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Franco Guidicassava
Franco Guidi
authored and
cassava
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minimator: Add new schema for minimator
- Create a basic EgoSensor and object sensor. - Add new schema to configure position and velocity of Ego and traffic object. - Adapt world object and minimator vehicle class accordingly.
1 parent b13c718 commit d15cffc

11 files changed

+864
-117
lines changed

‎plugins/gndtruth_extractor/tests/config_minimator_smoketest.json

+30-2
Original file line numberDiff line numberDiff line change
@@ -5,15 +5,43 @@
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],
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"simulators": [
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{
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"binding": "minimator"
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"binding": "minimator",
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"args": {
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"vehicles": {
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"ego1": {
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"ego_sensor_mockup": {
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"ego_object": {
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"velocity": 20.0,
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"position": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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}
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}
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},
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"object_sensor_mockup": {
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"objects": [
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{
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"velocity": 0.0,
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"position": {
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"x": 10.0,
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"y": 0.0,
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"z": 0.0
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}
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}
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]
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}
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}
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}
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}
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}
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],
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"vehicles": [
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{
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"name": "default",
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"from": {
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"simulator": "minimator",
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"index": 0
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"name": "ego1"
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}
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}
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],

‎plugins/gndtruth_extractor/tests/test_gndtruth_smoketest_output.json

+192-8
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@@ -25,8 +25,54 @@
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"z": 0.0
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}
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},
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"name": "nop_object_sensor",
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"sensed_objects": []
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"name": "minimator_object_sensor",
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"sensed_objects": [
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{
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"acceleration": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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},
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"angular_velocity": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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},
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"class": "unknown",
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"cog_offset": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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},
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"dimensions": {
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"x": 5.0,
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"y": 2.0,
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"z": 1.8
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},
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"exist_prob": 1.0,
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"id": 0,
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"pose": {
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"rotation": {
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"w": 1.0,
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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},
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"translation": {
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"x": 10.0,
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"y": 0.0,
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"z": 0.0
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}
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},
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"type": "unknown",
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"velocity": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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},
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"velocity_norm": 0.0
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}
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]
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},
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"cloe::gndtruth_lane_sensor": {
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"frustum": {
@@ -188,8 +234,54 @@
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"z": 0.0
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}
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},
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"name": "nop_object_sensor",
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"sensed_objects": []
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"name": "minimator_object_sensor",
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"sensed_objects": [
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{
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"acceleration": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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},
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"angular_velocity": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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},
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"class": "unknown",
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"cog_offset": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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},
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"dimensions": {
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"x": 5.0,
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"y": 2.0,
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"z": 1.8
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},
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"exist_prob": 1.0,
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"id": 0,
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"pose": {
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"rotation": {
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"w": 1.0,
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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},
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"translation": {
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"x": 10.0,
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"y": 0.0,
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"z": 0.0
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}
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},
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"type": "unknown",
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"velocity": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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},
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"velocity_norm": 0.0
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}
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]
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},
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"cloe::gndtruth_lane_sensor": {
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"frustum": {
@@ -351,8 +443,54 @@
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"z": 0.0
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}
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},
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"name": "nop_object_sensor",
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"sensed_objects": []
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"name": "minimator_object_sensor",
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"sensed_objects": [
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{
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"acceleration": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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},
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"angular_velocity": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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},
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"class": "unknown",
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"cog_offset": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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},
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"dimensions": {
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"x": 5.0,
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"y": 2.0,
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"z": 1.8
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},
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"exist_prob": 1.0,
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"id": 0,
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"pose": {
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"rotation": {
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"w": 1.0,
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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},
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"translation": {
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"x": 10.0,
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"y": 0.0,
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"z": 0.0
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}
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},
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"type": "unknown",
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"velocity": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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},
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"velocity_norm": 0.0
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}
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]
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},
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"cloe::gndtruth_lane_sensor": {
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"frustum": {
@@ -514,8 +652,54 @@
514652
"z": 0.0
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}
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},
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"name": "nop_object_sensor",
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"sensed_objects": []
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"name": "minimator_object_sensor",
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"sensed_objects": [
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{
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"acceleration": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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},
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"angular_velocity": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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},
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"class": "unknown",
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"cog_offset": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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},
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"dimensions": {
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"x": 5.0,
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"y": 2.0,
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"z": 1.8
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},
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"exist_prob": 1.0,
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"id": 0,
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"pose": {
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"rotation": {
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"w": 1.0,
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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},
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"translation": {
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"x": 10.0,
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"y": 0.0,
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"z": 0.0
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}
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},
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"type": "unknown",
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"velocity": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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},
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"velocity_norm": 0.0
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}
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]
519703
},
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"cloe::gndtruth_lane_sensor": {
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"frustum": {

‎plugins/gndtruth_extractor/tests/test_gndtruth_smoketest_output.msgpack

1.27 KB
Binary file not shown.

‎plugins/minimator/CMakeLists.txt

+28
Original file line numberDiff line numberDiff line change
@@ -9,9 +9,37 @@ include(CloePluginSetup)
99
cloe_add_plugin(
1010
TARGET ${PROJECT_NAME}
1111
OUTPUT_NAME simulator_minimator
12+
INCLUDE_DIRECTORIES
13+
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
1214
SOURCES
1315
src/minimator.cpp
1416
LINK_LIBRARIES
1517
cloe::runtime
1618
cloe::models
1719
)
20+
21+
include(CTest)
22+
if(BUILD_TESTING)
23+
find_package(GTest REQUIRED)
24+
include(GoogleTest)
25+
26+
set(test-minimator test-${PROJECT_NAME})
27+
add_executable(${test-minimator}
28+
src/minimator_config_test.cpp
29+
)
30+
target_include_directories(${test-minimator}
31+
PUBLIC
32+
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
33+
)
34+
set_target_properties(${test-minimator} PROPERTIES
35+
CXX_STANDARD 17
36+
CXX_STANDARD_REQUIRED ON
37+
)
38+
target_link_libraries(${test-minimator}
39+
GTest::gtest
40+
GTest::gtest_main
41+
cloe::runtime
42+
cloe::models
43+
)
44+
gtest_add_tests(TARGET ${test-minimator})
45+
endif()

‎plugins/minimator/conanfile.py

+3
Original file line numberDiff line numberDiff line change
@@ -25,6 +25,7 @@ class CloeSimulatorMinimator(ConanFile):
2525
generators = "CMakeDeps", "VirtualRunEnv"
2626
no_copy_source = True
2727
exports_sources = [
28+
"include/*",
2829
"src/*",
2930
"CMakeLists.txt",
3031
]
@@ -60,6 +61,8 @@ def build(self):
6061
cm.configure()
6162
if self.should_build:
6263
cm.build()
64+
if self.should_test:
65+
cm.test()
6366

6467
def package(self):
6568
cm = cmake.CMake(self)

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