#include <Object.hpp>

Public Types
enum	ObjectClassification { Unclassified = 0, UnknownSmall = 1, UnknownBig = 2, Pedestrian = 3, Bike = 4, Car = 5, Truck = 6, Structure_Pylon = 7, Structure_Beacon = 8, Structure_GuardRail = 9, Structure_ConcreteBarrier = 10, NumClasses, Unknown = 15 }

Public Member Functions
void	addContourPoint (const Point2D cp)

const Point2D &	getAbsoluteVelocity () const

const Point2D &	getAbsoluteVelocitySigma () const

const Point2D &	getBoundingBox () const

const Point2D &	getBoundingBoxCenter () const

Box2D	getBox () const

const Point2D &	getCenterPoint () const

const Point2D &	getCenterPointSigma () const

ObjectClassification	getClassification () const

UINT32	getClassificationAge () const

double	getClassificationQuality () const

const Point2D &	getClosestPoint () const

const Polygon2D &	getContourPoints () const

double	getCourseAngle () const

double	getCourseAngleSigma () const

UINT16	getFlags () const

UINT16	getHiddenStatusAge () const

double	getMaxAbsoluteVelocity () const

double	getMeanAbsoluteVelocity () const

double	getNormalizedMeanPointDist () const

UINT32	getObjectAge () const

const Point2D &	getObjectBox () const

const Point2D &	getObjectBoxSigma () const

void	getObjectBoxVarCovar (double &var_x, double &var_y, double &covar_xy) const

double	getObjectHeight () const

double	getObjectHeightSigma () const

UINT16	getObjectId () const

double	getObjectMass () const

const Point2D &	getRelativeVelocity () const

const Point2D &	getRelativeVelocitySigma () const

std::streamsize	getSerializedSize (UINT32 version) const
	Size of the serialized representation of this object. More...

const Time &	getTimestamp () const

double	getTotalTrackedPathLength () const

double	getTotalTrackingDuration () const

const UINT32	getUsedMemory () const

UINT64	getVehicleWLANid () const

void	incrementObjectAge ()
	Just increment objectAge by one. More...

bool	isHiddenStatus () const

bool	isValid () const

	Object ()

bool	operator== (const Object &other) const
	Equality predicate. More...

void	setAbsoluteVelocity (const Point2D &v)

void	setAbsoluteVelocitySigma (const Point2D &v)

void	setBoundingBox (const Point2D &v)

void	setBoundingBoxCenter (const Point2D &v)

void	setCenterPoint (const Point2D &v)

void	setCenterPointSigma (const Point2D &v)

void	setClassification (ObjectClassification v)

void	setClassificationAge (UINT32 v)

void	setClassificationQuality (double v)

void	setClosestPoint (const Point2D &v)

void	setContourPoints (const Polygon2D &v)

void	setCourseAngle (double newCourseAngle)

void	setCourseAngleSigma (double v)

void	setFlags (UINT16 v)

void	setHiddenStatusAge (UINT16 v)

void	setMaxAbsoluteVelocity (double v)

void	setNormalizedMeanPointDist (double v)

void	setObjectAge (UINT32 v)

void	setObjectBox (const Point2D &v)

void	setObjectBoxSigma (const Point2D &v)

void	setObjectHeight (double v)

void	setObjectHeightSigma (double v)

void	setObjectId (UINT16 v)

void	setObjectMass (double v)

void	setRelativeVelocity (const Point2D &v)

void	setRelativeVelocitySigma (const Point2D &v)

void	setTimestamp (const Time &v)

void	setTotalTrackedPathLength (double v)

void	setTotalTrackingDuration (double v)

void	setValid (bool newValue=true)

void	setVehicleWLANid (UINT64 v)

std::string	toString () const

	~Object ()

Static Public Member Functions
static const char *	objectClassificationToShortString (ObjectClassification v)
	Returns the given classification value as a short string. More...

static const char *	objectClassificationToString (ObjectClassification v)
	Returns the given classification value as a string. More...

static std::string	objectClassificationToStringWithNum (ObjectClassification v)
	Returns the given classification value as a string with the integer number included. More...

static Object::ObjectClassification	stringToObjectClassification (const std::string &s)

Private Attributes
Point2D	m_absoluteVelocity
	Velocity of this object [meter/seconds] as absolute velocity; the orientation is relative to the vehicle coordinate system. More...

