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mats4
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models: Add brake, steering, wheel, and powertrain sensors
This just extends the package with extra components and is therefore backwards compatible
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‎models/include/cloe/component/brake_sensor.hpp

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/*
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* Copyright 2022 Robert Bosch GmbH
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/**
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* \file cloe/component/brake_sensor.hpp
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*/
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#pragma once
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#ifndef CLOE_COMPONENT_BRAKE_SENSOR_HPP_
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#define CLOE_COMPONENT_BRAKE_SENSOR_HPP_
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#include <cloe/component.hpp> // for Component, Json
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namespace cloe {
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class BrakeSensor : public Component {
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public:
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using Component::Component;
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BrakeSensor() : Component("brake_sensor") {}
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virtual ~BrakeSensor() noexcept = default;
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/**
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* Return the position of the brake pedal with no unit.
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*
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* The range goes from 0 (unpressed) to 1 (fully pressed).
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*/
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virtual double pedal_position_brake() const = 0;
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/**
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* Return sensor state as JSON.
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*/
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Json active_state() const override {
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return Json{{"pedal_position_brake", pedal_position_brake()}};
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}
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};
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/**
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* NopBrakeSensor is an example no-op implementation of BrakeSensor.
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*/
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class NopBrakeSensor : public BrakeSensor {
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public:
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using BrakeSensor::BrakeSensor;
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NopBrakeSensor() : BrakeSensor("nop_brake_sensor") {}
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virtual ~NopBrakeSensor() noexcept {};
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double pedal_position_brake() const override { return pedal_position_brake_; }
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void reset() override { pedal_position_brake_ = 0.0; }
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protected:
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double pedal_position_brake_{0.0};
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};
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} // namespace cloe
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#endif // CLOE_COMPONENT_BRAKE_SENSOR_HPP_

‎models/include/cloe/component/powertrain_sensor.hpp

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/*
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* Copyright 2022 Robert Bosch GmbH
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/**
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* \file cloe/component/powertrain_sensor.hpp
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*/
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#pragma once
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#ifndef CLOE_COMPONENT_POWERTRAIN_SENSOR_HPP_
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#define CLOE_COMPONENT_POWERTRAIN_SENSOR_HPP_
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#include <cloe/component.hpp> // for Component, Json
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namespace cloe {
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class PowertrainSensor : public Component {
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public:
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using Component::Component;
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PowertrainSensor() : Component("powertrain_sensor") {}
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virtual ~PowertrainSensor() noexcept = default;
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/**
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* Return the position of the acceleration pedal with no unit.
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*
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* The range goes from 0 (unpressed) to 1 (fully pressed).
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*/
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virtual double pedal_position_acceleration() const = 0;
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/**
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* Return the gear transmission.
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*
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* The sign of this field is linked to the mode of the gear
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* - positive: driving forward (e.g. a value of 3 means the third gear in driving forward mode)
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* - 0: means that the gear lever is in neutral position
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* - negative: reverse mode (e.g. a value of -1 means the first gear in reverse mode)
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* - int max: means that the transmission is in parking position (can be accessed via std::numeric_limits<int>::max())
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*/
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virtual int gear_transmission() const = 0;
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/**
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* Return sensor state as JSON.
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*/
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Json active_state() const override {
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return Json{
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{"pedal_position_acceleration", pedal_position_acceleration()},
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{"gear_transmission", gear_transmission()},
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};
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}
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};
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/**
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* NopPowertrainSensor is an example no-op implementation of PowertrainSensor.
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*/
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class NopPowertrainSensor : public PowertrainSensor {
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public:
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using PowertrainSensor::PowertrainSensor;
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NopPowertrainSensor() : PowertrainSensor("nop_powertrain_sensor") {}
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virtual ~NopPowertrainSensor() noexcept {};
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double pedal_position_acceleration() const override { return pedal_position_acceleration_; }
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int gear_transmission() const override { return gear_transmission_; }
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void reset() override {
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pedal_position_acceleration_ = 0.0;
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gear_transmission_ = 0;
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}
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protected:
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double pedal_position_acceleration_{0.0};
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int gear_transmission_{0};
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};
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} // namespace cloe
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#endif // CLOE_COMPONENT_POWERTRAIN_SENSOR_HPP_

