+ return defaultAnimal;
+ }
+
+ static std::shared_ptr<mantle_api::EntityProperties> returnStaticObject()
{
- VehicleModelParameters defaultCar;
- defaultCar.vehicleType = AgentVehicleType::Car;
- defaultCar.frontAxle.positionX = 0.3;
- defaultCar.frontAxle.positionZ = 0.1;
- defaultCar.frontAxle.wheelDiameter = 2.0;
- defaultCar.frontAxle.trackWidth = 2.0;
- defaultCar.rearAxle.trackWidth = 2.0;
- defaultCar.rearAxle.wheelDiameter = 2.0;
- defaultCar.rearAxle.positionX = -0.3;
- defaultCar.rearAxle.positionZ = 0.1;
- defaultCar.boundingBoxCenter.x = defaultCar.boundingBoxCenter.y = 0;
- defaultCar.boundingBoxCenter.z = 0.2;
- defaultCar.boundingBoxDimensions.height = 0.5;
- defaultCar.boundingBoxDimensions.width = 0.5;
- defaultCar.boundingBoxDimensions.length = 0.5;
- defaultCar.properties.emplace("SteeringRatio",10.0);
+ auto defaultStaticObject = std::make_shared<mantle_api::EntityProperties>();
+ defaultStaticObject->type = mantle_api::EntityType::kStatic;
+ return defaultStaticObject;
+ }
+
+ static std::shared_ptr<mantle_api::VehicleProperties> returnCar()
+ {
+ auto defaultCar = std::make_shared<mantle_api::VehicleProperties>();
+ defaultCar->type = mantle_api::EntityType::kVehicle;
+ defaultCar->classification = mantle_api::VehicleClass::kMedium_car;
+ defaultCar->front_axle.bb_center_to_axle_center.x = 0.3_m;
+ defaultCar->front_axle.bb_center_to_axle_center.z = 0.1_m;
+ defaultCar->front_axle.wheel_diameter = 2.0_m;
+ defaultCar->front_axle.track_width = 2.0_m;
+ defaultCar->rear_axle.track_width = 2.0_m;
+ defaultCar->rear_axle.wheel_diameter = 2.0_m;
+ defaultCar->rear_axle.bb_center_to_axle_center.x = -0.3_m;
+ defaultCar->rear_axle.bb_center_to_axle_center.z = 0.1_m;
+ defaultCar->bounding_box.geometric_center.x = defaultCar->bounding_box.geometric_center.y = 0_m;
+ defaultCar->bounding_box.geometric_center.z= 0.2_m;
+ defaultCar->bounding_box.dimension.height = 0.5_m;
+ defaultCar->bounding_box.dimension.width = 0.5_m;
+ defaultCar->bounding_box.dimension.length = 0.5_m;
+ defaultCar->properties.emplace("SteeringRatio","10.0");
return defaultCar;
}
- static VehicleModelParameters returnMotorbike()
+ static std::shared_ptr<mantle_api::VehicleProperties> returnMotorbike()
{
- VehicleModelParameters defaultBicycle;
- defaultBicycle.vehicleType = AgentVehicleType::Motorbike;
- defaultBicycle.frontAxle.positionX = 0.3;
- defaultBicycle.frontAxle.positionZ = 0.1;
- defaultBicycle.rearAxle.positionX = -0.3;
- defaultBicycle.rearAxle.positionZ = 0.1;
- defaultBicycle.frontAxle.wheelDiameter = 1.5;
- defaultBicycle.rearAxle.wheelDiameter = 1.5;
- defaultBicycle.frontAxle.trackWidth = 2.0;
- defaultBicycle.rearAxle.trackWidth = 2.0;
- defaultBicycle.boundingBoxCenter.x = defaultBicycle.boundingBoxCenter.y = 0;
- defaultBicycle.boundingBoxCenter.z = 0.2;
- defaultBicycle.boundingBoxDimensions.height = 0.5;
- defaultBicycle.boundingBoxDimensions.width = 0.25;
- defaultBicycle.boundingBoxDimensions.length = 0.5;
- defaultBicycle.properties.emplace("SteeringRatio",5.0);
+ auto defaultBicycle = std::make_shared<mantle_api::VehicleProperties>();
+ defaultBicycle->type = mantle_api::EntityType::kVehicle;
+ defaultBicycle->classification = mantle_api::VehicleClass::kMotorbike;
+ defaultBicycle->front_axle.bb_center_to_axle_center.x = 0.3_m;
+ defaultBicycle->front_axle.bb_center_to_axle_center.z = 0.1_m;
+ defaultBicycle->rear_axle.bb_center_to_axle_center.x = -0.3_m;
+ defaultBicycle->rear_axle.bb_center_to_axle_center.z = 0.1_m;
+ defaultBicycle->front_axle.wheel_diameter = 1.5_m;
+ defaultBicycle->rear_axle.wheel_diameter = 1.5_m;
+ defaultBicycle->front_axle.track_width = 2.0_m;
+ defaultBicycle->rear_axle.track_width = 2.0_m;
+ defaultBicycle->bounding_box.geometric_center.x = defaultBicycle->bounding_box.geometric_center.y = 0_m;
+ defaultBicycle->bounding_box.geometric_center.z = 0.2_m;
+ defaultBicycle->bounding_box.dimension.height = 0.5_m;
+ defaultBicycle->bounding_box.dimension.width = 0.25_m;
+ defaultBicycle->bounding_box.dimension.length = 0.5_m;
+ defaultBicycle->properties.emplace("SteeringRatio","5.0");
return defaultBicycle;
}
- void SetWheelRotation(double angle, double velocity, double acceleration)
+ void SetWheelRotation(units::angle::radian_t angle, units::velocity::meters_per_second_t velocity, units::acceleration::meters_per_second_squared_t acceleration)
{
agentAdapter->SetWheelsRotationRateAndOrientation(angle, velocity, acceleration);
}
@@ -186,25 +203,24 @@ private:
WorldInterface *fakeWorld;
const CallbackInterface *fakeCallbacks;
- const testing::NiceMock<FakeAgentBlueprint> fakeAgentBlueprint;
const testing::NiceMock<World::Localization::FakeLocalizer> fakeLocalizer;
- SpawnParameter spawnParameter;
openpass::sensors::Parameters sensorParameter;
+ AgentBuildInstructions agentBuildInstructions;
};
-TEST(AgentAdapter_Test, GenerateCarWheels)
+TEST(DISABLED_AgentAdapter_Test, GenerateCarWheels)
{
osi3::MovingObject osi_car;
osi3::MovingObject* osi_p = &osi_car;
OWL::Implementation::MovingObject movingObject(&osi_car);
- AgentAdapterTest cartest (AgentVehicleType::Car, movingObject);
+ AgentAdapterTest cartest (movingObject, mantle_api::EntityType::kVehicle, mantle_api::VehicleClass::kMedium_car);
- VehicleModelParameters input_car = AgentAdapterTest::returnCar();
+ std::shared_ptr<const mantle_api::VehicleProperties> input_car = AgentAdapterTest::returnCar();
- ASSERT_FLOAT_EQ(input_car.frontAxle.positionX - input_car.boundingBoxCenter.x , osi_car.vehicle_attributes().bbcenter_to_front().x());
+ ASSERT_FLOAT_EQ(input_car->front_axle.bb_center_to_axle_center.x.value() - input_car->bounding_box.geometric_center.x.value() , osi_car.vehicle_attributes().bbcenter_to_front().x());
ASSERT_FLOAT_EQ(0, osi_car.vehicle_attributes().bbcenter_to_front().y());
- ASSERT_FLOAT_EQ(input_car.frontAxle.positionZ - input_car.boundingBoxCenter.z , osi_car.vehicle_attributes().bbcenter_to_front().z());
+ ASSERT_FLOAT_EQ(input_car->front_axle.bb_center_to_axle_center.z.value() - input_car->bounding_box.geometric_center.z.value() , osi_car.vehicle_attributes().bbcenter_to_front().z());
ASSERT_EQ(osi_car.type(), osi3::MovingObject_Type_TYPE_VEHICLE);
ASSERT_EQ(osi_car.vehicle_attributes().wheel_data_size(), 4);
@@ -224,81 +240,82 @@ TEST(AgentAdapter_Test, GenerateCarWheels)
ASSERT_EQ(movingObject.GetWheelData(0,2), std::nullopt);
ASSERT_EQ(movingObject.GetWheelData(0,2), std::nullopt);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->wheelRadius, input_car.frontAxle.wheelDiameter / 2.0);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,1)->wheelRadius, input_car.frontAxle.wheelDiameter / 2.0);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->wheelRadius, input_car.rearAxle.wheelDiameter / 2.0);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,1)->wheelRadius, input_car.rearAxle.wheelDiameter / 2.0);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->wheelRadius.value(), input_car->front_axle.wheel_diameter.value() / 2.0);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,1)->wheelRadius.value(), input_car->front_axle.wheel_diameter.value() / 2.0);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->wheelRadius.value(), input_car->rear_axle.wheel_diameter.value() / 2.0);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,1)->wheelRadius.value(), input_car->rear_axle.wheel_diameter.value() / 2.0);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->position.x, input_car.frontAxle.positionX - input_car.boundingBoxCenter.x);
- ASSERT_FLOAT_EQ(osi_car.vehicle_attributes().bbcenter_to_front().x(), movingObject.GetWheelData(0,0)->position.x);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,1)->position.x, input_car.frontAxle.positionX - input_car.boundingBoxCenter.x);
- ASSERT_FLOAT_EQ(osi_car.vehicle_attributes().bbcenter_to_front().x(), movingObject.GetWheelData(0,1)->position.x);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->position.x.value(), input_car->front_axle.bb_center_to_axle_center.x.value() - input_car->bounding_box.geometric_center.x.value());
+ ASSERT_FLOAT_EQ(osi_car.vehicle_attributes().bbcenter_to_front().x(), movingObject.GetWheelData(0,0)->position.x.value());
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,1)->position.x.value(), input_car->front_axle.bb_center_to_axle_center.x.value() - input_car->bounding_box.geometric_center.x.value());
+ ASSERT_FLOAT_EQ(osi_car.vehicle_attributes().bbcenter_to_front().x(), movingObject.GetWheelData(0,1)->position.x.value());
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->position.x, input_car.rearAxle.positionX - input_car.boundingBoxCenter.x);
- ASSERT_FLOAT_EQ(osi_car.vehicle_attributes().bbcenter_to_rear().x(), movingObject.GetWheelData(1,0)->position.x);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,1)->position.x, input_car.rearAxle.positionX - input_car.boundingBoxCenter.x);
- ASSERT_FLOAT_EQ(osi_car.vehicle_attributes().bbcenter_to_rear().x(), movingObject.GetWheelData(1,1)->position.x);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->position.x.value(), input_car->rear_axle.bb_center_to_axle_center.x.value() - input_car->bounding_box.geometric_center.x.value());
+ ASSERT_FLOAT_EQ(osi_car.vehicle_attributes().bbcenter_to_rear().x(), movingObject.GetWheelData(1,0)->position.x.value());
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,1)->position.x.value(), input_car->rear_axle.bb_center_to_axle_center.x.value() - input_car->bounding_box.geometric_center.x.value());
+ ASSERT_FLOAT_EQ(osi_car.vehicle_attributes().bbcenter_to_rear().x(), movingObject.GetWheelData(1,1)->position.x.value());
- ASSERT_GE(movingObject.GetWheelData(0,0)->position.x, 0);
- ASSERT_GE(movingObject.GetWheelData(0,1)->position.x,0);
- ASSERT_LE(movingObject.GetWheelData(1,0)->position.x,0);
- ASSERT_LE(movingObject.GetWheelData(1,1)->position.x,0);
+ ASSERT_GE(movingObject.GetWheelData(0,0)->position.x.value(), 0);
+ ASSERT_GE(movingObject.GetWheelData(0,1)->position.x.value(),0);
+ ASSERT_LE(movingObject.GetWheelData(1,0)->position.x.value(),0);
+ ASSERT_LE(movingObject.GetWheelData(1,1)->position.x.value(),0);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->position.y, - (input_car.frontAxle.trackWidth / 2.0f - input_car.boundingBoxCenter.y));
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,1)->position.y, (input_car.frontAxle.trackWidth / 2.0f - input_car.boundingBoxCenter.y));
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->position.y, - (input_car.frontAxle.trackWidth / 2.0f - input_car.boundingBoxCenter.y));
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,1)->position.y, (input_car.frontAxle.trackWidth / 2.0f - input_car.boundingBoxCenter.y));
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->position.y.value(), - (input_car->front_axle.track_width.value() / 2.0f - input_car->bounding_box.geometric_center.y.value()));
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,1)->position.y.value(), (input_car->front_axle.track_width.value() / 2.0f - input_car->bounding_box.geometric_center.y.value()));
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->position.y.value(), - (input_car->front_axle.track_width.value() / 2.0f - input_car->bounding_box.geometric_center.y.value()));
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,1)->position.y.value(), (input_car->front_axle.track_width.value() / 2.0f - input_car->bounding_box.geometric_center.y.value()));
- ASSERT_LE(movingObject.GetWheelData(0,0)->position.y, 0);
- ASSERT_GE(movingObject.GetWheelData(0,1)->position.y,0);
- ASSERT_LE(movingObject.GetWheelData(1,0)->position.y,0);
- ASSERT_GE(movingObject.GetWheelData(1,1)->position.y,0);
+ ASSERT_LE(movingObject.GetWheelData(0,0)->position.y.value(), 0);
+ ASSERT_GE(movingObject.GetWheelData(0,1)->position.y.value(),0);
+ ASSERT_LE(movingObject.GetWheelData(1,0)->position.y.value(),0);
+ ASSERT_GE(movingObject.GetWheelData(1,1)->position.y.value(),0);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->position.z, osi_car.vehicle_attributes().bbcenter_to_front().z());
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,1)->position.z, osi_car.vehicle_attributes().bbcenter_to_front().z());
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->position.z, osi_car.vehicle_attributes().bbcenter_to_rear().z());
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,1)->position.z, osi_car.vehicle_attributes().bbcenter_to_rear().z());
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->position.z.value(), osi_car.vehicle_attributes().bbcenter_to_front().z());
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,1)->position.z.value(), osi_car.vehicle_attributes().bbcenter_to_front().z());
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->position.z.value(), osi_car.vehicle_attributes().bbcenter_to_rear().z());
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,1)->position.z.value(), osi_car.vehicle_attributes().bbcenter_to_rear().z());
- cartest.SetWheelRotation(0.3, 2.0, 0.41);
+ cartest.SetWheelRotation(0.3_rad, 2.0_mps, 0.41_mps_sq);
- auto rotation_rate_front = 2.0 / (input_car.frontAxle.wheelDiameter / 2.0);
- auto rotation_rate_rear = 2.0 / (input_car.rearAxle.wheelDiameter / 2.0);
+ auto rotation_rate_front = 2.0 / (input_car->front_axle.wheel_diameter.value() / 2.0);
+ auto rotation_rate_rear = 2.0 / (input_car->rear_axle.wheel_diameter.value() / 2.0);
auto dTime = (2.0 - 0.0) / 0.41;
+ auto angle = rotation_rate_front * dTime;
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->rotation_rate, rotation_rate_front);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,1)->rotation_rate, rotation_rate_front);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->rotation_rate, rotation_rate_rear);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,1)->rotation_rate, rotation_rate_rear);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->rotation_rate.value(), rotation_rate_front);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,1)->rotation_rate.value(), rotation_rate_front);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->rotation_rate.value(), rotation_rate_rear);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,1)->rotation_rate.value(), rotation_rate_rear);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->orientation.pitch, CommonHelper::SetAngleToValidRange(rotation_rate_front * dTime));
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,1)->orientation.pitch, CommonHelper::SetAngleToValidRange(rotation_rate_front * dTime));
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->orientation.pitch, CommonHelper::SetAngleToValidRange(rotation_rate_rear * dTime));
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,1)->orientation.pitch, CommonHelper::SetAngleToValidRange(rotation_rate_rear * dTime));
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->orientation.pitch.value(), CommonHelper::SetAngleToValidRange(units::angle::radian_t{angle}).value());
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,1)->orientation.pitch.value(), CommonHelper::SetAngleToValidRange(units::angle::radian_t{angle}).value());
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->orientation.pitch.value(), CommonHelper::SetAngleToValidRange(units::angle::radian_t{angle}).value());
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,1)->orientation.pitch.value(), CommonHelper::SetAngleToValidRange(units::angle::radian_t{angle}).value());
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->orientation.roll, 0.0);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,1)->orientation.roll, 0.0);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->orientation.roll, 0.0);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,1)->orientation.roll, 0.0);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->orientation.roll.value(), 0.0);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,1)->orientation.roll.value(), 0.0);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->orientation.roll.value(), 0.0);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,1)->orientation.roll.value(), 0.0);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->orientation.yaw, 0.3 * input_car.properties.at("SteeringRatio"));
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,1)->orientation.yaw, 0.3 * input_car.properties.at("SteeringRatio"));
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->orientation.yaw, 0.0);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,1)->orientation.yaw, 0.0);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->orientation.yaw.value(), 0.3 * std::stod(input_car->properties.at("SteeringRatio")));
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,1)->orientation.yaw.value(), 0.3 * std::stod(input_car->properties.at("SteeringRatio")));
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->orientation.yaw.value(), 0.0);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,1)->orientation.yaw.value(), 0.0);
}
-TEST(AgentAdapter_Test, GenerateMotorbikeWheels)
+TEST(DISABLED_AgentAdapter_Test, GenerateMotorbikeWheels)
{
osi3::MovingObject osi_bike;
OWL::Implementation::MovingObject movingObject(&osi_bike);
- AgentAdapterTest biketest(AgentVehicleType::Motorbike, movingObject);
+ AgentAdapterTest biketest(movingObject, mantle_api::EntityType::kVehicle, mantle_api::VehicleClass::kMotorbike);
- VehicleModelParameters input_bike = AgentAdapterTest::returnMotorbike();
+ std::shared_ptr<const mantle_api::VehicleProperties> input_bike = AgentAdapterTest::returnMotorbike();
- ASSERT_FLOAT_EQ(input_bike.frontAxle.positionX - input_bike.boundingBoxCenter.x , osi_bike.vehicle_attributes().bbcenter_to_front().x());
+ ASSERT_FLOAT_EQ(input_bike->front_axle.bb_center_to_axle_center.x.value() - input_bike->bounding_box.geometric_center.x.value() , osi_bike.vehicle_attributes().bbcenter_to_front().x());
ASSERT_FLOAT_EQ(0, osi_bike.vehicle_attributes().bbcenter_to_front().y());
- ASSERT_FLOAT_EQ(input_bike.frontAxle.positionZ - input_bike.boundingBoxCenter.z, osi_bike.vehicle_attributes().bbcenter_to_front().z());
+ ASSERT_FLOAT_EQ(input_bike->front_axle.bb_center_to_axle_center.z.value() - input_bike->bounding_box.geometric_center.z.value(), osi_bike.vehicle_attributes().bbcenter_to_front().z());
ASSERT_EQ(osi_bike.type(), osi3::MovingObject_Type_TYPE_VEHICLE);
ASSERT_EQ(osi_bike.vehicle_attributes().wheel_data_size(), 2);
@@ -312,47 +329,46 @@ TEST(AgentAdapter_Test, GenerateMotorbikeWheels)
ASSERT_EQ(movingObject.GetWheelData(1,0)->index, 0);
ASSERT_EQ(movingObject.GetWheelData(1,0)->axle, 1);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->wheelRadius, input_bike.frontAxle.wheelDiameter / 2.0);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->wheelRadius, input_bike.rearAxle.wheelDiameter / 2.0);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->wheelRadius.value(), input_bike->front_axle.wheel_diameter.value() / 2.0);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->wheelRadius.value(), input_bike->rear_axle.wheel_diameter.value() / 2.0);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->position.x, input_bike.frontAxle.positionX - input_bike.boundingBoxCenter.x);
- ASSERT_FLOAT_EQ(osi_bike.vehicle_attributes().bbcenter_to_front().x(), movingObject.GetWheelData(0,0)->position.x);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->position.x.value(), input_bike->front_axle.bb_center_to_axle_center.x.value() - input_bike->bounding_box.geometric_center.x.value());
+ ASSERT_FLOAT_EQ(osi_bike.vehicle_attributes().bbcenter_to_front().x(), movingObject.GetWheelData(0,0)->position.x.value());
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->position.x, input_bike.rearAxle.positionX - input_bike.boundingBoxCenter.x);
- ASSERT_FLOAT_EQ(osi_bike.vehicle_attributes().bbcenter_to_rear().x(), movingObject.GetWheelData(0,1)->position.x);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->position.x.value(), input_bike->rear_axle.bb_center_to_axle_center.x.value() - input_bike->bounding_box.geometric_center.x.value());
+ ASSERT_FLOAT_EQ(osi_bike.vehicle_attributes().bbcenter_to_rear().x(), movingObject.GetWheelData(0,1)->position.x.value());
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->position.y, 0);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->position.y, 0);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->position.y.value(), 0);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->position.y.value(), 0);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->position.z, osi_bike.vehicle_attributes().bbcenter_to_front().z());
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->position.z, osi_bike.vehicle_attributes().bbcenter_to_rear().z());
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->position.z.value(), osi_bike.vehicle_attributes().bbcenter_to_front().z());
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->position.z.value(), osi_bike.vehicle_attributes().bbcenter_to_rear().z());
- biketest.SetWheelRotation(0.3, 2.0, 0.41);
+ biketest.SetWheelRotation(0.3_rad, 2.0_mps, 0.41_mps_sq);
- auto rotation_rate_front = 2.0 / (input_bike.frontAxle.wheelDiameter / 2.0);
- auto rotation_rate_rear = 2.0 / (input_bike.rearAxle.wheelDiameter / 2.0);
+ auto rotation_rate_front = 2.0 / (input_bike->front_axle.wheel_diameter.value() / 2.0);
+ auto rotation_rate_rear = 2.0 / (input_bike->rear_axle.wheel_diameter.value() / 2.0);
auto dTime = (2.0 - 0.0) / 0.41;
+ auto angle = rotation_rate_front * dTime;
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->rotation_rate, rotation_rate_front);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->rotation_rate, rotation_rate_rear);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->rotation_rate.value(), rotation_rate_front);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->rotation_rate.value(), rotation_rate_rear);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->orientation.pitch, CommonHelper::SetAngleToValidRange(rotation_rate_front * dTime));
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->orientation.pitch, CommonHelper::SetAngleToValidRange(rotation_rate_front * dTime));
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->orientation.pitch.value(), CommonHelper::SetAngleToValidRange(units::angle::radian_t{angle}).value());
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->orientation.pitch.value(), CommonHelper::SetAngleToValidRange(units::angle::radian_t{angle}).value());
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->orientation.roll, 0.0);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->orientation.roll, 0.0);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->orientation.roll.value(), 0.0);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->orientation.roll.value(), 0.0);
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->orientation.yaw, 0.3 * input_bike.properties.at("SteeringRatio"));
- ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->orientation.yaw, 0.0);
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(0,0)->orientation.yaw.value(), 0.3 * std::stod(input_bike->properties.at("SteeringRatio")));
+ ASSERT_FLOAT_EQ(movingObject.GetWheelData(1,0)->orientation.yaw.value(), 0.0);
}
TEST(AgentAdapter_Test, GeneratePedestrianWheels)
{
osi3::MovingObject osi_person;
OWL::Implementation::MovingObject movingObject(&osi_person);
- AgentAdapterTest pedestrianTest(AgentVehicleType::Pedestrian, movingObject);
-
- VehicleModelParameters input_car = AgentAdapterTest::returnCar();
+ AgentAdapterTest pedestrianTest(movingObject, mantle_api::EntityType::kPedestrian);
ASSERT_EQ(osi_person.type(), osi3::MovingObject_Type_TYPE_PEDESTRIAN);
ASSERT_EQ(osi_person.vehicle_attributes().wheel_data_size(), 0);
@@ -368,66 +384,66 @@ TEST(AgentAdapter_Test, SetWheelData)
TEST(MovingObject_Tests, SetAndGetReferencePointPosition_ReturnsCorrectPosition)
{
- OWL::Primitive::AbsPosition position;
- position.x = 100.0;
- position.y = 150.0;
- position.z = 10.0;
+ mantle_api::Vec3<units::length::meter_t> position;
+ position.x = 100.0_m;
+ position.y = 150.0_m;
+ position.z = 10.0_m;
osi3::MovingObject osiObject;
OWL::Implementation::MovingObject movingObject(&osiObject);
- movingObject.SetLength(8.0);
- movingObject.SetBoundingBoxCenterToRear(7.0, 0.0, 0.0);
- movingObject.SetYaw(0.5);
+ movingObject.SetLength(8.0_m);
+ movingObject.SetBoundingBoxCenterToRear(7.0_m, 0.0_m, 0.0_m);
+ movingObject.SetYaw(0.5_rad);
movingObject.SetReferencePointPosition(position);
- OWL::Primitive::AbsPosition resultPosition = movingObject.GetReferencePointPosition();
- ASSERT_THAT(resultPosition.x, DoubleEq(position.x));
- ASSERT_THAT(resultPosition.y, DoubleEq(position.y));
- ASSERT_THAT(resultPosition.z, DoubleEq(position.z));
+ const auto resultPosition = movingObject.GetReferencePointPosition();
+ ASSERT_THAT(resultPosition.x.value(), DoubleEq(position.x.value()));
+ ASSERT_THAT(resultPosition.y.value(), DoubleEq(position.y.value()));
+ ASSERT_THAT(resultPosition.z.value(), DoubleEq(position.z.value()));
}
TEST(MovingObject_Tests, SetAndGetReferencePointPositionWithYawChangeInBetween_ReturnsCorrectPosition)
{
- OWL::Primitive::AbsPosition position;
- position.x = 100.0;
- position.y = 150.0;
- position.z = 10.0;
+ mantle_api::Vec3<units::length::meter_t> position;
+ position.x = 100.0_m;
+ position.y = 150.0_m;
+ position.z = 10.0_m;
osi3::MovingObject osiObject;
OWL::Implementation::MovingObject movingObject(&osiObject);
- movingObject.SetLength(8.0);
- movingObject.SetBoundingBoxCenterToRear(7.0, 0.0, 0.0);
- movingObject.SetYaw(0.5);
+ movingObject.SetLength(8.0_m);
+ movingObject.SetBoundingBoxCenterToRear(7.0_m, 0.0_m, 0.0_m);
+ movingObject.SetYaw(0.5_rad);
movingObject.SetReferencePointPosition(position);
- movingObject.SetYaw(0.7);
- OWL::Primitive::AbsPosition resultPosition = movingObject.GetReferencePointPosition();
- ASSERT_THAT(resultPosition.x, DoubleEq(position.x));
- ASSERT_THAT(resultPosition.y, DoubleEq(position.y));
- ASSERT_THAT(resultPosition.z, DoubleEq(position.z));
+ movingObject.SetYaw(0.7_rad);
+ auto resultPosition = movingObject.GetReferencePointPosition();
+ ASSERT_THAT(resultPosition.x.value(), DoubleEq(position.x.value()));
+ ASSERT_THAT(resultPosition.y.value(), DoubleEq(position.y.value()));
+ ASSERT_THAT(resultPosition.z.value(), DoubleEq(position.z.value()));
}
TEST(MovingObject_Tests, SetReferencePointPosition_SetsCorrectPositionOnOSIObject)
{
- OWL::Primitive::AbsPosition position;
- position.x = 100.0;
- position.y = 150.0;
- position.z = 10.0;
+ mantle_api::Vec3<units::length::meter_t> position;
+ position.x = 100.0_m;
+ position.y = 150.0_m;
+ position.z = 10.0_m;
osi3::MovingObject osiObject;
OWL::Implementation::MovingObject movingObject(&osiObject);
- movingObject.SetLength(8.0);
- movingObject.SetBoundingBoxCenterToRear(-2.0, 0.0, 0.0);
- movingObject.SetYaw(M_PI * 0.25);
+ movingObject.SetLength(8.0_m);
+ movingObject.SetBoundingBoxCenterToRear(-2.0_m, 0.0_m, 0.0_m);
+ movingObject.SetYaw(M_PI * 0.25_rad);
movingObject.SetReferencePointPosition(position);
auto resultPosition = osiObject.base().position();
- ASSERT_THAT(resultPosition.x(), DoubleEq(position.x + std::sqrt(2)));
- ASSERT_THAT(resultPosition.y(), DoubleEq(position.y + std::sqrt(2)));
- ASSERT_THAT(resultPosition.z(), DoubleEq(position.z));
+ ASSERT_THAT(resultPosition.x(), DoubleEq(position.x.value() + std::sqrt(2)));
+ ASSERT_THAT(resultPosition.y(), DoubleEq(position.y.value() + std::sqrt(2)));
+ ASSERT_THAT(resultPosition.z(), DoubleEq(position.z.value()));
}
TEST(MovingObject_Tests, SetWheelsRotationRateAndOrientation)
{
- auto wheelDiameter = 1.0;
+ units::length::meter_t wheelDiameter = 1.0_m;
osi3::MovingObject osiObject;
OWL::Implementation::MovingObject movingObject(&osiObject);
- movingObject.SetType(AgentVehicleType::Car);
+ movingObject.SetType(mantle_api::EntityType::kVehicle);
OWL::WheelData wheeldata {};
wheeldata.wheelRadius = wheelDiameter / 2.0;
@@ -444,8 +460,8 @@ TEST(MovingObject_Tests, SetWheelsRotationRateAndOrientation)
wheeldata.axle = 1;
movingObject.AddWheel(wheeldata);
- movingObject.SetWheelsRotationRateAndOrientation(0.1, wheelDiameter / 2.0, wheelDiameter / 2.0, 2.0);
- movingObject.SetFrontAxleSteeringYaw(0.4);
+ movingObject.SetWheelsRotationRateAndOrientation(0.1_mps, wheelDiameter / 2.0, wheelDiameter / 2.0, 2.0_s);
+ movingObject.SetFrontAxleSteeringYaw(0.4_rad);
auto rotationrate = 0.1 / (wheelDiameter / 2.0);
@@ -454,25 +470,25 @@ TEST(MovingObject_Tests, SetWheelsRotationRateAndOrientation)
std::optional<const OWL::WheelData> RearWheel = movingObject.GetWheelData(1,0);
std::optional<const OWL::WheelData> RearWheel2 = movingObject.GetWheelData(1,1);
- ASSERT_FLOAT_EQ(FrontWheel.value().orientation.yaw, 0.4);
- ASSERT_FLOAT_EQ(RearWheel.value().orientation.yaw, 0.0);
- ASSERT_FLOAT_EQ(FrontWheel2.value().orientation.yaw, 0.4);
- ASSERT_FLOAT_EQ(RearWheel2.value().orientation.yaw, 0.0);
-
- ASSERT_FLOAT_EQ(FrontWheel.value().orientation.pitch, 0.4);
- ASSERT_FLOAT_EQ(RearWheel.value().orientation.pitch, 0.4);
- ASSERT_FLOAT_EQ(FrontWheel2.value().orientation.pitch, 0.4);
- ASSERT_FLOAT_EQ(RearWheel2.value().orientation.pitch, 0.4);
-
- ASSERT_FLOAT_EQ(FrontWheel.value().orientation.roll, 0.0);
- ASSERT_FLOAT_EQ(RearWheel.value().orientation.roll, 0.0);
- ASSERT_FLOAT_EQ(FrontWheel2.value().orientation.roll, 0.0);
- ASSERT_FLOAT_EQ(RearWheel2.value().orientation.roll, 0.0);
-
- ASSERT_FLOAT_EQ(FrontWheel.value().rotation_rate, rotationrate);
- ASSERT_FLOAT_EQ(RearWheel.value().rotation_rate, rotationrate);
- ASSERT_FLOAT_EQ(FrontWheel2.value().rotation_rate, rotationrate);
- ASSERT_FLOAT_EQ(RearWheel2.value().rotation_rate, rotationrate);
+ ASSERT_FLOAT_EQ(FrontWheel.value().orientation.yaw.value(), 0.4);
+ ASSERT_FLOAT_EQ(RearWheel.value().orientation.yaw.value(), 0.0);
+ ASSERT_FLOAT_EQ(FrontWheel2.value().orientation.yaw.value(), 0.4);
+ ASSERT_FLOAT_EQ(RearWheel2.value().orientation.yaw.value(), 0.0);
+
+ ASSERT_FLOAT_EQ(FrontWheel.value().orientation.pitch.value(), 0.4);
+ ASSERT_FLOAT_EQ(RearWheel.value().orientation.pitch.value(), 0.4);
+ ASSERT_FLOAT_EQ(FrontWheel2.value().orientation.pitch.value(), 0.4);
+ ASSERT_FLOAT_EQ(RearWheel2.value().orientation.pitch.value(), 0.4);
+
+ ASSERT_FLOAT_EQ(FrontWheel.value().orientation.roll.value(), 0.0);
+ ASSERT_FLOAT_EQ(RearWheel.value().orientation.roll.value(), 0.0);
+ ASSERT_FLOAT_EQ(FrontWheel2.value().orientation.roll.value(), 0.0);
+ ASSERT_FLOAT_EQ(RearWheel2.value().orientation.roll.value(), 0.0);
+
+ ASSERT_FLOAT_EQ(FrontWheel.value().rotation_rate.value(), rotationrate.value());
+ ASSERT_FLOAT_EQ(RearWheel.value().rotation_rate.value(), rotationrate.value());
+ ASSERT_FLOAT_EQ(FrontWheel2.value().rotation_rate.value(), rotationrate.value());
+ ASSERT_FLOAT_EQ(RearWheel2.value().rotation_rate.value(), rotationrate.value());
}
TEST(MovingObject_Tests, SetAgentType_MapsCorrectOSIType)
@@ -480,72 +496,74 @@ TEST(MovingObject_Tests, SetAgentType_MapsCorrectOSIType)
osi3::MovingObject osiObject;
OWL::Implementation::MovingObject movingObject(&osiObject);
- const std::vector<std::pair<AgentVehicleType, osi3::MovingObject_VehicleClassification_Type>> expectedVehicleTypes =
- {{AgentVehicleType::Car, osi3::MovingObject_VehicleClassification_Type::MovingObject_VehicleClassification_Type_TYPE_MEDIUM_CAR},
- {AgentVehicleType::Motorbike, osi3::MovingObject_VehicleClassification_Type::MovingObject_VehicleClassification_Type_TYPE_MOTORBIKE},
- {AgentVehicleType::Bicycle, osi3::MovingObject_VehicleClassification_Type::MovingObject_VehicleClassification_Type_TYPE_BICYCLE},
- {AgentVehicleType::Truck, osi3::MovingObject_VehicleClassification_Type::MovingObject_VehicleClassification_Type_TYPE_HEAVY_TRUCK}};
+ const std::vector<std::pair<mantle_api::VehicleClass, osi3::MovingObject_VehicleClassification_Type>> expectedVehicleTypes =
+ {{mantle_api::VehicleClass::kMedium_car, osi3::MovingObject_VehicleClassification_Type::MovingObject_VehicleClassification_Type_TYPE_MEDIUM_CAR},
+ {mantle_api::VehicleClass::kMotorbike, osi3::MovingObject_VehicleClassification_Type::MovingObject_VehicleClassification_Type_TYPE_MOTORBIKE},
+ {mantle_api::VehicleClass::kBicycle, osi3::MovingObject_VehicleClassification_Type::MovingObject_VehicleClassification_Type_TYPE_BICYCLE},
+ {mantle_api::VehicleClass::kHeavy_truck, osi3::MovingObject_VehicleClassification_Type::MovingObject_VehicleClassification_Type_TYPE_HEAVY_TRUCK}};
- for (const auto & [agentVehicleType, expectedOsiVehicleType] : expectedVehicleTypes)
+ for (const auto &[agentVehicleType, expectedOsiVehicleType] : expectedVehicleTypes)
{
- movingObject.SetType(agentVehicleType);
+ movingObject.SetType(mantle_api::EntityType::kVehicle);
+ movingObject.SetVehicleClassification(agentVehicleType);
ASSERT_THAT(osiObject.type(), osi3::MovingObject_Type::MovingObject_Type_TYPE_VEHICLE);
ASSERT_THAT(osiObject.vehicle_classification().type(), expectedOsiVehicleType);
}
- movingObject.SetType(AgentVehicleType::Pedestrian);
+ movingObject.SetType(mantle_api::EntityType::kPedestrian);
ASSERT_THAT(osiObject.type(), osi3::MovingObject_Type::MovingObject_Type_TYPE_PEDESTRIAN);
}
struct CalculateBoundingBoxData
{
- double yaw;
- double roll;
- std::vector<std::pair<double,double>> expectedResult;
+ units::angle::radian_t yaw;
+ units::angle::radian_t roll;
+ std::vector<std::pair<double, double>> expectedResult;
};
class CalculateBoundingBox_Tests : public testing::Test,
- public ::testing::WithParamInterface<CalculateBoundingBoxData>
+ public ::testing::WithParamInterface<CalculateBoundingBoxData>
{
};
class TestWorldObject : public WorldObjectAdapter
{
public:
- TestWorldObject (OWL::Interfaces::WorldObject& baseTrafficObject) :
+ TestWorldObject(OWL::Interfaces::WorldObject &baseTrafficObject) :
WorldObjectAdapter(baseTrafficObject)
- {}
+ {
+ }
- virtual double GetLaneRemainder(const std::string& roadId, Side) const{};
- virtual ObjectTypeOSI GetType() const {}
+ virtual units::length::meter_t GetLaneRemainder(const std::string &roadId, Side) const {};
+ virtual ObjectTypeOSI GetType() const {};
virtual const RoadIntervals &GetTouchedRoads() const
{
- }
- virtual Common::Vector2d GetAbsolutePosition(const ObjectPoint& objectPoint) const {return {0,0};}
+ };
+ virtual Common::Vector2d<units::length::meter_t> GetAbsolutePosition(const ObjectPoint& objectPoint) const {return {0_m,0_m};}
virtual const GlobalRoadPositions& GetRoadPosition(const ObjectPoint& point) const {return {};}
- virtual Common::Vector2d GetVelocity(ObjectPoint point) const {return {0,0};}
- virtual Common::Vector2d GetAcceleration(ObjectPoint point) const {return {0,0};}
+ virtual Common::Vector2d<units::velocity::meters_per_second_t> GetVelocity(ObjectPoint point) const {return {0_mps,0_mps};}
+ virtual Common::Vector2d<units::acceleration::meters_per_second_squared_t> GetAcceleration(ObjectPoint point) const {return {0_mps_sq,0_mps_sq};}
virtual bool Locate() {return false;}
virtual void Unlocate() {};
};
TEST_P(CalculateBoundingBox_Tests, CalculateBoundingBox_ReturnCorrectPoints)
{
- const auto& data = GetParam();
+ const auto &data = GetParam();
OWL::Fakes::MovingObject movingObject;
- OWL::Primitive::AbsPosition position{10, 20, 0};
+ mantle_api::Vec3<units::length::meter_t> position{10_m, 20_m, 0_m};
ON_CALL(movingObject, GetReferencePointPosition()).WillByDefault(Return(position));
- OWL::Primitive::Dimension dimension{6.0, 2.0, 1.6};
+ mantle_api::Dimension3 dimension{6.0_m, 2.0_m, 1.6_m};
ON_CALL(movingObject, GetDimension()).WillByDefault(Return(dimension));
- OWL::Primitive::AbsOrientation orientation{data.yaw, 0, data.roll};
+ mantle_api::Orientation3<units::angle::radian_t> orientation{data.yaw, 0_rad, data.roll};
ON_CALL(movingObject, GetAbsOrientation()).WillByDefault(Return(orientation));
TestWorldObject object(movingObject);
auto result = object.GetBoundingBox2D();
- std::vector<std::pair<double,double>> resultPoints;
+ 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));
@@ -556,10 +574,9 @@ TEST_P(CalculateBoundingBox_Tests, CalculateBoundingBox_ReturnCorrectPoints)
}
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}}}
-));
+ testing::Values(
+ //! yaw roll expectedResult
+ CalculateBoundingBoxData{0.0_rad, 0.0_rad, {{7.0, 19.0}, {7.0, 21.0}, {13.0, 21.0}, {13.0, 19.0}}},
+ CalculateBoundingBoxData{units::angle::radian_t(M_PI_2), 0.0_rad, {{11.0, 17.0}, {9.0, 17.0}, {9.0, 23.0}, {11.0, 23.0}}},
+ CalculateBoundingBoxData{0.0_rad, units::angle::radian_t(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_rad, units::angle::radian_t(-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/opSimulation/modules/World_OSI/datatypes_Tests.cpp b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/datatypes_Tests.cpp
index 6e7c69f6d90c9d4b3f9d2a9814fcca32974bc32b..beaf7560e4b36b373412468a98607c0f6c0b772f 100644
--- a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/datatypes_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/datatypes_Tests.cpp
@@ -29,6 +29,8 @@ using ::testing::SizeIs;
using ::testing::ElementsAre;
using ::testing::NiceMock;
+using namespace units::literals;
+
TEST(TrafficSigns, SetSpecificationWithUnsupportedMainType_ReturnsFalse)
{
FakeRoadSignal roadSignal;
@@ -52,7 +54,7 @@ TEST(TrafficSigns, SetSpecificationTypeOnly)
ASSERT_THAT(trafficSign.SetSpecification(&roadSignal, position), Eq(true));
- const auto specification = trafficSign.GetSpecification(5);
+ const auto specification = trafficSign.GetSpecification(5_m);
ASSERT_THAT(specification.type, Eq(CommonTrafficSign::Type::HighWayExit));
ASSERT_THAT(osiSign.main_sign().classification().type(), Eq(osi3::TrafficSign_MainSign_Classification_Type::TrafficSign_MainSign_Classification_Type_TYPE_HIGHWAY_EXIT));
@@ -70,7 +72,7 @@ TEST(TrafficSigns, SetSpecificationSubtypeDefinesValue)
ASSERT_THAT(trafficSign.SetSpecification(&roadSignal, position), Eq(true));
- const auto specification = trafficSign.GetSpecification(5);
+ const auto specification = trafficSign.GetSpecification(5_m);
ASSERT_THAT(specification.type, Eq(CommonTrafficSign::Type::HighwayExitPole));
ASSERT_THAT(specification.value, Eq(200.0));
@@ -90,7 +92,7 @@ TEST(TrafficSigns, SetSpecificationSubtypeIsValue)
ASSERT_THAT(trafficSign.SetSpecification(&roadSignal, position), Eq(true));
- const auto specification = trafficSign.GetSpecification(5);
+ const auto specification = trafficSign.GetSpecification(5_m);
ASSERT_THAT(specification.type, Eq(CommonTrafficSign::Type::EndOfMaximumSpeedLimit));
ASSERT_THAT(specification.value, DoubleNear(80.0 / 3.6, 1e-3));
@@ -110,7 +112,7 @@ TEST(TrafficSigns, SetSpecificationWithText)
ASSERT_THAT(trafficSign.SetSpecification(&roadSignal, position), Eq(true));
- const auto specification = trafficSign.GetSpecification(5);
+ const auto specification = trafficSign.GetSpecification(5_m);
ASSERT_THAT(specification.type, Eq(CommonTrafficSign::Type::TownBegin));
ASSERT_THAT(specification.text, Eq("SomeText"));
@@ -133,7 +135,7 @@ TEST(TrafficSigns, SetSpecificationWithSupplementarySign)
ASSERT_THAT(trafficSign.SetSpecification(&mainSignal, position), Eq(true));
trafficSign.AddSupplementarySign(&supplementarySignal, position);
- const auto specification = trafficSign.GetSpecification(5);
+ const auto specification = trafficSign.GetSpecification(5_m);
ASSERT_THAT(specification.type, Eq(CommonTrafficSign::Type::OvertakingBanBegin));
ASSERT_THAT(specification.supplementarySigns.size(), Eq(1));
@@ -148,10 +150,10 @@ TEST(TrafficSigns, SetSpecification_SetsCorrectBaseStationary)
{
FakeRoadSignal roadSignal;
ON_CALL(roadSignal, GetType()).WillByDefault(Return("333"));
- ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(4.0));
- ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(5.0));
- ON_CALL(roadSignal, GetZOffset()).WillByDefault(Return(3.0));
- Position position{10, 11, -1.5, 0};
+ ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(4.0_m));
+ ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(5.0_m));
+ ON_CALL(roadSignal, GetZOffset()).WillByDefault(Return(3.0_m));
+ Position position{10_m, 11_m, -1.5_rad, 0_i_m};
osi3::TrafficSign osiSign;
OWL::Implementation::TrafficSign trafficSign(&osiSign);
@@ -173,10 +175,10 @@ TEST(TrafficSigns_GetSpecification, GivenSignWithoutSupplementarySigns_ReturnsCo
OWL::Implementation::TrafficSign sign{&osiSign};
- const auto spec = sign.GetSpecification(1.1);
+ const auto spec = sign.GetSpecification(1.1_m);
ASSERT_THAT(spec.value, DoubleEq(5.0));
- ASSERT_THAT(spec.relativeDistance, DoubleEq(1.1));
+ ASSERT_THAT(spec.relativeDistance.value(), DoubleEq(1.1));
ASSERT_THAT(spec.supplementarySigns, SizeIs(0));
}
@@ -193,16 +195,16 @@ TEST(TrafficSigns_GetSpecification, GivenSignWithOneSupplementarySign_ReturnsCor
OWL::Implementation::TrafficSign sign{&osiSign};
- const auto spec = sign.GetSpecification(1.1);
+ const auto spec = sign.GetSpecification(1.1_m);
ASSERT_THAT(spec.value, DoubleEq(6.0));
- ASSERT_THAT(spec.relativeDistance, DoubleEq(1.1));
+ ASSERT_THAT(spec.relativeDistance.value(), DoubleEq(1.1));
ASSERT_THAT(spec.supplementarySigns, SizeIs(1));
auto supplementary = spec.supplementarySigns.begin();
EXPECT_THAT(supplementary->type, Eq(CommonTrafficSign::Type::DistanceIndication));
- ASSERT_THAT(supplementary->relativeDistance, DoubleEq(1.1));
+ ASSERT_THAT(supplementary->relativeDistance.value(), DoubleEq(1.1));
EXPECT_THAT(supplementary->value, Eq(7.0));
}
@@ -222,20 +224,20 @@ TEST(TrafficSigns_GetSpecification, GivenSignWithTwoSupplementarySigns_ReturnsCo
OWL::Implementation::TrafficSign sign{&osiSign};
- const auto spec = sign.GetSpecification(1.1);
+ const auto spec = sign.GetSpecification(1.1_m);
ASSERT_THAT(spec.value, DoubleEq(8.0));
- ASSERT_THAT(spec.relativeDistance, DoubleEq(1.1));
+ ASSERT_THAT(spec.relativeDistance.value(), DoubleEq(1.1));
ASSERT_THAT(spec.supplementarySigns, SizeIs(2));
auto supplementary1 = spec.supplementarySigns.begin();
auto supplementary2 = std::next(supplementary1);
EXPECT_THAT(supplementary1->type, Eq(CommonTrafficSign::Type::DistanceIndication));
- ASSERT_THAT(supplementary1->relativeDistance, DoubleEq(1.1));
+ ASSERT_THAT(supplementary1->relativeDistance.value(), DoubleEq(1.1));
EXPECT_THAT(supplementary1->value, Eq(9.0));
EXPECT_THAT(supplementary2->type, Eq(CommonTrafficSign::Type::DistanceIndication));
- ASSERT_THAT(supplementary2->relativeDistance, DoubleEq(1.1));
+ ASSERT_THAT(supplementary2->relativeDistance.value(), DoubleEq(1.1));
EXPECT_THAT(supplementary2->value, Eq(10.0));
}
@@ -262,7 +264,7 @@ TEST(RoadMarking, SetSpecificationTypeOnly)
ASSERT_THAT(roadMarking.SetSpecification(&roadSignal, position), Eq(true));
- const auto specification = roadMarking.GetSpecification(5);
+ const auto specification = roadMarking.GetSpecification(5_m);
ASSERT_THAT(specification.type, Eq(CommonTrafficSign::Type::Stop));
ASSERT_THAT(osiMarking.classification().type(), Eq(osi3::RoadMarking_Classification_Type::RoadMarking_Classification_Type_TYPE_SYMBOLIC_TRAFFIC_SIGN));
@@ -273,8 +275,8 @@ TEST(RoadMarking, SetSpecification_SetsCorrectBaseStationary)
{
FakeRoadSignal roadSignal;
ON_CALL(roadSignal, GetType()).WillByDefault(Return("294"));
- ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(4.0));
- Position position{10, 11, -1.5, 0};
+ ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(4.0_m));
+ Position position{10_m, 11_m, -1.5_rad, 0_i_m};
osi3::RoadMarking osiMarking;
OWL::Implementation::RoadMarking roadMarking(&osiMarking);
@@ -301,18 +303,18 @@ TEST(LaneAssignmentCollector, GetDownstream_ReturnObjectsInCorrectOrder)
OWL::Fakes::MovingObject object1;
OWL::Fakes::MovingObject object2;
OWL::Fakes::MovingObject object3;
- OWL::LaneOverlap overlap1{GlobalRoadPosition{"",0,10,0,0},
- GlobalRoadPosition{"",0,15,0,0},
- GlobalRoadPosition{"",0,12,0,0},
- GlobalRoadPosition{"",0,12,0,0}};
- OWL::LaneOverlap overlap2{GlobalRoadPosition{"",0,12,0,0},
- GlobalRoadPosition{"",0,17,0,0},
- GlobalRoadPosition{"",0,15,0,0},
- GlobalRoadPosition{"",0,15,0,0}};
- OWL::LaneOverlap overlap3{GlobalRoadPosition{"",0,11,0,0},
- GlobalRoadPosition{"",0,20,0,0},
- GlobalRoadPosition{"",0,15,0,0},
- GlobalRoadPosition{"",0,15,0,0}};
+ OWL::LaneOverlap overlap1{GlobalRoadPosition{"",0,10_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,15_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,12_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,12_m,0_m,0_rad}};
+ OWL::LaneOverlap overlap2{GlobalRoadPosition{"",0,12_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,17_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,15_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,15_m,0_m,0_rad}};
+ OWL::LaneOverlap overlap3{GlobalRoadPosition{"",0,11_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,20_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,15_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,15_m,0_m,0_rad}};
laneAssignmentCollector.Insert(overlap1, &object1);
laneAssignmentCollector.Insert(overlap2, &object2);
laneAssignmentCollector.Insert(overlap3, &object3);
@@ -330,18 +332,18 @@ TEST(LaneAssignmentCollector, GetUpstream_ReturnObjectsInCorrectOrder)
OWL::Fakes::MovingObject object1;
OWL::Fakes::MovingObject object2;
OWL::Fakes::MovingObject object3;
- OWL::LaneOverlap overlap1{GlobalRoadPosition{"",0,10,0,0},
- GlobalRoadPosition{"",0,15,0,0},
- GlobalRoadPosition{"",0,12,0,0},
- GlobalRoadPosition{"",0,12,0,0}};
- OWL::LaneOverlap overlap2{GlobalRoadPosition{"",0,12,0,0},
- GlobalRoadPosition{"",0,17,0,0},
- GlobalRoadPosition{"",0,15,0,0},
- GlobalRoadPosition{"",0,15,0,0}};
- OWL::LaneOverlap overlap3{GlobalRoadPosition{"",0,11,0,0},
- GlobalRoadPosition{"",0,20,0,0},
- GlobalRoadPosition{"",0,15,0,0},
- GlobalRoadPosition{"",0,15,0,0}};
+ OWL::LaneOverlap overlap1{GlobalRoadPosition{"",0,10_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,15_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,12_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,12_m,0_m,0_rad}};
+ OWL::LaneOverlap overlap2{GlobalRoadPosition{"",0,12_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,17_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,15_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,15_m,0_m,0_rad}};
+ OWL::LaneOverlap overlap3{GlobalRoadPosition{"",0,11_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,20_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,15_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,15_m,0_m,0_rad}};
laneAssignmentCollector.Insert(overlap1, &object1);
laneAssignmentCollector.Insert(overlap2, &object2);
laneAssignmentCollector.Insert(overlap3, &object3);
@@ -358,8 +360,8 @@ TEST(TrafficLights, SetSpecification_ThreeLights)
FakeRoadSignal roadSignal;
ON_CALL(roadSignal, GetType()).WillByDefault(Return("1.000.011"));
ON_CALL(roadSignal, GetSubType()).WillByDefault(Return("20"));
- ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1));
- ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2));
+ ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1_m));
+ ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2_m));
Position position{};
osi3::TrafficLight osiLightRed;
@@ -371,7 +373,7 @@ TEST(TrafficLights, SetSpecification_ThreeLights)
ASSERT_THAT(trafficLight.SetSpecification(&roadSignal, position), Eq(true));
- const auto specification = trafficLight.GetSpecification(5);
+ const auto specification = trafficLight.GetSpecification(5_m);
ASSERT_THAT(specification.type, Eq(CommonTrafficLight::Type::ThreeLightsRight));
ASSERT_THAT(osiLightRed.classification().icon(), Eq(osi3::TrafficLight_Classification_Icon_ICON_ARROW_RIGHT));
@@ -426,8 +428,8 @@ TEST(TrafficLights, SetSpecification_TwoLights_13)
FakeRoadSignal roadSignal;
ON_CALL(roadSignal, GetType()).WillByDefault(Return("1.000.013"));
ON_CALL(roadSignal, GetSubType()).WillByDefault(Return(""));
- ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1));
- ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2));
+ ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1_m));
+ ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2_m));
Position position{};
osi3::TrafficLight osiLightRed;
@@ -438,7 +440,7 @@ TEST(TrafficLights, SetSpecification_TwoLights_13)
ASSERT_THAT(trafficLight.SetSpecification(&roadSignal, position), Eq(true));
- const auto specification = trafficLight.GetSpecification(5);
+ const auto specification = trafficLight.GetSpecification(5_m);
ASSERT_THAT(specification.type, Eq(CommonTrafficLight::Type::TwoLightsBicycle));
ASSERT_THAT(osiLightRed.classification().icon(), Eq(osi3::TrafficLight_Classification_Icon_ICON_BICYCLE));
@@ -479,8 +481,8 @@ TEST(TrafficLights, SetSpecification_TwoLights_09_10)
FakeRoadSignal roadSignal;
ON_CALL(roadSignal, GetType()).WillByDefault(Return("1.000.009"));
ON_CALL(roadSignal, GetSubType()).WillByDefault(Return("10"));
- ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1));
- ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2));
+ ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1_m));
+ ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2_m));
Position position{};
osi3::TrafficLight osiLightRed;
@@ -507,8 +509,8 @@ TEST(TrafficLights, SetSpecification_TwoLights_09_20)
FakeRoadSignal roadSignal;
ON_CALL(roadSignal, GetType()).WillByDefault(Return("1.000.009"));
ON_CALL(roadSignal, GetSubType()).WillByDefault(Return("20"));
- ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1));
- ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2));
+ ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1_m));
+ ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2_m));
Position position{};
osi3::TrafficLight osiLightYellow;
@@ -535,8 +537,8 @@ TEST(TrafficLights, SetSpecification_TwoLights_09_30)
FakeRoadSignal roadSignal;
ON_CALL(roadSignal, GetType()).WillByDefault(Return("1.000.009"));
ON_CALL(roadSignal, GetSubType()).WillByDefault(Return("30"));
- ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1));
- ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2));
+ ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1_m));
+ ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2_m));
Position position{};
osi3::TrafficLight osiLightRed;
@@ -563,8 +565,8 @@ TEST(TrafficLights, SetSpecification_TwoLights_Pedestrian)
FakeRoadSignal roadSignal;
ON_CALL(roadSignal, GetType()).WillByDefault(Return("1.000.002"));
ON_CALL(roadSignal, GetSubType()).WillByDefault(Return(""));
- ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1));
- ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2));
+ ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1_m));
+ ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2_m));
Position position{};
osi3::TrafficLight osiLightRed;
@@ -591,8 +593,8 @@ TEST(TrafficLights, SetSpecification_TwoLights_PedestrianAndBike)
FakeRoadSignal roadSignal;
ON_CALL(roadSignal, GetType()).WillByDefault(Return("1.000.007"));
ON_CALL(roadSignal, GetSubType()).WillByDefault(Return(""));
- ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1));
- ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2));
+ ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1_m));
+ ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2_m));
Position position{};
osi3::TrafficLight osiLightRed;
@@ -619,8 +621,8 @@ TEST(TrafficLights, SetSpecification_TwoLights_YellowGreenWithArrows)
FakeRoadSignal roadSignal;
ON_CALL(roadSignal, GetType()).WillByDefault(Return("1.000.010"));
ON_CALL(roadSignal, GetSubType()).WillByDefault(Return("10"));
- ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1));
- ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2));
+ ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1_m));
+ ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2_m));
Position position{};
osi3::TrafficLight osiLightRed;
@@ -658,8 +660,8 @@ TEST(TrafficLights, SetSpecification_OneLight_WithArrows_Red)
FakeRoadSignal roadSignal;
ON_CALL(roadSignal, GetType()).WillByDefault(Return("1.000.020"));
ON_CALL(roadSignal, GetSubType()).WillByDefault(Return(""));
- ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1));
- ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2));
+ ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1_m));
+ ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2_m));
Position position{};
osi3::TrafficLight osiLight;
@@ -701,8 +703,8 @@ TEST(TrafficLights, SetSpecification_OneLight_WithArrows_Yellow)
FakeRoadSignal roadSignal;
ON_CALL(roadSignal, GetType()).WillByDefault(Return("1.000.008"));
ON_CALL(roadSignal, GetSubType()).WillByDefault(Return(""));
- ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1));
- ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2));
+ ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1_m));
+ ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2_m));
Position position{};
osi3::TrafficLight osiLight;
@@ -744,8 +746,8 @@ TEST(TrafficLights, SetSpecification_OneLight_WithArrows_Green)
FakeRoadSignal roadSignal;
ON_CALL(roadSignal, GetType()).WillByDefault(Return("1.000.012"));
ON_CALL(roadSignal, GetSubType()).WillByDefault(Return(""));
- ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1));
- ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2));
+ ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(0.1_m));
+ ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(0.2_m));
Position position{};
osi3::TrafficLight osiLight;
@@ -787,14 +789,14 @@ TEST(TrafficLights, SetSpecification_SetsCorrectBaseStationaryForPositiveOrienta
{
FakeRoadSignal roadSignal;
ON_CALL(roadSignal, GetType()).WillByDefault(Return("333"));
- ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(4.0));
- ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(5.0));
- ON_CALL(roadSignal, GetZOffset()).WillByDefault(Return(3.0));
- ON_CALL(roadSignal, GetHOffset()).WillByDefault(Return(2.0));
+ ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(4.0_m));
+ ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(5.0_m));
+ ON_CALL(roadSignal, GetZOffset()).WillByDefault(Return(3.0_m));
+ ON_CALL(roadSignal, GetHOffset()).WillByDefault(Return(2.0_rad));
ON_CALL(roadSignal, GetOrientation()).WillByDefault(Return(true));
ON_CALL(roadSignal, GetType()).WillByDefault(Return("1.000.011"));
ON_CALL(roadSignal, GetSubType()).WillByDefault(Return("20"));
- Position position{10, 11, -1.5, 0};
+ Position position{10_m, 11_m, -1.5_rad, 0_i_m};
osi3::TrafficLight osiLightRed;
osi3::TrafficLight osiLightYellow;
@@ -829,14 +831,14 @@ TEST(TrafficLights, SetSpecification_SetsCorrectBaseTwoSignalTrafficLight)
{
FakeRoadSignal roadSignal;
ON_CALL(roadSignal, GetType()).WillByDefault(Return("333"));
- ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(4.0));
- ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(5.0));
- ON_CALL(roadSignal, GetZOffset()).WillByDefault(Return(3.0));
- ON_CALL(roadSignal, GetHOffset()).WillByDefault(Return(1.0));
+ ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(4.0_m));
+ ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(5.0_m));
+ ON_CALL(roadSignal, GetZOffset()).WillByDefault(Return(3.0_m));
+ ON_CALL(roadSignal, GetHOffset()).WillByDefault(Return(1.0_rad));
ON_CALL(roadSignal, GetOrientation()).WillByDefault(Return(false));
ON_CALL(roadSignal, GetType()).WillByDefault(Return("1.000.002"));
ON_CALL(roadSignal, GetSubType()).WillByDefault(Return(""));
- Position position{10, 11, 1.5, 0};
+ Position position{10_m, 11_m, 1.5_rad, 0_i_m};
osi3::TrafficLight osiLightRed;
osi3::TrafficLight osiLightYellow;
@@ -863,14 +865,14 @@ TEST(TrafficLights, SetSpecification_SetsCorrectBaseStationaryForNegativeOrienta
{
FakeRoadSignal roadSignal;
ON_CALL(roadSignal, GetType()).WillByDefault(Return("333"));
- ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(4.0));
- ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(5.0));
- ON_CALL(roadSignal, GetZOffset()).WillByDefault(Return(3.0));
- ON_CALL(roadSignal, GetHOffset()).WillByDefault(Return(1.0));
+ ON_CALL(roadSignal, GetWidth()).WillByDefault(Return(4.0_m));
+ ON_CALL(roadSignal, GetHeight()).WillByDefault(Return(5.0_m));
+ ON_CALL(roadSignal, GetZOffset()).WillByDefault(Return(3.0_m));
+ ON_CALL(roadSignal, GetHOffset()).WillByDefault(Return(1.0_rad));
ON_CALL(roadSignal, GetOrientation()).WillByDefault(Return(false));
ON_CALL(roadSignal, GetType()).WillByDefault(Return("1.000.011"));
ON_CALL(roadSignal, GetSubType()).WillByDefault(Return("20"));
- Position position{10, 11, 1.5, 0};
+ Position position{10_m, 11_m, 1.5_rad, 0_i_m};
osi3::TrafficLight osiLightRed;
osi3::TrafficLight osiLightYellow;
@@ -909,13 +911,13 @@ TEST(DefaultMovingObject, MovingObjectAddWheels)
OWL::OsiDefaultValues defaultValues;
OWL::WheelData wheelData;
- wheelData.position = {0.0, 1.0, 2.0};
+ wheelData.position = {0.0_m, 1.0_m, 2.0_m};
wheelData.axle = 1;
wheelData.index = 1;
- wheelData.rotation_rate = 1.0;
- wheelData.width = 2.0;
- wheelData.wheelRadius = 3.0;
- wheelData.rim_radius = 4.0;
+ wheelData.rotation_rate = 1.0_rpm;
+ wheelData.width = 2.0_m;
+ wheelData.wheelRadius = 3.0_m;
+ wheelData.rim_radius = 4.0_m;
ASSERT_EQ(osi_moving_object.mutable_vehicle_attributes()->number_wheels(),0);
moving_object.AddWheel(wheelData);
@@ -923,15 +925,15 @@ TEST(DefaultMovingObject, MovingObjectAddWheels)
ASSERT_EQ(osi_moving_object.mutable_vehicle_attributes()->wheel_data().at(0).axle(),wheelData.axle);
ASSERT_EQ(osi_moving_object.mutable_vehicle_attributes()->wheel_data().at(0).index(),wheelData.index);
- ASSERT_EQ(osi_moving_object.mutable_vehicle_attributes()->wheel_data().at(0).rotation_rate(),wheelData.rotation_rate);
- ASSERT_EQ(osi_moving_object.mutable_vehicle_attributes()->wheel_data().at(0).width(),wheelData.width);
- ASSERT_EQ(osi_moving_object.mutable_vehicle_attributes()->wheel_data().at(0).wheel_radius(),wheelData.wheelRadius);
- ASSERT_EQ(osi_moving_object.mutable_vehicle_attributes()->wheel_data().at(0).rim_radius(),wheelData.rim_radius);
+ ASSERT_EQ(osi_moving_object.mutable_vehicle_attributes()->wheel_data().at(0).rotation_rate(), wheelData.rotation_rate.value());
+ ASSERT_EQ(osi_moving_object.mutable_vehicle_attributes()->wheel_data().at(0).width(), wheelData.width.value());
+ ASSERT_EQ(osi_moving_object.mutable_vehicle_attributes()->wheel_data().at(0).wheel_radius(), wheelData.wheelRadius.value());
+ ASSERT_EQ(osi_moving_object.mutable_vehicle_attributes()->wheel_data().at(0).rim_radius(), wheelData.rim_radius.value());
wheelData.index = 2;
moving_object.AddWheel(wheelData);
ASSERT_EQ(osi_moving_object.mutable_vehicle_attributes()->wheel_data().at(1).index(),wheelData.index);
- ASSERT_EQ(osi_moving_object.mutable_vehicle_attributes()->wheel_data().at(1).rim_radius(),wheelData.rim_radius);
+ ASSERT_EQ(osi_moving_object.mutable_vehicle_attributes()->wheel_data().at(1).rim_radius(), wheelData.rim_radius.value());
ASSERT_EQ(osi_moving_object.mutable_vehicle_attributes()->number_wheels(),2);
}
diff --git a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/egoAgent_Tests.cpp b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/egoAgent_Tests.cpp
index c856966d51d996b58209f5e0c8d19b88c4816689..c9fd8008a6e9e38ac9dd8aba634d56ba251807dc 100644
--- a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/egoAgent_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/egoAgent_Tests.cpp
@@ -29,7 +29,7 @@ TEST(EgoAgent_Test, GetDistanceToEndOfLane)
NiceMock<FakeAgent> fakeAgent;
NiceMock<FakeWorld> fakeWorld;
- GlobalRoadPositions agentPosition{{"Road1", GlobalRoadPosition{"Road1", -2, 12, 0, 0}}};
+ GlobalRoadPositions agentPosition{{"Road1", GlobalRoadPosition{"Road1", -2, 12_m, 0_m, 0_rad}}};
ON_CALL(fakeAgent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter))).WillByDefault(ReturnRef(agentPosition));
std::vector<std::string> roads{"Road1"};
ON_CALL(fakeAgent, GetRoads(_)).WillByDefault(Return(roads));
@@ -39,14 +39,14 @@ TEST(EgoAgent_Test, GetDistanceToEndOfLane)
RoadGraphVertex target = add_vertex(RouteElement{"Road2", true}, roadGraph);
add_edge(root, target, roadGraph);
- RouteQueryResult<double> distances{{0, 123}};
- ON_CALL(fakeWorld, GetDistanceToEndOfLane(_,_,-1,12,100)).WillByDefault(Return(distances));
+ RouteQueryResult<units::length::meter_t> distances{{0, 123_m}};
+ ON_CALL(fakeWorld, GetDistanceToEndOfLane(_, _, -1, 12_m, 100_m)).WillByDefault(Return(distances));
EgoAgent egoAgent {&fakeAgent, &fakeWorld};
egoAgent.SetRoadGraph(std::move(roadGraph), root, target);
- const auto result = egoAgent.GetDistanceToEndOfLane(100, 1);
- ASSERT_THAT(result, Eq(123));
+ const auto result = egoAgent.GetDistanceToEndOfLane(100_m, 1);
+ ASSERT_THAT(result.value(), Eq(123));
}
TEST(EgoAgent_Test, GetObjectsInRange)
@@ -54,7 +54,7 @@ TEST(EgoAgent_Test, GetObjectsInRange)
NiceMock<FakeAgent> fakeAgent;
NiceMock<FakeWorld> fakeWorld;
- GlobalRoadPositions agentPosition{{"Road1", GlobalRoadPosition{"Road1", -2, 12, 0, 0}}};
+ GlobalRoadPositions agentPosition{{"Road1", GlobalRoadPosition{"Road1", -2, 12_m, 0_m, 0_rad}}};
ON_CALL(fakeAgent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter))).WillByDefault(ReturnRef(agentPosition));
std::vector<std::string> roads{"Road1"};
ON_CALL(fakeAgent, GetRoads(_)).WillByDefault(Return(roads));
@@ -66,12 +66,12 @@ TEST(EgoAgent_Test, GetObjectsInRange)
FakeAgent otherAgent;
RouteQueryResult<std::vector<const WorldObjectInterface*>> objects{{0, {&otherAgent}}};
- ON_CALL(fakeWorld, GetObjectsInRange(_,_,-1,12,100, 100)).WillByDefault(Return(objects));
+ ON_CALL(fakeWorld, GetObjectsInRange(_, _, -1, 12_m, 100_m, 100_m)).WillByDefault(Return(objects));
EgoAgent egoAgent {&fakeAgent, &fakeWorld};
egoAgent.SetRoadGraph(std::move(roadGraph), root, target);
- const auto result = egoAgent.GetObjectsInRange(100, 100, 1);
+ const auto result = egoAgent.GetObjectsInRange(100_m, 100_m, 1);
ASSERT_THAT(result, ElementsAre(&otherAgent));
}
@@ -80,7 +80,7 @@ TEST(EgoAgent_Test, GetAgentsInRange)
NiceMock<FakeAgent> fakeAgent;
NiceMock<FakeWorld> fakeWorld;
- GlobalRoadPositions agentPosition{{"Road1", GlobalRoadPosition{"Road1", -2, 12, 0, 0}}};
+ GlobalRoadPositions agentPosition{{"Road1", GlobalRoadPosition{"Road1", -2, 12_m, 0_m, 0_rad}}};
ON_CALL(fakeAgent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter))).WillByDefault(ReturnRef(agentPosition));
std::vector<std::string> roads{"Road1"};
ON_CALL(fakeAgent, GetRoads(_)).WillByDefault(Return(roads));
@@ -92,12 +92,12 @@ TEST(EgoAgent_Test, GetAgentsInRange)
FakeAgent otherAgent;
RouteQueryResult<AgentInterfaces> objects{{0, {&otherAgent}}};
- ON_CALL(fakeWorld, GetAgentsInRange(_,_,-1,12,100, 100)).WillByDefault(Return(objects));
+ ON_CALL(fakeWorld, GetAgentsInRange(_, _, -1, 12_m, 100_m, 100_m)).WillByDefault(Return(objects));
EgoAgent egoAgent {&fakeAgent, &fakeWorld};
egoAgent.SetRoadGraph(std::move(roadGraph), root, target);
- const auto result = egoAgent.GetAgentsInRange(100, 100, 1);
+ const auto result = egoAgent.GetAgentsInRange(100_m, 100_m, 1);
ASSERT_THAT(result, ElementsAre(&otherAgent));
}
@@ -106,7 +106,7 @@ TEST(EgoAgent_Test, GetTrafficSignsInRange)
NiceMock<FakeAgent> fakeAgent;
NiceMock<FakeWorld> fakeWorld;
- GlobalRoadPositions agentPosition{{"Road1", GlobalRoadPosition{"Road1", -2, 12, 0, 0}}};
+ GlobalRoadPositions agentPosition{{"Road1", GlobalRoadPosition{"Road1", -2, 12_m, 0_m, 0_rad}}};
ON_CALL(fakeAgent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter))).WillByDefault(ReturnRef(agentPosition));
std::vector<std::string> roads{"Road1"};
ON_CALL(fakeAgent, GetRoads(_)).WillByDefault(Return(roads));
@@ -118,12 +118,12 @@ TEST(EgoAgent_Test, GetTrafficSignsInRange)
RouteQueryResult<std::vector<CommonTrafficSign::Entity>> objects{{0, {CommonTrafficSign::Entity{}}}};