Point2D	m_absoluteVelocitySigma

Point2D	m_boundingBox
	A rectangle in parallel to the vehicle coordinate system (a paraxial rectangle) that contains (bounds) all of this object's points. More...

Point2D	m_boundingBoxCenter
	Center of the bounding box. More...

Point2D	m_centerPoint
	Center point of object rectangle, given in Vehicle coordinate system. More...

Point2D	m_centerPointSigma

ObjectClassification	m_classification
	The object class that is most likely for this object. More...

UINT32	m_classificationAge
	Counts how long the object has been classified in the current classification. More...

double	m_classificationQuality
	The quality of the current classification. More...

Point2D	m_closestPoint
	The point of this object that is closest to the origin of the vehicle coordinate system. More...

Polygon2D	m_contourPoints
	A poly-line that describes the outline of the current object measurement. More...

double	m_courseAngle
	named by ISO 8855; also called Orientation or Heading [rad] More...

double	m_courseAngleSigma

UINT16	m_flags
	reserved More...

UINT16	m_hiddenStatusAge
	Counts how long the object has not been observed but only predicted. More...

bool	m_isValid

double	m_maxAbsoluteVelocity
	Classification feature: The maximum observed absolute velocity [m/s]. More...

double	m_normalizedMeanPointDist

UINT32	m_objectAge
	number of scans in which this object has been tracked, or instead time? More...

Point2D	m_objectBox
	The object's length and width as a rectangle, relative to the object's coordinate system. More...

Point2D	m_objectBoxSigma

double	m_objectHeight
	The height of this object in [m] (most probably received through WLAN data). More...

double	m_objectHeightSigma
	The standard deviation of the height of this object in [m] (most probably received through WLAN data). More...

UINT16	m_objectId

double	m_objectMass
	The mass of this object in kilogram More...

Point2D	m_relativeVelocity
	Velocity of this object [meter/seconds], relative to the vehicle coordinate system. More...

Point2D	m_relativeVelocitySigma

Time	m_timestamp
	Time of when the center point of this object was observed. More...

double	m_totalTrackedPathLength

double	m_totalTrackingDuration

UINT64	m_vehicleWLANid
	An identifier to be used by WLAN fusion algorithms. More...

Detailed Description

This class contains all that is known about objects in the environmental model: Object position, velocity, course angle, and classification.

Tracked object at position A, Course Angle Psi, Velocity vector vh, and Size sx, xy

The available information about each object is shown in the figure above. The host vehicle's axis system is X, Y with the origin at H. The center point A of the object is given in the host vehicle's axis system X, Y by getCenterPoint(). (In exact ISO 8855 terminology, the used axis system X,Y is the host vehicle's "intermediate axis system")

The orientation of the object is given by the course angle Psi ( $\psi$ ) by getCourseAngle(), which is the angle from the host vehicle's X axis to the object's Xo axis. Other names for this angle are the "object's yaw angle" $\psi$ or heading or orientation. This defines the object's axis system Xo, Yo.

The velocity of the object is given by the velocity vector vh ( $v_h$ ) by getAbsoluteVelocity(), which gives the object's velocity specified in the host vehicle's axis system. (In exact ISO 8855 terminology, the vector vh is the object's "horizontal velocity".)

The size of the object is given by the side lengths sx, sy of the rectangle in the object's axis system by getObjectBox(). Position, orientation, and size are given altogether by getBox().

(Note: In exact ISO 8855 terminology, the object's axis system Xo,Yo might point into a slightly different direction than the velocity vector, in which case $v_h$ is rotated from X_o by the sideslip angle $\beta$ . The rotation of the velocity vector compared to the host vehicle's axis system, the course angle $\nu$ , is then given by $\nu=\psi+\beta$ . However, depending on the used tracking algorithms the sideslip angle is neglected and $\nu=\psi$ , so there should be no difference between the course angle and the yaw angle.)

Note: The current Laserscanner tracking algorithms can fill in only a subset of the data fields that exist in this class. But those additional data fields are needed as soon as we deal with data fusion from WLAN data sources. Since those fusion algorithms are of importance to our algorithms as well, we already have reserved the member variables for those fields.

Internal note to self: For the next revision one might consider adding the following data fields:

centerOfGravity as opposed to center of geometry in getCenterPoint()
maybe a list of available referencePoints
maybe an enum of the referencePoint types
centerOfGeometry BoundingBox

Definition at line 78 of file Object.hpp.

Member Enumeration Documentation

enum datatypes::Object::ObjectClassification

Enumerator
Unclassified
UnknownSmall
UnknownBig
Pedestrian
Bike
Car
Truck
Structure_Pylon
Structure_Beacon
Structure_GuardRail
Structure_ConcreteBarrier
NumClasses
Unknown

Definition at line 81 of file Object.hpp.

Constructor & Destructor Documentation

datatypes::Object::Object ( )

Definition at line 13 of file Object.cpp.

datatypes::Object::~Object ( )

Definition at line 48 of file Object.cpp.

Member Function Documentation

void datatypes::Object::addContourPoint ( const Point2D cp )

Definition at line 194 of file Object.cpp.

const Point2D& datatypes::Object::getAbsoluteVelocity ( ) const

inline

Returns the velocity vector ("Geschwindigkeitsvektor") of this object in [meter/seconds] as absolute value. The orientation is relative to our vehicle's coordinate system.

Definition at line 247 of file Object.hpp.

const Point2D& datatypes::Object::getAbsoluteVelocitySigma ( ) const

inline

Returns the velocity vector standard deviation (i.e. the uncertainty) of this object in [meter/seconds], absolute.

Definition at line 253 of file Object.hpp.

const Point2D& datatypes::Object::getBoundingBox ( ) const

inline

Returns the size of a rectangle around the object's/bounding box center point that contains (bounds) all of this object's scanpoints, in parallel to our vehicle's coordinate system axis (also called a paraxial rectangle).

Definition at line 314 of file Object.hpp.

const Point2D& datatypes::Object::getBoundingBoxCenter ( ) const

inline

Returns the center of the bounding box.

See also: {getBoundingBox}

Definition at line 320 of file Object.hpp.

Box2D datatypes::Object::getBox ( ) const

Returns a rectangular box around the object's center point in [meter]. This method is just shorthand for obtaining the center point by getCenterPoint(), the course angle (orientation) by getCourseAngle(), and the size of the object by getObjectBox(). Box2D::getSize()::getX() returns the size of this object in x-direction of the object's coordinate system (i.e. the object length), Box2D::getSize()::getY() the size of this object in y-direction (i.e. the object width).

See also: getCenterPoint(), getCenterPoint(), getObjectBox()

Definition at line 85 of file Object.cpp.

const Point2D& datatypes::Object::getCenterPoint ( ) const

inline

Returns the tracked center point of geometry ("Mittelpunkt") of this object in [meter], relative to our vehicle's coordinate system.

This estimated center point is as close to the actual center point as possible with the respective tracking algorithm. To be more precise, if the tracking algorithm tracks the center of gravity (COG) point, the COG point will be given here instead of the actual center of geometry. In those cases the actual center of geometry is unknown, unfortunately.

More information about the position of the object might be obtained from the getContourPoints() pointlist or through accessing the SegmentList by getSegment(), but those will always give unfiltered (non-tracked) results.

