#182 - Improve Algorithm_AEB to be also statically configured

sim/src/common/sensorFusionQuery.h

@@ -2,6 +2,7 @@
  * Copyright (c) 2020 HLRS, University of Stuttgart
  *               2018-2020 in-tech GmbH
  *               2022 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ *               2023 Hexad GmbH
  *
  * 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 +26,20 @@
 
 namespace SensorFusionHelperFunctions
 {
-    static std::vector<osi3::DetectedMovingObject> RetrieveMovingObjectsBySensorId(const std::vector<int>& sensorIds, const osi3::SensorData &sensorData)
+    static std::vector<osi3::DetectedMovingObject> RetrieveMovingObjectsBySensorId(const std::vector<int> &sensorIds, const osi3::SensorData &sensorData)
     {
         std::vector<osi3::DetectedMovingObject> result;
         auto detectedMovingObjects = sensorData.moving_object();
-        for (const auto& object : detectedMovingObjects)
+        for (const auto &object : detectedMovingObjects)
         {
+            if (sensorIds.empty())
+            {
+                result.push_back(object);
+                continue;
+            }
             for (auto sensorId : object.header().sensor_id())
             {
-                if(std::count(sensorIds.cbegin(), sensorIds.cend(), sensorId.value()) > 0)
+                if (std::count(sensorIds.cbegin(), sensorIds.cend(), sensorId.value()) > 0)
                 {
                     result.push_back(object);
                     break;
@@ -43,15 +49,20 @@ namespace SensorFusionHelperFunctions
         return result;
     }
 
-    static std::vector<osi3::DetectedStationaryObject> RetrieveStationaryObjectsBySensorId(const std::vector<int>& sensorIds, const osi3::SensorData &sensorData)
+    static std::vector<osi3::DetectedStationaryObject> RetrieveStationaryObjectsBySensorId(const std::vector<int> &sensorIds, const osi3::SensorData &sensorData)
     {
         std::vector<osi3::DetectedStationaryObject> result;
         auto detectedStationaryObjects = sensorData.stationary_object();
-        for (const auto& object : detectedStationaryObjects)
+        for (const auto &object : detectedStationaryObjects)
         {
+            if (sensorIds.empty())
+            {
+                result.push_back(object);
+                continue;
+            }
             for (auto sensorId : object.header().sensor_id())
             {
-                if(std::count(sensorIds.cbegin(), sensorIds.cend(), sensorId.value()) > 0)
+                if (std::count(sensorIds.cbegin(), sensorIds.cend(), sensorId.value()) > 0)
                 {
                     result.push_back(object);
                     break;