- ON_CALL(fakeWorld, GetTrafficSignsInRange(_,_,-1,12,100)).WillByDefault(Return(objects));
+ ON_CALL(fakeWorld, GetTrafficSignsInRange(_, _, -1, 12_m, 100_m)).WillByDefault(Return(objects));
EgoAgent egoAgent {&fakeAgent, &fakeWorld};
egoAgent.SetRoadGraph(std::move(roadGraph), root, target);
- const auto result = egoAgent.GetTrafficSignsInRange(100, 1);
+ const auto result = egoAgent.GetTrafficSignsInRange(100_m, 1);
ASSERT_THAT(result, SizeIs(1));
}
@@ -137,8 +137,8 @@ TEST(EgoAgent_Test, GetReferencePointPosition_FirstRoad)
RoadGraphVertex target = add_vertex(RouteElement{"Road2", true}, roadGraph);
add_edge(root, target, roadGraph);
- GlobalRoadPositions referencePoint{{"Road1", {"Road1", -2, 2.0, 3.0, 0.1}}};
- GlobalRoadPositions frontPoint{{"Road1", {"Road1", -2, 12.0, 3.0, 0.1}}};
+ GlobalRoadPositions referencePoint{{"Road1", {"Road1", -2, 2.0_m, 3.0_m, 0.1_rad}}};
+ GlobalRoadPositions frontPoint{{"Road1", {"Road1", -2, 12.0_m, 3.0_m, 0.1_rad}}};
ON_CALL(fakeAgent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::Reference))).WillByDefault(ReturnRef(referencePoint));
ON_CALL(fakeAgent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter))).WillByDefault(ReturnRef(frontPoint));
std::vector<std::string> roads{"Road1"};
@@ -151,9 +151,9 @@ TEST(EgoAgent_Test, GetReferencePointPosition_FirstRoad)
ASSERT_THAT(result.has_value(), Eq(true));
ASSERT_THAT(result.value().laneId, Eq(-2));
- ASSERT_THAT(result.value().roadPosition.s, Eq(2.0));
- ASSERT_THAT(result.value().roadPosition.t, Eq(3.0));
- ASSERT_THAT(result.value().roadPosition.hdg, Eq(0.1));
+ ASSERT_THAT(result.value().roadPosition.s.value(), Eq(2.0));
+ ASSERT_THAT(result.value().roadPosition.t.value(), Eq(3.0));
+ ASSERT_THAT(result.value().roadPosition.hdg.value(), Eq(0.1));
}
TEST(EgoAgent_Test, GetReferencePointPosition_SecondRoad)
@@ -166,8 +166,8 @@ TEST(EgoAgent_Test, GetReferencePointPosition_SecondRoad)
RoadGraphVertex target = add_vertex(RouteElement{"Road2", true}, roadGraph);
add_edge(root, target, roadGraph);
- GlobalRoadPositions referencePoint{{"Road2", {"Road2", -2, 2.0, 3.0, 0.1}}};
- GlobalRoadPositions frontPoint{{"Road2", {"Road2", -2, 12.0, 3.0, 0.1}}};
+ GlobalRoadPositions referencePoint{{"Road2", {"Road2", -2, 2.0_m, 3.0_m, 0.1_rad}}};
+ GlobalRoadPositions frontPoint{{"Road2", {"Road2", -2, 12.0_m, 3.0_m, 0.1_rad}}};
ON_CALL(fakeAgent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::Reference))).WillByDefault(ReturnRef(referencePoint));
ON_CALL(fakeAgent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter))).WillByDefault(ReturnRef(frontPoint));
std::vector<std::string> roads{"Road2"};
@@ -181,9 +181,9 @@ TEST(EgoAgent_Test, GetReferencePointPosition_SecondRoad)
ASSERT_THAT(result.has_value(), Eq(true));
ASSERT_THAT(result.value().laneId, Eq(-2));
- ASSERT_THAT(result.value().roadPosition.s, Eq(2.0));
- ASSERT_THAT(result.value().roadPosition.t, Eq(3.0));
- ASSERT_THAT(result.value().roadPosition.hdg, Eq(0.1));
+ ASSERT_THAT(result.value().roadPosition.s.value(), Eq(2.0));
+ ASSERT_THAT(result.value().roadPosition.t.value(), Eq(3.0));
+ ASSERT_THAT(result.value().roadPosition.hdg.value(), Eq(0.1));
}
TEST(EgoAgent_Test, GetReferencePointPosition_NotOnRoute)
@@ -196,8 +196,8 @@ TEST(EgoAgent_Test, GetReferencePointPosition_NotOnRoute)
RoadGraphVertex target = add_vertex(RouteElement{"Road2", true}, roadGraph);
add_edge(root, target, roadGraph);
- GlobalRoadPositions referencePoint{{"Offroad", {"Offroad", -2, 2.0, 3.0, 0.1}}};
- GlobalRoadPositions frontPoint{{"Offroad", {"Offroad", -2, 12.0, 3.0, 0.1}}};
+ GlobalRoadPositions referencePoint{{"Offroad", {"Offroad", -2, 2.0_m, 3.0_m, 0.1_rad}}};
+ GlobalRoadPositions frontPoint{{"Offroad", {"Offroad", -2, 12.0_m, 3.0_m, 0.1_rad}}};
ON_CALL(fakeAgent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::Reference))).WillByDefault(ReturnRef(referencePoint));
ON_CALL(fakeAgent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter))).WillByDefault(ReturnRef(frontPoint));
@@ -221,17 +221,17 @@ public:
add_edge(root, node3, roadGraph);
ON_CALL(fakeAgent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter))).WillByDefault(ReturnRef(agentPosition));
ON_CALL(fakeAgent, GetRoads(_)).WillByDefault(Return(roads));
- RouteQueryResult<double> distances {{node1, 100},
- {node21, 150},
- {node22, 200},
- {node3, 50}};
- ON_CALL(fakeWorld, GetDistanceToEndOfLane(_,_,-3,12,500)).WillByDefault(Return(distances));
+ RouteQueryResult<units::length::meter_t> distances{{node1, 100_m},
+ {node21, 150_m},
+ {node22, 200_m},
+ {node3, 50_m}};
+ ON_CALL(fakeWorld, GetDistanceToEndOfLane(_, _, -3, 12_m, 500_m)).WillByDefault(Return(distances));
RouteQueryResult<std::vector<const WorldObjectInterface*>> objects{{node1, {&opponent1, &opponent2}},
{node21, {}},
{node22, {}},
{node3, {&opponent1}}};
- ON_CALL(fakeWorld, GetObjectsInRange(_,_,-3,12,100,500)).WillByDefault(Return(objects));
+ ON_CALL(fakeWorld, GetObjectsInRange(_, _, -3, 12_m, 100_m, 500_m)).WillByDefault(Return(objects));
egoAgent.SetRoadGraph(std::move(roadGraph), root, node21);
}
@@ -239,7 +239,7 @@ public:
NiceMock<FakeAgent> fakeAgent;
NiceMock<FakeWorld> fakeWorld;
EgoAgent egoAgent {&fakeAgent, &fakeWorld};
- GlobalRoadPositions agentPosition{{"Road1", GlobalRoadPosition{"Road1", -2, 12, 0, 0}}};
+ GlobalRoadPositions agentPosition{{"Road1", GlobalRoadPosition{"Road1", -2, 12_m, 0_m, 0_rad}}};
std::vector<std::string> roads{"Road1"};
RoadGraph roadGraph;
RoadGraphVertex root = add_vertex(RouteElement{"Road1", true}, roadGraph);
@@ -255,8 +255,8 @@ public:
TEST_F(EgoAgent_GetAlternatives_Test, GetAlternativesFilterByDistance)
{
const auto alternatives = egoAgent.GetAlternatives(
- Predicate<DistanceToEndOfLane>{[](const auto& distance){return distance < 160;}},
- DistanceToEndOfLaneParameter{500, -1});
+ Predicate<DistanceToEndOfLane>{[](const units::length::meter_t &distance) { return distance < 160_m; }},
+ DistanceToEndOfLaneParameter{500_m, -1});
ASSERT_THAT(alternatives, ElementsAre(0, 1, 3));
}
@@ -264,9 +264,9 @@ TEST_F(EgoAgent_GetAlternatives_Test, GetAlternativesFilterByDistance)
TEST_F(EgoAgent_GetAlternatives_Test, GetAlternativesFilterByDistanceAndObjects)
{
const auto alternatives = egoAgent.GetAlternatives(
- Predicate<DistanceToEndOfLane, ObjectsInRange>{[](const auto& distance, const auto& objects){return distance < 160 && objects.value.empty();}},
- DistanceToEndOfLaneParameter{500, -1},
- ObjectsInRangeParameter{100, 500, -1});
+ Predicate<DistanceToEndOfLane, ObjectsInRange>{[](const units::length::meter_t &distance, const auto &objects) { return distance < 160_m && objects.value.empty(); }},
+ DistanceToEndOfLaneParameter{500_m, -1},
+ ObjectsInRangeParameter{100_m, 500_m, -1});
ASSERT_THAT(alternatives, ElementsAre(1));
}
@@ -274,9 +274,9 @@ TEST_F(EgoAgent_GetAlternatives_Test, GetAlternativesFilterByDistanceAndObjects)
TEST_F(EgoAgent_GetAlternatives_Test, GetAlternativesFilterAndSortByDistance)
{
const auto alternatives = egoAgent.GetAlternatives(
- Predicate<DistanceToEndOfLane>{[](const auto& distance){return distance < 160;}},
- Compare<DistanceToEndOfLane>{[](const auto& distances){return distances.first < distances.second;}},
- DistanceToEndOfLaneParameter{500, -1});
+ Predicate<DistanceToEndOfLane>{[](const units::length::meter_t &distance) { return distance < 160_m; }},
+ Compare<DistanceToEndOfLane>{[](const auto &distances) { return distances.first < distances.second; }},
+ DistanceToEndOfLaneParameter{500_m, -1});
ASSERT_THAT(alternatives, ElementsAre(3, 0, 1));
}
@@ -284,10 +284,10 @@ TEST_F(EgoAgent_GetAlternatives_Test, GetAlternativesFilterAndSortByDistance)
TEST_F(EgoAgent_GetAlternatives_Test, GetAlternativesFilterAndSortByDistanceAndObjects)
{
const auto alternatives = egoAgent.GetAlternatives(
- Predicate<DistanceToEndOfLane, ObjectsInRange>{[](const auto& distance, const auto& objects){return distance < 160 && !objects.value.empty();}},
- Compare<DistanceToEndOfLane, ObjectsInRange>{[](const auto& distances, const auto& objects){return objects.first.value.size() < objects.second.value.size();}},
- DistanceToEndOfLaneParameter{500, -1},
- ObjectsInRangeParameter{100, 500, -1});
+ Predicate<DistanceToEndOfLane, ObjectsInRange>{[](const units::length::meter_t &distance, const auto &objects) { return distance < 160_m && !objects.value.empty(); }},
+ Compare<DistanceToEndOfLane, ObjectsInRange>{[](const auto &distances, const auto &objects) { return objects.first.value.size() < objects.second.value.size(); }},
+ DistanceToEndOfLaneParameter{500_m, -1},
+ ObjectsInRangeParameter{100_m, 500_m, -1});
ASSERT_THAT(alternatives, ElementsAre(3, 0));
}
@@ -310,7 +310,7 @@ TEST_P(GetLaneIdFromRelativeTest, CalculatesCorrectLaneId)
NiceMock<FakeAgent> fakeAgent;
NiceMock<FakeWorld> fakeWorld;
- GlobalRoadPositions agentPosition{{"Road1", GlobalRoadPosition{"Road1", data.ownLaneId, 0, 0, 0}}};
+ GlobalRoadPositions agentPosition{{"Road1", GlobalRoadPosition{"Road1", data.ownLaneId, 0_m, 0_m, 0_rad}}};
ON_CALL(fakeAgent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter))).WillByDefault(ReturnRef(agentPosition));
std::vector<std::string> roads{"Road1"};
ON_CALL(fakeAgent, GetRoads(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter))).WillByDefault(Return(roads));
diff --git a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/fakeLaneManager_Tests.cpp b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/fakeLaneManager_Tests.cpp
index bbbd28ee4e75ebcc073379b84fc173e018905ba7..825e5dce2bcc945859ddb3d72b0de2ba615de610 100644
--- a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/fakeLaneManager_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/fakeLaneManager_Tests.cpp
@@ -24,10 +24,10 @@ using ::testing::ElementsAre;
TEST(FakeLaneManager, SingleLaneTest)
{
- FakeLaneManager flm(1, 1, 3.0, {1000}, "TestRoadId");
+ FakeLaneManager flm(1, 1, 3.0_m, {1000_m}, "TestRoadId");
EXPECT_THAT(flm.lanes[0][0]->Exists(), Eq(true));
- EXPECT_THAT(flm.lanes[0][0]->GetWidth(0), Eq(3.0));
+ EXPECT_THAT(flm.lanes[0][0]->GetWidth(0_m).value(), Eq(3.0));
EXPECT_THAT(flm.lanes[0][0]->GetLeftLane(), Ref(flm.invalidLane));
EXPECT_THAT(flm.lanes[0][0]->GetRightLane(), Ref(flm.invalidLane));
EXPECT_THAT(flm.lanes[0][0]->GetPrevious(), IsEmpty());
@@ -36,11 +36,11 @@ TEST(FakeLaneManager, SingleLaneTest)
TEST(FakeLaneManager, GetLaneTest)
{
- FakeLaneManager flm(1, 1, 3.0, {1000}, "TestRoadId");
+ FakeLaneManager flm(1, 1, 3.0_m, {1000_m}, "TestRoadId");
auto& lane = flm.GetLane(0, 0);
EXPECT_THAT(lane.Exists(), Eq(true));
- EXPECT_THAT(lane.GetWidth(0), Eq(3.0));
+ EXPECT_THAT(lane.GetWidth(0_m).value(), Eq(3.0));
EXPECT_THAT(lane.GetLeftLane(), Ref(flm.invalidLane));
EXPECT_THAT(lane.GetRightLane(), Ref(flm.invalidLane));
EXPECT_THAT(flm.lanes[0][0]->GetPrevious(), IsEmpty());
@@ -49,17 +49,17 @@ TEST(FakeLaneManager, GetLaneTest)
TEST(FakeLaneManager, SingleColumnTest)
{
- FakeLaneManager flm(1, 2, 3.0, {1000}, "TestRoadId");
+ FakeLaneManager flm(1, 2, 3.0_m, {1000_m}, "TestRoadId");
EXPECT_THAT(flm.lanes[0][0]->Exists(), Eq(true));
- EXPECT_THAT(flm.lanes[0][0]->GetWidth(0), Eq(3.0));
+ EXPECT_THAT(flm.lanes[0][0]->GetWidth(0_m).value(), Eq(3.0));
EXPECT_THAT(flm.lanes[0][0]->GetLeftLane(), Ref(flm.invalidLane));
EXPECT_THAT(&flm.lanes[0][0]->GetRightLane(), Eq(flm.lanes[0][1]));
EXPECT_THAT(flm.lanes[0][0]->GetPrevious(), IsEmpty());
EXPECT_THAT(flm.lanes[0][0]->GetNext(), IsEmpty());
EXPECT_THAT(flm.lanes[0][1]->Exists(), Eq(true));
- EXPECT_THAT(flm.lanes[0][1]->GetWidth(0), Eq(3.0));
+ EXPECT_THAT(flm.lanes[0][1]->GetWidth(0_m).value(), Eq(3.0));
EXPECT_THAT(&flm.lanes[0][1]->GetLeftLane(), Eq(flm.lanes[0][0]));
EXPECT_THAT(flm.lanes[0][1]->GetRightLane(), Ref(flm.invalidLane));
EXPECT_THAT(flm.lanes[0][0]->GetPrevious(), IsEmpty());
@@ -68,17 +68,17 @@ TEST(FakeLaneManager, SingleColumnTest)
TEST(FakeLaneManager, SingleRowTest)
{
- FakeLaneManager flm(2, 1, 3.0, {1000, 1000}, "TestRoadId");
+ FakeLaneManager flm(2, 1, 3.0_m, {1000_m, 1000_m}, "TestRoadId");
EXPECT_THAT(flm.lanes[0][0]->Exists(), Eq(true));
- EXPECT_THAT(flm.lanes[0][0]->GetWidth(0), Eq(3.0));
+ EXPECT_THAT(flm.lanes[0][0]->GetWidth(0_m).value(), Eq(3.0));
EXPECT_THAT(flm.lanes[0][0]->GetLeftLane(), Ref(flm.invalidLane));
EXPECT_THAT(flm.lanes[0][0]->GetRightLane(), Ref(flm.invalidLane));
EXPECT_THAT(flm.lanes[0][0]->GetPrevious(), IsEmpty());
EXPECT_THAT(flm.lanes[0][0]->GetNext(), ElementsAre(flm.lanes[1][0]->GetId()));
EXPECT_THAT(flm.lanes[1][0]->Exists(), Eq(true));
- EXPECT_THAT(flm.lanes[1][0]->GetWidth(0), Eq(3.0));
+ EXPECT_THAT(flm.lanes[1][0]->GetWidth(0_m).value(), Eq(3.0));
EXPECT_THAT(flm.lanes[1][0]->GetLeftLane(), Ref(flm.invalidLane));
EXPECT_THAT(flm.lanes[1][0]->GetRightLane(), Ref(flm.invalidLane));
EXPECT_THAT(flm.lanes[1][0]->GetNext(), IsEmpty());
@@ -87,17 +87,17 @@ TEST(FakeLaneManager, SingleRowTest)
TEST(FakeLaneManager, MatrixTest)
{
- FakeLaneManager flm(2, 3, 3.0, {1000, 1000}, "TestRoadId");
+ FakeLaneManager flm(2, 3, 3.0_m, {1000_m, 1000_m}, "TestRoadId");
EXPECT_THAT(flm.lanes[0][0]->Exists(), Eq(true));
- EXPECT_THAT(flm.lanes[0][0]->GetWidth(0), Eq(3.0));
+ EXPECT_THAT(flm.lanes[0][0]->GetWidth(0_m).value(), Eq(3.0));
EXPECT_THAT(flm.lanes[0][0]->GetLeftLane(), Ref(flm.invalidLane));
EXPECT_THAT(&flm.lanes[0][0]->GetRightLane(), Eq(flm.lanes[0][1]));
EXPECT_THAT(flm.lanes[0][0]->GetPrevious(), IsEmpty());
EXPECT_THAT(flm.lanes[0][0]->GetNext(), ElementsAre(flm.lanes[1][0]->GetId()));
EXPECT_THAT(flm.lanes[1][2]->Exists(), Eq(true));
- EXPECT_THAT(flm.lanes[1][2]->GetWidth(0), Eq(3.0));
+ EXPECT_THAT(flm.lanes[1][2]->GetWidth(0_m).value(), Eq(3.0));
EXPECT_THAT(&flm.lanes[1][2]->GetLeftLane(), Eq(flm.lanes[1][1]));
EXPECT_THAT(flm.lanes[1][2]->GetRightLane(), Ref(flm.invalidLane));
EXPECT_THAT(flm.lanes[1][2]->GetNext(), IsEmpty());
@@ -106,7 +106,7 @@ TEST(FakeLaneManager, MatrixTest)
TEST(FakeLaneManager, SectionConnectionTest)
{
- FakeLaneManager flm(2, 2, 3.0, {1000, 1000}, "TestRoadId");
+ FakeLaneManager flm(2, 2, 3.0_m, {1000_m, 1000_m}, "TestRoadId");
EXPECT_THAT(&flm.lanes[0][0]->GetSection(), &flm.lanes[0][1]->GetSection());
EXPECT_THAT(&flm.lanes[1][0]->GetSection(), &flm.lanes[1][1]->GetSection());
@@ -119,23 +119,23 @@ TEST(FakeLaneManager, SectionConnectionTest)
TEST(FakeLaneManager, ApplyMovingObjectTest)
{
- FakeLaneManager flm(2, 2, 3.0, {1000, 1000}, "TestRoadId");
+ FakeLaneManager flm(2, 2, 3.0_m, {1000_m, 1000_m}, "TestRoadId");
Fakes::MovingObject fmo00;
Fakes::MovingObject fmo01;
Fakes::MovingObject fmo11;
- OWL::LaneOverlap overlap1{GlobalRoadPosition{"",0,1,0,0},
- GlobalRoadPosition{"",0,1,0,0},
- GlobalRoadPosition{"",0,1,0,0},
- GlobalRoadPosition{"",0,1,0,0}};
- OWL::LaneOverlap overlap2{GlobalRoadPosition{"",0,2,0,0},
- GlobalRoadPosition{"",0,2,0,0},
- GlobalRoadPosition{"",0,2,0,0},
- GlobalRoadPosition{"",0,2,0,0}};
- OWL::LaneOverlap overlap3{GlobalRoadPosition{"",0,3,0,0},
- GlobalRoadPosition{"",0,3,0,0},
- GlobalRoadPosition{"",0,3,0,0},
- GlobalRoadPosition{"",0,3,0,0}};
+ OWL::LaneOverlap overlap1{GlobalRoadPosition{"",0,1_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,1_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,1_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,1_m,0_m,0_rad}};
+ OWL::LaneOverlap overlap2{GlobalRoadPosition{"",0,2_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,2_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,2_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,2_m,0_m,0_rad}};
+ OWL::LaneOverlap overlap3{GlobalRoadPosition{"",0,3_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,3_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,3_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,3_m,0_m,0_rad}};
flm.AddWorldObject(0, 0, fmo00, overlap1);
flm.AddWorldObject(0, 0, fmo01, overlap2);
flm.AddWorldObject(1, 1, fmo11, overlap3);
@@ -153,49 +153,49 @@ TEST(FakeLaneManager, ApplyMovingObjectTest)
TEST(FakeLaneManager, SetWidth)
{
- FakeLaneManager flm(2, 2, 3.0, {1000, 1000}, "TestRoadId");
+ FakeLaneManager flm(2, 2, 3.0_m, {1000_m, 1000_m}, "TestRoadId");
- flm.SetWidth(0, 0, 1.0, 10.0);
- flm.SetWidth(0, 1, 2.0, 20.0);
- flm.SetWidth(1, 0, 3.0, 30.0);
- flm.SetWidth(1, 1, 4.0, 40.0);
+ flm.SetWidth(0, 0, 1.0_m, 10.0_m);
+ flm.SetWidth(0, 1, 2.0_m, 20.0_m);
+ flm.SetWidth(1, 0, 3.0_m, 30.0_m);
+ flm.SetWidth(1, 1, 4.0_m, 40.0_m);
// default values (set by constructor)
- EXPECT_THAT(flm.lanes[0][0]->GetWidth(0.0), Eq(3.0));
- EXPECT_THAT(flm.lanes[0][1]->GetWidth(0.0), Eq(3.0));
- EXPECT_THAT(flm.lanes[1][0]->GetWidth(0.0), Eq(3.0));
- EXPECT_THAT(flm.lanes[1][1]->GetWidth(0.0), Eq(3.0));
+ EXPECT_THAT(flm.lanes[0][0]->GetWidth(0.0_m).value(), Eq(3.0));
+ EXPECT_THAT(flm.lanes[0][1]->GetWidth(0.0_m).value(), Eq(3.0));
+ EXPECT_THAT(flm.lanes[1][0]->GetWidth(0.0_m).value(), Eq(3.0));
+ EXPECT_THAT(flm.lanes[1][1]->GetWidth(0.0_m).value(), Eq(3.0));
// special values at distance x
- EXPECT_THAT(flm.lanes[0][0]->GetWidth(10.0), Eq(1.0));
- EXPECT_THAT(flm.lanes[0][1]->GetWidth(20.0), Eq(2.0));
- EXPECT_THAT(flm.lanes[1][0]->GetWidth(30.0), Eq(3.0));
- EXPECT_THAT(flm.lanes[1][1]->GetWidth(40.0), Eq(4.0));
+ EXPECT_THAT(flm.lanes[0][0]->GetWidth(10.0_m).value(), Eq(1.0));
+ EXPECT_THAT(flm.lanes[0][1]->GetWidth(20.0_m).value(), Eq(2.0));
+ EXPECT_THAT(flm.lanes[1][0]->GetWidth(30.0_m).value(), Eq(3.0));
+ EXPECT_THAT(flm.lanes[1][1]->GetWidth(40.0_m).value(), Eq(4.0));
}
TEST(FakeLaneManager, SetLength)
{
- FakeLaneManager flm(1, 2, 3.0, {1000, 1000}, "TestRoadId");
+ FakeLaneManager flm(1, 2, 3.0_m, {1000_m, 1000_m}, "TestRoadId");
- flm.SetLength(0, 0, 1.0);
- EXPECT_THAT(flm.lanes[0][0]->GetLength(), Eq(1.0));
- EXPECT_THAT(flm.lanes[0][0]->GetDistance(OWL::MeasurementPoint::RoadStart), Eq(0.0));
- EXPECT_THAT(flm.lanes[0][0]->GetDistance(OWL::MeasurementPoint::RoadEnd), Eq(1.0));
+ flm.SetLength(0, 0, 1.0_m);
+ EXPECT_THAT(flm.lanes[0][0]->GetLength().value(), Eq(1.0));
+ EXPECT_THAT(flm.lanes[0][0]->GetDistance(OWL::MeasurementPoint::RoadStart).value(), Eq(0.0));
+ EXPECT_THAT(flm.lanes[0][0]->GetDistance(OWL::MeasurementPoint::RoadEnd).value(), Eq(1.0));
- flm.SetLength(0, 1, 2.0, 20.0);
+ flm.SetLength(0, 1, 2.0_m, 20.0_m);
- EXPECT_THAT(flm.lanes[0][1]->GetLength(), Eq(2.0));
- EXPECT_THAT(flm.lanes[0][1]->GetDistance(OWL::MeasurementPoint::RoadStart), Eq(20.0));
- EXPECT_THAT(flm.lanes[0][1]->GetDistance(OWL::MeasurementPoint::RoadEnd), Eq(22.0));
+ EXPECT_THAT(flm.lanes[0][1]->GetLength().value(), Eq(2.0));
+ EXPECT_THAT(flm.lanes[0][1]->GetDistance(OWL::MeasurementPoint::RoadStart).value(), Eq(20.0));
+ EXPECT_THAT(flm.lanes[0][1]->GetDistance(OWL::MeasurementPoint::RoadEnd).value(), Eq(22.0));
}
////////////////////////////////////////////////////////////////////////////
TEST(FakeLaneManager, SectionCoversValidPosition_ReturnsTrue)
{
- FakeLaneManager flm(1, 1, 3.0, {200}, "TestRoadId");
+ FakeLaneManager flm(1, 1, 3.0_m, {200_m}, "TestRoadId");
const auto& sections = flm.GetSections();
- const std::vector<double> distances = {0.0, 50.0, 200.0};
+ const std::vector<units::length::meter_t> distances = {0.0_m, 50.0_m, 200.0_m};
ASSERT_EQ(sections.size(), 1);
const auto& section = sections.begin()->second;
@@ -209,10 +209,10 @@ TEST(FakeLaneManager, SectionCoversValidPosition_ReturnsTrue)
TEST(FakeLaneManager, SectionCoversInValidPosition_ReturnsFalse)
{
- FakeLaneManager flm(1, 1, 3.0, {200}, "TestRoadId");
+ FakeLaneManager flm(1, 1, 3.0_m, {200_m}, "TestRoadId");
const auto& sections = flm.GetSections();
- const std::vector<double> distances = {-1.0, 201.0};
+ const std::vector<units::length::meter_t> distances = {-1.0_m, 201.0_m};
ASSERT_EQ(sections.size(), 1);
const auto& section = sections.begin()->second;
@@ -225,11 +225,11 @@ TEST(FakeLaneManager, SectionCoversInValidPosition_ReturnsFalse)
TEST(FakeLaneManager, SectionCoversIntervalValidPositions_ReturnsTrue)
{
- FakeLaneManager flm(1, 1, 3.0, {200}, "TestRoadId");
+ FakeLaneManager flm(1, 1, 3.0_m, {200_m}, "TestRoadId");
const auto& sections = flm.GetSections();
- std::vector<double> startDistances = {0.0, 30.0, 190.0};
- std::vector<double> endDistances = {10.0, 40.0, 200.0};
+ std::vector<units::length::meter_t> startDistances = {0.0_m, 30.0_m, 190.0_m};
+ std::vector<units::length::meter_t> endDistances = {10.0_m, 40.0_m, 200.0_m};
ASSERT_EQ(sections.size(), 1);
const auto& section = sections.begin()->second;
@@ -243,11 +243,11 @@ TEST(FakeLaneManager, SectionCoversIntervalValidPositions_ReturnsTrue)
TEST(FakeLaneManager, SectionCoversIntervalOneDistanceOutsideSectionRange_ReturnsTrue)
{
- FakeLaneManager flm(1, 1, 3.0, {200}, "TestRoadId");
+ FakeLaneManager flm(1, 1, 3.0_m, {200_m}, "TestRoadId");
const auto& sections = flm.GetSections();
- std::vector<double> startDistances = {-10.0, 190.0};
- std::vector<double> endDistances = {10.0, 210.0};
+ std::vector<units::length::meter_t> startDistances = {-10.0_m, 190.0_m};
+ std::vector<units::length::meter_t> endDistances = {10.0_m, 210.0_m};
ASSERT_EQ(sections.size(), 1);
const auto& section = sections.begin()->second;
@@ -260,11 +260,11 @@ TEST(FakeLaneManager, SectionCoversIntervalOneDistanceOutsideSectionRange_Retur
TEST(FakeLaneManager, SectionCoversIntervalBothDistancesOutsideSectionRange_ReturnsFalse)
{
- FakeLaneManager flm(1, 1, 3.0, {200}, "TestRoadId");
+ FakeLaneManager flm(1, 1, 3.0_m, {200_m}, "TestRoadId");
const auto& sections = flm.GetSections();
- std::vector<double> startDistances = {-50.0, 210.0};
- std::vector<double> endDistances = {-10.0, 300.0};
+ std::vector<units::length::meter_t> startDistances = {-50.0_m, 210.0_m};
+ std::vector<units::length::meter_t> endDistances = {-10.0_m, 300.0_m};
ASSERT_EQ(sections.size(), 1);
const auto& section = sections.begin()->second;
diff --git a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/geometryConverter_Tests.cpp b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/geometryConverter_Tests.cpp
index 0fa6897539f1c6f00c02aa7045698d23cd499541..8e0d16e36ca680aeada02ab3cd96352f49ae56b9 100644
--- a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/geometryConverter_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/geometryConverter_Tests.cpp
@@ -29,9 +29,9 @@ using ::testing::SizeIs;
TEST(GeometryConverter_UnitTests, CalculateJointOnlyRightLanes)
{
- constexpr double geometryOffset = 123.4;
- constexpr double roadOffset = 12.3;
- constexpr double roadSectionStart = 1.2;
+ constexpr units::length::meter_t geometryOffset{123.4};
+ constexpr units::length::meter_t roadOffset{12.3};
+ constexpr units::length::meter_t roadSectionStart{1.2};
FakeRoadLaneSection section;
FakeOdRoad road;
@@ -41,35 +41,35 @@ TEST(GeometryConverter_UnitTests, CalculateJointOnlyRightLanes)
FakeRoadLane lane0;
FakeRoadLane laneMinus1;
FakeRoadLane laneMinus2;
- RoadLaneWidth widthMinus1{0, 3.0, 0.0, 0.0, 0.0};
+ RoadLaneWidth widthMinus1{0_m, 3.0_m, 0.0, units::unit_t<units::inverse<units::length::meter>>{0.0}, units::unit_t<units::inverse<units::squared<units::length::meter>>>{0.0}};
RoadLaneWidths widthsMinus1{&widthMinus1};
ON_CALL(laneMinus1, GetWidths()).WillByDefault(ReturnRef(widthsMinus1));
- RoadLaneWidth widthMinus2{0, 4.0, 0.0, 0.0, 0.0};
+ RoadLaneWidth widthMinus2{0_m, 4.0_m, 0.0, units::unit_t<units::inverse<units::length::meter>>{0.0}, units::unit_t<units::inverse<units::squared<units::length::meter>>>{0.0}};
RoadLaneWidths widthsMinus2{&widthMinus2};
ON_CALL(laneMinus2, GetWidths()).WillByDefault(ReturnRef(widthsMinus2));
std::map<int, RoadLaneInterface*> lanes{{0, &lane0}, {-1, &laneMinus1}, {-2, &laneMinus2}};
ON_CALL(section, GetLanes()).WillByDefault(ReturnRef(lanes));
FakeRoadGeometry geometry;
- ON_CALL(geometry, GetCoord(geometryOffset,_)).WillByDefault(Return(Common::Vector2d{101.0, 102.0}));
+ ON_CALL(geometry, GetCoord(geometryOffset,_)).WillByDefault(Return(Common::Vector2d<units::length::meter_t>{101.0_m, 102.0_m}));
auto result = GeometryConverter::CalculateBorderPoints(§ion, &road, &geometry, geometryOffset, roadOffset, roadSectionStart);
ASSERT_THAT(result.s, Eq(roadOffset));
ASSERT_THAT(result.points, SizeIs(3));
- ASSERT_THAT(result.points.at(0).point, Eq(Common::Vector2d{101.0, 102.0}));
+ ASSERT_THAT(result.points.at(0).point, Eq(Common::Vector2d<units::length::meter_t>{101.0_m, 102.0_m}));
ASSERT_THAT(result.points.at(0).lane, Eq(&lane0));
- ASSERT_THAT(result.points.at(1).point, Eq(Common::Vector2d{101.0, 99.0}));
+ ASSERT_THAT(result.points.at(1).point, Eq(Common::Vector2d<units::length::meter_t>{101.0_m, 99.0_m}));
ASSERT_THAT(result.points.at(1).lane, Eq(&laneMinus1));
- ASSERT_THAT(result.points.at(2).point, Eq(Common::Vector2d{101.0, 95.0}));
+ ASSERT_THAT(result.points.at(2).point, Eq(Common::Vector2d<units::length::meter_t>{101.0_m, 95.0_m}));
ASSERT_THAT(result.points.at(2).lane, Eq(&laneMinus2));
}
TEST(GeometryConverter_UnitTests, CalculateJointOnlyRightLanesWithBorders)
{
- constexpr double geometryOffset = 123.4;
- constexpr double roadOffset = 12.3;
- constexpr double roadSectionStart = 1.2;
+ constexpr units::length::meter_t geometryOffset{123.4};
+ constexpr units::length::meter_t roadOffset{12.3};
+ constexpr units::length::meter_t roadSectionStart{1.2};
FakeRoadLaneSection section;
FakeOdRoad road;
@@ -81,11 +81,11 @@ TEST(GeometryConverter_UnitTests, CalculateJointOnlyRightLanesWithBorders)
FakeRoadLane laneMinus2;
RoadLaneWidths emptyWidths {};
- RoadLaneWidth widthMinus1{0, 3.0, 0.0, 0.0, 0.0};
+ RoadLaneWidth widthMinus1{0_m, 3.0_m, 0.0, units::unit_t<units::inverse<units::length::meter>>{0.0}, units::unit_t<units::inverse<units::squared<units::length::meter>>>{0.0}};
RoadLaneWidths widthsMinus1{&widthMinus1};
ON_CALL(laneMinus1, GetWidths()).WillByDefault(ReturnRef(emptyWidths));
ON_CALL(laneMinus1, GetBorders()).WillByDefault(ReturnRef(widthsMinus1));
- RoadLaneWidth widthMinus2{0, 7.0, 0.0, 0.0, 0.0};
+ RoadLaneWidth widthMinus2{0_m, 7.0_m, 0.0, units::unit_t<units::inverse<units::length::meter>>{0.0}, units::unit_t<units::inverse<units::squared<units::length::meter>>>{0.0}};
RoadLaneWidths widthsMinus2{&widthMinus2};
ON_CALL(laneMinus2, GetWidths()).WillByDefault(ReturnRef(emptyWidths));
@@ -94,25 +94,25 @@ TEST(GeometryConverter_UnitTests, CalculateJointOnlyRightLanesWithBorders)
ON_CALL(section, GetLanes()).WillByDefault(ReturnRef(lanes));
FakeRoadGeometry geometry;
- ON_CALL(geometry, GetCoord(geometryOffset,_)).WillByDefault(Return(Common::Vector2d{101.0, 102.0}));
+ ON_CALL(geometry, GetCoord(geometryOffset,_)).WillByDefault(Return(Common::Vector2d<units::length::meter_t>{101.0_m, 102.0_m}));
auto result = GeometryConverter::CalculateBorderPoints(§ion, &road, &geometry, geometryOffset, roadOffset, roadSectionStart);
ASSERT_THAT(result.s, Eq(roadOffset));
ASSERT_THAT(result.points, SizeIs(3));
- ASSERT_THAT(result.points.at(0).point, Eq(Common::Vector2d{101.0, 102.0}));
+ ASSERT_THAT(result.points.at(0).point, Eq(Common::Vector2d<units::length::meter_t>{101.0_m, 102.0_m}));
ASSERT_THAT(result.points.at(0).lane, Eq(&lane0));
- ASSERT_THAT(result.points.at(1).point, Eq(Common::Vector2d{101.0, 99.0}));
+ ASSERT_THAT(result.points.at(1).point, Eq(Common::Vector2d<units::length::meter_t>{101.0_m, 99.0_m}));
ASSERT_THAT(result.points.at(1).lane, Eq(&laneMinus1));
- ASSERT_THAT(result.points.at(2).point, Eq(Common::Vector2d{101.0, 95.0}));
+ ASSERT_THAT(result.points.at(2).point, Eq(Common::Vector2d<units::length::meter_t>{101.0_m, 95.0_m}));
ASSERT_THAT(result.points.at(2).lane, Eq(&laneMinus2));
}
TEST(GeometryConverter_UnitTests, CalculateJointOnlyLeftLanes)
{
- constexpr double geometryOffset = 123.4;
- constexpr double roadOffset = 12.3;
- constexpr double roadSectionStart = 1.2;
+ constexpr units::length::meter_t geometryOffset{123.4};
+ constexpr units::length::meter_t roadOffset{12.3};
+ constexpr units::length::meter_t roadSectionStart{1.2};
FakeRoadLaneSection section;
FakeOdRoad road;
@@ -122,35 +122,35 @@ TEST(GeometryConverter_UnitTests, CalculateJointOnlyLeftLanes)
FakeRoadLane lane0;
FakeRoadLane lanePlus1;
FakeRoadLane lanePlus2;
- RoadLaneWidth widthPlus1{0, 3.0, 0.0, 0.0, 0.0};
+ RoadLaneWidth widthPlus1{0_m, 3.0_m, 0.0, units::unit_t<units::inverse<units::length::meter>>{0.0}, units::unit_t<units::inverse<units::squared<units::length::meter>>>{0.0}};
RoadLaneWidths widthsPlus1{&widthPlus1};
ON_CALL(lanePlus1, GetWidths()).WillByDefault(ReturnRef(widthsPlus1));
- RoadLaneWidth widthPlus2{0, 4.0, 0.0, 0.0, 0.0};
+ RoadLaneWidth widthPlus2{0_m, 4.0_m, 0.0, units::unit_t<units::inverse<units::length::meter>>{0.0}, units::unit_t<units::inverse<units::squared<units::length::meter>>>{0.0}};
RoadLaneWidths widthsPlus2{&widthPlus2};
ON_CALL(lanePlus2, GetWidths()).WillByDefault(ReturnRef(widthsPlus2));
std::map<int, RoadLaneInterface*> lanes{{0, &lane0}, {1, &lanePlus1}, {2, &lanePlus2}};
ON_CALL(section, GetLanes()).WillByDefault(ReturnRef(lanes));
FakeRoadGeometry geometry;
- ON_CALL(geometry, GetCoord(geometryOffset,_)).WillByDefault(Return(Common::Vector2d{101.0, 102.0}));
+ ON_CALL(geometry, GetCoord(geometryOffset,_)).WillByDefault(Return(Common::Vector2d<units::length::meter_t>{101.0_m, 102.0_m}));
auto result = GeometryConverter::CalculateBorderPoints(§ion, &road, &geometry, geometryOffset, roadOffset, roadSectionStart);
ASSERT_THAT(result.s, Eq(roadOffset));
ASSERT_THAT(result.points, SizeIs(3));
- ASSERT_THAT(result.points.at(0).point, Eq(Common::Vector2d{101.0, 109.0}));
+ ASSERT_THAT(result.points.at(0).point, Eq(Common::Vector2d<units::length::meter_t>{101.0_m, 109.0_m}));
ASSERT_THAT(result.points.at(0).lane, Eq(&lanePlus2));
- ASSERT_THAT(result.points.at(1).point, Eq(Common::Vector2d{101.0, 105.0}));
+ ASSERT_THAT(result.points.at(1).point, Eq(Common::Vector2d<units::length::meter_t>{101.0_m, 105.0_m}));
ASSERT_THAT(result.points.at(1).lane, Eq(&lanePlus1));
- ASSERT_THAT(result.points.at(2).point, Eq(Common::Vector2d{101.0, 102.0}));
+ ASSERT_THAT(result.points.at(2).point, Eq(Common::Vector2d<units::length::meter_t>{101.0_m, 102.0_m}));
ASSERT_THAT(result.points.at(2).lane, Eq(&lane0));
}
TEST(GeometryConverter_UnitTests, CalculateJointLeftAndRightLanes)
{
- constexpr double geometryOffset = 123.4;
- constexpr double roadOffset = 12.3;
- constexpr double roadSectionStart = 1.2;
+ constexpr units::length::meter_t geometryOffset{123.4};
+ constexpr units::length::meter_t roadOffset{12.3};
+ constexpr units::length::meter_t roadSectionStart{1.2};
FakeRoadLaneSection section;
FakeOdRoad road;
@@ -160,27 +160,27 @@ TEST(GeometryConverter_UnitTests, CalculateJointLeftAndRightLanes)
FakeRoadLane lane0;
FakeRoadLane lanePlus1;
FakeRoadLane laneMinus1;
- RoadLaneWidth widthMinus1{0, 3.0, 0.0, 0.0, 0.0};
+ RoadLaneWidth widthMinus1{0_m, 3.0_m, 0.0, units::unit_t<units::inverse<units::length::meter>>{0.0}, units::unit_t<units::inverse<units::squared<units::length::meter>>>{0.0}};
RoadLaneWidths widthsMinus1{&widthMinus1};
ON_CALL(laneMinus1, GetWidths()).WillByDefault(ReturnRef(widthsMinus1));
- RoadLaneWidth widthPlus1{0, 4.0, 0.0, 0.0, 0.0};
+ RoadLaneWidth widthPlus1{0_m, 4.0_m, 0.0, units::unit_t<units::inverse<units::length::meter>>{0.0}, units::unit_t<units::inverse<units::squared<units::length::meter>>>{0.0}};
RoadLaneWidths widthsPlus1{&widthPlus1};
ON_CALL(lanePlus1, GetWidths()).WillByDefault(ReturnRef(widthsPlus1));
std::map<int, RoadLaneInterface*> lanes{{0, &lane0}, {-1, &laneMinus1}, {1, &lanePlus1}};
ON_CALL(section, GetLanes()).WillByDefault(ReturnRef(lanes));
FakeRoadGeometry geometry;
- ON_CALL(geometry, GetCoord(geometryOffset,_)).WillByDefault(Return(Common::Vector2d{101.0, 102.0}));
+ ON_CALL(geometry, GetCoord(geometryOffset,_)).WillByDefault(Return(Common::Vector2d<units::length::meter_t>{101.0_m, 102.0_m}));
auto result = GeometryConverter::CalculateBorderPoints(§ion, &road, &geometry, geometryOffset, roadOffset, roadSectionStart);
ASSERT_THAT(result.s, Eq(roadOffset));
ASSERT_THAT(result.points, SizeIs(3));
- ASSERT_THAT(result.points.at(0).point, Eq(Common::Vector2d{101.0, 106.0}));
+ ASSERT_THAT(result.points.at(0).point, Eq(Common::Vector2d<units::length::meter_t>{101.0_m, 106.0_m}));
ASSERT_THAT(result.points.at(0).lane, Eq(&lanePlus1));
- ASSERT_THAT(result.points.at(1).point, Eq(Common::Vector2d{101.0, 102.0}));
+ ASSERT_THAT(result.points.at(1).point, Eq(Common::Vector2d<units::length::meter_t>{101.0_m, 102.0_m}));
ASSERT_THAT(result.points.at(1).lane, Eq(&lane0));
- ASSERT_THAT(result.points.at(2).point, Eq(Common::Vector2d{101.0, 99.0}));
+ ASSERT_THAT(result.points.at(2).point, Eq(Common::Vector2d<units::length::meter_t>{101.0_m, 99.0_m}));
ASSERT_THAT(result.points.at(2).lane, Eq(&laneMinus1));
}
@@ -205,10 +205,10 @@ double GetErrorBetweenOriginalAndSimplified (const std::vector<BorderPoints>& or
for (size_t i = 0; i < originalJoint.points.size(); i++)
//for (const auto currentPoint : originalJoint.points)
{
- point_t currentPointBoost{originalJoint.points[i].point.x, originalJoint.points[i].point.y};
+ point_t currentPointBoost{originalJoint.points[i].point.x.value(), originalJoint.points[i].point.y.value()};
bg::model::linestring<point_t> line;
- bg::append(line, point_t{joint->points[i].point.x, joint->points[i].point.y});
- bg::append(line, point_t{(joint + 1)->points[i].point.x, (joint + 1)->points[i].point.y});
+ bg::append(line, point_t{joint->points[i].point.x.value(), joint->points[i].point.y.value()});
+ bg::append(line, point_t{(joint + 1)->points[i].point.x.value(), (joint + 1)->points[i].point.y.value()});
auto error = bg::distance(currentPointBoost, line);
maxError = std::max(maxError, error);
}
@@ -220,12 +220,7 @@ double GetErrorBetweenOriginalAndSimplified (const std::vector<BorderPoints>& or
bool operator== (const LaneJoint& first, const LaneJoint& second)
{
- return first.lane == second.lane
- && first.left == second.left
- && first.center == second.center
- && first.right == second.right
- && std::abs(first.heading - second.heading) < 0.001
- && std::abs(first.curvature - second.curvature) < 0.0001;
+ return first.lane == second.lane && first.left == second.left && first.center == second.center && first.right == second.right && units::math::abs(first.heading - second.heading) < 0.001_rad && units::math::abs(first.curvature - second.curvature) < 0.0001_i_m;
}
std::ostream& operator<<(std::ostream& os, const LaneJoint& point)
@@ -253,15 +248,9 @@ TEST(JointsBuilder_UnitTests, CalculatePoints_CalculatesCorrectCenterAndOuterPoi
FakeRoadLane laneMinus2;
ON_CALL(laneMinus2, GetId()).WillByDefault(Return(-2));
- BorderPoints firstJoint {0.0, {BorderPoint{{100,100}, &lane1},
- BorderPoint{{120, 90}, &lane0},
- BorderPoint{{130, 80}, &laneMinus1},
- BorderPoint{{160, 60}, &laneMinus2}}};
- BorderPoints secondJoint {1000.0, {BorderPoint{{1100,100}, &lane1},
- BorderPoint{{1120, 90}, &lane0},
- BorderPoint{{1130, 80}, &laneMinus1},
- BorderPoint{{1160, 60}, &laneMinus2}}};
- JointsBuilder jointsBuilder({std::vector<BorderPoints>{{firstJoint, secondJoint}},0,0});
+ BorderPoints firstJoint{0.0_m, {BorderPoint{{100_m, 100_m}, &lane1}, BorderPoint{{120_m, 90_m}, &lane0}, BorderPoint{{130_m, 80_m}, &laneMinus1}, BorderPoint{{160_m, 60_m}, &laneMinus2}}};
+ BorderPoints secondJoint{1000.0_m, {BorderPoint{{1100_m, 100_m}, &lane1}, BorderPoint{{1120_m, 90_m}, &lane0}, BorderPoint{{1130_m, 80_m}, &laneMinus1}, BorderPoint{{1160_m, 60_m}, &laneMinus2}}};
+ JointsBuilder jointsBuilder({std::vector<BorderPoints>{{firstJoint, secondJoint}},0_rad,0_rad});
jointsBuilder.CalculatePoints();
@@ -269,29 +258,29 @@ TEST(JointsBuilder_UnitTests, CalculatePoints_CalculatesCorrectCenterAndOuterPoi
ASSERT_THAT(result, SizeIs(2));
auto& firstResult = result.at(0);
- ASSERT_THAT(firstResult.s, Eq(0.0));
- ASSERT_THAT(firstResult.laneJoints, ElementsAre(std::make_pair(-2, LaneJoint{&laneMinus2, {130, 80}, {145, 70}, {160, 60}, 0.0, 0.0}),
- std::make_pair(-1, LaneJoint{&laneMinus1, {120, 90}, {125, 85}, {130, 80}, 0.0, 0.0}),
- std::make_pair(0, LaneJoint{&lane0, {120, 90}, {120, 90}, {120, 90}, 0.0, 0.0}),
- std::make_pair(1, LaneJoint{&lane1, {100, 100}, {110, 95}, {120, 90}, 0.0, 0.0})));
+ ASSERT_THAT(firstResult.s.value(), Eq(0.0));
+ ASSERT_THAT(firstResult.laneJoints, ElementsAre(std::make_pair(-2, LaneJoint{&laneMinus2, {130_m, 80_m}, {145_m, 70_m}, {160_m, 60_m}, 0.0_rad, 0.0_i_m}),
+ std::make_pair(-1, LaneJoint{&laneMinus1, {120_m, 90_m}, {125_m, 85_m}, {130_m, 80_m}, 0.0_rad, 0.0_i_m}),
+ std::make_pair(0, LaneJoint{&lane0, {120_m, 90_m}, {120_m, 90_m}, {120_m, 90_m}, 0.0_rad, 0.0_i_m}),
+ std::make_pair(1, LaneJoint{&lane1, {100_m, 100_m}, {110_m, 95_m}, {120_m, 90_m}, 0.0_rad, 0.0_i_m})));
auto& secondResult = result.at(1);
- ASSERT_THAT(secondResult.s, Eq(1000.0));
- ASSERT_THAT(secondResult.laneJoints, ElementsAre(std::make_pair(-2, LaneJoint{&laneMinus2, {1130, 80}, {1145, 70}, {1160, 60}, 0.0, 0.0}),
- std::make_pair(-1, LaneJoint{&laneMinus1, {1120, 90}, {1125, 85}, {1130, 80}, 0.0, 0.0}),
- std::make_pair(0, LaneJoint{&lane0, {1120, 90}, {1120, 90}, {1120, 90}, 0.0, 0.0}),
- std::make_pair(1, LaneJoint{&lane1, {1100, 100}, {1110, 95}, {1120, 90}, 0.0, 0.0})));
+ ASSERT_THAT(secondResult.s.value(), Eq(1000.0));
+ ASSERT_THAT(secondResult.laneJoints, ElementsAre(std::make_pair(-2, LaneJoint{&laneMinus2, {1130_m, 80_m}, {1145_m, 70_m}, {1160_m, 60_m}, 0.0_rad, 0.0_i_m}),
+ std::make_pair(-1, LaneJoint{&laneMinus1, {1120_m, 90_m}, {1125_m, 85_m}, {1130_m, 80_m}, 0.0_rad, 0.0_i_m}),
+ std::make_pair(0, LaneJoint{&lane0, {1120_m, 90_m}, {1120_m, 90_m}, {1120_m, 90_m}, 0.0_rad, 0.0_i_m}),
+ std::make_pair(1, LaneJoint{&lane1, {1100_m, 100_m}, {1110_m, 95_m}, {1120_m, 90_m}, 0.0_rad, 0.0_i_m})));
}
TEST(JointsBuilder_UnitTests, CalculateHeadings)
{
- Joint firstJoint{0.0, {{-1, LaneJoint{nullptr, {}, {0,10}, {}, 0.0, 0.0}},
- {0, LaneJoint{nullptr, {}, {0,0}, {}, 0.0, 0.0}}}};
- Joint secondJoint{10.0, {{-1, LaneJoint{nullptr, {}, {10,10}, {}, 0.0, 0.0}},
- {0, LaneJoint{nullptr, {}, {10,0}, {}, 0.0, 0.0}}}};
- Joint thirdJoint{20.0, {{-1, LaneJoint{nullptr, {}, {20,0}, {}, 0.0, 0.0}},
- {0, LaneJoint{nullptr, {}, {20,10}, {}, 0.0, 0.0}}}};
- Joint forthJoint{30.0, {{-1, LaneJoint{nullptr, {}, {20,-10}, {}, 0.0, 0.0}},
- {0, LaneJoint{nullptr, {}, {10,20}, {}, 0.0, 0.0}}}};
+ Joint firstJoint{0.0_m, {{-1, LaneJoint{nullptr, {}, {0_m,10_m}, {}, 0.0_rad, 0.0_i_m}},
+ {0, LaneJoint{nullptr, {}, {0_m,0_m}, {}, 0.0_rad, 0.0_i_m}}}};
+ Joint secondJoint{10.0_m, {{-1, LaneJoint{nullptr, {}, {10_m,10_m}, {}, 0.0_rad, 0.0_i_m}},
+ {0, LaneJoint{nullptr, {}, {10_m,0_m}, {}, 0.0_rad, 0.0_i_m}}}};
+ Joint thirdJoint{20.0_m, {{-1, LaneJoint{nullptr, {}, {20_m,0_m}, {}, 0.0_rad, 0.0_i_m}},
+ {0, LaneJoint{nullptr, {}, {20_m,10_m}, {}, 0.0_rad, 0.0_i_m}}}};
+ Joint forthJoint{30.0_m, {{-1, LaneJoint{nullptr, {}, {20_m,-10_m}, {}, 0.0_rad, 0.0_i_m}},
+ {0, LaneJoint{nullptr, {}, {10_m,20_m}, {}, 0.0_rad, 0.0_i_m}}}};
JointsBuilder jointsBuilder({}, Joints{firstJoint, secondJoint, thirdJoint, forthJoint});
@@ -301,31 +290,27 @@ TEST(JointsBuilder_UnitTests, CalculateHeadings)
ASSERT_THAT(result, SizeIs(4));
auto& firstResult = result.at(0);
- ASSERT_THAT(firstResult.s, Eq(0.0));
- ASSERT_THAT(firstResult.laneJoints, ElementsAre(std::make_pair(-1, LaneJoint{nullptr, {}, {0, 10}, {}, 0.0, 0.0}),
- std::make_pair(0, LaneJoint{nullptr, {}, {0, 0}, {}, 0.0, 0.0})));
+ ASSERT_THAT(firstResult.s.value(), Eq(0.0));
+ ASSERT_THAT(firstResult.laneJoints, ElementsAre(std::make_pair(-1, LaneJoint{nullptr, {}, {0_m, 10_m}, {}, 0.0_rad, 0.0_i_m}),
+ std::make_pair(0, LaneJoint{nullptr, {}, {0_m, 0_m}, {}, 0.0_rad, 0.0_i_m})));
auto& secondResult = result.at(1);
- ASSERT_THAT(secondResult.s, Eq(10.0));
- ASSERT_THAT(secondResult.laneJoints, ElementsAre(std::make_pair(-1, LaneJoint{nullptr, {}, {10, 10}, {}, -M_PI_4, 0.0}),
- std::make_pair(0, LaneJoint{nullptr, {}, {10, 0}, {}, M_PI_4, 0.0})));
+ ASSERT_THAT(secondResult.s.value(), Eq(10.0));
+ ASSERT_THAT(secondResult.laneJoints, ElementsAre(std::make_pair(-1, LaneJoint{nullptr, {}, {10_m, 10_m}, {}, -45_deg, 0.0_i_m}),
+ std::make_pair(0, LaneJoint{nullptr, {}, {10_m, 0_m}, {}, 45_deg, 0.0_i_m})));
auto& thirdResult = result.at(2);
- ASSERT_THAT(thirdResult.s, Eq(20.0));
- ASSERT_THAT(thirdResult.laneJoints, ElementsAre(std::make_pair(-1, LaneJoint{nullptr, {}, {20, 0}, {}, -M_PI_2, 0.0}),
- std::make_pair(0, LaneJoint{nullptr, {}, {20, 10}, {}, 3 * M_PI_4, 0.0})));
+ ASSERT_THAT(thirdResult.s.value(), Eq(20.0));
+ ASSERT_THAT(thirdResult.laneJoints, ElementsAre(std::make_pair(-1, LaneJoint{nullptr, {}, {20_m, 0_m}, {}, -90_deg, 0.0_i_m}),
+ std::make_pair(0, LaneJoint{nullptr, {}, {20_m, 10_m}, {}, 135_deg, 0.0_i_m})));
}
TEST(JointsBuilder_UnitTests, CalculateCurvatures)
{
- Joint firstJoint{0.0, {{-1, LaneJoint{nullptr, {}, {0,0}, {}, 0.5, 0.0}},
- {0, LaneJoint{nullptr, {}, {0,10}, {}, 1.0, 0.0}}}};
- Joint secondJoint{10.0, {{-1, LaneJoint{nullptr, {}, {10,0}, {}, 1.0, 0.0}},
- {0, LaneJoint{nullptr, {}, {10,10}, {}, 2.0, 0.0}}}};
- Joint thirdJoint{20.0, {{-1, LaneJoint{nullptr, {}, {40,0}, {}, 0.0, 0.0}},
- {0, LaneJoint{nullptr, {}, {40,10}, {}, 1.0, 0.0}}}};
- Joint forthJoint{30.0, {{-1, LaneJoint{nullptr, {}, {50,0}, {}, 0.0, 0.0}},
- {0, LaneJoint{nullptr, {}, {50,10}, {}, 0.0, 0.0}}}};
+ Joint firstJoint{0.0_m, {{-1, LaneJoint{nullptr, {}, {0_m, 0_m}, {}, 0.5_rad, 0.0_i_m}}, {0, LaneJoint{nullptr, {}, {0_m, 10_m}, {}, 1.0_rad, 0.0_i_m}}}};
+ Joint secondJoint{10.0_m, {{-1, LaneJoint{nullptr, {}, {10_m, 0_m}, {}, 1.0_rad, 0.0_i_m}}, {0, LaneJoint{nullptr, {}, {10_m, 10_m}, {}, 2.0_rad, 0.0_i_m}}}};
+ Joint thirdJoint{20.0_m, {{-1, LaneJoint{nullptr, {}, {40_m, 0_m}, {}, 0.0_rad, 0.0_i_m}}, {0, LaneJoint{nullptr, {}, {40_m, 10_m}, {}, 1.0_rad, 0.0_i_m}}}};
+ Joint forthJoint{30.0_m, {{-1, LaneJoint{nullptr, {}, {50_m, 0_m}, {}, 0.0_rad, 0.0_i_m}}, {0, LaneJoint{nullptr, {}, {50_m, 10_m}, {}, 0.0_rad, 0.0_i_m}}}};
- JointsBuilder jointsBuilder({{}, 0.5, -0.5}, Joints{firstJoint, secondJoint, thirdJoint, forthJoint});
+ JointsBuilder jointsBuilder({{}, 0.5_rad, -0.5_rad}, Joints{firstJoint, secondJoint, thirdJoint, forthJoint});
jointsBuilder.CalculateCurvatures();
@@ -333,38 +318,38 @@ TEST(JointsBuilder_UnitTests, CalculateCurvatures)
ASSERT_THAT(result, SizeIs(4));
auto& firstResult = result.at(0);
- ASSERT_THAT(firstResult.s, Eq(0.0));
- ASSERT_THAT(firstResult.laneJoints, ElementsAre(std::make_pair(-1, LaneJoint{nullptr, {}, {0, 0}, {}, 0.5, 0.0}),
- std::make_pair(0, LaneJoint{nullptr, {}, {0, 10}, {}, 1.0, 0.1})));
+ ASSERT_THAT(firstResult.s.value(), Eq(0.0));
+ ASSERT_THAT(firstResult.laneJoints, ElementsAre(std::make_pair(-1, LaneJoint{nullptr, {}, {0_m, 0_m}, {}, 0.5_rad, 0.0_i_m}),
+ std::make_pair(0, LaneJoint{nullptr, {}, {0_m, 10_m}, {}, 1.0_rad, 0.1_i_m})));
auto& secondResult = result.at(1);
- ASSERT_THAT(secondResult.s, Eq(10.0));
- ASSERT_THAT(secondResult.laneJoints, ElementsAre(std::make_pair(-1, LaneJoint{nullptr, {}, {10, 0}, {}, 1.0, 0.025}),
- std::make_pair(0, LaneJoint{nullptr, {}, {10, 10}, {}, 2.0, 0.05})));
- auto& thirdResult = result.at(2);
- ASSERT_THAT(thirdResult.s, Eq(20.0));
- ASSERT_THAT(thirdResult.laneJoints, ElementsAre(std::make_pair(-1, LaneJoint{nullptr, {}, {40, 0}, {}, 0.0, -0.05}),
- std::make_pair(0, LaneJoint{nullptr, {}, {40, 10}, {}, 1.0, -0.05})));
- auto& forthResult = result.at(3);
- ASSERT_THAT(forthResult.s, Eq(30.0));
- ASSERT_THAT(forthResult.laneJoints, ElementsAre(std::make_pair(-1, LaneJoint{nullptr, {}, {50, 0}, {}, 0.0, -0.1}),
- std::make_pair(0, LaneJoint{nullptr, {}, {50, 10}, {}, 0.0, -0.3})));
+ ASSERT_THAT(secondResult.s.value(), Eq(10.0));
+ ASSERT_THAT(secondResult.laneJoints, ElementsAre(std::make_pair(-1, LaneJoint{nullptr, {}, {10_m, 0_m}, {}, 1.0_rad, 0.025_i_m}),
+ std::make_pair(0, LaneJoint{nullptr, {}, {10_m, 10_m}, {}, 2.0_rad, 0.05_i_m})));
+ auto &thirdResult = result.at(2);
+ ASSERT_THAT(thirdResult.s.value(), Eq(20.0));
+ ASSERT_THAT(thirdResult.laneJoints, ElementsAre(std::make_pair(-1, LaneJoint{nullptr, {}, {40_m, 0_m}, {}, 0.0_rad, -0.05_i_m}),
+ std::make_pair(0, LaneJoint{nullptr, {}, {40_m, 10_m}, {}, 1.0_rad, -0.05_i_m})));
+ auto &forthResult = result.at(3);
+ ASSERT_THAT(forthResult.s.value(), Eq(30.0));
+ ASSERT_THAT(forthResult.laneJoints, ElementsAre(std::make_pair(-1, LaneJoint{nullptr, {}, {50_m, 0_m}, {}, 0.0_rad, -0.1_i_m}),
+ std::make_pair(0, LaneJoint{nullptr, {}, {50_m, 10_m}, {}, 0.0_rad, -0.3_i_m})));
}
TEST_P(RamerDouglasPeucker_UnitTests, Simplify)
{
- auto& input = GetParam().input;
+ auto &input = GetParam().input;
auto result = RamerDouglasPeucker::Simplify<BorderPoints>(input);
ASSERT_THAT(GetErrorBetweenOriginalAndSimplified(input, result), Le(RamerDouglasPeucker::ERROR_THRESHOLD));
}
-BorderPoints joint0 { 0.0, {BorderPoint{{0,0}, nullptr}, BorderPoint{ {0,1}, nullptr}, BorderPoint{{0,3}, nullptr}}};
-BorderPoints joint1000 {1000.0, {BorderPoint{{1000,0}, nullptr}, BorderPoint{{1000,1}, nullptr}, BorderPoint{{1000,3}, nullptr}}};
-BorderPoints joint500a { 500.0, {BorderPoint{{500,0}, nullptr}, BorderPoint{ {500,1}, nullptr}, BorderPoint{{500,3}, nullptr}}};
-BorderPoints joint500b { 500.0, {BorderPoint{{500,1}, nullptr}, BorderPoint{ {500,2}, nullptr}, BorderPoint{{500,4}, nullptr}}};
-BorderPoints joint600b { 600.0, {BorderPoint{{600,1}, nullptr}, BorderPoint{ {600,1.99}, nullptr}, BorderPoint{{600,4}, nullptr}}};
-BorderPoints joint600c { 600.0, {BorderPoint{{600,1}, nullptr}, BorderPoint{ {600,2.5}, nullptr}, BorderPoint{{600,4}, nullptr}}};
-BorderPoints joint700b { 700.0, {BorderPoint{{700,1}, nullptr}, BorderPoint{ {700,2}, nullptr}, BorderPoint{{700,4}, nullptr}}};
+BorderPoints joint0{0.0_m, {BorderPoint{{0_m, 0_m}, nullptr}, BorderPoint{{0_m, 1_m}, nullptr}, BorderPoint{{0_m, 3_m}, nullptr}}};
+BorderPoints joint1000{1000.0_m, {BorderPoint{{1000_m, 0_m}, nullptr}, BorderPoint{{1000_m, 1_m}, nullptr}, BorderPoint{{1000_m, 3_m}, nullptr}}};
+BorderPoints joint500a{500.0_m, {BorderPoint{{500_m, 0_m}, nullptr}, BorderPoint{{500_m, 1_m}, nullptr}, BorderPoint{{500_m, 3_m}, nullptr}}};
+BorderPoints joint500b{500.0_m, {BorderPoint{{500_m, 1_m}, nullptr}, BorderPoint{{500_m, 2_m}, nullptr}, BorderPoint{{500_m, 4_m}, nullptr}}};
+BorderPoints joint600b{600.0_m, {BorderPoint{{600_m, 1_m}, nullptr}, BorderPoint{{600_m, 1.99_m}, nullptr}, BorderPoint{{600_m, 4_m}, nullptr}}};
+BorderPoints joint600c{600.0_m, {BorderPoint{{600_m, 1_m}, nullptr}, BorderPoint{{600_m, 2.5_m}, nullptr}, BorderPoint{{600_m, 4_m}, nullptr}}};
+BorderPoints joint700b{700.0_m, {BorderPoint{{700_m, 1_m}, nullptr}, BorderPoint{{700_m, 2_m}, nullptr}, BorderPoint{{700_m, 4_m}, nullptr}}};
INSTANTIATE_TEST_CASE_P(RamerDouglasPeucker_UnitTests, RamerDouglasPeucker_UnitTests,
Values(
diff --git a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/lane_Tests.cpp b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/lane_Tests.cpp
index 962694438c280c00efcbdd0ac04fbc0df1c70d8c..0bce0ff1499fd5517806240f5f609a2f2c6a529c 100644
--- a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/lane_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/lane_Tests.cpp
@@ -33,30 +33,30 @@ using ::testing::AllOf;
/////////////////////////////////////////////////////////////////////////////
TEST(GetNeighbouringJoints, DistanceBetweenTwoJoints_ReturnsJoints)
{
- const double length = 10.0;
+ const units::length::meter_t length{10.0};
osi3::Lane osiLane;
OWL::Implementation::Lane lane(&osiLane, nullptr, -1);
auto laneGeometryElement =
OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElement(
- { 0.0, 0.0 }, // origin
- 0.0, // width
+ { 0.0_m, 0.0_m }, // origin
+ 0.0_m, // width
length,
- 0.0); // heading
+ 0.0_rad); // heading
const OWL::Primitive::LaneGeometryJoint& firstJoint = laneGeometryElement.joints.current;
const OWL::Primitive::LaneGeometryJoint& secondJoint = laneGeometryElement.joints.next;
- Common::Vector2d leftPoint1 = firstJoint.points.left;
- Common::Vector2d referencePoint1 = firstJoint.points.reference;
- Common::Vector2d rightPoint1 = firstJoint.points.right;
- Common::Vector2d leftPoint2 = secondJoint.points.left;
- Common::Vector2d referencePoint2 = secondJoint.points.reference;
- Common::Vector2d rightPoint2 = secondJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint1 = firstJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint1 = firstJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint1 = firstJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint2 = secondJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint2 = secondJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint2 = secondJoint.points.right;
- lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0, 0.0, 0.0);
- lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0, 0.0);
+ lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0_m, 0.0_i_m, 0.0_rad);
+ lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0_i_m, 0.0_rad);
const OWL::Primitive::LaneGeometryJoint* prevJoint;
const OWL::Primitive::LaneGeometryJoint* nextJoint;
@@ -66,136 +66,136 @@ TEST(GetNeighbouringJoints, DistanceBetweenTwoJoints_ReturnsJoints)
ASSERT_NE(prevJoint, nullptr);
ASSERT_NE(nextJoint, nullptr);
- ASSERT_EQ(prevJoint->points.reference.x, 0.0);
+ ASSERT_EQ(prevJoint->points.reference.x.value(), 0.0);
ASSERT_EQ(nextJoint->points.reference.x, length);
}
TEST(GetNeighbouringJoints, DistanceAtPrevJoint_ReturnsJoints)
{
- const double length = 10.0;
+ const units::length::meter_t length = 10.0_m;
osi3::Lane osiLane;
OWL::Implementation::Lane lane(&osiLane, nullptr, -1);
auto laneGeometryElement =
OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElement(
- { 0.0, 0.0 }, // origin
- 0.0, // width
+ { 0.0_m, 0.0_m }, // origin
+ 0.0_m, // width
length,
- 0.0); // heading
+ 0.0_rad); // heading
const OWL::Primitive::LaneGeometryJoint& firstJoint = laneGeometryElement.joints.current;
const OWL::Primitive::LaneGeometryJoint& secondJoint = laneGeometryElement.joints.next;
- Common::Vector2d leftPoint1 = firstJoint.points.left;
- Common::Vector2d referencePoint1 = firstJoint.points.reference;
- Common::Vector2d rightPoint1 = firstJoint.points.right;
- Common::Vector2d leftPoint2 = secondJoint.points.left;
- Common::Vector2d referencePoint2 = secondJoint.points.reference;
- Common::Vector2d rightPoint2 = secondJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint1 = firstJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint1 = firstJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint1 = firstJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint2 = secondJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint2 = secondJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint2 = secondJoint.points.right;
- lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0, 0.0, 0.0);
- lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0, 0.0);
+ lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0_m, 0.0_i_m, 0.0_rad);
+ lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0_i_m, 0.0_rad);
const OWL::Primitive::LaneGeometryJoint* prevJoint;
const OWL::Primitive::LaneGeometryJoint* nextJoint;
- std::tie(prevJoint, nextJoint) = lane.GetNeighbouringJoints(0.0);
+ std::tie(prevJoint, nextJoint) = lane.GetNeighbouringJoints(0.0_m);
ASSERT_NE(prevJoint, nullptr);
ASSERT_NE(nextJoint, nullptr);
- ASSERT_EQ(prevJoint->points.reference.x, 0.0);
+ ASSERT_EQ(prevJoint->points.reference.x.value(), 0.0);
ASSERT_EQ(nextJoint->points.reference.x, length);
}
TEST(GetNeighbouringJoints, DistanceAtNextJoint_ReturnsPrevJointOnly)
{
- const double length = 10.0;
+ const units::length::meter_t length = 10.0_m;
osi3::Lane osiLane;
OWL::Implementation::Lane lane(&osiLane, nullptr, -1);
auto laneGeometryElement =
OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElement(
- { 0.0, 0.0 }, // origin
- 0.0, // width
+ { 0.0_m, 0.0_m }, // origin
+ 0.0_m, // width
length,
- 0.0); // heading
+ 0.0_rad); // heading
const OWL::Primitive::LaneGeometryJoint& firstJoint = laneGeometryElement.joints.current;
const OWL::Primitive::LaneGeometryJoint& secondJoint = laneGeometryElement.joints.next;
- Common::Vector2d leftPoint1 = firstJoint.points.left;
- Common::Vector2d referencePoint1 = firstJoint.points.reference;
- Common::Vector2d rightPoint1 = firstJoint.points.right;
- Common::Vector2d leftPoint2 = secondJoint.points.left;
- Common::Vector2d referencePoint2 = secondJoint.points.reference;
- Common::Vector2d rightPoint2 = secondJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint1 = firstJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint1 = firstJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint1 = firstJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint2 = secondJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint2 = secondJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint2 = secondJoint.points.right;
- lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0, 0.0, 0.0);
- lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0, 0.0);
+ lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0_m, 0.0_i_m, 0.0_rad);
+ lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0_i_m, 0.0_rad);
const OWL::Primitive::LaneGeometryJoint* prevJoint;
const OWL::Primitive::LaneGeometryJoint* nextJoint;
- std::tie(prevJoint, nextJoint) = lane.GetNeighbouringJoints(10.0);
+ std::tie(prevJoint, nextJoint) = lane.GetNeighbouringJoints(10.0_m);
ASSERT_NE(prevJoint, nullptr);
ASSERT_EQ(nextJoint, nullptr);
- ASSERT_EQ(prevJoint->points.reference.x, 10.0);
+ ASSERT_EQ(prevJoint->points.reference.x.value(), 10.0);
}
TEST(GetNeighbouringJoints, DistanceAtMiddleJoint_ReturnsJoints)
{
- const double length = 10.0;
+ const units::length::meter_t length = 10.0_m;
osi3::Lane osiLane;
OWL::Implementation::Lane lane(&osiLane, nullptr, -1);
auto laneGeometryElement1 =
OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElement(
- { 0.0, 0.0 }, // origin
- 0.0, // width
+ { 0.0_m, 0.0_m }, // origin
+ 0.0_m, // width
length,
- 0.0); // heading
+ 0.0_rad); // heading
auto laneGeometryElement2 =
OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElement(
- { 10.0, 0.0 }, // origin
- 0.0, // width
+ { 10.0_m, 0.0_m }, // origin
+ 0.0_m, // width
length,
- 0.0); // heading
+ 0.0_rad); // heading
const OWL::Primitive::LaneGeometryJoint& firstJoint = laneGeometryElement1.joints.current;
const OWL::Primitive::LaneGeometryJoint& secondJoint = laneGeometryElement2.joints.current;
const OWL::Primitive::LaneGeometryJoint& thirdJoint = laneGeometryElement2.joints.next;
- Common::Vector2d leftPoint1 = firstJoint.points.left;
- Common::Vector2d referencePoint1 = firstJoint.points.reference;
- Common::Vector2d rightPoint1 = firstJoint.points.right;
- Common::Vector2d leftPoint2 = secondJoint.points.left;
- Common::Vector2d referencePoint2 = secondJoint.points.reference;
- Common::Vector2d rightPoint2 = secondJoint.points.right;
- Common::Vector2d leftPoint3 = thirdJoint.points.left;
- Common::Vector2d referencePoint3 = thirdJoint.points.reference;
- Common::Vector2d rightPoint3 = thirdJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint1 = firstJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint1 = firstJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint1 = firstJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint2 = secondJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint2 = secondJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint2 = secondJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint3 = thirdJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint3 = thirdJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint3 = thirdJoint.points.right;
- lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0, 0.0, 0.0);
- lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0, 0.0);
- lane.AddLaneGeometryJoint(leftPoint3, referencePoint3, rightPoint3, 2.0 * length, 0.0, 0.0);
+ lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0_m, 0.0_i_m, 0.0_rad);
+ lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0_i_m, 0.0_rad);
+ lane.AddLaneGeometryJoint(leftPoint3, referencePoint3, rightPoint3, 2.0 * length, 0.0_i_m, 0.0_rad);
const OWL::Primitive::LaneGeometryJoint* prevJoint;
const OWL::Primitive::LaneGeometryJoint* nextJoint;
- std::tie(prevJoint, nextJoint) = lane.GetNeighbouringJoints(10.0);
+ std::tie(prevJoint, nextJoint) = lane.GetNeighbouringJoints(10.0_m);
ASSERT_NE(prevJoint, nullptr);
ASSERT_NE(nextJoint, nullptr);
- ASSERT_EQ(prevJoint->points.reference.x, 10.0);
- ASSERT_EQ(nextJoint->points.reference.x, 20.0);
+ ASSERT_EQ(prevJoint->points.reference.x.value(), 10.0);
+ ASSERT_EQ(nextJoint->points.reference.x.value(), 20.0);
}
/////////////////////////////////////////////////////////////////////////////
@@ -203,33 +203,33 @@ TEST(GetNeighbouringJoints, DistanceAtMiddleJoint_ReturnsJoints)
TEST(GetInterpolatedPointsAtDistance, DistanceAtPrevJoint_ReturnsPrevJoint)
{
- const double length = 10.0;
- const double width = 3.75;
+ const units::length::meter_t length = 10.0_m;
+ const units::length::meter_t width = 3.75_m;
osi3::Lane osiLane;
OWL::Implementation::Lane lane(&osiLane, nullptr, -1);
auto laneGeometryElement =
OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElement(
- { 0.0, 0.0 }, // origin
+ { 0.0_m, 0.0_m }, // origin
width, // width
length,
- 0.0); // heading
+ 0.0_rad); // heading
const OWL::Primitive::LaneGeometryJoint& firstJoint = laneGeometryElement.joints.current;
const OWL::Primitive::LaneGeometryJoint& secondJoint = laneGeometryElement.joints.next;
- Common::Vector2d leftPoint1 = firstJoint.points.left;
- Common::Vector2d referencePoint1 = firstJoint.points.reference;
- Common::Vector2d rightPoint1 = firstJoint.points.right;
- Common::Vector2d leftPoint2 = secondJoint.points.left;
- Common::Vector2d referencePoint2 = secondJoint.points.reference;
- Common::Vector2d rightPoint2 = secondJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint1 = firstJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint1 = firstJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint1 = firstJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint2 = secondJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint2 = secondJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint2 = secondJoint.points.right;
- lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0, 0.0, 0.0);
- lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0, 0.0);
+ lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0_m, 0.0_i_m, 0.0_rad);
+ lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0_i_m, 0.0_rad);
- const OWL::Primitive::LaneGeometryJoint::Points ipPoints = lane.GetInterpolatedPointsAtDistance(0.0);
+ const OWL::Primitive::LaneGeometryJoint::Points ipPoints = lane.GetInterpolatedPointsAtDistance(0.0_m);
ASSERT_NE(&firstJoint, &secondJoint);
ASSERT_NE(&firstJoint, nullptr);
@@ -240,33 +240,33 @@ TEST(GetInterpolatedPointsAtDistance, DistanceAtPrevJoint_ReturnsPrevJoint)
TEST(GetInterpolatedPointsAtDistance, DistanceAtNextJoint_ReturnsNextJoint)
{
- const double length = 10.0;
- const double width = 3.75;
+ const units::length::meter_t length = 10.0_m;
+ const units::length::meter_t width = 3.75_m;
osi3::Lane osiLane;
OWL::Implementation::Lane lane(&osiLane, nullptr, -1);
auto laneGeometryElement =
OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElement(
- { 0.0, 0.0 }, // origin
+ { 0.0_m, 0.0_m }, // origin
width, // width
length,
- 0.0); // heading
+ 0.0_rad); // heading
const OWL::Primitive::LaneGeometryJoint& firstJoint = laneGeometryElement.joints.current;
const OWL::Primitive::LaneGeometryJoint& secondJoint = laneGeometryElement.joints.next;
- Common::Vector2d leftPoint1 = firstJoint.points.left;
- Common::Vector2d referencePoint1 = firstJoint.points.reference;
- Common::Vector2d rightPoint1 = firstJoint.points.right;
- Common::Vector2d leftPoint2 = secondJoint.points.left;
- Common::Vector2d referencePoint2 = secondJoint.points.reference;
- Common::Vector2d rightPoint2 = secondJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint1 = firstJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint1 = firstJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint1 = firstJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint2 = secondJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint2 = secondJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint2 = secondJoint.points.right;
- lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0, 0.0, 0.0);
- lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0, 0.0);
+ lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0_m, 0.0_i_m, 0.0_rad);
+ lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0_i_m, 0.0_rad);
- const OWL::Primitive::LaneGeometryJoint::Points ipPoints = lane.GetInterpolatedPointsAtDistance(10.0);
+ const OWL::Primitive::LaneGeometryJoint::Points ipPoints = lane.GetInterpolatedPointsAtDistance(10.0_m);
ASSERT_NE(&firstJoint, &secondJoint);
ASSERT_NE(&firstJoint, nullptr);
@@ -277,35 +277,35 @@ TEST(GetInterpolatedPointsAtDistance, DistanceAtNextJoint_ReturnsNextJoint)
TEST(GetInterpolatedPointsAtDistance, DistanceBetweenJoints_ReturnsInterpolatedPoint)
{
- const double length = 10.0;
- const double width = 4.0;
- const double distance = 5.0;
+ const units::length::meter_t length = 10.0_m;
+ const units::length::meter_t width = 4.0_m;
+ const units::length::meter_t distance = 5.0_m;
osi3::Lane osiLane;
OWL::Implementation::Lane lane(&osiLane, nullptr, -1);
auto laneGeometryElement =
OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElement(
- { 0.0, 0.0 }, // origin
+ { 0.0_m, 0.0_m }, // origin
width, // width
length,
- 0.0); // heading
+ 0.0_rad); // heading
const OWL::Primitive::LaneGeometryJoint& firstJoint = laneGeometryElement.joints.current;
const OWL::Primitive::LaneGeometryJoint& secondJoint = laneGeometryElement.joints.next;
- Common::Vector2d leftPoint1 = firstJoint.points.left;
- Common::Vector2d referencePoint1 = firstJoint.points.reference;
- Common::Vector2d rightPoint1 = firstJoint.points.right;
- Common::Vector2d leftPoint2 = secondJoint.points.left;
- Common::Vector2d referencePoint2 = secondJoint.points.reference;
- Common::Vector2d rightPoint2 = secondJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint1 = firstJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint1 = firstJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint1 = firstJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint2 = secondJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint2 = secondJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint2 = secondJoint.points.right;
- lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0, 0.0, 0.0);
- lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0, 0.0);
+ lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0_m, 0.0_i_m, 0.0_rad);
+ lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0_i_m, 0.0_rad);
const OWL::Primitive::LaneGeometryJoint::Points ipPoints = lane.GetInterpolatedPointsAtDistance(distance);
- const Common::Vector2d defaultValues;
+ const Common::Vector2d<units::length::meter_t> defaultValues;
ASSERT_NE(&firstJoint, &secondJoint);
ASSERT_NE(&firstJoint, nullptr);
@@ -313,7 +313,7 @@ TEST(GetInterpolatedPointsAtDistance, DistanceBetweenJoints_ReturnsInterpolatedP
ASSERT_EQ(ipPoints.left.y, width/2);
ASSERT_EQ(ipPoints.reference.x, distance);
- ASSERT_EQ(ipPoints.reference.y, 0.0);
+ ASSERT_EQ(ipPoints.reference.y.value(), 0.0);
ASSERT_EQ(ipPoints.right.x, distance);
ASSERT_EQ(ipPoints.right.y, -width/2);
@@ -321,35 +321,35 @@ TEST(GetInterpolatedPointsAtDistance, DistanceBetweenJoints_ReturnsInterpolatedP
