ADORe
ADORe is a modular open source software library and toolkit for decision making, planning, control and simulation of automated vehicles
Public Types | Public Member Functions | Public Attributes | Static Public Attributes | List of all members
adore::env::traffic::Participant Struct Reference

Struct for representing a participant in traffic. More...

#include <participant.h>

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Public Types

enum  EClassification : int {
  UNCLASSIFIED =0 , UNKNOWN_SMALL =1 , UNKNOWN_BIG =2 , UNDER_DRIVABLE =3 ,
  OVER_DRIVABLE =4 , PEDESTRIAN =5 , BIKE =6 , BICYCLE =7 ,
  MOPED =8 , MOTORCYCLE =9 , CAR =10 , VAN =11 ,
  BUS =12 , TRUCK =13 , LIGHT_TRUCK =14 , HEAVY_TRUCK =15 ,
  TRAM =16 , TRAILER =17 , SPECIAL_VEHICLE =18 , PEDESTRIAN_GROUP =19 ,
  TRAIN =20 , HORSE_RIDER =21 , ANIMAL_SMALL =22 , ANIMAL_BIG =23
}
 
typedef int TTrackingID
 
typedef long long int TV2XStationID
 
typedef adoreMatrix< double, 7, 7 > TCovariance
 

Public Member Functions

TTrackingID getTrackingID () const
 
TV2XStationID getStationID () const
 
double getExistanceCertainty () const
 
double getObservationTime () const
 
bool getLeftIndicatorOn () const
 
double getLeftIndicatorCertainty () const
 
bool getRightIndicatorOn () const
 
double getRightIndicatorCertainty () const
 
bool getLowBeamOn () const
 
double getLowBeamCertainty () const
 
bool getHighBeamOn () const
 
double getHighBeamCertainty () const
 
unsigned int getDetectionBySensor () const
 
EClassification getClassification () const
 
double getClassificationCertainty () const
 
const adoreMatrix< double, 3, 1 > & getCenter () const
 
adoreMatrix< double, 3, 1 > getFrontLeftCorner () const
 
adoreMatrix< double, 3, 1 > getFrontRightCorner () const
 
adoreMatrix< double, 3, 1 > getRearLeftCorner () const
 
adoreMatrix< double, 3, 1 > getRearRightCorner () const
 
double getYaw () const
 
double getLength () const
 
double getWidth () const
 
double getVx () const
 
double getVy () const
 
double getYawRate () const
 
double getAx () const
 
const TCovariance & getCovariance () const
 

Public Attributes

TTrackingID trackingID_
 
TV2XStationID v2xStationID_
 
double existance_certainty_
 
double observation_time_
 
bool leftIndicatorOn_
 
double leftIndicator_certainty_
 
bool rightIndicatorOn_
 
double rightIndicator_certainty_
 
bool brakeLightsOn_
 
double brakeLight_certainty_
 
bool lowBeamOn_
 
double lowBeamCertainty_
 
bool highBeamOn_
 
double highBeamCertainty_
 
unsigned int detection_by_sensor_
 
EClassification classification_
 
double classification_certainty_
 
adoreMatrix< double, 3, 1 > center_
 
double yaw_
 
double length_
 
double width_
 
double height_
 
double vx_
 
double vy_
 
double yawrate_
 
double acceleration_x_
 
TCovariance covariance_
 

Static Public Attributes

static const unsigned int UNDEFINED = 1
 
static const unsigned int RADAR = 2
 
static const unsigned int LIDAR = 4
 
static const unsigned int MONO_VIDEO = 8
 
static const unsigned int STEREO_VISION = 16
 
static const unsigned int SPERICAL_CAMERA = 32
 
static const unsigned int NIGHT_VISION = 64
 
static const unsigned int ULTRASONIC = 128
 
static const unsigned int INDUCTIONLOOP = 256
 
static const unsigned int PMD = 512
 
static const unsigned int V2X_CAM = 1024
 
static const unsigned int V2X_CPM = 2048
 
static const unsigned int V2X_MCM = 4096
 
static const unsigned int SPECULATIVE = 2147483648
 

Detailed Description

Struct for representing a participant in traffic.

