BaseMoving Class Reference

The base attributes of an object that is moving. More...

Detailed Description

The base attributes of an object that is moving.

This includes the MovingObject , DetectedMovingObject , HostVehicleData , SensorData .

Requirements

General requirements:

• All fields must be set and initialized
• Meaningful data must be set for all the data fields

Attribute	Type	Repeated	Unit	Requirements
dimension	Dimension3d	No	[m]	Must be set, all components must be positive
position	Vector3d	No	[m]	Must be set
orientation	Orientation3d	No	[rad]	Must be set, all values must me inside range (-pi,pi]
velocity	Vector3d	No	[m/s]	Must be set
acceleration	Vector3d	No	[m/s2]	Must be set
orientation_rate	Orientation3d	No	[rad/s2]	Must be set
base_polygon	Vector2d	Yes	[m]	See the notes in BaseStationary

Difference between GroundTruth and SensorData

All coordinates and orientations from GroundTruth objects are relative to the global ground truth frame. All coordinates and orientations from detected objects (SensorData) are relative to the HostVehicle frame.

base_polygon data field

See the dicsussion in BaseStationay/