TEST(GetInterpolatedPointsAtDistance, DistanceBetweenJointsWithHeading_ReturnsInterpolatedPoint)
{
- const double length = 10.0;
- const double width = 4.0;
- const double distance = 5.0;
+ const units::length::meter_t length = 10.0_m;
+ const units::length::meter_t width = 4.0_m;
+ const units::length::meter_t distance = 5.0_m;
osi3::Lane osiLane;
OWL::Implementation::Lane lane(&osiLane, nullptr, -1);
auto laneGeometryElement =
OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElement(
- { 0.0, 0.0 }, // origin
+ { 0.0_m, 0.0_m }, // origin
width, // width
length,
- M_PI/4); // heading
+ 45_deg); // heading
const OWL::Primitive::LaneGeometryJoint& firstJoint = laneGeometryElement.joints.current;
const OWL::Primitive::LaneGeometryJoint& secondJoint = laneGeometryElement.joints.next;
- Common::Vector2d leftPoint1 = firstJoint.points.left;
- Common::Vector2d referencePoint1 = firstJoint.points.reference;
- Common::Vector2d rightPoint1 = firstJoint.points.right;
- Common::Vector2d leftPoint2 = secondJoint.points.left;
- Common::Vector2d referencePoint2 = secondJoint.points.reference;
- Common::Vector2d rightPoint2 = secondJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint1 = firstJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint1 = firstJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint1 = firstJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint2 = secondJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint2 = secondJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint2 = secondJoint.points.right;
- lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0, 0.0, 0.0);
- lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0, 0.0);
+ lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0_m, 0.0_i_m, 0.0_rad);
+ lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0_i_m, 0.0_rad);
const OWL::Primitive::LaneGeometryJoint::Points ipPoints = lane.GetInterpolatedPointsAtDistance(distance);
- const Common::Vector2d defaultValues;
+ const Common::Vector2d<units::length::meter_t> defaultValues;
ASSERT_NE(&firstJoint, &secondJoint);
ASSERT_NE(&firstJoint, nullptr);
@@ -367,16 +367,16 @@ TEST(GetInterpolatedPointsAtDistance, DistanceBetweenJointsWithHeading_ReturnsIn
TEST(GetLaneWidth, LaneWidthQueryOnTriangularLane_ReturnsZeroWidthAtStartAndFullWidthAtEnd)
{
- const double width = 3.75;
- const double length = 10;
- const double heading = 0.0;
+ const units::length::meter_t width = 3.75_m;
+ const units::length::meter_t length = 10_m;
+ const units::angle::radian_t heading = 0.0_rad;
osi3::Lane osiLane;
OWL::Implementation::Lane lane(&osiLane, nullptr, -1);
auto elementUnderTest =
OWL::Testing::LaneGeometryElementGenerator::TriangularLaneGeometryElement(
- { 0.0, 0.0}, // origin
+ { 0.0_m, 0.0_m }, // origin
width,
length,
heading);
@@ -384,33 +384,33 @@ TEST(GetLaneWidth, LaneWidthQueryOnTriangularLane_ReturnsZeroWidthAtStartAndFull
const OWL::Primitive::LaneGeometryJoint& firstJoint = elementUnderTest.joints.current;
const OWL::Primitive::LaneGeometryJoint& secondJoint = elementUnderTest.joints.next;
- Common::Vector2d leftPoint1 = firstJoint.points.left;
- Common::Vector2d referencePoint1 = firstJoint.points.reference;
- Common::Vector2d rightPoint1 = firstJoint.points.right;
- Common::Vector2d leftPoint2 = secondJoint.points.left;
- Common::Vector2d referencePoint2 = secondJoint.points.reference;
- Common::Vector2d rightPoint2 = secondJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint1 = firstJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint1 = firstJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint1 = firstJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint2 = secondJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint2 = secondJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint2 = secondJoint.points.right;
- lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0, 0.0, heading);
- lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0, heading);
+ lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0_m, 0.0_i_m, heading);
+ lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0_i_m, heading);
- ASSERT_DOUBLE_EQ(lane.GetWidth(0.0), 0.0);
- ASSERT_DOUBLE_EQ(lane.GetWidth(length), width);
+ ASSERT_DOUBLE_EQ(lane.GetWidth(0.0_m).value(), 0.0);
+ ASSERT_EQ(lane.GetWidth(length).value(), width.value());
}
TEST(GetLaneWidth, LaneWidthQueryOnTriangularLane_ReturnsCorrectlyInterpolatedWidth)
{
- const double width = 3.75;
- const double length = 10;
- const double heading = 0.0;
- const double queryPosition = 3.0;
+ const units::length::meter_t width = 3.75_m;
+ const units::length::meter_t length = 10_m;
+ const units::angle::radian_t heading = 0.0_rad;
+ const units::length::meter_t queryPosition = 3.0_m;
osi3::Lane osiLane;
OWL::Implementation::Lane lane(&osiLane, nullptr, -1);
auto elementUnderTest =
OWL::Testing::LaneGeometryElementGenerator::TriangularLaneGeometryElement(
- { 0.0, 0.0}, // origin
+ { 0.0_m, 0.0_m }, // origin
width,
length,
heading);
@@ -418,32 +418,32 @@ TEST(GetLaneWidth, LaneWidthQueryOnTriangularLane_ReturnsCorrectlyInterpolatedWi
const OWL::Primitive::LaneGeometryJoint& firstJoint = elementUnderTest.joints.current;
const OWL::Primitive::LaneGeometryJoint& secondJoint = elementUnderTest.joints.next;
- Common::Vector2d leftPoint1 = firstJoint.points.left;
- Common::Vector2d referencePoint1 = firstJoint.points.reference;
- Common::Vector2d rightPoint1 = firstJoint.points.right;
- Common::Vector2d leftPoint2 = secondJoint.points.left;
- Common::Vector2d referencePoint2 = secondJoint.points.reference;
- Common::Vector2d rightPoint2 = secondJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint1 = firstJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint1 = firstJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint1 = firstJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint2 = secondJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint2 = secondJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint2 = secondJoint.points.right;
- lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0, 0.0, heading);
- lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0, heading);
+ lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0_m, 0.0_i_m, heading);
+ lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0_i_m, heading);
- ASSERT_DOUBLE_EQ(lane.GetWidth(queryPosition), width / length * queryPosition);
+ ASSERT_EQ(lane.GetWidth(queryPosition).value(), width.value() / length.value() * queryPosition.value());
}
TEST(GetLaneWidth, LaneWidthQueryOnRotatedTriangularLane_ReturnsCorrectlyInterpolatedWidth)
{
- const double width = 3.75;
- const double length = 10;
- const double heading = M_PI / 6.0;
- const double queryPosition = 3.0;
+ const units::length::meter_t width = 3.75_m;
+ const units::length::meter_t length = 10_m;
+ const units::angle::radian_t heading = 30_deg;
+ const units::length::meter_t queryPosition = 3.0_m;
osi3::Lane osiLane;
OWL::Implementation::Lane lane(&osiLane, nullptr, -1);
auto elementUnderTest =
OWL::Testing::LaneGeometryElementGenerator::TriangularLaneGeometryElement(
- { 0.0, 0.0}, // origin
+ { 0.0_m, 0.0_m }, // origin
width,
length,
heading);
@@ -451,31 +451,31 @@ TEST(GetLaneWidth, LaneWidthQueryOnRotatedTriangularLane_ReturnsCorrectlyInterpo
const OWL::Primitive::LaneGeometryJoint& firstJoint = elementUnderTest.joints.current;
const OWL::Primitive::LaneGeometryJoint& secondJoint = elementUnderTest.joints.next;
- Common::Vector2d leftPoint1 = firstJoint.points.left;
- Common::Vector2d referencePoint1 = firstJoint.points.reference;
- Common::Vector2d rightPoint1 = firstJoint.points.right;
- Common::Vector2d leftPoint2 = secondJoint.points.left;
- Common::Vector2d referencePoint2 = secondJoint.points.reference;
- Common::Vector2d rightPoint2 = secondJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint1 = firstJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint1 = firstJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint1 = firstJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint2 = secondJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint2 = secondJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint2 = secondJoint.points.right;
- lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0, 0.0, heading);
- lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0, heading);
+ lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0_m, 0.0_i_m, heading);
+ lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0_i_m, heading);
- ASSERT_DOUBLE_EQ(lane.GetWidth(queryPosition), width / length * queryPosition);
+ ASSERT_EQ(lane.GetWidth(queryPosition).value(), width.value() / length.value() * queryPosition.value());
}
TEST(DISABLED_GetLaneWidth, LaneWidthQueryOnRectangularLane_ReturnsFullWidthAtStartAndEnd)
{
- const double width = 3.75;
- const double length = 10;
- const double heading = 0.0;
+ const units::length::meter_t width = 3.75_m;
+ const units::length::meter_t length = 10_m;
+ const units::angle::radian_t heading = 0.0_rad;
osi3::Lane osiLane;
OWL::Implementation::Lane lane(&osiLane, nullptr, -1);
auto elementUnderTest =
OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElement(
- { 0.0, 0.0}, // origin
+ { 0.0_m, 0.0_m }, // origin
width,
length,
heading);
@@ -483,36 +483,36 @@ TEST(DISABLED_GetLaneWidth, LaneWidthQueryOnRectangularLane_ReturnsFullWidthAtSt
const OWL::Primitive::LaneGeometryJoint& firstJoint = elementUnderTest.joints.current;
const OWL::Primitive::LaneGeometryJoint& secondJoint = elementUnderTest.joints.next;
- Common::Vector2d leftPoint1 = firstJoint.points.left;
- Common::Vector2d referencePoint1 = firstJoint.points.reference;
- Common::Vector2d rightPoint1 = firstJoint.points.right;
- Common::Vector2d leftPoint2 = secondJoint.points.left;
- Common::Vector2d referencePoint2 = secondJoint.points.reference;
- Common::Vector2d rightPoint2 = secondJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint1 = firstJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint1 = firstJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint1 = firstJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint2 = secondJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint2 = secondJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint2 = secondJoint.points.right;
- lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0, 0.0, heading);
- lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0, heading);
+ lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0_m, 0.0_i_m, heading);
+ lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0_i_m, heading);
- ASSERT_DOUBLE_EQ(lane.GetWidth(0.0), width);
- ASSERT_DOUBLE_EQ(lane.GetWidth(length), width);
+ ASSERT_EQ(lane.GetWidth(0.0_m), width);
+ ASSERT_EQ(lane.GetWidth(length), width);
}
/////////////////////////////////////////////////////////////////////////////
TEST(GetLaneCurvature, LaneCurvatureQueryOnCurvedLane_ReturnsZeroCurvatureAtStartAndFullCurvatureAtEnd)
{
- const double width = 3.75;
- const double length = 10;
- const double heading = 0.0;
- const double curvatureStart = 0.2;
- const double curvatureEnd = 0.5;
+ const units::length::meter_t width = 3.75_m;
+ const units::length::meter_t length = 10_m;
+ const units::angle::radian_t heading = 0.0_rad;
+ const units::curvature::inverse_meter_t curvatureStart = 0.2_i_m;
+ const units::curvature::inverse_meter_t curvatureEnd = 0.5_i_m;
osi3::Lane osiLane;
OWL::Implementation::Lane lane(&osiLane, nullptr, -1);
auto elementUnderTest =
OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElementWithCurvature(
- { 0.0, 0.0}, // origin
+ { 0.0_m, 0.0_m }, // origin
width,
length,
curvatureStart,
@@ -522,38 +522,38 @@ TEST(GetLaneCurvature, LaneCurvatureQueryOnCurvedLane_ReturnsZeroCurvatureAtStar
const OWL::Primitive::LaneGeometryJoint& firstJoint = elementUnderTest.joints.current;
const OWL::Primitive::LaneGeometryJoint& secondJoint = elementUnderTest.joints.next;
- Common::Vector2d leftPoint1 = firstJoint.points.left;
- Common::Vector2d referencePoint1 = firstJoint.points.reference;
- Common::Vector2d rightPoint1 = firstJoint.points.right;
- double curvature1 = firstJoint.curvature;
- Common::Vector2d leftPoint2 = secondJoint.points.left;
- Common::Vector2d referencePoint2 = secondJoint.points.reference;
- Common::Vector2d rightPoint2 = secondJoint.points.right;
- double curvature2 = secondJoint.curvature;
+ Common::Vector2d<units::length::meter_t> leftPoint1 = firstJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint1 = firstJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint1 = firstJoint.points.right;
+ units::curvature::inverse_meter_t curvature1 = firstJoint.curvature;
+ Common::Vector2d<units::length::meter_t> leftPoint2 = secondJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint2 = secondJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint2 = secondJoint.points.right;
+ units::curvature::inverse_meter_t curvature2 = secondJoint.curvature;
- lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0, curvature1, heading);
+ lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0_m, curvature1, heading);
lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, curvature2, heading);
- ASSERT_DOUBLE_EQ(lane.GetCurvature(0.0), curvatureStart);
- ASSERT_DOUBLE_EQ(lane.GetCurvature(length), curvatureEnd);
+ ASSERT_EQ(lane.GetCurvature(0.0_m), curvatureStart);
+ ASSERT_EQ(lane.GetCurvature(length), curvatureEnd);
}
TEST(GetLaneCurvature, LaneCurvatureQueryOnCurvedLane_ReturnsCorrectlyInterpolatedCurvature)
{
- const double width = 3.75;
- const double length = 10;
- const double heading = 0.0;
- const double queryPosition = 3.0;
+ const units::length::meter_t width = 3.75_m;
+ const units::length::meter_t length = 10_m;
+ const units::angle::radian_t heading = 0.0_rad;
+ const units::length::meter_t queryPosition = 3.0_m;
- const double curvatureStart = 0.2;
- const double curvatureEnd = 0.5;
+ const units::curvature::inverse_meter_t curvatureStart = 0.2_i_m;
+ const units::curvature::inverse_meter_t curvatureEnd = 0.5_i_m;
osi3::Lane osiLane;
OWL::Implementation::Lane lane(&osiLane, nullptr, -1);
auto elementUnderTest =
OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElementWithCurvature(
- { 0.0, 0.0}, // origin
+ { 0.0_m, 0.0_m }, // origin
width,
length,
curvatureStart,
@@ -563,38 +563,38 @@ TEST(GetLaneCurvature, LaneCurvatureQueryOnCurvedLane_ReturnsCorrectlyInterpolat
const OWL::Primitive::LaneGeometryJoint& firstJoint = elementUnderTest.joints.current;
const OWL::Primitive::LaneGeometryJoint& secondJoint = elementUnderTest.joints.next;
- Common::Vector2d leftPoint1 = firstJoint.points.left;
- Common::Vector2d referencePoint1 = firstJoint.points.reference;
- Common::Vector2d rightPoint1 = firstJoint.points.right;
- double curvature1 = firstJoint.curvature;
- Common::Vector2d leftPoint2 = secondJoint.points.left;
- Common::Vector2d referencePoint2 = secondJoint.points.reference;
- Common::Vector2d rightPoint2 = secondJoint.points.right;
- double curvature2 = secondJoint.curvature;
+ Common::Vector2d<units::length::meter_t> leftPoint1 = firstJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint1 = firstJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint1 = firstJoint.points.right;
+ units::curvature::inverse_meter_t curvature1 = firstJoint.curvature;
+ Common::Vector2d<units::length::meter_t> leftPoint2 = secondJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint2 = secondJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint2 = secondJoint.points.right;
+ units::curvature::inverse_meter_t curvature2 = secondJoint.curvature;
- lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0, curvature1, heading);
+ lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0_m, curvature1, heading);
lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, curvature2, heading);
- ASSERT_DOUBLE_EQ(lane.GetCurvature(queryPosition),
+ ASSERT_EQ(lane.GetCurvature(queryPosition),
curvatureStart + (curvatureEnd - curvatureStart) / length * queryPosition);
}
TEST(GetLaneCurvature, LaneCurvatureQueryOnRotatedCurvedLane_ReturnsCorrectlyInterpolatedCurvature)
{
- const double width = 3.75;
- const double length = 10;
- const double heading = M_PI / 6.0;
- const double queryPosition = 3.0;
+ const units::length::meter_t width = 3.75_m;
+ const units::length::meter_t length = 10_m;
+ const units::angle::radian_t heading = 30_deg;
+ const units::length::meter_t queryPosition = 3.0_m;
- const double curvatureStart = 0.2;
- const double curvatureEnd = 0.5;
+ const units::curvature::inverse_meter_t curvatureStart = 0.2_i_m;
+ const units::curvature::inverse_meter_t curvatureEnd = 0.5_i_m;
osi3::Lane osiLane;
OWL::Implementation::Lane lane(&osiLane, nullptr, -1);
auto elementUnderTest =
OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElementWithCurvature(
- { 0.0, 0.0}, // origin
+ { 0.0_m, 0.0_m }, // origin
width,
length,
curvatureStart,
@@ -604,34 +604,34 @@ TEST(GetLaneCurvature, LaneCurvatureQueryOnRotatedCurvedLane_ReturnsCorrectlyInt
const OWL::Primitive::LaneGeometryJoint& firstJoint = elementUnderTest.joints.current;
const OWL::Primitive::LaneGeometryJoint& secondJoint = elementUnderTest.joints.next;
- Common::Vector2d leftPoint1 = firstJoint.points.left;
- Common::Vector2d referencePoint1 = firstJoint.points.reference;
- Common::Vector2d rightPoint1 = firstJoint.points.right;
- double curvature1 = firstJoint.curvature;
- Common::Vector2d leftPoint2 = secondJoint.points.left;
- Common::Vector2d referencePoint2 = secondJoint.points.reference;
- Common::Vector2d rightPoint2 = secondJoint.points.right;
- double curvature2 = secondJoint.curvature;
+ Common::Vector2d<units::length::meter_t> leftPoint1 = firstJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint1 = firstJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint1 = firstJoint.points.right;
+ units::curvature::inverse_meter_t curvature1 = firstJoint.curvature;
+ Common::Vector2d<units::length::meter_t> leftPoint2 = secondJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint2 = secondJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint2 = secondJoint.points.right;
+ units::curvature::inverse_meter_t curvature2 = secondJoint.curvature;
- lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0, curvature1, heading);
+ lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0_m, curvature1, heading);
lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, curvature2, heading);
- ASSERT_DOUBLE_EQ(lane.GetCurvature(queryPosition),
+ ASSERT_EQ(lane.GetCurvature(queryPosition),
curvatureStart + (curvatureEnd - curvatureStart) / length * queryPosition);
}
TEST(GetLaneCurvature, LaneCurvatureQueryOnStraightLane_ReturnsZeroCurvature)
{
- const double width = 3.75;
- const double length = 10;
- const double heading = 0.0;
+ const units::length::meter_t width = 3.75_m;
+ const units::length::meter_t length = 10_m;
+ const units::angle::radian_t heading = 0.0_rad;
osi3::Lane osiLane;
OWL::Implementation::Lane lane(&osiLane, nullptr, -1);
auto elementUnderTest =
OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElement(
- { 0.0, 0.0}, // origin
+ { 0.0_m, 0.0_m }, // origin
width,
length,
heading);
@@ -639,37 +639,37 @@ TEST(GetLaneCurvature, LaneCurvatureQueryOnStraightLane_ReturnsZeroCurvature)
const OWL::Primitive::LaneGeometryJoint& firstJoint = elementUnderTest.joints.current;
const OWL::Primitive::LaneGeometryJoint& secondJoint = elementUnderTest.joints.next;
- Common::Vector2d leftPoint1 = firstJoint.points.left;
- Common::Vector2d referencePoint1 = firstJoint.points.reference;
- Common::Vector2d rightPoint1 = firstJoint.points.right;
- double curvature1 = firstJoint.curvature;
- Common::Vector2d leftPoint2 = secondJoint.points.left;
- Common::Vector2d referencePoint2 = secondJoint.points.reference;
- Common::Vector2d rightPoint2 = secondJoint.points.right;
- double curvature2 = secondJoint.curvature;
+ Common::Vector2d<units::length::meter_t> leftPoint1 = firstJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint1 = firstJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint1 = firstJoint.points.right;
+ units::curvature::inverse_meter_t curvature1 = firstJoint.curvature;
+ Common::Vector2d<units::length::meter_t> leftPoint2 = secondJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint2 = secondJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint2 = secondJoint.points.right;
+ units::curvature::inverse_meter_t curvature2 = secondJoint.curvature;
- lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0, curvature1, heading);
+ lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0_m, curvature1, heading);
lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, curvature2, heading);
- ASSERT_DOUBLE_EQ(lane.GetCurvature(0.0), 0.0);
- ASSERT_DOUBLE_EQ(lane.GetCurvature(length / 2.0), 0.0);
- ASSERT_DOUBLE_EQ(lane.GetCurvature(length), 0.0);
+ ASSERT_DOUBLE_EQ(lane.GetCurvature(0.0_m).value(), 0.0);
+ ASSERT_DOUBLE_EQ(lane.GetCurvature(length / 2.0).value(), 0.0);
+ ASSERT_DOUBLE_EQ(lane.GetCurvature(length).value(), 0.0);
}
/////////////////////////////////////////////////////////////////////////////
TEST(GetLaneDirection, LaneWidthQueryOnRotatedStraightLane_ReturnsCorrectDirection)
{
- const double width = 3.75;
- const double length = 10;
- const double heading = M_PI / 6.0;
+ const units::length::meter_t width = 3.75_m;
+ const units::length::meter_t length = 10_m;
+ const units::angle::radian_t heading = 30_deg;
osi3::Lane osiLane;
OWL::Implementation::Lane lane(&osiLane, nullptr, -1);
auto elementUnderTest =
OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElement(
- { 0.0, 0.0}, // origin
+ { 0.0_m, 0.0_m }, // origin
width,
length,
heading);
@@ -677,35 +677,35 @@ TEST(GetLaneDirection, LaneWidthQueryOnRotatedStraightLane_ReturnsCorrectDirecti
const OWL::Primitive::LaneGeometryJoint& firstJoint = elementUnderTest.joints.current;
const OWL::Primitive::LaneGeometryJoint& secondJoint = elementUnderTest.joints.next;
- Common::Vector2d leftPoint1 = firstJoint.points.left;
- Common::Vector2d referencePoint1 = firstJoint.points.reference;
- Common::Vector2d rightPoint1 = firstJoint.points.right;
- Common::Vector2d leftPoint2 = secondJoint.points.left;
- Common::Vector2d referencePoint2 = secondJoint.points.reference;
- Common::Vector2d rightPoint2 = secondJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint1 = firstJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint1 = firstJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint1 = firstJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint2 = secondJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint2 = secondJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint2 = secondJoint.points.right;
- lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0, 0.0, heading);
- lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0, heading);
+ lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0_m, 0.0_i_m, heading);
+ lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0_i_m, heading);
- ASSERT_DOUBLE_EQ(lane.GetDirection(0.0), heading);
- ASSERT_DOUBLE_EQ(lane.GetDirection(length / 2.0), heading);
- ASSERT_DOUBLE_EQ(lane.GetDirection(length), heading);
+ ASSERT_EQ(lane.GetDirection(0.0_m), heading);
+ ASSERT_EQ(lane.GetDirection(length / 2.0), heading);
+ ASSERT_EQ(lane.GetDirection(length), heading);
}
TEST(GetLaneDirection, LaneWidthQueryOnRotatedConstantlyCurvedLane_ReturnsCorrectDirection)
{
- const double width = 3.75;
- const double length = 10;
- const double heading = M_PI / 6.0;
- const double curvatureStart = 0.2;
- const double curvatureEnd = 0.2;
+ const units::length::meter_t width{3.75};
+ const units::length::meter_t length{10};
+ const units::angle::radian_t heading{30_deg};
+ const units::curvature::inverse_meter_t curvatureStart{0.2};
+ const units::curvature::inverse_meter_t curvatureEnd{0.2};
osi3::Lane osiLane;
OWL::Implementation::Lane lane(&osiLane, nullptr, -1);
auto elementUnderTest =
OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElementWithCurvature(
- { 0.0, 0.0 }, // origin
+ { 0.0_m, 0.0_m }, // origin
width,
length,
curvatureStart,
@@ -715,39 +715,39 @@ TEST(GetLaneDirection, LaneWidthQueryOnRotatedConstantlyCurvedLane_ReturnsCorrec
const OWL::Primitive::LaneGeometryJoint& firstJoint = elementUnderTest.joints.current;
const OWL::Primitive::LaneGeometryJoint& secondJoint = elementUnderTest.joints.next;
- Common::Vector2d leftPoint1 = firstJoint.points.left;
- Common::Vector2d referencePoint1 = firstJoint.points.reference;
- Common::Vector2d rightPoint1 = firstJoint.points.right;
- double curvature1 = firstJoint.curvature;
- double direction1 = firstJoint.sHdg;
- Common::Vector2d leftPoint2 = secondJoint.points.left;
- Common::Vector2d referencePoint2 = secondJoint.points.reference;
- Common::Vector2d rightPoint2 = secondJoint.points.right;
- double curvature2 = secondJoint.curvature;
- double direction2 = firstJoint.sHdg;
-
- lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0, curvature1, heading);
+ Common::Vector2d<units::length::meter_t> leftPoint1 = firstJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint1 = firstJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint1 = firstJoint.points.right;
+ units::curvature::inverse_meter_t curvature1 = firstJoint.curvature;
+ units::angle::radian_t direction1 = firstJoint.sHdg;
+ Common::Vector2d<units::length::meter_t> leftPoint2 = secondJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint2 = secondJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint2 = secondJoint.points.right;
+ units::curvature::inverse_meter_t curvature2 = secondJoint.curvature;
+ units::angle::radian_t direction2 = firstJoint.sHdg;
+
+ lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0_m, curvature1, heading);
lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, curvature2, heading);
- ASSERT_DOUBLE_EQ(lane.GetDirection(0.0), direction1);
- ASSERT_DOUBLE_EQ(lane.GetDirection(length / 2.0), direction1 + (direction2 - direction1) * length / 2.0);
- ASSERT_DOUBLE_EQ(lane.GetDirection(length), direction2);
+ ASSERT_EQ(lane.GetDirection(0.0_m), direction1);
+ ASSERT_EQ(lane.GetDirection(length / 2.0), direction1 + (direction2 - direction1) * length / 2.0_m);
+ ASSERT_EQ(lane.GetDirection(length), direction2);
}
TEST(GetLaneDirection, LaneWidthQueryOnRotatedCurvedLane_ReturnsCorrectDirection)
{
- const double width = 3.75;
- const double length = 10;
- const double heading = M_PI / 6.0;
- const double curvatureStart = 0.2;
- const double curvatureEnd = 0.8;
+ const units::length::meter_t width{3.75};
+ const units::length::meter_t length{10};
+ const units::angle::radian_t heading{30_deg};
+ const units::curvature::inverse_meter_t curvatureStart{0.2};
+ const units::curvature::inverse_meter_t curvatureEnd{0.8};
osi3::Lane osiLane;
OWL::Implementation::Lane lane(&osiLane, nullptr, -1);
auto elementUnderTest =
OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElementWithCurvature(
- { 0.0, 0.0 }, // origin
+ { 0.0_m, 0.0_m }, // origin
width,
length,
curvatureStart,
@@ -757,21 +757,21 @@ TEST(GetLaneDirection, LaneWidthQueryOnRotatedCurvedLane_ReturnsCorrectDirection
const OWL::Primitive::LaneGeometryJoint& firstJoint = elementUnderTest.joints.current;
const OWL::Primitive::LaneGeometryJoint& secondJoint = elementUnderTest.joints.next;
- Common::Vector2d leftPoint1 = firstJoint.points.left;
- Common::Vector2d referencePoint1 = firstJoint.points.reference;
- Common::Vector2d rightPoint1 = firstJoint.points.right;
- double curvature1 = firstJoint.curvature;
- double direction1 = firstJoint.sHdg;
- Common::Vector2d leftPoint2 = secondJoint.points.left;
- Common::Vector2d referencePoint2 = secondJoint.points.reference;
- Common::Vector2d rightPoint2 = secondJoint.points.right;
- double curvature2 = secondJoint.curvature;
- double direction2 = firstJoint.sHdg;
-
- lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0, curvature1, heading);
+ Common::Vector2d<units::length::meter_t> leftPoint1 = firstJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint1 = firstJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint1 = firstJoint.points.right;
+ units::curvature::inverse_meter_t curvature1 = firstJoint.curvature;
+ units::angle::radian_t direction1 = firstJoint.sHdg;
+ Common::Vector2d<units::length::meter_t> leftPoint2 = secondJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint2 = secondJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint2 = secondJoint.points.right;
+ units::curvature::inverse_meter_t curvature2 = secondJoint.curvature;
+ units::angle::radian_t direction2 = firstJoint.sHdg;
+
+ lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0_m, curvature1, heading);
lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, curvature2, heading);
- ASSERT_DOUBLE_EQ(lane.GetDirection(0.0), direction1);
- ASSERT_DOUBLE_EQ(lane.GetDirection(length / 2.0), direction1 + (direction2 - direction1) * length / 2.0);
- ASSERT_DOUBLE_EQ(lane.GetDirection(length), direction2);
+ ASSERT_EQ(lane.GetDirection(0.0_m), direction1);
+ ASSERT_EQ(lane.GetDirection(length / 2.0), direction1 + (direction2 - direction1) * length / 2.0_m);
+ ASSERT_EQ(lane.GetDirection(length), direction2);
}
diff --git a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/locator_Tests.cpp b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/locator_Tests.cpp
index 3a6f82c5082a8fb66cd3c71fc889851a67ab5ffe..249916b7cda2477ab285c1a9133acc36bf5b5844 100644
--- a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/locator_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/locator_Tests.cpp
@@ -28,9 +28,11 @@ using ::testing::IsEmpty;
using ::testing::UnorderedElementsAreArray;
using ::testing::ElementsAre;
-std::vector<Common::Vector2d> GenerateRectangularPolygon(double x_min, double x_max, double y_min, double y_max)
+using namespace units::literals;
+
+std::vector<Common::Vector2d<units::length::meter_t>> GenerateRectangularPolygon(units::length::meter_t x_min, units::length::meter_t x_max, units::length::meter_t y_min, units::length::meter_t y_max)
{
- std::vector<Common::Vector2d> points;
+ std::vector<Common::Vector2d<units::length::meter_t>> points;
points.emplace_back(x_min, y_max);
points.emplace_back(x_max, y_max);
points.emplace_back(x_max, y_min);
@@ -45,7 +47,7 @@ public:
{
ON_CALL(lane, GetId()).WillByDefault(Return(idLane));
ON_CALL(lane, GetOdId()).WillByDefault(Return(-1));
- ON_CALL(lane, GetWidth(_)).WillByDefault(Return(4));
+ ON_CALL(lane, GetWidth(_)).WillByDefault(Return(4_m));
ON_CALL(road, GetId()).WillByDefault(ReturnRef(idRoad));
ON_CALL(lane, GetRoad()).WillByDefault(ReturnRef(road));
}
@@ -55,16 +57,16 @@ public:
OWL::Id idLane{1};
std::string idRoad{"Road"};
OWL::Fakes::Road road;
- OWL::Primitive::LaneGeometryElement laneGeometryElement{OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElement({0.0,0.0}, 4.0, 4.0, 0.0, &lane)};
+ OWL::Primitive::LaneGeometryElement laneGeometryElement{OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElement({0.0_m,0.0_m}, 4.0_m, 4.0_m, 0.0_rad, &lane)};
World::Localization::LocalizationElement localizationElement{laneGeometryElement};
- double yaw{0.0};
+ units::angle::radian_t yaw{0.0};
};
TEST_F(LocateOnGeometryElement, ObjectOutsideElement_DoesNotLocateObject)
{
World::Localization::LocatedObject locatedObject;
- auto agentBoundary = GenerateRectangularPolygon(-1, 0, -1, 1);
- Common::Vector2d referencePoint{-0.5,0};
+ auto agentBoundary = GenerateRectangularPolygon(-1_m, 0_m, -1_m, 1_m);
+ Common::Vector2d<units::length::meter_t> referencePoint{-0.5_m,0_m};
const auto locateOnGeometryElement = World::Localization::LocateOnGeometryElement(worldData, agentBoundary, referencePoint, yaw, locatedObject);
locateOnGeometryElement(std::make_pair(CoarseBoundingBox{}, &localizationElement));
@@ -76,25 +78,25 @@ TEST_F(LocateOnGeometryElement, ObjectOutsideElement_DoesNotLocateObject)
TEST_F(LocateOnGeometryElement, ObjectPartiallyInsideGeometryElement_CorrectlyLocatesObjectOnElement)
{
World::Localization::LocatedObject locatedObject;
- auto agentBoundary = GenerateRectangularPolygon(-1.0, 2.1, 1.0, 3.0);
- Common::Vector2d referencePoint{-0.5,2.0};
+ auto agentBoundary = GenerateRectangularPolygon(-1.0_m, 2.1_m, 1.0_m, 3.0_m);
+ Common::Vector2d<units::length::meter_t> referencePoint{-0.5_m,2.0_m};
const auto locateOnGeometryElement = World::Localization::LocateOnGeometryElement(worldData, agentBoundary, referencePoint, yaw, locatedObject);
locateOnGeometryElement(std::make_pair(CoarseBoundingBox{}, &localizationElement));
EXPECT_THAT(locatedObject.referencePoint, IsEmpty());
ASSERT_THAT(locatedObject.laneOverlaps, SizeIs(1));
- EXPECT_THAT(locatedObject.laneOverlaps.at(&lane).sMin.roadPosition.s, DoubleEq(0.0));
- EXPECT_THAT(locatedObject.laneOverlaps.at(&lane).sMax.roadPosition.s, DoubleEq(2.1));
- EXPECT_THAT(locatedObject.laneOverlaps.at(&lane).tMin.roadPosition.t, DoubleEq(1.0));
- EXPECT_THAT(locatedObject.laneOverlaps.at(&lane).tMax.roadPosition.t, DoubleEq(2.0));
+ EXPECT_THAT(locatedObject.laneOverlaps.at(&lane).sMin.roadPosition.s.value(), DoubleEq(0.0));
+ EXPECT_THAT(locatedObject.laneOverlaps.at(&lane).sMax.roadPosition.s.value(), DoubleEq(2.1));
+ EXPECT_THAT(locatedObject.laneOverlaps.at(&lane).tMin.roadPosition.t.value(), DoubleEq(1.0));
+ EXPECT_THAT(locatedObject.laneOverlaps.at(&lane).tMax.roadPosition.t.value(), DoubleEq(2.0));
}
TEST_F(LocateOnGeometryElement, ObjectInsideGeometryElement_CorrectlyLocatesObjectOnElement)
{
World::Localization::LocatedObject locatedObject;
- auto agentBoundary = GenerateRectangularPolygon(1.0, 2.1, -1.0, 1.0);
- Common::Vector2d referencePoint{1.5,0.0};
+ auto agentBoundary = GenerateRectangularPolygon(1.0_m, 2.1_m, -1.0_m, 1.0_m);
+ Common::Vector2d<units::length::meter_t> referencePoint{1.5_m,0.0_m};
const auto locateOnGeometryElement = World::Localization::LocateOnGeometryElement(worldData, agentBoundary, referencePoint, yaw, locatedObject);
locateOnGeometryElement(std::make_pair(CoarseBoundingBox{}, &localizationElement));
@@ -102,13 +104,13 @@ TEST_F(LocateOnGeometryElement, ObjectInsideGeometryElement_CorrectlyLocatesObje
ASSERT_THAT(locatedObject.referencePoint, SizeIs(1));
EXPECT_THAT(locatedObject.referencePoint.at("Road").roadId, Eq("Road"));
EXPECT_THAT(locatedObject.referencePoint.at("Road").laneId, Eq(-1));
- EXPECT_THAT(locatedObject.referencePoint.at("Road").roadPosition.s, DoubleEq(1.5));
- EXPECT_THAT(locatedObject.referencePoint.at("Road").roadPosition.t, DoubleEq(0.0));
+ EXPECT_THAT(locatedObject.referencePoint.at("Road").roadPosition.s.value(), DoubleEq(1.5));
+ EXPECT_THAT(locatedObject.referencePoint.at("Road").roadPosition.t.value(), DoubleEq(0.0));
ASSERT_THAT(locatedObject.laneOverlaps, SizeIs(1));
- EXPECT_THAT(locatedObject.laneOverlaps.at(&lane).sMin.roadPosition.s, DoubleEq(1.0));
- EXPECT_THAT(locatedObject.laneOverlaps.at(&lane).sMax.roadPosition.s, DoubleEq(2.1));
- EXPECT_THAT(locatedObject.laneOverlaps.at(&lane).tMin.roadPosition.t, DoubleEq(-1.0));
- EXPECT_THAT(locatedObject.laneOverlaps.at(&lane).tMax.roadPosition.t, DoubleEq(1.0));
+ EXPECT_THAT(locatedObject.laneOverlaps.at(&lane).sMin.roadPosition.s.value(), DoubleEq(1.0));
+ EXPECT_THAT(locatedObject.laneOverlaps.at(&lane).sMax.roadPosition.s.value(), DoubleEq(2.1));
+ EXPECT_THAT(locatedObject.laneOverlaps.at(&lane).tMin.roadPosition.t.value(), DoubleEq(-1.0));
+ EXPECT_THAT(locatedObject.laneOverlaps.at(&lane).tMax.roadPosition.t.value(), DoubleEq(1.0));
}
class LocateTest : public ::testing::Test
@@ -118,17 +120,17 @@ public:
{
ON_CALL(lane1, GetId()).WillByDefault(Return(idLane1));
ON_CALL(lane1, GetOdId()).WillByDefault(Return(-1));
- ON_CALL(lane1, GetWidth(_)).WillByDefault(Return(4));
+ ON_CALL(lane1, GetWidth(_)).WillByDefault(Return(4_m));
ON_CALL(lane1, GetRoad()).WillByDefault(ReturnRef(road1));
ON_CALL(lane1, GetLaneGeometryElements()).WillByDefault(ReturnRef(elements1));
ON_CALL(lane2, GetId()).WillByDefault(Return(idLane2));
ON_CALL(lane2, GetOdId()).WillByDefault(Return(-2));
- ON_CALL(lane2, GetWidth(_)).WillByDefault(Return(4));
+ ON_CALL(lane2, GetWidth(_)).WillByDefault(Return(4_m));
ON_CALL(lane2, GetRoad()).WillByDefault(ReturnRef(road1));
ON_CALL(lane2, GetLaneGeometryElements()).WillByDefault(ReturnRef(elements2));
ON_CALL(lane3, GetId()).WillByDefault(Return(idLane3));
ON_CALL(lane3, GetOdId()).WillByDefault(Return(-3));
- ON_CALL(lane3, GetWidth(_)).WillByDefault(Return(4));
+ ON_CALL(lane3, GetWidth(_)).WillByDefault(Return(4_m));
ON_CALL(lane3, GetRoad()).WillByDefault(ReturnRef(road2));
ON_CALL(lane3, GetLaneGeometryElements()).WillByDefault(ReturnRef(elements3));
ON_CALL(road1, GetId()).WillByDefault(ReturnRef(idRoad1));
@@ -154,11 +156,11 @@ public:
OWL::Fakes::Lane& lane3{*dynamic_cast<OWL::Fakes::Lane*>(lanes.at(idLane3).get())};
OWL::Fakes::Road road1, road2;
std::string idRoad1{"Road1"}, idRoad2{"Road2"};
- OWL::Primitive::LaneGeometryElement laneGeometryElement1{OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElement({0.0,0.0}, 4.0, 4.0, 0.0, &lane1)};
+ OWL::Primitive::LaneGeometryElement laneGeometryElement1{OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElement({0.0_m,0.0_m}, 4.0_m, 4.0_m, 0.0_rad, &lane1)};
OWL::Interfaces::LaneGeometryElements elements1{&laneGeometryElement1};
- OWL::Primitive::LaneGeometryElement laneGeometryElement2{OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElement({0.0,-4.0}, 4.0, 4.0, 0.0, &lane2)};
+ OWL::Primitive::LaneGeometryElement laneGeometryElement2{OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElement({0.0_m,-4.0_m}, 4.0_m, 4.0_m, 0.0_rad, &lane2)};
OWL::Interfaces::LaneGeometryElements elements2{&laneGeometryElement2};
- OWL::Primitive::LaneGeometryElement laneGeometryElement3{OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElement({2.0,-2.0}, 4.0, 4.0, M_PI_4, &lane3)};
+ OWL::Primitive::LaneGeometryElement laneGeometryElement3{OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElement({2.0_m,-2.0_m}, 4.0_m, 4.0_m, 45_deg, &lane3)};
OWL::Interfaces::LaneGeometryElements elements3{&laneGeometryElement3};
World::Localization::Localizer localizer{worldData};
};
@@ -166,14 +168,14 @@ public:
TEST_F(LocateTest, WorldObject_OnRoute)
{
OWL::Fakes::MovingObject object;
- OWL::Primitive::AbsPosition referencePoint;
- referencePoint.x = 2;
- referencePoint.y = 2;
- OWL::Primitive::AbsOrientation orientation;
- orientation.yaw = 0;
+ mantle_api::Vec3<units::length::meter_t> referencePoint;
+ referencePoint.x = 2_m;
+ referencePoint.y = 2_m;
+ mantle_api::Orientation3<units::angle::radian_t> orientation;
+ orientation.yaw = 0_rad;
ON_CALL(object, GetReferencePointPosition()).WillByDefault(Return(referencePoint));
ON_CALL(object, GetAbsOrientation()).WillByDefault(Return(orientation));
- ON_CALL(object, GetDistanceReferencePointToLeadingEdge()).WillByDefault(Return(1));
+ ON_CALL(object, GetDistanceReferencePointToLeadingEdge()).WillByDefault(Return(1_m));
polygon_t boundingBox{{{1,1},{1,3},{3,3},{3,1}}};
const auto result = localizer.Locate(boundingBox, object);
@@ -185,14 +187,14 @@ TEST_F(LocateTest, WorldObject_OnRoute)
TEST_F(LocateTest, WorldObject_OffRoute)
{
OWL::Fakes::MovingObject object;
- OWL::Primitive::AbsPosition referencePoint;
- referencePoint.x = 3.5;
- referencePoint.y = 3.0;
- OWL::Primitive::AbsOrientation orientation;
- orientation.yaw = 0;
+ mantle_api::Vec3<units::length::meter_t> referencePoint;
+ referencePoint.x = 3.5_m;
+ referencePoint.y = 3.0_m;
+ mantle_api::Orientation3<units::angle::radian_t> orientation;
+ orientation.yaw = 0_rad;
ON_CALL(object, GetReferencePointPosition()).WillByDefault(Return(referencePoint));
ON_CALL(object, GetAbsOrientation()).WillByDefault(Return(orientation));
- ON_CALL(object, GetDistanceReferencePointToLeadingEdge()).WillByDefault(Return(1));
+ ON_CALL(object, GetDistanceReferencePointToLeadingEdge()).WillByDefault(Return(1_m));
polygon_t boundingBox{{{2.5,1},{2.5,3},{4.5,3},{4.5,1}}};
const auto result = localizer.Locate(boundingBox, object);
@@ -202,22 +204,22 @@ TEST_F(LocateTest, WorldObject_OffRoute)
TEST_F(LocateTest, Point_InsideTwoRoads)
{
- const auto result = localizer.Locate({2,0},0);
+ const auto result = localizer.Locate({2_m,0_m},0_rad);
- ASSERT_THAT(result, ElementsAre(std::make_pair(idRoad1, GlobalRoadPosition{idRoad1, -1, 2, 0, 0}),
- std::make_pair(idRoad2, GlobalRoadPosition{idRoad2, -3, M_SQRT2, M_SQRT2, -M_PI_4})));
+ ASSERT_THAT(result, ElementsAre(std::make_pair(idRoad1, GlobalRoadPosition{idRoad1, -1, 2_m, 0_m, 0_rad}),
+ std::make_pair(idRoad2, GlobalRoadPosition{idRoad2, -3, units::length::meter_t{M_SQRT2}, units::length::meter_t{M_SQRT2}, -45_deg})));
}
TEST_F(LocateTest, Point_InsideOneRoad)
{
- const auto result = localizer.Locate({2,-3},0);
+ const auto result = localizer.Locate({2_m,-3_m},0_rad);
- ASSERT_THAT(result, ElementsAre(std::make_pair(idRoad1, GlobalRoadPosition{idRoad1, -2, 2, 1, 0})));
+ ASSERT_THAT(result, ElementsAre(std::make_pair(idRoad1, GlobalRoadPosition{idRoad1, -2, 2_m, 1_m, 0_rad})));
}
TEST_F(LocateTest, Point_TouchesOneRoad)
{
- const auto result = localizer.Locate({0,1},0);
+ const auto result = localizer.Locate({0_m,1_m},0_rad);
- ASSERT_THAT(result, ElementsAre(std::make_pair(idRoad1, GlobalRoadPosition{idRoad1, -1, 0, 1, 0})));
+ ASSERT_THAT(result, ElementsAre(std::make_pair(idRoad1, GlobalRoadPosition{idRoad1, -1, 0_m, 1_m, 0_rad})));
}
diff --git a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/sceneryConverter_Tests.cpp b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/sceneryConverter_Tests.cpp
index f6b95339aa2d3d6b5937098a30b3b35985e58402..675b67d8fd9173aa9f2bf5ce7ca64f0a5e3c2ad5 100644
--- a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/sceneryConverter_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/sceneryConverter_Tests.cpp
@@ -48,30 +48,30 @@ public:
MOCK_METHOD2(Register, openpass::type::EntityId (openpass::entity::EntityType entityType, openpass::type::EntityInfo));
};
-std::tuple<const OWL::Primitive::LaneGeometryJoint*, const OWL::Primitive::LaneGeometryJoint*> CreateSectionPartJointsRect(double length)
+std::tuple<const OWL::Primitive::LaneGeometryJoint*, const OWL::Primitive::LaneGeometryJoint*> CreateSectionPartJointsRect(units::length::meter_t length)
{
osi3::Lane osiLane;
OWL::Implementation::Lane lane(&osiLane, nullptr, -1);
auto laneGeometryElement =
OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElement(
- { 0.0, 0.0 }, // origin
- 0.0, // width
+ { 0.0_m, 0.0_m }, // origin
+ 0.0_m, // width
length,
- 0.0); // heading
+ 0.0_rad); // heading
const OWL::Primitive::LaneGeometryJoint& firstJoint = laneGeometryElement.joints.current;
const OWL::Primitive::LaneGeometryJoint& secondJoint = laneGeometryElement.joints.next;
- Common::Vector2d leftPoint1 = firstJoint.points.left;
- Common::Vector2d referencePoint1 = firstJoint.points.reference;
- Common::Vector2d rightPoint1 = firstJoint.points.right;
- Common::Vector2d leftPoint2 = secondJoint.points.left;
- Common::Vector2d referencePoint2 = secondJoint.points.reference;
- Common::Vector2d rightPoint2 = secondJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint1 = firstJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint1 = firstJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint1 = firstJoint.points.right;
+ Common::Vector2d<units::length::meter_t> leftPoint2 = secondJoint.points.left;
+ Common::Vector2d<units::length::meter_t> referencePoint2 = secondJoint.points.reference;
+ Common::Vector2d<units::length::meter_t> rightPoint2 = secondJoint.points.right;
- lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0, 0.0, 0.0);
- lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0, 0.0);
+ lane.AddLaneGeometryJoint(leftPoint1, referencePoint1, rightPoint1, 0.0_m, 0.0_i_m, 0.0_rad);
+ lane.AddLaneGeometryJoint(leftPoint2, referencePoint2, rightPoint2, length, 0.0_i_m, 0.0_rad);
return lane.GetNeighbouringJoints(length * 0.5);
}
diff --git a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/sensorView_Tests.cpp b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/sensorView_Tests.cpp
index 0c5c16f80b3da9a3ff44773fe3fd843f78e02aba..720db4c46299675df4e8a2c97f7f33e468fa7027 100644
--- a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/sensorView_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/sensorView_Tests.cpp
@@ -33,35 +33,35 @@ struct SensorViewTest_Data
{
struct Sensor
{
- Sensor(double x, double y, double angle_left_abs_degree, double angle_right_abs_degree, double radius)
- : x{x},
- y{y},
- angle_left_abs_rad{angle_left_abs_degree * M_PI / 180.},
- angle_right_abs_rad{angle_right_abs_degree * M_PI / 180.},
- radius{radius}
+ Sensor(units::length::meter_t x, units::length::meter_t y, units::angle::degree_t angle_left_abs_degree, units::angle::degree_t angle_right_abs_degree, units::length::meter_t radius) :
+ x{x},
+ y{y},
+ angle_left_abs_rad{angle_left_abs_degree},
+ angle_right_abs_rad{angle_right_abs_degree},
+ radius{radius}
{}
- double x;
- double y;
- double angle_left_abs_rad;
- double angle_right_abs_rad;
- double radius;
+ units::length::meter_t x;
+ units::length::meter_t y;
+ units::angle::radian_t angle_left_abs_rad;
+ units::angle::radian_t angle_right_abs_rad;
+ units::length::meter_t radius;
friend std::ostream& operator<<(std::ostream& os, const Sensor& obj)
{
return os
<< "Position: " << obj.x << ";" << obj.y
- << " | Opening Angles (deg): " << (obj.angle_left_abs_rad * 180. / M_PI) << ";" << (obj.angle_right_abs_rad * 180. / M_PI)
+ << " | Opening Angles (rad): " << obj.angle_left_abs_rad << ";" << obj.angle_right_abs_rad
<< " | Radius: " << obj.radius;
}
};
struct Object
{
- double x;
- double y;
- double length;
- double width;
- double rotation;
+ units::length::meter_t x;
+ units::length::meter_t y;
+ units::length::meter_t length;
+ units::length::meter_t width;
+ units::angle::radian_t rotation;
friend std::ostream& operator<<(std::ostream& os, const Object& obj)
{
return os
@@ -94,12 +94,12 @@ TEST_P(SensorViewTestObjectDetection, TestGenerator)
{
auto data = GetParam();
- Primitive::AbsPosition sensorPosition = {data.sensor.x, data.sensor.y, 0};
+ mantle_api::Vec3<units::length::meter_t> sensorPosition = {data.sensor.x, data.sensor.y, 0_m};
OWL::Fakes::MovingObject object;
- Primitive::AbsPosition objectPosition = {data.object.x, data.object.y, 0};
+ mantle_api::Vec3<units::length::meter_t> objectPosition = {data.object.x, data.object.y, 0_m};
ON_CALL(object, GetReferencePointPosition()).WillByDefault(Return(objectPosition));
- Primitive::Dimension objectDimension = {data.object.length, data.object.width, 0};
+ mantle_api::Dimension3 objectDimension = {data.object.length, data.object.width, 0_m};
ON_CALL(object, GetDimension()).WillByDefault(Return(objectDimension));
std::vector<OWL::Interfaces::MovingObject*> fakeMovingObjects{&object};
@@ -107,56 +107,9 @@ TEST_P(SensorViewTestObjectDetection, TestGenerator)
ASSERT_THAT(filteredMoving, SizeIs(1));
}
-INSTANTIATE_TEST_SUITE_P(ObjectsTouchingSensorView, SensorViewTestObjectDetection, ::testing::Values(
- SensorViewTest_Data{"Large object in backshadow or regular sensor",
- SensorViewTest_Data::Sensor{0.0, 0.0, 45.0, -45.0, 10.0},
- SensorViewTest_Data::Object{-40.0, -0.50, 82.0, 2.0, 3.0}},
- SensorViewTest_Data{"Small object in gap of pacman-style sensor",
- SensorViewTest_Data::Sensor{0.0, 0.0, 170.0, -170.0, 10.0},
- SensorViewTest_Data::Object{-6.0, 0.50, 4.0, 0.50, -175.0}},
- SensorViewTest_Data{"Medium object in 'negative' sensorconfig",
- SensorViewTest_Data::Sensor{-5.0, 3.0, -45.0, 20.0, 20.0},
- SensorViewTest_Data::Object{25.0, -8.0, 50.0, 5.0, -30.0}}
-));
-
-INSTANTIATE_TEST_SUITE_P(SimpleCasesWithSensor60Degree, SensorViewTestObjectDetection, ::testing::Values(
- SensorViewTest_Data{"Small Object touches sensor looking north",
- SensorViewTest_Data::Sensor{0.0, 0.0, 120.0, 60.0, 10.0},
- SensorViewTest_Data::Object{-2.0, 10.0, 2.0, 1.0, 90.0}},
- SensorViewTest_Data{"Object on backshadow of sensor looking north",
- SensorViewTest_Data::Sensor{0.0, 0.0, 120.0, 60.0, 10.0},
- SensorViewTest_Data::Object{2.0, 8.0, 2.0, 1.0, 175.0}},
- SensorViewTest_Data{"Object within cone of sensor looking north",
- SensorViewTest_Data::Sensor{0.0, 0.0, 120.0, 60.0, 10.0},
- SensorViewTest_Data::Object{-3.50, 4.0, 2.0, 1.0, -175.0}},
- SensorViewTest_Data{"Object touches sensor looking south",
- SensorViewTest_Data::Sensor{0.0, 0.0, -60.0, -120.0, 10.0},
- SensorViewTest_Data::Object{2.0, -10.0, 2.0, 1.0, -90.0}},
- SensorViewTest_Data{"Object on backshadow of sensor looking south",
- SensorViewTest_Data::Sensor{0.0, 0.0, -60.0, -120.0, 10.0},
- SensorViewTest_Data::Object{-2.0, -8.0, 2.0, 1.0, -175.0}},
- SensorViewTest_Data{"Object within cone of sensor looking south",
- SensorViewTest_Data::Sensor{0.0, 0.0, -60.0, -120.0, 10.0},
- SensorViewTest_Data::Object{3.50, -4.0, 2.0, 1.0, 175.0}},
- SensorViewTest_Data{"Object touches sensor looking west",
- SensorViewTest_Data::Sensor{0.0, 0.0, -150.0, 150.0, 10.0},
- SensorViewTest_Data::Object{-10.0, 2.0, 2.0, 1.0, 0.0}},
- SensorViewTest_Data{"Object on backshadow of sensor looking west",
- SensorViewTest_Data::Sensor{0.0, 0.0, -150.0, 150.0, 10.0},
- SensorViewTest_Data::Object{-8.0, -2.0, 2.0, 1.0, 85.0}},
- SensorViewTest_Data{"Object within cone of sensor looking west",
- SensorViewTest_Data::Sensor{0.0, 0.0, -150.0, 150.0, 10.0},
- SensorViewTest_Data::Object{-4.0, 3.50, 2.0, 1.0, -265.0}},
- SensorViewTest_Data{"Object touches sensor looking east",
- SensorViewTest_Data::Sensor{0.0, 0.0, 30.0, -30.0, 10.0},
- SensorViewTest_Data::Object{10.0, -2.0, 2.0, 1.0, 180.0}},
- SensorViewTest_Data{"Object on backshadow of sensor looking east",
- SensorViewTest_Data::Sensor{0.0, 0.0, 30.0, -30.0, 10.0},
- SensorViewTest_Data::Object{8.0, 2.0, 2.0, 1.0, 95.0}},
- SensorViewTest_Data{"Object within cone of sensor looking east",
- SensorViewTest_Data::Sensor{0.0, 0.0, 30.0, -30.0, 10.0},
- SensorViewTest_Data::Object{4.0, -3.50, 2.0, 1.0, 445.0}}
-));
+INSTANTIATE_TEST_SUITE_P(ObjectsTouchingSensorView, SensorViewTestObjectDetection, ::testing::Values(SensorViewTest_Data{"Large object in backshadow or regular sensor", SensorViewTest_Data::Sensor{0.0_m, 0.0_m, 45.0_deg, -45.0_deg, 10.0_m}, SensorViewTest_Data::Object{-40.0_m, -0.50_m, 82.0_m, 2.0_m, 3.0_deg}}, SensorViewTest_Data{"Small object in gap of pacman-style sensor", SensorViewTest_Data::Sensor{0.0_m, 0.0_m, 170.0_deg, -170.0_deg, 10.0_m}, SensorViewTest_Data::Object{-6.0_m, 0.50_m, 4.0_m, 0.50_m, -175.0_deg}}, SensorViewTest_Data{"Medium object in 'negative' sensorconfig", SensorViewTest_Data::Sensor{-5.0_m, 3.0_m, -45.0_deg, 20.0_deg, 20.0_m}, SensorViewTest_Data::Object{25.0_m, -8.0_m, 50.0_m, 5.0_m, -30.0_deg}}));
+
+INSTANTIATE_TEST_SUITE_P(SimpleCasesWithSensor60Degree, SensorViewTestObjectDetection, ::testing::Values(SensorViewTest_Data{"Small Object touches sensor looking north", SensorViewTest_Data::Sensor{0.0_m, 0.0_m, 120.0_deg, 60.0_deg, 10.0_m}, SensorViewTest_Data::Object{-2.0_m, 10.0_m, 2.0_m, 1.0_m, 90.0_deg}}, SensorViewTest_Data{"Object on backshadow of sensor looking north", SensorViewTest_Data::Sensor{0.0_m, 0.0_m, 120.0_deg, 60.0_deg, 10.0_m}, SensorViewTest_Data::Object{2.0_m, 8.0_m, 2.0_m, 1.0_m, 175.0_deg}}, SensorViewTest_Data{"Object within cone of sensor looking north", SensorViewTest_Data::Sensor{0.0_m, 0.0_m, 120.0_deg, 60.0_deg, 10.0_m}, SensorViewTest_Data::Object{-3.50_m, 4.0_m, 2.0_m, 1.0_m, -175.0_deg}}, SensorViewTest_Data{"Object touches sensor looking south", SensorViewTest_Data::Sensor{0.0_m, 0.0_m, -60.0_deg, -120.0_deg, 10.0_m}, SensorViewTest_Data::Object{2.0_m, -10.0_m, 2.0_m, 1.0_m, -90.0_deg}}, SensorViewTest_Data{"Object on backshadow of sensor looking south", SensorViewTest_Data::Sensor{0.0_m, 0.0_m, -60.0_deg, -120.0_deg, 10.0_m}, SensorViewTest_Data::Object{-2.0_m, -8.0_m, 2.0_m, 1.0_m, -175.0_deg}}, SensorViewTest_Data{"Object within cone of sensor looking south", SensorViewTest_Data::Sensor{0.0_m, 0.0_m, -60.0_deg, -120.0_deg, 10.0_m}, SensorViewTest_Data::Object{3.50_m, -4.0_m, 2.0_m, 1.0_m, 175.0_deg}}, SensorViewTest_Data{"Object touches sensor looking west", SensorViewTest_Data::Sensor{0.0_m, 0.0_m, -150.0_deg, 150.0_deg, 10.0_m}, SensorViewTest_Data::Object{-10.0_m, 2.0_m, 2.0_m, 1.0_m, 0.0_deg}}, SensorViewTest_Data{"Object on backshadow of sensor looking west", SensorViewTest_Data::Sensor{0.0_m, 0.0_m, -150.0_deg, 150.0_deg, 10.0_m}, SensorViewTest_Data::Object{-8.0_m, -2.0_m, 2.0_m, 1.0_m, 85.0_deg}}, SensorViewTest_Data{"Object within cone of sensor looking west", SensorViewTest_Data::Sensor{0.0_m, 0.0_m, -150.0_deg, 150.0_deg, 10.0_m}, SensorViewTest_Data::Object{-4.0_m, 3.50_m, 2.0_m, 1.0_m, -265.0_deg}}, SensorViewTest_Data{"Object touches sensor looking east", SensorViewTest_Data::Sensor{0.0_m, 0.0_m, 30.0_deg, -30.0_deg, 10.0_m}, SensorViewTest_Data::Object{10.0_m, -2.0_m, 2.0_m, 1.0_m, 180.0_deg}}, SensorViewTest_Data{"Object on backshadow of sensor looking east", SensorViewTest_Data::Sensor{0.0_m, 0.0_m, 30.0_deg, -30.0_deg, 10.0_m}, SensorViewTest_Data::Object{8.0_m, 2.0_m, 2.0_m, 1.0_m, 95.0_deg}}, SensorViewTest_Data{"Object within cone of sensor looking east", SensorViewTest_Data::Sensor{0.0_m, 0.0_m, 30.0_deg, -30.0_deg, 10.0_m}, SensorViewTest_Data::Object{4.0_m, -3.50_m, 2.0_m, 1.0_m, 445.0_deg}}));
class TestWorldData : public OWL::WorldData
{
diff --git a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/stream_Tests.cpp b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/stream_Tests.cpp
index 550fc806e3e21633b6e59f9275b5d7b9ba9838eb..2e45e2286b0c2b84ea315078b509e6bba1aeaffb 100644
--- a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/stream_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/stream_Tests.cpp
@@ -31,8 +31,8 @@ using testing::ElementsAre;
TEST(RoadStream_Tests, GetStreamPosition_FirstRoadInStreamDirection)
{
- constexpr double lengthRoad1 = 110;
- constexpr double lengthRoad2 = 210;
+ constexpr units::length::meter_t lengthRoad1 = 110_m;
+ constexpr units::length::meter_t lengthRoad2 = 210_m;
const std::string idRoad1 = "Road1";
const std::string idRoad2 = "Road2";
@@ -43,15 +43,15 @@ TEST(RoadStream_Tests, GetStreamPosition_FirstRoadInStreamDirection)
ON_CALL(section1, Covers(_)).WillByDefault(Return(true));
OWL::Fakes::Lane lane1;
ON_CALL(lane1, GetOdId()).WillByDefault(Return(-1));
- ON_CALL(lane1, GetWidth(_)).WillByDefault(Return(4.));
+ ON_CALL(lane1, GetWidth(_)).WillByDefault(Return(4._m));
OWL::Fakes::Lane lane2;
ON_CALL(lane2, GetOdId()).WillByDefault(Return(-2));
- ON_CALL(lane2, GetWidth(_)).WillByDefault(Return(5.));
+ ON_CALL(lane2, GetWidth(_)).WillByDefault(Return(5._m));
OWL::Interfaces::Lanes lanesSection1{&lane1, &lane2};
ON_CALL(section1, GetLanes()).WillByDefault(ReturnRef(lanesSection1));
OWL::Interfaces::Sections sectionsRoad1{§ion1};
ON_CALL(road1, GetSections()).WillByDefault(ReturnRef(sectionsRoad1));
- RoadStreamElement element1 {&road1, 0., true};
+ RoadStreamElement element1 {&road1, 0._m, true};
OWL::Fakes::Road road2;
ON_CALL(road2, GetId()).WillByDefault(ReturnRef(idRoad2));
@@ -60,16 +60,16 @@ TEST(RoadStream_Tests, GetStreamPosition_FirstRoadInStreamDirection)
RoadStream roadStream{{element1, element2}};
- const auto result = roadStream.GetStreamPosition(GlobalRoadPosition{"Road1", -2, 30., 1., 0.});
+ const auto result = roadStream.GetStreamPosition(GlobalRoadPosition{"Road1", -2, 30._m, 1._m, 0._rad});
- ASSERT_THAT(result.s, DoubleEq(30.));
- ASSERT_THAT(result.t, DoubleEq(-5.5));
+ ASSERT_THAT(result.s.value(), DoubleEq(30.));
+ ASSERT_THAT(result.t.value(), DoubleEq(-5.5));
}
TEST(RoadStream_Tests, GetStreamPosition_FirstRoadAgainstStreamDirection)
{
- constexpr double lengthRoad1 = 110;
- constexpr double lengthRoad2 = 210;
+ constexpr units::length::meter_t lengthRoad1 = 110_m;
+ constexpr units::length::meter_t lengthRoad2 = 210_m;
const std::string idRoad1 = "Road1";
const std::string idRoad2 = "Road2";
@@ -80,10 +80,10 @@ TEST(RoadStream_Tests, GetStreamPosition_FirstRoadAgainstStreamDirection)
ON_CALL(section1, Covers(_)).WillByDefault(Return(true));
OWL::Fakes::Lane lane1;
ON_CALL(lane1, GetOdId()).WillByDefault(Return(-1));
- ON_CALL(lane1, GetWidth(_)).WillByDefault(Return(4.));
+ ON_CALL(lane1, GetWidth(_)).WillByDefault(Return(4._m));
OWL::Fakes::Lane lane2;
ON_CALL(lane2, GetOdId()).WillByDefault(Return(-2));
- ON_CALL(lane2, GetWidth(_)).WillByDefault(Return(5.));
+ ON_CALL(lane2, GetWidth(_)).WillByDefault(Return(5._m));
OWL::Interfaces::Lanes lanesSection1{&lane1, &lane2};
ON_CALL(section1, GetLanes()).WillByDefault(ReturnRef(lanesSection1));
OWL::Interfaces::Sections sectionsRoad1{§ion1};
@@ -97,23 +97,23 @@ TEST(RoadStream_Tests, GetStreamPosition_FirstRoadAgainstStreamDirection)
RoadStream roadStream{{element1, element2}};
- const auto result = roadStream.GetStreamPosition(GlobalRoadPosition{"Road1", -2, 30., 1., 0.});
+ const auto result = roadStream.GetStreamPosition(GlobalRoadPosition{"Road1", -2, 30._m, 1._m, 0._rad});
- ASSERT_THAT(result.s, DoubleEq(80.));
- ASSERT_THAT(result.t, DoubleEq(5.5));
+ ASSERT_THAT(result.s.value(), DoubleEq(80.));
+ ASSERT_THAT(result.t.value(), DoubleEq(5.5));
}
TEST(RoadStream_Tests, GetStreamPosition_SecondRoadInStreamDirection)
{
- constexpr double lengthRoad1 = 110;
- constexpr double lengthRoad2 = 210;
+ constexpr units::length::meter_t lengthRoad1 = 110_m;
+ constexpr units::length::meter_t lengthRoad2 = 210_m;
const std::string idRoad1 = "Road1";
const std::string idRoad2 = "Road2";
OWL::Fakes::Road road1;
ON_CALL(road1, GetId()).WillByDefault(ReturnRef(idRoad1));
ON_CALL(road1, GetLength()).WillByDefault(Return(lengthRoad1));
- RoadStreamElement element1 {&road1, 0., true};
+ RoadStreamElement element1 {&road1, 0._m, true};
OWL::Fakes::Road road2;
ON_CALL(road2, GetId()).WillByDefault(ReturnRef(idRoad2));
@@ -122,10 +122,10 @@ TEST(RoadStream_Tests, GetStreamPosition_SecondRoadInStreamDirection)
ON_CALL(section1, Covers(_)).WillByDefault(Return(true));
OWL::Fakes::Lane lane1;
ON_CALL(lane1, GetOdId()).WillByDefault(Return(1));
- ON_CALL(lane1, GetWidth(_)).WillByDefault(Return(4.));
+ ON_CALL(lane1, GetWidth(_)).WillByDefault(Return(4._m));
OWL::Fakes::Lane lane2;
ON_CALL(lane2, GetOdId()).WillByDefault(Return(2));
- ON_CALL(lane2, GetWidth(_)).WillByDefault(Return(5.));
+ ON_CALL(lane2, GetWidth(_)).WillByDefault(Return(5._m));
OWL::Interfaces::Lanes lanesSection1{&lane1, &lane2};
ON_CALL(section1, GetLanes()).WillByDefault(ReturnRef(lanesSection1));
OWL::Interfaces::Sections sectionsRoad2{§ion1};
@@ -134,23 +134,23 @@ TEST(RoadStream_Tests, GetStreamPosition_SecondRoadInStreamDirection)
RoadStream roadStream{{element1, element2}};
- const auto result = roadStream.GetStreamPosition(GlobalRoadPosition{"Road2", 2, 30., -1., 0.});
+ const auto result = roadStream.GetStreamPosition(GlobalRoadPosition{"Road2", 2, 30._m, -1._m, 0._rad});
- ASSERT_THAT(result.s, DoubleEq(140.));
- ASSERT_THAT(result.t, DoubleEq(5.5));
+ ASSERT_THAT(result.s.value(), DoubleEq(140.));
+ ASSERT_THAT(result.t.value(), DoubleEq(5.5));
}
TEST(RoadStream_Tests, GetStreamPosition_SecondRoadAgainstStreamDirection)
{
- constexpr double lengthRoad1 = 110;
- constexpr double lengthRoad2 = 210;
+ constexpr units::length::meter_t lengthRoad1 = 110_m;
+ constexpr units::length::meter_t lengthRoad2 = 210_m;
const std::string idRoad1 = "Road1";
const std::string idRoad2 = "Road2";
OWL::Fakes::Road road1;
ON_CALL(road1, GetId()).WillByDefault(ReturnRef(idRoad1));
ON_CALL(road1, GetLength()).WillByDefault(Return(lengthRoad1));
- RoadStreamElement element1 {&road1, 0., true};
+ RoadStreamElement element1 {&road1, 0._m, true};
OWL::Fakes::Road road2;
ON_CALL(road2, GetId()).WillByDefault(ReturnRef(idRoad2));
ON_CALL(road2, GetLength()).WillByDefault(Return(lengthRoad2));
@@ -158,10 +158,10 @@ TEST(RoadStream_Tests, GetStreamPosition_SecondRoadAgainstStreamDirection)
ON_CALL(section1, Covers(_)).WillByDefault(Return(true));
OWL::Fakes::Lane lane1;
ON_CALL(lane1, GetOdId()).WillByDefault(Return(1));
- ON_CALL(lane1, GetWidth(_)).WillByDefault(Return(4.));
+ ON_CALL(lane1, GetWidth(_)).WillByDefault(Return(4._m));
OWL::Fakes::Lane lane2;
ON_CALL(lane2, GetOdId()).WillByDefault(Return(2));
- ON_CALL(lane2, GetWidth(_)).WillByDefault(Return(5.));
+ ON_CALL(lane2, GetWidth(_)).WillByDefault(Return(5._m));
OWL::Interfaces::Lanes lanesSection1{&lane1, &lane2};
ON_CALL(section1, GetLanes()).WillByDefault(ReturnRef(lanesSection1));
OWL::Interfaces::Sections sectionsRoad2{§ion1};
@@ -170,16 +170,16 @@ TEST(RoadStream_Tests, GetStreamPosition_SecondRoadAgainstStreamDirection)
RoadStream roadStream{{element1, element2}};
- const auto result = roadStream.GetStreamPosition(GlobalRoadPosition{"Road2", 2, 30., -1., 0.});
+ const auto result = roadStream.GetStreamPosition(GlobalRoadPosition{"Road2", 2, 30._m, -1._m, 0._rad});
- ASSERT_THAT(result.s, DoubleEq(290.));
- ASSERT_THAT(result.t, DoubleEq(-5.5));
+ ASSERT_THAT(result.s.value(), DoubleEq(290.));
+ ASSERT_THAT(result.t.value(), DoubleEq(-5.5));
}
TEST(RoadStream_Tests, GetRoadPosition_FirstRoadInStreamDirection)
{
- constexpr double lengthRoad1 = 110;
- constexpr double lengthRoad2 = 210;
+ constexpr units::length::meter_t lengthRoad1 = 110_m;
+ constexpr units::length::meter_t lengthRoad2 = 210_m;
const std::string idRoad1 = "Road1";
const std::string idRoad2 = "Road2";
@@ -190,15 +190,15 @@ TEST(RoadStream_Tests, GetRoadPosition_FirstRoadInStreamDirection)
ON_CALL(section1, Covers(_)).WillByDefault(Return(true));
OWL::Fakes::Lane lane1;
ON_CALL(lane1, GetOdId()).WillByDefault(Return(-1));
- ON_CALL(lane1, GetWidth(_)).WillByDefault(Return(4.));
+ ON_CALL(lane1, GetWidth(_)).WillByDefault(Return(4._m));
OWL::Fakes::Lane lane2;
ON_CALL(lane2, GetOdId()).WillByDefault(Return(-2));
- ON_CALL(lane2, GetWidth(_)).WillByDefault(Return(5.));
+ ON_CALL(lane2, GetWidth(_)).WillByDefault(Return(5._m));
OWL::Interfaces::Lanes lanesSection1{&lane1, &lane2};
ON_CALL(section1, GetLanes()).WillByDefault(ReturnRef(lanesSection1));
OWL::Interfaces::Sections sectionsRoad1{§ion1};
ON_CALL(road1, GetSections()).WillByDefault(ReturnRef(sectionsRoad1));
- RoadStreamElement element1 {&road1, 0., true};
+ RoadStreamElement element1 {&road1, 0._m, true};
OWL::Fakes::Road road2;
ON_CALL(road2, GetId()).WillByDefault(ReturnRef(idRoad2));
@@ -207,18 +207,18 @@ TEST(RoadStream_Tests, GetRoadPosition_FirstRoadInStreamDirection)
RoadStream roadStream{{element1, element2}};
- const auto result = roadStream.GetRoadPosition(StreamPosition{30., -5.5});
+ const auto result = roadStream.GetRoadPosition(StreamPosition{30._m, -5.5_m});
ASSERT_THAT(result.roadId, Eq(idRoad1));
ASSERT_THAT(result.laneId, Eq(-2));
- ASSERT_THAT(result.roadPosition.s, DoubleEq(30.));
- ASSERT_THAT(result.roadPosition.t, DoubleEq(1.));
+ ASSERT_THAT(result.roadPosition.s.value(), DoubleEq(30.));
+ ASSERT_THAT(result.roadPosition.t.value(), DoubleEq(1.));
}
TEST(RoadStream_Tests, GetRoadPosition_FirstRoadAgainstStreamDirection)
{
- constexpr double lengthRoad1 = 110;
- constexpr double lengthRoad2 = 210;
+ constexpr units::length::meter_t lengthRoad1 = 110_m;
+ constexpr units::length::meter_t lengthRoad2 = 210_m;
const std::string idRoad1 = "Road1";
const std::string idRoad2 = "Road2";
@@ -229,10 +229,10 @@ TEST(RoadStream_Tests, GetRoadPosition_FirstRoadAgainstStreamDirection)
ON_CALL(section1, Covers(_)).WillByDefault(Return(true));
OWL::Fakes::Lane lane1;
ON_CALL(lane1, GetOdId()).WillByDefault(Return(-1));