Definition at line 187 of file Object.hpp.

const Point2D& datatypes::Object::getCenterPointSigma ( ) const

inline

Returns the standard deviation (i.e. the uncertainty, "Mittelpunkt-Standardabweichung") of the center point of geometry estimation of this object, given in Vehicle coordinates in [meter].

Definition at line 194 of file Object.hpp.

ObjectClassification datatypes::Object::getClassification ( ) const

inline

Returns the object class that is most likely for this object.

Definition at line 156 of file Object.hpp.

UINT32 datatypes::Object::getClassificationAge ( ) const

inline

Returns the number of scans in which the object has has been classified in the current classification.

Definition at line 161 of file Object.hpp.

double datatypes::Object::getClassificationQuality ( ) const

inline

Returns the quality measure ("Guete") of the current classification in [0 .. 1].

Definition at line 166 of file Object.hpp.

const Point2D& datatypes::Object::getClosestPoint ( ) const

inline

Returns the point of this object that is closest to the origin of our vehicle's coordinate system.

If this is not set, returns a zero-valued point.

Definition at line 328 of file Object.hpp.

const Polygon2D& datatypes::Object::getContourPoints ( ) const

inline

Returns a vector of points that describes a polygon outline of the current object's measurement points.

Definition at line 333 of file Object.hpp.

double datatypes::Object::getCourseAngle ( ) const

inline

Returns the course angle ("Kurswinkel") of this object's movement in [radian], in the interval [-pi, pi). This is named conforming to ISO 8855; elsewhere this value is also called the Orientation or the Heading.

This angle is the angle from the host vehicle's x-coordinate axis to the object's x-coordinate axis (which in most cases is identical to the object's velocity vector). It is also the sum of yaw angle ("Gierwinkel") and sideslip angle ("Schwimmwinkel") of this object.

Definition at line 207 of file Object.hpp.

double datatypes::Object::getCourseAngleSigma ( ) const

inline

Returns the course angle standard deviation (i.e. the uncertainty, "Kurswinkel-Standardabweichung") in [radian]. This is named conforming to ISO 8855; elsewhere this value is also called the Orientation or the Heading.

Definition at line 224 of file Object.hpp.

UINT16 datatypes::Object::getFlags ( ) const

inline

Returns the flags that have been set in this object. Currently used bits are as follows: bit#0 = basic information is available; bit#1 = contour information has been set, bit#2 = boundingBox has been set; bit#3 = object contains fused data from other sources (WLAN etc.); bit#4 = relative velocity has been set; bit#5 = CAN Object Data only (protocol version: 1; either bounding box or object box is available (see bit#2); analog see bit#4 if relative or absolute velocity has been set); bit#6...15 = reserved

Definition at line 131 of file Object.hpp.

UINT16 datatypes::Object::getHiddenStatusAge ( ) const

inline

Returns the number of scans in which the object has not been observed by measurement (i.e. it was hidden) but instead it has only been predicted.

Definition at line 142 of file Object.hpp.

double datatypes::Object::getMaxAbsoluteVelocity ( ) const

inline

Returns the maximum observed absolute velocity [m/s] (Classification feature). The value is NaN if it hasn't been set so far. The value is always non-negative, or NaN.

Definition at line 385 of file Object.hpp.

double datatypes::Object::getMeanAbsoluteVelocity ( ) const

Returns the mean velocity during the whole time over which the object has been tracked [m/s], which is basically just getTotalTrackedPathLength() divided by getTotalTrackingDuration(). Always non-negative.

Definition at line 437 of file Object.cpp.

double datatypes::Object::getNormalizedMeanPointDist ( ) const

inline

Returns the normalized mean distance [m] between scanpoints in the segment, or zero if the object is currently hidden. (Classification feature) Always non-negative.

Definition at line 391 of file Object.hpp.