Member Typedef Documentation

◆ TCovariance

typedef adoreMatrix<double,7,7> adore::env::traffic::Participant::TCovariance

◆ TTrackingID

typedef int adore::env::traffic::Participant::TTrackingID

◆ TV2XStationID

typedef long long int adore::env::traffic::Participant::TV2XStationID

Member Enumeration Documentation

◆ EClassification

enum adore::env::traffic::Participant::EClassification : int
Enumerator
UNCLASSIFIED 
UNKNOWN_SMALL 
UNKNOWN_BIG 
UNDER_DRIVABLE 
OVER_DRIVABLE 
PEDESTRIAN 
BIKE 
BICYCLE 
MOPED 
MOTORCYCLE 
CAR 
VAN 
BUS 
TRUCK 
LIGHT_TRUCK 
HEAVY_TRUCK 
TRAM 
TRAILER 
SPECIAL_VEHICLE 
PEDESTRIAN_GROUP 
TRAIN 
HORSE_RIDER 
ANIMAL_SMALL 
ANIMAL_BIG 

Member Function Documentation

◆ getAx()

double adore::env::traffic::Participant::getAx ( ) const
inline
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◆ getCenter()

const adoreMatrix<double,3,1>& adore::env::traffic::Participant::getCenter ( ) const
inline
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◆ getClassification()

EClassification adore::env::traffic::Participant::getClassification ( ) const
inline

◆ getClassificationCertainty()

double adore::env::traffic::Participant::getClassificationCertainty ( ) const
inline

◆ getCovariance()

const TCovariance& adore::env::traffic::Participant::getCovariance ( ) const
inline

◆ getDetectionBySensor()

unsigned int adore::env::traffic::Participant::getDetectionBySensor ( ) const
inline

◆ getExistanceCertainty()

double adore::env::traffic::Participant::getExistanceCertainty ( ) const
inline

◆ getFrontLeftCorner()

adoreMatrix<double,3,1> adore::env::traffic::Participant::getFrontLeftCorner ( ) const
inline
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◆ getFrontRightCorner()

adoreMatrix<double,3,1> adore::env::traffic::Participant::getFrontRightCorner ( ) const
inline
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◆ getHighBeamCertainty()

double adore::env::traffic::Participant::getHighBeamCertainty ( ) const
inline

◆ getHighBeamOn()

bool adore::env::traffic::Participant::getHighBeamOn ( ) const
inline

◆ getLeftIndicatorCertainty()

double adore::env::traffic::Participant::getLeftIndicatorCertainty ( ) const
inline

◆ getLeftIndicatorOn()

bool adore::env::traffic::Participant::getLeftIndicatorOn ( ) const
inline

◆ getLength()

double adore::env::traffic::Participant::getLength ( ) const
inline
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◆ getLowBeamCertainty()

double adore::env::traffic::Participant::getLowBeamCertainty ( ) const
inline

◆ getLowBeamOn()

bool adore::env::traffic::Participant::getLowBeamOn ( ) const
inline

◆ getObservationTime()

double adore::env::traffic::Participant::getObservationTime ( ) const
inline
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◆ getRearLeftCorner()

adoreMatrix<double,3,1> adore::env::traffic::Participant::getRearLeftCorner ( ) const
inline
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◆ getRearRightCorner()

adoreMatrix<double,3,1> adore::env::traffic::Participant::getRearRightCorner ( ) const
inline
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◆ getRightIndicatorCertainty()

double adore::env::traffic::Participant::getRightIndicatorCertainty ( ) const
inline

◆ getRightIndicatorOn()

bool adore::env::traffic::Participant::getRightIndicatorOn ( ) const
inline

◆ getStationID()

TV2XStationID adore::env::traffic::Participant::getStationID ( ) const
inline
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◆ getTrackingID()

TTrackingID adore::env::traffic::Participant::getTrackingID ( ) const
inline
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◆ getVx()

double adore::env::traffic::Participant::getVx ( ) const
inline
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◆ getVy()

double adore::env::traffic::Participant::getVy ( ) const
inline
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◆ getWidth()

double adore::env::traffic::Participant::getWidth ( ) const
inline
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◆ getYaw()

double adore::env::traffic::Participant::getYaw ( ) const
inline
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◆ getYawRate()