- ON_CALL(lane1, GetWidth(_)).WillByDefault(Return(4.));
+ ON_CALL(lane1, GetWidth(_)).WillByDefault(Return(4._m));
OWL::Fakes::Lane lane2;
ON_CALL(lane2, GetOdId()).WillByDefault(Return(-2));
- ON_CALL(lane2, GetWidth(_)).WillByDefault(Return(5.));
+ ON_CALL(lane2, GetWidth(_)).WillByDefault(Return(5._m));
OWL::Interfaces::Lanes lanesSection1{&lane1, &lane2};
ON_CALL(section1, GetLanes()).WillByDefault(ReturnRef(lanesSection1));
OWL::Interfaces::Sections sectionsRoad1{§ion1};
@@ -246,25 +246,25 @@ TEST(RoadStream_Tests, GetRoadPosition_FirstRoadAgainstStreamDirection)
RoadStream roadStream{{element1, element2}};
- const auto result = roadStream.GetRoadPosition(StreamPosition{30., 5.5});
+ const auto result = roadStream.GetRoadPosition(StreamPosition{30._m, 5.5_m});
ASSERT_THAT(result.roadId, Eq(idRoad1));
ASSERT_THAT(result.laneId, Eq(-2));
- ASSERT_THAT(result.roadPosition.s, DoubleEq(80.));
- ASSERT_THAT(result.roadPosition.t, DoubleEq(1.));
+ ASSERT_THAT(result.roadPosition.s.value(), DoubleEq(80.));
+ ASSERT_THAT(result.roadPosition.t.value(), DoubleEq(1.));
}
TEST(RoadStream_Tests, GetRoadPosition_SecondRoadInStreamDirection)
{
- constexpr double lengthRoad1 = 110;
- constexpr double lengthRoad2 = 210;
+ constexpr units::length::meter_t lengthRoad1 = 110_m;
+ constexpr units::length::meter_t lengthRoad2 = 210_m;
const std::string idRoad1 = "Road1";
const std::string idRoad2 = "Road2";
OWL::Fakes::Road road1;
ON_CALL(road1, GetId()).WillByDefault(ReturnRef(idRoad1));
ON_CALL(road1, GetLength()).WillByDefault(Return(lengthRoad1));
- RoadStreamElement element1 {&road1, 0., true};
+ RoadStreamElement element1 {&road1, 0._m, true};
OWL::Fakes::Road road2;
ON_CALL(road2, GetId()).WillByDefault(ReturnRef(idRoad2));
@@ -275,10 +275,10 @@ TEST(RoadStream_Tests, GetRoadPosition_SecondRoadInStreamDirection)
ON_CALL(section1, Covers(_)).WillByDefault(Return(true));
OWL::Fakes::Lane lane1;
ON_CALL(lane1, GetOdId()).WillByDefault(Return(1));
- ON_CALL(lane1, GetWidth(_)).WillByDefault(Return(4.));
+ ON_CALL(lane1, GetWidth(_)).WillByDefault(Return(4._m));
OWL::Fakes::Lane lane2;
ON_CALL(lane2, GetOdId()).WillByDefault(Return(2));
- ON_CALL(lane2, GetWidth(_)).WillByDefault(Return(5.));
+ ON_CALL(lane2, GetWidth(_)).WillByDefault(Return(5._m));
OWL::Interfaces::Lanes lanesSection1{&lane1, &lane2};
ON_CALL(section1, GetLanes()).WillByDefault(ReturnRef(lanesSection1));
OWL::Interfaces::Sections sectionsRoad2{§ion1};
@@ -287,25 +287,25 @@ TEST(RoadStream_Tests, GetRoadPosition_SecondRoadInStreamDirection)
RoadStream roadStream{{element1, element2}};
- const auto result = roadStream.GetRoadPosition(StreamPosition{130., 5.5});
+ const auto result = roadStream.GetRoadPosition(StreamPosition{130._m, 5.5_m});
ASSERT_THAT(result.roadId, Eq(idRoad2));
ASSERT_THAT(result.laneId, Eq(2));
- ASSERT_THAT(result.roadPosition.s, DoubleEq(20.));
- ASSERT_THAT(result.roadPosition.t, DoubleEq(-1.));
+ ASSERT_THAT(result.roadPosition.s.value(), DoubleEq(20.));
+ ASSERT_THAT(result.roadPosition.t.value(), DoubleEq(-1.));
}
TEST(RoadStream_Tests, GetRoadPosition_SecondRoadAgainstStreamDirection)
{
- constexpr double lengthRoad1 = 110;
- constexpr double lengthRoad2 = 210;
+ constexpr units::length::meter_t lengthRoad1 = 110_m;
+ constexpr units::length::meter_t lengthRoad2 = 210_m;
const std::string idRoad1 = "Road1";
const std::string idRoad2 = "Road2";
OWL::Fakes::Road road1;
ON_CALL(road1, GetId()).WillByDefault(ReturnRef(idRoad1));
ON_CALL(road1, GetLength()).WillByDefault(Return(lengthRoad1));
- RoadStreamElement element1 {&road1, 0., true};
+ RoadStreamElement element1 {&road1, 0._m, true};
OWL::Fakes::Road road2;
ON_CALL(road2, GetId()).WillByDefault(ReturnRef(idRoad2));
@@ -316,10 +316,10 @@ TEST(RoadStream_Tests, GetRoadPosition_SecondRoadAgainstStreamDirection)
ON_CALL(section1, Covers(_)).WillByDefault(Return(true));
OWL::Fakes::Lane lane1;
ON_CALL(lane1, GetOdId()).WillByDefault(Return(1));
- ON_CALL(lane1, GetWidth(_)).WillByDefault(Return(4.));
+ ON_CALL(lane1, GetWidth(_)).WillByDefault(Return(4._m));
OWL::Fakes::Lane lane2;
ON_CALL(lane2, GetOdId()).WillByDefault(Return(2));
- ON_CALL(lane2, GetWidth(_)).WillByDefault(Return(5.));
+ ON_CALL(lane2, GetWidth(_)).WillByDefault(Return(5._m));
OWL::Interfaces::Lanes lanesSection1{&lane1, &lane2};
ON_CALL(section1, GetLanes()).WillByDefault(ReturnRef(lanesSection1));
OWL::Interfaces::Sections sectionsRoad2{§ion1};
@@ -328,22 +328,22 @@ TEST(RoadStream_Tests, GetRoadPosition_SecondRoadAgainstStreamDirection)
RoadStream roadStream{{element1, element2}};
- const auto result = roadStream.GetRoadPosition(StreamPosition{130., -5.5});
+ const auto result = roadStream.GetRoadPosition(StreamPosition{130._m, -5.5_m});
ASSERT_THAT(result.roadId, Eq(idRoad2));
ASSERT_THAT(result.laneId, Eq(2));
- ASSERT_THAT(result.roadPosition.s, DoubleEq(190.));
- ASSERT_THAT(result.roadPosition.t, DoubleEq(-1.));
+ ASSERT_THAT(result.roadPosition.s.value(), DoubleEq(190.));
+ ASSERT_THAT(result.roadPosition.t.value(), DoubleEq(-1.));
}
TEST(RoadStream_Tests, CreateLaneStream_WithStreamPosition_InStreamDirection)
{
- constexpr double lengthSection1A = 40;
- constexpr double lengthSection1B = 70;
- constexpr double lengthRoad1 = lengthSection1A + lengthSection1B;
- constexpr double lengthSection2A = 80;
- constexpr double lengthSection2B = 130;
- constexpr double lengthRoad2 = lengthSection2A + lengthSection2B;
+ constexpr units::length::meter_t lengthSection1A = 40_m;
+ constexpr units::length::meter_t lengthSection1B = 70_m;
+ constexpr units::length::meter_t lengthRoad1 = lengthSection1A + lengthSection1B;
+ constexpr units::length::meter_t lengthSection2A = 80_m;
+ constexpr units::length::meter_t lengthSection2B = 130_m;
+ constexpr units::length::meter_t lengthRoad2 = lengthSection2A + lengthSection2B;
const std::string idRoad1 = "Road1";
const std::string idRoad2 = "Road2";
constexpr OWL::Id idLane2AMinus1 = 1;
@@ -355,9 +355,9 @@ TEST(RoadStream_Tests, CreateLaneStream_WithStreamPosition_InStreamDirection)
ON_CALL(road1, GetId()).WillByDefault(ReturnRef(idRoad1));
ON_CALL(road1, GetLength()).WillByDefault(Return(lengthRoad1));
OWL::Fakes::Section section1A;
- ON_CALL(section1A, Covers(_)).WillByDefault([&](const double& s){return s >= 0 && s <= lengthSection1A;});
+ ON_CALL(section1A, Covers(_)).WillByDefault([&](units::length::meter_t s){return s >= 0_m && s <= lengthSection1A;});
OWL::Fakes::Section section1B;
- ON_CALL(section1B, Covers(_)).WillByDefault([&](const double& s){return s >= lengthSection1A && s <= lengthRoad1;});
+ ON_CALL(section1B, Covers(_)).WillByDefault([&](units::length::meter_t s){return s >= lengthSection1A && s <= lengthRoad1;});
OWL::Fakes::Lane lane1BMinus1;
ON_CALL(lane1BMinus1, GetOdId()).WillByDefault(Return(-1));
OWL::Fakes::Lane lane1BMinus2;
@@ -369,7 +369,7 @@ TEST(RoadStream_Tests, CreateLaneStream_WithStreamPosition_InStreamDirection)
ON_CALL(section1B, GetLanes()).WillByDefault(ReturnRef(lanesSection1B));
std::vector<const OWL::Interfaces::Section*> sections1{§ion1A, §ion1B};
ON_CALL(road1, GetSections()).WillByDefault(ReturnRef(sections1));
- RoadStreamElement element1 {&road1, 0., true};
+ RoadStreamElement element1 {&road1, 0._m, true};
OWL::Fakes::Road road2;
ON_CALL(road2, GetId()).WillByDefault(ReturnRef(idRoad2));
@@ -382,7 +382,7 @@ TEST(RoadStream_Tests, CreateLaneStream_WithStreamPosition_InStreamDirection)
OWL::Fakes::Lane lane2AMinus2;
ON_CALL(lane2AMinus2, GetId()).WillByDefault(Return(idLane2AMinus2));
ON_CALL(lane2AMinus2, GetOdId()).WillByDefault(Return(-2));
- ON_CALL(lane2AMinus2, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0));
+ ON_CALL(lane2AMinus2, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0_m));
std::vector<OWL::Id> successorsLane2AMinus2{idLane2BMinus1};
ON_CALL(lane2AMinus2, GetNext()).WillByDefault(ReturnRef(successorsLane2AMinus2));
OWL::Interfaces::Lanes lanesSection2A{&lane2AMinus1, &lane2AMinus2};
@@ -401,7 +401,7 @@ TEST(RoadStream_Tests, CreateLaneStream_WithStreamPosition_InStreamDirection)
RoadStream roadStream{{element1, element2}};
- const auto result = roadStream.CreateLaneStream(StreamPosition{50., 0.}, -2);
+ const auto result = roadStream.CreateLaneStream(StreamPosition{50._m, 0._m}, -2);
ASSERT_THAT(result, SizeIs(3));
EXPECT_THAT(result.at(0).lane, Eq(&lane1BMinus2));
EXPECT_THAT(result.at(0).inStreamDirection, Eq(true));
@@ -416,12 +416,12 @@ TEST(RoadStream_Tests, CreateLaneStream_WithStreamPosition_InStreamDirection)
TEST(RoadStream_Tests, CreateLaneStream_WithStreamPosition_AgainstStreamDirection)
{
- constexpr double lengthSection1A = 40;
- constexpr double lengthSection1B = 70;
- constexpr double lengthRoad1 = lengthSection1A + lengthSection1B;
- constexpr double lengthSection2A = 80;
- constexpr double lengthSection2B = 130;
- constexpr double lengthRoad2 = lengthSection2A + lengthSection2B;
+ constexpr units::length::meter_t lengthSection1A = 40_m;
+ constexpr units::length::meter_t lengthSection1B = 70_m;
+ constexpr units::length::meter_t lengthRoad1 = lengthSection1A + lengthSection1B;
+ constexpr units::length::meter_t lengthSection2A = 80_m;
+ constexpr units::length::meter_t lengthSection2B = 130_m;
+ constexpr units::length::meter_t lengthRoad2 = lengthSection2A + lengthSection2B;
const std::string idRoad1 = "Road1";
const std::string idRoad2 = "Road2";
constexpr OWL::Id idLane2AMinus1 = 1;
@@ -433,14 +433,14 @@ TEST(RoadStream_Tests, CreateLaneStream_WithStreamPosition_AgainstStreamDirectio
ON_CALL(road1, GetId()).WillByDefault(ReturnRef(idRoad1));
ON_CALL(road1, GetLength()).WillByDefault(Return(lengthRoad1));
OWL::Fakes::Section section1A;
- ON_CALL(section1A, Covers(_)).WillByDefault([&](const double& s){return s >= 0 && s <= lengthSection1A;});
+ ON_CALL(section1A, Covers(_)).WillByDefault([&](units::length::meter_t s){return s >= 0_m && s <= lengthSection1A;});
OWL::Fakes::Section section1B;
- ON_CALL(section1B, Covers(_)).WillByDefault([&](const double& s){return s >= lengthSection1A && s <= lengthRoad1;});
+ ON_CALL(section1B, Covers(_)).WillByDefault([&](units::length::meter_t s){return s >= lengthSection1A && s <= lengthRoad1;});
OWL::Fakes::Lane lane1AMinus1;
ON_CALL(lane1AMinus1, GetOdId()).WillByDefault(Return(-1));
OWL::Fakes::Lane lane1AMinus2;
ON_CALL(lane1AMinus2, GetOdId()).WillByDefault(Return(-2));
- ON_CALL(lane1AMinus2, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0.));
+ ON_CALL(lane1AMinus2, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0._m));
std::vector<OWL::Id> predecessorsLane1AMinus2{idOtherLane, idLane2BMinus1};
ON_CALL(lane1AMinus2, GetPrevious()).WillByDefault(ReturnRef(predecessorsLane1AMinus2));
OWL::Interfaces::Lanes lanesSection1A{&lane1AMinus1, &lane1AMinus2};
@@ -460,7 +460,7 @@ TEST(RoadStream_Tests, CreateLaneStream_WithStreamPosition_AgainstStreamDirectio
OWL::Fakes::Lane lane2AMinus2;
ON_CALL(lane2AMinus2, GetId()).WillByDefault(Return(idLane2AMinus2));
ON_CALL(lane2AMinus2, GetOdId()).WillByDefault(Return(-2));
- ON_CALL(lane2AMinus2, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0));
+ ON_CALL(lane2AMinus2, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0_m));
std::vector<OWL::Id> predecessorsLane2AMinus2{};
ON_CALL(lane2AMinus2, GetPrevious()).WillByDefault(ReturnRef(predecessorsLane2AMinus2));
OWL::Interfaces::Lanes lanesSection2A{&lane2AMinus1, &lane2AMinus2};
@@ -479,7 +479,7 @@ TEST(RoadStream_Tests, CreateLaneStream_WithStreamPosition_AgainstStreamDirectio
RoadStream roadStream{{element1, element2}};
- const auto result = roadStream.CreateLaneStream(StreamPosition{90., 0.}, -2);
+ const auto result = roadStream.CreateLaneStream(StreamPosition{90._m, 0._m}, -2);
ASSERT_THAT(result, SizeIs(3));
EXPECT_THAT(result.at(0).lane, Eq(&lane1AMinus2));
EXPECT_THAT(result.at(0).inStreamDirection, Eq(false));
@@ -494,12 +494,12 @@ TEST(RoadStream_Tests, CreateLaneStream_WithStreamPosition_AgainstStreamDirectio
TEST(RoadStream_Tests, CreateLaneStream_WithGlobalRoadPosition_OnFirstRoad)
{
- constexpr double lengthSection1A = 40;
- constexpr double lengthSection1B = 70;
- constexpr double lengthRoad1 = lengthSection1A + lengthSection1B;
- constexpr double lengthSection2A = 80;
- constexpr double lengthSection2B = 130;
- constexpr double lengthRoad2 = lengthSection2A + lengthSection2B;
+ constexpr units::length::meter_t lengthSection1A = 40_m;
+ constexpr units::length::meter_t lengthSection1B = 70_m;
+ constexpr units::length::meter_t lengthRoad1 = lengthSection1A + lengthSection1B;
+ constexpr units::length::meter_t lengthSection2A = 80_m;
+ constexpr units::length::meter_t lengthSection2B = 130_m;
+ constexpr units::length::meter_t lengthRoad2 = lengthSection2A + lengthSection2B;
const std::string idRoad1 = "Road1";
const std::string idRoad2 = "Road2";
constexpr OWL::Id idLane2AMinus1 = 1;
@@ -512,9 +512,9 @@ TEST(RoadStream_Tests, CreateLaneStream_WithGlobalRoadPosition_OnFirstRoad)
ON_CALL(road1, GetId()).WillByDefault(ReturnRef(idRoad1));
ON_CALL(road1, GetLength()).WillByDefault(Return(lengthRoad1));
OWL::Fakes::Section section1A;
- ON_CALL(section1A, Covers(_)).WillByDefault([&](const double& s){return s >= 0 && s <= lengthSection1A;});
+ ON_CALL(section1A, Covers(_)).WillByDefault([&](units::length::meter_t s){return s >= 0_m && s <= lengthSection1A;});
OWL::Fakes::Section section1B;
- ON_CALL(section1B, Covers(_)).WillByDefault([&](const double& s){return s >= lengthSection1A && s <= lengthRoad1;});
+ ON_CALL(section1B, Covers(_)).WillByDefault([&](units::length::meter_t s){return s >= lengthSection1A && s <= lengthRoad1;});
OWL::Fakes::Lane lane1BMinus1;
ON_CALL(lane1BMinus1, GetOdId()).WillByDefault(Return(-1));
ON_CALL(lane1BMinus1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(lengthSection1A));
@@ -526,7 +526,7 @@ TEST(RoadStream_Tests, CreateLaneStream_WithGlobalRoadPosition_OnFirstRoad)
ON_CALL(section1B, GetLanes()).WillByDefault(ReturnRef(lanesSection1B));
std::vector<const OWL::Interfaces::Section*> sections1{§ion1A, §ion1B};
ON_CALL(road1, GetSections()).WillByDefault(ReturnRef(sections1));
- RoadStreamElement element1 {&road1, 0., true};
+ RoadStreamElement element1 {&road1, 0._m, true};
OWL::Fakes::Road road2;
ON_CALL(road2, GetId()).WillByDefault(ReturnRef(idRoad2));
@@ -539,7 +539,7 @@ TEST(RoadStream_Tests, CreateLaneStream_WithGlobalRoadPosition_OnFirstRoad)
OWL::Fakes::Lane lane2APlus1;
ON_CALL(lane2APlus1, GetId()).WillByDefault(Return(idLane2APlus1));
ON_CALL(lane2APlus1, GetOdId()).WillByDefault(Return(1));
- ON_CALL(lane2APlus1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0));
+ ON_CALL(lane2APlus1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0_m));
std::vector<OWL::Id> successorsLane2APlus1{idLane2BPlus1};
ON_CALL(lane2APlus1, GetNext()).WillByDefault(ReturnRef(successorsLane2APlus1));
OWL::Fakes::Lane lane2APlus2;
@@ -561,7 +561,7 @@ TEST(RoadStream_Tests, CreateLaneStream_WithGlobalRoadPosition_OnFirstRoad)
RoadStream roadStream{{element1, element2}};
- GlobalRoadPosition roadPosition{idRoad1, -1, lengthRoad1, 0, 0};
+ GlobalRoadPosition roadPosition{idRoad1, -1, lengthRoad1, 0_m, 0_rad};
const auto result = roadStream.CreateLaneStream(roadPosition);
ASSERT_THAT(result, SizeIs(3));
@@ -578,12 +578,12 @@ TEST(RoadStream_Tests, CreateLaneStream_WithGlobalRoadPosition_OnFirstRoad)
TEST(RoadStream_Tests, CreateLaneStream_WithGlobalRoadPosition_OnSecondRoad)
{
- constexpr double lengthSection1A = 40;
- constexpr double lengthSection1B = 70;
- constexpr double lengthRoad1 = lengthSection1A + lengthSection1B;
- constexpr double lengthSection2A = 80;
- constexpr double lengthSection2B = 130;
- constexpr double lengthRoad2 = lengthSection2A + lengthSection2B;
+ constexpr units::length::meter_t lengthSection1A = 40_m;
+ constexpr units::length::meter_t lengthSection1B = 70_m;
+ constexpr units::length::meter_t lengthRoad1 = lengthSection1A + lengthSection1B;
+ constexpr units::length::meter_t lengthSection2A = 80_m;
+ constexpr units::length::meter_t lengthSection2B = 130_m;
+ constexpr units::length::meter_t lengthRoad2 = lengthSection2A + lengthSection2B;
const std::string idRoad1 = "Road1";
const std::string idRoad2 = "Road2";
constexpr OWL::Id idLane2AMinus1 = 1;
@@ -608,19 +608,19 @@ TEST(RoadStream_Tests, CreateLaneStream_WithGlobalRoadPosition_OnSecondRoad)
ON_CALL(section1B, GetLanes()).WillByDefault(ReturnRef(lanesSection1B));
std::vector<const OWL::Interfaces::Section*> sections1{§ion1A, §ion1B};
ON_CALL(road1, GetSections()).WillByDefault(ReturnRef(sections1));
- RoadStreamElement element1 {&road1, 0., true};
+ RoadStreamElement element1 {&road1, 0._m, true};
OWL::Fakes::Road road2;
ON_CALL(road2, GetId()).WillByDefault(ReturnRef(idRoad2));
ON_CALL(road2, GetLength()).WillByDefault(Return(lengthRoad2));
OWL::Fakes::Section section2A;
- ON_CALL(section2A, Covers(_)).WillByDefault([&](const double& s){return s >= 0 && s <= lengthSection2A;});
+ ON_CALL(section2A, Covers(_)).WillByDefault([&](units::length::meter_t s){return s >= 0_m && s <= lengthSection2A;});
OWL::Fakes::Section section2B;
- ON_CALL(section2B, Covers(_)).WillByDefault([&](const double& s){return s >= lengthSection2A && s <= lengthRoad2;});
+ ON_CALL(section2B, Covers(_)).WillByDefault([&](units::length::meter_t s){return s >= lengthSection2A && s <= lengthRoad2;});
OWL::Fakes::Lane lane2AMinus1;
ON_CALL(lane2AMinus1, GetId()).WillByDefault(Return(idLane2AMinus1));
ON_CALL(lane2AMinus1, GetOdId()).WillByDefault(Return(-1));
- ON_CALL(lane2AMinus1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0));
+ ON_CALL(lane2AMinus1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0_m));
std::vector<OWL::Id> successorsLane2AMinus1{};
ON_CALL(lane2AMinus1, GetNext()).WillByDefault(ReturnRef(successorsLane2AMinus1));
OWL::Fakes::Lane lane2APlus1;
@@ -642,7 +642,7 @@ TEST(RoadStream_Tests, CreateLaneStream_WithGlobalRoadPosition_OnSecondRoad)
RoadStream roadStream{{element1, element2}};
- GlobalRoadPosition roadPosition{idRoad2, -1, 0, 0, 0};
+ GlobalRoadPosition roadPosition{idRoad2, -1, 0_m, 0_m, 0_rad};
const auto result = roadStream.CreateLaneStream(roadPosition);
ASSERT_THAT(result, SizeIs(1));
@@ -653,8 +653,8 @@ TEST(RoadStream_Tests, CreateLaneStream_WithGlobalRoadPosition_OnSecondRoad)
TEST(RoadStream_Tests, GetAllLaneStreams_SingleRoadWithTwoSections)
{
- constexpr double lengthSection1 = 40;
- constexpr double lengthSection2 = 70;
+ constexpr units::length::meter_t lengthSection1 = 40_m;
+ constexpr units::length::meter_t lengthSection2 = 70_m;
constexpr OWL::Id idLane1A = 10;
constexpr OWL::Id idLane1B = 11;
constexpr OWL::Id idLane2A = 12;
@@ -664,17 +664,17 @@ TEST(RoadStream_Tests, GetAllLaneStreams_SingleRoadWithTwoSections)
OWL::Fakes::Road road;
OWL::Fakes::Section section1;
- ON_CALL(section1, Covers(_)).WillByDefault([&](const double& s){return s >= 0 && s <= lengthSection1;});
+ ON_CALL(section1, Covers(_)).WillByDefault([&](units::length::meter_t s){return s >= 0_m && s <= lengthSection1;});
OWL::Fakes::Lane lane1A;
ON_CALL(lane1A, GetId()).WillByDefault(Return(idLane1A));
ON_CALL(lane1A, GetOdId()).WillByDefault(Return(-1));
- ON_CALL(lane1A, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0.));
+ ON_CALL(lane1A, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0._m));
ON_CALL(lane1A, GetNext()).WillByDefault(ReturnRef(emptyIds));
ON_CALL(lane1A, GetPrevious()).WillByDefault(ReturnRef(emptyIds));
OWL::Fakes::Lane lane1B;
ON_CALL(lane1B, GetId()).WillByDefault(Return(idLane1B));
ON_CALL(lane1B, GetOdId()).WillByDefault(Return(-2));
- ON_CALL(lane1B, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0.));
+ ON_CALL(lane1B, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0._m));
std::vector<OWL::Id> successorsLane1B{idLane2A};
ON_CALL(lane1B, GetNext()).WillByDefault(ReturnRef(successorsLane1B));
ON_CALL(lane1B, GetPrevious()).WillByDefault(ReturnRef(emptyIds));
@@ -682,7 +682,7 @@ TEST(RoadStream_Tests, GetAllLaneStreams_SingleRoadWithTwoSections)
ON_CALL(section1, GetLanes()).WillByDefault(ReturnRef(lanesSection1));
OWL::Fakes::Section section2;
- ON_CALL(section2, Covers(_)).WillByDefault([&](const double& s){return s >= lengthSection1 && s <= lengthSection1 + lengthSection2;});
+ ON_CALL(section2, Covers(_)).WillByDefault([&](units::length::meter_t s){return s >= lengthSection1 && s <= lengthSection1 + lengthSection2;});
OWL::Fakes::Lane lane2A;
ON_CALL(lane2A, GetId()).WillByDefault(Return(idLane2A));
ON_CALL(lane2A, GetOdId()).WillByDefault(Return(-1));
@@ -701,7 +701,7 @@ TEST(RoadStream_Tests, GetAllLaneStreams_SingleRoadWithTwoSections)
OWL::Interfaces::Sections sections{§ion1, §ion2};
ON_CALL(road, GetSections()).WillByDefault(ReturnRef(sections));
- RoadStreamElement element{&road, 0., true};
+ RoadStreamElement element{&road, 0._m, true};
RoadStream roadStream{{element}};
@@ -712,13 +712,13 @@ TEST(RoadStream_Tests, GetAllLaneStreams_SingleRoadWithTwoSections)
TEST(LaneStream_Tests, GetAgentsInRange_EmptyLanes)
{
- constexpr double lengthLane1 = 90;
- constexpr double lengthLane2 = 120;
+ constexpr units::length::meter_t lengthLane1 = 90_m;
+ constexpr units::length::meter_t lengthLane2 = 120_m;
OWL::Interfaces::LaneAssignments emptyObjects{};
OWL::Fakes::Lane lane1;
ON_CALL(lane1, GetLength()).WillByDefault(Return(lengthLane1));
ON_CALL(lane1, GetWorldObjects(true)).WillByDefault(ReturnRef(emptyObjects));
- LaneStreamElement element1{&lane1, 0, true};
+ LaneStreamElement element1{&lane1, 0_m, true};
OWL::Fakes::Lane lane2;
ON_CALL(lane2, GetLength()).WillByDefault(Return(lengthLane2));
ON_CALL(lane2, GetWorldObjects(true)).WillByDefault(ReturnRef(emptyObjects));
@@ -726,14 +726,14 @@ TEST(LaneStream_Tests, GetAgentsInRange_EmptyLanes)
LaneStream laneStream{{element1, element2}};
- auto result = laneStream.GetAgentsInRange({0,0}, {210,0});
+ auto result = laneStream.GetAgentsInRange({0_m,0_m}, {210_m,0_m});
ASSERT_THAT(result, IsEmpty());
}
TEST(LaneStream_Tests, GetAgentsInRange_InStreamDirection)
{
- constexpr double lengthLane1 = 90;
- constexpr double lengthLane2 = 120;
+ constexpr units::length::meter_t lengthLane1 = 90_m;
+ constexpr units::length::meter_t lengthLane2 = 120_m;
OWL::Fakes::MovingObject moving1;
OWL::Fakes::MovingObject moving2;
OWL::Fakes::MovingObject moving3;
@@ -747,41 +747,41 @@ TEST(LaneStream_Tests, GetAgentsInRange_InStreamDirection)
moving2.SetLinkedObjectForTesting(&agent2);
moving3.SetLinkedObjectForTesting(&agent3);
moving4.SetLinkedObjectForTesting(&agent4);
- OWL::LaneOverlap overlap1{GlobalRoadPosition{"",0,10,0,0},
- GlobalRoadPosition{"",0,15,0,0},
- GlobalRoadPosition{"",0,12,0,0},
- GlobalRoadPosition{"",0,12,0,0}};
- OWL::LaneOverlap overlap2{GlobalRoadPosition{"",0,40,0,0},
- GlobalRoadPosition{"",0,45,0,0},
- GlobalRoadPosition{"",0,42,0,0},
- GlobalRoadPosition{"",0,42,0,0}};
- OWL::LaneOverlap overlap3{GlobalRoadPosition{"",0,60,0,0},
- GlobalRoadPosition{"",0,65,0,0},
- GlobalRoadPosition{"",0,62,0,0},
- GlobalRoadPosition{"",0,62,0,0}};
+ OWL::LaneOverlap overlap1{GlobalRoadPosition{"",0,10_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,15_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,12_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,12_m,0_m,0_rad}};
+ OWL::LaneOverlap overlap2{GlobalRoadPosition{"",0,40_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,45_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,42_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,42_m,0_m,0_rad}};
+ OWL::LaneOverlap overlap3{GlobalRoadPosition{"",0,60_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,65_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,62_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,62_m,0_m,0_rad}};
OWL::Interfaces::LaneAssignments objectsLane1{{overlap1, &moving1},
{overlap2, &moving2},
{overlap3, &stationary}};
- OWL::LaneOverlap overlap4{GlobalRoadPosition{"",0,100,0,0},
- GlobalRoadPosition{"",0,105,0,0},
- GlobalRoadPosition{"",0,102,0,0},
- GlobalRoadPosition{"",0,102,0,0}};
- OWL::LaneOverlap overlap5{GlobalRoadPosition{"",0,130,0,0},
- GlobalRoadPosition{"",0,135,0,0},
- GlobalRoadPosition{"",0,132,0,0},
- GlobalRoadPosition{"",0,132,0,0}};
- OWL::LaneOverlap overlap6{GlobalRoadPosition{"",0,150,0,0},
- GlobalRoadPosition{"",0,155,0,0},
- GlobalRoadPosition{"",0,152,0,0},
- GlobalRoadPosition{"",0,152,0,0}};
+ OWL::LaneOverlap overlap4{GlobalRoadPosition{"",0,100_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,105_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,102_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,102_m,0_m,0_rad}};
+ OWL::LaneOverlap overlap5{GlobalRoadPosition{"",0,130_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,135_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,132_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,132_m,0_m,0_rad}};
+ OWL::LaneOverlap overlap6{GlobalRoadPosition{"",0,150_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,155_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,152_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,152_m,0_m,0_rad}};
OWL::Interfaces::LaneAssignments objectsLane2{{overlap4, &moving2},
{overlap5, &moving3},
{overlap6, &moving4}};
OWL::Fakes::Lane lane1;
ON_CALL(lane1, GetLength()).WillByDefault(Return(lengthLane1));
- ON_CALL(lane1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0.));
+ ON_CALL(lane1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0._m));
ON_CALL(lane1, GetWorldObjects(true)).WillByDefault(ReturnRef(objectsLane1));
- LaneStreamElement element1{&lane1, 0, true};
+ LaneStreamElement element1{&lane1, 0_m, true};
OWL::Fakes::Lane lane2;
ON_CALL(lane2, GetLength()).WillByDefault(Return(lengthLane2));
ON_CALL(lane2, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(lengthLane1));
@@ -790,14 +790,14 @@ TEST(LaneStream_Tests, GetAgentsInRange_InStreamDirection)
LaneStream laneStream{{element1, element2}};
- auto result = laneStream.GetAgentsInRange({20,0}, {140,0});
+ auto result = laneStream.GetAgentsInRange({20_m,0_m}, {140_m,0_m});
ASSERT_THAT(result, ElementsAre(&agent2, &agent3));
}
TEST(LaneStream_Tests, GetAgentsInRange_AgainstStreamDirection)
{
- constexpr double lengthLane1 = 90;
- constexpr double lengthLane2 = 120;
+ constexpr units::length::meter_t lengthLane1 = 90_m;
+ constexpr units::length::meter_t lengthLane2 = 120_m;
OWL::Fakes::MovingObject moving1;
OWL::Fakes::MovingObject moving2;
OWL::Fakes::MovingObject moving3;
@@ -811,39 +811,39 @@ TEST(LaneStream_Tests, GetAgentsInRange_AgainstStreamDirection)
moving2.SetLinkedObjectForTesting(&agent2);
moving3.SetLinkedObjectForTesting(&agent3);
moving4.SetLinkedObjectForTesting(&agent4);
- OWL::LaneOverlap overlap1{GlobalRoadPosition{"",0,80,0,0},
- GlobalRoadPosition{"",0,85,0,0},
- GlobalRoadPosition{"",0,82,0,0},
- GlobalRoadPosition{"",0,82,0,0}};
- OWL::LaneOverlap overlap2{GlobalRoadPosition{"",0,60,0,0},
- GlobalRoadPosition{"",0,65,0,0},
- GlobalRoadPosition{"",0,62,0,0},
- GlobalRoadPosition{"",0,62,0,0}};
- OWL::LaneOverlap overlap3{GlobalRoadPosition{"",0,10,0,0},
- GlobalRoadPosition{"",0,15,0,0},
- GlobalRoadPosition{"",0,12,0,0},
- GlobalRoadPosition{"",0,12,0,0}};
+ OWL::LaneOverlap overlap1{GlobalRoadPosition{"",0,80_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,85_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,82_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,82_m,0_m,0_rad}};
+ OWL::LaneOverlap overlap2{GlobalRoadPosition{"",0,60_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,65_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,62_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,62_m,0_m,0_rad}};
+ OWL::LaneOverlap overlap3{GlobalRoadPosition{"",0,10_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,15_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,12_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,12_m,0_m,0_rad}};
OWL::Interfaces::LaneAssignments objectsLane1{{overlap1, &moving1},
{overlap2, &stationary},
{overlap3, &moving2}};
- OWL::LaneOverlap overlap4{GlobalRoadPosition{"",0,170,0,0},
- GlobalRoadPosition{"",0,175,0,0},
- GlobalRoadPosition{"",0,172,0,0},
- GlobalRoadPosition{"",0,172,0,0}};
- OWL::LaneOverlap overlap5{GlobalRoadPosition{"",0,130,0,0},
- GlobalRoadPosition{"",0,135,0,0},
- GlobalRoadPosition{"",0,132,0,0},
- GlobalRoadPosition{"",0,132,0,0}};
- OWL::LaneOverlap overlap6{GlobalRoadPosition{"",0,100,0,0},
- GlobalRoadPosition{"",0,105,0,0},
- GlobalRoadPosition{"",0,102,0,0},
- GlobalRoadPosition{"",0,102,0,0}};
+ OWL::LaneOverlap overlap4{GlobalRoadPosition{"",0,170_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,175_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,172_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,172_m,0_m,0_rad}};
+ OWL::LaneOverlap overlap5{GlobalRoadPosition{"",0,130_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,135_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,132_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,132_m,0_m,0_rad}};
+ OWL::LaneOverlap overlap6{GlobalRoadPosition{"",0,100_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,105_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,102_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,102_m,0_m,0_rad}};
OWL::Interfaces::LaneAssignments objectsLane2{{overlap4, &moving2},
{overlap5, &moving3},
{overlap6, &moving4}};
OWL::Fakes::Lane lane1;
ON_CALL(lane1, GetLength()).WillByDefault(Return(lengthLane1));
- ON_CALL(lane1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0.));
+ ON_CALL(lane1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0._m));
ON_CALL(lane1, GetWorldObjects(false)).WillByDefault(ReturnRef(objectsLane1));
LaneStreamElement element1{&lane1, lengthLane1, false};
OWL::Fakes::Lane lane2;
@@ -854,15 +854,15 @@ TEST(LaneStream_Tests, GetAgentsInRange_AgainstStreamDirection)
LaneStream laneStream{{element1, element2}};
- auto result = laneStream.GetAgentsInRange({20,0}, {190,0});
+ auto result = laneStream.GetAgentsInRange({20_m,0_m}, {190_m,0_m});
ASSERT_THAT(result, ElementsAre(&agent2, &agent3));
}
TEST(LaneStream_Tests, GetStreamDistanceWithAgent_SingleRoadWithThreeSections)
{
- constexpr double lengthLane1 = 90;
- constexpr double lengthLane2 = 120;
- constexpr double lengthLane3 = 210;
+ constexpr units::length::meter_t lengthLane1 = 90_m;
+ constexpr units::length::meter_t lengthLane2 = 120_m;
+ constexpr units::length::meter_t lengthLane3 = 210_m;
OWL::Fakes::Road road;
const std::string idRoad = "RoadB";
@@ -870,16 +870,16 @@ TEST(LaneStream_Tests, GetStreamDistanceWithAgent_SingleRoadWithThreeSections)
OWL::Fakes::Lane lane1;
OWL::Fakes::Section section1;
- ON_CALL(section1, Covers(_)).WillByDefault([&](double s){return s >= 0 && s <= lengthLane1;});
- ON_CALL(lane1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0.));
+ ON_CALL(section1, Covers(_)).WillByDefault([&](units::length::meter_t s){return s >= 0_m && s <= lengthLane1;});
+ ON_CALL(lane1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0._m));
ON_CALL(lane1, GetSection()).WillByDefault(ReturnRef(section1));
ON_CALL(lane1, GetRoad()).WillByDefault(ReturnRef(road));
ON_CALL(lane1, GetOdId()).WillByDefault(Return(-2));
- LaneStreamElement element1{&lane1, 0, true};
+ LaneStreamElement element1{&lane1, 0_m, true};
OWL::Fakes::Lane lane2;
OWL::Fakes::Section section2;
- ON_CALL(section2, Covers(_)).WillByDefault([&](double s){return s >= lengthLane1 && s <= lengthLane1 + lengthLane2;});
+ ON_CALL(section2, Covers(_)).WillByDefault([&](units::length::meter_t s){return s >= lengthLane1 && s <= lengthLane1 + lengthLane2;});
ON_CALL(lane2, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(lengthLane1));
ON_CALL(lane2, GetSection()).WillByDefault(ReturnRef(section2));
ON_CALL(lane2, GetRoad()).WillByDefault(ReturnRef(road));
@@ -888,7 +888,7 @@ TEST(LaneStream_Tests, GetStreamDistanceWithAgent_SingleRoadWithThreeSections)
OWL::Fakes::Lane lane3;
OWL::Fakes::Section section3;
- ON_CALL(section3, Covers(_)).WillByDefault([&](double s){return s >= lengthLane1 + lengthLane2 && s <= lengthLane1 + lengthLane2 + lengthLane3;});
+ ON_CALL(section3, Covers(_)).WillByDefault([&](units::length::meter_t s){return s >= lengthLane1 + lengthLane2 && s <= lengthLane1 + lengthLane2 + lengthLane3;});
ON_CALL(lane3, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(lengthLane1 + lengthLane2));
ON_CALL(lane3, GetSection()).WillByDefault(ReturnRef(section3));
ON_CALL(lane3, GetRoad()).WillByDefault(ReturnRef(road));
@@ -896,9 +896,9 @@ TEST(LaneStream_Tests, GetStreamDistanceWithAgent_SingleRoadWithThreeSections)
LaneStreamElement element3{&lane3, lengthLane1 + lengthLane2, true};
FakeAgent agent;
- GlobalRoadPositions referencePoint = {{"RoadA", {}}, {"RoadB", GlobalRoadPosition{"RoadB", -2, 200., 1., 0.1}}};
- GlobalRoadPositions mainLocatePoint = {{"RoadA", {}}, {"RoadB", GlobalRoadPosition{"RoadB", -2, 220., -1., 0.2}}};
- GlobalRoadPositions rearPoint = {{"RoadA", {}}, {"RoadB", GlobalRoadPosition{"RoadB", -2, 190., -1., 0.3}}};
+ GlobalRoadPositions referencePoint = {{"RoadA", {}}, {"RoadB", GlobalRoadPosition{"RoadB", -2, 200._m, 1._m, 0.1_rad}}};
+ GlobalRoadPositions mainLocatePoint = {{"RoadA", {}}, {"RoadB", GlobalRoadPosition{"RoadB", -2, 220._m, -1._m, 0.2_rad}}};
+ GlobalRoadPositions rearPoint = {{"RoadA", {}}, {"RoadB", GlobalRoadPosition{"RoadB", -2, 190._m, -1._m, 0.3_rad}}};
ON_CALL(agent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::Reference))).WillByDefault(ReturnRef(referencePoint));
ON_CALL(agent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter))).WillByDefault(ReturnRef(mainLocatePoint));
ON_CALL(agent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::RearCenter))).WillByDefault(ReturnRef(rearPoint));
@@ -908,22 +908,22 @@ TEST(LaneStream_Tests, GetStreamDistanceWithAgent_SingleRoadWithThreeSections)
auto front = laneStream.GetStreamPosition(&agent, ObjectPointPredefined::FrontCenter);
auto rear = laneStream.GetStreamPosition(&agent, ObjectPointPredefined::RearCenter);
- EXPECT_THAT(referencePointOnStream->s, DoubleEq(200.));
- EXPECT_THAT(referencePointOnStream->t, DoubleEq(1.));
- EXPECT_THAT(referencePointOnStream->hdg, DoubleNear(0.1, CommonHelper::EPSILON));
- EXPECT_THAT(front->s, DoubleEq(220.));
- EXPECT_THAT(front->t, DoubleEq(-1.));
- EXPECT_THAT(front->hdg, DoubleNear(0.2, CommonHelper::EPSILON));
- EXPECT_THAT(rear->s, DoubleEq(190.));
- EXPECT_THAT(rear->t, DoubleEq(-1.));
- EXPECT_THAT(rear->hdg, DoubleNear(0.3, CommonHelper::EPSILON));
+ EXPECT_THAT(referencePointOnStream->s.value(), DoubleEq(200.));
+ EXPECT_THAT(referencePointOnStream->t.value(), DoubleEq(1.));
+ EXPECT_THAT(referencePointOnStream->hdg.value(), DoubleNear(0.1, CommonHelper::EPSILON));
+ EXPECT_THAT(front->s.value(), DoubleEq(220.));
+ EXPECT_THAT(front->t.value(), DoubleEq(-1.));
+ EXPECT_THAT(front->hdg.value(), DoubleNear(0.2, CommonHelper::EPSILON));
+ EXPECT_THAT(rear->s.value(), DoubleEq(190.));
+ EXPECT_THAT(rear->t.value(), DoubleEq(-1.));
+ EXPECT_THAT(rear->hdg.value(), DoubleNear(0.3, CommonHelper::EPSILON));
}
TEST(LaneStream_Tests, GetStreamDistanceWithAgent_ThreeRoads)
{
- constexpr double lengthLane1 = 90;
- constexpr double lengthLane2 = 120;
- constexpr double lengthLane3 = 210;
+ constexpr units::length::meter_t lengthLane1 = 90_m;
+ constexpr units::length::meter_t lengthLane2 = 120_m;
+ constexpr units::length::meter_t lengthLane3 = 210_m;
OWL::Fakes::Road road1;
const std::string idRoad1 = "RoadA";
@@ -937,17 +937,17 @@ TEST(LaneStream_Tests, GetStreamDistanceWithAgent_ThreeRoads)
OWL::Fakes::Lane lane1;
OWL::Fakes::Section section1;
- ON_CALL(section1, Covers(_)).WillByDefault([&](double s){return s >= 0 && s <= lengthLane1;});
- ON_CALL(lane1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0.));
+ ON_CALL(section1, Covers(_)).WillByDefault([&](units::length::meter_t s){return s >= 0_m && s <= lengthLane1;});
+ ON_CALL(lane1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0._m));
ON_CALL(lane1, GetSection()).WillByDefault(ReturnRef(section1));
ON_CALL(lane1, GetRoad()).WillByDefault(ReturnRef(road1));
ON_CALL(lane1, GetOdId()).WillByDefault(Return(-2));
- LaneStreamElement element1{&lane1, 0, true};
+ LaneStreamElement element1{&lane1, 0_m, true};
OWL::Fakes::Lane lane2;
OWL::Fakes::Section section2;
- ON_CALL(section2, Covers(_)).WillByDefault([&](double s){return s >= 0 && s <= lengthLane2;});
- ON_CALL(lane2, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0.));
+ ON_CALL(section2, Covers(_)).WillByDefault([&](units::length::meter_t s){return s >= 0_m && s <= lengthLane2;});
+ ON_CALL(lane2, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0._m));
ON_CALL(lane2, GetSection()).WillByDefault(ReturnRef(section2));
ON_CALL(lane2, GetRoad()).WillByDefault(ReturnRef(road2));
ON_CALL(lane2, GetOdId()).WillByDefault(Return(-2));
@@ -955,17 +955,17 @@ TEST(LaneStream_Tests, GetStreamDistanceWithAgent_ThreeRoads)
OWL::Fakes::Lane lane3;
OWL::Fakes::Section section3;
- ON_CALL(section3, Covers(_)).WillByDefault([&](double s){return s >= 0 && s <= lengthLane3;});
- ON_CALL(lane3, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0.));
+ ON_CALL(section3, Covers(_)).WillByDefault([&](units::length::meter_t s){return s >= 0_m && s <= lengthLane3;});
+ ON_CALL(lane3, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0._m));
ON_CALL(lane3, GetSection()).WillByDefault(ReturnRef(section3));
ON_CALL(lane3, GetRoad()).WillByDefault(ReturnRef(road3));
ON_CALL(lane3, GetOdId()).WillByDefault(Return(-2));
LaneStreamElement element3{&lane3, lengthLane1 + lengthLane2, true};
FakeAgent agent;
- GlobalRoadPositions referencePoint = {{"RoadX", {}}, {"RoadB", GlobalRoadPosition{"RoadB", -2, 10., 1., 0.1}}};
- GlobalRoadPositions mainLocatePoint = {{"RoadX", {}}, {"RoadC", GlobalRoadPosition{"RoadC", -2, 5., -1., 0.2}}};
- GlobalRoadPositions rearPoint = {{"RoadX", {}}, {"RoadB", GlobalRoadPosition{"RoadB", -2, 0., -1., 0.3}}};
+ GlobalRoadPositions referencePoint = {{"RoadX", {}}, {"RoadB", GlobalRoadPosition{"RoadB", -2, 10._m, 1._m, 0.1_rad}}};
+ GlobalRoadPositions mainLocatePoint = {{"RoadX", {}}, {"RoadC", GlobalRoadPosition{"RoadC", -2, 5._m, -1._m, 0.2_rad}}};
+ GlobalRoadPositions rearPoint = {{"RoadX", {}}, {"RoadB", GlobalRoadPosition{"RoadB", -2, 0._m, -1._m, 0.3_rad}}};
ON_CALL(agent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::Reference))).WillByDefault(ReturnRef(referencePoint));
ON_CALL(agent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter))).WillByDefault(ReturnRef(mainLocatePoint));
ON_CALL(agent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::RearCenter))).WillByDefault(ReturnRef(rearPoint));
@@ -975,22 +975,22 @@ TEST(LaneStream_Tests, GetStreamDistanceWithAgent_ThreeRoads)
auto front = laneStream.GetStreamPosition(&agent, ObjectPointPredefined::FrontCenter);
auto rear = laneStream.GetStreamPosition(&agent, ObjectPointPredefined::RearCenter);
- EXPECT_THAT(referencePointOnStream->s, DoubleEq(200.));
- EXPECT_THAT(referencePointOnStream->t, DoubleEq(-1.));
- EXPECT_THAT(referencePointOnStream->hdg, DoubleNear(0.1 - M_PI, CommonHelper::EPSILON));
- EXPECT_THAT(front->s, DoubleEq(215.));
- EXPECT_THAT(front->t, DoubleEq(-1.));
- EXPECT_THAT(front->hdg, DoubleNear(0.2, CommonHelper::EPSILON));
- EXPECT_THAT(rear->s, DoubleEq(210.));
- EXPECT_THAT(rear->t, DoubleEq(1.));
- EXPECT_THAT(rear->hdg, DoubleNear(0.3 - M_PI, CommonHelper::EPSILON));
+ EXPECT_THAT(referencePointOnStream->s.value(), DoubleEq(200.));
+ EXPECT_THAT(referencePointOnStream->t.value(), DoubleEq(-1.));
+ EXPECT_THAT(referencePointOnStream->hdg.value(), DoubleNear(0.1 - M_PI, CommonHelper::EPSILON));
+ EXPECT_THAT(front->s.value(), DoubleEq(215.));
+ EXPECT_THAT(front->t.value(), DoubleEq(-1.));
+ EXPECT_THAT(front->hdg.value(), DoubleNear(0.2, CommonHelper::EPSILON));
+ EXPECT_THAT(rear->s.value(), DoubleEq(210.));
+ EXPECT_THAT(rear->t.value(), DoubleEq(1.));
+ EXPECT_THAT(rear->hdg.value(), DoubleNear(0.3 - M_PI, CommonHelper::EPSILON));
}
TEST(LaneStream_Tests, GetStreamDistanceWithAgent_AgentOffLane)
{
- constexpr double lengthLane1 = 90;
- constexpr double lengthLane2 = 120;
- constexpr double lengthLane3 = 210;
+ constexpr units::length::meter_t lengthLane1 = 90_m;
+ constexpr units::length::meter_t lengthLane2 = 120_m;
+ constexpr units::length::meter_t lengthLane3 = 210_m;
OWL::Fakes::Road road;
const std::string idRoad = "RoadB";
@@ -998,16 +998,16 @@ TEST(LaneStream_Tests, GetStreamDistanceWithAgent_AgentOffLane)
OWL::Fakes::Lane lane1;
OWL::Fakes::Section section1;
- ON_CALL(section1, Covers(_)).WillByDefault([&](double s){return s >= 0 && s <= lengthLane1;});
- ON_CALL(lane1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0.));
+ ON_CALL(section1, Covers(_)).WillByDefault([&](units::length::meter_t s){return s >= 0_m && s <= lengthLane1;});
+ ON_CALL(lane1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0._m));
ON_CALL(lane1, GetSection()).WillByDefault(ReturnRef(section1));
ON_CALL(lane1, GetRoad()).WillByDefault(ReturnRef(road));
ON_CALL(lane1, GetOdId()).WillByDefault(Return(-2));
- LaneStreamElement element1{&lane1, 0, true};
+ LaneStreamElement element1{&lane1, 0_m, true};
OWL::Fakes::Lane lane2;
OWL::Fakes::Section section2;
- ON_CALL(section2, Covers(_)).WillByDefault([&](double s){return s >= lengthLane1 && s <= lengthLane1 + lengthLane2;});
+ ON_CALL(section2, Covers(_)).WillByDefault([&](units::length::meter_t s){return s >= lengthLane1 && s <= lengthLane1 + lengthLane2;});
ON_CALL(lane2, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(lengthLane1));
ON_CALL(lane2, GetSection()).WillByDefault(ReturnRef(section2));
ON_CALL(lane2, GetRoad()).WillByDefault(ReturnRef(road));
@@ -1016,7 +1016,7 @@ TEST(LaneStream_Tests, GetStreamDistanceWithAgent_AgentOffLane)
OWL::Fakes::Lane lane3;
OWL::Fakes::Section section3;
- ON_CALL(section3, Covers(_)).WillByDefault([&](double s){return s >= lengthLane1 + lengthLane2 && s <= lengthLane1 + lengthLane2 + lengthLane3;});
+ ON_CALL(section3, Covers(_)).WillByDefault([&](units::length::meter_t s){return s >= lengthLane1 + lengthLane2 && s <= lengthLane1 + lengthLane2 + lengthLane3;});
ON_CALL(lane3, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(lengthLane1 + lengthLane2));
ON_CALL(lane3, GetSection()).WillByDefault(ReturnRef(section3));
ON_CALL(lane3, GetRoad()).WillByDefault(ReturnRef(road));
@@ -1024,9 +1024,9 @@ TEST(LaneStream_Tests, GetStreamDistanceWithAgent_AgentOffLane)
LaneStreamElement element3{&lane3, lengthLane1 + lengthLane2, true};
FakeAgent agent;
- GlobalRoadPositions referencePoint = {{"RoadA", {}}, {"RoadB", GlobalRoadPosition{"RoadB", -3, 200., 1., 0.}}};
- GlobalRoadPositions mainLocatePoint = {{"RoadA", {}}, {"RoadB", GlobalRoadPosition{"RoadB", -2, 220., -1., 0.}}};
- GlobalRoadPositions rearPoint = {{"RoadA", {}}, {"RoadB", GlobalRoadPosition{"RoadB", -3, 190., -1., 0.}}};
+ GlobalRoadPositions referencePoint = {{"RoadA", {}}, {"RoadB", GlobalRoadPosition{"RoadB", -3, 200._m, 1._m, 0._rad}}};
+ GlobalRoadPositions mainLocatePoint = {{"RoadA", {}}, {"RoadB", GlobalRoadPosition{"RoadB", -2, 220._m, -1._m, 0._rad}}};
+ GlobalRoadPositions rearPoint = {{"RoadA", {}}, {"RoadB", GlobalRoadPosition{"RoadB", -3, 190._m, -1._m, 0._rad}}};
ON_CALL(agent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::Reference))).WillByDefault(ReturnRef(referencePoint));
ON_CALL(agent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::FrontCenter))).WillByDefault(ReturnRef(mainLocatePoint));
ON_CALL(agent, GetRoadPosition(VariantWith<ObjectPointPredefined>(ObjectPointPredefined::RearCenter))).WillByDefault(ReturnRef(rearPoint));
@@ -1043,15 +1043,15 @@ TEST(LaneStream_Tests, GetStreamDistanceWithAgent_AgentOffLane)
TEST(LaneStream_Tests, GetLaneTypes_AllOfSameType)
{
- constexpr double lengthLane1 = 90;
- constexpr double lengthLane2 = 120;
- constexpr double lengthLane3 = 150;
+ constexpr units::length::meter_t lengthLane1 = 90_m;
+ constexpr units::length::meter_t lengthLane2 = 120_m;
+ constexpr units::length::meter_t lengthLane3 = 150_m;
OWL::Interfaces::LaneAssignments emptyObjects{};
OWL::Fakes::Lane lane1;
ON_CALL(lane1, GetLength()).WillByDefault(Return(lengthLane1));
ON_CALL(lane1, GetLaneType()).WillByDefault(Return(LaneType::Driving));
ON_CALL(lane1, GetWorldObjects(true)).WillByDefault(ReturnRef(emptyObjects));
- LaneStreamElement element1{&lane1, 0, true};
+ LaneStreamElement element1{&lane1, 0_m, true};
OWL::Fakes::Lane lane2;
ON_CALL(lane2, GetLength()).WillByDefault(Return(lengthLane2));
ON_CALL(lane2, GetLaneType()).WillByDefault(Return(LaneType::Driving));
@@ -1067,20 +1067,20 @@ TEST(LaneStream_Tests, GetLaneTypes_AllOfSameType)
auto result = laneStream.GetLaneTypes();
- ASSERT_THAT(result, ElementsAre(std::make_pair(0, LaneType::Driving)));
+ ASSERT_THAT(result, ElementsAre(std::make_pair(0_m, LaneType::Driving)));
}
TEST(LaneStream_Tests, GetLaneTypes_MixedTypes)
{
- constexpr double lengthLane1 = 90;
- constexpr double lengthLane2 = 120;
- constexpr double lengthLane3 = 150;
+ constexpr units::length::meter_t lengthLane1 = 90_m;
+ constexpr units::length::meter_t lengthLane2 = 120_m;
+ constexpr units::length::meter_t lengthLane3 = 150_m;
OWL::Interfaces::LaneAssignments emptyObjects{};
OWL::Fakes::Lane lane1;
ON_CALL(lane1, GetLength()).WillByDefault(Return(lengthLane1));
ON_CALL(lane1, GetLaneType()).WillByDefault(Return(LaneType::Driving));
ON_CALL(lane1, GetWorldObjects(true)).WillByDefault(ReturnRef(emptyObjects));
- LaneStreamElement element1{&lane1, 0, true};
+ LaneStreamElement element1{&lane1, 0_m, true};
OWL::Fakes::Lane lane2;
ON_CALL(lane2, GetLength()).WillByDefault(Return(lengthLane2));
ON_CALL(lane2, GetLaneType()).WillByDefault(Return(LaneType::Driving));
@@ -1096,6 +1096,6 @@ TEST(LaneStream_Tests, GetLaneTypes_MixedTypes)
auto result = laneStream.GetLaneTypes();
- ASSERT_THAT(result, ElementsAre(std::make_pair(0, LaneType::Driving),
+ ASSERT_THAT(result, ElementsAre(std::make_pair(0_m, LaneType::Driving),
std::make_pair(lengthLane1 + lengthLane2, LaneType::None)));
}
diff --git a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/worldData_Tests.cpp b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/worldData_Tests.cpp
index e96fd212c9e2c139f354bc11b566a66c29ac5d11..0137ea5a84fa8af12cd98999416ee3fd79ff5384 100644
--- a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/worldData_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/worldData_Tests.cpp
@@ -21,7 +21,7 @@ using ::testing::HasSubstr;
struct SetEnvironmentIllumination_Data
{
- double sunIntensity;
+ mantle_api::Illumination sunIntensity;
osi3::EnvironmentalConditions_AmbientIllumination expectedLevel;
};
@@ -31,29 +31,31 @@ class SetEnvironmentIlluminationTest : public::testing::TestWithParam<SetEnviron
TEST_P(SetEnvironmentIlluminationTest, SetCorrectLevelInGroundtruth)
{
- openScenario::EnvironmentAction environmentAction;
- environmentAction.weather.sun.intensity = GetParam().sunIntensity;
+ mantle_api::Weather weather;
+ weather.illumination = GetParam().sunIntensity;
OWL::WorldData worldData{nullptr};
- worldData.SetEnvironment(environmentAction);
+ worldData.SetEnvironment(weather);
EXPECT_THAT(worldData.GetOsiGroundTruth().environmental_conditions().ambient_illumination(), Eq(GetParam().expectedLevel));
}
INSTANTIATE_TEST_SUITE_P(IlluminationTests, SetEnvironmentIlluminationTest, ::testing::Values(
-SetEnvironmentIllumination_Data{0.005, osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL1},
-SetEnvironmentIllumination_Data{0.5, osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL2},
-SetEnvironmentIllumination_Data{2.0, osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL3},
-SetEnvironmentIllumination_Data{5.0, osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL4},
-SetEnvironmentIllumination_Data{15.0, osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL5},
-SetEnvironmentIllumination_Data{50.0, osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL6},
-SetEnvironmentIllumination_Data{500.0, osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL7},
-SetEnvironmentIllumination_Data{5000.0, osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL8},
-SetEnvironmentIllumination_Data{2e5, osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL9}));
+SetEnvironmentIllumination_Data{mantle_api::Illumination::kLevel1, osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL1},
+SetEnvironmentIllumination_Data{mantle_api::Illumination::kLevel2, osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL2},
+SetEnvironmentIllumination_Data{mantle_api::Illumination::kLevel3, osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL3},
+SetEnvironmentIllumination_Data{mantle_api::Illumination::kLevel4, osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL4},
+SetEnvironmentIllumination_Data{mantle_api::Illumination::kLevel5, osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL5},
+SetEnvironmentIllumination_Data{mantle_api::Illumination::kLevel6, osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL6},
+SetEnvironmentIllumination_Data{mantle_api::Illumination::kLevel7, osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL7},
+SetEnvironmentIllumination_Data{mantle_api::Illumination::kLevel8, osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL8},
+SetEnvironmentIllumination_Data{mantle_api::Illumination::kLevel9, osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_LEVEL9},
+SetEnvironmentIllumination_Data{mantle_api::Illumination::kOther, osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_OTHER},
+SetEnvironmentIllumination_Data{mantle_api::Illumination::kUnknown, osi3::EnvironmentalConditions_AmbientIllumination_AMBIENT_ILLUMINATION_UNKNOWN}));
struct SetEnvironmentFog_Data
{
- double visualRange;
+ mantle_api::Fog visualRange;
osi3::EnvironmentalConditions_Fog expectedLevel;
};
@@ -63,24 +65,58 @@ class SetEnvironmentFogTest : public::testing::TestWithParam<SetEnvironmentFog_D
TEST_P(SetEnvironmentFogTest, SetCorrectLevelInGroundtruth)
{
- openScenario::EnvironmentAction environmentAction;
- environmentAction.weather.fog.visualRange = GetParam().visualRange;
+ mantle_api::Weather weather;
+ weather.fog = GetParam().visualRange;
OWL::WorldData worldData{nullptr};
- worldData.SetEnvironment(environmentAction);
+ worldData.SetEnvironment(weather);
EXPECT_THAT(worldData.GetOsiGroundTruth().environmental_conditions().fog(), Eq(GetParam().expectedLevel));
}
INSTANTIATE_TEST_SUITE_P(Fog, SetEnvironmentFogTest, ::testing::Values(
-SetEnvironmentFog_Data{10, osi3::EnvironmentalConditions_Fog_FOG_DENSE},
-SetEnvironmentFog_Data{100, osi3::EnvironmentalConditions_Fog_FOG_THICK},
-SetEnvironmentFog_Data{500, osi3::EnvironmentalConditions_Fog_FOG_LIGHT},
-SetEnvironmentFog_Data{1500, osi3::EnvironmentalConditions_Fog_FOG_MIST},
-SetEnvironmentFog_Data{3000, osi3::EnvironmentalConditions_Fog_FOG_POOR_VISIBILITY},
-SetEnvironmentFog_Data{6000, osi3::EnvironmentalConditions_Fog_FOG_MODERATE_VISIBILITY},
-SetEnvironmentFog_Data{2e4, osi3::EnvironmentalConditions_Fog_FOG_GOOD_VISIBILITY},
-SetEnvironmentFog_Data{5e4, osi3::EnvironmentalConditions_Fog_FOG_EXCELLENT_VISIBILITY}));
+SetEnvironmentFog_Data{mantle_api::Fog::kDense, osi3::EnvironmentalConditions_Fog_FOG_DENSE},
+SetEnvironmentFog_Data{mantle_api::Fog::kThick, osi3::EnvironmentalConditions_Fog_FOG_THICK},
+SetEnvironmentFog_Data{mantle_api::Fog::kLight, osi3::EnvironmentalConditions_Fog_FOG_LIGHT},
+SetEnvironmentFog_Data{mantle_api::Fog::kMist, osi3::EnvironmentalConditions_Fog_FOG_MIST},
+SetEnvironmentFog_Data{mantle_api::Fog::kPoorVisibility, osi3::EnvironmentalConditions_Fog_FOG_POOR_VISIBILITY},
+SetEnvironmentFog_Data{mantle_api::Fog::kModerateVisibility, osi3::EnvironmentalConditions_Fog_FOG_MODERATE_VISIBILITY},
+SetEnvironmentFog_Data{mantle_api::Fog::kGoodVisibility, osi3::EnvironmentalConditions_Fog_FOG_GOOD_VISIBILITY},
+SetEnvironmentFog_Data{mantle_api::Fog::kExcellentVisibility, osi3::EnvironmentalConditions_Fog_FOG_EXCELLENT_VISIBILITY},
+SetEnvironmentFog_Data{mantle_api::Fog::kOther, osi3::EnvironmentalConditions_Fog_FOG_OTHER},
+SetEnvironmentFog_Data{mantle_api::Fog::kUnknown, osi3::EnvironmentalConditions_Fog_FOG_UNKNOWN}));
+
+struct SetEnvironmentPrecipitation_Data
+{
+ mantle_api::Precipitation intensity;
+ osi3::EnvironmentalConditions_Precipitation expectedLevel;
+};
+
+class SetEnvironmentPrecipitationTest : public::testing::TestWithParam<SetEnvironmentPrecipitation_Data>
+{
+};
+
+TEST_P(SetEnvironmentPrecipitationTest, SetCorrectLevelInGroundtruth)
+{
+ mantle_api::Weather weather;
+ weather.precipitation = GetParam().intensity;
+ OWL::WorldData worldData{nullptr};
+
+ worldData.SetEnvironment(weather);
+
+ EXPECT_THAT(worldData.GetOsiGroundTruth().environmental_conditions().precipitation(), Eq(GetParam().expectedLevel));
+}
+
+INSTANTIATE_TEST_SUITE_P(Precipitation, SetEnvironmentPrecipitationTest, ::testing::Values(
+SetEnvironmentPrecipitation_Data{mantle_api::Precipitation::kUnknown, osi3::EnvironmentalConditions_Precipitation_PRECIPITATION_UNKNOWN},
+SetEnvironmentPrecipitation_Data{mantle_api::Precipitation::kOther, osi3::EnvironmentalConditions_Precipitation_PRECIPITATION_OTHER},
+SetEnvironmentPrecipitation_Data{mantle_api::Precipitation::kNone, osi3::EnvironmentalConditions_Precipitation_PRECIPITATION_NONE},
+SetEnvironmentPrecipitation_Data{mantle_api::Precipitation::kVeryLight, osi3::EnvironmentalConditions_Precipitation_PRECIPITATION_VERY_LIGHT},
+SetEnvironmentPrecipitation_Data{mantle_api::Precipitation::kLight, osi3::EnvironmentalConditions_Precipitation_PRECIPITATION_LIGHT},
+SetEnvironmentPrecipitation_Data{mantle_api::Precipitation::kModerate, osi3::EnvironmentalConditions_Precipitation_PRECIPITATION_MODERATE},
+SetEnvironmentPrecipitation_Data{mantle_api::Precipitation::kHeavy, osi3::EnvironmentalConditions_Precipitation_PRECIPITATION_HEAVY},
+SetEnvironmentPrecipitation_Data{mantle_api::Precipitation::kVeryHeavy, osi3::EnvironmentalConditions_Precipitation_PRECIPITATION_VERY_HEAVY},
+SetEnvironmentPrecipitation_Data{mantle_api::Precipitation::kExtreme, osi3::EnvironmentalConditions_Precipitation_PRECIPITATION_EXTREME}));
TEST(TurningRateImport, NonExistingConnection_LogsWarning)
{
diff --git a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/worldQuery_Tests.cpp b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/worldQuery_Tests.cpp
index 40820e62b0d863bfb8a0dcc76fd1b4f345c6fc3a..a0bd95e275e7e27829d82ae607c52d5bea960357 100644
--- a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/worldQuery_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/worldQuery_Tests.cpp
@@ -72,11 +72,11 @@ public:
return LaneMultiStream{root};
}
- std::pair<LaneMultiStream::Node*, Fakes::Lane*> AddRoot(double length, bool inStreamDirection)
+ std::pair<LaneMultiStream::Node*, Fakes::Lane*> AddRoot(units::length::meter_t length, bool inStreamDirection)
{
Fakes::Lane* lane = new Fakes::Lane;
ON_CALL(*lane, GetLength()).WillByDefault(Return(length));
- LaneStreamInfo laneInfo{lane, inStreamDirection ? 0 : length, inStreamDirection};
+ LaneStreamInfo laneInfo{lane, inStreamDirection ? 0_m : length, inStreamDirection};
root = {laneInfo, std::vector<LaneMultiStream::Node>{}, vertexCount};
vertexCount++;
root.next.reserve(10);
@@ -84,11 +84,11 @@ public:
return {&root, lane};
}
- std::pair<LaneMultiStream::Node*, Fakes::Lane*> AddLane(double length, bool inStreamDirection, LaneMultiStream::Node& predecessor)
+ std::pair<LaneMultiStream::Node*, Fakes::Lane*> AddLane(units::length::meter_t length, bool inStreamDirection, LaneMultiStream::Node& predecessor)
{
Fakes::Lane* lane = new Fakes::Lane;
ON_CALL(*lane, GetLength()).WillByDefault(Return(length));
- LaneStreamInfo laneInfo{lane, predecessor.element->EndS() + (inStreamDirection ? 0 : length), inStreamDirection};
+ LaneStreamInfo laneInfo{lane, predecessor.element->EndS() + (inStreamDirection ? 0_m : length), inStreamDirection};
predecessor.next.push_back({laneInfo, std::vector<LaneMultiStream::Node>{}, vertexCount});
vertexCount++;
auto newNode = &predecessor.next.back();
@@ -123,11 +123,11 @@ public:
return RoadMultiStream{root};
}
- std::pair<RoadMultiStream::Node*, Fakes::Road*> AddRoot(double length, bool inStreamDirection)
+ std::pair<RoadMultiStream::Node*, Fakes::Road*> AddRoot(units::length::meter_t length, bool inStreamDirection)
{
Fakes::Road* road = new Fakes::Road;
ON_CALL(*road, GetLength()).WillByDefault(Return(length));
- RoadStreamInfo roadInfo{road, inStreamDirection ? 0 : length, inStreamDirection};
+ RoadStreamInfo roadInfo{road, inStreamDirection ? 0_m : length, inStreamDirection};
root = {roadInfo, std::vector<RoadMultiStream::Node>{}, vertexCount};
vertexCount++;
root.next.reserve(10);
@@ -135,11 +135,11 @@ public:
return {&root, road};
}
- std::pair<RoadMultiStream::Node*, Fakes::Road*> AddRoad(double length, bool inStreamDirection, RoadMultiStream::Node& predecessor)
+ std::pair<RoadMultiStream::Node*, Fakes::Road*> AddRoad(units::length::meter_t length, bool inStreamDirection, RoadMultiStream::Node& predecessor)
{
Fakes::Road* road = new Fakes::Road;
ON_CALL(*road, GetLength()).WillByDefault(Return(length));
- RoadStreamInfo roadInfo{road, predecessor.element->EndS() + (inStreamDirection ? 0 : length), inStreamDirection};
+ RoadStreamInfo roadInfo{road, predecessor.element->EndS() + (inStreamDirection ? 0_m : length), inStreamDirection};
predecessor.next.push_back({roadInfo, std::vector<RoadMultiStream::Node>{}, vertexCount});
vertexCount++;
auto newNode = &predecessor.next.back();
@@ -157,91 +157,91 @@ private:
TEST(GetDistanceToEndOfLane, LinearTreeWithOneLanePerRoad)
{
FakeLaneMultiStream laneMultiStream;
- auto [node1, lane1] = laneMultiStream.AddRoot(100, true);
+ auto [node1, lane1] = laneMultiStream.AddRoot(100_m, true);
ON_CALL(*lane1, GetLaneType()).WillByDefault(Return(LaneType::Driving));
- auto [node2, lane2] = laneMultiStream.AddLane(200, false, *node1);
+ auto [node2, lane2] = laneMultiStream.AddLane(200_m, false, *node1);
ON_CALL(*lane2, GetLaneType()).WillByDefault(Return(LaneType::Driving));
- auto [node3, lane3] = laneMultiStream.AddLane(300, true, *node2);
+ auto [node3, lane3] = laneMultiStream.AddLane(300_m, true, *node2);
ON_CALL(*lane3, GetLaneType()).WillByDefault(Return(LaneType::Driving));
Fakes::WorldData worldData;
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetDistanceToEndOfLane(laneMultiStream.Get(), 40.0, 1000.0, {LaneType::Driving});
- ASSERT_THAT(result, UnorderedElementsAre(std::make_pair(node1->roadGraphVertex, 60.0),
- std::make_pair(node2->roadGraphVertex, 260.0),
- std::make_pair(node3->roadGraphVertex, 560.0)));
+ auto result = wdQuery.GetDistanceToEndOfLane(laneMultiStream.Get(), 40.0_m, 1000.0_m, {LaneType::Driving});
+ ASSERT_THAT(result, UnorderedElementsAre(std::make_pair(node1->roadGraphVertex, 60.0_m),
+ std::make_pair(node2->roadGraphVertex, 260.0_m),
+ std::make_pair(node3->roadGraphVertex, 560.0_m)));
}
TEST(GetDistanceToEndOfLane, LinearTreeWithMultipleLanesPerRoad)
{
FakeLaneMultiStream laneMultiStream;
- auto [node1, lane1] = laneMultiStream.AddRoot(100, true);
+ auto [node1, lane1] = laneMultiStream.AddRoot(100_m, true);
ON_CALL(*lane1, GetLaneType()).WillByDefault(Return(LaneType::Driving));
- auto [node2, lane2] = laneMultiStream.AddLane(200, true, *node1);
+ auto [node2, lane2] = laneMultiStream.AddLane(200_m, true, *node1);
ON_CALL(*lane2, GetLaneType()).WillByDefault(Return(LaneType::Driving));
- auto [node3, lane3] = laneMultiStream.AddLane(300, true, *node2);
+ auto [node3, lane3] = laneMultiStream.AddLane(300_m, true, *node2);
ON_CALL(*lane3, GetLaneType()).WillByDefault(Return(LaneType::Driving));
node2->roadGraphVertex = node1->roadGraphVertex;
node3->roadGraphVertex = node1->roadGraphVertex;
Fakes::WorldData worldData;
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetDistanceToEndOfLane(laneMultiStream.Get(), 40.0, 1000.0, {LaneType::Driving});
- ASSERT_THAT(result, UnorderedElementsAre(std::make_pair(node1->roadGraphVertex, 560.0)));
+ auto result = wdQuery.GetDistanceToEndOfLane(laneMultiStream.Get(), 40.0_m, 1000.0_m, {LaneType::Driving});
+ ASSERT_THAT(result, UnorderedElementsAre(std::make_pair(node1->roadGraphVertex, 560.0_m)));
}
TEST(GetDistanceToEndOfLane, LinearTreeWithLaneOfWrongType)
{
FakeLaneMultiStream laneMultiStream;
- auto [node1, lane1] = laneMultiStream.AddRoot(100, true);
+ auto [node1, lane1] = laneMultiStream.AddRoot(100_m, true);
ON_CALL(*lane1, GetLaneType()).WillByDefault(Return(LaneType::Driving));
- auto [node2, lane2] = laneMultiStream.AddLane(200, false, *node1);
+ auto [node2, lane2] = laneMultiStream.AddLane(200_m, false, *node1);
ON_CALL(*lane2, GetLaneType()).WillByDefault(Return(LaneType::None));
- auto [node3, lane3] = laneMultiStream.AddLane(300, true, *node2);
+ auto [node3, lane3] = laneMultiStream.AddLane(300_m, true, *node2);
ON_CALL(*lane3, GetLaneType()).WillByDefault(Return(LaneType::Driving));
Fakes::WorldData worldData;
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetDistanceToEndOfLane(laneMultiStream.Get(), 40.0, 1000.0, {LaneType::Driving});
- ASSERT_THAT(result, UnorderedElementsAre(std::make_pair(node1->roadGraphVertex, 60.0),
- std::make_pair(node2->roadGraphVertex, 60.0),
- std::make_pair(node3->roadGraphVertex, 60.0)));
+ auto result = wdQuery.GetDistanceToEndOfLane(laneMultiStream.Get(), 40.0_m, 1000.0_m, {LaneType::Driving});
+ ASSERT_THAT(result, UnorderedElementsAre(std::make_pair(node1->roadGraphVertex, 60.0_m),
+ std::make_pair(node2->roadGraphVertex, 60.0_m),
+ std::make_pair(node3->roadGraphVertex, 60.0_m)));
}
TEST(GetDistanceToEndOfLane, LinearTreeWithLengthBiggerSearchDistance)
{
FakeLaneMultiStream laneMultiStream;
- auto [node1, lane1] = laneMultiStream.AddRoot(100, true);
+ auto [node1, lane1] = laneMultiStream.AddRoot(100_m, true);
ON_CALL(*lane1, GetLaneType()).WillByDefault(Return(LaneType::Driving));
- auto [node2, lane2] = laneMultiStream.AddLane(200, false, *node1);
+ auto [node2, lane2] = laneMultiStream.AddLane(200_m, false, *node1);
ON_CALL(*lane2, GetLaneType()).WillByDefault(Return(LaneType::Driving));
- auto [node3, lane3] = laneMultiStream.AddLane(300, true, *node2);
+ auto [node3, lane3] = laneMultiStream.AddLane(300_m, true, *node2);
ON_CALL(*lane3, GetLaneType()).WillByDefault(Return(LaneType::Driving));
Fakes::WorldData worldData;
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetDistanceToEndOfLane(laneMultiStream.Get(), 40.0, 200.0, {LaneType::Driving});
- ASSERT_THAT(result, UnorderedElementsAre(std::make_pair(node1->roadGraphVertex, 60.0),
- std::make_pair(node2->roadGraphVertex, std::numeric_limits<double>::infinity()),
- std::make_pair(node3->roadGraphVertex, std::numeric_limits<double>::infinity())));
+ auto result = wdQuery.GetDistanceToEndOfLane(laneMultiStream.Get(), 40.0_m, 200.0_m, {LaneType::Driving});
+ ASSERT_THAT(result.at(node1->roadGraphVertex), Eq(60.0_m));
+ ASSERT_THAT(result.at(node2->roadGraphVertex).value(), Eq(std::numeric_limits<double>::infinity()));
+ ASSERT_THAT(result.at(node3->roadGraphVertex).value(), Eq(std::numeric_limits<double>::infinity()));
}
TEST(GetDistanceToEndOfLane, BranchingTree)
{
FakeLaneMultiStream laneMultiStream;
- auto [node1, lane1] = laneMultiStream.AddRoot(100, true);
+ auto [node1, lane1] = laneMultiStream.AddRoot(100_m, true);
ON_CALL(*lane1, GetLaneType()).WillByDefault(Return(LaneType::Driving));
- auto [node2, lane2] = laneMultiStream.AddLane(200, false, *node1);
+ auto [node2, lane2] = laneMultiStream.AddLane(200_m, false, *node1);
ON_CALL(*lane2, GetLaneType()).WillByDefault(Return(LaneType::Driving));
- auto [node3, lane3] = laneMultiStream.AddLane(300, true, *node1);