UINT32 datatypes::Object::getObjectAge ( ) const

inline

Returns the number of scans in which this object has been tracked.

Definition at line 136 of file Object.hpp.

const Point2D& datatypes::Object::getObjectBox ( ) const

inline

Returns the estimated size of the object in [meter].

The returned size estimation models a rotated rectangular box around the object's center point (hence the name "object box"). Point2D::getX() returns the size of this object in x-direction of the object's coordinate system (i.e. the object length), Point2D::getY() the size in the y-direction (i.e. the object width). This value is the filtered size estimation of this object.

This box contains (bounds) all of this object's scanpoints and is in parallel to the object's coordinate system, i.e. it is using the getCourseAngle() orientation. [meter]

See also: getCourseAngle(), getCenterPoint(), setObjectBox()

Definition at line 273 of file Object.hpp.

const Point2D& datatypes::Object::getObjectBoxSigma ( ) const

inline

Returns the object size estimation's standard deviation [meter].

This is given in the object's coordinate system! Watch out for necessary coordinate transformations (rotations) if you want to use this value in the host vehicle's coordinate system.

Definition at line 297 of file Object.hpp.

void datatypes::Object::getObjectBoxVarCovar	(	double &	var_x,
		double &	var_y,
		double &	covar_xy
	)		const

Writes the object box x and y variance (squared standard deviation) and their covariance into the given variables in the host vehicle's coordinate system [meter^2].

In contrast to getObjectBoxSigma(), here the x and y variance is rotated from the object coordinate system into the host system. Hence, if there was a zero covariance beforehand, a non-zero covariance will result after the rotation.

Definition at line 353 of file Object.cpp.

double datatypes::Object::getObjectHeight ( ) const

inline

The height of this object in [m] (most probably received through WLAN data)

Definition at line 343 of file Object.hpp.

double datatypes::Object::getObjectHeightSigma ( ) const

inline

The standard deviation of the height of this object in [m] (most probably received through WLAN data)

Definition at line 348 of file Object.hpp.

UINT16 datatypes::Object::getObjectId ( ) const

inline

Returns the index number of this object.

Watch out: In some algorithms, the object id 0 (Null) is used as the special value of a non-valid object, but in other algorithms the id 0 is regarded as just a normal value as any other. However, invalid objects should be marked with setValid() instead of a Null-Value here.

Definition at line 113 of file Object.hpp.

double datatypes::Object::getObjectMass ( ) const

inline

The mass of this object in kilogram

Definition at line 353 of file Object.hpp.

const Point2D& datatypes::Object::getRelativeVelocity ( ) const

inline

(Usually Unused.) Returns the velocity vector ("Geschwindigkeitsvektor") of this object in [meter/seconds], relative to our vehicle's coordinate system. Note: The currently implemented tracking will always track only the absolute velocity; hence, this field relativeVelocity will be unset and simply be zero (or some other irrelevant values).

Definition at line 232 of file Object.hpp.

const Point2D& datatypes::Object::getRelativeVelocitySigma ( ) const

inline

(Usually Unused.) Returns the velocity vector standard deviation (i.e. the uncertainty) of this object in [meter/seconds], relative to our vehicle's coordinate system. Note: The currently implemented tracking will always track only the absolute velocity; hence, this field relativeVelocity will be unset and simply be zero (or some other irrelevant values).

Definition at line 241 of file Object.hpp.

std::streamsize datatypes::Object::getSerializedSize ( UINT32 version ) const

Size of the serialized representation of this object.

Parameters

version 1,2 == compressed meter values; 3,4 == double values

const Time& datatypes::Object::getTimestamp ( ) const

inline

Returns the time of when the center point of this object was observed.

Definition at line 151 of file Object.hpp.

double datatypes::Object::getTotalTrackedPathLength ( ) const

inline

Returns the total path length of object movement that has been tracked [m]. (Classification feature) Always non-negative.

