Formula Student Autonomous Systems
The code for the main driverless system
Loading...
Searching...
No Matches
Public Member Functions | Private Attributes | List of all members
PerceptionSensor Class Reference

#include <perceptionSensor.hpp>

Inheritance diagram for PerceptionSensor:
Inheritance graph
Collaboration diagram for PerceptionSensor:
Collaboration graph

Public Member Functions

 PerceptionSensor ()
 
void readConfig (ConfigElement &config)
 
LandmarkList process (LandmarkList &in, Eigen::Vector3d &trans, Eigen::Vector3d &rot, double time)
 
std::vector< Landmark > filterFoV (std::vector< Landmark > &in)
 
std::vector< Landmark > filterTypeAndDOO (std::vector< Landmark > &in)
 
std::vector< Landmark > addClassProbailities (std::vector< Landmark > &in)
 
std::vector< Landmark > handleFalsePositivesAndNegatives (std::vector< Landmark > &in)
 
std::vector< Landmark > addNoise (std::vector< Landmark > &in)
 
std::string getName ()
 
std::string getFrameId ()
 
bool RunTick (LandmarkList &in, Eigen::Vector3d &trans, Eigen::Vector3d &rot, double time)
 
- Public Member Functions inherited from SensorBase< LandmarkList >
double getRate ()
 
LandmarkList getOldest ()
 
bool availableDeadTime (double time)
 
bool sampleReady (double time)
 
void registerSampling ()
 
Eigen::Vector3d getPosition ()
 
Eigen::Vector3d getOrientation ()
 

Private Attributes

std::string name
 
std::string frame_id
 
double minRange
 
double maxRange
 
double minAngleHorizontal
 
double maxAngleHorizontal
 
double minAngleVertical
 
double maxAngleVertical
 
Eigen::Vector3d errorSigmaXYZ
 
Eigen::Vector3d errorMeanXYZ
 
double errorSigmaRange
 
double errorMeanRange
 
double errorSigmaRangeRelative
 
double errorMeanRangeRelative
 
Eigen::Vector2d errorSigmaAngle
 
Eigen::Vector2d errorMeanAngle
 
double detection_prob_min_dist
 
double detection_prob_decrease_dist_linear
 
double detection_prob_decrease_dist_quadratic
 
double min_detection_prob
 
double classification_max_distance
 
double classification_prob_min_dist
 
double classification_prob_decrease_dist_linear
 
double classification_prob_decrease_dist_quadratic
 
double min_classification_prob
 

Additional Inherited Members

- Protected Attributes inherited from SensorBase< LandmarkList >
Eigen::Vector3d position
 
Eigen::Vector3d orientation
 
double rate
 
double lastSampleTime
 
double deadTime
 
std::queue< LandmarkList > deadTimeQueue
 
int numFrames
 

Detailed Description

Definition at line 11 of file perceptionSensor.hpp.

Constructor & Destructor Documentation

◆ PerceptionSensor()

PerceptionSensor::PerceptionSensor ( )

Definition at line 3 of file perceptionSensor.cpp.

Member Function Documentation

◆ addClassProbailities()

std::vector< Landmark > PerceptionSensor::addClassProbailities ( std::vector< Landmark > &  in)

Definition at line 203 of file perceptionSensor.cpp.

Here is the caller graph for this function:

◆ addNoise()

std::vector< Landmark > PerceptionSensor::addNoise ( std::vector< Landmark > &  in)

Definition at line 137 of file perceptionSensor.cpp.

Here is the caller graph for this function:

◆ filterFoV()

std::vector< Landmark > PerceptionSensor::filterFoV ( std::vector< Landmark > &  in)

Definition at line 104 of file perceptionSensor.cpp.

Here is the caller graph for this function:

◆ filterTypeAndDOO()

std::vector< Landmark > PerceptionSensor::filterTypeAndDOO ( std::vector< Landmark > &  in)

Definition at line 124 of file perceptionSensor.cpp.

Here is the caller graph for this function:

◆ getFrameId()

std::string PerceptionSensor::getFrameId ( )

Definition at line 286 of file perceptionSensor.cpp.

◆ getName()

std::string PerceptionSensor::getName ( )

Definition at line 284 of file perceptionSensor.cpp.

◆ handleFalsePositivesAndNegatives()

std::vector< Landmark > PerceptionSensor::handleFalsePositivesAndNegatives ( std::vector< Landmark > &  in)

Definition at line 260 of file perceptionSensor.cpp.