+ auto [node3, lane3] = laneMultiStream.AddLane(300_m, true, *node1);
ON_CALL(*lane3, GetLaneType()).WillByDefault(Return(LaneType::Driving));
Fakes::WorldData worldData;
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetDistanceToEndOfLane(laneMultiStream.Get(), 40.0, 1000.0, {LaneType::Driving});
- ASSERT_THAT(result, UnorderedElementsAre(std::make_pair(node1->roadGraphVertex, 60.0),
- std::make_pair(node2->roadGraphVertex, 260.0),
- std::make_pair(node3->roadGraphVertex, 360.0)));
+ auto result = wdQuery.GetDistanceToEndOfLane(laneMultiStream.Get(), 40.0_m, 1000.0_m, {LaneType::Driving});
+ ASSERT_THAT(result, UnorderedElementsAre(std::make_pair(node1->roadGraphVertex, 60.0_m),
+ std::make_pair(node2->roadGraphVertex, 260.0_m),
+ std::make_pair(node3->roadGraphVertex, 360.0_m)));
}
//////////////////////////////////////////////////////////////////////////////
@@ -253,25 +253,25 @@ TEST(GetObjectsOfTypeInRange, NoObjectstInRange_ReturnsEmptyVector)
Fakes::Road road1;
std::string idRoad1 = "Road1";
ON_CALL(road1, GetId()).WillByDefault(ReturnRef(idRoad1));
- auto [node1, lane1] = laneMultiStream.AddRoot(100, true);
+ auto [node1, lane1] = laneMultiStream.AddRoot(100_m, true);
ON_CALL(*lane1, GetRoad()).WillByDefault(ReturnRef(road1));
ON_CALL(*lane1, GetWorldObjects(true)).WillByDefault(ReturnRef(emptyObjectsList));
Fakes::Road road2;
std::string idRoad2 = "Road2";
ON_CALL(road2, GetId()).WillByDefault(ReturnRef(idRoad2));
- auto [node2, lane2] = laneMultiStream.AddLane(200, false, *node1);
+ auto [node2, lane2] = laneMultiStream.AddLane(200_m, false, *node1);
ON_CALL(*lane2, GetWorldObjects(false)).WillByDefault(ReturnRef(emptyObjectsList));
ON_CALL(*lane2, GetRoad()).WillByDefault(ReturnRef(road2));
Fakes::Road road3;
std::string idRoad3 = "Road3";
ON_CALL(road3, GetId()).WillByDefault(ReturnRef(idRoad3));
- auto [node3, lane3] = laneMultiStream.AddLane(300, true, *node1);
+ auto [node3, lane3] = laneMultiStream.AddLane(300_m, true, *node1);
ON_CALL(*lane3, GetWorldObjects(true)).WillByDefault(ReturnRef(emptyObjectsList));
ON_CALL(*lane3, GetRoad()).WillByDefault(ReturnRef(road3));
Fakes::WorldData worldData;
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetObjectsOfTypeInRange<OWL::Interfaces::WorldObject>(laneMultiStream.Get(), 0, 1000);
+ auto result = wdQuery.GetObjectsOfTypeInRange<OWL::Interfaces::WorldObject>(laneMultiStream.Get(), 0_m, 1000_m);
std::vector<const OWL::Interfaces::WorldObject*> emptyResult{};
ASSERT_THAT(result, UnorderedElementsAre(std::make_pair(node1->roadGraphVertex, emptyResult),
std::make_pair(node2->roadGraphVertex, emptyResult),
@@ -281,18 +281,18 @@ TEST(GetObjectsOfTypeInRange, NoObjectstInRange_ReturnsEmptyVector)
TEST(GetObjectsOfTypeInRange, OneObjectInEveryNode_ReturnsFirstObjectForAllNodes)
{
FakeLaneMultiStream laneMultiStream;
- OWL::LaneOverlap overlap1{GlobalRoadPosition{"",0,40,0,0},
- GlobalRoadPosition{"",0,55,0,0},
- GlobalRoadPosition{"",0,50,0,0},
- GlobalRoadPosition{"",0,50,0,0}};
- OWL::LaneOverlap overlap2{GlobalRoadPosition{"",0,95,0,0},
- GlobalRoadPosition{"",0,105,0,0},
- GlobalRoadPosition{"",0,100,0,0},
- GlobalRoadPosition{"",0,100,0,0}};
- OWL::LaneOverlap overlap3{GlobalRoadPosition{"",0,95,0,0},
- GlobalRoadPosition{"",0,105,0,0},
- GlobalRoadPosition{"",0,100,0,0},
- GlobalRoadPosition{"",0,100,0,0}};
+ OWL::LaneOverlap overlap1{GlobalRoadPosition{"",0, 40_m,0_m,0_rad},
+ GlobalRoadPosition{"",0, 55_m,0_m,0_rad},
+ GlobalRoadPosition{"",0, 50_m,0_m,0_rad},
+ GlobalRoadPosition{"",0, 50_m,0_m,0_rad}};
+ OWL::LaneOverlap overlap2{GlobalRoadPosition{"",0, 95_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,105_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,100_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,100_m,0_m,0_rad}};
+ OWL::LaneOverlap overlap3{GlobalRoadPosition{"",0, 95_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,105_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,100_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,100_m,0_m,0_rad}};
Fakes::MovingObject object1;
OWL::Interfaces::LaneAssignments objectsList1{{overlap1,&object1}};
Fakes::MovingObject object2;
@@ -302,25 +302,25 @@ TEST(GetObjectsOfTypeInRange, OneObjectInEveryNode_ReturnsFirstObjectForAllNodes
Fakes::Road road1;
std::string idRoad1 = "Road1";
ON_CALL(road1, GetId()).WillByDefault(ReturnRef(idRoad1));
- auto [node1, lane1] = laneMultiStream.AddRoot(100, true);
+ auto [node1, lane1] = laneMultiStream.AddRoot(100_m, true);
ON_CALL(*lane1, GetRoad()).WillByDefault(ReturnRef(road1));
ON_CALL(*lane1, GetWorldObjects(true)).WillByDefault(ReturnRef(objectsList1));
Fakes::Road road2;
std::string idRoad2 = "Road2";
ON_CALL(road2, GetId()).WillByDefault(ReturnRef(idRoad2));
- auto [node2, lane2] = laneMultiStream.AddLane(200, false, *node1);
+ auto [node2, lane2] = laneMultiStream.AddLane(200_m, false, *node1);
ON_CALL(*lane2, GetWorldObjects(false)).WillByDefault(ReturnRef(objectsList2));
ON_CALL(*lane2, GetRoad()).WillByDefault(ReturnRef(road2));
Fakes::Road road3;
std::string idRoad3 = "Road3";
ON_CALL(road3, GetId()).WillByDefault(ReturnRef(idRoad3));
- auto [node3, lane3] = laneMultiStream.AddLane(300, true, *node1);
+ auto [node3, lane3] = laneMultiStream.AddLane(300_m, true, *node1);
ON_CALL(*lane3, GetWorldObjects(true)).WillByDefault(ReturnRef(objectsList3));
ON_CALL(*lane3, GetRoad()).WillByDefault(ReturnRef(road3));
Fakes::WorldData worldData;
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetObjectsOfTypeInRange<OWL::Interfaces::WorldObject>(laneMultiStream.Get(), 50, 200);
+ auto result = wdQuery.GetObjectsOfTypeInRange<OWL::Interfaces::WorldObject>(laneMultiStream.Get(), 50_m, 200_m);
std::vector<const OWL::Interfaces::WorldObject*> expectedResult1{&object1};
std::vector<const OWL::Interfaces::WorldObject*> expectedResult2{&object1, &object2};
std::vector<const OWL::Interfaces::WorldObject*> expectedResult3{&object1, &object3};
@@ -333,28 +333,28 @@ TEST(GetObjectsOfTypeInRange, OneObjectInTwoNodes_ReturnsObjectOnlyOnce)
{
FakeLaneMultiStream laneMultiStream;
Fakes::MovingObject object;
- OWL::LaneOverlap overlap{GlobalRoadPosition{"",0,100,0,0},
- GlobalRoadPosition{"",0,100,0,0},
- GlobalRoadPosition{"",0,100,0,0},
- GlobalRoadPosition{"",0,100,0,0}};
+ OWL::LaneOverlap overlap{GlobalRoadPosition{"",0,100_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,100_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,100_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,100_m,0_m,0_rad}};
OWL::Interfaces::LaneAssignments objectsList1{{overlap,&object}};
OWL::Interfaces::LaneAssignments objectsList2{{overlap,&object}};
Fakes::Road road1;
std::string idRoad1 = "Road1";
ON_CALL(road1, GetId()).WillByDefault(ReturnRef(idRoad1));
- auto [node1, lane1] = laneMultiStream.AddRoot(100, true);
+ auto [node1, lane1] = laneMultiStream.AddRoot(100_m, true);
ON_CALL(*lane1, GetRoad()).WillByDefault(ReturnRef(road1));
ON_CALL(*lane1, GetWorldObjects(true)).WillByDefault(ReturnRef(objectsList1));
Fakes::Road road2;
std::string idRoad2 = "Road2";
ON_CALL(road2, GetId()).WillByDefault(ReturnRef(idRoad2));
- auto [node2, lane2] = laneMultiStream.AddLane(200, false, *node1);
+ auto [node2, lane2] = laneMultiStream.AddLane(200_m, false, *node1);
ON_CALL(*lane2, GetWorldObjects(false)).WillByDefault(ReturnRef(objectsList2));
ON_CALL(*lane2, GetRoad()).WillByDefault(ReturnRef(road2));
Fakes::WorldData worldData;
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetObjectsOfTypeInRange<OWL::Interfaces::WorldObject>(laneMultiStream.Get(), 0, 1000);
+ auto result = wdQuery.GetObjectsOfTypeInRange<OWL::Interfaces::WorldObject>(laneMultiStream.Get(), 0_m, 1000_m);
std::vector<const OWL::Interfaces::WorldObject*> expectedResult{&object};
ASSERT_THAT(result, UnorderedElementsAre(std::make_pair(node1->roadGraphVertex, expectedResult),
std::make_pair(node2->roadGraphVertex, expectedResult)));
@@ -363,18 +363,18 @@ TEST(GetObjectsOfTypeInRange, OneObjectInTwoNodes_ReturnsObjectOnlyOnce)
TEST(GetObjectsOfTypeInRange, TwoObjectInTwoNodes_ReturnsObjectsInCorrectOrder)
{
FakeLaneMultiStream laneMultiStream;
- OWL::LaneOverlap overlap1{GlobalRoadPosition{"",0,10,0,0},
- GlobalRoadPosition{"",0,10,0,0},
- GlobalRoadPosition{"",0,10,0,0},
- GlobalRoadPosition{"",0,10,0,0}};
- OWL::LaneOverlap overlap2{GlobalRoadPosition{"",0,100,0,0},
- GlobalRoadPosition{"",0,100,0,0},
- GlobalRoadPosition{"",0,100,0,0},
- GlobalRoadPosition{"",0,100,0,0}};
- OWL::LaneOverlap overlap3{GlobalRoadPosition{"",0,50,0,0},
- GlobalRoadPosition{"",0,50,0,0},
- GlobalRoadPosition{"",0,50,0,0},
- GlobalRoadPosition{"",0,50,0,0}};
+ OWL::LaneOverlap overlap1{GlobalRoadPosition{"",0, 10_m,0_m,0_rad},
+ GlobalRoadPosition{"",0, 10_m,0_m,0_rad},
+ GlobalRoadPosition{"",0, 10_m,0_m,0_rad},
+ GlobalRoadPosition{"",0, 10_m,0_m,0_rad}};
+ OWL::LaneOverlap overlap2{GlobalRoadPosition{"",0,100_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,100_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,100_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,100_m,0_m,0_rad}};
+ OWL::LaneOverlap overlap3{GlobalRoadPosition{"",0, 50_m,0_m,0_rad},
+ GlobalRoadPosition{"",0, 50_m,0_m,0_rad},
+ GlobalRoadPosition{"",0, 50_m,0_m,0_rad},
+ GlobalRoadPosition{"",0, 50_m,0_m,0_rad}};
Fakes::MovingObject object1;
OWL::Interfaces::LaneAssignments objectsList1{{overlap1,&object1}};
Fakes::MovingObject object2;
@@ -383,19 +383,19 @@ TEST(GetObjectsOfTypeInRange, TwoObjectInTwoNodes_ReturnsObjectsInCorrectOrder)
Fakes::Road road1;
std::string idRoad1 = "Road1";
ON_CALL(road1, GetId()).WillByDefault(ReturnRef(idRoad1));
- auto [node1, lane1] = laneMultiStream.AddRoot(100, true);
+ auto [node1, lane1] = laneMultiStream.AddRoot(100_m, true);
ON_CALL(*lane1, GetRoad()).WillByDefault(ReturnRef(road1));
ON_CALL(*lane1, GetWorldObjects(true)).WillByDefault(ReturnRef(objectsList1));
Fakes::Road road2;
std::string idRoad2 = "Road2";
ON_CALL(road2, GetId()).WillByDefault(ReturnRef(idRoad2));
- auto [node2, lane2] = laneMultiStream.AddLane(200, true, *node1);
+ auto [node2, lane2] = laneMultiStream.AddLane(200_m, true, *node1);
ON_CALL(*lane2, GetWorldObjects(true)).WillByDefault(ReturnRef(objectsList2));
ON_CALL(*lane2, GetRoad()).WillByDefault(ReturnRef(road2));
Fakes::WorldData worldData;
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetObjectsOfTypeInRange<OWL::Interfaces::WorldObject>(laneMultiStream.Get(), 0, 1000);
+ auto result = wdQuery.GetObjectsOfTypeInRange<OWL::Interfaces::WorldObject>(laneMultiStream.Get(), 0_m, 1000_m);
std::vector<const OWL::Interfaces::WorldObject*> expectedResult1{&object1};
std::vector<const OWL::Interfaces::WorldObject*> expectedResult2{&object1, &object3, &object2};
ASSERT_THAT(result, UnorderedElementsAre(std::make_pair(node1->roadGraphVertex, expectedResult1),
@@ -405,18 +405,18 @@ TEST(GetObjectsOfTypeInRange, TwoObjectInTwoNodes_ReturnsObjectsInCorrectOrder)
TEST(GetObjectsOfTypeInRange, ObjectsOutsideRange_ReturnsOnlyObjectsInRange)
{
FakeLaneMultiStream laneMultiStream;
- OWL::LaneOverlap overlap1{GlobalRoadPosition{"",0,10,0,0},
- GlobalRoadPosition{"",0,10,0,0},
- GlobalRoadPosition{"",0,10,0,0},
- GlobalRoadPosition{"",0,10,0,0}};
- OWL::LaneOverlap overlap2{GlobalRoadPosition{"",0,110,0,0},
- GlobalRoadPosition{"",0,110,0,0},
- GlobalRoadPosition{"",0,110,0,0},
- GlobalRoadPosition{"",0,110,0,0}};
- OWL::LaneOverlap overlap3{GlobalRoadPosition{"",0,160,0,0},
- GlobalRoadPosition{"",0,160,0,0},
- GlobalRoadPosition{"",0,160,0,0},
- GlobalRoadPosition{"",0,160,0,0}};
+ OWL::LaneOverlap overlap1{GlobalRoadPosition{"",0, 10_m,0_m,0_rad},
+ GlobalRoadPosition{"",0, 10_m,0_m,0_rad},
+ GlobalRoadPosition{"",0, 10_m,0_m,0_rad},
+ GlobalRoadPosition{"",0, 10_m,0_m,0_rad}};
+ OWL::LaneOverlap overlap2{GlobalRoadPosition{"",0,110_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,110_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,110_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,110_m,0_m,0_rad}};
+ OWL::LaneOverlap overlap3{GlobalRoadPosition{"",0,160_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,160_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,160_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,160_m,0_m,0_rad}};
Fakes::MovingObject object1;
OWL::Interfaces::LaneAssignments objectsList1{{overlap1, &object1}};
Fakes::MovingObject object2a;
@@ -428,25 +428,25 @@ TEST(GetObjectsOfTypeInRange, ObjectsOutsideRange_ReturnsOnlyObjectsInRange)
Fakes::Road road1;
std::string idRoad1 = "Road1";
ON_CALL(road1, GetId()).WillByDefault(ReturnRef(idRoad1));
- auto [node1, lane1] = laneMultiStream.AddRoot(100, true);
+ auto [node1, lane1] = laneMultiStream.AddRoot(100_m, true);
ON_CALL(*lane1, GetRoad()).WillByDefault(ReturnRef(road1));
ON_CALL(*lane1, GetWorldObjects(true)).WillByDefault(ReturnRef(objectsList1));
Fakes::Road road2;
std::string idRoad2 = "Road2";
ON_CALL(road2, GetId()).WillByDefault(ReturnRef(idRoad2));
- auto [node2, lane2] = laneMultiStream.AddLane(200, false, *node1);
+ auto [node2, lane2] = laneMultiStream.AddLane(200_m, false, *node1);
ON_CALL(*lane2, GetWorldObjects(false)).WillByDefault(ReturnRef(objectsList2));
ON_CALL(*lane2, GetRoad()).WillByDefault(ReturnRef(road2));
Fakes::Road road3;
std::string idRoad3 = "Road3";
ON_CALL(road3, GetId()).WillByDefault(ReturnRef(idRoad3));
- auto [node3, lane3] = laneMultiStream.AddLane(300, true, *node1);
+ auto [node3, lane3] = laneMultiStream.AddLane(300_m, true, *node1);
ON_CALL(*lane3, GetWorldObjects(true)).WillByDefault(ReturnRef(objectsList3));
ON_CALL(*lane3, GetRoad()).WillByDefault(ReturnRef(road3));
Fakes::WorldData worldData;
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetObjectsOfTypeInRange<OWL::Interfaces::WorldObject>(laneMultiStream.Get(), 50, 250);
+ auto result = wdQuery.GetObjectsOfTypeInRange<OWL::Interfaces::WorldObject>(laneMultiStream.Get(), 50_m, 250_m);
std::vector<const OWL::Interfaces::WorldObject*> expectedResult1{};
std::vector<const OWL::Interfaces::WorldObject*> expectedResult2{&object2b};
std::vector<const OWL::Interfaces::WorldObject*> expectedResult3{&object3a};
@@ -473,14 +473,14 @@ TEST(GetLanesOfLaneTypeAtDistance, NoLanesInWorld_ReturnsNoLanes)
WorldDataQuery wdQuery(worldData);
- OWL::CLanes lanes = wdQuery.GetLanesOfLaneTypeAtDistance("TestRoadId", 0.0, {LaneType::Driving});
+ OWL::CLanes lanes = wdQuery.GetLanesOfLaneTypeAtDistance("TestRoadId", 0.0_m, {LaneType::Driving});
ASSERT_EQ(lanes.size(), 0);
}
TEST(GetLanesOfLaneTypeAtDistance, ThreeLanesOneLongerThanTwo_ReturnsCorrectListForFirstSection)
{
- FakeLaneManager flm(3, 3, 3.0, {100, 100, 100}, "TestRoadId");
+ FakeLaneManager flm(3, 3, 3.0_m, {100_m, 100_m, 100_m}, "TestRoadId");
Fakes::WorldData worldData;
ON_CALL(worldData, GetRoads()).WillByDefault(ReturnRef(flm.GetRoads()));
@@ -497,7 +497,7 @@ TEST(GetLanesOfLaneTypeAtDistance, ThreeLanesOneLongerThanTwo_ReturnsCorrectList
WorldDataQuery wdQuery(worldData);
- OWL::CLanes lanes = wdQuery.GetLanesOfLaneTypeAtDistance("TestRoadId", 50.0, {LaneType::Driving});
+ OWL::CLanes lanes = wdQuery.GetLanesOfLaneTypeAtDistance("TestRoadId", 50.0_m, {LaneType::Driving});
ASSERT_EQ(lanes.size(), 3);
@@ -510,7 +510,7 @@ TEST(GetLanesOfLaneTypeAtDistance, ThreeLanesOneLongerThanTwo_ReturnsCorrectList
TEST(GetLanesOfLaneTypeAtDistance, ThreeLanesOneLongerThanTwo_ReturnsCorrectListForSecondSection)
{
- FakeLaneManager flm(3, 3, 3.0, {100, 100, 100}, "TestRoadId");
+ FakeLaneManager flm(3, 3, 3.0_m, {100_m, 100_m, 100_m}, "TestRoadId");
Fakes::WorldData worldData;
ON_CALL(worldData, GetRoads()).WillByDefault(ReturnRef(flm.GetRoads()));
@@ -527,7 +527,7 @@ TEST(GetLanesOfLaneTypeAtDistance, ThreeLanesOneLongerThanTwo_ReturnsCorrectList
WorldDataQuery wdQuery(worldData);
- OWL::CLanes lanes = wdQuery.GetLanesOfLaneTypeAtDistance("TestRoadId", 150.0, {LaneType::Driving});
+ OWL::CLanes lanes = wdQuery.GetLanesOfLaneTypeAtDistance("TestRoadId", 150.0_m, {LaneType::Driving});
ASSERT_EQ(lanes.size(), 3);
@@ -540,7 +540,7 @@ TEST(GetLanesOfLaneTypeAtDistance, ThreeLanesOneLongerThanTwo_ReturnsCorrectList
TEST(GetLanesOfLaneTypeAtDistance, ThreeLanesOneLongerThanTwo_ReturnsCorrectListForThirdSection)
{
- FakeLaneManager flm(3, 3, 3.0, {100, 100, 100}, "TestRoadId");
+ FakeLaneManager flm(3, 3, 3.0_m, {100_m, 100_m, 100_m}, "TestRoadId");
Fakes::WorldData worldData;
ON_CALL(worldData, GetRoads()).WillByDefault(ReturnRef(flm.GetRoads()));
@@ -557,7 +557,7 @@ TEST(GetLanesOfLaneTypeAtDistance, ThreeLanesOneLongerThanTwo_ReturnsCorrectList
WorldDataQuery wdQuery(worldData);
- OWL::CLanes lanes = wdQuery.GetLanesOfLaneTypeAtDistance("TestRoadId", 250.0, {LaneType::Driving});
+ OWL::CLanes lanes = wdQuery.GetLanesOfLaneTypeAtDistance("TestRoadId", 250.0_m, {LaneType::Driving});
ASSERT_EQ(lanes.size(), 1);
ASSERT_EQ(lanes.front(), flm.lanes[2][1]);
@@ -567,7 +567,7 @@ TEST(GetLanesOfLaneTypeAtDistance, ThreeLanesOneLongerThanTwo_ReturnsCorrectList
TEST(GetLaneByOdId, CheckFakeLaneManagerImplementation)
{
- FakeLaneManager flm(2, 2, 3.0, {100, 100}, "TestRoadId");
+ FakeLaneManager flm(2, 2, 3.0_m, {100_m, 100_m}, "TestRoadId");
Fakes::WorldData worldData;
ON_CALL(worldData, GetRoads()).WillByDefault(ReturnRef(flm.GetRoads()));
@@ -575,16 +575,16 @@ TEST(GetLaneByOdId, CheckFakeLaneManagerImplementation)
WorldDataQuery wdQuery(worldData);
EXPECT_THAT(flm.lanes[0][0]->Exists(), Eq(true));
- ASSERT_EQ(flm.lanes[0][0], &(wdQuery.GetLaneByOdId("TestRoadId", -1, 50)));
+ ASSERT_EQ(flm.lanes[0][0], &(wdQuery.GetLaneByOdId("TestRoadId", -1, 50_m)));
EXPECT_THAT(flm.lanes[1][0]->Exists(), Eq(true));
- ASSERT_EQ(flm.lanes[1][0], &(wdQuery.GetLaneByOdId("TestRoadId", -1, 150)));
+ ASSERT_EQ(flm.lanes[1][0], &(wdQuery.GetLaneByOdId("TestRoadId", -1, 150_m)));
EXPECT_THAT(flm.lanes[0][1]->Exists(), Eq(true));
- ASSERT_EQ(flm.lanes[0][1], &(wdQuery.GetLaneByOdId("TestRoadId", -2, 50)));
+ ASSERT_EQ(flm.lanes[0][1], &(wdQuery.GetLaneByOdId("TestRoadId", -2, 50_m)));
EXPECT_THAT(flm.lanes[1][1]->Exists(), Eq(true));
- ASSERT_EQ(flm.lanes[1][1], &(wdQuery.GetLaneByOdId("TestRoadId", -2, 150)));
+ ASSERT_EQ(flm.lanes[1][1], &(wdQuery.GetLaneByOdId("TestRoadId", -2, 150_m)));
}
TEST(GetLaneByOdId, TwoSectionsWithVariableLanes_ReturnsCorrectLanes)
@@ -619,86 +619,86 @@ TEST(GetLaneByOdId, TwoSectionsWithVariableLanes_ReturnsCorrectLanes)
const std::vector<const OWL::Interfaces::Lane*> lanesSection1 = {{&lane1_minus1, &lane1_minus2}} ;
ON_CALL(section1, GetLanes()).WillByDefault(ReturnRef(lanesSection1));
ON_CALL(section1, Covers(_)).WillByDefault(Return(false));
- ON_CALL(section1, Covers(50)).WillByDefault(Return(true));
+ ON_CALL(section1, Covers(50_m)).WillByDefault(Return(true));
const std::vector<const OWL::Interfaces::Lane*> lanesSection2 = {{&lane2_minus2}};
ON_CALL(section2, GetLanes()).WillByDefault(ReturnRef(lanesSection2));
ON_CALL(section2, Covers(_)).WillByDefault(Return(false));
- ON_CALL(section2, Covers(150)).WillByDefault(Return(true));
+ ON_CALL(section2, Covers(150_m)).WillByDefault(Return(true));
sections = {{§ion1, §ion2}};
- ASSERT_EQ(wdQuery.GetLaneByOdId("TestRoadId", -1, 50).GetId(), 1);
- ASSERT_EQ(wdQuery.GetLaneByOdId("TestRoadId", -2, 50).GetId(), 2);
- ASSERT_FALSE(wdQuery.GetLaneByOdId("TestRoadId", -1, 150).Exists());
- ASSERT_EQ(wdQuery.GetLaneByOdId("TestRoadId", -2, 150).GetId(), 3);
+ ASSERT_EQ(wdQuery.GetLaneByOdId("TestRoadId", -1, 50_m).GetId(), 1);
+ ASSERT_EQ(wdQuery.GetLaneByOdId("TestRoadId", -2, 50_m).GetId(), 2);
+ ASSERT_FALSE(wdQuery.GetLaneByOdId("TestRoadId", -1, 150_m).Exists());
+ ASSERT_EQ(wdQuery.GetLaneByOdId("TestRoadId", -2, 150_m).GetId(), 3);
}
TEST(GetLaneByOffset, ReturnsCorrectLaneAndOffset)
{
- FakeLaneManager flm(2, 2, 3.0, {100, 100}, "TestRoadId");
- flm.SetWidth(0, 0, 5.0, 50.0);
- flm.SetWidth(1, 0, 4.0, 150.0);
- flm.SetWidth(0, 1, 4.0, 50.0);
- flm.SetWidth(1, 1, 4.0, 150.0);
+ FakeLaneManager flm(2, 2, 3.0_m, {100_m, 100_m}, "TestRoadId");
+ flm.SetWidth(0, 0, 5.0_m, 50.0_m);
+ flm.SetWidth(1, 0, 4.0_m, 150.0_m);
+ flm.SetWidth(0, 1, 4.0_m, 50.0_m);
+ flm.SetWidth(1, 1, 4.0_m, 150.0_m);
Fakes::WorldData worldData;
ON_CALL(worldData, GetRoads()).WillByDefault(ReturnRef(flm.GetRoads()));
WorldDataQuery wdQuery(worldData);
- auto result1 = wdQuery.GetLaneByOffset("TestRoadId", -2, 50);
+ auto result1 = wdQuery.GetLaneByOffset("TestRoadId", -2_m, 50_m);
EXPECT_THAT(&result1.first, Eq(flm.lanes[0][0]));
- EXPECT_THAT(result1.second, DoubleEq(0.5));
+ EXPECT_THAT(result1.second.value(), DoubleEq(0.5));
- auto result2 = wdQuery.GetLaneByOffset("TestRoadId", -2, 150);
+ auto result2 = wdQuery.GetLaneByOffset("TestRoadId", -2_m, 150_m);
EXPECT_THAT(&result2.first, Eq(flm.lanes[1][0]));
- EXPECT_THAT(result2.second, DoubleEq(0.0));
+ EXPECT_THAT(result2.second.value(), DoubleEq(0.0));
- auto result3 = wdQuery.GetLaneByOffset("TestRoadId", -6.5, 50);
+ auto result3 = wdQuery.GetLaneByOffset("TestRoadId", -6.5_m, 50_m);
EXPECT_THAT(&result3.first, Eq(flm.lanes[0][1]));
- EXPECT_THAT(result3.second, DoubleEq(0.5));
+ EXPECT_THAT(result3.second.value(), DoubleEq(0.5));
- auto result4 = wdQuery.GetLaneByOffset("TestRoadId", -6.5, 150);
+ auto result4 = wdQuery.GetLaneByOffset("TestRoadId", -6.5_m, 150_m);
EXPECT_THAT(&result4.first, Eq(flm.lanes[1][1]));
- EXPECT_THAT(result4.second, DoubleEq(-0.5));
+ EXPECT_THAT(result4.second.value(), DoubleEq(-0.5));
}
/////////////////////////////////////////////////////////////////////////////
TEST(GetValidSOnLane, CheckIfSIsValid_ReturnsTrue)
{
- FakeLaneManager laneManager(3, 1, 3.0, {100, 100, 100}, "TestRoadId");
+ FakeLaneManager laneManager(3, 1, 3.0_m, {100_m, 100_m, 100_m}, "TestRoadId");
Fakes::WorldData worldData;
ON_CALL(worldData, GetRoads()).WillByDefault(ReturnRef(laneManager.GetRoads()));
WorldDataQuery wdQuery(worldData);
- bool result = wdQuery.IsSValidOnLane("TestRoadId", -1, 50.0);
+ bool result = wdQuery.IsSValidOnLane("TestRoadId", -1, 50.0_m);
ASSERT_TRUE(result);
- result = wdQuery.IsSValidOnLane("TestRoadId", -1, 150.0);
+ result = wdQuery.IsSValidOnLane("TestRoadId", -1, 150.0_m);
ASSERT_TRUE(result);
- result = wdQuery.IsSValidOnLane("TestRoadId", -1, 250.0);
+ result = wdQuery.IsSValidOnLane("TestRoadId", -1, 250.0_m);
ASSERT_TRUE(result);
- result = wdQuery.IsSValidOnLane("TestRoadId", -1, 0.0);
+ result = wdQuery.IsSValidOnLane("TestRoadId", -1, 0.0_m);
ASSERT_TRUE(result);
- result = wdQuery.IsSValidOnLane("TestRoadId", -1, 300.0);
+ result = wdQuery.IsSValidOnLane("TestRoadId", -1, 300.0_m);
ASSERT_TRUE(result);
}
TEST(GetValidSOnLane, CheckIfSIsValid_ReturnsFalse)
{
- FakeLaneManager laneManager(1, 2, 3.0, {100}, "TestRoadId");
+ FakeLaneManager laneManager(1, 2, 3.0_m, {100_m}, "TestRoadId");
Fakes::WorldData worldData;
ON_CALL(worldData, GetRoads()).WillByDefault(ReturnRef(laneManager.GetRoads()));
WorldDataQuery wdQuery(worldData);
- bool result = wdQuery.IsSValidOnLane("TestRoadId", -1, 100.1);
+ bool result = wdQuery.IsSValidOnLane("TestRoadId", -1, 100.1_m);
ASSERT_FALSE(result);
}
@@ -707,40 +707,40 @@ TEST(GetValidSOnLane, CheckIfSIsValid_ReturnsFalse)
TEST(GetTrafficSignsInRange, ReturnsCorrectTrafficSigns)
{
FakeLaneMultiStream laneMultiStream;
- auto [node1, lane1] = laneMultiStream.AddRoot(100, true);
+ auto [node1, lane1] = laneMultiStream.AddRoot(100_m, true);
Fakes::TrafficSign fakeSign1a;
- ON_CALL(fakeSign1a, GetS()).WillByDefault(Return(10.0));
+ ON_CALL(fakeSign1a, GetS()).WillByDefault(Return(10.0_m));
Fakes::TrafficSign fakeSign1b;
- CommonTrafficSign::Entity specificationSign1b{CommonTrafficSign::Type::Stop, CommonTrafficSign::Unit::None, 60.0, 10.0, 0.0, "", {}};
- ON_CALL(fakeSign1b, GetS()).WillByDefault(Return(60.0));
- ON_CALL(fakeSign1b, GetSpecification(DoubleEq(10.0))).WillByDefault(Return(specificationSign1b));
+ CommonTrafficSign::Entity specificationSign1b{CommonTrafficSign::Type::Stop, CommonTrafficSign::Unit::None, 60.0_m, 10.0_m, 0.0, "", {}};
+ ON_CALL(fakeSign1b, GetS()).WillByDefault(Return(60.0_m));
+ ON_CALL(fakeSign1b, GetSpecification(10.0_m)).WillByDefault(Return(specificationSign1b));
OWL::Interfaces::TrafficSigns signsLane1{ {&fakeSign1a, &fakeSign1b} };
ON_CALL(*lane1, GetTrafficSigns()).WillByDefault(ReturnRef(signsLane1));
- auto [node2, lane2] = laneMultiStream.AddLane(200, false, *node1);
+ auto [node2, lane2] = laneMultiStream.AddLane(200_m, false, *node1);
Fakes::TrafficSign fakeSign2a;
- ON_CALL(fakeSign2a, GetS()).WillByDefault(Return(110.0));
+ ON_CALL(fakeSign2a, GetS()).WillByDefault(Return(110.0_m));
Fakes::TrafficSign fakeSign2b;
- CommonTrafficSign::Entity specificationSign2b{CommonTrafficSign::Type::MaximumSpeedLimit, CommonTrafficSign::Unit::MeterPerSecond, 160.0, 90.0, 10.0, "", {}};
- ON_CALL(fakeSign2b, GetS()).WillByDefault(Return(160.0));
- ON_CALL(fakeSign2b, GetSpecification(DoubleEq(90.0))).WillByDefault(Return(specificationSign2b));
+ CommonTrafficSign::Entity specificationSign2b{CommonTrafficSign::Type::MaximumSpeedLimit, CommonTrafficSign::Unit::MeterPerSecond, 160.0_m, 90.0_m, 10.0, "", {}};
+ ON_CALL(fakeSign2b, GetS()).WillByDefault(Return(160.0_m));
+ ON_CALL(fakeSign2b, GetSpecification(90.0_m)).WillByDefault(Return(specificationSign2b));
OWL::Interfaces::TrafficSigns signsLane2{ {&fakeSign2a, &fakeSign2b} };
ON_CALL(*lane2, GetTrafficSigns()).WillByDefault(ReturnRef(signsLane2));
- auto [node3, lane3] = laneMultiStream.AddLane(300, true, *node1);
+ auto [node3, lane3] = laneMultiStream.AddLane(300_m, true, *node1);
Fakes::TrafficSign fakeSign3a;
- CommonTrafficSign::Entity specificationSign3a{CommonTrafficSign::Type::TownBegin, CommonTrafficSign::Unit::None, 10.0, 60.0, 0.0, "Town", {}};
- ON_CALL(fakeSign3a, GetS()).WillByDefault(Return(10.0));
- ON_CALL(fakeSign3a, GetSpecification(DoubleEq(60.0))).WillByDefault(Return(specificationSign3a));
+ CommonTrafficSign::Entity specificationSign3a{CommonTrafficSign::Type::TownBegin, CommonTrafficSign::Unit::None, 10.0_m, 60.0_m, 0.0, "Town", {}};
+ ON_CALL(fakeSign3a, GetS()).WillByDefault(Return(10.0_m));
+ ON_CALL(fakeSign3a, GetSpecification(60.0_m)).WillByDefault(Return(specificationSign3a));
Fakes::TrafficSign fakeSign3b;
- ON_CALL(fakeSign3b, GetS()).WillByDefault(Return(60.0));
+ ON_CALL(fakeSign3b, GetS()).WillByDefault(Return(60.0_m));
OWL::Interfaces::TrafficSigns signsLane3{ {&fakeSign3a, &fakeSign3b} };
ON_CALL(*lane3, GetTrafficSigns()).WillByDefault(ReturnRef(signsLane3));
Fakes::WorldData worldData;
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetTrafficSignsInRange(laneMultiStream.Get(), 50.0, 100.0);
+ auto result = wdQuery.GetTrafficSignsInRange(laneMultiStream.Get(), 50.0_m, 100.0_m);
ASSERT_THAT(result, SizeIs(3));
auto& result1 = result[node1->roadGraphVertex];
@@ -771,38 +771,38 @@ TEST(GetTrafficSignsInRange, ReturnsCorrectTrafficSigns)
TEST(GetTrafficSignsInRange, NegativeRange_ReturnsSignsBehind)
{
FakeLaneMultiStream laneMultiStream;
- auto [node1, lane1] = laneMultiStream.AddRoot(100, true);
+ auto [node1, lane1] = laneMultiStream.AddRoot(100_m, true);
Fakes::TrafficSign fakeSign1a;
- ON_CALL(fakeSign1a, GetS()).WillByDefault(Return(10.0));
+ ON_CALL(fakeSign1a, GetS()).WillByDefault(Return(10.0_m));
Fakes::TrafficSign fakeSign1b;
- CommonTrafficSign::Entity specificationSign1b{CommonTrafficSign::Type::Stop, CommonTrafficSign::Unit::None, 60.0, -90.0, 0.0, "", {}};
- ON_CALL(fakeSign1b, GetS()).WillByDefault(Return(60.0));
- ON_CALL(fakeSign1b, GetSpecification(DoubleEq(-90.0))).WillByDefault(Return(specificationSign1b));
+ CommonTrafficSign::Entity specificationSign1b{CommonTrafficSign::Type::Stop, CommonTrafficSign::Unit::None, 60.0_m, -90.0_m, 0.0, "", {}};
+ ON_CALL(fakeSign1b, GetS()).WillByDefault(Return(60.0_m));
+ ON_CALL(fakeSign1b, GetSpecification(-90.0_m)).WillByDefault(Return(specificationSign1b));
OWL::Interfaces::TrafficSigns signsLane1{ {&fakeSign1a, &fakeSign1b} };
ON_CALL(*lane1, GetTrafficSigns()).WillByDefault(ReturnRef(signsLane1));
- auto [node2, lane2] = laneMultiStream.AddLane(200, false, *node1);
+ auto [node2, lane2] = laneMultiStream.AddLane(200_m, false, *node1);
Fakes::TrafficSign fakeSign2a;
- ON_CALL(fakeSign2a, GetS()).WillByDefault(Return(110.0));
+ ON_CALL(fakeSign2a, GetS()).WillByDefault(Return(110.0_m));
Fakes::TrafficSign fakeSign2b;
- CommonTrafficSign::Entity specificationSign2b{CommonTrafficSign::Type::MaximumSpeedLimit, CommonTrafficSign::Unit::MeterPerSecond, 160.0, -10.0, 10.0, "", {}};
- ON_CALL(fakeSign2b, GetS()).WillByDefault(Return(160.0));
- ON_CALL(fakeSign2b, GetSpecification(DoubleEq(-10.0))).WillByDefault(Return(specificationSign2b));
+ CommonTrafficSign::Entity specificationSign2b{CommonTrafficSign::Type::MaximumSpeedLimit, CommonTrafficSign::Unit::MeterPerSecond, 160.0_m, -10.0_m, 10.0, "", {}};
+ ON_CALL(fakeSign2b, GetS()).WillByDefault(Return(160.0_m));
+ ON_CALL(fakeSign2b, GetSpecification(-10.0_m)).WillByDefault(Return(specificationSign2b));
OWL::Interfaces::TrafficSigns signsLane2{ {&fakeSign2a, &fakeSign2b} };
ON_CALL(*lane2, GetTrafficSigns()).WillByDefault(ReturnRef(signsLane2));
- auto [node3, lane3] = laneMultiStream.AddLane(300, true, *node1);
+ auto [node3, lane3] = laneMultiStream.AddLane(300_m, true, *node1);
Fakes::TrafficSign fakeSign3a;
- ON_CALL(fakeSign3a, GetS()).WillByDefault(Return(10.0));
+ ON_CALL(fakeSign3a, GetS()).WillByDefault(Return(10.0_m));
Fakes::TrafficSign fakeSign3b;
- ON_CALL(fakeSign3b, GetS()).WillByDefault(Return(60.0));
+ ON_CALL(fakeSign3b, GetS()).WillByDefault(Return(60.0_m));
OWL::Interfaces::TrafficSigns signsLane3{ {&fakeSign3a, &fakeSign3b} };
ON_CALL(*lane3, GetTrafficSigns()).WillByDefault(ReturnRef(signsLane3));
Fakes::WorldData worldData;
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetTrafficSignsInRange(laneMultiStream.Get(), 150.0, -100.0);
+ auto result = wdQuery.GetTrafficSignsInRange(laneMultiStream.Get(), 150.0_m, -100.0_m);
ASSERT_THAT(result, SizeIs(3));
auto& result1 = result[node1->roadGraphVertex];
@@ -824,40 +824,40 @@ TEST(GetTrafficSignsInRange, NegativeRange_ReturnsSignsBehind)
TEST(GetRoadMarkingInRange, ReturnsCorrectRoadMarkings)
{
FakeLaneMultiStream laneMultiStream;
- auto [node1, lane1] = laneMultiStream.AddRoot(100, true);
+ auto [node1, lane1] = laneMultiStream.AddRoot(100_m, true);
Fakes::RoadMarking fakeMarking1a;
- ON_CALL(fakeMarking1a, GetS()).WillByDefault(Return(10.0));
+ ON_CALL(fakeMarking1a, GetS()).WillByDefault(Return(10.0_m));
Fakes::RoadMarking fakeMarking1b;
- CommonTrafficSign::Entity specificationMarking1b{CommonTrafficSign::Type::Stop, CommonTrafficSign::Unit::None, 60.0, 10.0, 0.0, "", {}};
- ON_CALL(fakeMarking1b, GetS()).WillByDefault(Return(60.0));
- ON_CALL(fakeMarking1b, GetSpecification(DoubleEq(10.0))).WillByDefault(Return(specificationMarking1b));
+ CommonTrafficSign::Entity specificationMarking1b{CommonTrafficSign::Type::Stop, CommonTrafficSign::Unit::None, 60.0_m, 10.0_m, 0.0, "", {}};
+ ON_CALL(fakeMarking1b, GetS()).WillByDefault(Return(60.0_m));
+ ON_CALL(fakeMarking1b, GetSpecification(10.0_m)).WillByDefault(Return(specificationMarking1b));
OWL::Interfaces::RoadMarkings markingsLane1{ {&fakeMarking1a, &fakeMarking1b} };
ON_CALL(*lane1, GetRoadMarkings()).WillByDefault(ReturnRef(markingsLane1));
- auto [node2, lane2] = laneMultiStream.AddLane(200, false, *node1);
+ auto [node2, lane2] = laneMultiStream.AddLane(200_m, false, *node1);
Fakes::RoadMarking fakeMarking2a;
- ON_CALL(fakeMarking2a, GetS()).WillByDefault(Return(110.0));
+ ON_CALL(fakeMarking2a, GetS()).WillByDefault(Return(110.0_m));
Fakes::RoadMarking fakeMarking2b;
- CommonTrafficSign::Entity specificationMarking2b{CommonTrafficSign::Type::MaximumSpeedLimit, CommonTrafficSign::Unit::MeterPerSecond, 160.0, 90.0, 10.0, "", {}};
- ON_CALL(fakeMarking2b, GetS()).WillByDefault(Return(160.0));
- ON_CALL(fakeMarking2b, GetSpecification(DoubleEq(90.0))).WillByDefault(Return(specificationMarking2b));
+ CommonTrafficSign::Entity specificationMarking2b{CommonTrafficSign::Type::MaximumSpeedLimit, CommonTrafficSign::Unit::MeterPerSecond, 160.0_m, 90.0_m, 10.0, "", {}};
+ ON_CALL(fakeMarking2b, GetS()).WillByDefault(Return(160.0_m));
+ ON_CALL(fakeMarking2b, GetSpecification(90.0_m)).WillByDefault(Return(specificationMarking2b));
OWL::Interfaces::RoadMarkings markingsLane2{ {&fakeMarking2a, &fakeMarking2b} };
ON_CALL(*lane2, GetRoadMarkings()).WillByDefault(ReturnRef(markingsLane2));
- auto [node3, lane3] = laneMultiStream.AddLane(300, true, *node1);
+ auto [node3, lane3] = laneMultiStream.AddLane(300_m, true, *node1);
Fakes::RoadMarking fakeMarking3a;
- CommonTrafficSign::Entity specificationMarking3a{CommonTrafficSign::Type::TownBegin, CommonTrafficSign::Unit::None, 10.0, 60.0, 0.0, "Town", {}};
- ON_CALL(fakeMarking3a, GetS()).WillByDefault(Return(10.0));
- ON_CALL(fakeMarking3a, GetSpecification(DoubleEq(60.0))).WillByDefault(Return(specificationMarking3a));
+ CommonTrafficSign::Entity specificationMarking3a{CommonTrafficSign::Type::TownBegin, CommonTrafficSign::Unit::None, 10.0_m, 60.0_m, 0.0, "Town", {}};
+ ON_CALL(fakeMarking3a, GetS()).WillByDefault(Return(10.0_m));
+ ON_CALL(fakeMarking3a, GetSpecification(60.0_m)).WillByDefault(Return(specificationMarking3a));
Fakes::RoadMarking fakeMarking3b;
- ON_CALL(fakeMarking3b, GetS()).WillByDefault(Return(60.0));
+ ON_CALL(fakeMarking3b, GetS()).WillByDefault(Return(60.0_m));
OWL::Interfaces::RoadMarkings markingsLane3{ {&fakeMarking3a, &fakeMarking3b} };
ON_CALL(*lane3, GetRoadMarkings()).WillByDefault(ReturnRef(markingsLane3));
Fakes::WorldData worldData;
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetRoadMarkingsInRange(laneMultiStream.Get(), 50.0, 100.0);
+ auto result = wdQuery.GetRoadMarkingsInRange(laneMultiStream.Get(), 50.0_m, 100.0_m);
ASSERT_THAT(result, SizeIs(3));
auto& result1 = result[node1->roadGraphVertex];
@@ -888,7 +888,7 @@ TEST(GetRoadMarkingInRange, ReturnsCorrectRoadMarkings)
TEST(GetLaneMarkings, OneLaneWithOnlyOneBoundaryPerSide)
{
FakeLaneMultiStream laneMultiStream;
- auto [node1, lane1] = laneMultiStream.AddRoot(100, true);
+ auto [node1, lane1] = laneMultiStream.AddRoot(100_m, true);
Fakes::WorldData worldData;
std::vector<OWL::Id> leftLaneBoundaries {4};
@@ -897,17 +897,17 @@ TEST(GetLaneMarkings, OneLaneWithOnlyOneBoundaryPerSide)
ON_CALL(*lane1, GetRightLaneBoundaries()).WillByDefault(Return(rightLaneBoundaries));
Fakes::LaneBoundary fakeLeftLaneBoundary{};
- ON_CALL(fakeLeftLaneBoundary, GetWidth()).WillByDefault(Return(0.5));
- ON_CALL(fakeLeftLaneBoundary, GetSStart()).WillByDefault(Return(0));
- ON_CALL(fakeLeftLaneBoundary, GetSEnd()).WillByDefault(Return(100));
+ ON_CALL(fakeLeftLaneBoundary, GetWidth()).WillByDefault(Return(0.5_m));
+ ON_CALL(fakeLeftLaneBoundary, GetSStart()).WillByDefault(Return(0_m));
+ ON_CALL(fakeLeftLaneBoundary, GetSEnd()).WillByDefault(Return(100_m));
ON_CALL(fakeLeftLaneBoundary, GetType()).WillByDefault(Return(LaneMarking::Type::Solid));
ON_CALL(fakeLeftLaneBoundary, GetColor()).WillByDefault(Return(LaneMarking::Color::Yellow));
ON_CALL(fakeLeftLaneBoundary, GetSide()).WillByDefault(Return(OWL::LaneMarkingSide::Single));
Fakes::LaneBoundary fakeRightLaneBoundary{};
- ON_CALL(fakeRightLaneBoundary, GetWidth()).WillByDefault(Return(0.6));
- ON_CALL(fakeRightLaneBoundary, GetSStart()).WillByDefault(Return(0));
- ON_CALL(fakeRightLaneBoundary, GetSEnd()).WillByDefault(Return(100));
+ ON_CALL(fakeRightLaneBoundary, GetWidth()).WillByDefault(Return(0.6_m));
+ ON_CALL(fakeRightLaneBoundary, GetSStart()).WillByDefault(Return(0_m));
+ ON_CALL(fakeRightLaneBoundary, GetSEnd()).WillByDefault(Return(100_m));
ON_CALL(fakeRightLaneBoundary, GetType()).WillByDefault(Return(LaneMarking::Type::Broken));
ON_CALL(fakeRightLaneBoundary, GetColor()).WillByDefault(Return(LaneMarking::Color::Blue));
ON_CALL(fakeRightLaneBoundary, GetSide()).WillByDefault(Return(OWL::LaneMarkingSide::Single));
@@ -917,44 +917,44 @@ TEST(GetLaneMarkings, OneLaneWithOnlyOneBoundaryPerSide)
WorldDataQuery wdQuery(worldData);
- auto resultLeft = wdQuery.GetLaneMarkings(laneMultiStream.Get(), 0, 100, Side::Left);
+ auto resultLeft = wdQuery.GetLaneMarkings(laneMultiStream.Get(), 0_m, 100_m, Side::Left);
ASSERT_THAT(resultLeft.at(node1->roadGraphVertex), SizeIs(1));
auto& resultLeftLaneMarking = resultLeft.at(node1->roadGraphVertex).at(0);
ASSERT_THAT(resultLeftLaneMarking.type, Eq(LaneMarking::Type::Solid));
ASSERT_THAT(resultLeftLaneMarking.color, Eq(LaneMarking::Color::Yellow));
- ASSERT_THAT(resultLeftLaneMarking.relativeStartDistance, DoubleEq(0.0));
- ASSERT_THAT(resultLeftLaneMarking.width, DoubleEq(0.5));
+ ASSERT_THAT(resultLeftLaneMarking.relativeStartDistance.value(), DoubleEq(0.0));
+ ASSERT_THAT(resultLeftLaneMarking.width.value(), DoubleEq(0.5));
- auto resultRight = wdQuery.GetLaneMarkings(laneMultiStream.Get(), 0, 100, Side::Right);
+ auto resultRight = wdQuery.GetLaneMarkings(laneMultiStream.Get(), 0_m, 100_m, Side::Right);
ASSERT_THAT(resultRight.at(node1->roadGraphVertex), SizeIs(1));
auto& resultRightLaneMarking = resultRight.at(node1->roadGraphVertex).at(0);
ASSERT_THAT(resultRightLaneMarking.type, Eq(LaneMarking::Type::Broken));
ASSERT_THAT(resultRightLaneMarking.color, Eq(LaneMarking::Color::Blue));
- ASSERT_THAT(resultRightLaneMarking.relativeStartDistance, DoubleEq(0.0));
- ASSERT_THAT(resultRightLaneMarking.width, DoubleEq(0.6));
+ ASSERT_THAT(resultRightLaneMarking.relativeStartDistance.value(), DoubleEq(0.0));
+ ASSERT_THAT(resultRightLaneMarking.width.value(), DoubleEq(0.6));
}
TEST(GetLaneMarkings, OneLaneWithSolidBrokenBoundary)
{
FakeLaneMultiStream laneMultiStream;
- auto [node1, lane1] = laneMultiStream.AddRoot(100, true);
+ auto [node1, lane1] = laneMultiStream.AddRoot(100_m, true);
Fakes::WorldData worldData;
std::vector<OWL::Id> leftLaneBoundaries { {4, 5} };
ON_CALL(*lane1, GetLeftLaneBoundaries()).WillByDefault(Return(leftLaneBoundaries));
Fakes::LaneBoundary leftLine{};
- ON_CALL(leftLine, GetWidth()).WillByDefault(Return(0.5));
- ON_CALL(leftLine, GetSStart()).WillByDefault(Return(0));
- ON_CALL(leftLine, GetSEnd()).WillByDefault(Return(100));
+ ON_CALL(leftLine, GetWidth()).WillByDefault(Return(0.5_m));
+ ON_CALL(leftLine, GetSStart()).WillByDefault(Return(0_m));
+ ON_CALL(leftLine, GetSEnd()).WillByDefault(Return(100_m));
ON_CALL(leftLine, GetType()).WillByDefault(Return(LaneMarking::Type::Solid));
ON_CALL(leftLine, GetColor()).WillByDefault(Return(LaneMarking::Color::Yellow));
ON_CALL(leftLine, GetSide()).WillByDefault(Return(OWL::LaneMarkingSide::Left));
Fakes::LaneBoundary rightLine{};
- ON_CALL(rightLine, GetWidth()).WillByDefault(Return(0.5));
- ON_CALL(rightLine, GetSStart()).WillByDefault(Return(0));
- ON_CALL(rightLine, GetSEnd()).WillByDefault(Return(100));
+ ON_CALL(rightLine, GetWidth()).WillByDefault(Return(0.5_m));
+ ON_CALL(rightLine, GetSStart()).WillByDefault(Return(0_m));
+ ON_CALL(rightLine, GetSEnd()).WillByDefault(Return(100_m));
ON_CALL(rightLine, GetType()).WillByDefault(Return(LaneMarking::Type::Broken));
ON_CALL(rightLine, GetColor()).WillByDefault(Return(LaneMarking::Color::Yellow));
ON_CALL(rightLine, GetSide()).WillByDefault(Return(OWL::LaneMarkingSide::Right));
@@ -964,36 +964,36 @@ TEST(GetLaneMarkings, OneLaneWithSolidBrokenBoundary)
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetLaneMarkings(laneMultiStream.Get(), 0, 100, Side::Left);
+ auto result = wdQuery.GetLaneMarkings(laneMultiStream.Get(), 0_m, 100_m, Side::Left);
ASSERT_THAT(result.at(node1->roadGraphVertex), SizeIs(1));
auto& resultLaneMarking = result.at(node1->roadGraphVertex).at(0);
ASSERT_THAT(resultLaneMarking.type, Eq(LaneMarking::Type::Solid_Broken));
ASSERT_THAT(resultLaneMarking.color, Eq(LaneMarking::Color::Yellow));
- ASSERT_THAT(resultLaneMarking.relativeStartDistance, DoubleEq(0.0));
- ASSERT_THAT(resultLaneMarking.width, DoubleEq(0.5));
+ ASSERT_THAT(resultLaneMarking.relativeStartDistance.value(), DoubleEq(0.0));
+ ASSERT_THAT(resultLaneMarking.width.value(), DoubleEq(0.5));
}
TEST(GetLaneMarkings, OneLaneWithBrokenSolidBoundary)
{
FakeLaneMultiStream laneMultiStream;
- auto [node1, lane1] = laneMultiStream.AddRoot(100, true);
+ auto [node1, lane1] = laneMultiStream.AddRoot(100_m, true);
Fakes::WorldData worldData;
std::vector<OWL::Id> leftLaneBoundaries { {4, 5} };
ON_CALL(*lane1, GetLeftLaneBoundaries()).WillByDefault(Return(leftLaneBoundaries));
Fakes::LaneBoundary leftLine{};
- ON_CALL(leftLine, GetWidth()).WillByDefault(Return(0.5));
- ON_CALL(leftLine, GetSStart()).WillByDefault(Return(0));
- ON_CALL(leftLine, GetSEnd()).WillByDefault(Return(100));
+ ON_CALL(leftLine, GetWidth()).WillByDefault(Return(0.5_m));
+ ON_CALL(leftLine, GetSStart()).WillByDefault(Return(0_m));
+ ON_CALL(leftLine, GetSEnd()).WillByDefault(Return(100_m));
ON_CALL(leftLine, GetType()).WillByDefault(Return(LaneMarking::Type::Broken));
ON_CALL(leftLine, GetColor()).WillByDefault(Return(LaneMarking::Color::Yellow));
ON_CALL(leftLine, GetSide()).WillByDefault(Return(OWL::LaneMarkingSide::Left));
Fakes::LaneBoundary rightLine{};
- ON_CALL(rightLine, GetWidth()).WillByDefault(Return(0.5));
- ON_CALL(rightLine, GetSStart()).WillByDefault(Return(0));
- ON_CALL(rightLine, GetSEnd()).WillByDefault(Return(100));
+ ON_CALL(rightLine, GetWidth()).WillByDefault(Return(0.5_m));
+ ON_CALL(rightLine, GetSStart()).WillByDefault(Return(0_m));
+ ON_CALL(rightLine, GetSEnd()).WillByDefault(Return(100_m));
ON_CALL(rightLine, GetType()).WillByDefault(Return(LaneMarking::Type::Solid));
ON_CALL(rightLine, GetColor()).WillByDefault(Return(LaneMarking::Color::Yellow));
ON_CALL(rightLine, GetSide()).WillByDefault(Return(OWL::LaneMarkingSide::Right));
@@ -1003,36 +1003,36 @@ TEST(GetLaneMarkings, OneLaneWithBrokenSolidBoundary)
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetLaneMarkings(laneMultiStream.Get(), 0, 100, Side::Left);
+ auto result = wdQuery.GetLaneMarkings(laneMultiStream.Get(), 0_m, 100_m, Side::Left);
ASSERT_THAT(result.at(node1->roadGraphVertex), SizeIs(1));
auto& resultLaneMarking = result.at(node1->roadGraphVertex).at(0);
ASSERT_THAT(resultLaneMarking.type, Eq(LaneMarking::Type::Broken_Solid));
ASSERT_THAT(resultLaneMarking.color, Eq(LaneMarking::Color::Yellow));
- ASSERT_THAT(resultLaneMarking.relativeStartDistance, DoubleEq(0.0));
- ASSERT_THAT(resultLaneMarking.width, DoubleEq(0.5));
+ ASSERT_THAT(resultLaneMarking.relativeStartDistance.value(), DoubleEq(0.0));
+ ASSERT_THAT(resultLaneMarking.width.value(), DoubleEq(0.5));
}
TEST(GetLaneMarkings, OneLaneWithSolidSolidBoundary)
{
FakeLaneMultiStream laneMultiStream;
- auto [node1, lane1] = laneMultiStream.AddRoot(100, true);
+ auto [node1, lane1] = laneMultiStream.AddRoot(100_m, true);
Fakes::WorldData worldData;
std::vector<OWL::Id> leftLaneBoundaries { {4, 5} };
ON_CALL(*lane1, GetLeftLaneBoundaries()).WillByDefault(Return(leftLaneBoundaries));
Fakes::LaneBoundary leftLine{};
- ON_CALL(leftLine, GetWidth()).WillByDefault(Return(0.5));
- ON_CALL(leftLine, GetSStart()).WillByDefault(Return(0));
- ON_CALL(leftLine, GetSEnd()).WillByDefault(Return(100));
+ ON_CALL(leftLine, GetWidth()).WillByDefault(Return(0.5_m));
+ ON_CALL(leftLine, GetSStart()).WillByDefault(Return(0_m));
+ ON_CALL(leftLine, GetSEnd()).WillByDefault(Return(100_m));
ON_CALL(leftLine, GetType()).WillByDefault(Return(LaneMarking::Type::Solid));
ON_CALL(leftLine, GetColor()).WillByDefault(Return(LaneMarking::Color::Yellow));
ON_CALL(leftLine, GetSide()).WillByDefault(Return(OWL::LaneMarkingSide::Left));
Fakes::LaneBoundary rightLine{};
- ON_CALL(rightLine, GetWidth()).WillByDefault(Return(0.5));
- ON_CALL(rightLine, GetSStart()).WillByDefault(Return(0));
- ON_CALL(rightLine, GetSEnd()).WillByDefault(Return(100));
+ ON_CALL(rightLine, GetWidth()).WillByDefault(Return(0.5_m));
+ ON_CALL(rightLine, GetSStart()).WillByDefault(Return(0_m));
+ ON_CALL(rightLine, GetSEnd()).WillByDefault(Return(100_m));
ON_CALL(rightLine, GetType()).WillByDefault(Return(LaneMarking::Type::Solid));
ON_CALL(rightLine, GetColor()).WillByDefault(Return(LaneMarking::Color::Yellow));
ON_CALL(rightLine, GetSide()).WillByDefault(Return(OWL::LaneMarkingSide::Right));
@@ -1042,36 +1042,36 @@ TEST(GetLaneMarkings, OneLaneWithSolidSolidBoundary)
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetLaneMarkings(laneMultiStream.Get(), 0, 100, Side::Left);
+ auto result = wdQuery.GetLaneMarkings(laneMultiStream.Get(), 0_m, 100_m, Side::Left);
ASSERT_THAT(result.at(node1->roadGraphVertex), SizeIs(1));
auto& resultLaneMarking = result.at(node1->roadGraphVertex).at(0);
ASSERT_THAT(resultLaneMarking.type, Eq(LaneMarking::Type::Solid_Solid));
ASSERT_THAT(resultLaneMarking.color, Eq(LaneMarking::Color::Yellow));
- ASSERT_THAT(resultLaneMarking.relativeStartDistance, DoubleEq(0.0));
- ASSERT_THAT(resultLaneMarking.width, DoubleEq(0.5));
+ ASSERT_THAT(resultLaneMarking.relativeStartDistance.value(), DoubleEq(0.0));
+ ASSERT_THAT(resultLaneMarking.width.value(), DoubleEq(0.5));
}
TEST(GetLaneMarkings, OneLaneWithBrokenBrokenBoundary)
{
FakeLaneMultiStream laneMultiStream;
- auto [node1, lane1] = laneMultiStream.AddRoot(100, true);
+ auto [node1, lane1] = laneMultiStream.AddRoot(100_m, true);
Fakes::WorldData worldData;
std::vector<OWL::Id> leftLaneBoundaries { {4, 5} };
ON_CALL(*lane1, GetLeftLaneBoundaries()).WillByDefault(Return(leftLaneBoundaries));
Fakes::LaneBoundary leftLine{};
- ON_CALL(leftLine, GetWidth()).WillByDefault(Return(0.5));
- ON_CALL(leftLine, GetSStart()).WillByDefault(Return(0));
- ON_CALL(leftLine, GetSEnd()).WillByDefault(Return(100));
+ ON_CALL(leftLine, GetWidth()).WillByDefault(Return(0.5_m));
+ ON_CALL(leftLine, GetSStart()).WillByDefault(Return(0_m));
+ ON_CALL(leftLine, GetSEnd()).WillByDefault(Return(100_m));
ON_CALL(leftLine, GetType()).WillByDefault(Return(LaneMarking::Type::Broken));
ON_CALL(leftLine, GetColor()).WillByDefault(Return(LaneMarking::Color::Yellow));
ON_CALL(leftLine, GetSide()).WillByDefault(Return(OWL::LaneMarkingSide::Left));
Fakes::LaneBoundary rightLine{};
- ON_CALL(rightLine, GetWidth()).WillByDefault(Return(0.5));
- ON_CALL(rightLine, GetSStart()).WillByDefault(Return(0));
- ON_CALL(rightLine, GetSEnd()).WillByDefault(Return(100));
+ ON_CALL(rightLine, GetWidth()).WillByDefault(Return(0.5_m));
+ ON_CALL(rightLine, GetSStart()).WillByDefault(Return(0_m));
+ ON_CALL(rightLine, GetSEnd()).WillByDefault(Return(100_m));
ON_CALL(rightLine, GetType()).WillByDefault(Return(LaneMarking::Type::Broken));
ON_CALL(rightLine, GetColor()).WillByDefault(Return(LaneMarking::Color::Yellow));
ON_CALL(rightLine, GetSide()).WillByDefault(Return(OWL::LaneMarkingSide::Right));
@@ -1081,66 +1081,66 @@ TEST(GetLaneMarkings, OneLaneWithBrokenBrokenBoundary)
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetLaneMarkings(laneMultiStream.Get(), 0, 100, Side::Left);
+ auto result = wdQuery.GetLaneMarkings(laneMultiStream.Get(), 0_m, 100_m, Side::Left);
ASSERT_THAT(result.at(node1->roadGraphVertex), SizeIs(1));
auto& resultLaneMarking = result.at(node1->roadGraphVertex).at(0);
ASSERT_THAT(resultLaneMarking.type, Eq(LaneMarking::Type::Broken_Broken));
ASSERT_THAT(resultLaneMarking.color, Eq(LaneMarking::Color::Yellow));
- ASSERT_THAT(resultLaneMarking.relativeStartDistance, DoubleEq(0.0));
- ASSERT_THAT(resultLaneMarking.width, DoubleEq(0.5));
+ ASSERT_THAT(resultLaneMarking.relativeStartDistance.value(), DoubleEq(0.0));
+ ASSERT_THAT(resultLaneMarking.width.value(), DoubleEq(0.5));
}
TEST(GetLaneMarkings, TwoLanesWithMultipleBoundaries)
{
FakeLaneMultiStream laneMultiStream;
- auto [node1, lane1] = laneMultiStream.AddRoot(100, true);
- auto [node2, lane2] = laneMultiStream.AddLane(200, true, *node1);
+ auto [node1, lane1] = laneMultiStream.AddRoot(100_m, true);
+ auto [node2, lane2] = laneMultiStream.AddLane(200_m, true, *node1);
Fakes::WorldData worldData;
std::vector<OWL::Id> leftLane1Boundaries { {4, 5, 6} };
ON_CALL(*lane1, GetLeftLaneBoundaries()).WillByDefault(Return(leftLane1Boundaries));
- ON_CALL(*lane1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0.0));
+ ON_CALL(*lane1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0.0_m));
std::vector<OWL::Id> leftLane2Boundaries { {10, 11} };
ON_CALL(*lane2, GetLeftLaneBoundaries()).WillByDefault(Return(leftLane2Boundaries));
- ON_CALL(*lane2, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(100.0));
+ ON_CALL(*lane2, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(100.0_m));
Fakes::LaneBoundary fakeLaneBoundary4{};
- ON_CALL(fakeLaneBoundary4, GetWidth()).WillByDefault(Return(0.5));
- ON_CALL(fakeLaneBoundary4, GetSStart()).WillByDefault(Return(0));
- ON_CALL(fakeLaneBoundary4, GetSEnd()).WillByDefault(Return(20));
+ ON_CALL(fakeLaneBoundary4, GetWidth()).WillByDefault(Return(0.5_m));
+ ON_CALL(fakeLaneBoundary4, GetSStart()).WillByDefault(Return(0_m));
+ ON_CALL(fakeLaneBoundary4, GetSEnd()).WillByDefault(Return(20_m));
ON_CALL(fakeLaneBoundary4, GetType()).WillByDefault(Return(LaneMarking::Type::Solid));
ON_CALL(fakeLaneBoundary4, GetColor()).WillByDefault(Return(LaneMarking::Color::Yellow));
ON_CALL(fakeLaneBoundary4, GetSide()).WillByDefault(Return(OWL::LaneMarkingSide::Single));
Fakes::LaneBoundary fakeLaneBoundary5{};
- ON_CALL(fakeLaneBoundary5, GetWidth()).WillByDefault(Return(0.6));
- ON_CALL(fakeLaneBoundary5, GetSStart()).WillByDefault(Return(20));
- ON_CALL(fakeLaneBoundary5, GetSEnd()).WillByDefault(Return(60));
+ ON_CALL(fakeLaneBoundary5, GetWidth()).WillByDefault(Return(0.6_m));
+ ON_CALL(fakeLaneBoundary5, GetSStart()).WillByDefault(Return(20_m));
+ ON_CALL(fakeLaneBoundary5, GetSEnd()).WillByDefault(Return(60_m));
ON_CALL(fakeLaneBoundary5, GetType()).WillByDefault(Return(LaneMarking::Type::Broken));
ON_CALL(fakeLaneBoundary5, GetColor()).WillByDefault(Return(LaneMarking::Color::Blue));
ON_CALL(fakeLaneBoundary5, GetSide()).WillByDefault(Return(OWL::LaneMarkingSide::Single));
Fakes::LaneBoundary fakeLaneBoundary6{};
- ON_CALL(fakeLaneBoundary6, GetWidth()).WillByDefault(Return(0.7));
- ON_CALL(fakeLaneBoundary6, GetSStart()).WillByDefault(Return(60));
- ON_CALL(fakeLaneBoundary6, GetSEnd()).WillByDefault(Return(100));
+ ON_CALL(fakeLaneBoundary6, GetWidth()).WillByDefault(Return(0.7_m));
+ ON_CALL(fakeLaneBoundary6, GetSStart()).WillByDefault(Return(60_m));
+ ON_CALL(fakeLaneBoundary6, GetSEnd()).WillByDefault(Return(100_m));
ON_CALL(fakeLaneBoundary6, GetType()).WillByDefault(Return(LaneMarking::Type::Solid));
ON_CALL(fakeLaneBoundary6, GetColor()).WillByDefault(Return(LaneMarking::Color::White));
ON_CALL(fakeLaneBoundary6, GetSide()).WillByDefault(Return(OWL::LaneMarkingSide::Single));
Fakes::LaneBoundary fakeLaneBoundary10{};
- ON_CALL(fakeLaneBoundary10, GetWidth()).WillByDefault(Return(0.8));
- ON_CALL(fakeLaneBoundary10, GetSStart()).WillByDefault(Return(100));
- ON_CALL(fakeLaneBoundary10, GetSEnd()).WillByDefault(Return(150));
+ ON_CALL(fakeLaneBoundary10, GetWidth()).WillByDefault(Return(0.8_m));
+ ON_CALL(fakeLaneBoundary10, GetSStart()).WillByDefault(Return(100_m));
+ ON_CALL(fakeLaneBoundary10, GetSEnd()).WillByDefault(Return(150_m));
ON_CALL(fakeLaneBoundary10, GetType()).WillByDefault(Return(LaneMarking::Type::None));
ON_CALL(fakeLaneBoundary10, GetColor()).WillByDefault(Return(LaneMarking::Color::White));
ON_CALL(fakeLaneBoundary10, GetSide()).WillByDefault(Return(OWL::LaneMarkingSide::Single));
Fakes::LaneBoundary fakeLaneBoundary11{};
- ON_CALL(fakeLaneBoundary11, GetWidth()).WillByDefault(Return(0.9));
- ON_CALL(fakeLaneBoundary11, GetSStart()).WillByDefault(Return(150));
- ON_CALL(fakeLaneBoundary11, GetSEnd()).WillByDefault(Return(200));
+ ON_CALL(fakeLaneBoundary11, GetWidth()).WillByDefault(Return(0.9_m));
+ ON_CALL(fakeLaneBoundary11, GetSStart()).WillByDefault(Return(150_m));
+ ON_CALL(fakeLaneBoundary11, GetSEnd()).WillByDefault(Return(200_m));
ON_CALL(fakeLaneBoundary11, GetType()).WillByDefault(Return(LaneMarking::Type::Solid));
ON_CALL(fakeLaneBoundary11, GetColor()).WillByDefault(Return(LaneMarking::Color::Green));
ON_CALL(fakeLaneBoundary11, GetSide()).WillByDefault(Return(OWL::LaneMarkingSide::Single));
@@ -1153,46 +1153,46 @@ TEST(GetLaneMarkings, TwoLanesWithMultipleBoundaries)
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetLaneMarkings(laneMultiStream.Get(), 50, 90, Side::Left);
+ auto result = wdQuery.GetLaneMarkings(laneMultiStream.Get(), 50_m, 90_m, Side::Left);
const auto& result1 = result.at(node1->roadGraphVertex);
ASSERT_THAT(result1, SizeIs(2));
auto& result1LaneMarking0 = result1.at(0);
ASSERT_THAT(result1LaneMarking0.type, Eq(LaneMarking::Type::Broken));
ASSERT_THAT(result1LaneMarking0.color, Eq(LaneMarking::Color::Blue));
- ASSERT_THAT(result1LaneMarking0.relativeStartDistance, DoubleEq(-30.0));
- ASSERT_THAT(result1LaneMarking0.width, DoubleEq(0.6));
+ ASSERT_THAT(result1LaneMarking0.relativeStartDistance.value(), DoubleEq(-30.0));
+ ASSERT_THAT(result1LaneMarking0.width.value(), DoubleEq(0.6));
auto& result1LaneMarking1 = result1.at(1);
ASSERT_THAT(result1LaneMarking1.type, Eq(LaneMarking::Type::Solid));
ASSERT_THAT(result1LaneMarking1.color, Eq(LaneMarking::Color::White));
- ASSERT_THAT(result1LaneMarking1.relativeStartDistance, DoubleEq(10.0));
- ASSERT_THAT(result1LaneMarking1.width, DoubleEq(0.7));
+ ASSERT_THAT(result1LaneMarking1.relativeStartDistance.value(), DoubleEq(10.0));
+ ASSERT_THAT(result1LaneMarking1.width.value(), DoubleEq(0.7));
const auto& result2 = result.at(node2->roadGraphVertex);
ASSERT_THAT(result2, SizeIs(3));
auto& result2LaneMarking0 = result2.at(0);
ASSERT_THAT(result2LaneMarking0.type, Eq(LaneMarking::Type::Broken));
ASSERT_THAT(result2LaneMarking0.color, Eq(LaneMarking::Color::Blue));
- ASSERT_THAT(result2LaneMarking0.relativeStartDistance, DoubleEq(-30.0));
- ASSERT_THAT(result2LaneMarking0.width, DoubleEq(0.6));
+ ASSERT_THAT(result2LaneMarking0.relativeStartDistance.value(), DoubleEq(-30.0));
+ ASSERT_THAT(result2LaneMarking0.width.value(), DoubleEq(0.6));
auto& result2LaneMarking1 = result2.at(1);
ASSERT_THAT(result2LaneMarking1.type, Eq(LaneMarking::Type::Solid));
ASSERT_THAT(result2LaneMarking1.color, Eq(LaneMarking::Color::White));
- ASSERT_THAT(result2LaneMarking1.relativeStartDistance, DoubleEq(10.0));
- ASSERT_THAT(result2LaneMarking1.width, DoubleEq(0.7));
+ ASSERT_THAT(result2LaneMarking1.relativeStartDistance.value(), DoubleEq(10.0));
+ ASSERT_THAT(result2LaneMarking1.width.value(), DoubleEq(0.7));
auto& result2LaneMarking2 = result2.at(2);
ASSERT_THAT(result2LaneMarking2.type, Eq(LaneMarking::Type::None));
ASSERT_THAT(result2LaneMarking2.color, Eq(LaneMarking::Color::White));
- ASSERT_THAT(result2LaneMarking2.relativeStartDistance, DoubleEq(50.0));
- ASSERT_THAT(result2LaneMarking2.width, DoubleEq(0.8));
+ ASSERT_THAT(result2LaneMarking2.relativeStartDistance.value(), DoubleEq(50.0));
+ ASSERT_THAT(result2LaneMarking2.width.value(), DoubleEq(0.8));
}
/*
TEST(CreateLaneStream, OnlyUniqueConnectionsInStreamDirection)
{
- FakeLaneManager fakelm1{2, 2, 3.0, {10.0, 11.0}, "Road1"};
+ FakeLaneManager fakelm1{2, 2, 3.0_m, {10.0_m, 11.0_m}, "Road1"};
Fakes::Lane& startLane = fakelm1.GetLane(0, 0);
auto road1 = fakelm1.GetRoads().cbegin()->second;
auto& road1Id = fakelm1.GetRoads().cbegin()->first;
- FakeLaneManager fakelm2{2, 2, 3.0, {12.0, 13.0}, "Road2"};
+ FakeLaneManager fakelm2{2, 2, 3.0_m, {12.0_m, 13.0_m}, "Road2"};
auto road2 = fakelm2.GetRoads().cbegin()->second;
auto& road2Id = fakelm2.GetRoads().cbegin()->first;
std::vector<OWL::Id> successorsLanes1_1 {fakelm1.GetLane(1, 0).GetId()};
@@ -1233,11 +1233,11 @@ TEST(CreateLaneStream, OnlyUniqueConnectionsInStreamDirection)
TEST(CreateLaneStream, SecondRoadAgainstStreamDirection)
{
- FakeLaneManager fakelm1{2, 2, 3.0, {10.0, 11.0}, "Road1"};
+ FakeLaneManager fakelm1{2, 2, 3.0_m, {10.0_m, 11.0_m}, "Road1"};
Fakes::Lane& startLane = fakelm1.GetLane(0, 0);
auto road1 = fakelm1.GetRoads().cbegin()->second;
auto road1Id = fakelm1.GetRoads().cbegin()->first;
- FakeLaneManager fakelm2{2, 2, 3.0, {12.0, 13.0}, "Road2"};
+ FakeLaneManager fakelm2{2, 2, 3.0_m, {12.0_m, 13.0_m}, "Road2"};
auto road2 = fakelm2.GetRoads().cbegin()->second;
auto road2Id = fakelm2.GetRoads().cbegin()->first;
std::vector<OWL::Id> successorsLanes1_1 {fakelm1.GetLane(1, 0).GetId()};
@@ -1278,14 +1278,14 @@ TEST(CreateLaneStream, SecondRoadAgainstStreamDirection)
TEST(CreateLaneStream, MultipleConnections)
{
- FakeLaneManager fakelm1{1, 2, 3.0, {10.0}, "Road1"};
+ FakeLaneManager fakelm1{1, 2, 3.0_m, {10.0_m}, "Road1"};
Fakes::Lane& startLane = fakelm1.GetLane(0, 0);
auto road1 = fakelm1.GetRoads().cbegin()->second;
auto road1Id = fakelm1.GetRoads().cbegin()->first;
- FakeLaneManager fakelm2{1, 2, 3.0, {11.0}, "Road2"};
+ FakeLaneManager fakelm2{1, 2, 3.0_m, {11.0_m}, "Road2"};
auto road2 = fakelm2.GetRoads().cbegin()->second;
auto road2Id = fakelm2.GetRoads().cbegin()->first;
- FakeLaneManager fakelm3{1, 2, 3.0, {12.0}, "Road3"};
+ FakeLaneManager fakelm3{1, 2, 3.0_m, {12.0_m}, "Road3"};
auto road3 = fakelm3.GetRoads().cbegin()->second;
auto road3Id = fakelm3.GetRoads().cbegin()->first;
std::vector<OWL::Id> successorsLanes1_1 {fakelm2.GetLane(0, 0).GetId(), fakelm3.GetLane(0, 0).GetId()};
@@ -1314,10 +1314,10 @@ TEST(CreateLaneStream, MultipleConnections)
TEST(CreateLaneStream, StartOnSecondLane)
{
- FakeLaneManager fakelm1{2, 2, 3.0, {10.0, 11.0}, "Road1"};
+ FakeLaneManager fakelm1{2, 2, 3.0_m, {10.0_m, 11.0_m}, "Road1"};
auto road1 = fakelm1.GetRoads().cbegin()->second;
auto road1Id = fakelm1.GetRoads().cbegin()->first;
- FakeLaneManager fakelm2{2, 2, 3.0, {12.0, 13.0}, "Road2"};
+ FakeLaneManager fakelm2{2, 2, 3.0_m, {12.0_m, 13.0_m}, "Road2"};
auto road2 = fakelm2.GetRoads().cbegin()->second;
auto road2Id = fakelm2.GetRoads().cbegin()->first;
std::vector<OWL::Id> successorsLanes1_1 {fakelm1.GetLane(1, 0).GetId()};
@@ -1360,13 +1360,13 @@ TEST(CreateLaneStream, StartOnSecondLane)
TEST(CreateLaneStream, StartOnSecondRoad)
{
- FakeLaneManager fakelm1{2, 2, 3.0, {10.0, 11.0}, "Road1"};
+ FakeLaneManager fakelm1{2, 2, 3.0_m, {10.0_m, 11.0_m}, "Road1"};
auto road1 = fakelm1.GetRoads().cbegin()->second;
auto road1Id = fakelm1.GetRoads().cbegin()->first;
- FakeLaneManager fakelm2{2, 2, 3.0, {12.0, 13.0}, "Road2"};
+ FakeLaneManager fakelm2{2, 2, 3.0_m, {12.0_m, 13.0_m}, "Road2"};
auto road2 = fakelm2.GetRoads().cbegin()->second;
auto road2Id = fakelm2.GetRoads().cbegin()->first;
- FakeLaneManager fakelm3{2, 2, 3.0, {14.0, 15.0}, "Road3"};
+ FakeLaneManager fakelm3{2, 2, 3.0_m, {14.0_m, 15.0_m}, "Road3"};
auto road3 = fakelm2.GetRoads().cbegin()->second;
auto road3Id = fakelm2.GetRoads().cbegin()->first;
std::vector<OWL::Id> successorsLanes1_1 {fakelm1.GetLane(1, 0).GetId()};
@@ -1411,11 +1411,11 @@ TEST(CreateLaneStream, StartOnSecondRoad)
TEST(CreateLaneStream, ExcessRoudsInRoute)
{
- FakeLaneManager fakelm1{2, 2, 3.0, {10.0, 11.0}, "Road1"};
+ FakeLaneManager fakelm1{2, 2, 3.0_m, {10.0_m, 11.0_m}, "Road1"};
Fakes::Lane& startLane = fakelm1.GetLane(0, 0);
auto road1 = fakelm1.GetRoads().cbegin()->second;
auto road1Id = fakelm1.GetRoads().cbegin()->first;
- FakeLaneManager fakelm2{2, 2, 3.0, {12.0, 13.0}, "Road2"};
+ FakeLaneManager fakelm2{2, 2, 3.0_m, {12.0_m, 13.0_m}, "Road2"};
auto road2 = fakelm2.GetRoads().cbegin()->second;
auto road2Id = fakelm2.GetRoads().cbegin()->first;
std::vector<OWL::Id> successorsLanes1_1 {fakelm1.GetLane(1, 0).GetId()};
@@ -1481,7 +1481,7 @@ TEST(CreateLaneMultiStream, LinearGraphOneLanePerRoad)
ON_CALL(laneA, GetId()).WillByDefault(Return(idLaneA));
ON_CALL(laneA, GetOdId()).WillByDefault(Return(-1));
ON_CALL(laneA, GetRoad()).WillByDefault(ReturnRef(roadA));
- ON_CALL(laneA, GetLength()).WillByDefault(Return(100));
+ ON_CALL(laneA, GetLength()).WillByDefault(Return(100_m));
ON_CALL(laneA, Exists()).WillByDefault(Return(true));
OWL::Interfaces::Sections sectionsA{§ionA};
ON_CALL(roadA, GetSections()).WillByDefault(ReturnRef(sectionsA));
@@ -1495,7 +1495,7 @@ TEST(CreateLaneMultiStream, LinearGraphOneLanePerRoad)
ON_CALL(laneB, GetId()).WillByDefault(Return(idLaneB));
ON_CALL(laneB, GetOdId()).WillByDefault(Return(-1));
ON_CALL(laneB, GetRoad()).WillByDefault(ReturnRef(roadB));
- ON_CALL(laneB, GetLength()).WillByDefault(Return(150));
+ ON_CALL(laneB, GetLength()).WillByDefault(Return(150_m));
Fakes::Road roadC;
Fakes::Lane laneC;
std::string idRoadC = "RoadC";
@@ -1503,7 +1503,7 @@ TEST(CreateLaneMultiStream, LinearGraphOneLanePerRoad)
ON_CALL(laneC, GetId()).WillByDefault(Return(idLaneC));
ON_CALL(laneC, GetOdId()).WillByDefault(Return(-1));
ON_CALL(laneC, GetRoad()).WillByDefault(ReturnRef(roadC));
- ON_CALL(laneC, GetLength()).WillByDefault(Return(200));
+ ON_CALL(laneC, GetLength()).WillByDefault(Return(200_m));
std::vector<OWL::Id> successorsLanesA {idLaneB};
ON_CALL(laneA, GetNext()).WillByDefault(ReturnRef(successorsLanesA));
@@ -1521,23 +1521,23 @@ TEST(CreateLaneMultiStream, LinearGraphOneLanePerRoad)
ON_CALL(worldData, GetRoadGraphVertexMapping()).WillByDefault(ReturnRef(vertexMapping));
WorldDataQuery wdQuery(worldData);
- auto laneMultiStream = wdQuery.CreateLaneMultiStream(roadGraph, vertexA, -1, 0.0);
+ auto laneMultiStream = wdQuery.CreateLaneMultiStream(roadGraph, vertexA, -1, 0.0_m);
const auto& root = laneMultiStream->GetRoot();
ASSERT_THAT(root.roadGraphVertex, Eq(vertexA));
ASSERT_THAT(root.element->element, Eq(&laneA));
- ASSERT_THAT(root.element->sOffset, DoubleEq(0.));
+ ASSERT_THAT(root.element->sOffset.value(), DoubleEq(0.));
ASSERT_THAT(root.element->inStreamDirection, Eq(true));
ASSERT_THAT(root.next, SizeIs(1));
const auto& node1 = root.next.front();
ASSERT_THAT(node1.roadGraphVertex, Eq(vertexB));
ASSERT_THAT(node1.element->element, Eq(&laneB));
- ASSERT_THAT(node1.element->sOffset, DoubleEq(250.));
+ ASSERT_THAT(node1.element->sOffset.value(), DoubleEq(250.));
ASSERT_THAT(node1.element->inStreamDirection, Eq(false));
ASSERT_THAT(node1.next, SizeIs(1));
const auto& node2 = node1.next.front();
ASSERT_THAT(node2.roadGraphVertex, Eq(vertexC));
ASSERT_THAT(node2.element->element, Eq(&laneC));
- ASSERT_THAT(node2.element->sOffset, DoubleEq(250.));
+ ASSERT_THAT(node2.element->sOffset.value(), DoubleEq(250.));
ASSERT_THAT(node2.element->inStreamDirection, Eq(true));
ASSERT_THAT(node2.next, IsEmpty());
}
@@ -1560,7 +1560,7 @@ TEST(CreateLaneMultiStream, LinearGraphOneRoadWithThreeLanes)
ON_CALL(laneA, GetId()).WillByDefault(Return(idLaneA));
ON_CALL(laneA, GetOdId()).WillByDefault(Return(-1));
ON_CALL(laneA, GetRoad()).WillByDefault(ReturnRef(roadA));
- ON_CALL(laneA, GetLength()).WillByDefault(Return(100));
+ ON_CALL(laneA, GetLength()).WillByDefault(Return(100_m));
ON_CALL(laneA, Exists()).WillByDefault(Return(true));
OWL::Interfaces::Sections sectionsA{§ionA};
ON_CALL(roadA, GetSections()).WillByDefault(ReturnRef(sectionsA));
@@ -1571,12 +1571,12 @@ TEST(CreateLaneMultiStream, LinearGraphOneRoadWithThreeLanes)
ON_CALL(laneB, GetId()).WillByDefault(Return(idLaneB));
ON_CALL(laneB, GetOdId()).WillByDefault(Return(-1));
ON_CALL(laneB, GetRoad()).WillByDefault(ReturnRef(roadA));
- ON_CALL(laneB, GetLength()).WillByDefault(Return(150));
+ ON_CALL(laneB, GetLength()).WillByDefault(Return(150_m));
Fakes::Lane laneC;
ON_CALL(laneC, GetId()).WillByDefault(Return(idLaneC));
ON_CALL(laneC, GetOdId()).WillByDefault(Return(-1));
ON_CALL(laneC, GetRoad()).WillByDefault(ReturnRef(roadA));
- ON_CALL(laneC, GetLength()).WillByDefault(Return(200));
+ ON_CALL(laneC, GetLength()).WillByDefault(Return(200_m));
std::vector<OWL::Id> successorsLanesA {idLaneB};
ON_CALL(laneA, GetNext()).WillByDefault(ReturnRef(successorsLanesA));
@@ -1594,23 +1594,23 @@ TEST(CreateLaneMultiStream, LinearGraphOneRoadWithThreeLanes)
ON_CALL(worldData, GetRoadGraphVertexMapping()).WillByDefault(ReturnRef(vertexMapping));
WorldDataQuery wdQuery(worldData);