Definition at line 402 of file Object.hpp.

double datatypes::Object::getTotalTrackingDuration ( ) const

inline

Returns the total duration for which this object has been tracked in [seconds]. (Classification feature, needed for mean velocity) Always non-negative.

Definition at line 397 of file Object.hpp.

const UINT32 datatypes::Object::getUsedMemory ( ) const

inline

Definition at line 413 of file Object.hpp.

UINT64 datatypes::Object::getVehicleWLANid ( ) const

inline

An identifier to be used by WLAN fusion algorithms

Definition at line 338 of file Object.hpp.

void datatypes::Object::incrementObjectAge ( )

Just increment objectAge by one.

Definition at line 407 of file Object.cpp.

bool datatypes::Object::isHiddenStatus ( ) const

inline

Returns true if the object is not being observed in the very last measurement (i.e. it was hidden) but instead it has only been predicted.

Definition at line 146 of file Object.hpp.

bool datatypes::Object::isValid ( ) const

inline

True, if this object is valid.

This flag will only be used to decide whether this Object is included in the serialization, i.e. if an Object has "false" here, it will not be serialized and will not be received by a receiver. Hence, this flag by itself is not included in the serialization.

Again: Invalid objects (those which return false here) will not be included in the serialization!

Definition at line 367 of file Object.hpp.

const char * datatypes::Object::objectClassificationToShortString ( ObjectClassification v )

static

Returns the given classification value as a short string.

Definition at line 315 of file Object.cpp.

const char * datatypes::Object::objectClassificationToString ( ObjectClassification v )

static

Returns the given classification value as a string.

Definition at line 251 of file Object.cpp.

std::string datatypes::Object::objectClassificationToStringWithNum ( ObjectClassification v )

static

Returns the given classification value as a string with the integer number included.

Definition at line 309 of file Object.cpp.

bool datatypes::Object::operator== ( const Object & other ) const

Equality predicate.

Definition at line 52 of file Object.cpp.

void datatypes::Object::setAbsoluteVelocity ( const Point2D & v )

Sets the velocity vector as absolute value. Note: This also updates setMaxAbsoluteVelocity() accordingly.

Definition at line 132 of file Object.cpp.

void datatypes::Object::setAbsoluteVelocitySigma ( const Point2D & v )

Definition at line 143 of file Object.cpp.

void datatypes::Object::setBoundingBox ( const Point2D & v )

Definition at line 164 of file Object.cpp.

void datatypes::Object::setBoundingBoxCenter ( const Point2D & v )

Definition at line 171 of file Object.cpp.

void datatypes::Object::setCenterPoint ( const Point2D & v )

inline

Definition at line 188 of file Object.hpp.

void datatypes::Object::setCenterPointSigma ( const Point2D & v )

Definition at line 98 of file Object.cpp.

void datatypes::Object::setClassification ( ObjectClassification v )

inline

Definition at line 157 of file Object.hpp.

void datatypes::Object::setClassificationAge ( UINT32 v )

inline

Definition at line 162 of file Object.hpp.

void datatypes::Object::setClassificationQuality ( double v )

Definition at line 91 of file Object.cpp.

void datatypes::Object::setClosestPoint ( const Point2D & v )

inline

Definition at line 329 of file Object.hpp.

void datatypes::Object::setContourPoints ( const Polygon2D & v )

Definition at line 188 of file Object.cpp.

void datatypes::Object::setCourseAngle ( double newCourseAngle )

Sets the course angle ("Kurswinkel") of this object's movement in [radian], in the interval [-pi, pi). This is named conforming to ISO 8855; elsewhere this value is also called the Orientation or the Heading.

If the new course angle is outside of the defined interval [-pi, pi), a warning message will be printed and the value will be normalized into that interval by normalizeRadians().