‎models/include/cloe/component/steering_sensor.hpp

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/*
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* Copyright 2022 Robert Bosch GmbH
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/**
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* \file cloe/component/steering_sensor.hpp
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*/
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#pragma once
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#ifndef CLOE_COMPONENT_STEERING_SENSOR_HPP_
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#define CLOE_COMPONENT_STEERING_SENSOR_HPP_
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#include <cloe/component.hpp> // for Component, Json
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namespace cloe {
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class SteeringSensor : public Component {
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public:
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using Component::Component;
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SteeringSensor() : Component("steering_sensor") {}
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virtual ~SteeringSensor() noexcept = default;
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/**
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* Return curvature of ego vehicle track in [1/m].
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*/
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virtual double curvature() const = 0;
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/**
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* Return sensor state as JSON.
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*/
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Json active_state() const override {
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return Json{
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{"curvature", curvature()},
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};
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}
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};
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/**
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* NopSteeringSensor is an example no-op implementation of SteeringSensor.
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*/
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class NopSteeringSensor : public SteeringSensor {
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public:
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using SteeringSensor::SteeringSensor;
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NopSteeringSensor() : SteeringSensor("nop_steering_sensor") {}
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virtual ~NopSteeringSensor() noexcept {};
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double curvature() const override { return curvature_; }
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void reset() override { curvature_ = 0.0; }
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protected:
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double curvature_{0.0};
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};
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} // namespace cloe
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#endif // CLOE_COMPONENT_STEERING_SENSOR_HPP_

‎models/include/cloe/component/wheel.hpp

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/*
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* Copyright 2022 Robert Bosch GmbH
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/**
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* \file cloe/component/wheel.hpp
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*/
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#pragma once
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#ifndef CLOE_COMPONENT_WHEEL_HPP_
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#define CLOE_COMPONENT_WHEEL_HPP_
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#include <fable/json.hpp> // for to_json
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namespace cloe {
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struct Wheel {
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/// Rotational angle of wheel around y-axis in [rad].
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double rotation{0.0};
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/// Translative velocity of the wheel in [m/s].
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double velocity{0.0};
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/// Compression of the spring in [m].
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double spring_compression{0.0};
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friend void to_json(Json& j, const Wheel& w) {
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j = Json{
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{"rotation", w.rotation},
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{"velocity", w.velocity},
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{"spring_compression", w.spring_compression},
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};
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}
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};
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} // namespace cloe
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#endif // CLOE_COMPONENT_WHEEL_HPP_

‎models/include/cloe/component/wheel_sensor.hpp

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/*
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* Copyright 2022 Robert Bosch GmbH
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/**
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* \file cloe/component/wheel_sensor.hpp
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*/
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#pragma once
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#ifndef CLOE_COMPONENT_WHEEL_SENSOR_HPP_
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#define CLOE_COMPONENT_WHEEL_SENSOR_HPP_
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#include <cloe/component.hpp> // for Component, Json
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#include <cloe/component/wheel.hpp> // for Wheel
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namespace cloe {
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class WheelSensor : public Component {
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public:
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using Component::Component;
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WheelSensor() : Component("wheel_sensor") {}
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virtual ~WheelSensor() noexcept = default;
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/**
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* Return front left wheel.
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*/
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virtual Wheel wheel_fl() const = 0;
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/**
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* Return front right wheel.
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*/
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virtual Wheel wheel_fr() const = 0;
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/**
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* Return rear left wheel.
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*/
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virtual Wheel wheel_rl() const = 0;
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/**
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* Return rear right wheel.
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*/
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virtual Wheel wheel_rr() const = 0;
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/**
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* Return sensor state as JSON.
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*/
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Json active_state() const override {
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return Json{
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{"wheel_fl", wheel_fl()},
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{"wheel_fr", wheel_fr()},
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{"wheel_rl", wheel_rl()},
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{"wheel_rr", wheel_rr()},
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};
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}
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};
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/**
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* NopWheelSensor is an example no-op implementation of WheelSensor.
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*/
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class NopWheelSensor : public WheelSensor {
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public:
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using WheelSensor::WheelSensor;
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NopWheelSensor() : WheelSensor("nop_wheel_sensor") {}
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virtual ~NopWheelSensor() noexcept {};
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Wheel wheel_fl() const override { return wheel_fl_; };
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Wheel wheel_fr() const override { return wheel_fr_; };
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Wheel wheel_rl() const override { return wheel_rl_; };
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Wheel wheel_rr() const override { return wheel_rr_; };
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void reset() override {
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wheel_fl_ = Wheel();
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wheel_fr_ = Wheel();
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wheel_rl_ = Wheel();
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wheel_rr_ = Wheel();
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}
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protected:
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Wheel wheel_fl_{};
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Wheel wheel_fr_{};
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Wheel wheel_rl_{};
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Wheel wheel_rr_{};
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};
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} // namespace cloe
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#endif // CLOE_COMPONENT_WHEEL_SENSOR_HPP_

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