- auto laneMultiStream = wdQuery.CreateLaneMultiStream(roadGraph, vertexA, -1, 0.0);
+ auto laneMultiStream = wdQuery.CreateLaneMultiStream(roadGraph, vertexA, -1, 0.0_m);
const auto& root = laneMultiStream->GetRoot();
ASSERT_THAT(root.roadGraphVertex, Eq(vertexA));
ASSERT_THAT(root.element->element, Eq(&laneA));
- ASSERT_THAT(root.element->sOffset, DoubleEq(0.));
+ ASSERT_THAT(root.element->sOffset.value(), DoubleEq(0.));
ASSERT_THAT(root.element->inStreamDirection, Eq(true));
ASSERT_THAT(root.next, SizeIs(1));
const auto& node1 = root.next.front();
ASSERT_THAT(node1.roadGraphVertex, Eq(vertexA));
ASSERT_THAT(node1.element->element, Eq(&laneB));
- ASSERT_THAT(node1.element->sOffset, DoubleEq(100.));
+ ASSERT_THAT(node1.element->sOffset.value(), DoubleEq(100.));
ASSERT_THAT(node1.element->inStreamDirection, Eq(true));
ASSERT_THAT(node1.next, SizeIs(1));
const auto& node2 = node1.next.front();
ASSERT_THAT(node2.roadGraphVertex, Eq(vertexA));
ASSERT_THAT(node2.element->element, Eq(&laneC));
- ASSERT_THAT(node2.element->sOffset, DoubleEq(250.));
+ ASSERT_THAT(node2.element->sOffset.value(), DoubleEq(250.));
ASSERT_THAT(node2.element->inStreamDirection, Eq(true));
ASSERT_THAT(node2.next, IsEmpty());
}
@@ -1635,7 +1635,7 @@ TEST(CreateLaneMultiStream, LinearGraphLanesDontContinue)
ON_CALL(laneA, GetId()).WillByDefault(Return(idLaneA));
ON_CALL(laneA, GetOdId()).WillByDefault(Return(-1));
ON_CALL(laneA, GetRoad()).WillByDefault(ReturnRef(roadA));
- ON_CALL(laneA, GetLength()).WillByDefault(Return(100));
+ ON_CALL(laneA, GetLength()).WillByDefault(Return(100_m));
ON_CALL(laneA, Exists()).WillByDefault(Return(true));
OWL::Interfaces::Sections sectionsA{§ionA};
ON_CALL(roadA, GetSections()).WillByDefault(ReturnRef(sectionsA));
@@ -1653,11 +1653,11 @@ TEST(CreateLaneMultiStream, LinearGraphLanesDontContinue)
ON_CALL(worldData, GetRoadGraphVertexMapping()).WillByDefault(ReturnRef(vertexMapping));
WorldDataQuery wdQuery(worldData);
- auto laneMultiStream = wdQuery.CreateLaneMultiStream(roadGraph, vertexA, -1, 0.0);
+ auto laneMultiStream = wdQuery.CreateLaneMultiStream(roadGraph, vertexA, -1, 0.0_m);
const auto& root = laneMultiStream->GetRoot();
ASSERT_THAT(root.roadGraphVertex, Eq(vertexA));
ASSERT_THAT(root.element->element, Eq(&laneA));
- ASSERT_THAT(root.element->sOffset, DoubleEq(0.));
+ ASSERT_THAT(root.element->sOffset.value(), DoubleEq(0.));
ASSERT_THAT(root.element->inStreamDirection, Eq(true));
ASSERT_THAT(root.next, SizeIs(1));
const auto& node1 = root.next.front();
@@ -1692,7 +1692,7 @@ TEST(CreateLaneMultiStream, BranchingGraphOneLanePerRoad)
ON_CALL(laneA, GetId()).WillByDefault(Return(idLaneA));
ON_CALL(laneA, GetOdId()).WillByDefault(Return(-1));
ON_CALL(laneA, GetRoad()).WillByDefault(ReturnRef(roadA));
- ON_CALL(laneA, GetLength()).WillByDefault(Return(100));
+ ON_CALL(laneA, GetLength()).WillByDefault(Return(100_m));
ON_CALL(laneA, Exists()).WillByDefault(Return(true));
OWL::Interfaces::Sections sectionsA{§ionA};
ON_CALL(roadA, GetSections()).WillByDefault(ReturnRef(sectionsA));
@@ -1706,7 +1706,7 @@ TEST(CreateLaneMultiStream, BranchingGraphOneLanePerRoad)
ON_CALL(laneB, GetId()).WillByDefault(Return(idLaneB));
ON_CALL(laneB, GetOdId()).WillByDefault(Return(-1));
ON_CALL(laneB, GetRoad()).WillByDefault(ReturnRef(roadB));
- ON_CALL(laneB, GetLength()).WillByDefault(Return(150));
+ ON_CALL(laneB, GetLength()).WillByDefault(Return(150_m));
Fakes::Road roadC;
Fakes::Lane laneC;
std::string idRoadC = "RoadC";
@@ -1714,7 +1714,7 @@ TEST(CreateLaneMultiStream, BranchingGraphOneLanePerRoad)
ON_CALL(laneC, GetId()).WillByDefault(Return(idLaneC));
ON_CALL(laneC, GetOdId()).WillByDefault(Return(-1));
ON_CALL(laneC, GetRoad()).WillByDefault(ReturnRef(roadC));
- ON_CALL(laneC, GetLength()).WillByDefault(Return(200));
+ ON_CALL(laneC, GetLength()).WillByDefault(Return(200_m));
std::vector<OWL::Id> successorsLanesA {idLaneB, idLaneC};
ON_CALL(laneA, GetNext()).WillByDefault(ReturnRef(successorsLanesA));
@@ -1732,23 +1732,23 @@ TEST(CreateLaneMultiStream, BranchingGraphOneLanePerRoad)
ON_CALL(worldData, GetRoadGraphVertexMapping()).WillByDefault(ReturnRef(vertexMapping));
WorldDataQuery wdQuery(worldData);
- auto laneMultiStream = wdQuery.CreateLaneMultiStream(roadGraph, vertexA, -1, 0.0);
+ auto laneMultiStream = wdQuery.CreateLaneMultiStream(roadGraph, vertexA, -1, 0.0_m);
const auto& root = laneMultiStream->GetRoot();
ASSERT_THAT(root.roadGraphVertex, Eq(vertexA));
ASSERT_THAT(root.element->element, Eq(&laneA));
- ASSERT_THAT(root.element->sOffset, DoubleEq(0.));
+ ASSERT_THAT(root.element->sOffset.value(), DoubleEq(0.));
ASSERT_THAT(root.element->inStreamDirection, Eq(true));
ASSERT_THAT(root.next, SizeIs(2));
const auto& node1 = root.next.front();
ASSERT_THAT(node1.roadGraphVertex, Eq(vertexB));
ASSERT_THAT(node1.element->element, Eq(&laneB));
- ASSERT_THAT(node1.element->sOffset, DoubleEq(250.));
+ ASSERT_THAT(node1.element->sOffset.value(), DoubleEq(250.));
ASSERT_THAT(node1.element->inStreamDirection, Eq(false));
ASSERT_THAT(node1.next, IsEmpty());
const auto& node2 = root.next.back();
ASSERT_THAT(node2.roadGraphVertex, Eq(vertexC));
ASSERT_THAT(node2.element->element, Eq(&laneC));
- ASSERT_THAT(node2.element->sOffset, DoubleEq(100.));
+ ASSERT_THAT(node2.element->sOffset.value(), DoubleEq(100.));
ASSERT_THAT(node2.element->inStreamDirection, Eq(true));
ASSERT_THAT(node2.next, IsEmpty());
}
@@ -1888,24 +1888,24 @@ public:
ON_CALL(connectingRoad, IsInStreamDirection()).WillByDefault(Return(true));
ON_CALL(connectingRoad, GetPredecessor()).WillByDefault(ReturnRef(idIncomingRoad));
ON_CALL(connectingRoad, GetSections()).WillByDefault(ReturnRef(connectingSections));
- ON_CALL(connectingRoad, GetLength()).WillByDefault(Return(10.0));
+ ON_CALL(connectingRoad, GetLength()).WillByDefault(Return(10.0_m));
ON_CALL(connectingSection, GetLanes()).WillByDefault(ReturnRef(connectingLanes));
ON_CALL(connectingSection, Covers(_)).WillByDefault(Return(true));
ON_CALL(connectingLane1, GetId()).WillByDefault(Return(idConnectingLane1));
ON_CALL(connectingLane1, GetOdId()).WillByDefault(Return(-1));
ON_CALL(connectingLane1, GetLaneType()).WillByDefault(Return(LaneType::Driving));
ON_CALL(connectingLane1, GetRoad()).WillByDefault(ReturnRef(connectingRoad));
- ON_CALL(connectingLane1, GetLength()).WillByDefault(Return(10.0));
- ON_CALL(connectingLane1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0.));
- ON_CALL(connectingLane1, GetDistance(OWL::MeasurementPoint::RoadEnd)).WillByDefault(Return(10.));
+ ON_CALL(connectingLane1, GetLength()).WillByDefault(Return(10.0_m));
+ ON_CALL(connectingLane1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0._m));
+ ON_CALL(connectingLane1, GetDistance(OWL::MeasurementPoint::RoadEnd)).WillByDefault(Return(10._m));
ON_CALL(connectingLane1, Exists()).WillByDefault(Return(true));
ON_CALL(connectingLane2, GetId()).WillByDefault(Return(idConnectingLane2));
ON_CALL(connectingLane2, GetOdId()).WillByDefault(Return(-2));
ON_CALL(connectingLane2, GetLaneType()).WillByDefault(Return(LaneType::Driving));
ON_CALL(connectingLane2, GetRoad()).WillByDefault(ReturnRef(connectingRoad));
- ON_CALL(connectingLane2, GetLength()).WillByDefault(Return(10.0));
- ON_CALL(connectingLane2, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0.));
- ON_CALL(connectingLane2, GetDistance(OWL::MeasurementPoint::RoadEnd)).WillByDefault(Return(10.));
+ ON_CALL(connectingLane2, GetLength()).WillByDefault(Return(10.0_m));
+ ON_CALL(connectingLane2, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0._m));
+ ON_CALL(connectingLane2, GetDistance(OWL::MeasurementPoint::RoadEnd)).WillByDefault(Return(10._m));
ON_CALL(connectingLane2, Exists()).WillByDefault(Return(true));
ON_CALL(incomingRoad, GetSections()).WillByDefault(ReturnRef(incomingSections));
ON_CALL(incomingRoad, IsInStreamDirection()).WillByDefault(Return(true));
@@ -1919,9 +1919,9 @@ public:
ON_CALL(incomingLane1, GetNext()).WillByDefault(ReturnRef(successorsIncomingLane1));
ON_CALL(incomingLane1, GetPrevious()).WillByDefault(ReturnRef(emptyIds));
ON_CALL(incomingLane1, GetRoad()).WillByDefault(ReturnRef(incomingRoad));
- ON_CALL(incomingLane1, GetLength()).WillByDefault(Return(1000.0));
- ON_CALL(incomingLane1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0.));
- ON_CALL(incomingLane1, GetDistance(OWL::MeasurementPoint::RoadEnd)).WillByDefault(Return(1000.));
+ ON_CALL(incomingLane1, GetLength()).WillByDefault(Return(1000.0_m));
+ ON_CALL(incomingLane1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0._m));
+ ON_CALL(incomingLane1, GetDistance(OWL::MeasurementPoint::RoadEnd)).WillByDefault(Return(1000._m));
ON_CALL(incomingLane1, GetOdId()).WillByDefault(Return(-1));
ON_CALL(incomingLane1, Exists()).WillByDefault(Return(true));
ON_CALL(incomingLane2, GetId()).WillByDefault(Return(idIncomingLane2));
@@ -1930,9 +1930,9 @@ public:
ON_CALL(incomingLane2, GetNext()).WillByDefault(ReturnRef(successorsIncomingLane2));
ON_CALL(incomingLane2, GetPrevious()).WillByDefault(ReturnRef(emptyIds));
ON_CALL(incomingLane2, GetRoad()).WillByDefault(ReturnRef(incomingRoad));
- ON_CALL(incomingLane2, GetLength()).WillByDefault(Return(1000.0));
- ON_CALL(incomingLane2, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0.));
- ON_CALL(incomingLane2, GetDistance(OWL::MeasurementPoint::RoadEnd)).WillByDefault(Return(1000.));
+ ON_CALL(incomingLane2, GetLength()).WillByDefault(Return(1000.0_m));
+ ON_CALL(incomingLane2, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(0._m));
+ ON_CALL(incomingLane2, GetDistance(OWL::MeasurementPoint::RoadEnd)).WillByDefault(Return(1000._m));
ON_CALL(incomingLane2, GetOdId()).WillByDefault(Return(-2));
ON_CALL(incomingLane2, Exists()).WillByDefault(Return(true));
@@ -1978,7 +1978,7 @@ TEST_F(GetMovingObjectsInRangeOfJunctionConnection, NoAgents_ReturnsEmptyVector)
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetMovingObjectsInRangeOfJunctionConnection("Connection", 100.0);
+ auto result = wdQuery.GetMovingObjectsInRangeOfJunctionConnection("Connection", 100.0_m);
ASSERT_THAT(result.empty(), Eq(true));
}
@@ -1986,10 +1986,10 @@ TEST_F(GetMovingObjectsInRangeOfJunctionConnection, NoAgents_ReturnsEmptyVector)
TEST_F(GetMovingObjectsInRangeOfJunctionConnection, OneAgentsOnConnector_ReturnsThisAgent)
{
OWL::Fakes::MovingObject object;
- OWL::LaneOverlap overlap{GlobalRoadPosition{"",0,5,0,0},
- GlobalRoadPosition{"",0,5,0,0},
- GlobalRoadPosition{"",0,5,0,0},
- GlobalRoadPosition{"",0,5,0,0}};
+ OWL::LaneOverlap overlap{GlobalRoadPosition{"",0,5_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,5_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,5_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,5_m,0_m,0_rad}};
OWL::Interfaces::LaneAssignments worldObjectsOnConnector{{overlap,&object}};
OWL::Interfaces::LaneAssignments emptyWorldObjects;
ON_CALL(connectingLane1, GetWorldObjects(true)).WillByDefault(ReturnRef(emptyWorldObjects));
@@ -1999,7 +1999,7 @@ TEST_F(GetMovingObjectsInRangeOfJunctionConnection, OneAgentsOnConnector_Returns
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetMovingObjectsInRangeOfJunctionConnection("Connection", 100.0);
+ auto result = wdQuery.GetMovingObjectsInRangeOfJunctionConnection("Connection", 100.0_m);
ASSERT_THAT(result, SizeIs(1));
ASSERT_THAT(result.at(0), Eq(&object));
@@ -2008,14 +2008,14 @@ TEST_F(GetMovingObjectsInRangeOfJunctionConnection, OneAgentsOnConnector_Returns
TEST_F(GetMovingObjectsInRangeOfJunctionConnection, TwoAgentsOnInComingRoad_ReturnsAgentInRange)
{
OWL::Fakes::MovingObject objectInRange, objectOutsideRange;
- OWL::LaneOverlap overlap1{GlobalRoadPosition{"",0,950,0,0},
- GlobalRoadPosition{"",0,950,0,0},
- GlobalRoadPosition{"",0,950,0,0},
- GlobalRoadPosition{"",0,950,0,0}};
- OWL::LaneOverlap overlap2{GlobalRoadPosition{"",0,850,0,0},
- GlobalRoadPosition{"",0,850,0,0},
- GlobalRoadPosition{"",0,850,0,0},
- GlobalRoadPosition{"",0,850,0,0}};
+ OWL::LaneOverlap overlap1{GlobalRoadPosition{"",0,950_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,950_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,950_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,950_m,0_m,0_rad}};
+ OWL::LaneOverlap overlap2{GlobalRoadPosition{"",0,850_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,850_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,850_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,850_m,0_m,0_rad}};
OWL::Interfaces::LaneAssignments worldObjectsOnInComingRoad{{overlap1, &objectInRange}, {overlap2, &objectOutsideRange}};
OWL::Interfaces::LaneAssignments emptyWorldObjects;
ON_CALL(connectingLane1, GetWorldObjects(true)).WillByDefault(ReturnRef(emptyWorldObjects));
@@ -2025,7 +2025,7 @@ TEST_F(GetMovingObjectsInRangeOfJunctionConnection, TwoAgentsOnInComingRoad_Retu
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetMovingObjectsInRangeOfJunctionConnection("Connection", 100.0);
+ auto result = wdQuery.GetMovingObjectsInRangeOfJunctionConnection("Connection", 100.0_m);
ASSERT_THAT(result, SizeIs(1));
ASSERT_THAT(result.at(0), Eq(&objectInRange));
@@ -2034,10 +2034,10 @@ TEST_F(GetMovingObjectsInRangeOfJunctionConnection, TwoAgentsOnInComingRoad_Retu
TEST_F(GetMovingObjectsInRangeOfJunctionConnection, OneAgentsOnBothConnectors_ReturnsThisAgentOnlyOnce)
{
OWL::Fakes::MovingObject object;
- OWL::LaneOverlap overlap{GlobalRoadPosition{"",0,5,0,0},
- GlobalRoadPosition{"",0,5,0,0},
- GlobalRoadPosition{"",0,5,0,0},
- GlobalRoadPosition{"",0,5,0,0}};
+ OWL::LaneOverlap overlap{GlobalRoadPosition{"",0,5_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,5_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,5_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,5_m,0_m,0_rad}};
OWL::Interfaces::LaneAssignments worldObjectsOnConnector{{overlap, &object}};
OWL::Interfaces::LaneAssignments emptyWorldObjects;
ON_CALL(connectingLane1, GetWorldObjects(true)).WillByDefault(ReturnRef(worldObjectsOnConnector));
@@ -2047,7 +2047,7 @@ TEST_F(GetMovingObjectsInRangeOfJunctionConnection, OneAgentsOnBothConnectors_Re
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetMovingObjectsInRangeOfJunctionConnection("Connection", 100.0);
+ auto result = wdQuery.GetMovingObjectsInRangeOfJunctionConnection("Connection", 100.0_m);
ASSERT_THAT(result, SizeIs(1));
ASSERT_THAT(result.at(0), Eq(&object));
@@ -2056,10 +2056,10 @@ TEST_F(GetMovingObjectsInRangeOfJunctionConnection, OneAgentsOnBothConnectors_Re
TEST_F(GetMovingObjectsInRangeOfJunctionConnection, OneAgentsOnBothIncomingRoads_ReturnsThisAgentOnlyOnce)
{
OWL::Fakes::MovingObject object;
- OWL::LaneOverlap overlap{GlobalRoadPosition{"",0,950,0,0},
- GlobalRoadPosition{"",0,950,0,0},
- GlobalRoadPosition{"",0,950,0,0},
- GlobalRoadPosition{"",0,950,0,0}};
+ OWL::LaneOverlap overlap{GlobalRoadPosition{"",0,950_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,950_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,950_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,950_m,0_m,0_rad}};
OWL::Interfaces::LaneAssignments worldObjectsOnInComingRoad{{overlap, &object}};
OWL::Interfaces::LaneAssignments emptyWorldObjects;
ON_CALL(connectingLane1, GetWorldObjects(true)).WillByDefault(ReturnRef(emptyWorldObjects));
@@ -2069,7 +2069,7 @@ TEST_F(GetMovingObjectsInRangeOfJunctionConnection, OneAgentsOnBothIncomingRoads
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetMovingObjectsInRangeOfJunctionConnection("Connection", 100.0);
+ auto result = wdQuery.GetMovingObjectsInRangeOfJunctionConnection("Connection", 100.0_m);
ASSERT_THAT(result, SizeIs(1));
ASSERT_THAT(result.at(0), Eq(&object));
@@ -2078,10 +2078,10 @@ TEST_F(GetMovingObjectsInRangeOfJunctionConnection, OneAgentsOnBothIncomingRoads
TEST_F(GetMovingObjectsInRangeOfJunctionConnection, OneAgentsOnConnectorAndIncomingRoads_ReturnsThisAgentOnlyOnce)
{
OWL::Fakes::MovingObject object;
- OWL::LaneOverlap overlap{GlobalRoadPosition{"",0,5,0,0},
- GlobalRoadPosition{"",0,5,0,0},
- GlobalRoadPosition{"",0,5,0,0},
- GlobalRoadPosition{"",0,5,0,0}};
+ OWL::LaneOverlap overlap{GlobalRoadPosition{"",0,5_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,5_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,5_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,5_m,0_m,0_rad}};
OWL::Interfaces::LaneAssignments worldObjectsOnConnector{{overlap, &object}};
OWL::Interfaces::LaneAssignments emptyWorldObjects;
ON_CALL(connectingLane1, GetWorldObjects(true)).WillByDefault(ReturnRef(worldObjectsOnConnector));
@@ -2091,7 +2091,7 @@ TEST_F(GetMovingObjectsInRangeOfJunctionConnection, OneAgentsOnConnectorAndIncom
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetMovingObjectsInRangeOfJunctionConnection("Connection", 100.0);
+ auto result = wdQuery.GetMovingObjectsInRangeOfJunctionConnection("Connection", 100.0_m);
ASSERT_THAT(result, SizeIs(1));
ASSERT_THAT(result.at(0), Eq(&object));
@@ -2100,10 +2100,10 @@ TEST_F(GetMovingObjectsInRangeOfJunctionConnection, OneAgentsOnConnectorAndIncom
TEST_F(GetMovingObjectsInRangeOfJunctionConnection, OneAgentsOnEachConnector_ReturnsBoth)
{
OWL::Fakes::MovingObject object1, object2;
- OWL::LaneOverlap overlap{GlobalRoadPosition{"",0,5,0,0},
- GlobalRoadPosition{"",0,5,0,0},
- GlobalRoadPosition{"",0,5,0,0},
- GlobalRoadPosition{"",0,5,0,0}};
+ OWL::LaneOverlap overlap{GlobalRoadPosition{"",0,5_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,5_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,5_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,5_m,0_m,0_rad}};
OWL::Interfaces::LaneAssignments worldObjectsOnConnector1{{overlap, &object1}};
OWL::Interfaces::LaneAssignments worldObjectsOnConnector2{{overlap, &object2}};
OWL::Interfaces::LaneAssignments emptyWorldObjects;
@@ -2114,7 +2114,7 @@ TEST_F(GetMovingObjectsInRangeOfJunctionConnection, OneAgentsOnEachConnector_Ret
WorldDataQuery wdQuery(worldData);
- auto result = wdQuery.GetMovingObjectsInRangeOfJunctionConnection("Connection", 100.0);
+ auto result = wdQuery.GetMovingObjectsInRangeOfJunctionConnection("Connection", 100.0_m);
ASSERT_THAT(result, SizeIs(2));
ASSERT_THAT(result, UnorderedElementsAre(&object1, &object2));
@@ -2163,14 +2163,14 @@ TEST(GetDistanceUntilMovingObjectEntersConnector, DISABLED_ObjectOnConnector_Ret
std::map<std::string, OWL::Interfaces::Junction*> junctions{ {idJunction, &junction} };
ON_CALL(worldData, GetJunctions()).WillByDefault(ReturnRef(junctions));
ON_CALL(worldData, GetLanes()).WillByDefault(ReturnRef(lanes));
- IntersectionInfo intersection{idConnectorB, IntersectingConnectionRank::Undefined, { { {idLaneA, idLaneB}, {10.0, 15.0} } } };
+ IntersectionInfo intersection{idConnectorB, IntersectingConnectionRank::Undefined, { { {idLaneA, idLaneB}, {10.0_m, 15.0_m} } } };
std::map<std::string, std::vector<IntersectionInfo>> intersections{ {"ConnectorA", {intersection} } };
ON_CALL(junction, GetIntersections()).WillByDefault(ReturnRef(intersections));
WorldDataQuery wdQuery(worldData);
auto distance = wdQuery.GetDistanceUntilObjectEntersConnector("ConnectorA", -1, "ConnectorB");
- ASSERT_THAT(distance, Eq(3.0));
+ ASSERT_THAT(distance.value(), Eq(3.0));
}
TEST(GetDistanceUntilMovingObjectEntersConnector, DISABLED_ObjectOnIncomingRoad_ReturnsCorrectDistance)
@@ -2221,7 +2221,7 @@ TEST(GetDistanceUntilMovingObjectEntersConnector, DISABLED_ObjectOnIncomingRoad_
ON_CALL(incomingSection, Covers(_)).WillByDefault(Return(true));
ON_CALL(*incomingLane, GetId()).WillByDefault(Return(idIncomingLane));
ON_CALL(*incomingLane, GetOdId()).WillByDefault(Return(-1));
- ON_CALL(*incomingLane, GetLength()).WillByDefault(Return(100.0));
+ ON_CALL(*incomingLane, GetLength()).WillByDefault(Return(100.0_m));
std::vector<OWL::Id> successorsIncomingLane{idLaneB};
ON_CALL(*incomingLane, GetNext()).WillByDefault(ReturnRef(successorsIncomingLane));
ON_CALL(*incomingLane, GetRoad()).WillByDefault(ReturnRef(incomingRoad));
@@ -2234,14 +2234,14 @@ TEST(GetDistanceUntilMovingObjectEntersConnector, DISABLED_ObjectOnIncomingRoad_
std::map<std::string, OWL::Interfaces::Junction*> junctions{ {idJunction, &junction} };
ON_CALL(worldData, GetJunctions()).WillByDefault(ReturnRef(junctions));
ON_CALL(worldData, GetLanes()).WillByDefault(ReturnRef(lanes));
- IntersectionInfo intersection{idConnectorB, IntersectingConnectionRank::Undefined, { { {idLaneA, idLaneB}, {10.0, 15.0} } } };
+ IntersectionInfo intersection{idConnectorB, IntersectingConnectionRank::Undefined, { { {idLaneA, idLaneB}, {10.0_m, 15.0_m} } } };
std::map<std::string, std::vector<IntersectionInfo>> intersections{ {"ConnectorA", {intersection} } };
ON_CALL(junction, GetIntersections()).WillByDefault(ReturnRef(intersections));
WorldDataQuery wdQuery(worldData);
auto distance = wdQuery.GetDistanceUntilObjectEntersConnector("ConnectorA", -1, "ConnectorB");
- ASSERT_THAT(distance, Eq(103.0));
+ ASSERT_THAT(distance.value(), Eq(103.0));
}
TEST(GetDistanceUntilMovingObjectLeavesConnector, DISABLED_ObjectOnConnector_ReturnsCorrectDistance)
@@ -2287,14 +2287,14 @@ TEST(GetDistanceUntilMovingObjectLeavesConnector, DISABLED_ObjectOnConnector_Ret
std::map<std::string, OWL::Interfaces::Junction*> junctions{ {idJunction, &junction} };
ON_CALL(worldData, GetJunctions()).WillByDefault(ReturnRef(junctions));
ON_CALL(worldData, GetLanes()).WillByDefault(ReturnRef(lanes));
- IntersectionInfo intersection{idConnectorB, IntersectingConnectionRank::Undefined, { { {idLaneA, idLaneB}, {10.0, 15.0} } } };
+ IntersectionInfo intersection{idConnectorB, IntersectingConnectionRank::Undefined, { { {idLaneA, idLaneB}, {10.0_m, 15.0_m} } } };
std::map<std::string, std::vector<IntersectionInfo>> intersections{ {"ConnectorA", {intersection} } };
ON_CALL(junction, GetIntersections()).WillByDefault(ReturnRef(intersections));
WorldDataQuery wdQuery(worldData);
auto distance = wdQuery.GetDistanceUntilObjectLeavesConnector("ConnectorA", -1, "ConnectorB");
- ASSERT_THAT(distance, Eq(11.0));
+ ASSERT_THAT(distance.value(), Eq(11.0));
}
TEST(GetDistanceUntilMovingObjectLeavesConnector, DISABLED_ObjectOnIncomingRoad_ReturnsCorrectDistance)
@@ -2345,7 +2345,7 @@ TEST(GetDistanceUntilMovingObjectLeavesConnector, DISABLED_ObjectOnIncomingRoad_
ON_CALL(incomingSection, Covers(_)).WillByDefault(Return(true));
ON_CALL(*incomingLane, GetId()).WillByDefault(Return(idIncomingLane));
ON_CALL(*incomingLane, GetOdId()).WillByDefault(Return(-1));
- ON_CALL(*incomingLane, GetLength()).WillByDefault(Return(100.0));
+ ON_CALL(*incomingLane, GetLength()).WillByDefault(Return(100.0_m));
std::vector<OWL::Id> successorsInComingLane{idLaneB};
ON_CALL(*incomingLane, GetNext()).WillByDefault(ReturnRef(successorsInComingLane));
ON_CALL(*incomingLane, GetRoad()).WillByDefault(ReturnRef(incomingRoad));
@@ -2358,7 +2358,7 @@ TEST(GetDistanceUntilMovingObjectLeavesConnector, DISABLED_ObjectOnIncomingRoad_
std::map<std::string, OWL::Interfaces::Junction*> junctions{ {idJunction, &junction} };
ON_CALL(worldData, GetJunctions()).WillByDefault(ReturnRef(junctions));
ON_CALL(worldData, GetLanes()).WillByDefault(ReturnRef(lanes));
- IntersectionInfo intersection{idConnectorB, IntersectingConnectionRank::Undefined, { { {idLaneA, idLaneB}, {10.0, 15.0} } } };
+ IntersectionInfo intersection{idConnectorB, IntersectingConnectionRank::Undefined, { { {idLaneA, idLaneB}, {10.0_m, 15.0_m} } } };
std::map<std::string, std::vector<IntersectionInfo>> intersections{ {"ConnectorA", {intersection} } };
ON_CALL(junction, GetIntersections()).WillByDefault(ReturnRef(intersections));
@@ -2366,15 +2366,15 @@ TEST(GetDistanceUntilMovingObjectLeavesConnector, DISABLED_ObjectOnIncomingRoad_
WorldDataQuery wdQuery(worldData);
auto distance = wdQuery.GetDistanceUntilObjectLeavesConnector("ConnectorA", -1, "ConnectorB");
- ASSERT_THAT(distance, Eq(111.0));
+ ASSERT_THAT(distance.value(), Eq(111.0));
}
TEST(GetDistanceBetweenObjects, LinearStreamObjectOnSameRoad_ReturnsDistanceOnAllNode)
{
FakeRoadMultiStream roadStream;
- auto [node1, road1] = roadStream.AddRoot(100, true);
- auto [node2, road2] = roadStream.AddRoad(200, false, *node1);
- auto [node3, road3] = roadStream.AddRoad(300, true, *node2);
+ auto [node1, road1] = roadStream.AddRoot(100_m, true);
+ auto [node2, road2] = roadStream.AddRoad(200_m, false, *node1);
+ auto [node3, road3] = roadStream.AddRoad(300_m, true, *node2);
Fakes::WorldData worldData;
std::string idRoad1 = "Road1";
@@ -2384,23 +2384,23 @@ TEST(GetDistanceBetweenObjects, LinearStreamObjectOnSameRoad_ReturnsDistanceOnAl
std::string idRoad3 = "Road3";
ON_CALL(*road3, GetId()).WillByDefault(ReturnRef(idRoad3));
- GlobalRoadPositions target{{"Road1", {"Road1", 0, 20, 0, 0}}};
+ GlobalRoadPositions target{{"Road1", {"Road1", 0, 20_m, 0_m, 0_rad}}};
WorldDataQuery wdQuery(worldData);
- const auto distance = wdQuery.GetDistanceBetweenObjects(roadStream.Get(), 11.0, target);
+ const auto distance = wdQuery.GetDistanceBetweenObjects(roadStream.Get(), 11.0_m, target);
- ASSERT_THAT(distance, ElementsAre(std::make_pair(node1->roadGraphVertex, std::optional<double>{9}),
- std::make_pair(node2->roadGraphVertex, std::optional<double>{9}),
- std::make_pair(node3->roadGraphVertex, std::optional<double>{9})));
+ ASSERT_THAT(distance, ElementsAre(std::make_pair(node1->roadGraphVertex, std::optional<units::length::meter_t>{9}),
+ std::make_pair(node2->roadGraphVertex, std::optional<units::length::meter_t>{9}),
+ std::make_pair(node3->roadGraphVertex, std::optional<units::length::meter_t>{9})));
};
TEST(GetDistanceBetweenObjects, LinearStreamObjectOnNextRoad_ReturnsDistanceOnThisAndFollowingNodes)
{
FakeRoadMultiStream roadStream;
- auto [node1, road1] = roadStream.AddRoot(100, true);
- auto [node2, road2] = roadStream.AddRoad(200, false, *node1);
- auto [node3, road3] = roadStream.AddRoad(300, true, *node2);
+ auto [node1, road1] = roadStream.AddRoot(100_m, true);
+ auto [node2, road2] = roadStream.AddRoad(200_m, false, *node1);
+ auto [node3, road3] = roadStream.AddRoad(300_m, true, *node2);
Fakes::WorldData worldData;
std::string idRoad1 = "Road1";
@@ -2410,23 +2410,23 @@ TEST(GetDistanceBetweenObjects, LinearStreamObjectOnNextRoad_ReturnsDistanceOnTh
std::string idRoad3 = "Road3";
ON_CALL(*road3, GetId()).WillByDefault(ReturnRef(idRoad3));
- GlobalRoadPositions target{{"Road2", {"Road2", 0, 20, 0, 0}}};
+ GlobalRoadPositions target{{"Road2", {"Road2", 0, 20_m, 0_m, 0_rad}}};
WorldDataQuery wdQuery(worldData);
- const auto distance = wdQuery.GetDistanceBetweenObjects(roadStream.Get(), 11.0, target);
+ const auto distance = wdQuery.GetDistanceBetweenObjects(roadStream.Get(), 11.0_m, target);
ASSERT_THAT(distance, ElementsAre(std::make_pair(node1->roadGraphVertex, std::nullopt),
- std::make_pair(node2->roadGraphVertex, std::optional<double>{269}),
- std::make_pair(node3->roadGraphVertex, std::optional<double>{269})));
+ std::make_pair(node2->roadGraphVertex, std::optional<units::length::meter_t>{269}),
+ std::make_pair(node3->roadGraphVertex, std::optional<units::length::meter_t>{269})));
};
TEST(GetDistanceBetweenObjects, LinearStreamObjectBehind_ReturnsNegativeDistance)
{
FakeRoadMultiStream roadStream;
- auto [node1, road1] = roadStream.AddRoot(100, true);
- auto [node2, road2] = roadStream.AddRoad(200, false, *node1);
- auto [node3, road3] = roadStream.AddRoad(300, true, *node2);
+ auto [node1, road1] = roadStream.AddRoot(100_m, true);
+ auto [node2, road2] = roadStream.AddRoad(200_m, false, *node1);
+ auto [node3, road3] = roadStream.AddRoad(300_m, true, *node2);
Fakes::WorldData worldData;
std::string idRoad1 = "Road1";
@@ -2436,23 +2436,23 @@ TEST(GetDistanceBetweenObjects, LinearStreamObjectBehind_ReturnsNegativeDistance
std::string idRoad3 = "Road3";
ON_CALL(*road3, GetId()).WillByDefault(ReturnRef(idRoad3));
- GlobalRoadPositions target{{"Road1", {"Road1", 0, 20, 0, 0}}};
+ GlobalRoadPositions target{{"Road1", {"Road1", 0, 20_m, 0_m, 0_rad}}};
WorldDataQuery wdQuery(worldData);
- const auto distance = wdQuery.GetDistanceBetweenObjects(roadStream.Get(), 51.0, target);
+ const auto distance = wdQuery.GetDistanceBetweenObjects(roadStream.Get(), 51.0_m, target);
- ASSERT_THAT(distance, ElementsAre(std::make_pair(node1->roadGraphVertex, std::optional<double>{-31}),
- std::make_pair(node2->roadGraphVertex, std::optional<double>{-31}),
- std::make_pair(node3->roadGraphVertex, std::optional<double>{-31})));
+ ASSERT_THAT(distance, ElementsAre(std::make_pair(node1->roadGraphVertex, std::optional<units::length::meter_t>{-31}),
+ std::make_pair(node2->roadGraphVertex, std::optional<units::length::meter_t>{-31}),
+ std::make_pair(node3->roadGraphVertex, std::optional<units::length::meter_t>{-31})));
};
TEST(GetDistanceBetweenObjects, BranchingStreamObjectOneLeaf_ReturnsDistanceOnThisNode)
{
FakeRoadMultiStream roadStream;
- auto [node1, road1] = roadStream.AddRoot(100, true);
- auto [node2, road2] = roadStream.AddRoad(200, false, *node1);
- auto [node3, road3] = roadStream.AddRoad(300, true, *node1);
+ auto [node1, road1] = roadStream.AddRoot(100_m, true);
+ auto [node2, road2] = roadStream.AddRoad(200_m, false, *node1);
+ auto [node3, road3] = roadStream.AddRoad(300_m, true, *node1);
Fakes::WorldData worldData;
std::string idRoad1 = "Road1";
@@ -2462,23 +2462,23 @@ TEST(GetDistanceBetweenObjects, BranchingStreamObjectOneLeaf_ReturnsDistanceOnTh
std::string idRoad3 = "Road3";
ON_CALL(*road3, GetId()).WillByDefault(ReturnRef(idRoad3));
- GlobalRoadPositions target{{"Road2", {"Road2", 0, 20, 0, 0}}};
+ GlobalRoadPositions target{{"Road2", {"Road2", 0, 20_m, 0_m, 0_rad}}};
WorldDataQuery wdQuery(worldData);
- const auto distance = wdQuery.GetDistanceBetweenObjects(roadStream.Get(), 11.0, target);
+ const auto distance = wdQuery.GetDistanceBetweenObjects(roadStream.Get(), 11.0_m, target);
ASSERT_THAT(distance, ElementsAre(std::make_pair(node1->roadGraphVertex, std::nullopt),
- std::make_pair(node2->roadGraphVertex, std::optional<double>{269}),
+ std::make_pair(node2->roadGraphVertex, std::optional<units::length::meter_t>{269}),
std::make_pair(node3->roadGraphVertex, std::nullopt)));
};
TEST(GetDistanceBetweenObjects, BranchingStreamObjectTwoLeaf_ReturnsDistanceForBoth)
{
FakeRoadMultiStream roadStream;
- auto [node1, road1] = roadStream.AddRoot(100, true);
- auto [node2, road2] = roadStream.AddRoad(200, false, *node1);
- auto [node3, road3] = roadStream.AddRoad(300, true, *node1);
+ auto [node1, road1] = roadStream.AddRoot(100_m, true);
+ auto [node2, road2] = roadStream.AddRoad(200_m, false, *node1);
+ auto [node3, road3] = roadStream.AddRoad(300_m, true, *node1);
Fakes::WorldData worldData;
std::string idRoad1 = "Road1";
@@ -2488,126 +2488,126 @@ TEST(GetDistanceBetweenObjects, BranchingStreamObjectTwoLeaf_ReturnsDistanceForB
std::string idRoad3 = "Road3";
ON_CALL(*road3, GetId()).WillByDefault(ReturnRef(idRoad3));
- GlobalRoadPositions target{{"Road2", {"Road2", 0, 20, 0, 0}}, {"Road3", {"Road3", 0, 40, 0, 0}}};
+ GlobalRoadPositions target{{"Road2", {"Road2", 0, 20_m, 0_m, 0_rad}}, {"Road3", {"Road3", 0, 40_m, 0_m, 0_rad}}};
WorldDataQuery wdQuery(worldData);
- const auto distance = wdQuery.GetDistanceBetweenObjects(roadStream.Get(), 11.0, target);
+ const auto distance = wdQuery.GetDistanceBetweenObjects(roadStream.Get(), 11.0_m, target);
ASSERT_THAT(distance, ElementsAre(std::make_pair(node1->roadGraphVertex, std::nullopt),
- std::make_pair(node2->roadGraphVertex, std::optional<double>{269}),
- std::make_pair(node3->roadGraphVertex, std::optional<double>{129})));
+ std::make_pair(node2->roadGraphVertex, std::optional<units::length::meter_t>{269}),
+ std::make_pair(node3->roadGraphVertex, std::optional<units::length::meter_t>{129})));
};
TEST(GetObstruction, ObjectOnSameLane)
{
OWL::Fakes::WorldData worldData;
FakeLaneMultiStream laneStream;
- auto [node, lane] = laneStream.AddRoot(1000.0, true);
+ auto [node, lane] = laneStream.AddRoot(1000.0_m, true);
OWL::Fakes::Road fakeRoad;
std::string roadId{"Road"};
ON_CALL(fakeRoad, GetId()).WillByDefault(ReturnRef(roadId));
- ON_CALL(*lane, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(500.0));
- ON_CALL(*lane, GetDistance(OWL::MeasurementPoint::RoadEnd)).WillByDefault(Return(1500.0));
+ ON_CALL(*lane, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(500.0_m));
+ ON_CALL(*lane, GetDistance(OWL::MeasurementPoint::RoadEnd)).WillByDefault(Return(1500.0_m));
ON_CALL(*lane, GetRoad()).WillByDefault(ReturnRef(fakeRoad));
- Primitive::LaneGeometryJoint::Points sStartPoints{{},{2000.,2002.},{}};
- ON_CALL(*lane, GetInterpolatedPointsAtDistance(510)).WillByDefault(Return(sStartPoints));
- Primitive::LaneGeometryJoint::Points sEndPoints{{},{2005.,2002.},{}};
- ON_CALL(*lane, GetInterpolatedPointsAtDistance(515)).WillByDefault(Return(sEndPoints));
+ Primitive::LaneGeometryJoint::Points sStartPoints{{},{2000._m,2002._m},{}};
+ ON_CALL(*lane, GetInterpolatedPointsAtDistance(510_m)).WillByDefault(Return(sStartPoints));
+ Primitive::LaneGeometryJoint::Points sEndPoints{{},{2005._m,2002._m},{}};
+ ON_CALL(*lane, GetInterpolatedPointsAtDistance(515_m)).WillByDefault(Return(sEndPoints));
- double tCoordinate{0.0};
+ units::length::meter_t tCoordinate{0.0};
RoadInterval roadInterval{{},
- GlobalRoadPosition{"",0,510,0,0},
- GlobalRoadPosition{"",0,515,0,0},
- GlobalRoadPosition{"",0,510,0,0},
- GlobalRoadPosition{"",0,510,0,0}};
+ GlobalRoadPosition{"",0,510_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,515_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,510_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,510_m,0_m,0_rad}};
RoadIntervals touchedRoads{{"Road", roadInterval}};
- std::map<ObjectPoint, Common::Vector2d> points{{ObjectPointRelative::Leftmost, {2000., 2005.}},
- {ObjectPointRelative::Rightmost, {2000., 2000.}},
- {ObjectPointPredefined::FrontCenter, {2005., 2002.5}}};
+ std::map<ObjectPoint, Common::Vector2d<units::length::meter_t>> points{{ObjectPointRelative::Leftmost, {2000._m, 2005._m}},
+ {ObjectPointRelative::Rightmost, {2000._m, 2000._m}},
+ {ObjectPointPredefined::FrontCenter, {2005._m, 2002.5_m}}};
WorldDataQuery wdQuery{worldData};
auto result = wdQuery.GetObstruction(laneStream.Get(), tCoordinate, points, touchedRoads).at(node->roadGraphVertex);
- EXPECT_THAT(result.lateralDistances.at(ObjectPointRelative::Leftmost), Eq(3));
- EXPECT_THAT(result.lateralDistances.at(ObjectPointRelative::Rightmost), Eq(-2));
- EXPECT_THAT(result.lateralDistances.at(ObjectPointPredefined::FrontCenter), Eq(0.5));
+ EXPECT_THAT(result.lateralDistances.at(ObjectPointRelative::Leftmost).value(), Eq(3));
+ EXPECT_THAT(result.lateralDistances.at(ObjectPointRelative::Rightmost).value(), Eq(-2));
+ EXPECT_THAT(result.lateralDistances.at(ObjectPointPredefined::FrontCenter).value(), Eq(0.5));
}
TEST(GetObstruction, ObjectOnNextLane)
{
OWL::Fakes::WorldData worldData;
FakeLaneMultiStream laneStream;
- auto [node1, lane1] = laneStream.AddRoot(1000.0, true);
- auto [node2, lane2] = laneStream.AddLane(1000.0, true, *node1);
+ auto [node1, lane1] = laneStream.AddRoot(1000.0_m, true);
+ auto [node2, lane2] = laneStream.AddLane(1000.0_m, true, *node1);
OWL::Fakes::Road fakeRoad;
std::string roadId{"Road"};
ON_CALL(fakeRoad, GetId()).WillByDefault(ReturnRef(roadId));
- ON_CALL(*lane1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(500.0));
- ON_CALL(*lane1, GetDistance(OWL::MeasurementPoint::RoadEnd)).WillByDefault(Return(1500.0));
+ ON_CALL(*lane1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(500.0_m));
+ ON_CALL(*lane1, GetDistance(OWL::MeasurementPoint::RoadEnd)).WillByDefault(Return(1500.0_m));
ON_CALL(*lane1, GetRoad()).WillByDefault(ReturnRef(fakeRoad));
- ON_CALL(*lane2, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(1500.0));
- ON_CALL(*lane2, GetDistance(OWL::MeasurementPoint::RoadEnd)).WillByDefault(Return(2500.0));
+ ON_CALL(*lane2, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(1500.0_m));
+ ON_CALL(*lane2, GetDistance(OWL::MeasurementPoint::RoadEnd)).WillByDefault(Return(2500.0_m));
ON_CALL(*lane2, GetRoad()).WillByDefault(ReturnRef(fakeRoad));
- Primitive::LaneGeometryJoint::Points sStartPoints{{},{2000.,2002.},{}};
- ON_CALL(*lane2, GetInterpolatedPointsAtDistance(1510)).WillByDefault(Return(sStartPoints));
- Primitive::LaneGeometryJoint::Points sEndPoints{{},{2005.,2002.},{}};
- ON_CALL(*lane2, GetInterpolatedPointsAtDistance(1515)).WillByDefault(Return(sEndPoints));
+ Primitive::LaneGeometryJoint::Points sStartPoints{{},{2000._m,2002._m},{}};
+ ON_CALL(*lane2, GetInterpolatedPointsAtDistance(1510_m)).WillByDefault(Return(sStartPoints));
+ Primitive::LaneGeometryJoint::Points sEndPoints{{},{2005._m,2002._m},{}};
+ ON_CALL(*lane2, GetInterpolatedPointsAtDistance(1515_m)).WillByDefault(Return(sEndPoints));
- double tCoordinate{0.0};
+ units::length::meter_t tCoordinate{0.0};
RoadInterval roadInterval{{},
- GlobalRoadPosition{"",0,1510,0,0},
- GlobalRoadPosition{"",0,1515,0,0},
- GlobalRoadPosition{"",0,1510,0,0},
- GlobalRoadPosition{"",0,1510,0,0}};
+ GlobalRoadPosition{"",0,1510_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,1515_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,1510_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,1510_m,0_m,0_rad}};
RoadIntervals touchedRoads{{"Road", roadInterval}};
- std::map<ObjectPoint, Common::Vector2d> points{{ObjectPointRelative::Leftmost, {2000., 2005.}},
- {ObjectPointRelative::Rightmost, {2000., 2000.}},
- {ObjectPointPredefined::FrontCenter, {2005., 2002.5}}};
+ std::map<ObjectPoint, Common::Vector2d<units::length::meter_t>> points{{ObjectPointRelative::Leftmost, {2000._m, 2005._m}},
+ {ObjectPointRelative::Rightmost, {2000._m, 2000._m}},
+ {ObjectPointPredefined::FrontCenter, {2005._m, 2002.5_m}}};
WorldDataQuery wdQuery{worldData};
auto result = wdQuery.GetObstruction(laneStream.Get(), tCoordinate, points, touchedRoads).at(node2->roadGraphVertex);
- EXPECT_THAT(result.lateralDistances.at(ObjectPointRelative::Leftmost), Eq(3));
- EXPECT_THAT(result.lateralDistances.at(ObjectPointRelative::Rightmost), Eq(-2));
- EXPECT_THAT(result.lateralDistances.at(ObjectPointPredefined::FrontCenter), Eq(0.5));
+ EXPECT_THAT(result.lateralDistances.at(ObjectPointRelative::Leftmost).value(), Eq(3));
+ EXPECT_THAT(result.lateralDistances.at(ObjectPointRelative::Rightmost).value(), Eq(-2));
+ EXPECT_THAT(result.lateralDistances.at(ObjectPointPredefined::FrontCenter).value(), Eq(0.5));
}
TEST(GetObstruction, ObjectOnTwoLanes)
{
OWL::Fakes::WorldData worldData;
FakeLaneMultiStream laneStream;
- auto [node1, lane1] = laneStream.AddRoot(1000.0, true);
- auto [node2, lane2] = laneStream.AddLane(1000.0, true, *node1);
+ auto [node1, lane1] = laneStream.AddRoot(1000.0_m, true);
+ auto [node2, lane2] = laneStream.AddLane(1000.0_m, true, *node1);
OWL::Fakes::Road fakeRoad;
std::string roadId{"Road"};
ON_CALL(fakeRoad, GetId()).WillByDefault(ReturnRef(roadId));
- ON_CALL(*lane1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(500.0));
- ON_CALL(*lane1, GetDistance(OWL::MeasurementPoint::RoadEnd)).WillByDefault(Return(1500.0));
+ ON_CALL(*lane1, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(500.0_m));
+ ON_CALL(*lane1, GetDistance(OWL::MeasurementPoint::RoadEnd)).WillByDefault(Return(1500.0_m));
ON_CALL(*lane1, GetRoad()).WillByDefault(ReturnRef(fakeRoad));
- Primitive::LaneGeometryJoint::Points sStartPoints{{},{2000.,2000.},{}};
- ON_CALL(*lane1, GetInterpolatedPointsAtDistance(1490)).WillByDefault(Return(sStartPoints));
- ON_CALL(*lane2, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(1500.0));
- ON_CALL(*lane2, GetDistance(OWL::MeasurementPoint::RoadEnd)).WillByDefault(Return(2500.0));
+ Primitive::LaneGeometryJoint::Points sStartPoints{{},{2000._m,2000._m},{}};
+ ON_CALL(*lane1, GetInterpolatedPointsAtDistance(1490_m)).WillByDefault(Return(sStartPoints));
+ ON_CALL(*lane2, GetDistance(OWL::MeasurementPoint::RoadStart)).WillByDefault(Return(1500.0_m));
+ ON_CALL(*lane2, GetDistance(OWL::MeasurementPoint::RoadEnd)).WillByDefault(Return(2500.0_m));
ON_CALL(*lane2, GetRoad()).WillByDefault(ReturnRef(fakeRoad));
- Primitive::LaneGeometryJoint::Points sEndPoints{{},{2020.,2000.},{}};
- ON_CALL(*lane2, GetInterpolatedPointsAtDistance(1510)).WillByDefault(Return(sEndPoints));
+ Primitive::LaneGeometryJoint::Points sEndPoints{{},{2020._m,2000._m},{}};
+ ON_CALL(*lane2, GetInterpolatedPointsAtDistance(1510_m)).WillByDefault(Return(sEndPoints));
- double tCoordinate{0.0};
+ units::length::meter_t tCoordinate{0.0};
RoadInterval roadInterval{{},
- GlobalRoadPosition{"",0,1490,0,0},
- GlobalRoadPosition{"",0,1510,0,0},
- GlobalRoadPosition{"",0,1500,0,0},
- GlobalRoadPosition{"",0,1500,0,0}};
+ GlobalRoadPosition{"",0,1490_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,1510_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,1500_m,0_m,0_rad},
+ GlobalRoadPosition{"",0,1500_m,0_m,0_rad}};
RoadIntervals touchedRoads{{"Road", roadInterval}};
- std::map<ObjectPoint, Common::Vector2d> points{{ObjectPointRelative::Leftmost, {2010., 2010.}},
- {ObjectPointRelative::Rightmost, {2010., 1990.}},
- {ObjectPointPredefined::FrontCenter, {2005., 2005.}}};
+ std::map<ObjectPoint, Common::Vector2d<units::length::meter_t>> points{{ObjectPointRelative::Leftmost, {2010._m, 2010._m}},
+ {ObjectPointRelative::Rightmost, {2010._m, 1990._m}},
+ {ObjectPointPredefined::FrontCenter, {2005._m, 2005._m}}};
WorldDataQuery wdQuery{worldData};
auto result = wdQuery.GetObstruction(laneStream.Get(), tCoordinate, points, touchedRoads).at(node2->roadGraphVertex);
- EXPECT_THAT(result.lateralDistances.at(ObjectPointRelative::Leftmost), Eq(10));
- EXPECT_THAT(result.lateralDistances.at(ObjectPointRelative::Rightmost), Eq(-10));
- EXPECT_THAT(result.lateralDistances.at(ObjectPointPredefined::FrontCenter), Eq(5));
+ EXPECT_THAT(result.lateralDistances.at(ObjectPointRelative::Leftmost).value(), Eq(10));
+ EXPECT_THAT(result.lateralDistances.at(ObjectPointRelative::Rightmost).value(), Eq(-10));
+ EXPECT_THAT(result.lateralDistances.at(ObjectPointPredefined::FrontCenter).value(), Eq(5));
}
TEST(GetRelativeRoads, OnlyOneRouteNotInJunction_ReturnsOneElement)
@@ -2615,7 +2615,7 @@ TEST(GetRelativeRoads, OnlyOneRouteNotInJunction_ReturnsOneElement)
OWL::Fakes::WorldData worldData;
FakeRoadMultiStream roadStream;
- auto [node, roadA] = roadStream.AddRoot(100.0, true);
+ auto [node, roadA] = roadStream.AddRoot(100.0_m, true);
std::string idRoadA = "RoadA";
ON_CALL(*roadA, GetId()).WillByDefault(ReturnRef(idRoadA));
std::unordered_map<std::string, OWL::Road*> roads{{idRoadA, roadA}};
@@ -2624,11 +2624,11 @@ TEST(GetRelativeRoads, OnlyOneRouteNotInJunction_ReturnsOneElement)
ON_CALL(worldData, GetJunctions()).WillByDefault(ReturnRef(junctions));
WorldDataQuery wdQuery{worldData};
- auto result = wdQuery.GetRelativeRoads(roadStream.Get(), 0.0, 100.0).at(node->roadGraphVertex);
+ auto result = wdQuery.GetRelativeRoads(roadStream.Get(), 0.0_m, 100.0_m).at(node->roadGraphVertex);
EXPECT_THAT(result, SizeIs(1));
- EXPECT_THAT(result.at(0).startS, Eq(0));
- EXPECT_THAT(result.at(0).endS, Eq(100));
+ EXPECT_THAT(result.at(0).startS.value(), Eq(0));
+ EXPECT_THAT(result.at(0).endS.value(), Eq(100));
EXPECT_THAT(result.at(0).roadId, Eq("RoadA"));
EXPECT_THAT(result.at(0).junction, Eq(false));
EXPECT_THAT(result.at(0).inOdDirection, Eq(true));
@@ -2639,7 +2639,7 @@ TEST(GetRelativeRoads, OnlyOneRouteInJunction_ReturnsOneElement)
OWL::Fakes::WorldData worldData;
FakeRoadMultiStream roadStream;
- auto [node, roadA] = roadStream.AddRoot(100.0, true);
+ auto [node, roadA] = roadStream.AddRoot(100.0_m, true);
std::string idRoadA = "RoadA";
OWL::Fakes::Junction junction;
@@ -2654,11 +2654,11 @@ TEST(GetRelativeRoads, OnlyOneRouteInJunction_ReturnsOneElement)
ON_CALL(junction, GetConnectingRoads()).WillByDefault(ReturnRef(roadsOnJunction));
WorldDataQuery wdQuery{worldData};
- auto result = wdQuery.GetRelativeRoads(roadStream.Get(), 0.0, 100.0).at(node->roadGraphVertex);
+ auto result = wdQuery.GetRelativeRoads(roadStream.Get(), 0.0_m, 100.0_m).at(node->roadGraphVertex);
EXPECT_THAT(result, SizeIs(1));
- EXPECT_THAT(result.at(0).startS, Eq(0));
- EXPECT_THAT(result.at(0).endS, Eq(100));
+ EXPECT_THAT(result.at(0).startS.value(), Eq(0));
+ EXPECT_THAT(result.at(0).endS.value(), Eq(100));
EXPECT_THAT(result.at(0).roadId, Eq("RoadA"));
EXPECT_THAT(result.at(0).junction, Eq(true));
EXPECT_THAT(result.at(0).inOdDirection, Eq(true));
@@ -2669,15 +2669,15 @@ TEST(GetRelativeRoads, ThreeRoadsInJunction_ReturnsThreeElements)
OWL::Fakes::WorldData worldData;
FakeRoadMultiStream roadStream;
- auto [nodeA, roadA] = roadStream.AddRoot(100.0, true);
+ auto [nodeA, roadA] = roadStream.AddRoot(100.0_m, true);
std::string idRoadA = "RoadA";
- auto [nodeB, roadB] = roadStream.AddRoad(150.0, true, *nodeA);
+ auto [nodeB, roadB] = roadStream.AddRoad(150.0_m, true, *nodeA);
std::string idRoadB = "RoadB";
- auto [nodeC, roadC] = roadStream.AddRoad(200.0, false, *nodeB);
+ auto [nodeC, roadC] = roadStream.AddRoad(200.0_m, false, *nodeB);
std::string idRoadC = "RoadC";
- auto [nodeD, roadD] = roadStream.AddRoad(250.0, true, *nodeC);
+ auto [nodeD, roadD] = roadStream.AddRoad(250.0_m, true, *nodeC);
std::string idRoadD = "RoadD";
- auto [nodeE, roadE] = roadStream.AddRoad(300.0, true, *nodeD);
+ auto [nodeE, roadE] = roadStream.AddRoad(300.0_m, true, *nodeD);
std::string idRoadE = "RoadE";
OWL::Fakes::Junction junctionA;
@@ -2699,21 +2699,21 @@ TEST(GetRelativeRoads, ThreeRoadsInJunction_ReturnsThreeElements)
ON_CALL(junctionB, GetConnectingRoads()).WillByDefault(ReturnRef(roadsOnJunctionB));
WorldDataQuery wdQuery{worldData};
- auto result = wdQuery.GetRelativeRoads(roadStream.Get(), 110.0, 500.0).at(nodeD->roadGraphVertex);
+ auto result = wdQuery.GetRelativeRoads(roadStream.Get(), 110.0_m, 500.0_m).at(nodeD->roadGraphVertex);
EXPECT_THAT(result, SizeIs(3));
- EXPECT_THAT(result.at(0).startS, Eq(-10));
- EXPECT_THAT(result.at(0).endS, Eq(140));
+ EXPECT_THAT(result.at(0).startS.value(), Eq(-10));
+ EXPECT_THAT(result.at(0).endS.value(), Eq(140));
EXPECT_THAT(result.at(0).roadId, Eq("RoadB"));
EXPECT_THAT(result.at(0).junction, Eq(true));
EXPECT_THAT(result.at(0).inOdDirection, Eq(true));
- EXPECT_THAT(result.at(1).startS, Eq(140));
- EXPECT_THAT(result.at(1).endS, Eq(340));
+ EXPECT_THAT(result.at(1).startS.value(), Eq(140));
+ EXPECT_THAT(result.at(1).endS.value(), Eq(340));
EXPECT_THAT(result.at(1).roadId, Eq("RoadC"));
EXPECT_THAT(result.at(1).junction, Eq(false));
EXPECT_THAT(result.at(1).inOdDirection, Eq(false));
- EXPECT_THAT(result.at(2).startS, Eq(340));
- EXPECT_THAT(result.at(2).endS, Eq(590));
+ EXPECT_THAT(result.at(2).startS.value(), Eq(340));
+ EXPECT_THAT(result.at(2).endS.value(), Eq(590));
EXPECT_THAT(result.at(2).roadId, Eq("RoadD"));
EXPECT_THAT(result.at(2).junction, Eq(true));
EXPECT_THAT(result.at(2).inOdDirection, Eq(true));
@@ -2724,7 +2724,7 @@ TEST(GetRelativeLanes, OnlySectionInDrivingDirection_ReturnsLanesOfThisSection)
OWL::Fakes::WorldData worldData;
FakeRoadMultiStream roadStream;
- auto [node, road] = roadStream.AddRoot(100.0, true);
+ auto [node, road] = roadStream.AddRoot(100.0_m, true);
OWL::Fakes::Lane lane1;
OWL::Fakes::Lane lane2;
OWL::Fakes::Lane lane3;
@@ -2745,16 +2745,16 @@ TEST(GetRelativeLanes, OnlySectionInDrivingDirection_ReturnsLanesOfThisSection)
OWL::Fakes::Section section;
OWL::Interfaces::Lanes lanes{{&lane1, &lane2, &lane3}};
ON_CALL(section, GetLanes()).WillByDefault(ReturnRef(lanes));
- ON_CALL(section, GetLength()).WillByDefault(Return(100.0));
+ ON_CALL(section, GetLength()).WillByDefault(Return(100.0_m));
std::vector<const OWL::Interfaces::Section*> sections{§ion};
ON_CALL(*road, GetSections()).WillByDefault(ReturnRef(sections));
WorldDataQuery wdQuery{worldData};
- auto result = wdQuery.GetRelativeLanes(roadStream.Get(), 10.0, -1, 300.0, true).at(node->roadGraphVertex);
+ auto result = wdQuery.GetRelativeLanes(roadStream.Get(), 10.0_m, -1, 300.0_m, true).at(node->roadGraphVertex);
ASSERT_THAT(result, SizeIs(1));
- EXPECT_THAT(result.at(0).startS, Eq(-10));
- EXPECT_THAT(result.at(0).endS, Eq(90));
+ EXPECT_THAT(result.at(0).startS.value(), Eq(-10));
+ EXPECT_THAT(result.at(0).endS.value(), Eq(90));
ASSERT_THAT(result.at(0).lanes, SizeIs(3));
EXPECT_THAT(result.at(0).lanes.at(0).relativeId, Eq(0));
EXPECT_THAT(result.at(0).lanes.at(0).inDrivingDirection, Eq(true));
@@ -2778,7 +2778,7 @@ TEST(GetRelativeLanes, IncludeOncomingFalse_IgnoresOncomingLanes)
OWL::Fakes::WorldData worldData;
FakeRoadMultiStream roadStream;
- auto [node, road] = roadStream.AddRoot(100.0, true);
+ auto [node, road] = roadStream.AddRoot(100.0_m, true);
OWL::Fakes::Lane lane1;
OWL::Fakes::Lane lane2;
OWL::Fakes::Lane lane3;
@@ -2799,16 +2799,16 @@ TEST(GetRelativeLanes, IncludeOncomingFalse_IgnoresOncomingLanes)
OWL::Fakes::Section section;
OWL::Interfaces::Lanes lanes{{&lane1, &lane2, &lane3}};
ON_CALL(section, GetLanes()).WillByDefault(ReturnRef(lanes));
- ON_CALL(section, GetLength()).WillByDefault(Return(100.0));
+ ON_CALL(section, GetLength()).WillByDefault(Return(100.0_m));
std::vector<const OWL::Interfaces::Section*> sections{§ion};
ON_CALL(*road, GetSections()).WillByDefault(ReturnRef(sections));
WorldDataQuery wdQuery{worldData};
- auto result = wdQuery.GetRelativeLanes(roadStream.Get(), 10.0, -1, 300.0, false).at(node->roadGraphVertex);
+ auto result = wdQuery.GetRelativeLanes(roadStream.Get(), 10.0_m, -1, 300.0_m, false).at(node->roadGraphVertex);
ASSERT_THAT(result, SizeIs(1));
- EXPECT_THAT(result.at(0).startS, Eq(-10));
- EXPECT_THAT(result.at(0).endS, Eq(90));
+ EXPECT_THAT(result.at(0).startS.value(), Eq(-10));
+ EXPECT_THAT(result.at(0).endS.value(), Eq(90));
ASSERT_THAT(result.at(0).lanes, SizeIs(2));
EXPECT_THAT(result.at(0).lanes.at(0).relativeId, Eq(0));
EXPECT_THAT(result.at(0).lanes.at(0).inDrivingDirection, Eq(true));
@@ -2827,7 +2827,7 @@ TEST(GetRelativeLanes, OnlySectionAgainstDrivingDirection_ReturnsLanesOfThisSect
OWL::Fakes::WorldData worldData;
FakeRoadMultiStream roadStream;
- auto [node, road] = roadStream.AddRoot(100.0, false);
+ auto [node, road] = roadStream.AddRoot(100.0_m, false);
OWL::Fakes::Lane lane1;
OWL::Fakes::Lane lane2;
OWL::Fakes::Lane lane3;
@@ -2851,16 +2851,16 @@ TEST(GetRelativeLanes, OnlySectionAgainstDrivingDirection_ReturnsLanesOfThisSect
OWL::Fakes::Section section;
OWL::Interfaces::Lanes lanes{{&lane1, &lane2, &lane3}};
ON_CALL(section, GetLanes()).WillByDefault(ReturnRef(lanes));
- ON_CALL(section, GetLength()).WillByDefault(Return(100.0));
+ ON_CALL(section, GetLength()).WillByDefault(Return(100.0_m));
std::vector<const OWL::Interfaces::Section*> sections{§ion};
ON_CALL(*road, GetSections()).WillByDefault(ReturnRef(sections));
WorldDataQuery wdQuery{worldData};
- auto result = wdQuery.GetRelativeLanes(roadStream.Get(), 0.0, -1, 300.0, true).at(node->roadGraphVertex);
+ auto result = wdQuery.GetRelativeLanes(roadStream.Get(), 0.0_m, -1, 300.0_m, true).at(node->roadGraphVertex);
ASSERT_THAT(result, SizeIs(1));
- EXPECT_THAT(result.at(0).startS, Eq(0));
- EXPECT_THAT(result.at(0).endS, Eq(100));
+ EXPECT_THAT(result.at(0).startS.value(), Eq(0));
+ EXPECT_THAT(result.at(0).endS.value(), Eq(100));
ASSERT_THAT(result.at(0).lanes, SizeIs(3));
EXPECT_THAT(result.at(0).lanes.at(0).relativeId, Eq(0));
EXPECT_THAT(result.at(0).lanes.at(0).inDrivingDirection, Eq(false));
@@ -2884,7 +2884,7 @@ TEST(GetRelativeLanes, TwoSectionsOnSameRoad_ReturnsLanesOfBothSections)
OWL::Fakes::WorldData worldData;
FakeRoadMultiStream roadStream;
- auto [node, road] = roadStream.AddRoot(100.0, true);
+ auto [node, road] = roadStream.AddRoot(100.0_m, true);
OWL::Fakes::Lane lane1_1;
OWL::Fakes::Lane lane1_2;
OWL::Id idLane1_1 = 1, idLane1_2 = 2;
@@ -2900,7 +2900,7 @@ TEST(GetRelativeLanes, TwoSectionsOnSameRoad_ReturnsLanesOfBothSections)
OWL::Fakes::Section section1;
OWL::Interfaces::Lanes lanes1{{&lane1_1, &lane1_2}};
ON_CALL(section1, GetLanes()).WillByDefault(ReturnRef(lanes1));
- ON_CALL(section1, GetLength()).WillByDefault(Return(100.0));
+ ON_CALL(section1, GetLength()).WillByDefault(Return(100.0_m));
OWL::Fakes::Lane lane2_1;
OWL::Fakes::Lane lane2_2;
OWL::Fakes::Lane lane2_3;
@@ -2922,17 +2922,17 @@ TEST(GetRelativeLanes, TwoSectionsOnSameRoad_ReturnsLanesOfBothSections)
OWL::Fakes::Section section2;
OWL::Interfaces::Lanes lanes2{{&lane2_1, &lane2_2, &lane2_3}};
ON_CALL(section2, GetLanes()).WillByDefault(ReturnRef(lanes2));
- ON_CALL(section2, GetSOffset()).WillByDefault(Return(100.0));
- ON_CALL(section2, GetLength()).WillByDefault(Return(200.0));
+ ON_CALL(section2, GetSOffset()).WillByDefault(Return(100.0_m));
+ ON_CALL(section2, GetLength()).WillByDefault(Return(200.0_m));
std::vector<const OWL::Interfaces::Section*> sections{§ion1, §ion2};
ON_CALL(*road, GetSections()).WillByDefault(ReturnRef(sections));
WorldDataQuery wdQuery{worldData};
- auto result = wdQuery.GetRelativeLanes(roadStream.Get(), 0.0, -1, 300.0, true).at(node->roadGraphVertex);
+ auto result = wdQuery.GetRelativeLanes(roadStream.Get(), 0.0_m, -1, 300.0_m, true).at(node->roadGraphVertex);
ASSERT_THAT(result, SizeIs(2));
- EXPECT_THAT(result.at(0).startS, Eq(0));
- EXPECT_THAT(result.at(0).endS, Eq(100));
+ EXPECT_THAT(result.at(0).startS.value(), Eq(0));
+ EXPECT_THAT(result.at(0).endS.value(), Eq(100));
ASSERT_THAT(result.at(0).lanes, SizeIs(2));
EXPECT_THAT(result.at(0).lanes.at(0).relativeId, Eq(0));
EXPECT_THAT(result.at(0).lanes.at(0).inDrivingDirection, Eq(true));
@@ -2944,8 +2944,8 @@ TEST(GetRelativeLanes, TwoSectionsOnSameRoad_ReturnsLanesOfBothSections)
EXPECT_THAT(result.at(0).lanes.at(1).type, Eq(LaneType::Exit));
EXPECT_THAT(result.at(0).lanes.at(1).predecessor, Eq(std::nullopt));
EXPECT_THAT(result.at(0).lanes.at(1).successor.value(), Eq(-1));
- EXPECT_THAT(result.at(1).startS, Eq(100));
- EXPECT_THAT(result.at(1).endS, Eq(300));
+ EXPECT_THAT(result.at(1).startS.value(), Eq(100));
+ EXPECT_THAT(result.at(1).endS.value(), Eq(300));
ASSERT_THAT(result.at(1).lanes, SizeIs(3));
EXPECT_THAT(result.at(1).lanes.at(0).relativeId, Eq(0));
EXPECT_THAT(result.at(1).lanes.at(0).inDrivingDirection, Eq(true));
@@ -2969,7 +2969,7 @@ TEST(GetRelativeLanes, IdOfEgoLaneChanges_ReturnsLanesWithCorrectRelativeId)
OWL::Fakes::WorldData worldData;
FakeRoadMultiStream roadStream;
- auto [node, road] = roadStream.AddRoot(100.0, true);
+ auto [node, road] = roadStream.AddRoot(100.0_m, true);
OWL::Fakes::Lane lane1_1;
OWL::Fakes::Lane lane1_2;
OWL::Id idLane1_1 = 1, idLane1_2 = 2;
@@ -2985,7 +2985,7 @@ TEST(GetRelativeLanes, IdOfEgoLaneChanges_ReturnsLanesWithCorrectRelativeId)
OWL::Fakes::Section section1;
OWL::Interfaces::Lanes lanes1{{&lane1_1, &lane1_2}};
ON_CALL(section1, GetLanes()).WillByDefault(ReturnRef(lanes1));
- ON_CALL(section1, GetLength()).WillByDefault(Return(100.0));
+ ON_CALL(section1, GetLength()).WillByDefault(Return(100.0_m));
OWL::Fakes::Lane lane2_1;
OWL::Fakes::Lane lane2_2;
OWL::Fakes::Lane lane2_3;
@@ -3007,17 +3007,17 @@ TEST(GetRelativeLanes, IdOfEgoLaneChanges_ReturnsLanesWithCorrectRelativeId)
OWL::Fakes::Section section2;
OWL::Interfaces::Lanes lanes2{{&lane2_1, &lane2_2, &lane2_3}};
ON_CALL(section2, GetLanes()).WillByDefault(ReturnRef(lanes2));
- ON_CALL(section2, GetSOffset()).WillByDefault(Return(100.0));
- ON_CALL(section2, GetLength()).WillByDefault(Return(200.0));
+ ON_CALL(section2, GetSOffset()).WillByDefault(Return(100.0_m));
+ ON_CALL(section2, GetLength()).WillByDefault(Return(200.0_m));
std::vector<const OWL::Interfaces::Section*> sections{§ion1, §ion2};
ON_CALL(*road, GetSections()).WillByDefault(ReturnRef(sections));
WorldDataQuery wdQuery{worldData};
- auto result = wdQuery.GetRelativeLanes(roadStream.Get(), 0.0, -1, 300.0, true).at(node->roadGraphVertex);
+ auto result = wdQuery.GetRelativeLanes(roadStream.Get(), 0.0_m, -1, 300.0_m, true).at(node->roadGraphVertex);
ASSERT_THAT(result, SizeIs(2));
- EXPECT_THAT(result.at(0).startS, Eq(0));
- EXPECT_THAT(result.at(0).endS, Eq(100));
+ EXPECT_THAT(result.at(0).startS.value(), Eq(0));
+ EXPECT_THAT(result.at(0).endS.value(), Eq(100));
ASSERT_THAT(result.at(0).lanes, SizeIs(2));
EXPECT_THAT(result.at(0).lanes.at(0).relativeId, Eq(0));
EXPECT_THAT(result.at(0).lanes.at(0).inDrivingDirection, Eq(true));
@@ -3029,8 +3029,8 @@ TEST(GetRelativeLanes, IdOfEgoLaneChanges_ReturnsLanesWithCorrectRelativeId)
EXPECT_THAT(result.at(0).lanes.at(1).type, Eq(LaneType::Exit));
EXPECT_THAT(result.at(0).lanes.at(1).predecessor, Eq(std::nullopt));
EXPECT_THAT(result.at(0).lanes.at(1).successor.value(), Eq(-1));
- EXPECT_THAT(result.at(1).startS, Eq(100));
- EXPECT_THAT(result.at(1).endS, Eq(300));
+ EXPECT_THAT(result.at(1).startS.value(), Eq(100));
+ EXPECT_THAT(result.at(1).endS.value(), Eq(300));
ASSERT_THAT(result.at(1).lanes, SizeIs(3));
EXPECT_THAT(result.at(1).lanes.at(0).relativeId, Eq(1));
EXPECT_THAT(result.at(1).lanes.at(0).inDrivingDirection, Eq(true));
@@ -3054,9 +3054,9 @@ TEST(GetRelativeLane, BranchingTree_ReturnsLanesOfWayToNode)
OWL::Fakes::WorldData worldData;
FakeRoadMultiStream roadStream;
- auto [node1, road1] = roadStream.AddRoot(100.0, true);
- auto [node2, road2] = roadStream.AddRoad(150.0, true, *node1);
- auto [node3, road3] = roadStream.AddRoad(200.0, false, *node1);
+ auto [node1, road1] = roadStream.AddRoot(100.0_m, true);
+ auto [node2, road2] = roadStream.AddRoad(150.0_m, true, *node1);
+ auto [node3, road3] = roadStream.AddRoad(200.0_m, false, *node1);
OWL::Fakes::Lane lane1_1;
OWL::Fakes::Lane lane1_2;
OWL::Id idLane1_1 = 1, idLane1_2 = 2;
@@ -3072,7 +3072,7 @@ TEST(GetRelativeLane, BranchingTree_ReturnsLanesOfWayToNode)
OWL::Fakes::Section section1;
OWL::Interfaces::Lanes lanes1{{&lane1_1, &lane1_2}};
ON_CALL(section1, GetLanes()).WillByDefault(ReturnRef(lanes1));
- ON_CALL(section1, GetLength()).WillByDefault(Return(100.0));
+ ON_CALL(section1, GetLength()).WillByDefault(Return(100.0_m));
OWL::Fakes::Lane lane2_1;
OWL::Fakes::Lane lane2_2;
OWL::Id idLane2_1 = 3, idLane2_2 = 4;
@@ -3089,8 +3089,8 @@ TEST(GetRelativeLane, BranchingTree_ReturnsLanesOfWayToNode)
OWL::Fakes::Section section2;
OWL::Interfaces::Lanes lanes2{{&lane2_1, &lane2_2}};
ON_CALL(section2, GetLanes()).WillByDefault(ReturnRef(lanes2));
- ON_CALL(section2, GetSOffset()).WillByDefault(Return(0.0));
- ON_CALL(section2, GetLength()).WillByDefault(Return(150.0));
+ ON_CALL(section2, GetSOffset()).WillByDefault(Return(0.0_m));
+ ON_CALL(section2, GetLength()).WillByDefault(Return(150.0_m));
OWL::Fakes::Lane lane3_1;
OWL::Fakes::Lane lane3_2;
OWL::Id idLane3_1 = 5, idLane3_2 = 6;
@@ -3107,8 +3107,8 @@ TEST(GetRelativeLane, BranchingTree_ReturnsLanesOfWayToNode)
OWL::Fakes::Section section3;
OWL::Interfaces::Lanes lanes3{{&lane3_1, &lane3_2}};
ON_CALL(section3, GetLanes()).WillByDefault(ReturnRef(lanes3));
- ON_CALL(section3, GetSOffset()).WillByDefault(Return(0.0));
- ON_CALL(section3, GetLength()).WillByDefault(Return(200.0));
+ ON_CALL(section3, GetSOffset()).WillByDefault(Return(0.0_m));
+ ON_CALL(section3, GetLength()).WillByDefault(Return(200.0_m));
std::vector<const OWL::Interfaces::Section*> sections1{§ion1};
ON_CALL(*road1, GetSections()).WillByDefault(ReturnRef(sections1));
std::vector<const OWL::Interfaces::Section*> sections2{§ion2};
@@ -3117,13 +3117,13 @@ TEST(GetRelativeLane, BranchingTree_ReturnsLanesOfWayToNode)
ON_CALL(*road3, GetSections()).WillByDefault(ReturnRef(sections3));
WorldDataQuery wdQuery{worldData};
- auto result = wdQuery.GetRelativeLanes(roadStream.Get(), 0.0, -1, 300.0, true);
+ auto result = wdQuery.GetRelativeLanes(roadStream.Get(), 0.0_m, -1, 300.0_m, true);
auto result2 = result.at(node2->roadGraphVertex);
auto result3 = result.at(node3->roadGraphVertex);
ASSERT_THAT(result2, SizeIs(2));
- EXPECT_THAT(result2.at(0).startS, Eq(0));
- EXPECT_THAT(result2.at(0).endS, Eq(100));
+ EXPECT_THAT(result2.at(0).startS.value(), Eq(0));
+ EXPECT_THAT(result2.at(0).endS.value(), Eq(100));
ASSERT_THAT(result2.at(0).lanes, SizeIs(2));
EXPECT_THAT(result2.at(0).lanes.at(0).relativeId, Eq(0));
EXPECT_THAT(result2.at(0).lanes.at(0).inDrivingDirection, Eq(true));
@@ -3135,8 +3135,8 @@ TEST(GetRelativeLane, BranchingTree_ReturnsLanesOfWayToNode)
EXPECT_THAT(result2.at(0).lanes.at(1).type, Eq(LaneType::Exit));
EXPECT_THAT(result2.at(0).lanes.at(1).predecessor, Eq(std::nullopt));
EXPECT_THAT(result2.at(0).lanes.at(1).successor.value(), Eq(-1));
- EXPECT_THAT(result2.at(1).startS, Eq(100));
- EXPECT_THAT(result2.at(1).endS, Eq(250));
+ EXPECT_THAT(result2.at(1).startS.value(), Eq(100));
+ EXPECT_THAT(result2.at(1).endS.value(), Eq(250));
ASSERT_THAT(result2.at(1).lanes, SizeIs(2));
EXPECT_THAT(result2.at(1).lanes.at(0).relativeId, Eq(0));
EXPECT_THAT(result2.at(1).lanes.at(0).inDrivingDirection, Eq(true));
@@ -3150,8 +3150,8 @@ TEST(GetRelativeLane, BranchingTree_ReturnsLanesOfWayToNode)
EXPECT_THAT(result2.at(1).lanes.at(1).successor, Eq(std::nullopt));
ASSERT_THAT(result3, SizeIs(2));
- EXPECT_THAT(result3.at(0).startS, Eq(0));
- EXPECT_THAT(result3.at(0).endS, Eq(100));
+ EXPECT_THAT(result3.at(0).startS.value(), Eq(0));
+ EXPECT_THAT(result3.at(0).endS.value(), Eq(100));
ASSERT_THAT(result3.at(0).lanes, SizeIs(2));
EXPECT_THAT(result3.at(0).lanes.at(0).relativeId, Eq(0));
EXPECT_THAT(result3.at(0).lanes.at(0).inDrivingDirection, Eq(true));
@@ -3163,8 +3163,8 @@ TEST(GetRelativeLane, BranchingTree_ReturnsLanesOfWayToNode)
EXPECT_THAT(result3.at(0).lanes.at(1).type, Eq(LaneType::Exit));
EXPECT_THAT(result3.at(0).lanes.at(1).predecessor, Eq(std::nullopt));
EXPECT_THAT(result3.at(0).lanes.at(1).successor.value(), Eq(-1));
- EXPECT_THAT(result3.at(1).startS, Eq(100));
- EXPECT_THAT(result3.at(1).endS, Eq(300));
+ EXPECT_THAT(result3.at(1).startS.value(), Eq(100));
+ EXPECT_THAT(result3.at(1).endS.value(), Eq(300));
ASSERT_THAT(result3.at(1).lanes, SizeIs(2));
EXPECT_THAT(result3.at(1).lanes.at(0).relativeId, Eq(0));
EXPECT_THAT(result3.at(1).lanes.at(0).inDrivingDirection, Eq(true));
@@ -3183,7 +3183,7 @@ TEST(GetRelativeLaneId, OnlySectionInDrivingDirection_ReturnsCorrectRelativeId)
OWL::Fakes::WorldData worldData;
FakeRoadMultiStream roadStream;
- auto [node, road] = roadStream.AddRoot(100.0, true);
+ auto [node, road] = roadStream.AddRoot(100.0_m, true);
OWL::Fakes::Lane lane1;
OWL::Fakes::Lane lane2;
OWL::Fakes::Lane lane3;
@@ -3201,18 +3201,18 @@ TEST(GetRelativeLaneId, OnlySectionInDrivingDirection_ReturnsCorrectRelativeId)
OWL::Fakes::Section section;
OWL::Interfaces::Lanes lanes{{&lane1, &lane2, &lane3}};
ON_CALL(section, GetLanes()).WillByDefault(ReturnRef(lanes));
- ON_CALL(section, GetLength()).WillByDefault(Return(100.0));
+ ON_CALL(section, GetLength()).WillByDefault(Return(100.0_m));
std::vector<const OWL::Interfaces::Section*> sections{§ion};
ON_CALL(*road, GetSections()).WillByDefault(ReturnRef(sections));
std::string idRoad = "RoadA";
ON_CALL(*road, GetId()).WillByDefault(ReturnRef(idRoad));
- GlobalRoadPositions targetPosition1{{idRoad, {idRoad, 1, 15., 0, 0}}};
- GlobalRoadPositions targetPosition2{{idRoad, {idRoad, -2, 15., 0, 0}}};
+ GlobalRoadPositions targetPosition1{{idRoad, {idRoad, 1, 15._m, 0_m, 0_rad}}};
+ GlobalRoadPositions targetPosition2{{idRoad, {idRoad, -2, 15._m, 0_m, 0_rad}}};
WorldDataQuery wdQuery{worldData};
- auto result1 = wdQuery.GetRelativeLaneId(roadStream.Get(), 10.0, -1, targetPosition1).at(node->roadGraphVertex);
- auto result2 = wdQuery.GetRelativeLaneId(roadStream.Get(), 10.0, -1, targetPosition2).at(node->roadGraphVertex);
+ auto result1 = wdQuery.GetRelativeLaneId(roadStream.Get(), 10.0_m, -1, targetPosition1).at(node->roadGraphVertex);
+ auto result2 = wdQuery.GetRelativeLaneId(roadStream.Get(), 10.0_m, -1, targetPosition2).at(node->roadGraphVertex);
EXPECT_THAT(result1, Eq(1));
EXPECT_THAT(result2, Eq(-1));
@@ -3223,7 +3223,7 @@ TEST(GetRelativeLaneId, IdOfEgoLaneChanges_ReturnsCorrectRelativeId)
