OSIQueryLibrary
osiql is a read-only wrapper for osi. Its main features are
- wrapper classes for common OSI-objects with helpful getters and utility methods
- bidirectional linking of objects to lanes
- lane location (st-coordinate) queries
All wrapper objects have public handles to their corresponding osi3 entities.
Build Instructions
Dependencies
| Library | Version | Additional Information |
|---|---|---|
| boost Geometry | Tested with 1.72.0 | boost doc and boost Geometry |
| Open Simulation Interface | 3.5 and 3.6 | OSI doc and OpenPASS doc |
| - protobuf - protobuf-shared |
Tested with 3.20.0 | OSI doc and OpenPASS doc |
| googletest | Tested with 1.13.0 | https://github.com/google/googletest |
Build Example
git submodule init
git submodule update
mkdir build && cd build
cmake -DCMAKE_PREFIX_PATH="${LIBRARY_DIRECTORY}/boost;
${LIBRARY_DIRECTORY}/protobuf-shared;
${LIBRARY_DIRECTORY}/protobuf;
${LIBRARY_DIRECTORY}/osi;
${LIBRARY_DIRECTORY}/googletest"
-DCMAKE_BUILD_TYPE=Debug -DCMAKE_INSTALL_PREFIX=/OpenPASS/osiql-install ..
make -j4
make installBuilding Documentation
The osiql has a Sphinx documentation. To generate the HTML version of this documentation, Python 3.x and the following prerequisites must be installed:
apt install python3-sphinx
pip install sphinx-rtd-theme
pip install sphinx-tabsThen, from the project's root directory:
cd doc
sphinx-build -b html source htmlIn addition, Doxygen code documentation can be built from the project's root directory:
apt install doxygen
doxygen
xdg-open Doxygen/html/index.htmlUsage Example
Given a osi3::GroundTruth groundTruth and an osi3::TrafficAction::AcquirePositionAction destination, generate the shortest route from the host vehicle's current position to the destination in each timestep:
#include <iostream>
#include <OsiQueryLibrary/osiql.h>
...
osiql::Query query{groundTruth};
osiql::Route route{query.GetRoute(destination)};
if (route.empty())
{
std::cout << "No route from the host vehicle to the "
<< "destination exists without changing lanes.\n";
}
// ... increment timestep here ...
// After modifying the groundTruth, update the osiql query if there has
// been a change in lane assignments or objects have been added/removed:
query.UpdateAll<MovingObject>(alteredGroundTruth.moving_object());
route = query.GetRoute(destination);
if (route.empty())
{
std::cout << "The host vehicle has left the lane that can "
<< "reach the given destination.\n"
}
else if (route.front() == route.back())
{
std::cout << "Destination reached!\n";
}An osiql::Query should be constructed only once and then reused for all requests.