Here is the caller graph for this function:

◆ process()

LandmarkList PerceptionSensor::process ( LandmarkList &  in,
Eigen::Vector3d &  trans,
Eigen::Vector3d &  rot,
double  time 
)

Definition at line 87 of file perceptionSensor.cpp.

Here is the call graph for this function:
Here is the caller graph for this function:

◆ readConfig()

void PerceptionSensor::readConfig ( ConfigElement &  config)

Definition at line 31 of file perceptionSensor.cpp.

Here is the call graph for this function:

◆ RunTick()

bool PerceptionSensor::RunTick ( LandmarkList &  in,
Eigen::Vector3d &  trans,
Eigen::Vector3d &  rot,
double  time 
)

Definition at line 288 of file perceptionSensor.cpp.

Here is the call graph for this function:

Member Data Documentation

◆ classification_max_distance

double PerceptionSensor::classification_max_distance
private

Definition at line 60 of file perceptionSensor.hpp.

◆ classification_prob_decrease_dist_linear

double PerceptionSensor::classification_prob_decrease_dist_linear
private

Definition at line 62 of file perceptionSensor.hpp.

◆ classification_prob_decrease_dist_quadratic

double PerceptionSensor::classification_prob_decrease_dist_quadratic
private

Definition at line 63 of file perceptionSensor.hpp.

◆ classification_prob_min_dist

double PerceptionSensor::classification_prob_min_dist
private

Definition at line 61 of file perceptionSensor.hpp.

◆ detection_prob_decrease_dist_linear

double PerceptionSensor::detection_prob_decrease_dist_linear
private

Definition at line 56 of file perceptionSensor.hpp.

◆ detection_prob_decrease_dist_quadratic

double PerceptionSensor::detection_prob_decrease_dist_quadratic
private

Definition at line 57 of file perceptionSensor.hpp.

◆ detection_prob_min_dist

double PerceptionSensor::detection_prob_min_dist
private

Definition at line 55 of file perceptionSensor.hpp.

◆ errorMeanAngle

Eigen::Vector2d PerceptionSensor::errorMeanAngle
private

Definition at line 53 of file perceptionSensor.hpp.

◆ errorMeanRange

double PerceptionSensor::errorMeanRange
private

Definition at line 49 of file perceptionSensor.hpp.

◆ errorMeanRangeRelative

double PerceptionSensor::errorMeanRangeRelative
private

Definition at line 51 of file perceptionSensor.hpp.

◆ errorMeanXYZ

Eigen::Vector3d PerceptionSensor::errorMeanXYZ
private

Definition at line 46 of file perceptionSensor.hpp.

◆ errorSigmaAngle

Eigen::Vector2d PerceptionSensor::errorSigmaAngle
private

Definition at line 52 of file perceptionSensor.hpp.

◆ errorSigmaRange

double PerceptionSensor::errorSigmaRange
private

Definition at line 48 of file perceptionSensor.hpp.

◆ errorSigmaRangeRelative

double PerceptionSensor::errorSigmaRangeRelative
private

Definition at line 50 of file perceptionSensor.hpp.

◆ errorSigmaXYZ

Eigen::Vector3d PerceptionSensor::errorSigmaXYZ
private

Definition at line 45 of file perceptionSensor.hpp.

◆ frame_id

std::string PerceptionSensor::frame_id
private

Definition at line 38 of file perceptionSensor.hpp.

◆ maxAngleHorizontal

double PerceptionSensor::maxAngleHorizontal
private

Definition at line 42 of file perceptionSensor.hpp.

◆ maxAngleVertical

double PerceptionSensor::maxAngleVertical
private

Definition at line 44 of file perceptionSensor.hpp.

◆ maxRange

double PerceptionSensor::maxRange
private

Definition at line 40 of file perceptionSensor.hpp.

◆ min_classification_prob

double PerceptionSensor::min_classification_prob
private

Definition at line 64 of file perceptionSensor.hpp.

◆ min_detection_prob

double PerceptionSensor::min_detection_prob
private

Definition at line 58 of file perceptionSensor.hpp.

◆ minAngleHorizontal

double PerceptionSensor::minAngleHorizontal
private

Definition at line 41 of file perceptionSensor.hpp.

◆ minAngleVertical

double PerceptionSensor::minAngleVertical
private

Definition at line 43 of file perceptionSensor.hpp.

◆ minRange

double PerceptionSensor::minRange
private

Definition at line 39 of file perceptionSensor.hpp.

◆ name

std::string PerceptionSensor::name
private

Definition at line 37 of file perceptionSensor.hpp.

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