Base class to access basic object information required to perform the RSS checks in conjunction with the RssRouteChecker class. More...

#include <ad/rss/map/RssObjectAdapter.hpp>

Inheritance diagram for ad::rss::map::RssObjectAdapter< OBJECT_INSTANCE_TYPE >:

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Collaboration diagram for ad::rss::map::RssObjectAdapter< OBJECT_INSTANCE_TYPE >:

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Public Types
typedef std::shared_ptr< RssObjectAdapter >	Ptr
	Smart pointer on RssObjectAdapter.

typedef std::shared_ptr< RssObjectAdapter const >	ConstPtr
	Smart pointer on constant RssObjectAdapter.

typedef RssObjectInstance< OBJECT_INSTANCE_TYPE >::Ptr	ObjectInstancePtr

typedef RssObjectInstance< OBJECT_INSTANCE_TYPE >::ConstPtr	ObjectInstanceConstPtr

Public Types inherited from ad::rss::map::RssObjectAdapterData
typedef std::shared_ptr< RssObjectAdapterData >	Ptr
	Smart pointer on RssObjectAdapterData.

typedef std::shared_ptr< RssObjectAdapterData const >	ConstPtr
	Smart pointer on constant RssObjectAdapterData.

Public Member Functions
	RssObjectAdapter (ObjectInstancePtr const objectInstance)
	default constructor

virtual	~RssObjectAdapter ()=default
	default destructor

::ad::rss::world::ObjectType	getObjectType () const

RssRouteCheckerControl< OBJECT_INSTANCE_TYPE >::Ptr	getCheckerControl () const
	get the checker control instance

ObjectInstancePtr	getObjectInstance () const
	get the underlying object instance type

OBJECT_INSTANCE_TYPE &	getObjectInstanceType ()
	get the underlying object instance type.

OBJECT_INSTANCE_TYPE const &	getObjectInstanceType () const
	get the underlying object instance type

virtual ::ad::rss::world::RssDynamics	getDefaultRssDynamics () const
	get the default RSS dynamics to be used for the object. More...

::ad::physics::Dimension3D	getDimensions () const override
	get the dimensions of the object to be considered: the stored (estimated) dimensions are expanded by the position confidence

virtual ::ad::map::match::Object	getMatchedObject (::ad::map::match::AdMapMatching const &mapMatching, physics::Distance const sampling_distance) const
	Perform actual map matching of the object. More...

virtual bool	isObjectIdUniqueOverTime () const
	Indicate if the object id of this remains unique over time. More...

Public Member Functions inherited from ad::rss::map::RssObjectAdapterData
	RssObjectAdapterData ()
	standard constructor

virtual	~RssObjectAdapterData ()=default
	standard destructor

	RssObjectAdapterData (const RssObjectAdapterData &other)=default
	standard copy constructor

	RssObjectAdapterData (RssObjectAdapterData &&other)=default
	standard move constructor

RssObjectAdapterData &	operator= (const RssObjectAdapterData &other)=default
	standard assignment operator More...

RssObjectAdapterData &	operator= (RssObjectAdapterData &&other)=default
	standard move operator More...

bool	operator== (const RssObjectAdapterData &other) const
	standard comparison operator More...

bool	operator!= (const RssObjectAdapterData &other) const
	standard comparison operator More...

::ad::rss::world::ObjectId	getObjectId () const
	get the id of the object

::ad::rss::world::ObjectType	getObjectType () const
	get the type of the object

::ad::map::point::ENUPoint	getCenterPoint () const
	get the center point of the object

::ad::physics::Dimension2D	getPositionConfidence () const
	get the position confidence of the center point

::ad::physics::Probability	getPositionConfidenceLevel () const
	get the position confidence level of the center point

::ad::map::point::ENUHeading	getHeading () const
	get the heading of the object

virtual ::ad::physics::Dimension3D	getDimensions () const
	get the dimensions of the object to be considered

::ad::physics::SpeedRange	getSpeedRange () const
	get the speed of the object

::ad::physics::AngularVelocity	getYawRate () const
	get the change of the heading (which is the yaw rate) of the object

::ad::physics::Angle	getSteeringAngle () const
	get the steering angle of the vehicle. Might be invalid if not available.