OWL::Fakes::WorldData worldData;
FakeRoadMultiStream roadStream;
- auto [node, road] = roadStream.AddRoot(100.0, true);
+ auto [node, road] = roadStream.AddRoot(100.0_m, true);
OWL::Fakes::Lane lane1_1;
OWL::Fakes::Lane lane1_2;
OWL::Id idLane1_1 = 1, idLane1_2 = 2;
@@ -3237,7 +3237,7 @@ TEST(GetRelativeLaneId, IdOfEgoLaneChanges_ReturnsCorrectRelativeId)
OWL::Fakes::Section section1;
OWL::Interfaces::Lanes lanes1{{&lane1_1, &lane1_2}};
ON_CALL(section1, GetLanes()).WillByDefault(ReturnRef(lanes1));
- ON_CALL(section1, GetLength()).WillByDefault(Return(100.0));
+ ON_CALL(section1, GetLength()).WillByDefault(Return(100.0_m));
OWL::Fakes::Lane lane2_1;
OWL::Fakes::Lane lane2_2;
OWL::Fakes::Lane lane2_3;
@@ -3256,19 +3256,19 @@ TEST(GetRelativeLaneId, IdOfEgoLaneChanges_ReturnsCorrectRelativeId)
OWL::Fakes::Section section2;
OWL::Interfaces::Lanes lanes2{{&lane2_1, &lane2_2, &lane2_3}};
ON_CALL(section2, GetLanes()).WillByDefault(ReturnRef(lanes2));
- ON_CALL(section2, GetSOffset()).WillByDefault(Return(100.0));
- ON_CALL(section2, GetLength()).WillByDefault(Return(200.0));
+ ON_CALL(section2, GetSOffset()).WillByDefault(Return(100.0_m));
+ ON_CALL(section2, GetLength()).WillByDefault(Return(200.0_m));
std::vector<const OWL::Interfaces::Section*> sections{§ion1, §ion2};
ON_CALL(*road, GetSections()).WillByDefault(ReturnRef(sections));
std::string idRoad = "RoadA";
ON_CALL(*road, GetId()).WillByDefault(ReturnRef(idRoad));
- GlobalRoadPositions targetPosition1{{idRoad, {idRoad, -1, 115., 0, 0}}};
- GlobalRoadPositions targetPosition2{{idRoad, {idRoad, -2, 115., 0, 0}}};
+ GlobalRoadPositions targetPosition1{{idRoad, {idRoad, -1, 115._m, 0_m, 0_rad}}};
+ GlobalRoadPositions targetPosition2{{idRoad, {idRoad, -2, 115._m, 0_m, 0_rad}}};
WorldDataQuery wdQuery{worldData};
- auto result1 = wdQuery.GetRelativeLaneId(roadStream.Get(), 10.0, -1, targetPosition1).at(node->roadGraphVertex);
- auto result2 = wdQuery.GetRelativeLaneId(roadStream.Get(), 10.0, -1, targetPosition2).at(node->roadGraphVertex);
+ auto result1 = wdQuery.GetRelativeLaneId(roadStream.Get(), 10.0_m, -1, targetPosition1).at(node->roadGraphVertex);
+ auto result2 = wdQuery.GetRelativeLaneId(roadStream.Get(), 10.0_m, -1, targetPosition2).at(node->roadGraphVertex);
EXPECT_THAT(result1, Eq(1));
EXPECT_THAT(result2, Eq(0));
@@ -3279,9 +3279,9 @@ TEST(GetRelativeLaneId, BranchingTree_ReturnsCorrectRelativeId)
OWL::Fakes::WorldData worldData;
FakeRoadMultiStream roadStream;
- auto [node1, road1] = roadStream.AddRoot(100.0, true);
- auto [node2, road2] = roadStream.AddRoad(150.0, true, *node1);
- auto [node3, road3] = roadStream.AddRoad(200.0, false, *node1);
+ auto [node1, road1] = roadStream.AddRoot(100.0_m, true);
+ auto [node2, road2] = roadStream.AddRoad(150.0_m, true, *node1);
+ auto [node3, road3] = roadStream.AddRoad(200.0_m, false, *node1);
OWL::Fakes::Lane lane1_1;
OWL::Fakes::Lane lane1_2;
OWL::Id idLane1_1 = 1, idLane1_2 = 2;
@@ -3295,7 +3295,7 @@ TEST(GetRelativeLaneId, BranchingTree_ReturnsCorrectRelativeId)
OWL::Fakes::Section section1;
OWL::Interfaces::Lanes lanes1{{&lane1_1, &lane1_2}};
ON_CALL(section1, GetLanes()).WillByDefault(ReturnRef(lanes1));
- ON_CALL(section1, GetLength()).WillByDefault(Return(100.0));
+ ON_CALL(section1, GetLength()).WillByDefault(Return(100.0_m));
OWL::Fakes::Lane lane2_1;
OWL::Fakes::Lane lane2_2;
OWL::Id idLane2_1 = 3, idLane2_2 = 4;
@@ -3310,8 +3310,8 @@ TEST(GetRelativeLaneId, BranchingTree_ReturnsCorrectRelativeId)
OWL::Fakes::Section section2;
OWL::Interfaces::Lanes lanes2{{&lane2_1, &lane2_2}};
ON_CALL(section2, GetLanes()).WillByDefault(ReturnRef(lanes2));
- ON_CALL(section2, GetSOffset()).WillByDefault(Return(0.0));
- ON_CALL(section2, GetLength()).WillByDefault(Return(150.0));
+ ON_CALL(section2, GetSOffset()).WillByDefault(Return(0.0_m));
+ ON_CALL(section2, GetLength()).WillByDefault(Return(150.0_m));
OWL::Fakes::Lane lane3_1;
OWL::Fakes::Lane lane3_2;
OWL::Id idLane3_1 = 5, idLane3_2 = 6;
@@ -3326,8 +3326,8 @@ TEST(GetRelativeLaneId, BranchingTree_ReturnsCorrectRelativeId)
OWL::Fakes::Section section3;
OWL::Interfaces::Lanes lanes3{{&lane3_1, &lane3_2}};
ON_CALL(section3, GetLanes()).WillByDefault(ReturnRef(lanes3));
- ON_CALL(section3, GetSOffset()).WillByDefault(Return(0.0));
- ON_CALL(section3, GetLength()).WillByDefault(Return(200.0));
+ ON_CALL(section3, GetSOffset()).WillByDefault(Return(0.0_m));
+ ON_CALL(section3, GetLength()).WillByDefault(Return(200.0_m));
std::vector<const OWL::Interfaces::Section*> sections1{§ion1};
ON_CALL(*road1, GetSections()).WillByDefault(ReturnRef(sections1));
std::vector<const OWL::Interfaces::Section*> sections2{§ion2};
@@ -3342,12 +3342,12 @@ TEST(GetRelativeLaneId, BranchingTree_ReturnsCorrectRelativeId)
ON_CALL(*road2, GetId()).WillByDefault(ReturnRef(idRoad2));
ON_CALL(*road3, GetId()).WillByDefault(ReturnRef(idRoad3));
- GlobalRoadPositions targetPosition1{{idRoad2, {idRoad2, -1, 115., 0, 0}}, {idRoad3, {idRoad3, 1, 115., 0, 0}}};
- GlobalRoadPositions targetPosition2{{idRoad2, {idRoad2, -2, 115., 0, 0}}, {idRoad3, {idRoad3, 2, 115., 0, 0}}};
+ GlobalRoadPositions targetPosition1{{idRoad2, {idRoad2, -1, 115._m, 0_m, 0_rad}}, {idRoad3, {idRoad3, 1, 115._m, 0_m, 0_rad}}};
+ GlobalRoadPositions targetPosition2{{idRoad2, {idRoad2, -2, 115._m, 0_m, 0_rad}}, {idRoad3, {idRoad3, 2, 115._m, 0_m, 0_rad}}};
WorldDataQuery wdQuery{worldData};
- auto result1 = wdQuery.GetRelativeLaneId(roadStream.Get(), 10.0, -1, targetPosition1).at(node3->roadGraphVertex);
- auto result2 = wdQuery.GetRelativeLaneId(roadStream.Get(), 10.0, -1, targetPosition2).at(node3->roadGraphVertex);
+ auto result1 = wdQuery.GetRelativeLaneId(roadStream.Get(), 10.0_m, -1, targetPosition1).at(node3->roadGraphVertex);
+ auto result2 = wdQuery.GetRelativeLaneId(roadStream.Get(), 10.0_m, -1, targetPosition2).at(node3->roadGraphVertex);
EXPECT_THAT(result1, Eq(0));
EXPECT_THAT(result2, Eq(-1));
@@ -3358,7 +3358,7 @@ TEST(GetRelativeLaneId, TargetOnPreviousSection_ReturnsCorrectRelativeId)
OWL::Fakes::WorldData worldData;
FakeRoadMultiStream roadStream;
- auto [node, road] = roadStream.AddRoot(100.0, true);
+ auto [node, road] = roadStream.AddRoot(100.0_m, true);
OWL::Fakes::Lane lane1_1;
OWL::Fakes::Lane lane1_2;
OWL::Id idLane1_1 = 1, idLane1_2 = 2;
@@ -3372,7 +3372,7 @@ TEST(GetRelativeLaneId, TargetOnPreviousSection_ReturnsCorrectRelativeId)
OWL::Fakes::Section section1;
OWL::Interfaces::Lanes lanes1{{&lane1_1, &lane1_2}};
ON_CALL(section1, GetLanes()).WillByDefault(ReturnRef(lanes1));
- ON_CALL(section1, GetLength()).WillByDefault(Return(100.0));
+ ON_CALL(section1, GetLength()).WillByDefault(Return(100.0_m));
OWL::Fakes::Lane lane2_1;
OWL::Fakes::Lane lane2_2;
OWL::Fakes::Lane lane2_3;
@@ -3391,19 +3391,19 @@ TEST(GetRelativeLaneId, TargetOnPreviousSection_ReturnsCorrectRelativeId)
OWL::Fakes::Section section2;
OWL::Interfaces::Lanes lanes2{{&lane2_1, &lane2_2, &lane2_3}};
ON_CALL(section2, GetLanes()).WillByDefault(ReturnRef(lanes2));
- ON_CALL(section2, GetSOffset()).WillByDefault(Return(100.0));
- ON_CALL(section2, GetLength()).WillByDefault(Return(200.0));
+ ON_CALL(section2, GetSOffset()).WillByDefault(Return(100.0_m));
+ ON_CALL(section2, GetLength()).WillByDefault(Return(200.0_m));
std::vector<const OWL::Interfaces::Section*> sections{§ion1, §ion2};
ON_CALL(*road, GetSections()).WillByDefault(ReturnRef(sections));
std::string idRoad = "RoadA";
ON_CALL(*road, GetId()).WillByDefault(ReturnRef(idRoad));
- GlobalRoadPositions targetPosition1{{idRoad, {idRoad, -1, 15., 0, 0}}};
- GlobalRoadPositions targetPosition2{{idRoad, {idRoad, -2, 15., 0, 0}}};
+ GlobalRoadPositions targetPosition1{{idRoad, {idRoad, -1, 15._m, 0_m, 0_rad}}};
+ GlobalRoadPositions targetPosition2{{idRoad, {idRoad, -2, 15._m, 0_m, 0_rad}}};
WorldDataQuery wdQuery{worldData};
- auto result1 = wdQuery.GetRelativeLaneId(roadStream.Get(), 110.0, -2, targetPosition1).at(node->roadGraphVertex);
- auto result2 = wdQuery.GetRelativeLaneId(roadStream.Get(), 110.0, -2, targetPosition2).at(node->roadGraphVertex);
+ auto result1 = wdQuery.GetRelativeLaneId(roadStream.Get(), 110.0_m, -2, targetPosition1).at(node->roadGraphVertex);
+ auto result2 = wdQuery.GetRelativeLaneId(roadStream.Get(), 110.0_m, -2, targetPosition2).at(node->roadGraphVertex);
EXPECT_THAT(result1, Eq(0));
EXPECT_THAT(result2, Eq(-1));
@@ -3415,8 +3415,8 @@ TEST(GetRelativeLaneId, TargetOnPreviousRoad_ReturnsCorrectRelativeId)
OWL::Fakes::WorldData worldData;
FakeRoadMultiStream roadStream;
- auto [node1, road1] = roadStream.AddRoot(100.0, true);
- auto [node2, road2] = roadStream.AddRoad(150.0, true, *node1);
+ auto [node1, road1] = roadStream.AddRoot(100.0_m, true);
+ auto [node2, road2] = roadStream.AddRoad(150.0_m, true, *node1);
OWL::Fakes::Lane lane1_1;
OWL::Fakes::Lane lane1_2;
OWL::Id idLane1_1 = 1, idLane1_2 = 2;
@@ -3430,7 +3430,7 @@ TEST(GetRelativeLaneId, TargetOnPreviousRoad_ReturnsCorrectRelativeId)
OWL::Fakes::Section section1;
OWL::Interfaces::Lanes lanes1{{&lane1_1, &lane1_2}};
ON_CALL(section1, GetLanes()).WillByDefault(ReturnRef(lanes1));
- ON_CALL(section1, GetLength()).WillByDefault(Return(100.0));
+ ON_CALL(section1, GetLength()).WillByDefault(Return(100.0_m));
OWL::Fakes::Lane lane2_1;
OWL::Fakes::Lane lane2_2;
OWL::Id idLane2_1 = 3, idLane2_2 = 4;
@@ -3444,8 +3444,8 @@ TEST(GetRelativeLaneId, TargetOnPreviousRoad_ReturnsCorrectRelativeId)
OWL::Fakes::Section section2;
OWL::Interfaces::Lanes lanes2{{&lane2_1, &lane2_2}};
ON_CALL(section2, GetLanes()).WillByDefault(ReturnRef(lanes2));
- ON_CALL(section2, GetSOffset()).WillByDefault(Return(0.0));
- ON_CALL(section2, GetLength()).WillByDefault(Return(150.0));
+ ON_CALL(section2, GetSOffset()).WillByDefault(Return(0.0_m));
+ ON_CALL(section2, GetLength()).WillByDefault(Return(150.0_m));
std::vector<const OWL::Interfaces::Section*> sections1{§ion1};
ON_CALL(*road1, GetSections()).WillByDefault(ReturnRef(sections1));
std::vector<const OWL::Interfaces::Section*> sections2{§ion2};
@@ -3456,10 +3456,10 @@ TEST(GetRelativeLaneId, TargetOnPreviousRoad_ReturnsCorrectRelativeId)
ON_CALL(*road1, GetId()).WillByDefault(ReturnRef(idRoad1));
ON_CALL(*road2, GetId()).WillByDefault(ReturnRef(idRoad2));
- GlobalRoadPositions targetPosition{{idRoad1, {idRoad1, -1, 15., 0, 0}}};
+ GlobalRoadPositions targetPosition{{idRoad1, {idRoad1, -1, 15._m, 0_m, 0_rad}}};
WorldDataQuery wdQuery{worldData};
- auto result = wdQuery.GetRelativeLaneId(roadStream.Get(), 110.0, -2, targetPosition).at(node2->roadGraphVertex);
+ auto result = wdQuery.GetRelativeLaneId(roadStream.Get(), 110.0_m, -2, targetPosition).at(node2->roadGraphVertex);
EXPECT_THAT(result, Eq(0));
}
@@ -3468,54 +3468,54 @@ TEST(GetLaneCurvature, OnLaneStreamReturnsCorrectCurvature)
{
OWL::Fakes::WorldData worldData;
FakeLaneMultiStream laneStream;
- auto [node1, lane1] = laneStream.AddRoot(100.0, true);
- auto [node2, lane2] = laneStream.AddLane(150.0, true, *node1);
- auto [node3, lane3] = laneStream.AddLane(200.0, false, *node1);
+ auto [node1, lane1] = laneStream.AddRoot(100.0_m, true);
+ auto [node2, lane2] = laneStream.AddLane(150.0_m, true, *node1);
+ auto [node3, lane3] = laneStream.AddLane(200.0_m, false, *node1);
- ON_CALL(*lane2, GetCurvature(DoubleEq(50.0))).WillByDefault(Return(0.1));
- ON_CALL(*lane3, GetCurvature(DoubleEq(150.0))).WillByDefault(Return(0.2));
+ ON_CALL(*lane2, GetCurvature(50.0_m)).WillByDefault(Return(0.1_i_m));
+ ON_CALL(*lane3, GetCurvature(150.0_m)).WillByDefault(Return(0.2_i_m));
WorldDataQuery wdQuery{worldData};
- auto result = wdQuery.GetLaneCurvature(laneStream.Get(), 150.0);
+ auto result = wdQuery.GetLaneCurvature(laneStream.Get(), 150.0_m);
- EXPECT_THAT(result.at(node2->roadGraphVertex), Eq(0.1));
- EXPECT_THAT(result.at(node3->roadGraphVertex), Eq(0.2));
+ EXPECT_THAT(result.at(node2->roadGraphVertex), Eq(0.1_i_m));
+ EXPECT_THAT(result.at(node3->roadGraphVertex), Eq(0.2_i_m));
}
TEST(GetLaneWidth, OnLaneStreamReturnsCorrectCurvature)
{
OWL::Fakes::WorldData worldData;
FakeLaneMultiStream laneStream;
- auto [node1, lane1] = laneStream.AddRoot(100.0, true);
- auto [node2, lane2] = laneStream.AddLane(150.0, true, *node1);
- auto [node3, lane3] = laneStream.AddLane(200.0, false, *node1);
+ auto [node1, lane1] = laneStream.AddRoot(100.0_m, true);
+ auto [node2, lane2] = laneStream.AddLane(150.0_m, true, *node1);
+ auto [node3, lane3] = laneStream.AddLane(200.0_m, false, *node1);
- ON_CALL(*lane2, GetWidth(DoubleEq(50.0))).WillByDefault(Return(1.1));
- ON_CALL(*lane3, GetWidth(DoubleEq(150.0))).WillByDefault(Return(2.2));
+ ON_CALL(*lane2, GetWidth(50.0_m)).WillByDefault(Return(1.1_m));
+ ON_CALL(*lane3, GetWidth(150.0_m)).WillByDefault(Return(2.2_m));
WorldDataQuery wdQuery{worldData};
- auto result = wdQuery.GetLaneWidth(laneStream.Get(), 150.0);
+ auto result = wdQuery.GetLaneWidth(laneStream.Get(), 150.0_m);
- EXPECT_THAT(result.at(node2->roadGraphVertex), Eq(1.1));
- EXPECT_THAT(result.at(node3->roadGraphVertex), Eq(2.2));
+ EXPECT_THAT(result.at(node2->roadGraphVertex), Eq(1.1_m));
+ EXPECT_THAT(result.at(node3->roadGraphVertex), Eq(2.2_m));
}
TEST(GetLaneDirection, OnLaneStreamReturnsCorrectCurvature)
{
OWL::Fakes::WorldData worldData;
FakeLaneMultiStream laneStream;
- auto [node1, lane1] = laneStream.AddRoot(100.0, true);
- auto [node2, lane2] = laneStream.AddLane(150.0, true, *node1);
- auto [node3, lane3] = laneStream.AddLane(200.0, false, *node1);
+ auto [node1, lane1] = laneStream.AddRoot(100.0_m, true);
+ auto [node2, lane2] = laneStream.AddLane(150.0_m, true, *node1);
+ auto [node3, lane3] = laneStream.AddLane(200.0_m, false, *node1);
- ON_CALL(*lane2, GetDirection(DoubleEq(50.0))).WillByDefault(Return(0.1));
- ON_CALL(*lane3, GetDirection(DoubleEq(150.0))).WillByDefault(Return(0.2));
+ ON_CALL(*lane2, GetDirection(50.0_m)).WillByDefault(Return(0.1_rad));
+ ON_CALL(*lane3, GetDirection(150.0_m)).WillByDefault(Return(0.2_rad));
WorldDataQuery wdQuery{worldData};
- auto result = wdQuery.GetLaneDirection(laneStream.Get(), 150.0);
+ auto result = wdQuery.GetLaneDirection(laneStream.Get(), 150.0_m);
- EXPECT_THAT(result.at(node2->roadGraphVertex), Eq(0.1));
- EXPECT_THAT(result.at(node3->roadGraphVertex), Eq(0.2));
+ EXPECT_THAT(result.at(node2->roadGraphVertex), Eq(0.1_rad));
+ EXPECT_THAT(result.at(node3->roadGraphVertex), Eq(0.2_rad));
}
TEST(GetEdgeWeights, ReturnsMapWithCorrectRates)
@@ -3549,9 +3549,9 @@ TEST(ResolveRelativePoint, ObjectOnFirstRoad)
{
OWL::Fakes::WorldData worldData;
FakeRoadMultiStream roadStream;
- auto [node1, road1] = roadStream.AddRoot(100, true);
- auto [node2, road2] = roadStream.AddRoad(200, false, *node1);
- auto [node3, road3] = roadStream.AddRoad(300, true, *node1);
+ auto [node1, road1] = roadStream.AddRoot(100_m, true);
+ auto [node2, road2] = roadStream.AddRoad(200_m, false, *node1);
+ auto [node3, road3] = roadStream.AddRoad(300_m, true, *node1);
std::string idRoad1 = "Road1";
ON_CALL(*road1, GetId()).WillByDefault(ReturnRef(idRoad1));
std::string idRoad2 = "Road2";
@@ -3560,10 +3560,10 @@ TEST(ResolveRelativePoint, ObjectOnFirstRoad)
ON_CALL(*road3, GetId()).WillByDefault(ReturnRef(idRoad3));
RoadInterval roadInterval{{},
- GlobalRoadPosition{"Road1",0,10,0,0},
- GlobalRoadPosition{"Road1",0,15,0,0},
- GlobalRoadPosition{"Road1",0,12,-1,0},
- GlobalRoadPosition{"Road1",0,12,2,0}};
+ GlobalRoadPosition{"Road1",0,10_m,0_m,0_rad},
+ GlobalRoadPosition{"Road1",0,15_m,0_m,0_rad},
+ GlobalRoadPosition{"Road1",0,12_m,-1_m,0_rad},
+ GlobalRoadPosition{"Road1",0,12_m,2_m,0_rad}};
RoadIntervals touchedRoads{{"Road1", roadInterval}};
WorldDataQuery wdQuery{worldData};
@@ -3572,30 +3572,30 @@ TEST(ResolveRelativePoint, ObjectOnFirstRoad)
auto rightmost = wdQuery.ResolveRelativePoint(roadStream.Get(), ObjectPointRelative::Rightmost, touchedRoads);
auto leftmost = wdQuery.ResolveRelativePoint(roadStream.Get(), ObjectPointRelative::Leftmost, touchedRoads);
- ASSERT_THAT(rearmost.at(node1->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,10,0,0}));
- ASSERT_THAT(rearmost.at(node2->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,10,0,0}));
- ASSERT_THAT(rearmost.at(node3->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,10,0,0}));
+ ASSERT_THAT(rearmost.at(node1->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,10_m,0_m,0_rad}));
+ ASSERT_THAT(rearmost.at(node2->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,10_m,0_m,0_rad}));
+ ASSERT_THAT(rearmost.at(node3->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,10_m,0_m,0_rad}));
- ASSERT_THAT(frontmost.at(node1->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,15,0,0}));
- ASSERT_THAT(frontmost.at(node2->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,15,0,0}));
- ASSERT_THAT(frontmost.at(node3->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,15,0,0}));
+ ASSERT_THAT(frontmost.at(node1->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,15_m,0_m,0_rad}));
+ ASSERT_THAT(frontmost.at(node2->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,15_m,0_m,0_rad}));
+ ASSERT_THAT(frontmost.at(node3->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,15_m,0_m,0_rad}));
- ASSERT_THAT(rightmost.at(node1->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,12,-1,0}));
- ASSERT_THAT(rightmost.at(node2->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,12,-1,0}));
- ASSERT_THAT(rightmost.at(node3->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,12,-1,0}));
+ ASSERT_THAT(rightmost.at(node1->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,12_m,-1_m,0_rad}));
+ ASSERT_THAT(rightmost.at(node2->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,12_m,-1_m,0_rad}));
+ ASSERT_THAT(rightmost.at(node3->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,12_m,-1_m,0_rad}));
- ASSERT_THAT(leftmost.at(node1->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,12,2,0}));
- ASSERT_THAT(leftmost.at(node2->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,12,2,0}));
- ASSERT_THAT(leftmost.at(node3->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,12,2,0}));
+ ASSERT_THAT(leftmost.at(node1->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,12_m,2_m,0_rad}));
+ ASSERT_THAT(leftmost.at(node2->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,12_m,2_m,0_rad}));
+ ASSERT_THAT(leftmost.at(node3->roadGraphVertex), Eq(GlobalRoadPosition{"Road1",0,12_m,2_m,0_rad}));
}
TEST(ResolveRelativePoint, ObjectOnSecondRoads)
{
OWL::Fakes::WorldData worldData;
FakeRoadMultiStream roadStream;
- auto [node1, road1] = roadStream.AddRoot(100, true);
- auto [node2, road2] = roadStream.AddRoad(200, false, *node1);
- auto [node3, road3] = roadStream.AddRoad(300, true, *node1);
+ auto [node1, road1] = roadStream.AddRoot(100_m, true);
+ auto [node2, road2] = roadStream.AddRoad(200_m, false, *node1);
+ auto [node3, road3] = roadStream.AddRoad(300_m, true, *node1);
std::string idRoad1 = "Road1";
ON_CALL(*road1, GetId()).WillByDefault(ReturnRef(idRoad1));
std::string idRoad2 = "Road2";
@@ -3604,15 +3604,15 @@ TEST(ResolveRelativePoint, ObjectOnSecondRoads)
ON_CALL(*road3, GetId()).WillByDefault(ReturnRef(idRoad3));
RoadInterval roadInterval2{{},
- GlobalRoadPosition{"Road2",0,110,0,0},
- GlobalRoadPosition{"Road2",0,115,0,0},
- GlobalRoadPosition{"Road2",0,112,-1,0},
- GlobalRoadPosition{"Road2",0,112,2,0}};
+ GlobalRoadPosition{"Road2",0,110_m, 0_m,0_rad},
+ GlobalRoadPosition{"Road2",0,115_m, 0_m,0_rad},
+ GlobalRoadPosition{"Road2",0,112_m,-1_m,0_rad},
+ GlobalRoadPosition{"Road2",0,112_m, 2_m,0_rad}};
RoadInterval roadInterval3{{},
- GlobalRoadPosition{"Road3",0,210,0,0},
- GlobalRoadPosition{"Road3",0,215,0,0},
- GlobalRoadPosition{"Road3",0,212,-1,0},
- GlobalRoadPosition{"Road3",0,212,2,0}};
+ GlobalRoadPosition{"Road3",0,210_m, 0_m,0_rad},
+ GlobalRoadPosition{"Road3",0,215_m, 0_m,0_rad},
+ GlobalRoadPosition{"Road3",0,212_m,-1_m,0_rad},
+ GlobalRoadPosition{"Road3",0,212_m, 2_m,0_rad}};
RoadIntervals touchedRoads{{"Road2", roadInterval2}, {"Road3", roadInterval3}};
WorldDataQuery wdQuery{worldData};
@@ -3622,18 +3622,18 @@ TEST(ResolveRelativePoint, ObjectOnSecondRoads)
auto leftmost = wdQuery.ResolveRelativePoint(roadStream.Get(), ObjectPointRelative::Leftmost, touchedRoads);
ASSERT_THAT(rearmost.at(node1->roadGraphVertex), std::nullopt);
- ASSERT_THAT(rearmost.at(node2->roadGraphVertex), Eq(GlobalRoadPosition{"Road2",0,115,0,0}));
- ASSERT_THAT(rearmost.at(node3->roadGraphVertex), Eq(GlobalRoadPosition{"Road3",0,210,0,0}));
+ ASSERT_THAT(rearmost.at(node2->roadGraphVertex), Eq(GlobalRoadPosition{"Road2",0,115_m,0_m,0_rad}));
+ ASSERT_THAT(rearmost.at(node3->roadGraphVertex), Eq(GlobalRoadPosition{"Road3",0,210_m,0_m,0_rad}));
ASSERT_THAT(frontmost.at(node1->roadGraphVertex), std::nullopt);
- ASSERT_THAT(frontmost.at(node2->roadGraphVertex), Eq(GlobalRoadPosition{"Road2",0,110,0,0}));
- ASSERT_THAT(frontmost.at(node3->roadGraphVertex), Eq(GlobalRoadPosition{"Road3",0,215,0,0}));
+ ASSERT_THAT(frontmost.at(node2->roadGraphVertex), Eq(GlobalRoadPosition{"Road2",0,110_m,0_m,0_rad}));
+ ASSERT_THAT(frontmost.at(node3->roadGraphVertex), Eq(GlobalRoadPosition{"Road3",0,215_m,0_m,0_rad}));
ASSERT_THAT(rightmost.at(node1->roadGraphVertex), std::nullopt);
- ASSERT_THAT(rightmost.at(node2->roadGraphVertex), Eq(GlobalRoadPosition{"Road2",0,112,2,0}));
- ASSERT_THAT(rightmost.at(node3->roadGraphVertex), Eq(GlobalRoadPosition{"Road3",0,212,-1,0}));
+ ASSERT_THAT(rightmost.at(node2->roadGraphVertex), Eq(GlobalRoadPosition{"Road2",0,112_m, 2_m,0_rad}));
+ ASSERT_THAT(rightmost.at(node3->roadGraphVertex), Eq(GlobalRoadPosition{"Road3",0,212_m,-1_m,0_rad}));
ASSERT_THAT(leftmost.at(node1->roadGraphVertex), std::nullopt);
- ASSERT_THAT(leftmost.at(node2->roadGraphVertex), Eq(GlobalRoadPosition{"Road2",0,112,-1,0}));
- ASSERT_THAT(leftmost.at(node3->roadGraphVertex), Eq(GlobalRoadPosition{"Road3",0,212,2,0}));
+ ASSERT_THAT(leftmost.at(node2->roadGraphVertex), Eq(GlobalRoadPosition{"Road2",0,112_m,-1_m,0_rad}));
+ ASSERT_THAT(leftmost.at(node3->roadGraphVertex), Eq(GlobalRoadPosition{"Road3",0,212_m, 2_m,0_rad}));
}
diff --git a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/worldToRoadCoordinateConverter_Tests.cpp b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/worldToRoadCoordinateConverter_Tests.cpp
index d869ca93afe1c4df6b62b580c90663f23feac906..aa139fc4a1bd9432bd0f14efbf12b03af044a056 100644
--- a/sim/tests/unitTests/core/opSimulation/modules/World_OSI/worldToRoadCoordinateConverter_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/modules/World_OSI/worldToRoadCoordinateConverter_Tests.cpp
@@ -27,14 +27,14 @@ struct WorldToRoadCoordinateConverterRectangular_Data
// (see bottom of file)
// data for generator
- Common::Vector2d origin;
- double width;
- double length;
- double hdg;
+ Common::Vector2d<units::length::meter_t> origin;
+ units::length::meter_t width;
+ units::length::meter_t length;
+ units::angle::radian_t hdg;
// test point
- Common::Vector2d point;
- double pointHdg;
+ Common::Vector2d<units::length::meter_t> point;
+ units::angle::radian_t pointHdg;
// expected values
OWL::Primitive::RoadCoordinate expected;
@@ -67,15 +67,15 @@ struct WorldToRoadCoordinateConverterCurved_Data
// (see bottom of file)
// data for generator
- Common::Vector2d origin;
- double width;
- double length;
- double sDistance;
- double radius;
+ Common::Vector2d<units::length::meter_t> origin;
+ units::length::meter_t width;
+ units::length::meter_t length;
+ units::length::meter_t sDistance;
+ units::length::meter_t radius;
// test point
- Common::Vector2d point;
- double pointHdg;
+ Common::Vector2d<units::length::meter_t> point;
+ units::angle::radian_t pointHdg;
// expected values
OWL::Primitive::RoadCoordinate expected;
@@ -105,20 +105,20 @@ class WorldToRoadCoordinateConverterCurved_Test:
/// \sa PointQuery
TEST(WorldToRoadCoordinateConverter_Test, Point_IsOnlyMatchedIfInsideElement)
{
- Common::Vector2d origin{-5, 0};
- double width = 5;
- double length = 10;
- double hdg = 0;
+ Common::Vector2d<units::length::meter_t> origin{-5_m, 0_m};
+ units::length::meter_t width = 5_m;
+ units::length::meter_t length = 10_m;
+ units::angle::radian_t hdg = 0_rad;
auto laneGeometryElement = OWL::Testing::LaneGeometryElementGenerator::RectangularLaneGeometryElement(
origin, width, length, hdg);
LocalizationElement localizationElement{laneGeometryElement};
WorldToRoadCoordinateConverter converter(localizationElement);
- Common::Vector2d pointOutsideElement{1000, 1000};
+ Common::Vector2d<units::length::meter_t> pointOutsideElement{1000_m, 1000_m};
ASSERT_THAT(converter.IsConvertible(pointOutsideElement), Eq(false));
- Common::Vector2d pointWithinElement{0.1, -0.1};
+ Common::Vector2d<units::length::meter_t> pointWithinElement{0.1_m, -0.1_m};
ASSERT_THAT(converter.IsConvertible(pointWithinElement), Eq(true));
}
@@ -126,44 +126,44 @@ TEST(WorldToRoadCoordinateConverter_Test, Point_IsOnlyMatchedIfInsideElement)
/// geometric element fall together, and so the projection vector for t collapses
TEST(WorldToRoadCoordinateConverter_Test, CurrentPointTrippleIsSingular_CalculatesPositiveTCoordinate)
{
- Common::Vector2d origin{-5, 0};
- double width = 5;
- double length = 10;
- double hdg = 0;
+ Common::Vector2d<units::length::meter_t> origin{-5_m, 0_m};
+ units::length::meter_t width = 5_m;
+ units::length::meter_t length = 10_m;
+ units::angle::radian_t hdg = 0_rad;
auto laneGeometryElement = OWL::Testing::LaneGeometryElementGenerator::TriangularLaneGeometryElement(
origin, width, length, hdg);
LocalizationElement localizationElement{laneGeometryElement};
WorldToRoadCoordinateConverter converter(localizationElement);
- Common::Vector2d pointWithinElement{0.0, 2.0};
- auto roadCoordinate = converter.GetRoadCoordinate(pointWithinElement, 0.0);
+ Common::Vector2d<units::length::meter_t> pointWithinElement{0.0_m, 2.0_m};
+ auto roadCoordinate = converter.GetRoadCoordinate(pointWithinElement, 0.0_rad);
- EXPECT_THAT(roadCoordinate.s, DoubleNear(5, 1e-2));
- EXPECT_THAT(roadCoordinate.t, DoubleNear(2, 1e-2));
- EXPECT_THAT(roadCoordinate.hdg, DoubleNear(0, 1e-2));
+ EXPECT_THAT(roadCoordinate.s.value(), DoubleNear(5, 1e-2));
+ EXPECT_THAT(roadCoordinate.t.value(), DoubleNear(2, 1e-2));
+ EXPECT_THAT(roadCoordinate.hdg.value(), DoubleNear(0, 1e-2));
}
/// \test Checks if a negative t coordinate is calculated, even if the first points of the
/// geometric element fall together, and so the projection vector for t collapses
TEST(WorldToRoadCoordinateConverter_Test, CurrentPointTrippleIsSingular_CalculatesNegativeTCoordinate)
{
- Common::Vector2d origin{-5, 0};
- double width = 5;
- double length = 10;
- double hdg = 0;
+ Common::Vector2d<units::length::meter_t> origin{-5_m, 0_m};
+ units::length::meter_t width = 5_m;
+ units::length::meter_t length = 10_m;
+ units::angle::radian_t hdg = 0_rad;
auto laneGeometryElement = OWL::Testing::LaneGeometryElementGenerator::TriangularLaneGeometryElement(
origin, width, length, hdg);
LocalizationElement localizationElement{laneGeometryElement};
WorldToRoadCoordinateConverter converter(localizationElement);
- Common::Vector2d pointWithinElement{0.0, -2.0};
- auto roadCoordinate = converter.GetRoadCoordinate(pointWithinElement, 0.0);
+ Common::Vector2d<units::length::meter_t> pointWithinElement{0.0_m, -2.0_m};
+ auto roadCoordinate = converter.GetRoadCoordinate(pointWithinElement, 0.0_rad);
- EXPECT_THAT(roadCoordinate.s, DoubleNear(5, 1e-2));
- EXPECT_THAT(roadCoordinate.t, DoubleNear(-2, 1e-2));
- EXPECT_THAT(roadCoordinate.hdg, DoubleNear(0, 1e-2));
+ EXPECT_THAT(roadCoordinate.s.value(), DoubleNear(5, 1e-2));
+ EXPECT_THAT(roadCoordinate.t.value(), DoubleNear(-2, 1e-2));
+ EXPECT_THAT(roadCoordinate.hdg.value(), DoubleNear(0, 1e-2));
}
/// \test Checks if the road coordinates are calculated right
@@ -178,64 +178,64 @@ TEST_P(WorldToRoadCoordinateConverterRectangular_Test, PointWithinElement_Return
WorldToRoadCoordinateConverter converter(localizationElement);
auto roadCoordinate = converter.GetRoadCoordinate(data.point, data.pointHdg);
- EXPECT_THAT(roadCoordinate.s, DoubleNear(data.expected.s, 1e-2));
- EXPECT_THAT(roadCoordinate.t, DoubleNear(data.expected.t, 1e-2));
- EXPECT_THAT(roadCoordinate.hdg, DoubleNear(data.expected.yaw, 1e-2));
+ EXPECT_THAT(roadCoordinate.s.value(), DoubleNear(data.expected.s.value(), 1e-2));
+ EXPECT_THAT(roadCoordinate.t.value(), DoubleNear(data.expected.t.value(), 1e-2));
+ EXPECT_THAT(roadCoordinate.hdg.value(), DoubleNear(data.expected.yaw.value(), 1e-2));
}
INSTANTIATE_TEST_CASE_P(sCoordinateTestSet, WorldToRoadCoordinateConverterRectangular_Test,
testing::Values(
- /* origin width length hdg point pointHdg expected */
- /*x y / / /| x y | s t yaw */
-WorldToRoadCoordinateConverterRectangular_Data{{ -5, 0}, 5, 10, 0.00, { 1.00, 0.00}, 0.00, { 6.00, 0.00, 0.00}},
-WorldToRoadCoordinateConverterRectangular_Data{{ -4, 0}, 5, 10, 0.00, { 1.00, 0.00}, 0.00, { 5.00, 0.00, 0.00}},
-WorldToRoadCoordinateConverterRectangular_Data{{ -5, 0}, 5, 10, 0.00, { -1.00, 0.00}, 0.00, { 4.00, 0.00, 0.00}},
+ /* origin width length hdg point pointHdg expected */
+ /* x y / / | x y | s t yaw */
+WorldToRoadCoordinateConverterRectangular_Data{{ -5_m, 0_m}, 5_m, 10_m, 0.00_rad, { 1.00_m, 0.00_m}, 0.00_rad, { 6.00_m, 0.00_m, 0.00_rad}},
+WorldToRoadCoordinateConverterRectangular_Data{{ -4_m, 0_m}, 5_m, 10_m, 0.00_rad, { 1.00_m, 0.00_m}, 0.00_rad, { 5.00_m, 0.00_m, 0.00_rad}},
+WorldToRoadCoordinateConverterRectangular_Data{{ -5_m, 0_m}, 5_m, 10_m, 0.00_rad, { -1.00_m, 0.00_m}, 0.00_rad, { 4.00_m, 0.00_m, 0.00_rad}},
// 180°
-WorldToRoadCoordinateConverterRectangular_Data{{ 5, 0}, 5, 10, M_PI, { -1.00, 0.00}, M_PI, { 6.00, 0.00, 0.00}},
-WorldToRoadCoordinateConverterRectangular_Data{{ 4, 0}, 5, 10, M_PI, { -1.00, 0.00}, M_PI, { 5.00, 0.00, 0.00}},
-WorldToRoadCoordinateConverterRectangular_Data{{ 5, 0}, 5, 10, M_PI, { 1.00, 0.00}, M_PI, { 4.00, 0.00, 0.00}},
+WorldToRoadCoordinateConverterRectangular_Data{{ 5_m, 0_m}, 5_m, 10_m, 180_deg, { -1.00_m, 0.00_m}, 180_deg, { 6.00_m, 0.00_m, 0.00_rad}},
+WorldToRoadCoordinateConverterRectangular_Data{{ 4_m, 0_m}, 5_m, 10_m, 180_deg, { -1.00_m, 0.00_m}, 180_deg, { 5.00_m, 0.00_m, 0.00_rad}},
+WorldToRoadCoordinateConverterRectangular_Data{{ 5_m, 0_m}, 5_m, 10_m, 180_deg, { 1.00_m, 0.00_m}, 180_deg, { 4.00_m, 0.00_m, 0.00_rad}},
// +/-45°
-WorldToRoadCoordinateConverterRectangular_Data{{ 0, 0}, 5, 10, M_PI_4, { 1.41, 1.41}, M_PI_4, { 2.00, 0.00, 0.00}},
-WorldToRoadCoordinateConverterRectangular_Data{{ 0, 0}, 5, 10, -M_PI_4, { 1.41, -1.41}, -M_PI_4, { 2.00, 0.00, 0.00}}
+WorldToRoadCoordinateConverterRectangular_Data{{ 0_m, 0_m}, 5_m, 10_m, 45_deg, { 1.41_m, 1.41_m}, 45_deg, { 2.00_m, 0.00_m, 0.00_rad}},
+WorldToRoadCoordinateConverterRectangular_Data{{ 0_m, 0_m}, 5_m, 10_m, -45_deg, { 1.41_m, -1.41_m}, -45_deg, { 2.00_m, 0.00_m, 0.00_rad}}
));
INSTANTIATE_TEST_CASE_P(tCoordinateTestSet, WorldToRoadCoordinateConverterRectangular_Test,
testing::Values(
- /* origin width length hdg point pointHdg expected */
- /* x y | | | x y | s t yaw */
-WorldToRoadCoordinateConverterRectangular_Data{{ -5, 0}, 5, 10, 0.00, { 0.00, 1.00}, 0.00, { 5.00, 1.00, 0.00}},
-WorldToRoadCoordinateConverterRectangular_Data{{ -5, 0}, 5, 10, 0.00, { 0.00, 0.00}, 0.00, { 5.00, 0.00, 0.00}},
-WorldToRoadCoordinateConverterRectangular_Data{{ -5, 0}, 5, 10, 0.00, { 0.00, -1.00}, 0.00, { 5.00, -1.00, 0.00}},
+ /* origin width length hdg point pointHdg expected */
+ /* x y / / | x y | s t yaw */
+WorldToRoadCoordinateConverterRectangular_Data{{ -5_m, 0_m}, 5_m, 10_m, 0.00_rad, { 0.00_m, 1.00_m}, 0.00_rad, { 5.00_m, 1.00_m, 0.00_rad}},
+WorldToRoadCoordinateConverterRectangular_Data{{ -5_m, 0_m}, 5_m, 10_m, 0.00_rad, { 0.00_m, 0.00_m}, 0.00_rad, { 5.00_m, 0.00_m, 0.00_rad}},
+WorldToRoadCoordinateConverterRectangular_Data{{ -5_m, 0_m}, 5_m, 10_m, 0.00_rad, { 0.00_m, -1.00_m}, 0.00_rad, { 5.00_m, -1.00_m, 0.00_rad}},
// 180°
-WorldToRoadCoordinateConverterRectangular_Data{{ 5, 0}, 5, 10, M_PI, { 0.00, -1.00}, M_PI, { 5.00, 1.00, 0.00}},
-WorldToRoadCoordinateConverterRectangular_Data{{ 5, 0}, 5, 10, M_PI, { 0.00, 0.00}, M_PI, { 5.00, 0.00, 0.00}},
-WorldToRoadCoordinateConverterRectangular_Data{{ 5, 0}, 5, 10, M_PI, { 0.00, 1.00}, M_PI, { 5.00, -1.00, 0.00}},
+WorldToRoadCoordinateConverterRectangular_Data{{ 5_m, 0_m}, 5_m, 10_m, 180_deg, { 0.00_m, -1.00_m}, 180_deg, { 5.00_m, 1.00_m, 0.00_rad}},
+WorldToRoadCoordinateConverterRectangular_Data{{ 5_m, 0_m}, 5_m, 10_m, 180_deg, { 0.00_m, 0.00_m}, 180_deg, { 5.00_m, 0.00_m, 0.00_rad}},
+WorldToRoadCoordinateConverterRectangular_Data{{ 5_m, 0_m}, 5_m, 10_m, 180_deg, { 0.00_m, 1.00_m}, 180_deg, { 5.00_m, -1.00_m, 0.00_rad}},
// +/-45°
-WorldToRoadCoordinateConverterRectangular_Data{{-1.41, -1.41}, 5, 10, M_PI_4, { -1.41, 1.41}, M_PI_4, { 2.00, 2.00, 0.00}},
-WorldToRoadCoordinateConverterRectangular_Data{{-1.41, -1.41}, 5, 10, M_PI_4, { 1.41, -1.41}, M_PI_4, { 2.00, -2.00, 0.00}},
-WorldToRoadCoordinateConverterRectangular_Data{{-1.41, 1.41}, 5, 10, -M_PI_4, { 1.41, 1.41}, -M_PI_4, { 2.00, 2.00, 0.00}},
-WorldToRoadCoordinateConverterRectangular_Data{{-1.41, 1.41}, 5, 10, -M_PI_4, { -1.41, -1.41}, -M_PI_4, { 2.00, -2.00, 0.00}}
+WorldToRoadCoordinateConverterRectangular_Data{{-1.41_m, -1.41_m}, 5_m, 10_m, 45_deg, { -1.41_m, 1.41_m}, 45_deg, { 2.00_m, 2.00_m, 0.00_rad}},
+WorldToRoadCoordinateConverterRectangular_Data{{-1.41_m, -1.41_m}, 5_m, 10_m, 45_deg, { 1.41_m, -1.41_m}, 45_deg, { 2.00_m, -2.00_m, 0.00_rad}},
+WorldToRoadCoordinateConverterRectangular_Data{{-1.41_m, 1.41_m}, 5_m, 10_m, -45_deg, { 1.41_m, 1.41_m}, -45_deg, { 2.00_m, 2.00_m, 0.00_rad}},
+WorldToRoadCoordinateConverterRectangular_Data{{-1.41_m, 1.41_m}, 5_m, 10_m, -45_deg, { -1.41_m, -1.41_m}, -45_deg, { 2.00_m, -2.00_m, 0.00_rad}}
));
INSTANTIATE_TEST_CASE_P(yawTestSet, WorldToRoadCoordinateConverterRectangular_Test,
testing::Values(
-/* origin width length hdg point pointHdg expected */
-/* x y | | | x y | s t yaw */
-WorldToRoadCoordinateConverterRectangular_Data{{ -5, 0}, 5, 10, 0.00, { 0.00, 0.00}, 0.10, { 5.00, 0.00, 0.10}},
-WorldToRoadCoordinateConverterRectangular_Data{{ -5, 0}, 5, 10, 0.00, { 0.00, 0.00}, -0.10, { 5.00, 0.00, -0.10}},
+/* origin width length hdg point pointHdg expected */
+/* x y | | | x y | s t yaw */
+WorldToRoadCoordinateConverterRectangular_Data{{ -5_m, 0_m}, 5_m, 10_m, 0.00_rad, { 0.00_m, 0.00_m}, 0.10_rad, { 5.00_m, 0.00_m, 0.10_rad}},
+WorldToRoadCoordinateConverterRectangular_Data{{ -5_m, 0_m}, 5_m, 10_m, 0.00_rad, { 0.00_m, 0.00_m}, -0.10_rad, { 5.00_m, 0.00_m, -0.10_rad}},
// 180°
-WorldToRoadCoordinateConverterRectangular_Data{{ 5, 0}, 5, 10, M_PI, { 0.00, 0.00}, M_PI + .1, { 5.00, 0.00, 0.10}},
-WorldToRoadCoordinateConverterRectangular_Data{{ 5, 0}, 5, 10, M_PI, { 0.00, 0.00}, M_PI - .1, { 5.00, 0.00, -0.10}}
+WorldToRoadCoordinateConverterRectangular_Data{{ 5_m, 0_m}, 5_m, 10_m, 180_deg, { 0.00_m, 0.00_m}, 180_deg + .1_rad, { 5.00_m, 0.00_m, 0.10_rad}},
+WorldToRoadCoordinateConverterRectangular_Data{{ 5_m, 0_m}, 5_m, 10_m, 180_deg, { 0.00_m, 0.00_m}, 180_deg - .1_rad, { 5.00_m, 0.00_m, -0.10_rad}}
));
INSTANTIATE_TEST_CASE_P(yawWithinPiTestSet, WorldToRoadCoordinateConverterRectangular_Test,
testing::Values(
-/* origin width length hdg point pointHdg expected */
-/* x y | | | x y | s t yaw */
-WorldToRoadCoordinateConverterRectangular_Data{{ -5, 0}, 5, 10, 0.00, { 0.00, 0.00}, M_PI + 1.0, { 5.00, 0.00, -M_PI + 1.00}},
-WorldToRoadCoordinateConverterRectangular_Data{{ -5, 0}, 5, 10, 0.00, { 0.00, 0.00}, -M_PI - 1.0, { 5.00, 0.00, M_PI - 1.00}}
+/* origin width length hdg point pointHdg expected */
+/* x y | | | x y | s t yaw */
+WorldToRoadCoordinateConverterRectangular_Data{{ -5_m, 0_m}, 5_m, 10_m, 0.00_deg, { 0.00_m, 0.00_m}, 180_deg + 1.0_rad, { 5.00_m, 0.00_m, -180_deg + 1.00_rad}},
+WorldToRoadCoordinateConverterRectangular_Data{{ -5_m, 0_m}, 5_m, 10_m, 0.00_deg, { 0.00_m, 0.00_m}, -180_deg - 1.0_rad, { 5.00_m, 0.00_m, 180_deg - 1.00_rad}}
));
TEST_P(WorldToRoadCoordinateConverterCurved_Test, PointWithinElement_ReturnsExpectedRoadCoordinates)
@@ -248,20 +248,20 @@ TEST_P(WorldToRoadCoordinateConverterCurved_Test, PointWithinElement_ReturnsExpe
WorldToRoadCoordinateConverter converter(localizationElement);
auto roadCoordinate = converter.GetRoadCoordinate(data.point, data.pointHdg);
- EXPECT_THAT(roadCoordinate.s, DoubleNear(data.expected.s, 1e-2));
- EXPECT_THAT(roadCoordinate.t, DoubleNear(data.expected.t, 1e-2));
- EXPECT_THAT(roadCoordinate.hdg, DoubleNear(data.expected.yaw, 1e-2));
+ EXPECT_THAT(roadCoordinate.s.value(), DoubleNear(data.expected.s.value(), 1e-2));
+ EXPECT_THAT(roadCoordinate.t.value(), DoubleNear(data.expected.t.value(), 1e-2));
+ EXPECT_THAT(roadCoordinate.hdg.value(), DoubleNear(data.expected.yaw.value(), 1e-2));
}
INSTANTIATE_TEST_CASE_P(curvedTestSet, WorldToRoadCoordinateConverterCurved_Test,
testing::Values(
-/* origin width length sDistance radius point pointHdg expected */
-/* x y | | | | x y | s t yaw */
-WorldToRoadCoordinateConverterCurved_Data{{ -5, 5}, 4, 3, 3, 20.0, { -5.0, 5.0}, 0.0, { 0.0, 0.0, 0.0}},
-WorldToRoadCoordinateConverterCurved_Data{{ -5, 5}, 4, 3, 3, 20.0, { -2.0112, 5.225}, 0.0, { 3.0, 0.0, 0.0}},
-WorldToRoadCoordinateConverterCurved_Data{{ -5, 5}, 4, 3, 5, 20.0, { -2.0112, 5.225}, 0.0, { 5.0, 0.0, 0.0}},
-WorldToRoadCoordinateConverterCurved_Data{{ -5, 5}, 4, 3, 3, 20.0, { -5, 3.0}, 0.0, { 0.0, -2.0, 0.0}},
-WorldToRoadCoordinateConverterCurved_Data{{ -5, 5}, 4, 3, 5, 20.0, { -2.3101, 7.2021}, 0.0, { 5.0, 2.0, 0.0}},
-WorldToRoadCoordinateConverterCurved_Data{{ -5, 5}, 4, 3, 5, 20.0, { -3.6551, 7.1011}, 0.0, { 2.5, 2.0, 0.0}},
-WorldToRoadCoordinateConverterCurved_Data{{ -5, 5}, 4, 3, 5, 8.0, { -2.0698, 5.5559}, 0.0, { 5.0, 0.0, 0.0}}
+/* origin width length sDistance radius point pointHdg expected */
+/* x y | | | | x y | s t yaw */
+WorldToRoadCoordinateConverterCurved_Data{{ -5_m, 5_m}, 4_m, 3_m, 3_m, 20.0_m, { -5.0_m, 5.0_m}, 0.0_rad, { 0.0_m, 0.0_m, 0.0_rad}},
+WorldToRoadCoordinateConverterCurved_Data{{ -5_m, 5_m}, 4_m, 3_m, 3_m, 20.0_m, { -2.0112_m, 5.225_m}, 0.0_rad, { 3.0_m, 0.0_m, 0.0_rad}},
+WorldToRoadCoordinateConverterCurved_Data{{ -5_m, 5_m}, 4_m, 3_m, 5_m, 20.0_m, { -2.0112_m, 5.225_m}, 0.0_rad, { 5.0_m, 0.0_m, 0.0_rad}},
+WorldToRoadCoordinateConverterCurved_Data{{ -5_m, 5_m}, 4_m, 3_m, 3_m, 20.0_m, { -5_m, 3.0_m}, 0.0_rad, { 0.0_m, -2.0_m, 0.0_rad}},
+WorldToRoadCoordinateConverterCurved_Data{{ -5_m, 5_m}, 4_m, 3_m, 5_m, 20.0_m, { -2.3101_m, 7.2021_m}, 0.0_rad, { 5.0_m, 2.0_m, 0.0_rad}},
+WorldToRoadCoordinateConverterCurved_Data{{ -5_m, 5_m}, 4_m, 3_m, 5_m, 20.0_m, { -3.6551_m, 7.1011_m}, 0.0_rad, { 2.5_m, 2.0_m, 0.0_rad}},
+WorldToRoadCoordinateConverterCurved_Data{{ -5_m, 5_m}, 4_m, 3_m, 5_m, 8.0_m, { -2.0698_m, 5.5559_m}, 0.0_rad, { 5.0_m, 0.0_m, 0.0_rad}}
));
diff --git a/sim/tests/unitTests/core/opSimulation/opSimulation_Tests.pro b/sim/tests/unitTests/core/opSimulation/opSimulation_Tests.pro
new file mode 100644
index 0000000000000000000000000000000000000000..9fb96a1fb1856fa112ac05ac2cdf84e53f52ef29
--- /dev/null
+++ b/sim/tests/unitTests/core/opSimulation/opSimulation_Tests.pro
@@ -0,0 +1,137 @@
+################################################################################
+# Copyright (c) 2017-2020 in-tech GmbH
+# 2021 ITK Engineering GmbH
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0
+################################################################################
+QT += xml
+
+CONFIG += OPENPASS_GTEST \
+ OPENPASS_GTEST_DEFAULT_MAIN
+
+include(../../../testing.pri)
+
+win32:QMAKE_CXXFLAGS += -Wa,-mbig-obj
+
+UNIT_UNDER_TEST = $$OPEN_SRC/core/opSimulation
+
+INCLUDEPATH += \
+ $$OPEN_SRC/core \
+ $$OPEN_SRC/core/common/cephes \
+ $$OPEN_SRC \
+ $$OPEN_SRC/.. \
+ $$OPEN_SRC/../.. \
+ $$UNIT_UNDER_TEST \
+ $$UNIT_UNDER_TEST/framework \
+ $$UNIT_UNDER_TEST/importer \
+ $$UNIT_UNDER_TEST/modelElements \
+ $$UNIT_UNDER_TEST/modelInterface \
+ $$OPEN_PASS_SIMULATION/manipulatorInterface \
+ $$OPEN_PASS_SIMULATION/eventDetectorInterface \
+ $$OPEN_PASS_SIMULATION/spawnPointInterface
+
+DEPENDENCIES = \
+ $$OPEN_SRC/common/eventDetectorDefinitions.cpp \
+ $$OPEN_SRC/common/stochasticDefinitions.h \
+ $$OPEN_SRC/core/common/cephes/fresnl.c \
+ $$OPEN_SRC/core/common/cephes/polevl.c \
+ $$OPEN_SRC/core/common/cephes/const.c \
+ $$OPEN_SRC/core/common/log.cpp \
+ $$OPEN_SRC/common/xmlParser.cpp \
+
+AGENTSAMPLER_TESTS = \
+ $$UNIT_UNDER_TEST/framework/dynamicProfileSampler.h \
+ $$UNIT_UNDER_TEST/framework/dynamicProfileSampler.cpp \
+ $$UNIT_UNDER_TEST/framework/dynamicParametersSampler.cpp \
+ $$UNIT_UNDER_TEST/framework/dynamicAgentTypeGenerator.cpp \
+ $$UNIT_UNDER_TEST/modelElements/componentType.cpp \
+ $$UNIT_UNDER_TEST/modelElements/agentType.cpp \
+ $$UNIT_UNDER_TEST/modelElements/parameters.cpp \
+ $$UNIT_UNDER_TEST/importer/systemConfig.cpp \
+ \
+ agentSampler_Tests.cpp
+
+SYSTEMCONFIGIMPORTER_TESTS = \
+ $$UNIT_UNDER_TEST/importer/systemConfigImporter.cpp \
+ \
+ systemConfigImporter_Tests.cpp
+
+SIMULATIONCONFIGIMPORTER_TESTS = \
+ $$UNIT_UNDER_TEST/importer/simulationConfig.cpp \
+ $$UNIT_UNDER_TEST/importer/simulationConfigImporter.cpp \
+ \
+ simulationConfigImporter_Tests.cpp
+
+PROFILESIMPORTER_TESTS = \
+ $$UNIT_UNDER_TEST/importer/profiles.cpp \
+ $$UNIT_UNDER_TEST/importer/profilesImporter.cpp \
+ $$UNIT_UNDER_TEST/importer/importerCommon.cpp \
+ \
+ profilesImporter_Tests.cpp
+
+VEHICLEMODELIMPORTER_TESTS = \
+ $$UNIT_UNDER_TEST/importer/vehicleModelsImporter.cpp \
+ \
+ vehicleModelsImporter_Tests.cpp
+
+EVENTDETECTOR_TESTS = \
+ $$UNIT_UNDER_TEST/framework/eventNetwork.cpp \
+ $$UNIT_UNDER_TEST/../common/coreDataPublisher.cpp \
+ \
+ eventNetwork_Tests.cpp
+
+PARAMETERIMPORTER_TESTS = \
+ $$UNIT_UNDER_TEST/importer/parameterImporter.cpp \
+ \
+ parameterImporter_Tests.cpp
+
+SAMPLER_TESTS = \
+ $$UNIT_UNDER_TEST/framework/sampler.cpp \
+ \
+ sampler_Tests.cpp
+
+SCENERYIMPORTER_TESTS = \
+ $$UNIT_UNDER_TEST/importer/sceneryImporter.cpp \
+ $$UNIT_UNDER_TEST/importer/road.cpp \
+ $$UNIT_UNDER_TEST/importer/junction.cpp \
+ $$UNIT_UNDER_TEST/importer/connection.cpp \
+ $$UNIT_UNDER_TEST/importer/road/roadSignal.cpp \
+ $$UNIT_UNDER_TEST/importer/road/roadObject.cpp \
+ \
+ roadGeometry_Tests.cpp \
+ sceneryImporter_Tests.cpp
+
+COMMANDLINERPARSER_TESTS = \
+ $$UNIT_UNDER_TEST/framework/commandLineParser.cpp \
+ \
+ commandLineParser_Tests.cpp \
+
+DIRECTORIES_TESTS = \
+ $$UNIT_UNDER_TEST/framework/directories.cpp \
+ \
+ directories_Tests.cpp \
+
+PUBLISHER_TESTS = \
+ $$UNIT_UNDER_TEST/framework/agentDataPublisher.cpp \
+ \
+ agentDataPublisher_Tests.cpp
+
+SOURCES += \
+ $$DEPENDENCIES \
+ $$SIMULATIONCONFIGIMPORTER_TESTS \
+ $$SYSTEMCONFIGIMPORTER_TESTS \
+ $$PROFILESIMPORTER_TESTS \
+ $$EVENTDETECTOR_TESTS \
+ $$PARAMETERIMPORTER_TESTS \
+ $$SAMPLER_TESTS \
+ $$SCENERYIMPORTER_TESTS \
+ $$INVOCATIONCONTROL_TESTS \
+ $$VEHICLEMODELIMPORTER_TESTS \
+ $$DIRECTORIES_TESTS \
+ $$COMMANDLINERPARSER_TESTS \
+ $$AGENTSAMPLER_TESTS \
+ $$PUBLISHER_TESTS
diff --git a/sim/tests/unitTests/core/opSimulation/profilesImporter_Tests.cpp b/sim/tests/unitTests/core/opSimulation/profilesImporter_Tests.cpp
index 325e2ab40d2539a8f71df3337c5b1eb5b454dc12..e32a21a91ed36991eb3727cc2da24fd69a1e524a 100644
--- a/sim/tests/unitTests/core/opSimulation/profilesImporter_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/profilesImporter_Tests.cpp
@@ -21,7 +21,7 @@ using ::testing::UnorderedElementsAre;
using namespace Importer;
-TEST(ProfilesImporter_ImportAllVehicleComponentsOfVehicleProfile, GivenValidXml_ImportsValues)
+TEST(ProfilesImporter_ImportAllVehicleComponentsOfSystemProfile, GivenValidXml_ImportsValues)
{
QDomElement validXml = documentRootFromString(
"<root>"
@@ -41,9 +41,9 @@ TEST(ProfilesImporter_ImportAllVehicleComponentsOfVehicleProfile, GivenValidXml_
"</root>"
);
- VehicleProfile profiles;
+ SystemProfile profiles;
- EXPECT_NO_THROW(ProfilesImporter::ImportAllVehicleComponentsOfVehicleProfile(validXml, profiles));
+ EXPECT_NO_THROW(ProfilesImporter::ImportAllVehicleComponentsOfSystemProfile(validXml, profiles));
ASSERT_EQ(profiles.vehicleComponents.size(), (size_t )1);
@@ -53,7 +53,7 @@ TEST(ProfilesImporter_ImportAllVehicleComponentsOfVehicleProfile, GivenValidXml_
ASSERT_EQ (resultVehicleComponent.sensorLinks.size(), (size_t) 3);
}
-TEST(ProfilesImporter_ImportAllVehicleComponentsOfVehicleProfile, WithMissingComponentsTag_Throws)
+TEST(ProfilesImporter_ImportAllVehicleComponentsOfSystemProfile, WithMissingComponentsTag_Throws)
{
QDomElement missingComponentsTag = documentRootFromString(
"<root>"
@@ -71,11 +71,11 @@ TEST(ProfilesImporter_ImportAllVehicleComponentsOfVehicleProfile, WithMissingCom
"</root>"
);
- VehicleProfile profiles;
- EXPECT_THROW(ProfilesImporter::ImportAllVehicleComponentsOfVehicleProfile(missingComponentsTag, profiles), std::runtime_error);
+ SystemProfile profiles;
+ EXPECT_THROW(ProfilesImporter::ImportAllVehicleComponentsOfSystemProfile(missingComponentsTag, profiles), std::runtime_error);
}
-TEST(ProfilesImporter_ImportAllVehicleComponentsOfVehicleProfile, SumOfProbabilityGreatherOne_Throws)
+TEST(ProfilesImporter_ImportAllVehicleComponentsOfSystemProfile, SumOfProbabilityGreatherOne_Throws)
{
QDomElement sumOfProbabilityGreatherOne = documentRootFromString(
"<root>"
@@ -95,69 +95,57 @@ TEST(ProfilesImporter_ImportAllVehicleComponentsOfVehicleProfile, SumOfProbabili
"</root>"
);
- VehicleProfile profiles;
- EXPECT_THROW(ProfilesImporter::ImportAllVehicleComponentsOfVehicleProfile(sumOfProbabilityGreatherOne, profiles), std::runtime_error);
+ SystemProfile profiles;
+ EXPECT_THROW(ProfilesImporter::ImportAllVehicleComponentsOfSystemProfile(sumOfProbabilityGreatherOne, profiles), std::runtime_error);
}
-TEST(ProfilesImporter_ImportAllSensorsOfVehicleProfile, GivenValidXml_ImportsValues)
+TEST(ProfilesImporter_ImportAllSensorsOfSystemProfile, GivenValidXml_ImportsValues)
{
QDomElement validXml = documentRootFromString(
"<root>"
"<Sensors>"
- "<Sensor Id=\"0\">"
- "<Position Name=\"Somewhere\" Longitudinal=\"1.0\" Lateral=\"2.0\" Height=\"3.0\" Pitch=\"4.0\" Yaw=\"5.0\" Roll=\"6.0\"/>"
+ "<Sensor Id=\"0\" Position=\"PositionA\">"
"<Profile Type=\"Geometric2D\" Name=\"Camera\"/>"
"</Sensor>"
- "<Sensor Id=\"1\">"
- "<Position Name=\"Somewhere\" Longitudinal=\"0.0\" Lateral=\"0.0\" Height=\"0.5\" Pitch=\"0.0\" Yaw=\"0.0\" Roll=\"0.0\"/>"
+ "<Sensor Id=\"1\" Position=\"PositionB\">"
"<Profile Type=\"OtherSensor\" Name=\"Camera\"/>"
"</Sensor>"
"</Sensors>"
"</root>"
);
- VehicleProfile profiles;
- EXPECT_NO_THROW(ProfilesImporter::ImportAllSensorsOfVehicleProfile(validXml, profiles));
+ SystemProfile profiles;
+ EXPECT_NO_THROW(ProfilesImporter::ImportAllSensorsOfSystemProfile(validXml, profiles));
openpass::sensors::Parameters resultSensors = profiles.sensors;
ASSERT_EQ(resultSensors.size(), (size_t ) 2);
openpass::sensors::Parameter resultSensorParameter = resultSensors.front();
- openpass::sensors::Position resultSensorPosition = resultSensorParameter.position;
openpass::sensors::Profile resultSensorProfile = resultSensorParameter.profile;
- ASSERT_EQ (resultSensorPosition.name, "Somewhere");
- ASSERT_EQ (resultSensorPosition.longitudinal, 1.0);
- ASSERT_EQ (resultSensorPosition.lateral, 2.0);
- ASSERT_EQ (resultSensorPosition.height, 3.0);
- ASSERT_EQ (resultSensorPosition.pitch, 4.0);
- ASSERT_EQ (resultSensorPosition.yaw, 5.0);
- ASSERT_EQ (resultSensorPosition.roll, 6.0);
-
+ ASSERT_EQ (resultSensorParameter.positionName, "PositionA");
ASSERT_EQ (resultSensorProfile.type, "Geometric2D");
ASSERT_EQ (resultSensorProfile.name, "Camera");
}
-TEST(ProfilesImporter_ImportAllSensorsOfVehicleProfile, SensorsTagMissing_Throws)
+TEST(ProfilesImporter_ImportAllSensorsOfSystemProfile, SensorsTagMissing_Throws)
{
QDomElement sensorsTagMissing = documentRootFromString(
"<root>"
- "<Sensor Id=\"0\">"
- "<Position Name=\"Somewhere\" Longitudinal=\"1.0\" Lateral=\"2.0\" Height=\"3.0\" Pitch=\"4.0\" Yaw=\"5.0\" Roll=\"6.0\"/>"
+ "<Sensor Id=\"0\" Position=\"PositionA\">"
"<Profile Type=\"Geometric2D\" Name=\"Camera\"/>"
"</Sensor>"
- "<Sensor Id=\"1\">"
- "<Position Name=\"Somewhere\" Longitudinal=\"0.0\" Lateral=\"0.0\" Height=\"0.5\" Pitch=\"0.0\" Yaw=\"0.0\" Roll=\"0.0\"/>"
+ "<Sensor Id=\"1\" Position=\"PositionB\">"
"<Profile Type=\"OtherSensor\" Name=\"Camera\"/>"
"</Sensor>"
"</root>"
);
- VehicleProfile profiles;
- EXPECT_THROW(ProfilesImporter::ImportAllSensorsOfVehicleProfile(sensorsTagMissing, profiles), std::runtime_error);
+ SystemProfile profiles;
+ EXPECT_THROW(ProfilesImporter::ImportAllSensorsOfSystemProfile(sensorsTagMissing, profiles), std::runtime_error);
}
-TEST(ProfilesImporter_ImportAllSensorsOfVehicleProfile, PositionTagMissing_Throws)
+TEST(ProfilesImporter_ImportAllSensorsOfSystemProfile, PositionElementMissing_Throws)
{
QDomElement positionTagMissing = documentRootFromString(
"<root>"
@@ -168,23 +156,22 @@ TEST(ProfilesImporter_ImportAllSensorsOfVehicleProfile, PositionTagMissing_Throw
"</Sensors>"
"</root>"
);
- VehicleProfile profiles;
- EXPECT_THROW(ProfilesImporter::ImportAllSensorsOfVehicleProfile(positionTagMissing, profiles), std::runtime_error);
+ SystemProfile profiles;
+ EXPECT_THROW(ProfilesImporter::ImportAllSensorsOfSystemProfile(positionTagMissing, profiles), std::runtime_error);
}
-TEST(ProfilesImporter_ImportAllSensorsOfVehicleProfile, ProfileTagMissing_Throws)
+TEST(ProfilesImporter_ImportAllSensorsOfSystemProfile, ProfileTagMissing_Throws)
{
QDomElement profileTagMissing = documentRootFromString(
"<root>"
"<Sensors>"
- "<Sensor Id=\"0\">"
- "<Position Name=\"Somewhere\" Longitudinal=\"1.0\" Lateral=\"2.0\" Height=\"3.0\" Pitch=\"4.0\" Yaw=\"5.0\" Roll=\"6.0\"/>"
+ "<Sensor Id=\"0\" Position=\"PositionA\">"
"</Sensor>"
"</Sensors>"
"</root>"
);
- VehicleProfile profiles;
- EXPECT_THROW(ProfilesImporter::ImportAllSensorsOfVehicleProfile(profileTagMissing, profiles), std::runtime_error);
+ SystemProfile profiles;
+ EXPECT_THROW(ProfilesImporter::ImportAllSensorsOfSystemProfile(profileTagMissing, profiles), std::runtime_error);
}
TEST(ProfilesImporter_ImportAgentProfiles, MissingAtLeastOneElement_Throws)
diff --git a/sim/tests/unitTests/core/opSimulation/roadGeometry_Tests.cpp b/sim/tests/unitTests/core/opSimulation/roadGeometry_Tests.cpp
index 3da85771abcd958833e1f68b8cd0801f9feb5ad7..37444ae04e4f755c2a57c5ccbf574fc2dde4c86d 100644
--- a/sim/tests/unitTests/core/opSimulation/roadGeometry_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/roadGeometry_Tests.cpp
@@ -21,15 +21,15 @@ constexpr double MAX_GEOMETRY_ERROR = 0.001;
struct GeometrySpiral_Data
{
- double x; //!< geometry origin x
- double y; //!< geometry origin y
- double hdg; //!< geometry origin heading
- double length; //!< lenth of spiral between curvature start and end
- double curvStart; //!< curvature at s = 0
- double curvEnd; //!< curvature at s = length
+ units::length::meter_t x; //!< geometry origin x
+ units::length::meter_t y; //!< geometry origin y
+ units::angle::radian_t hdg; //!< geometry origin heading
+ units::length::meter_t length; //!< lenth of spiral between curvature start and end
+ units::curvature::inverse_meter_t curvStart; //!< curvature at s = 0
+ units::curvature::inverse_meter_t curvEnd; //!< curvature at s = length
- double s; //!< query s coordinate
- double t; //!< query t coordinate
+ units::length::meter_t s; //!< query s coordinate
+ units::length::meter_t t; //!< query t coordinate
double expected_x; //!< expected x coordinate for query
double expected_y; //!< expected y coordinate for query
@@ -65,203 +65,203 @@ TEST_P(RoadGeometries_Spiral, GetCoordAndGetDir_ReturnCorrectValues)
{
GeometrySpiral_Data data = GetParam();
- const RoadGeometrySpiral rgs{0, data.x, data.y, data.hdg, data.length, data.curvStart, data.curvEnd};
+ const RoadGeometrySpiral rgs{0_m, data.x, data.y, data.hdg, data.length, data.curvStart, data.curvEnd};
const auto res = rgs.GetCoord(data.s, data.t);
const auto hdg = rgs.GetDir(data.s);
- EXPECT_THAT(res.x, DoubleNear(data.expected_x, MAX_GEOMETRY_ERROR));
- EXPECT_THAT(res.y, DoubleNear(data.expected_y, MAX_GEOMETRY_ERROR));
- EXPECT_THAT(hdg, DoubleNear(data.expected_hdg, MAX_GEOMETRY_ERROR));
+ EXPECT_THAT(res.x.value(), DoubleNear(data.expected_x, MAX_GEOMETRY_ERROR));
+ EXPECT_THAT(res.y.value(), DoubleNear(data.expected_y, MAX_GEOMETRY_ERROR));
+ EXPECT_THAT(hdg.value(), DoubleNear(data.expected_hdg, MAX_GEOMETRY_ERROR));
}
INSTANTIATE_TEST_SUITE_P(AtEndOfGeometryAndZeroTAndZeroOrigin, RoadGeometries_Spiral, ::testing::Values(
- // | origin | spirial definition | query pos | expected result |
- // | x y hdg | len c_start c_end | s t | x y hdg |
- GeometrySpiral_Data{ 0.0, 0.0, 0.0, 100.0, 0.00, 0.00, 100.0, 0.0, 100.000, 0.000, 0.0000 },
- GeometrySpiral_Data{ 0.0, 0.0, 0.0, 100.0, 0.00, 0.01, 100.0, 0.0, 97.529, 16.371, 0.5000 },
- GeometrySpiral_Data{ 0.0, 0.0, 0.0, 100.0, 0.00, -0.01, 100.0, 0.0, 97.529, -16.371, -0.5000 },
- GeometrySpiral_Data{ 0.0, 0.0, 0.0, 100.0, 0.01, 0.00, 100.0, 0.0, 93.438, 32.391, 0.5000 },
- GeometrySpiral_Data{ 0.0, 0.0, 0.0, 100.0, -0.01, 0.00, 100.0, 0.0, 93.438, -32.391, -0.5000 }
+ // | origin | spirial definition | query pos | expected result |
+ // | x y hdg | len c_start c_end | s t | x y hdg |
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 0.0_rad, 100.0_m, 0.00_i_m, 0.00_i_m, 100.0_m, 0.0_m, 100.000, 0.000, 0.0000 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 0.0_rad, 100.0_m, 0.00_i_m, 0.01_i_m, 100.0_m, 0.0_m, 97.529, 16.371, 0.5000 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 0.0_rad, 100.0_m, 0.00_i_m, -0.01_i_m, 100.0_m, 0.0_m, 97.529, -16.371, -0.5000 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 0.0_rad, 100.0_m, 0.01_i_m, 0.00_i_m, 100.0_m, 0.0_m, 93.438, 32.391, 0.5000 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 0.0_rad, 100.0_m, -0.01_i_m, 0.00_i_m, 100.0_m, 0.0_m, 93.438, -32.391, -0.5000 }
));
INSTANTIATE_TEST_SUITE_P(AtEndOfGeometryAndZeroTAndNonzeroOrigin, RoadGeometries_Spiral, ::testing::Values(
- // | origin | spirial definition | query pos | expected result |
- // | x y hdg | len c_start c_end | s t | x y hdg |
- GeometrySpiral_Data{ 1.0, 1.0, 0.0, 100.0, 0.00, 0.00, 100.0, 0.0, 101.000, 1.000, 0.0000 },
- GeometrySpiral_Data{ -1.0, -1.0, 0.0, 100.0, 0.00, 0.00, 100.0, 0.0, 99.000, -1.000, 0.0000 },
- GeometrySpiral_Data{ -1.0, 1.0, 0.0, 100.0, 0.00, 0.00, 100.0, 0.0, 99.000, 1.000, 0.0000 },
- GeometrySpiral_Data{ 1.0, -1.0, 0.0, 100.0, 0.00, 0.00, 100.0, 0.0, 101.000, -1.000, 0.0000},
-
- GeometrySpiral_Data{ 1.0, 1.0, 0.0, 100.0, 0.00, 0.01, 100.0, 0.0, 98.529, 17.371, 0.5000 },
- GeometrySpiral_Data{ -1.0, -1.0, 0.0, 100.0, 0.00, 0.01, 100.0, 0.0, 96.529, 15.371, 0.5000 },
- GeometrySpiral_Data{ -1.0, 1.0, 0.0, 100.0, 0.00, 0.01, 100.0, 0.0, 96.529, 17.371, 0.5000 },
- GeometrySpiral_Data{ 1.0, -1.0, 0.0, 100.0, 0.00, 0.01, 100.0, 0.0, 98.529, 15.371, 0.5000 }
+ // | origin | spirial definition | query pos | expected result |
+ // | x y hdg | len c_start c_end | s t | x y hdg |
+ GeometrySpiral_Data{ 1.0_m, 1.0_m, 0.0_rad, 100.0_m, 0.00_i_m, 0.00_i_m, 100.0_m, 0.0_m, 101.000, 1.000, 0.0000 },
+ GeometrySpiral_Data{ -1.0_m, -1.0_m, 0.0_rad, 100.0_m, 0.00_i_m, 0.00_i_m, 100.0_m, 0.0_m, 99.000, -1.000, 0.0000 },
+ GeometrySpiral_Data{ -1.0_m, 1.0_m, 0.0_rad, 100.0_m, 0.00_i_m, 0.00_i_m, 100.0_m, 0.0_m, 99.000, 1.000, 0.0000 },
+ GeometrySpiral_Data{ 1.0_m, -1.0_m, 0.0_rad, 100.0_m, 0.00_i_m, 0.00_i_m, 100.0_m, 0.0_m, 101.000, -1.000, 0.0000},
+
+ GeometrySpiral_Data{ 1.0_m, 1.0_m, 0.0_rad, 100.0_m, 0.00_i_m, 0.01_i_m, 100.0_m, 0.0_m, 98.529, 17.371, 0.5000 },
+ GeometrySpiral_Data{ -1.0_m, -1.0_m, 0.0_rad, 100.0_m, 0.00_i_m, 0.01_i_m, 100.0_m, 0.0_m, 96.529, 15.371, 0.5000 },
+ GeometrySpiral_Data{ -1.0_m, 1.0_m, 0.0_rad, 100.0_m, 0.00_i_m, 0.01_i_m, 100.0_m, 0.0_m, 96.529, 17.371, 0.5000 },
+ GeometrySpiral_Data{ 1.0_m, -1.0_m, 0.0_rad, 100.0_m, 0.00_i_m, 0.01_i_m, 100.0_m, 0.0_m, 98.529, 15.371, 0.5000 }
));
INSTANTIATE_TEST_SUITE_P(AtEndOfGeometryAndNonzeroTAndNonzeroOrigin, RoadGeometries_Spiral, ::testing::Values(
- // | origin | spirial definition | query pos | expected result |
- // | x y hdg | len c_start c_end | s t | x y hdg |
- GeometrySpiral_Data{ 1.0, 1.0, 0.0, 100.0, 0.00, 0.01, 100.0, 1.0, 98.049, 18.249, 0.5000 },
- GeometrySpiral_Data{ -1.0, -1.0, 0.0, 100.0, 0.00, 0.01, 100.0, 1.0, 96.049, 16.249, 0.5000 },
- GeometrySpiral_Data{ -1.0, 1.0, 0.0, 100.0, 0.00, 0.01, 100.0, 1.0, 96.049, 18.249, 0.5000 },
- GeometrySpiral_Data{ 1.0, -1.0, 0.0, 100.0, 0.00, 0.01, 100.0, 1.0, 98.049, 16.249, 0.5000 },
- GeometrySpiral_Data{ 1.0, 1.0, 0.0, 100.0, 0.00, 0.01, 100.0, -1.0, 99.008, 16.494, 0.5000 },
- GeometrySpiral_Data{ -1.0, -1.0, 0.0, 100.0, 0.00, 0.01, 100.0, -1.0, 97.008, 14.494, 0.5000 },
- GeometrySpiral_Data{ -1.0, 1.0, 0.0, 100.0, 0.00, 0.01, 100.0, -1.0, 97.008, 16.494, 0.5000 },
- GeometrySpiral_Data{ 1.0, -1.0, 0.0, 100.0, 0.00, 0.01, 100.0, -1.0, 99.008, 14.494, 0.5000 }
+ // | origin | spirial definition | query pos | expected result |
+ // | x y hdg | len c_start c_end | s t | x y hdg |
+ GeometrySpiral_Data{ 1.0_m, 1.0_m, 0.0_rad, 100.0_m, 0.00_i_m, 0.01_i_m, 100.0_m, 1.0_m, 98.049, 18.249, 0.5000 },
+ GeometrySpiral_Data{ -1.0_m, -1.0_m, 0.0_rad, 100.0_m, 0.00_i_m, 0.01_i_m, 100.0_m, 1.0_m, 96.049, 16.249, 0.5000 },
+ GeometrySpiral_Data{ -1.0_m, 1.0_m, 0.0_rad, 100.0_m, 0.00_i_m, 0.01_i_m, 100.0_m, 1.0_m, 96.049, 18.249, 0.5000 },
+ GeometrySpiral_Data{ 1.0_m, -1.0_m, 0.0_rad, 100.0_m, 0.00_i_m, 0.01_i_m, 100.0_m, 1.0_m, 98.049, 16.249, 0.5000 },
+ GeometrySpiral_Data{ 1.0_m, 1.0_m, 0.0_rad, 100.0_m, 0.00_i_m, 0.01_i_m, 100.0_m, -1.0_m, 99.008, 16.494, 0.5000 },
+ GeometrySpiral_Data{ -1.0_m, -1.0_m, 0.0_rad, 100.0_m, 0.00_i_m, 0.01_i_m, 100.0_m, -1.0_m, 97.008, 14.494, 0.5000 },
+ GeometrySpiral_Data{ -1.0_m, 1.0_m, 0.0_rad, 100.0_m, 0.00_i_m, 0.01_i_m, 100.0_m, -1.0_m, 97.008, 16.494, 0.5000 },
+ GeometrySpiral_Data{ 1.0_m, -1.0_m, 0.0_rad, 100.0_m, 0.00_i_m, 0.01_i_m, 100.0_m, -1.0_m, 99.008, 14.494, 0.5000 }
));
INSTANTIATE_TEST_SUITE_P(AtEndOfGeometryAndZeroTAndNonzeroOriginHeading, RoadGeometries_Spiral, ::testing::Values(
- // | origin | spirial definition | query pos | expected result |
- // | x y hdg | len c_start c_end | s t | x y hdg |
- GeometrySpiral_Data{ 0.0, 0.0, M_PI_4, 100.0, 0.00, 0.00, 100.0, 0.0, 70.711, 70.711, 0.7854 },
- GeometrySpiral_Data{ 0.0, 0.0, 3 * M_PI_4, 100.0, 0.00, 0.00, 100.0, 0.0, -70.711, 70.711, 2.3570 },
- GeometrySpiral_Data{ 0.0, 0.0, -3 * M_PI_4, 100.0, 0.00, 0.00, 100.0, 0.0, -70.711, -70.711, -2.3570 },
- GeometrySpiral_Data{ 0.0, 0.0, 5 * M_PI_4, 100.0, 0.00, 0.00, 100.0, 0.0, -70.711, -70.711, 3.9270 },
- GeometrySpiral_Data{ 0.0, 0.0, -M_PI_4, 100.0, 0.00, 0.00, 100.0, 0.0, 70.711, -70.711, -0.7854 },
- GeometrySpiral_Data{ 0.0, 0.0, 7 * M_PI_4, 100.0, 0.00, 0.00, 100.0, 0.0, 70.711, -70.711, 5.4978 },
-
- GeometrySpiral_Data{ 0.0, 0.0, M_PI_4, 100.0, 0.00, 0.01, 100.0, 0.0, 57.387, 80.540, 1.2854 },
- GeometrySpiral_Data{ 0.0, 0.0, 3 * M_PI_4, 100.0, 0.00, 0.01, 100.0, 0.0, -80.540, 57.387, 2.8562 },
- GeometrySpiral_Data{ 0.0, 0.0, -3 * M_PI_4, 100.0, 0.00, 0.01, 100.0, 0.0, -57.387, -80.540, -1.8562 },
- GeometrySpiral_Data{ 0.0, 0.0, 5 * M_PI_4, 100.0, 0.00, 0.01, 100.0, 0.0, -57.387, -80.540, 4.4270 },
- GeometrySpiral_Data{ 0.0, 0.0, -M_PI_4, 100.0, 0.00, 0.01, 100.0, 0.0, 80.540, -57.387, -0.2854 },
- GeometrySpiral_Data{ 0.0, 0.0, 7 * M_PI_4, 100.0, 0.00, 0.01, 100.0, 0.0, 80.540, -57.387, 5.9978 }
+ // | origin | spirial definition | query pos | expected result |
+ // | x y hdg | len c_start c_end | s t | x y hdg |
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 45_deg, 100.0_m, 0.00_i_m, 0.00_i_m, 100.0_m, 0.0_m, 70.711, 70.711, 0.7854 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 135_deg, 100.0_m, 0.00_i_m, 0.00_i_m, 100.0_m, 0.0_m, -70.711, 70.711, 2.3570 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, -135_deg, 100.0_m, 0.00_i_m, 0.00_i_m, 100.0_m, 0.0_m, -70.711, -70.711, -2.3570 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 225_deg, 100.0_m, 0.00_i_m, 0.00_i_m, 100.0_m, 0.0_m, -70.711, -70.711, 3.9270 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, -45_deg, 100.0_m, 0.00_i_m, 0.00_i_m, 100.0_m, 0.0_m, 70.711, -70.711, -0.7854 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 315_deg, 100.0_m, 0.00_i_m, 0.00_i_m, 100.0_m, 0.0_m, 70.711, -70.711, 5.4978 },
+
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 45_deg, 100.0_m, 0.00_i_m, 0.01_i_m, 100.0_m, 0.0_m, 57.387, 80.540, 1.2854 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 135_deg, 100.0_m, 0.00_i_m, 0.01_i_m, 100.0_m, 0.0_m, -80.540, 57.387, 2.8562 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, -135_deg, 100.0_m, 0.00_i_m, 0.01_i_m, 100.0_m, 0.0_m, -57.387, -80.540, -1.8562 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 225_deg, 100.0_m, 0.00_i_m, 0.01_i_m, 100.0_m, 0.0_m, -57.387, -80.540, 4.4270 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, -45_deg, 100.0_m, 0.00_i_m, 0.01_i_m, 100.0_m, 0.0_m, 80.540, -57.387, -0.2854 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 315_deg, 100.0_m, 0.00_i_m, 0.01_i_m, 100.0_m, 0.0_m, 80.540, -57.387, 5.9978 }
));
INSTANTIATE_TEST_SUITE_P(AtEndOfGeometryAndZeroTAndNonzeroOriginAndHeading, RoadGeometries_Spiral, ::testing::Values(
- // | origin | spirial definition | query pos | expected result |
- // | x y hdg | len c_start c_end | s t | x y hdg |
- GeometrySpiral_Data{ 1.0, 1.0, M_PI_4, 100.0, 0.00, 0.01, 100.0, 0.0, 58.387, 81.540, 1.2854 },
- GeometrySpiral_Data{ 1.0, 1.0, -M_PI_4, 100.0, 0.00, 0.01, 100.0, 0.0, 81.540, -56.387, -0.2854 },
- GeometrySpiral_Data{ -1.0, -1.0, 3 * M_PI_4, 100.0, 0.00, -0.01, 100.0, 0.0, -58.387, 79.540, 1.8562 },
- GeometrySpiral_Data{ -1.0, 1.0, -3 * M_PI_4, 100.0, 0.00, -0.01, 100.0, 0.0, -81.540, -56.387, -2.8562 },
- GeometrySpiral_Data{ 1.0, -1.0, 5 * M_PI_4, 100.0, 0.00, -0.01, 100.0, 0.0, -79.540, -58.387, 3.4270 }
+ // | origin | spirial definition | query pos | expected result |
+ // | x y hdg | len c_start c_end | s t | x y hdg |
+ GeometrySpiral_Data{ 1.0_m, 1.0_m, 45_deg, 100.0_m, 0.00_i_m, 0.01_i_m, 100.0_m, 0.0_m, 58.387, 81.540, 1.2854 },
+ GeometrySpiral_Data{ 1.0_m, 1.0_m, -45_deg, 100.0_m, 0.00_i_m, 0.01_i_m, 100.0_m, 0.0_m, 81.540, -56.387, -0.2854 },
+ GeometrySpiral_Data{ -1.0_m, -1.0_m, 135_deg, 100.0_m, 0.00_i_m, -0.01_i_m, 100.0_m, 0.0_m, -58.387, 79.540, 1.8562 },
+ GeometrySpiral_Data{ -1.0_m, 1.0_m, -135_deg, 100.0_m, 0.00_i_m, -0.01_i_m, 100.0_m, 0.0_m, -81.540, -56.387, -2.8562 },
+ GeometrySpiral_Data{ 1.0_m, -1.0_m, 225_deg, 100.0_m, 0.00_i_m, -0.01_i_m, 100.0_m, 0.0_m, -79.540, -58.387, 3.4270 }
));
INSTANTIATE_TEST_SUITE_P(AtEndOfGeometryAndZeroTWithNonzeroStartAndEndCurvature, RoadGeometries_Spiral, ::testing::Values(
- // | origin | spirial definition | query pos | expected result |
- // | x y hdg | len c_start c_end | s t | x y hdg |
- GeometrySpiral_Data{ 0.0, 0.0, 0.0, 100.0, 0.01, 0.02, 100.0, 0.0, 71.564, 55.928, 1.5 },
- GeometrySpiral_Data{ 0.0, 0.0, M_PI_4, 100.0, 0.01, 0.02, 100.0, 0.0, 11.057, 90.151, 2.2854 },
- GeometrySpiral_Data{ 0.0, 0.0, -M_PI_4, 100.0, 0.01, 0.02, 100.0, 0.0, 90.151, -11.057, 0.7146 },
- GeometrySpiral_Data{ 0.0, 0.0, 3 * M_PI_4, 100.0, 0.01, 0.02, 100.0, 0.0, -90.151, 11.057, 3.8562 },
- GeometrySpiral_Data{ 0.0, 0.0, -3 * M_PI_4, 100.0, 0.01, 0.02, 100.0, 0.0, -11.057, -90.151, -0.8562 },
-
- GeometrySpiral_Data{ 0.0, 0.0, 0.0, 100.0, -0.01, -0.02, 100.0, 0.0, 71.564, -55.928, -1.5 },
- GeometrySpiral_Data{ 0.0, 0.0, M_PI_4, 100.0, -0.01, -0.02, 100.0, 0.0, 90.151, 11.057, -0.7146 },