Definition at line 105 of file Object.cpp.

void datatypes::Object::setCourseAngleSigma ( double v )

Definition at line 126 of file Object.cpp.

void datatypes::Object::setFlags ( UINT16 v )

inline

Definition at line 132 of file Object.hpp.

void datatypes::Object::setHiddenStatusAge ( UINT16 v )

inline

Definition at line 147 of file Object.hpp.

void datatypes::Object::setMaxAbsoluteVelocity ( double v )

Definition at line 412 of file Object.cpp.

void datatypes::Object::setNormalizedMeanPointDist ( double v )

Definition at line 418 of file Object.cpp.

void datatypes::Object::setObjectAge ( UINT32 v )

inline

Definition at line 137 of file Object.hpp.

void datatypes::Object::setObjectBox ( const Point2D & v )

Set the size of the rectangular box of this object.

See also: getObjectBox()

Definition at line 150 of file Object.cpp.

void datatypes::Object::setObjectBoxSigma ( const Point2D & v )

Definition at line 157 of file Object.cpp.

void datatypes::Object::setObjectHeight ( double v )

inline

Definition at line 344 of file Object.hpp.

void datatypes::Object::setObjectHeightSigma ( double v )

Definition at line 176 of file Object.cpp.

void datatypes::Object::setObjectId ( UINT16 v )

inline

Sets the index number of this object.

For setting an object to invalid, use setValid().

Definition at line 119 of file Object.hpp.

void datatypes::Object::setObjectMass ( double v )

Definition at line 182 of file Object.cpp.

void datatypes::Object::setRelativeVelocity ( const Point2D & v )

inline

Definition at line 233 of file Object.hpp.

void datatypes::Object::setRelativeVelocitySigma ( const Point2D & v )

inline

Definition at line 242 of file Object.hpp.

void datatypes::Object::setTimestamp ( const Time & v )

inline

Definition at line 152 of file Object.hpp.

void datatypes::Object::setTotalTrackedPathLength ( double v )

Definition at line 430 of file Object.cpp.

void datatypes::Object::setTotalTrackingDuration ( double v )

Definition at line 424 of file Object.cpp.

void datatypes::Object::setValid ( bool newValue = true )

inline

Set whether this object is valid.

This flag will only be used to decide whether this Object is included in the serialization, i.e. if an Object has "false" here, it will not be serialized and will not be received by a receiver. Hence, this flag by itself is not included in the serialization.

Again: Invalid objects (those which have false here) will not be included in the serialization!

Definition at line 380 of file Object.hpp.

void datatypes::Object::setVehicleWLANid ( UINT64 v )

inline

Definition at line 339 of file Object.hpp.

Object::ObjectClassification datatypes::Object::stringToObjectClassification ( const std::string & s )

static

Returns the classification value as converted from the given string. This accepts the output of both objectClassificationToString() and objectClassificationToShortString().

Definition at line 274 of file Object.cpp.

std::string datatypes::Object::toString ( ) const

Returns a human-readable form of the content of this object (for debugging output) The actual output is merely a conversion to string of the return value of toConfigValues().

Definition at line 201 of file Object.cpp.

Member Data Documentation

Point2D datatypes::Object::m_absoluteVelocity

private

Velocity of this object [meter/seconds] as absolute velocity; the orientation is relative to the vehicle coordinate system.

Definition at line 464 of file Object.hpp.

Point2D datatypes::Object::m_absoluteVelocitySigma

private

Definition at line 465 of file Object.hpp.

Point2D datatypes::Object::m_boundingBox

private

A rectangle in parallel to the vehicle coordinate system (a paraxial rectangle) that contains (bounds) all of this object's points.

Definition at line 470 of file Object.hpp.

Point2D datatypes::Object::m_boundingBoxCenter

private

Center of the bounding box.

Definition at line 469 of file Object.hpp.

Point2D datatypes::Object::m_centerPoint

private

Center point of object rectangle, given in Vehicle coordinate system.

Definition at line 458 of file Object.hpp.

Point2D datatypes::Object::m_centerPointSigma

private

Definition at line 459 of file Object.hpp.