Protected Attributes
ObjectInstancePtr	mObjectInstance

Additional Inherited Members
Public Attributes inherited from ad::rss::map::RssObjectAdapterData
::ad::rss::world::ObjectId	id {0}

::ad::rss::world::ObjectType	object_type {::ad::rss::world::ObjectType::Invalid}

::ad::map::point::ENUPoint	center_point

::ad::physics::Dimension2D	position_confidence_ellipse_half_axis_dimension

::ad::physics::Probability	position_confidence_ellipse_confidence_level

::ad::map::point::ENUHeading	heading {std::numeric_limits<double>::quiet_NaN()}

::ad::physics::Dimension3D	dimension

::ad::physics::SpeedRange	speed_range

::ad::physics::AngularVelocity	yaw_rate

::ad::physics::Angle	steering_angle {std::numeric_limits<double>::quiet_NaN()}

Detailed Description

template<class OBJECT_INSTANCE_TYPE>
class ad::rss::map::RssObjectAdapter< OBJECT_INSTANCE_TYPE >

Base class to access basic object information required to perform the RSS checks in conjunction with the RssRouteChecker class.

Derived from this class virtually to allows for a similar class layout on side of the concrete implementations of this to be able to handle common functionality of vehicles and pedestrians at one place. E.g.:

class RssObjectAdapterCustom: public virtual RssObjectAdapter {}; class RssPedestrianAdapterCustom: public RssObjectAdapterCustom, public RssPedestrianAdapter {}; class RssVehicleAdapterCustom: public RssObjectAdapterCustom, public virtual RssVehicleAdapter {}; class RssEgoVehicleAdapterCustom: public RssVehicleAdapterCustom, public RssEgoVehicleAdapter {};

Where RssArtificialObjectAdapter plays a special role to be used to inject additional artificial objects to be considered in addition by the RSS calculation.

The pure virtual Getter-functions of this class have to be provided by some derived class. This not necessarily has to be the direct child class (e.g. RssObjectAdapterCustom), since RssObjectAdapter is not used directly. Other virtual functions might be implemented by derived classed to take care on the required steps on their own instead of letting the default implementation handle these (see details on in the function descriptions).

Member Function Documentation

◆ getDefaultRssDynamics()

template<class OBJECT_INSTANCE_TYPE >

virtual ::ad::rss::world::RssDynamics ad::rss::map::RssObjectAdapter< OBJECT_INSTANCE_TYPE >::getDefaultRssDynamics ( ) const

inline

get the default RSS dynamics to be used for the object.

Default implementation deploys RssRouteCheckerControl in conjunction with the object_type to gather results.

◆ getMatchedObject()

template<class OBJECT_INSTANCE_TYPE >

virtual ::ad::map::match::Object ad::rss::map::RssObjectAdapter< OBJECT_INSTANCE_TYPE >::getMatchedObject	(	::ad::map::match::AdMapMatching const &	mapMatching,
		physics::Distance const	sampling_distance
	)		const

inline

Perform actual map matching of the object.

This function is called each time step ONCE to get the latest map matching results. The default implementation mainly calls into ::ad::map::match::AdMapMatching::getMapMatchedBoundingBox()

Can be reimplemented if the map matched position of the object is already available by other means.

Parameters

[in]	mapMatching	the map matching object used for map matching
[in]	sampling_distance	the sampling_distance parameter for the mapMatching.getMapMatchedBoundingBox() call.

If there is specific user implementation available for this, this can be overridden.

◆ getObjectType()

template<class OBJECT_INSTANCE_TYPE >

::ad::rss::world::ObjectType ad::rss::map::RssObjectAdapter< OBJECT_INSTANCE_TYPE >::getObjectType ( ) const

inline

Returns: the object type of this.

This function is not virtual by intension. If a derived class (e.g. RssEgoVehicleAdapter) is not used as ego-vehicle, but e.g. as other vehicle, the object type should reflect this.

◆ isObjectIdUniqueOverTime()

template<class OBJECT_INSTANCE_TYPE >

virtual bool ad::rss::map::RssObjectAdapter< OBJECT_INSTANCE_TYPE >::isObjectIdUniqueOverTime ( ) const

inlinevirtual

Indicate if the object id of this remains unique over time.

If the object is re-associated over time e.g. the object is tracked, this is true. In that case it is assumed that the same real/artificial object keeps the same object id in the next time step, so the RSS state of the previous time step can be taken into account for deriving the proper response. But if the object data is delivered by lower level object detectors where IDs are not re-associated to the last time step objects, this should return false.

Returns: true by default implementation.

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

include/ad/rss/map/RssObjectAdapter.hpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<class OBJECT_INSTANCE_TYPE> class ad::rss::map::RssObjectAdapter< OBJECT_INSTANCE_TYPE >

Member Function Documentation

◆ getDefaultRssDynamics()

◆ getMatchedObject()

◆ getObjectType()

◆ isObjectIdUniqueOverTime()

template<class OBJECT_INSTANCE_TYPE>
class ad::rss::map::RssObjectAdapter< OBJECT_INSTANCE_TYPE >