osi3::LogicalLaneAssignment Struct Reference
Public Attributes
| optional Identifier | assigned_lane_id = 1 |
| ID of the LogicalLane the object is assigned to. More... | |
| optional double | s_position = 2 |
| S position of the object reference point on the lane, in the ST coordinate system of the lane. More... | |
| optional double | t_position = 3 |
| T position of the object reference point on the lane, in the ST coordinate system of the lane. More... | |
| optional double | angle_to_lane = 4 |
| Angle of the object relative to the lane. More... | |
Detailed Description
Assignment of an object to a logical lane.
An object is assigned to a logical lane if it overlaps the logical lane. Assignment happens even if the reference point is outside the lane, and only a part of the object overlaps (any object overlapping the lane more than 5cm has to be assigned to the lane).
As an exception to this, TrafficSign and TrafficLight are assigned to a logical lane if they control traffic on that lane. For TrafficSign and TrafficLight , s_position refers to the position where the sign or light is valid (e.g. where vehicles should stop in case of a red traffic light), not the physical position (where the sign or light is in the world). Typically, t_position and angle_to_lane do not have any meaning in this case, and will be 0.
Member Data Documentation
◆ assigned_lane_id
| optional Identifier osi3::LogicalLaneAssignment::assigned_lane_id = 1 |
ID of the LogicalLane the object is assigned to.
- Rules
- refers_to: LogicalLane
◆ s_position
| optional double osi3::LogicalLaneAssignment::s_position = 2 |
S position of the object reference point on the lane, in the ST coordinate system of the lane.
s_position might be outside [s_start,s_end] of the lane (and even outside [startS,endS] of the reference line) if the reference point is outside the lane, but the object overlaps the lane or a TrafficSign or TrafficLight is assigned to a lane.
◆ t_position
| optional double osi3::LogicalLaneAssignment::t_position = 3 |
T position of the object reference point on the lane, in the ST coordinate system of the lane.
◆ angle_to_lane
| optional double osi3::LogicalLaneAssignment::angle_to_lane = 4 |
Angle of the object relative to the lane.
See the ReferenceLine description how the angle is calculated.
Unit: rad
- osi_common.proto