ObjectClassification datatypes::Object::m_classification

private

The object class that is most likely for this object.

Definition at line 454 of file Object.hpp.

UINT32 datatypes::Object::m_classificationAge

private

Counts how long the object has been classified in the current classification.

Definition at line 455 of file Object.hpp.

double datatypes::Object::m_classificationQuality

private

The quality of the current classification.

Definition at line 456 of file Object.hpp.

Point2D datatypes::Object::m_closestPoint

private

The point of this object that is closest to the origin of the vehicle coordinate system.

Definition at line 473 of file Object.hpp.

Polygon2D datatypes::Object::m_contourPoints

private

A poly-line that describes the outline of the current object measurement.

Definition at line 476 of file Object.hpp.

double datatypes::Object::m_courseAngle

private

named by ISO 8855; also called Orientation or Heading [rad]

Definition at line 460 of file Object.hpp.

double datatypes::Object::m_courseAngleSigma

private

Definition at line 461 of file Object.hpp.

UINT16 datatypes::Object::m_flags

private

reserved

Definition at line 448 of file Object.hpp.

UINT16 datatypes::Object::m_hiddenStatusAge

private

Counts how long the object has not been observed but only predicted.

Definition at line 451 of file Object.hpp.

bool datatypes::Object::m_isValid

private

Pointer to the Segment that belongs to this object. (Note: This assumes that each object was associated to only one segment. If more than one segment is associated to this object, we're out of luck and need a new data structure.)

Definition at line 508 of file Object.hpp.

double datatypes::Object::m_maxAbsoluteVelocity

private

Classification feature: The maximum observed absolute velocity [m/s].

Definition at line 486 of file Object.hpp.

double datatypes::Object::m_normalizedMeanPointDist

private

Classification feature: Normalized mean distance [m] between scanpoints in the segment, or zero if the object is currently hidden.

Definition at line 491 of file Object.hpp.

UINT32 datatypes::Object::m_objectAge

private

number of scans in which this object has been tracked, or instead time?

Definition at line 450 of file Object.hpp.

Point2D datatypes::Object::m_objectBox

private

The object's length and width as a rectangle, relative to the object's coordinate system.

Definition at line 467 of file Object.hpp.

Point2D datatypes::Object::m_objectBoxSigma

private

Definition at line 468 of file Object.hpp.

double datatypes::Object::m_objectHeight

private

The height of this object in [m] (most probably received through WLAN data).

Definition at line 479 of file Object.hpp.

double datatypes::Object::m_objectHeightSigma

private

The standard deviation of the height of this object in [m] (most probably received through WLAN data).

Definition at line 480 of file Object.hpp.

UINT16 datatypes::Object::m_objectId

private

Definition at line 447 of file Object.hpp.

double datatypes::Object::m_objectMass

private

The mass of this object in kilogram

Definition at line 482 of file Object.hpp.

Point2D datatypes::Object::m_relativeVelocity

private

Velocity of this object [meter/seconds], relative to the vehicle coordinate system.

Definition at line 462 of file Object.hpp.

Point2D datatypes::Object::m_relativeVelocitySigma

private

Definition at line 463 of file Object.hpp.

Time datatypes::Object::m_timestamp

private

Time of when the center point of this object was observed.

Definition at line 452 of file Object.hpp.

double datatypes::Object::m_totalTrackedPathLength

private

Classification feature: Total accumulated path length over which this object has moved during being tracked. [m]

Definition at line 499 of file Object.hpp.

double datatypes::Object::m_totalTrackingDuration

private

Classification feature (needed for mean velocity): Duration of object being tracked in [s]

Definition at line 495 of file Object.hpp.

UINT64 datatypes::Object::m_vehicleWLANid

private

An identifier to be used by WLAN fusion algorithms.

Definition at line 478 of file Object.hpp.

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

Public Types

Public Member Functions

Static Public Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation