The configuration settings for the Generic Sensor View to be provided by the environment simulation. More...

Collaboration diagram for osi3::GenericSensorViewConfiguration:

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Public Attributes
optional Identifier	sensor_id = 1
	The ID of the sensor at host vehicle's mounting_position. More...

optional MountingPosition	mounting_position = 2
	The physical mounting position of the sensor (origin and orientation of the sensor coordinate system) given in vehicle coordinates [1]. More...

optional MountingPosition	mounting_position_rmse = 3
	The root mean squared error of the mounting position. More...

optional double	field_of_view_horizontal = 4
	Field of View in horizontal orientation of the physical sensor. More...

optional double	field_of_view_vertical = 5
	Field of View in vertical orientation of the physical sensor. More...

Detailed Description

The configuration settings for the Generic Sensor View to be provided by the environment simulation.

Member Data Documentation

optional Identifier osi3::GenericSensorViewConfiguration::sensor_id = 1

The ID of the sensor at host vehicle's mounting_position.

This is the ID of the physical sensor, to be used in its detected features output; it is distinct from the ID of its virtual sensor.

The ID is to be provided by the environment simulation, the sensor model is not in a position to provide a useful default value.

optional MountingPosition osi3::GenericSensorViewConfiguration::mounting_position = 2

The physical mounting position of the sensor (origin and orientation of the sensor coordinate system) given in vehicle coordinates [1].

The physical position pertains to this detector individually, and governs the sensor-relative coordinates in features detected by this detector.

x-direction of sensor coordinate system: sensor viewing direction
z-direction of sensor coordinate system: sensor (up)
y-direction of sensor coordinate system: perpendicular to x and z right hand system

Reference:: [1] DIN Deutsches Institut fuer Normung e. V. (2013). DIN ISO 8855 Strassenfahrzeuge - Fahrzeugdynamik und Fahrverhalten - Begriffe. (DIN ISO 8855:2013-11). Berlin, Germany.

Note: The origin of vehicle's coordinate system in world frame is ( MovingObject::base . BaseMoving::position + Inverse_Rotation_yaw_pitch_roll( MovingObject::base . BaseMoving::orientation) * MovingObject::VehicleAttributes::bbcenter_to_rear) . The orientation of the vehicle's coordinate system is equal to the orientation of the vehicle's bounding box MovingObject::base . BaseMoving::orientation.; A default position can be provided by the sensor model (e.g. to indicate the position the model was validated for), but this is optional; the environment simulation must provide a valid mounting position (based on the vehicle configuration) when setting the view configuration.

optional MountingPosition osi3::GenericSensorViewConfiguration::mounting_position_rmse = 3

The root mean squared error of the mounting position.

optional double osi3::GenericSensorViewConfiguration::field_of_view_horizontal = 4

Field of View in horizontal orientation of the physical sensor.

Viewing range: [- field_of_view_horizontal/2, field_of_view_horizontal/2] azimuth in the sensor frame as defined in Spherical3d.

Unit: rad

optional double osi3::GenericSensorViewConfiguration::field_of_view_vertical = 5

Field of View in vertical orientation of the physical sensor.

Viewing range: [- field_of_view_vertical/2, field_of_view_vertical/2] elevation in the sensor frame at zero azimuth as defined in Spherical3d.

Unit: rad

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