- GeometrySpiral_Data{ 0.0, 0.0, -M_PI_4, 100.0, -0.01, -0.02, 100.0, 0.0, 11.057, -90.151, -2.2854 },
- GeometrySpiral_Data{ 0.0, 0.0, 3 * M_PI_4, 100.0, -0.01, -0.02, 100.0, 0.0, -11.057, 90.151, 0.8562 },
- GeometrySpiral_Data{ 0.0, 0.0, -3 * M_PI_4, 100.0, -0.01, -0.02, 100.0, 0.0, -90.151, -11.057, -3.8562 },
-
- GeometrySpiral_Data{ 0.0, 0.0, 0.0, 100.0, 0.02, 0.01, 100.0, 0.0, 60.850, 67.429, 1.5 },
- GeometrySpiral_Data{ 0.0, 0.0, M_PI_4, 100.0, 0.02, 0.01, 100.0, 0.0, -4.652, 90.707, 2.2854 },
- GeometrySpiral_Data{ 0.0, 0.0, -M_PI_4, 100.0, 0.02, 0.01, 100.0, 0.0, 90.707, 4.652, 0.7146 },
- GeometrySpiral_Data{ 0.0, 0.0, 3 * M_PI_4, 100.0, 0.02, 0.01, 100.0, 0.0, -90.707, -4.652, 3.8562 },
- GeometrySpiral_Data{ 0.0, 0.0, -3 * M_PI_4, 100.0, 0.02, 0.01, 100.0, 0.0, 4.652, -90.707, -0.8562 },
-
- GeometrySpiral_Data{ 0.0, 0.0, 0.0, 100.0, -0.02, -0.01, 100.0, 0.0, 60.850, -67.429, -1.5 },
- GeometrySpiral_Data{ 0.0, 0.0, M_PI_4, 100.0, -0.02, -0.01, 100.0, 0.0, 90.707, -4.652, -0.7146 },
- GeometrySpiral_Data{ 0.0, 0.0, -M_PI_4, 100.0, -0.02, -0.01, 100.0, 0.0, -4.652, -90.707, -2.2854 },
- GeometrySpiral_Data{ 0.0, 0.0, 3 * M_PI_4, 100.0, -0.02, -0.01, 100.0, 0.0, 4.652, 90.707, 0.8562 },
- GeometrySpiral_Data{ 0.0, 0.0, -3 * M_PI_4, 100.0, -0.02, -0.01, 100.0, 0.0, -90.707, 4.652, -3.8562 }
+ // | origin | spirial definition | query pos | expected result |
+ // | x y hdg | len c_start c_end | s t | x y hdg |
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 0.0_deg, 100.0_m, 0.01_i_m, 0.02_i_m, 100.0_m, 0.0_m, 71.564, 55.928, 1.5 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 45_deg, 100.0_m, 0.01_i_m, 0.02_i_m, 100.0_m, 0.0_m, 11.057, 90.151, 2.2854 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, -45_deg, 100.0_m, 0.01_i_m, 0.02_i_m, 100.0_m, 0.0_m, 90.151, -11.057, 0.7146 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 135_deg, 100.0_m, 0.01_i_m, 0.02_i_m, 100.0_m, 0.0_m, -90.151, 11.057, 3.8562 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, -135_deg, 100.0_m, 0.01_i_m, 0.02_i_m, 100.0_m, 0.0_m, -11.057, -90.151, -0.8562 },
+
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 0.0_deg, 100.0_m, -0.01_i_m, -0.02_i_m, 100.0_m, 0.0_m, 71.564, -55.928, -1.5 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 45_deg, 100.0_m, -0.01_i_m, -0.02_i_m, 100.0_m, 0.0_m, 90.151, 11.057, -0.7146 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, -45_deg, 100.0_m, -0.01_i_m, -0.02_i_m, 100.0_m, 0.0_m, 11.057, -90.151, -2.2854 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 135_deg, 100.0_m, -0.01_i_m, -0.02_i_m, 100.0_m, 0.0_m, -11.057, 90.151, 0.8562 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, -135_deg, 100.0_m, -0.01_i_m, -0.02_i_m, 100.0_m, 0.0_m, -90.151, -11.057, -3.8562 },
+
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 0.0_deg, 100.0_m, 0.02_i_m, 0.01_i_m, 100.0_m, 0.0_m, 60.850, 67.429, 1.5 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 45_deg, 100.0_m, 0.02_i_m, 0.01_i_m, 100.0_m, 0.0_m, -4.652, 90.707, 2.2854 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, -45_deg, 100.0_m, 0.02_i_m, 0.01_i_m, 100.0_m, 0.0_m, 90.707, 4.652, 0.7146 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 135_deg, 100.0_m, 0.02_i_m, 0.01_i_m, 100.0_m, 0.0_m, -90.707, -4.652, 3.8562 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, -135_deg, 100.0_m, 0.02_i_m, 0.01_i_m, 100.0_m, 0.0_m, 4.652, -90.707, -0.8562 },
+
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 0.0_deg, 100.0_m, -0.02_i_m, -0.01_i_m, 100.0_m, 0.0_m, 60.850, -67.429, -1.5 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 45_deg, 100.0_m, -0.02_i_m, -0.01_i_m, 100.0_m, 0.0_m, 90.707, -4.652, -0.7146 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, -45_deg, 100.0_m, -0.02_i_m, -0.01_i_m, 100.0_m, 0.0_m, -4.652, -90.707, -2.2854 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 135_deg, 100.0_m, -0.02_i_m, -0.01_i_m, 100.0_m, 0.0_m, 4.652, 90.707, 0.8562 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, -135_deg, 100.0_m, -0.02_i_m, -0.01_i_m, 100.0_m, 0.0_m, -90.707, 4.652, -3.8562 }
));
INSTANTIATE_TEST_SUITE_P(AtEndOfGeometryAndZeroTWithNonzeroStartAndEndCurvatureAndNonzeroOrigin, RoadGeometries_Spiral, ::testing::Values(
- // | origin | spirial definition | query pos | expected result |
- // | x y hdg | len c_start c_end | s t | x y hdg |
- GeometrySpiral_Data{ 0.0, 1.0, 0.0, 100.0, 0.01, 0.02, 100.0, 0.0, 71.564, 56.928, 1.5 },
- GeometrySpiral_Data{ 1.0, 0.0, M_PI_4, 100.0, 0.01, 0.02, 100.0, 0.0, 12.057, 90.151, 2.2854 },
- GeometrySpiral_Data{ 1.0, 0.0, -M_PI_4, 100.0, 0.01, 0.02, 100.0, 0.0, 91.151, -11.057, 0.7146 },
- GeometrySpiral_Data{ 1.0, 0.0, 3 * M_PI_4, 100.0, 0.01, 0.02, 100.0, 0.0, -89.151, 11.057, 3.8562 },
- GeometrySpiral_Data{ 0.0, 1.0, -3 * M_PI_4, 100.0, 0.01, 0.02, 100.0, 0.0, -11.057, -89.151, -0.8562 },
-
- GeometrySpiral_Data{ 0.0, 1.0, 0.0, 100.0, -0.01, -0.02, 100.0, 0.0, 71.564, -54.928, -1.5 },
- GeometrySpiral_Data{ 1.0, 0.0, M_PI_4, 100.0, -0.01, -0.02, 100.0, 0.0, 91.151, 11.057, -0.7146 },
- GeometrySpiral_Data{ 1.0, 0.0, -M_PI_4, 100.0, -0.01, -0.02, 100.0, 0.0, 12.057, -90.151, -2.2854 },
- GeometrySpiral_Data{ 1.0, 0.0, 3 * M_PI_4, 100.0, -0.01, -0.02, 100.0, 0.0, -10.057, 90.151, 0.8562 },
- GeometrySpiral_Data{ 0.0, 1.0, -3 * M_PI_4, 100.0, -0.01, -0.02, 100.0, 0.0, -90.151, -10.057, -3.8562 },
-
- GeometrySpiral_Data{ 0.0, 1.0, 0.0, 100.0, 0.02, 0.01, 100.0, 0.0, 60.850, 68.429, 1.5 },
- GeometrySpiral_Data{ 1.0, 0.0, M_PI_4, 100.0, 0.02, 0.01, 100.0, 0.0, -3.652, 90.707, 2.2854 },
- GeometrySpiral_Data{ 1.0, 0.0, -M_PI_4, 100.0, 0.02, 0.01, 100.0, 0.0, 91.707, 4.652, 0.7146 },
- GeometrySpiral_Data{ 1.0, 0.0, 3 * M_PI_4, 100.0, 0.02, 0.01, 100.0, 0.0, -89.707, -4.652, 3.8562 },
- GeometrySpiral_Data{ 0.0, 1.0, -3 * M_PI_4, 100.0, 0.02, 0.01, 100.0, 0.0, 4.652, -89.707, -0.8562 },
-
- GeometrySpiral_Data{ 0.0, 1.0, 0.0, 100.0, -0.02, -0.01, 100.0, 0.0, 60.850, -66.429, -1.5 },
- GeometrySpiral_Data{ 1.0, 0.0, M_PI_4, 100.0, -0.02, -0.01, 100.0, 0.0, 91.707, -4.652, -0.7146 },
- GeometrySpiral_Data{ 1.0, 0.0, -M_PI_4, 100.0, -0.02, -0.01, 100.0, 0.0, -3.652, -90.707, -2.2854 },
- GeometrySpiral_Data{ 1.0, 0.0, 3 * M_PI_4, 100.0, -0.02, -0.01, 100.0, 0.0, 5.652, 90.707, 0.8562 },
- GeometrySpiral_Data{ 0.0, 1.0, -3 * M_PI_4, 100.0, -0.02, -0.01, 100.0, 0.0, -90.707, 5.652, -3.8562 }
+ // | origin | spirial definition | query pos | expected result |
+ // | x y hdg | len c_start c_end | s t | x y hdg |
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, 0.0_deg, 100.0_m, 0.01_i_m, 0.02_i_m, 100.0_m, 0.0_m, 71.564, 56.928, 1.5 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 45_deg, 100.0_m, 0.01_i_m, 0.02_i_m, 100.0_m, 0.0_m, 12.057, 90.151, 2.2854 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, -45_deg, 100.0_m, 0.01_i_m, 0.02_i_m, 100.0_m, 0.0_m, 91.151, -11.057, 0.7146 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 135_deg, 100.0_m, 0.01_i_m, 0.02_i_m, 100.0_m, 0.0_m, -89.151, 11.057, 3.8562 },
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, -135_deg, 100.0_m, 0.01_i_m, 0.02_i_m, 100.0_m, 0.0_m, -11.057, -89.151, -0.8562 },
+
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, 0.0_deg, 100.0_m, -0.01_i_m, -0.02_i_m, 100.0_m, 0.0_m, 71.564, -54.928, -1.5 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 45_deg, 100.0_m, -0.01_i_m, -0.02_i_m, 100.0_m, 0.0_m, 91.151, 11.057, -0.7146 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, -45_deg, 100.0_m, -0.01_i_m, -0.02_i_m, 100.0_m, 0.0_m, 12.057, -90.151, -2.2854 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 135_deg, 100.0_m, -0.01_i_m, -0.02_i_m, 100.0_m, 0.0_m, -10.057, 90.151, 0.8562 },
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, -135_deg, 100.0_m, -0.01_i_m, -0.02_i_m, 100.0_m, 0.0_m, -90.151, -10.057, -3.8562 },
+
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, 0.0_deg, 100.0_m, 0.02_i_m, 0.01_i_m, 100.0_m, 0.0_m, 60.850, 68.429, 1.5 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 45_deg, 100.0_m, 0.02_i_m, 0.01_i_m, 100.0_m, 0.0_m, -3.652, 90.707, 2.2854 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, -45_deg, 100.0_m, 0.02_i_m, 0.01_i_m, 100.0_m, 0.0_m, 91.707, 4.652, 0.7146 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 135_deg, 100.0_m, 0.02_i_m, 0.01_i_m, 100.0_m, 0.0_m, -89.707, -4.652, 3.8562 },
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, -135_deg, 100.0_m, 0.02_i_m, 0.01_i_m, 100.0_m, 0.0_m, 4.652, -89.707, -0.8562 },
+
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, 0.0_deg, 100.0_m, -0.02_i_m, -0.01_i_m, 100.0_m, 0.0_m, 60.850, -66.429, -1.5 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 45_deg, 100.0_m, -0.02_i_m, -0.01_i_m, 100.0_m, 0.0_m, 91.707, -4.652, -0.7146 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, -45_deg, 100.0_m, -0.02_i_m, -0.01_i_m, 100.0_m, 0.0_m, -3.652, -90.707, -2.2854 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 135_deg, 100.0_m, -0.02_i_m, -0.01_i_m, 100.0_m, 0.0_m, 5.652, 90.707, 0.8562 },
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, -135_deg, 100.0_m, -0.02_i_m, -0.01_i_m, 100.0_m, 0.0_m, -90.707, 5.652, -3.8562 }
));
INSTANTIATE_TEST_SUITE_P(AtEndOfGeometryAndNonzeroTWithNonzeroStartAndEndCurvatureAndNonzeroOrigin, RoadGeometries_Spiral, ::testing::Values(
- // | origin | spirial definition | query pos | expected result |
- // | x y hdg | len c_start c_end | s t | x y hdg |
- GeometrySpiral_Data{ 0.0, 1.0, 0.0, 100.0, 0.01, 0.02, 100.0, 2.0, 69.569, 57.069, 1.5 },
- GeometrySpiral_Data{ 1.0, 0.0, M_PI_4, 100.0, 0.01, 0.02, 100.0, -2.0, 13.568, 91.461, 2.2854 },
- GeometrySpiral_Data{ 1.0, 1.0, -M_PI_4, 100.0, 0.01, 0.02, 100.0, 2.0, 89.840, -8.546, 0.7146 },
- GeometrySpiral_Data{ 1.0, 0.0, 3 * M_PI_4, 100.0, 0.01, 0.02, 100.0, -2.0, -90.461, 12.568, 3.8562 },
- GeometrySpiral_Data{ 0.0, 1.0, -3 * M_PI_4, 100.0, 0.01, 0.02, 100.0, 2.0, -9.546, -87.840, -0.8562 },
-
- GeometrySpiral_Data{ 0.0, 1.0, 0.0, 100.0, -0.01, -0.02, 100.0, -2.0, 69.569, -55.069, -1.5 },
- GeometrySpiral_Data{ 1.0, 0.0, M_PI_4, 100.0, -0.01, -0.02, 100.0, 2.0, 92.461, 12.568, -0.7146 },
- GeometrySpiral_Data{ 1.0, 1.0, -M_PI_4, 100.0, -0.01, -0.02, 100.0, -2.0, 10.546, -87.840, -2.2854 },
- GeometrySpiral_Data{ 1.0, 0.0, 3 * M_PI_4, 100.0, -0.01, -0.02, 100.0, 2.0, -11.568, 91.461, 0.8562 },
- GeometrySpiral_Data{ 0.0, 1.0, -3 * M_PI_4, 100.0, -0.01, -0.02, 100.0, -2.0, -88.840, -8.546, -3.8562 },
-
- GeometrySpiral_Data{ 0.0, 1.0, 0.0, 100.0, 0.02, 0.01, 100.0, 2.0, 58.855, 68.570, 1.5 },
- GeometrySpiral_Data{ 1.0, 0.0, M_PI_4, 100.0, 0.02, 0.01, 100.0, 2.0, -5.163, 89.396, 2.2854 },
- GeometrySpiral_Data{ 1.0, 1.0, -M_PI_4, 100.0, 0.02, 0.01, 100.0, -2.0, 93.017, 4.141, 0.7146 },
- GeometrySpiral_Data{ 1.0, 0.0, 3 * M_PI_4, 100.0, 0.02, 0.01, 100.0, -2.0, -91.017, -3.141, 3.8562 },
- GeometrySpiral_Data{ 0.0, 1.0, -3 * M_PI_4, 100.0, 0.02, 0.01, 100.0, -2.0, 3.141, -91.017, -0.8562 },
-
- GeometrySpiral_Data{ 0.0, 1.0, 0.0, 100.0, -0.02, -0.01, 100.0, -2.0, 58.855, -66.570, -1.5 },
- GeometrySpiral_Data{ 1.0, 0.0, M_PI_4, 100.0, -0.02, -0.01, 100.0, -2.0, 90.396, -6.163, -0.7146 },
- GeometrySpiral_Data{ 1.0, 1.0, -M_PI_4, 100.0, -0.02, -0.01, 100.0, -2.0, -5.163, -88.396, -2.2854 },
- GeometrySpiral_Data{ 1.0, 0.0, 3 * M_PI_4, 100.0, -0.02, -0.01, 100.0, 2.0, 4.141, 92.017, 0.8562 },
- GeometrySpiral_Data{ 0.0, 1.0, -3 * M_PI_4, 100.0, -0.02, -0.01, 100.0, 2.0, -92.017, 4.141, -3.8562 }
+ // | origin | spirial definition | query pos | expected result |
+ // | x y hdg | len c_start c_end | s t | x y hdg |
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, 0.0_deg, 100.0_m, 0.01_i_m, 0.02_i_m, 100.0_m, 2.0_m, 69.569, 57.069, 1.5 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 45_deg, 100.0_m, 0.01_i_m, 0.02_i_m, 100.0_m, -2.0_m, 13.568, 91.461, 2.2854 },
+ GeometrySpiral_Data{ 1.0_m, 1.0_m, -45_deg, 100.0_m, 0.01_i_m, 0.02_i_m, 100.0_m, 2.0_m, 89.840, -8.546, 0.7146 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 135_deg, 100.0_m, 0.01_i_m, 0.02_i_m, 100.0_m, -2.0_m, -90.461, 12.568, 3.8562 },
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, -135_deg, 100.0_m, 0.01_i_m, 0.02_i_m, 100.0_m, 2.0_m, -9.546, -87.840, -0.8562 },
+
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, 0.0_deg, 100.0_m, -0.01_i_m, -0.02_i_m, 100.0_m, -2.0_m, 69.569, -55.069, -1.5 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 45_deg, 100.0_m, -0.01_i_m, -0.02_i_m, 100.0_m, 2.0_m, 92.461, 12.568, -0.7146 },
+ GeometrySpiral_Data{ 1.0_m, 1.0_m, -45_deg, 100.0_m, -0.01_i_m, -0.02_i_m, 100.0_m, -2.0_m, 10.546, -87.840, -2.2854 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 135_deg, 100.0_m, -0.01_i_m, -0.02_i_m, 100.0_m, 2.0_m, -11.568, 91.461, 0.8562 },
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, -135_deg, 100.0_m, -0.01_i_m, -0.02_i_m, 100.0_m, -2.0_m, -88.840, -8.546, -3.8562 },
+
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, 0.0_deg, 100.0_m, 0.02_i_m, 0.01_i_m, 100.0_m, 2.0_m, 58.855, 68.570, 1.5 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 45_deg, 100.0_m, 0.02_i_m, 0.01_i_m, 100.0_m, 2.0_m, -5.163, 89.396, 2.2854 },
+ GeometrySpiral_Data{ 1.0_m, 1.0_m, -45_deg, 100.0_m, 0.02_i_m, 0.01_i_m, 100.0_m, -2.0_m, 93.017, 4.141, 0.7146 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 135_deg, 100.0_m, 0.02_i_m, 0.01_i_m, 100.0_m, -2.0_m, -91.017, -3.141, 3.8562 },
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, -135_deg, 100.0_m, 0.02_i_m, 0.01_i_m, 100.0_m, -2.0_m, 3.141, -91.017, -0.8562 },
+
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, 0.0_deg, 100.0_m, -0.02_i_m, -0.01_i_m, 100.0_m, -2.0_m, 58.855, -66.570, -1.5 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 45_deg, 100.0_m, -0.02_i_m, -0.01_i_m, 100.0_m, -2.0_m, 90.396, -6.163, -0.7146 },
+ GeometrySpiral_Data{ 1.0_m, 1.0_m, -45_deg, 100.0_m, -0.02_i_m, -0.01_i_m, 100.0_m, -2.0_m, -5.163, -88.396, -2.2854 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 135_deg, 100.0_m, -0.02_i_m, -0.01_i_m, 100.0_m, 2.0_m, 4.141, 92.017, 0.8562 },
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, -135_deg, 100.0_m, -0.02_i_m, -0.01_i_m, 100.0_m, 2.0_m, -92.017, 4.141, -3.8562 }
));
INSTANTIATE_TEST_SUITE_P(AtCenterOfGeometryAndNonzeroTWithNonzeroStartAndEndCurvatureAndNonzeroOrigin, RoadGeometries_Spiral, ::testing::Values(
- // | origin | spirial definition | query pos | expected result |
- // | x y hdg | len c_start c_end | s t | x y hdg |
- GeometrySpiral_Data{ 0.0, 1.0, 0.0, 100.0, 0.01, 0.02, 50.0, 2.0, 45.942, 16.759, 0.6250 },
- GeometrySpiral_Data{ 1.0, 0.0, M_PI_4, 100.0, 0.01, 0.02, 50.0, -2.0, 26.291, 42.991, 1.4104 },
- GeometrySpiral_Data{ 1.0, 1.0, -M_PI_4, 100.0, 0.01, 0.02, 50.0, 2.0, 44.630, -20.343, -0.1604 },
- GeometrySpiral_Data{ 1.0, 0.0, 3 * M_PI_4, 100.0, 0.01, 0.02, 50.0, -2.0, -41.991, 25.291, 2.9812 },
- GeometrySpiral_Data{ 0.0, 1.0, -3 * M_PI_4, 100.0, 0.01, 0.02, 50.0, 2.0, -21.343, -42.630, -1.7312 },
-
- GeometrySpiral_Data{ 0.0, 1.0, 0.0, 100.0, -0.01, -0.02, 50.0, 2.0, 48.283, -11.516, -0.6250 },
- GeometrySpiral_Data{ 1.0, 0.0, M_PI_4, 100.0, -0.01, -0.02, 50.0, -2.0, 44.630, 21.343, 0.1604 },
- GeometrySpiral_Data{ 1.0, 1.0, -M_PI_4, 100.0, -0.01, -0.02, 50.0, 2.0, 26.291, -41.991, -1.4104 },
- GeometrySpiral_Data{ 1.0, 0.0, 3 * M_PI_4, 100.0, -0.01, -0.02, 50.0, -2.0, -20.343, 43.630, 1.7312 },
- GeometrySpiral_Data{ 0.0, 1.0, -3 * M_PI_4, 100.0, -0.01, -0.02, 50.0, 2.0, -42.991, -24.291, -2.9812 },
-
- GeometrySpiral_Data{ 0.0, 1.0, 0.0, 100.0, 0.02, 0.01, 50.0, 2.0, 41.880, 23.716, 0.8750 },
- GeometrySpiral_Data{ 1.0, 0.0, M_PI_4, 100.0, 0.02, 0.01, 50.0, 2.0, 14.551, 45.677, 1.6604 },
- GeometrySpiral_Data{ 1.0, 1.0, -M_PI_4, 100.0, 0.02, 0.01, 50.0, -2.0, 47.035, -16.535, 0.0896 },
- GeometrySpiral_Data{ 1.0, 0.0, 3 * M_PI_4, 100.0, 0.02, 0.01, 50.0, -2.0, -45.035, 17.535, 3.2312 },
- GeometrySpiral_Data{ 0.0, 1.0, -3 * M_PI_4, 100.0, 0.02, 0.01, 50.0, -2.0, -17.535, -45.035, -1.4812 },
-
- GeometrySpiral_Data{ 0.0, 1.0, 0.0, 100.0, -0.02, -0.01, 50.0, -2.0, 41.880, -21.716, -0.8750 },
- GeometrySpiral_Data{ 1.0, 0.0, M_PI_4, 100.0, -0.02, -0.01, 50.0, -2.0, 46.677, 13.551, -0.0896 },
- GeometrySpiral_Data{ 1.0, 1.0, -M_PI_4, 100.0, -0.02, -0.01, 50.0, -2.0, 14.551, -44.677, -1.6604 },
- GeometrySpiral_Data{ 1.0, 0.0, 3 * M_PI_4, 100.0, -0.02, -0.01, 50.0, 2.0, -16.535, 46.035, 1.4812 },
- GeometrySpiral_Data{ 0.0, 1.0, -3 * M_PI_4, 100.0, -0.02, -0.01, 50.0, 2.0, -46.035, -16.535, -3.2312 }
+ // | origin | spirial definition | query pos | expected result |
+ // | x y hdg | len c_start c_end | s t | x y hdg |
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, 0.0_deg, 100.0_m, 0.01_i_m, 0.02_i_m, 50.0_m, 2.0_m, 45.942, 16.759, 0.6250 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 45_deg, 100.0_m, 0.01_i_m, 0.02_i_m, 50.0_m, -2.0_m, 26.291, 42.991, 1.4104 },
+ GeometrySpiral_Data{ 1.0_m, 1.0_m, -45_deg, 100.0_m, 0.01_i_m, 0.02_i_m, 50.0_m, 2.0_m, 44.630, -20.343, -0.1604 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 135_deg, 100.0_m, 0.01_i_m, 0.02_i_m, 50.0_m, -2.0_m, -41.991, 25.291, 2.9812 },
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, -135_deg, 100.0_m, 0.01_i_m, 0.02_i_m, 50.0_m, 2.0_m, -21.343, -42.630, -1.7312 },
+
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, 0.0_deg, 100.0_m, -0.01_i_m, -0.02_i_m, 50.0_m, 2.0_m, 48.283, -11.516, -0.6250 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 45_deg, 100.0_m, -0.01_i_m, -0.02_i_m, 50.0_m, -2.0_m, 44.630, 21.343, 0.1604 },
+ GeometrySpiral_Data{ 1.0_m, 1.0_m, -45_deg, 100.0_m, -0.01_i_m, -0.02_i_m, 50.0_m, 2.0_m, 26.291, -41.991, -1.4104 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 135_deg, 100.0_m, -0.01_i_m, -0.02_i_m, 50.0_m, -2.0_m, -20.343, 43.630, 1.7312 },
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, -135_deg, 100.0_m, -0.01_i_m, -0.02_i_m, 50.0_m, 2.0_m, -42.991, -24.291, -2.9812 },
+
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, 0.0_deg, 100.0_m, 0.02_i_m, 0.01_i_m, 50.0_m, 2.0_m, 41.880, 23.716, 0.8750 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 45_deg, 100.0_m, 0.02_i_m, 0.01_i_m, 50.0_m, 2.0_m, 14.551, 45.677, 1.6604 },
+ GeometrySpiral_Data{ 1.0_m, 1.0_m, -45_deg, 100.0_m, 0.02_i_m, 0.01_i_m, 50.0_m, -2.0_m, 47.035, -16.535, 0.0896 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 135_deg, 100.0_m, 0.02_i_m, 0.01_i_m, 50.0_m, -2.0_m, -45.035, 17.535, 3.2312 },
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, -135_deg, 100.0_m, 0.02_i_m, 0.01_i_m, 50.0_m, -2.0_m, -17.535, -45.035, -1.4812 },
+
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, 0.0_deg, 100.0_m, -0.02_i_m, -0.01_i_m, 50.0_m, -2.0_m, 41.880, -21.716, -0.8750 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 45_deg, 100.0_m, -0.02_i_m, -0.01_i_m, 50.0_m, -2.0_m, 46.677, 13.551, -0.0896 },
+ GeometrySpiral_Data{ 1.0_m, 1.0_m, -45_deg, 100.0_m, -0.02_i_m, -0.01_i_m, 50.0_m, -2.0_m, 14.551, -44.677, -1.6604 },
+ GeometrySpiral_Data{ 1.0_m, 0.0_m, 135_deg, 100.0_m, -0.02_i_m, -0.01_i_m, 50.0_m, 2.0_m, -16.535, 46.035, 1.4812 },
+ GeometrySpiral_Data{ 0.0_m, 1.0_m, -135_deg, 100.0_m, -0.02_i_m, -0.01_i_m, 50.0_m, 2.0_m, -46.035, -16.535, -3.2312 }
));
INSTANTIATE_TEST_SUITE_P(AtEndOfGeometryAndZeroTWithAlternatingCurvatureSign, RoadGeometries_Spiral, ::testing::Values(
- // | origin | spirial definition | query pos | expected result |
- // | x y hdg | len c_start c_end | s t | x y hdg |
- GeometrySpiral_Data{ -49.688, -4.148, 0.25, 100.0, -0.01, 0.01, 50.0, 0.0, 0.000, 0.000, 0.0000 },
- GeometrySpiral_Data{ -49.688, 4.148, -0.25, 100.0, 0.01, -0.01, 50.0, 0.0, 0.000, 0.000, 0.0000 },
- GeometrySpiral_Data{ 0.0, 0.0, 0.0, 100.0, -0.01, 0.01, 50.0, 0.0, 49.170, -8.274, -0.2500 },
- GeometrySpiral_Data{ 0.0, 0.0, 0.0, 100.0, -0.01, 0.01, 100.0, 0.0, 98.340, -16.548, 0.0000 },
- GeometrySpiral_Data{ 0.0, 0.0, 0.0, 100.0, 0.01, -0.01, 50.0, 0.0, 49.170, 8.274, 0.2500 },
- GeometrySpiral_Data{ 0.0, 0.0, 0.0, 100.0, 0.01, -0.01, 100.0, 0.0, 98.340, 16.548, 0.0000 },
- GeometrySpiral_Data{ 0.0, 0.0, 0.0, 100.0, -0.02, 0.01, 100.0, 0.0, 86.252, -47.254, -0.5000 },
- GeometrySpiral_Data{ 0.0, 0.0, 0.0, 100.0, -0.02, 0.01, 50.0, 0.0, 45.747, -18.029, -0.6250 },
- GeometrySpiral_Data{ 0.0, 0.0, 0.0, 100.0, 0.02, -0.01, 100.0, 0.0, 86.252, 47.254, 0.5000 },
- GeometrySpiral_Data{ 0.0, 0.0, 0.0, 100.0, 0.02, -0.01, 50.0, 0.0, 45.747, 18.029, 0.6250 }
+ // | origin | spirial definition | query pos | expected result |
+ // | x y hdg | len c_start c _end | s t | x y hdg |
+ GeometrySpiral_Data{ -49.688_m,-4.148_m, 0.25_rad, 100.0_m, -0.01_i_m, 0.01_i_m, 50.0_m, 0.0_m, 0.000, 0.000, 0.0000 },
+ GeometrySpiral_Data{ -49.688_m, 4.148_m, -0.25_rad, 100.0_m, 0.01_i_m, -0.01_i_m, 50.0_m, 0.0_m, 0.000, 0.000, 0.0000 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 0.0_deg, 100.0_m, -0.01_i_m, 0.01_i_m, 50.0_m, 0.0_m, 49.170, -8.274, -0.2500 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 0.0_deg, 100.0_m, -0.01_i_m, 0.01_i_m, 100.0_m, 0.0_m, 98.340, -16.548, 0.0000 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 0.0_deg, 100.0_m, 0.01_i_m, -0.01_i_m, 50.0_m, 0.0_m, 49.170, 8.274, 0.2500 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 0.0_deg, 100.0_m, 0.01_i_m, -0.01_i_m, 100.0_m, 0.0_m, 98.340, 16.548, 0.0000 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 0.0_deg, 100.0_m, -0.02_i_m, 0.01_i_m, 100.0_m, 0.0_m, 86.252, -47.254, -0.5000 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 0.0_deg, 100.0_m, -0.02_i_m, 0.01_i_m, 50.0_m, 0.0_m, 45.747, -18.029, -0.6250 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 0.0_deg, 100.0_m, 0.02_i_m, -0.01_i_m, 100.0_m, 0.0_m, 86.252, 47.254, 0.5000 },
+ GeometrySpiral_Data{ 0.0_m, 0.0_m, 0.0_deg, 100.0_m, 0.02_i_m, -0.01_i_m, 50.0_m, 0.0_m, 45.747, 18.029, 0.6250 }
));
diff --git a/sim/tests/unitTests/core/opSimulation/scenarioImporter_Tests.cpp b/sim/tests/unitTests/core/opSimulation/scenarioImporter_Tests.cpp
deleted file mode 100644
index 90122dc502a465d0b484bf167888e6bffefe12fe..0000000000000000000000000000000000000000
--- a/sim/tests/unitTests/core/opSimulation/scenarioImporter_Tests.cpp
+++ /dev/null
@@ -1,698 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2019-2021 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
- * http://www.eclipse.org/legal/epl-2.0.
- *
- * SPDX-License-Identifier: EPL-2.0
- ********************************************************************************/
-#include "gtest/gtest.h"
-#include "gmock/gmock.h"
-
-#include "common/gtest/dontCare.h"
-#include "common/helper/importerHelper.h"
-#include "scenario.h"
-#include "scenarioImporter.h"
-#include "scenarioImporterHelper.h"
-#include "fakeScenario.h"
-
-using namespace Configuration;
-using namespace Importer;
-
-using ::testing::Eq;
-using ::testing::DoubleEq;
-using ::testing::StrEq;
-using ::testing::DontCare;
-using ::testing::ElementsAre;
-using ::testing::SizeIs;
-using ::testing::_;
-
-TEST(ScenarioImporter_UnitTests, ImportEntity)
-{
- QDomElement entityElement = documentRootFromString(
- "<Object name=\"Ego\">"
- "<CatalogReference catalogName=\"ProfilesCatalog.xml\" entryName=\"EgoAgent\">"
- "<ParameterAssignments>"
- "<ParameterAssignment parameterRef=\"TestParameter\" value=\"6\" />"
- "</ParameterAssignments>"
- "</CatalogReference>"
- "</Object>"
- );
-
- ScenarioEntity scenarioEntity;
- openScenario::Parameters parameters;
-
- EXPECT_NO_THROW(ScenarioImporter::ImportEntity(entityElement, scenarioEntity, parameters));
-
- ASSERT_THAT(scenarioEntity.name, Eq("Ego"));
- ASSERT_THAT(scenarioEntity.catalogReference.catalogName, Eq("ProfilesCatalog.xml"));
- ASSERT_THAT(scenarioEntity.catalogReference.entryName, Eq("EgoAgent"));
- ASSERT_THAT(scenarioEntity.assignedParameters, SizeIs(1));
- ASSERT_THAT(std::get<std::string>(scenarioEntity.assignedParameters.at("TestParameter")), Eq("6"));
-}
-
-TEST(ScenarioImporter_UnitTests, ImportPositionElementLaneWithStochastics)
-{
- QDomElement rootElement = documentRootFromString(
- "<root>"
- "<Position>"
- "<LanePosition roadId=\"RoadId1\" s=\"1470.0\" laneId=\"-4\" offset=\"0.5\" > "
- "<Stochastics value=\"s\" stdDeviation =\"5\" lowerBound = \"95\" upperBound=\"105\"/>"
- "<Stochastics value=\"offset\" stdDeviation =\"4\" lowerBound = \"44\" upperBound=\"54\"/>"
- "</LanePosition>"
- "</Position>"
- "</root>"
- );
-
- openScenario::Parameters parameters;
-
- openScenario::LanePosition lanePosition;
- EXPECT_NO_THROW(lanePosition = std::get<openScenario::LanePosition>(openScenario::ScenarioImporterHelper::ImportPosition(rootElement, parameters)));
-
- ASSERT_EQ(lanePosition.laneId,-4);
-
- ASSERT_DOUBLE_EQ(lanePosition.s,1470.0);
- ASSERT_TRUE(lanePosition.stochasticS.has_value());
-
- const auto &stochasticS = lanePosition.stochasticS.value();
- ASSERT_DOUBLE_EQ(stochasticS.mean,1470.0);
- ASSERT_DOUBLE_EQ(stochasticS.lowerBoundary,95);
- ASSERT_DOUBLE_EQ(stochasticS.upperBoundary,105);
- ASSERT_DOUBLE_EQ(stochasticS.stdDeviation,5);
-
- ASSERT_DOUBLE_EQ(lanePosition.offset.value(),0.5);
- ASSERT_TRUE(lanePosition.stochasticOffset.has_value());
-
- const auto &stochasticOffset = lanePosition.stochasticOffset.value();
- ASSERT_DOUBLE_EQ(stochasticOffset.mean,0.5);
- ASSERT_DOUBLE_EQ(stochasticOffset.lowerBoundary,44);
- ASSERT_DOUBLE_EQ(stochasticOffset.upperBoundary,54);
- ASSERT_DOUBLE_EQ(stochasticOffset.stdDeviation,4);
-}
-
-TEST(ScenarioImporter_UnitTests, ImportPositionElementLaneWithOrientation)
-{
- QDomElement rootElement = documentRootFromString(
- "<root>"
- "<Position>"
- "<LanePosition roadId=\"RoadId1\" s=\"1470.0\" laneId=\"-4\" offset=\"0.5\" > "
- "<Orientation type=\"relative\" h=\"1.57\"/>"
- "</LanePosition>"
- "</Position>"
- "</root>"
- );
-
- openScenario::Parameters parameters;
-
- openScenario::LanePosition lanePosition;
- EXPECT_NO_THROW(lanePosition = std::get<openScenario::LanePosition>(openScenario::ScenarioImporterHelper::ImportPosition(rootElement, parameters)));
-
- ASSERT_DOUBLE_EQ(lanePosition.s, 1470.0);
- ASSERT_EQ(lanePosition.laneId, -4);
- ASSERT_DOUBLE_EQ(lanePosition.offset.value(),0.5);
-
- ASSERT_DOUBLE_EQ(lanePosition.orientation.value().h.value(), 1.57);
-}
-
-
-TEST(ScenarioImporter_UnitTests, ImportPositionElementWorld)
-{
- QDomElement rootElement = documentRootFromString(
- "<root>"
- "<Position>"
- "<WorldPosition x=\"10.0\" y=\"-4.0\" h=\"0.5\" /> "
- "</Position>"
- "</root>"
- );
- QDomElement positionElement = documentRootFromString(
- "<Position>"
- "<World x=\"10.0\" y=\"-4.0\" h=\"0.5\" /> "
- "</Position>"
- );
-
- openScenario::Parameters parameters;
-
- openScenario::WorldPosition worldPosition;
- EXPECT_NO_THROW(worldPosition = std::get<openScenario::WorldPosition>(openScenario::ScenarioImporterHelper::ImportPosition(rootElement, parameters)));
-
- ASSERT_THAT(worldPosition.x, Eq(10.0));
- ASSERT_THAT(worldPosition.y, Eq(-4));
- ASSERT_THAT(worldPosition.h.has_value(), Eq(true));
- ASSERT_THAT(worldPosition.h.value(), Eq(0.5));
-}
-
-TEST(ScenarioImporter_UnitTests, ImportPositionElementRelativeWorldPosition)
-{
- QDomElement rootElement = documentRootFromString(
- R"(<root><Position><RelativeWorldPosition dx="10.0" dy="-4.0" entityRef="ref"><Orientation type="relative" h="1.57"></RelativeWorldPosition></Position></root>)");
-
- openScenario::Parameters parameters;
-
- openScenario::RelativeWorldPosition relativeWorldPosition;
- EXPECT_NO_THROW(relativeWorldPosition = std::get<openScenario::RelativeWorldPosition>(openScenario::ScenarioImporterHelper::ImportPosition(rootElement, parameters)));
- ASSERT_EQ(relativeWorldPosition.entityRef, "ref");
- ASSERT_EQ(relativeWorldPosition.dx, 10.0);
- ASSERT_EQ(relativeWorldPosition.dy, -4);
- ASSERT_FALSE(relativeWorldPosition.dz.has_value());
- ASSERT_TRUE(relativeWorldPosition.orientation.has_value());
-}
-
-TEST(ScenarioImporter_UnitTests, ImportPositionElementRelativeObjectPosition)
-{
- QDomElement rootElement = documentRootFromString(
- R"(<root><Position><RelativeObjectPosition dx="10.0" dy="-4.0" entityRef="ref"><Orientation type="relative" h="1.57"></RelativeObjectPosition></Position></root>)");
-
- openScenario::Parameters parameters;
-
- openScenario::RelativeObjectPosition relativeObjectPosition;
- EXPECT_NO_THROW(relativeObjectPosition = std::get<openScenario::RelativeObjectPosition>(openScenario::ScenarioImporterHelper::ImportPosition(rootElement, parameters)));
- ASSERT_EQ(relativeObjectPosition.entityRef, "ref");
- ASSERT_EQ(relativeObjectPosition.dx, 10.0);
- ASSERT_EQ(relativeObjectPosition.dy, -4);
- ASSERT_FALSE(relativeObjectPosition.dz.has_value());
- ASSERT_TRUE(relativeObjectPosition.orientation.has_value());
-}
-
-TEST(ScenarioImporter_UnitTests, ImportSpeedAction)
-{
- QDomElement rootElement = documentRootFromString(
- "<root>"
- "<LongitudinalAction>"
- "<SpeedAction>"
- "<SpeedActionDynamics value=\"10.0\" dynamicsDimension=\"rate\" dynamicsShape=\"linear\" />"
- "<SpeedActionTarget>"
- "<AbsoluteTargetSpeed value=\"27.7\" />"
- "</SpeedActionTarget>"
- "</SpeedAction>"
- "</Longitudinal>"
- "</root>"
- );
-
- openScenario::Parameters parameters;
-
- openScenario::Action action;
- EXPECT_NO_THROW(action = openScenario::ScenarioImporterHelper::ImportPrivateAction(rootElement, parameters));
- openScenario::SpeedAction speedAction;
- EXPECT_NO_THROW(speedAction = std::get<openScenario::SpeedAction>(std::get<openScenario::LongitudinalAction>(std::get<openScenario::PrivateAction>(action))));
-
- ASSERT_THAT(speedAction.stochasticValue.has_value(), Eq(false));
- ASSERT_THAT(std::get<openScenario::AbsoluteTargetSpeed>(speedAction.target).value, DoubleEq(27.7));
-
- ASSERT_THAT(speedAction.stochasticDynamics.has_value(), Eq(false));
- ASSERT_THAT(speedAction.transitionDynamics.value, DoubleEq(10.0));
- ASSERT_THAT(speedAction.transitionDynamics.shape, Eq(openScenario::Shape::Linear));
- ASSERT_THAT(speedAction.transitionDynamics.dimension, Eq("rate"));
-}
-
-TEST(ScenarioImporter_UnitTests, ImportLongitudinalActionWithStochastics)
-{
- QDomElement rootElement = documentRootFromString(
- "<root>"
- "<LongitudinalAction>"
- "<SpeedAction>"
- "<SpeedActionDynamics value=\"10.0\" dynamicsDimension=\"rate\" dynamicsShape=\"linear\" />"
- "<SpeedActionTarget>"
- "<AbsoluteTargetSpeed value=\"27.7\" />"
- "</SpeedActionTarget>"
- "<Stochastics value=\"velocity\" stdDeviation =\"3\" lowerBound = \"12\" upperBound=\"40.0\"/>"
- "<Stochastics value=\"rate\" stdDeviation =\"4\" lowerBound = \"0\" upperBound=\"4\"/>"
- "</SpeedAction>"
- "</Longitudinal>"
- "</root>"
- );
-
- openScenario::Parameters parameters;
-
- openScenario::Action action;
- EXPECT_NO_THROW(action = openScenario::ScenarioImporterHelper::ImportPrivateAction(rootElement, parameters));
- openScenario::SpeedAction speedAction;
- EXPECT_NO_THROW(speedAction = std::get<openScenario::SpeedAction>(std::get<openScenario::LongitudinalAction>(std::get<openScenario::PrivateAction>(action))));
-
- ASSERT_THAT(speedAction.stochasticValue.has_value(), Eq(true));
- const auto& velocityAttribute = speedAction.stochasticValue.value();
- ASSERT_DOUBLE_EQ(velocityAttribute.mean, 27.7);
- ASSERT_DOUBLE_EQ(velocityAttribute.stdDeviation, 3.0);
- ASSERT_DOUBLE_EQ(velocityAttribute.lowerBoundary, 12.0);
- ASSERT_DOUBLE_EQ(velocityAttribute.upperBoundary, 40.0);
-
- ASSERT_THAT(speedAction.stochasticDynamics.has_value(), Eq(true));
- const auto& rateAttribute = speedAction.stochasticDynamics.value();
- ASSERT_DOUBLE_EQ(rateAttribute.mean, 10.0);
- ASSERT_DOUBLE_EQ(rateAttribute.stdDeviation, 4.0);
- ASSERT_DOUBLE_EQ(rateAttribute.lowerBoundary, 0.0);
- ASSERT_DOUBLE_EQ(rateAttribute.upperBoundary, 4.0);
-
-}
-
-TEST(ScenarioImporter_UnitTests, ImportLongitudinalWithParameterDeclaration)
-{
- QDomElement rootElement = documentRootFromString(
- "<root>"
- "<LongitudinalAction>"
- "<SpeedAction>"
- "<SpeedActionDynamics value=\"$Rate\" dynamicsDimension=\"rate\" dynamicsShape=\"linear\" />"
- "<SpeedActionTarget>"
- "<AbsoluteTargetSpeed value=\"$Velocity\" />"
- "</SpeedActionTarget>"
- "</SpeedAction>"
- "</Longitudinal>"
- "</root>"
- );
-
- openScenario::Parameters parameters{{"Rate", 10.0}, {"Velocity", 27.7}};
-
- EXPECT_NO_THROW(openScenario::ScenarioImporterHelper::ImportPrivateAction(rootElement, parameters));
-
- openScenario::Action action;
- EXPECT_NO_THROW(action = openScenario::ScenarioImporterHelper::ImportPrivateAction(rootElement, parameters));
- openScenario::SpeedAction speedAction;
- EXPECT_NO_THROW(speedAction = std::get<openScenario::SpeedAction>(std::get<openScenario::LongitudinalAction>(std::get<openScenario::PrivateAction>(action))));
-
- ASSERT_THAT(speedAction.stochasticValue.has_value(), Eq(false));
- ASSERT_THAT(std::get<openScenario::AbsoluteTargetSpeed>(speedAction.target).value, DoubleEq(27.7));
-
- ASSERT_THAT(speedAction.stochasticDynamics.has_value(), Eq(false));
- ASSERT_THAT(speedAction.transitionDynamics.value, DoubleEq(10.0));
- ASSERT_THAT(speedAction.transitionDynamics.shape, Eq(openScenario::Shape::Linear));
- ASSERT_THAT(speedAction.transitionDynamics.dimension, Eq("rate"));
-}
-
-TEST(ScenarioImporter_UnitTests, ImportAssignRoutingAction)
-{
- QDomElement rootElement = documentRootFromString(
- "<root>"
- "<RoutingAction>"
- "<AssignRouteAction>"
- "<Route>"
- "<Waypoint>"
- "<Position>"
- "<RoadPosition roadId=\"RoadId1\" s=\"0\" t=\"-1.0\" />"
- "</Position>"
- "</Waypoint>"
- "<Waypoint>"
- "<Position>"
- "<RoadPosition roadId=\"RoadId2\" s=\"0\" t=\"1.0\" />"
- "</Position>"
- "</Waypoint>"
- "<Waypoint>"
- "<Position>"
- "<RoadPosition roadId=\"RoadId3\" s=\"0\" t=\"-1.0\" />"
- "</Position>"
- "</Waypoint>"
- "</Route>"
- "</AssignRouteAction>"
- "</RoutingAction>"
- "</root>"
- );
-
- openScenario::Parameters parameters;
-
- EXPECT_NO_THROW(openScenario::ScenarioImporterHelper::ImportPrivateAction(rootElement, parameters));
-
- openScenario::Action action;
- EXPECT_NO_THROW(action = openScenario::ScenarioImporterHelper::ImportPrivateAction(rootElement, parameters));
- openScenario::AssignRouteAction assignRouteAction;
- EXPECT_NO_THROW(assignRouteAction = std::get<openScenario::AssignRouteAction>(std::get<openScenario::RoutingAction>(std::get<openScenario::PrivateAction>(action))));
-
- ASSERT_THAT(assignRouteAction, SizeIs(3));
- ASSERT_THAT(assignRouteAction[0].roadId, Eq("RoadId1"));
- ASSERT_THAT(assignRouteAction[0].t, DoubleEq(-1));
- ASSERT_THAT(assignRouteAction[1].roadId, Eq("RoadId2"));
- ASSERT_THAT(assignRouteAction[1].t, DoubleEq(1));
- ASSERT_THAT(assignRouteAction[2].roadId, Eq("RoadId3"));
- ASSERT_THAT(assignRouteAction[2].t, DoubleEq(-1));
-}
-
-TEST(ScenarioImporter_UnitTests, ImportAcquirePositionAction)
-{
- QDomElement rootElement = documentRootFromString(
- R"(<root><RoutingAction><AcquirePositionAction><Position><WorldPosition x="76.17" y="5.625" z="0" h="0.0" p="0" r="0"/></Position></AcquirePositionAction></RoutingAction></root>)");
-
- openScenario::Parameters parameters;
-
- openScenario::Action action;
- EXPECT_NO_THROW(action = openScenario::ScenarioImporterHelper::ImportPrivateAction(rootElement, parameters));
- EXPECT_NO_THROW(
- std::get<openScenario::AcquirePositionAction>(
- std::get<openScenario::RoutingAction>(
- std::get<openScenario::PrivateAction>(action))));
-}
-
-TEST(ScenarioImporter_UnitTests, ImportVehicleCatalog_ReturnsSuccess)
-{
- std::string catalogPath{};
-
- QDomElement catalogsElement = documentRootFromString(
- "<Catalogs>"
- "<VehicleCatalog name=\"vcat\">"
- "<Directory path=\"vpath\"/>"
- "</VehicleCatalog>"
- "<PedestrianCatalog name=\"pcat\">"
- "<Directory path=\"ppath\"/>"
- "</PedestrianCatalog>"
- "</Catalogs>"
- );
-
- openScenario::Parameters parameters;
-
- ASSERT_NO_THROW(catalogPath = ScenarioImporter::ImportCatalog("VehicleCatalog", catalogsElement, parameters));
- EXPECT_THAT(catalogPath, StrEq("vpath"));
-}
-
-TEST(ScenarioImporter_UnitTests, ImportPedestrianCatalog_ReturnsSuccess)
-{
- std::string catalogPath{};
-
- QDomElement catalogsElement = documentRootFromString(
- "<Catalogs>"
- "<VehicleCatalog name=\"vcat\">"
- "<Directory path=\"vpath\"/>"
- "</VehicleCatalog>"
- "<PedestrianCatalog name=\"pcat\">"
- "<Directory path=\"ppath\"/>"
- "</PedestrianCatalog>"
- "</Catalogs>"
- );
-
- openScenario::Parameters parameters;
-
- ASSERT_NO_THROW(catalogPath = ScenarioImporter::ImportCatalog("PedestrianCatalog", catalogsElement, parameters));
- EXPECT_THAT(catalogPath, StrEq("ppath"));
-}
-
-TEST(ScenarioImporter_UnitTests, ImportStoryboardWithoutEndCondition_Throws)
-{
- QDomElement storyboardRootElement = documentRootFromString(
- "<root>"
- " <Storyboard>"
- " <Init>"
- " <Actions>"
- " </Actions>"
- " </Init>"
- " </Storyboard>"
- "</root>"
- );
- std::vector<ScenarioEntity> entities;
- FakeScenario mockScenario;
- openScenario::Parameters parameters;
-
- EXPECT_THROW(ScenarioImporter::ImportStoryboard(storyboardRootElement, entities, &mockScenario, parameters), std::runtime_error);
-}
-
-TEST(ScenarioImporter_UnitTests, ImportStoryboardWithEndCondition_SetsScenarioEndTime)
-{
- QDomElement storyboardRootElement = documentRootFromString(
- "<root>"
- " <Storyboard>"
- " <Init>"
- " <Actions>"
- " </Actions>"
- " </Init>"
- " <StopTrigger>"
- " <ConditionGroup>"
- " <Condition name=\"TestCondition\" delay=\"0.0\" conditionEdge=\"rising\">"
- " <ByValueCondition>"
- " <SimulationTimeCondition value=\"3.000\" rule=\"greaterThan\" />"
- " </ByValueCondition>"
- " </Condition>"
- " </ConditionGroup>"
- " </StopTrigger>"
- " </Storyboard>"
- "</root>"
- );
- std::vector<ScenarioEntity> entities;
- FakeScenario mockScenario;
- EXPECT_CALL(mockScenario, SetEndTime(3.000)).Times(1);
- openScenario::Parameters parameters;
-
- EXPECT_NO_THROW(ScenarioImporter::ImportStoryboard(storyboardRootElement, entities, &mockScenario, parameters));
-}
-
-TEST(ScenarioImporter_UnitTests, ImportStoryboardWithInvalidEndCondition_Throws)
-{
- QDomElement storyboardRootElementConditionMissingName = documentRootFromString(
- "<root>"
- " <Storyboard>"
- " <Init>"
- " <Actions>"
- " </Actions>"
- " </Init>"
- " <StopTrigger>"
- " <ConditionGroup>"
- " <Condition delay=\"0.0\" edge=\"conditionEdge\">"
- " <ByValueCondition>"
- " <SimulationTimeCondition value=\"3.000\" rule=\"greaterThan\" />"
- " </ByValueCondition>"
- " </Condition>"
- " </ConditionGroup>"
- " </StopTrigger>"
- " </Storyboard>"
- "</root>"
- );
-
- QDomElement storyboardRootElementConditionMissingDelay = documentRootFromString(
- "<root>"
- " <Storyboard>"
- " <Init>"
- " <Actions>"
- " </Actions>"
- " </Init>"
- " <StopTrigger>"
- " <ConditionGroup>"
- " <Condition name=\"\" edge=\"rising\">"
- " <ByValueCondition>"
- " <SimulationTimeCondition value=\"3.000\" rule=\"greaterThan\" />"
- " </ByValueCondition>"
- " </Condition>"
- " </ConditionGroup>"
- " </StopTrigger>"
- " </Storyboard>"
- "</root>"
- );
-
- QDomElement storyboardRootElementConditionMissingEdge = documentRootFromString(
- "<root>"
- " <Storyboard>"
- " <Init>"
- " <Actions>"
- " </Actions>"
- " </Init>"
- " <StopTrigger>"
- " <ConditionGroup>"
- " <Condition name=\"\" delay=\"0.0\">"
- " <ByValueCondition>"
- " <SimulationTimeCondition value=\"3.000\" rule=\"greaterThan\" />"
- " </ByValueCondition>"
- " </Condition>"
- " </ConditionGroup>"
- " </StopTrigger>"
- " </Storyboard>"
- "</root>"
- );
-
- QDomElement storyboardRootElementConditionDelayNegative = documentRootFromString(
- "<root>"
- " <Storyboard>"
- " <Init>"
- " <Actions>"
- " </Actions>"
- " </Init>"
- " <StopTrigger>"
- " <ConditionGroup>"
- " <Condition name=\"\" delay=\"-1.0\" edge=\"rising\">"
- " <ByValueCondition>"
- " <SimulationTimeCondition value=\"3.000\" rule=\"greaterThan\" />"
- " </ByValueCondition>"
- " </Condition>"
- " </ConditionGroup>"
- " </StopTrigger>"
- " </Storyboard>"
- "</root>"
- );
-
- std::vector<ScenarioEntity> entities;
- FakeScenario mockScenario;
- openScenario::Parameters parameters;
-
- EXPECT_THROW(ScenarioImporter::ImportStoryboard(storyboardRootElementConditionMissingName, entities, &mockScenario, parameters), std::runtime_error);
- EXPECT_THROW(ScenarioImporter::ImportStoryboard(storyboardRootElementConditionMissingDelay, entities, &mockScenario, parameters), std::runtime_error);
- EXPECT_THROW(ScenarioImporter::ImportStoryboard(storyboardRootElementConditionMissingEdge, entities, &mockScenario, parameters), std::runtime_error);
- EXPECT_THROW(ScenarioImporter::ImportStoryboard(storyboardRootElementConditionDelayNegative, entities, &mockScenario, parameters), std::runtime_error);
-}
-
-TEST(ScenarioImporter_UnitTests, ImportParameterDeclarationElement)
-{
- QDomElement parameterDeclarationElement = documentRootFromString(
- "<ParameterDeclarations>"
- "<ParameterDeclaration name=\"Parameter1\" parameterType=\"string\" value=\"TestString\" />"
- "<ParameterDeclaration name=\"Parameter2\" parameterType=\"double\" value=\"10.0\" />"
- "<ParameterDeclaration name=\"Parameter3\" parameterType=\"integer\" value=\"2\" />"
- "</ParameterDeclarations>"
- );
-
- openScenario::Parameters parameters;
-
- ASSERT_NO_THROW(Importer::ImportParameterDeclarationElement(parameterDeclarationElement, parameters));
- EXPECT_THAT(parameters, SizeIs(3));
- EXPECT_THAT(std::get<std::string>(parameters.at("Parameter1")), Eq("TestString"));
- EXPECT_THAT(std::get<double>(parameters.at("Parameter2")), Eq(10.0));
- EXPECT_THAT(std::get<int>(parameters.at("Parameter3")), Eq(2));
-}
-
-TEST(ScenarioImporter_UnitTests, ParseAttributeWithPlainValue)
-{
- QDomElement element = documentRootFromString(
- "<Element valueString=\"TestString\" valueDouble=\"10.0\" valueInt=\"5\" />"
- );
-
- openScenario::Parameters parameters;
-
- std::string valueString;
- double valueDouble;
- int valueInt;
-
- ASSERT_NO_THROW(valueString = ParseAttribute<std::string>(element, "valueString", parameters));
- ASSERT_THAT(valueString, Eq("TestString"));
- ASSERT_NO_THROW(valueDouble = ParseAttribute<double>(element, "valueDouble", parameters));
- ASSERT_THAT(valueDouble, Eq(10.0));
- ASSERT_NO_THROW(valueInt = ParseAttribute<int>(element, "valueInt", parameters));
- ASSERT_THAT(valueInt, Eq(5));
-}
-
-TEST(ScenarioImporter_UnitTests, ParseAttributeWithParameter)
-{
- QDomElement element = documentRootFromString(
- "<Element valueString=\"$ParameterString\" valueDouble=\"$ParameterDouble\" valueInt=\"$ParameterInt\" />"
- );
-
- std::string parameterString{"TestString"};
- double parameterDouble{10.0};
- int parameterInt{5};
-
- openScenario::Parameters parameters{{"ParameterString", parameterString}, {"ParameterDouble", parameterDouble}, {"ParameterInt", parameterInt}};
-
- std::string valueString;
- double valueDouble;
- int valueInt;
-
- ASSERT_NO_THROW(valueString = ParseAttribute<std::string>(element, "valueString", parameters));
- ASSERT_THAT(valueString, Eq(parameterString));
- ASSERT_NO_THROW(valueDouble = ParseAttribute<double>(element, "valueDouble", parameters));
- ASSERT_THAT(valueDouble, Eq(parameterDouble));
- ASSERT_NO_THROW(valueInt = ParseAttribute<int>(element, "valueInt", parameters));
- ASSERT_THAT(valueInt, Eq(parameterInt));
-}
-
-TEST(ScenarioImporter_UnitTests, ParseAttributeWithUndefinedAttribute_Throws)
-{
- QDomElement element = documentRootFromString(
- "<Element valueString=\"$ParameterString\" valueDouble=\"$ParameterDouble\" valueInt=\"$ParameterInt\" />"
- );
-
- openScenario::Parameters parameters{};
-
- ASSERT_THROW(ParseAttribute<double>(element, "valueUndefined", parameters), std::runtime_error);
-}
-
-TEST(ScenarioImporter_UnitTests, ParseAttributeWithUndefinedParameter_Throws)
-{
- QDomElement element = documentRootFromString(
- "<Element valueString=\"$ParameterString\" valueDouble=\"$ParameterDouble\" valueInt=\"$ParameterInt\" />"
- );
-
- openScenario::Parameters parameters{};
-
- ASSERT_THROW(ParseAttribute<double>(element, "valueString", parameters), std::runtime_error);
-}
-
-TEST(ScenarioImporter_UnitTests, ParseAttributeWithParameterWrongType_Throws)
-{
- QDomElement element = documentRootFromString(
- "<Element valueString=\"$ParameterString\" valueDouble=\"$ParameterDouble\" valueInt=\"$ParameterInt\" />"
- );
-
- std::string parameterString{"TestString"};
- double parameterDouble{10.0};
- int parameterInt{5};
-
- openScenario::Parameters parameters{{"ParameterString", parameterString}, {"ParameterDouble", parameterDouble}, {"ParameterInt", parameterInt}};
-
- ASSERT_THROW(ParseAttribute<double>(element, "valueString", parameters), std::runtime_error);
-}
-
-TEST(ScenarioImporter_UnitTests, ImportRoadNetworkWithTrafficLSignalController)
-{
- QDomElement entityElement = documentRootFromString(
- "<root>"
- "<RoadNetwork>"
- "<LogicFile filepath=\"SceneryConfiguration.xodr\"/>"
- "<SceneGraphFile filepath=\"\"/>"
- "<TrafficSignals>"
- "<TrafficSignalController name=\"ControllerA\" delay=\"1.0\">"
- "<Phase name=\"Phase1\" duration=\"20\">"
- "<TrafficSignalState trafficSignalId=\"100\" state=\"red\"/>"
- "<TrafficSignalState trafficSignalId=\"101\" state=\"green\"/>"
- "</Phase>"
- "<Phase name=\"Phase2\" duration=\"3\">"
- "<TrafficSignalState trafficSignalId=\"100\" state=\"red yellow\"/>"
- "<TrafficSignalState trafficSignalId=\"101\" state=\"yellow\"/>"
- "</Phase>"
- "</TrafficSignalController>"
- "</TrafficSignals>"
- "</RoadNetwork>"
- "</root>"
- );
-
- FakeScenario scenario;
- EXPECT_CALL(scenario, SetSceneryPath("SceneryConfiguration.xodr"));
- std::vector<openScenario::TrafficSignalController> controllers;
- ON_CALL(scenario, AddTrafficSignalController(_)).WillByDefault(
- [&](const openScenario::TrafficSignalController& controller){controllers.push_back(controller);});
-
- openScenario::Parameters parameters;
-
- EXPECT_NO_THROW(ScenarioImporter::ImportRoadNetwork(entityElement, &scenario, parameters));
-
- EXPECT_THAT(controllers, SizeIs(1));
- const auto controller = controllers.front();
- EXPECT_THAT(controller.name, Eq("ControllerA"));
- EXPECT_THAT(controller.delay, Eq(1));
- EXPECT_THAT(controller.phases, SizeIs(2));
- EXPECT_THAT(controller.phases[0].name, Eq("Phase1"));
- EXPECT_THAT(controller.phases[0].duration, Eq(20));
- EXPECT_THAT(controller.phases[0].states, ElementsAre(std::make_pair("100", "red"), std::make_pair("101", "green")));
- EXPECT_THAT(controller.phases[1].name, Eq("Phase2"));
- EXPECT_THAT(controller.phases[1].duration, Eq(3));
- EXPECT_THAT(controller.phases[1].states, ElementsAre(std::make_pair("100", "red yellow"), std::make_pair("101", "yellow")));
-}
-
-
-TEST(ScenarioImporter_UnitTests, ImportEnvironmentAction)
-{
- QDomElement element = documentRootFromString(
- "<root>"
- "<EnvironmentAction>"
- "<Environment>"
- "<Weather cloudState=\"free\">"
- "<Sun intensity=\"1.0\" azimuth=\"1.1\" elevation=\"1.3\" />"
- "<Fog visualRange=\"20.0\" />"
- "<Precipitation intensity=\"0.5\" precipitationType=\"rain\" />"
- "</Weather>"
- "</Environment>"
- "</EnvironmentAction>"
- "</root>"
- );
-
- openScenario::Parameters parameters;
-
- openScenario::EnvironmentAction result;
- EXPECT_NO_THROW(result = std::get<openScenario::EnvironmentAction>(openScenario::ScenarioImporterHelper::ImportGlobalAction(element, parameters)));
- EXPECT_THAT(result.weather.cloudState, Eq(openScenario::Weather::CloudState::free));
- EXPECT_THAT(result.weather.sun.intensity, Eq(1.0));
- EXPECT_THAT(result.weather.sun.azimuth, Eq(1.1));
- EXPECT_THAT(result.weather.sun.elevation, Eq(1.3));
- EXPECT_THAT(result.weather.fog.visualRange, Eq(20.0));
- EXPECT_THAT(result.weather.precipitation.intensity, Eq(0.5));
- EXPECT_THAT(result.weather.precipitation.type, Eq(openScenario::Precipitation::Type::rain));
-}
diff --git a/sim/tests/unitTests/core/opSimulation/sceneryImporter_Tests.cpp b/sim/tests/unitTests/core/opSimulation/sceneryImporter_Tests.cpp
index 5a188e24e7b55d881a1007da0dcfa37a0174c5a1..f349f93b55e74199bdc89e1cdf4bc6ddb9d38578 100644
--- a/sim/tests/unitTests/core/opSimulation/sceneryImporter_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/sceneryImporter_Tests.cpp
@@ -115,22 +115,22 @@ TEST(SceneryImporter_UnitTests, ParseSignalsWithValidSignal_ReturnsCorrectValues
ASSERT_NO_THROW(SceneryImporter::ParseSignals(documentRoot, &mockRoad));
- EXPECT_DOUBLE_EQ(SignalInterceptor::signal.s, 100.1);
- EXPECT_DOUBLE_EQ(SignalInterceptor::signal.t, 1.1);
+ EXPECT_DOUBLE_EQ(SignalInterceptor::signal.s.value(), 100.1);
+ EXPECT_DOUBLE_EQ(SignalInterceptor::signal.t.value(), 1.1);
EXPECT_EQ(SignalInterceptor::signal.id, "id0");
EXPECT_EQ(SignalInterceptor::signal.name, "n0");
EXPECT_EQ(SignalInterceptor::signal.orientation, "-");
- EXPECT_DOUBLE_EQ(SignalInterceptor::signal.zOffset, 0.1);
+ EXPECT_DOUBLE_EQ(SignalInterceptor::signal.zOffset.value(), 0.1);
EXPECT_EQ(SignalInterceptor::signal.country, "c1");
EXPECT_EQ(SignalInterceptor::signal.type, "none");
EXPECT_EQ(SignalInterceptor::signal.subtype, "none");
EXPECT_DOUBLE_EQ(SignalInterceptor::signal.value, 0.123);
EXPECT_EQ(SignalInterceptor::signal.unit, RoadSignalUnit::Undefined);
- EXPECT_DOUBLE_EQ(SignalInterceptor::signal.height, 1.01);
- EXPECT_DOUBLE_EQ(SignalInterceptor::signal.width, 0.11);
+ EXPECT_DOUBLE_EQ(SignalInterceptor::signal.height.value(), 1.01);
+ EXPECT_DOUBLE_EQ(SignalInterceptor::signal.width.value(), 0.11);
EXPECT_EQ(SignalInterceptor::signal.text, "t1");
- EXPECT_DOUBLE_EQ(SignalInterceptor::signal.hOffset, 1e-3);
- EXPECT_DOUBLE_EQ(SignalInterceptor::signal.pitch, 1e-2);
+ EXPECT_DOUBLE_EQ(SignalInterceptor::signal.hOffset.value(), 1e-3);
+ EXPECT_DOUBLE_EQ(SignalInterceptor::signal.pitch.value(), 1e-2);
EXPECT_EQ(SignalInterceptor::signal.validity.lanes[0], -3);
EXPECT_EQ(SignalInterceptor::signal.validity.lanes[1], -2);
}
@@ -282,18 +282,18 @@ TEST(SceneryImporter_UnitTests, ParseObjectsWithValidObject_ReturnsCorrectValues
EXPECT_EQ(ObjectInterceptor::object.type, RoadObjectType::barrier);
EXPECT_EQ(ObjectInterceptor::object.name, "obstacle");
EXPECT_EQ(ObjectInterceptor::object.id, "b03");
- EXPECT_DOUBLE_EQ(ObjectInterceptor::object.s, 120);
- EXPECT_DOUBLE_EQ(ObjectInterceptor::object.t, 2);
- EXPECT_DOUBLE_EQ(ObjectInterceptor::object.zOffset, 0);
- EXPECT_DOUBLE_EQ(ObjectInterceptor::object.validLength, 0);
+ EXPECT_DOUBLE_EQ(ObjectInterceptor::object.s.value(), 120);
+ EXPECT_DOUBLE_EQ(ObjectInterceptor::object.t.value(), 2);
+ EXPECT_DOUBLE_EQ(ObjectInterceptor::object.zOffset.value(), 0);
+ EXPECT_DOUBLE_EQ(ObjectInterceptor::object.validLength.value(), 0);
EXPECT_EQ(ObjectInterceptor::object.orientation, RoadElementOrientation::positive);
- EXPECT_DOUBLE_EQ(ObjectInterceptor::object.width, 4);
- EXPECT_DOUBLE_EQ(ObjectInterceptor::object.length, 12);
- EXPECT_DOUBLE_EQ(ObjectInterceptor::object.radius, 0);
- EXPECT_DOUBLE_EQ(ObjectInterceptor::object.height, 2);
- EXPECT_DOUBLE_EQ(ObjectInterceptor::object.hdg, 0);
- EXPECT_DOUBLE_EQ(ObjectInterceptor::object.pitch, 0);
- EXPECT_DOUBLE_EQ(ObjectInterceptor::object.roll, 0);
+ EXPECT_DOUBLE_EQ(ObjectInterceptor::object.width.value(), 4);
+ EXPECT_DOUBLE_EQ(ObjectInterceptor::object.length.value(), 12);
+ EXPECT_DOUBLE_EQ(ObjectInterceptor::object.radius.value(), 0);
+ EXPECT_DOUBLE_EQ(ObjectInterceptor::object.height.value(), 2);
+ EXPECT_DOUBLE_EQ(ObjectInterceptor::object.hdg.value(), 0);
+ EXPECT_DOUBLE_EQ(ObjectInterceptor::object.pitch.value(), 0);
+ EXPECT_DOUBLE_EQ(ObjectInterceptor::object.roll.value(), 0);
}
TEST(SceneryImporter_UnitTests, ParseObjectsWithMissingField_ThrowsException)
@@ -379,29 +379,29 @@ TEST(SceneryImporter_UnitTests, ParseRepeatWithNoOverridingOfOptionalParameters)
object.type = RoadObjectType::obstacle;
object.name = "Leitplanke";
object.id = "";
- object.s = 0;
- object.t = 1;
- object.zOffset = 0;
- object.validLength = 0;
+ object.s = 0_m;
+ object.t = 1_m;
+ object.zOffset = 0_m;
+ object.validLength = 0_m;
object.orientation = RoadElementOrientation::negative;
- object.length = 2.0;
- object.width = 1.0;
- object.height = 0;
- object.hdg = 0;
- object.pitch = 0;
- object.roll = 0;
- object.radius = 0;
+ object.length = 2.0_m;
+ object.width = 1.0_m;
+ object.height = 0_m;
+ object.hdg = 0_rad;
+ object.pitch = 0_rad;
+ object.roll = 0_rad;
+ object.radius = 0_m;
std::vector<RoadObjectSpecification> objectRepitions;
objectRepitions = SceneryImporter::ParseObjectRepeat(documentRoot, object);
for(auto object : objectRepitions)
{
- ASSERT_EQ(object.t, 1);
- ASSERT_EQ(object.length, 2.0);
- ASSERT_EQ(object.width, 1.0);
- ASSERT_EQ(object.height, 0);
- ASSERT_EQ(object.zOffset, 0);
+ ASSERT_EQ(object.t.value(), 1);
+ ASSERT_EQ(object.length.value(), 2.0);
+ ASSERT_EQ(object.width.value(), 1.0);
+ ASSERT_EQ(object.height.value(), 0);
+ ASSERT_EQ(object.zOffset.value(), 0);
ASSERT_EQ(object.continuous, false);
}
}
@@ -414,10 +414,10 @@ TEST(SceneryImporter_UnitTests, ParseRepeatTestOverridingOfObjectRepeat)
"</root>");
RoadObjectSpecification object;
- object.s = 0;
- object.radius = 0;
- object.length = 2.0;
- object.width = 1.0;
+ object.s = 0_m;
+ object.radius = 0_m;
+ object.length = 2.0_m;
+ object.width = 1.0_m;
std::vector<RoadObjectSpecification> objectRepitions;
objectRepitions = SceneryImporter::ParseObjectRepeat(documentRoot, object);
@@ -427,7 +427,7 @@ TEST(SceneryImporter_UnitTests, ParseRepeatTestOverridingOfObjectRepeat)
int count = 0;
for(auto object : objectRepitions)
{
- ASSERT_EQ(object.s, (sStart + count++ * distance));
+ ASSERT_EQ(object.s.value(), (sStart + count++ * distance));
}
}
@@ -442,32 +442,32 @@ TEST(SceneryImporter_UnitTests, ParseRepeatOverridesAllOptionalParameters)
object.type = RoadObjectType::obstacle;
object.name = "Leitplanke";
object.id = "";
- object.s = 0;
- object.t = 1;
- object.zOffset = 0.1;
- object.validLength = 0;
+ object.s = 0_m;
+ object.t = 1_m;
+ object.zOffset = 0.1_m;
+ object.validLength = 0_m;
object.orientation = RoadElementOrientation::negative;
- object.length = 5;
- object.width = 5;
- object.height = 5;
- object.hdg = 0;
- object.pitch = 0;
- object.roll = 0;
- object.radius = 0;
+ object.length = 5_m;
+ object.width = 5_m;
+ object.height = 5_m;
+ object.hdg = 0_rad;
+ object.pitch = 0_rad;
+ object.roll = 0_rad;
+ object.radius = 0_m;
std::vector<RoadObjectSpecification> objectRepitions;
objectRepitions = SceneryImporter::ParseObjectRepeat(documentRoot, object);
RoadObjectSpecification firstObject = objectRepitions.front();
- EXPECT_NEAR(firstObject.t, 1.5, 1e-4);
- EXPECT_NEAR(firstObject.s, 100, 1e-4);
- EXPECT_NEAR(firstObject.width, 2, 1e-4);
- EXPECT_NEAR(firstObject.height, 1, 1e-4);
- EXPECT_NEAR(firstObject.zOffset, 0, 1e-4);
+ EXPECT_NEAR(firstObject.t.value(), 1.5, 1e-4);
+ EXPECT_NEAR(firstObject.s.value(), 100, 1e-4);
+ EXPECT_NEAR(firstObject.width.value(), 2, 1e-4);
+ EXPECT_NEAR(firstObject.height.value(), 1, 1e-4);
+ EXPECT_NEAR(firstObject.zOffset.value(), 0, 1e-4);
ASSERT_EQ(firstObject.type, RoadObjectType::obstacle);
- ASSERT_EQ(firstObject.length, 5);
- ASSERT_EQ(firstObject.hdg, 0);
+ ASSERT_EQ(firstObject.length.value(), 5);
+ ASSERT_EQ(firstObject.hdg.value(), 0);
ASSERT_EQ(firstObject.continuous, false);
}
@@ -482,18 +482,18 @@ TEST(SceneryImporter_UnitTests, ParseRepeatWithDistanceZero)
object.type = RoadObjectType::obstacle;
object.name = "Leitplanke";
object.id = "";
- object.s = 0;
- object.t = 1;
- object.zOffset = 0;
- object.validLength = 0;
+ object.s = 0_m;
+ object.t = 1_m;
+ object.zOffset = 0_m;
+ object.validLength = 0_m;
object.orientation = RoadElementOrientation::negative;
- object.length = 2.0;
- object.width = 1.0;
- object.height = 0;
- object.hdg = 0;
- object.pitch = 0;
- object.roll = 0;
- object.radius = 0;
+ object.length = 2.0_m;
+ object.width = 1.0_m;
+ object.height = 0_m;
+ object.hdg = 0_rad;
+ object.pitch = 0_rad;
+ object.roll = 0_rad;
+ object.radius = 0_m;
std::vector<RoadObjectSpecification> objectRepitions;
objectRepitions = SceneryImporter::ParseObjectRepeat(documentRoot, object);
@@ -503,6 +503,6 @@ TEST(SceneryImporter_UnitTests, ParseRepeatWithDistanceZero)
RoadObjectSpecification firstObject = objectRepitions.front();
ASSERT_EQ(firstObject.type, RoadObjectType::obstacle);
- ASSERT_EQ(firstObject.length, 200);
+ ASSERT_EQ(firstObject.length.value(), 200);
ASSERT_EQ(firstObject.continuous, true);
}
diff --git a/sim/tests/unitTests/core/opSimulation/vehicleModelsImporter_Tests.cpp b/sim/tests/unitTests/core/opSimulation/vehicleModelsImporter_Tests.cpp
index 65c36668663ac42d7a8ab6f9288a065af82845bd..afa03b6b9cf86114824569c64ad794dcfdb9e246 100644
--- a/sim/tests/unitTests/core/opSimulation/vehicleModelsImporter_Tests.cpp
+++ b/sim/tests/unitTests/core/opSimulation/vehicleModelsImporter_Tests.cpp
@@ -1,5 +1,6 @@
/********************************************************************************
* Copyright (c) 2020 in-tech GmbH
+ * 2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -25,7 +26,7 @@ using ::testing::Eq;
using namespace Importer;
const std::string validVehicleString{
- "<Vehicle name=\"validCar\" vehicleCategory=\"car\">"
+ "<Vehicle mass=\"24.0\" name=\"validCar\" vehicleCategory=\"car\">"
"<Properties>"
"<Property name=\"AirDragCoefficient\" value=\"1.0\"/>"
"<Property name=\"AxleRatio\" value=\"2.0\"/>"
@@ -35,7 +36,6 @@ const std::string validVehicleString{
"<Property name=\"GearRatio1\" value=\"6.0\"/>"
"<Property name=\"GearRatio2\" value=\"6.1\"/>"
"<Property name=\"GearRatio3\" value=\"6.2\"/>"
- "<Property name=\"Mass\" value=\"24.0\"/>"
"<Property name=\"MinimumEngineTorque\" value=\"7.0\"/>"
"<Property name=\"MaximumEngineTorque\" value=\"8.0\"/>"
"<Property name=\"MinimumEngineSpeed\" value=\"9.0\"/>"
@@ -59,7 +59,7 @@ const std::string validVehicleString{
};
const std::string parametrizedVehicleString{
- "<Vehicle name=\"validCar\" vehicleCategory=\"car\">"
+ "<Vehicle mass=\"24.0\" name=\"validCar\" vehicleCategory=\"car\">"
"<Properties>"
"<Property name=\"AirDragCoefficient\" value=\"1.0\"/>"
"<Property name=\"AxleRatio\" value=\"2.0\"/>"
@@ -69,7 +69,6 @@ const std::string parametrizedVehicleString{
"<Property name=\"GearRatio1\" value=\"6.0\"/>"
"<Property name=\"GearRatio2\" value=\"6.1\"/>"
"<Property name=\"GearRatio3\" value=\"6.2\"/>"
- "<Property name=\"Mass\" value=\"24.0\"/>"
"<Property name=\"MinimumEngineTorque\" value=\"7.0\"/>"
"<Property name=\"MaximumEngineTorque\" value=\"8.0\"/>"
"<Property name=\"MinimumEngineSpeed\" value=\"9.0\"/>"
@@ -130,14 +129,14 @@ TEST(VehicleModelsImporter, GivenValidVehicle_ImportsCorrectGeometry)
QDomElement fakeVehicleRoot = documentRootFromString(validVehicleString);
Configuration::VehicleModels vehicleModels;
- VehicleModelParameters vehicleModelParameters;
+ mantle_api::VehicleProperties vehicleModelParameters;
ASSERT_NO_THROW(VehicleModelsImporter::ImportVehicleModel(fakeVehicleRoot, vehicleModels));
ASSERT_NO_THROW(vehicleModelParameters = vehicleModels.GetVehicleModel("validCar", EMPTY_PARAMETERS));
- 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.bounding_box.dimension.length, DoubleEq(2.0));
+ EXPECT_THAT(vehicleModelParameters.bounding_box.dimension.width, DoubleEq(1.9));
+ EXPECT_THAT(vehicleModelParameters.bounding_box.dimension.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));
@@ -146,12 +145,12 @@ TEST(VehicleModelsImporter, GivenValidVehicle_ImportsCorrectGeometry)
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.front_axle.bb_center_to_axle_center.x, 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.rear_axle.bb_center_to_axle_center.x, DoubleEq(0.));
EXPECT_THAT(vehicleModelParameters.rearAxle.positionZ, DoubleEq(34.));
}
@@ -160,7 +159,7 @@ TEST(VehicleModelsImporter, GivenValidVehicle_ImportsCorrectEngineParameters)
QDomElement fakeVehicleRoot = documentRootFromString(validVehicleString);
Configuration::VehicleModels vehicleModels;
- VehicleModelParameters vehicleModelParameters;
+ mantle_api::VehicleProperties vehicleModelParameters;
ASSERT_NO_THROW(VehicleModelsImporter::ImportVehicleModel(fakeVehicleRoot, vehicleModels));
ASSERT_NO_THROW(vehicleModelParameters = vehicleModels.GetVehicleModel("validCar", EMPTY_PARAMETERS));
@@ -177,17 +176,17 @@ TEST(VehicleModelsImporter, GivenValidGeometry_ImportsCorrectDynamics)
QDomElement fakeVehicleRoot = documentRootFromString(validVehicleString);
Configuration::VehicleModels vehicleModels;
- VehicleModelParameters vehicleModelParameters;
+ mantle_api::VehicleProperties vehicleModelParameters;
ASSERT_NO_THROW(VehicleModelsImporter::ImportVehicleModel(fakeVehicleRoot, vehicleModels));
ASSERT_NO_THROW(vehicleModelParameters = vehicleModels.GetVehicleModel("validCar", EMPTY_PARAMETERS));
+ EXPECT_THAT(vehicleModelParameters.mass, DoubleEq(24.0));
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));
@@ -198,7 +197,7 @@ TEST(VehicleModelsImporter, GivenValidVehicle_ImportsCorrectGearing)
QDomElement fakeVehicleRoot = documentRootFromString(validVehicleString);
Configuration::VehicleModels vehicleModels;
- VehicleModelParameters vehicleModelParameters;
+ mantle_api::VehicleProperties vehicleModelParameters;
ASSERT_NO_THROW(VehicleModelsImporter::ImportVehicleModel(fakeVehicleRoot, vehicleModels));
ASSERT_NO_THROW(vehicleModelParameters = vehicleModels.GetVehicleModel("validCar", EMPTY_PARAMETERS));
@@ -220,8 +219,8 @@ TEST(VehicleModelsImporter, GivenParametrizedVehicle_ImportsCorrectParameters)
ASSERT_NO_THROW(vehicleModelParameters = vehicleModels.GetVehicleModelMap().at("validCar"));
- EXPECT_THAT(vehicleModelParameters.boundingBoxDimensions.length.name, Eq("CustomLength"));
- EXPECT_THAT(vehicleModelParameters.boundingBoxDimensions.length.defaultValue, DoubleEq(3.0));
+ EXPECT_THAT(vehicleModelParameters.bounding_box.dimension.length.name, Eq("CustomLength"));
+ EXPECT_THAT(vehicleModelParameters.bounding_box.dimension.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"));
@@ -238,7 +237,7 @@ TEST(VehicleModelsImporter, GivenValidVehicle_SetsCorrectType)
ASSERT_NO_THROW(VehicleModelsImporter::ImportVehicleModel(fakeVehicleRoot, vehicleModels));
ASSERT_NO_THROW(vehicleModelParameters = vehicleModels.GetVehicleModelMap().at("validCar"));
- EXPECT_THAT(vehicleModelParameters.vehicleType, Eq(AgentVehicleType::Car));
+ EXPECT_THAT(vehicleModelParameters.vehicleType, Eq(mantle_api::VehicleClass::kMedium_car));
}
TEST(VehicleModelsImporter, GivenUnknwonVehicleType_DoesNotImport)
@@ -255,13 +254,15 @@ TEST(VehicleModelsImporter, GivenValidPedestrian_ImportsCorrectValues)
QDomElement fakePedestrianRoot = documentRootFromString(validPedestrianString);
Configuration::VehicleModels vehicleModels;
- VehicleModelParameters vehicleModelParameters;
+ mantle_api::VehicleProperties vehicleModelParameters;
ASSERT_NO_THROW(VehicleModelsImporter::ImportPedestrianModel(fakePedestrianRoot, vehicleModels));
ASSERT_NO_THROW(vehicleModelParameters = vehicleModels.GetVehicleModel("pedestrian_name", EMPTY_PARAMETERS));
- EXPECT_THAT(vehicleModelParameters.vehicleType, Eq(AgentVehicleType::Pedestrian));
- EXPECT_THAT(vehicleModelParameters.boundingBoxDimensions.width, DoubleEq(4.0));
- EXPECT_THAT(vehicleModelParameters.boundingBoxDimensions.length, DoubleEq(5.0));
- EXPECT_THAT(vehicleModelParameters.boundingBoxDimensions.height, DoubleEq(6.0));
+ // workaround for ground truth not being able to handle pedestrians
+ //EXPECT_THAT(vehicleModelParameters.vehicleType, Eq(AgentVehicleType::Pedestrian));
+ EXPECT_THAT(vehicleModelParameters.vehicleType, Eq(mantle_api::VehicleClass::kMedium_car));
+ EXPECT_THAT(vehicleModelParameters.bounding_box.dimension.width, DoubleEq(4.0));
+ EXPECT_THAT(vehicleModelParameters.bounding_box.dimension.length, DoubleEq(5.0));
+ EXPECT_THAT(vehicleModelParameters.bounding_box.dimension.height, DoubleEq(6.0));
}