double adore::env::traffic::Participant::getYawRate ( ) const
inline

Member Data Documentation

◆ acceleration_x_

double adore::env::traffic::Participant::acceleration_x_

acceleration in yaw direction

◆ brakeLight_certainty_

double adore::env::traffic::Participant::brakeLight_certainty_

confidence about brake light state 0..100

◆ brakeLightsOn_

bool adore::env::traffic::Participant::brakeLightsOn_

state of the brake lights

◆ center_

adoreMatrix<double,3,1> adore::env::traffic::Participant::center_

◆ classification_

EClassification adore::env::traffic::Participant::classification_

type of traffic participant -> classification values

◆ classification_certainty_

double adore::env::traffic::Participant::classification_certainty_

confidence of classification 0..100

◆ covariance_

TCovariance adore::env::traffic::Participant::covariance_

[X,Y,Z,yaw,vx,vy,yawrate]^2

◆ detection_by_sensor_

unsigned int adore::env::traffic::Participant::detection_by_sensor_

bit array -> sensor type values

◆ existance_certainty_

double adore::env::traffic::Participant::existance_certainty_

confidence that traffic participant exists 0..100

◆ height_

double adore::env::traffic::Participant::height_

extend of box projected on up vector

◆ highBeamCertainty_

double adore::env::traffic::Participant::highBeamCertainty_

confidence about head light state 0..100

◆ highBeamOn_

bool adore::env::traffic::Participant::highBeamOn_

state of the head lights

◆ INDUCTIONLOOP

const unsigned int adore::env::traffic::Participant::INDUCTIONLOOP = 256
static

◆ leftIndicator_certainty_

double adore::env::traffic::Participant::leftIndicator_certainty_

confidence of detection of left indicator state 0..100

◆ leftIndicatorOn_

bool adore::env::traffic::Participant::leftIndicatorOn_

indicator in yaw direction on the left side

◆ length_

double adore::env::traffic::Participant::length_

extend of box projected to yaw direction vector

◆ LIDAR

const unsigned int adore::env::traffic::Participant::LIDAR = 4
static

◆ lowBeamCertainty_

double adore::env::traffic::Participant::lowBeamCertainty_

confidence about head light state 0..100

◆ lowBeamOn_

bool adore::env::traffic::Participant::lowBeamOn_

state of the head lights

◆ MONO_VIDEO

const unsigned int adore::env::traffic::Participant::MONO_VIDEO = 8
static

◆ NIGHT_VISION

const unsigned int adore::env::traffic::Participant::NIGHT_VISION = 64
static

◆ observation_time_

double adore::env::traffic::Participant::observation_time_

time corresponding to state

◆ PMD

const unsigned int adore::env::traffic::Participant::PMD = 512
static

◆ RADAR

const unsigned int adore::env::traffic::Participant::RADAR = 2
static

◆ rightIndicator_certainty_

double adore::env::traffic::Participant::rightIndicator_certainty_

◆ rightIndicatorOn_

bool adore::env::traffic::Participant::rightIndicatorOn_

indicator in yaw direction on the right side

◆ SPECULATIVE

const unsigned int adore::env::traffic::Participant::SPECULATIVE = 2147483648
static

2^31, not observed by any sensor but rather speculated to exist in occlusion area

◆ SPERICAL_CAMERA

const unsigned int adore::env::traffic::Participant::SPERICAL_CAMERA = 32
static

◆ STEREO_VISION

const unsigned int adore::env::traffic::Participant::STEREO_VISION = 16
static

◆ trackingID_

TTrackingID adore::env::traffic::Participant::trackingID_

internal tracking id, providing highest possible continuity

◆ ULTRASONIC

const unsigned int adore::env::traffic::Participant::ULTRASONIC = 128
static

◆ UNDEFINED

const unsigned int adore::env::traffic::Participant::UNDEFINED = 1
static

◆ V2X_CAM

const unsigned int adore::env::traffic::Participant::V2X_CAM = 1024
static

◆ V2X_CPM

const unsigned int adore::env::traffic::Participant::V2X_CPM = 2048
static

◆ V2X_MCM

const unsigned int adore::env::traffic::Participant::V2X_MCM = 4096
static

◆ v2xStationID_

TV2XStationID adore::env::traffic::Participant::v2xStationID_

etsi vehicle to x id

◆ vx_

double adore::env::traffic::Participant::vx_

speed in yaw direction

◆ vy_

double adore::env::traffic::Participant::vy_

speed perpendicular to yaw direction

◆ width_

double adore::env::traffic::Participant::width_

xtend of box perpendicular to yaw and up

◆ yaw_

double adore::env::traffic::Participant::yaw_

orientation of the box: straight east is 0, straight north is pi/2

◆ yawrate_

double adore::env::traffic::Participant::yawrate_

d/dt yaw

The documentation for this struct was generated from the following file: