nop: Provide a NopLaneSensor component

Author: clssn

engine/src/plugins/nop_simulator.cpp

@@ -28,6 +28,7 @@
 #include <vector>      // for vector<>
 
 #include <cloe/component/ego_sensor.hpp>        // for NopEgoSensor
+#include <cloe/component/lane_sensor.hpp>       // for NopLaneSensor
 #include <cloe/component/latlong_actuator.hpp>  // for LatLongActuator
 #include <cloe/component/object_sensor.hpp>     // for NopObjectSensor
 #include <cloe/handler.hpp>                     // for ToJson
@@ -51,6 +52,9 @@ struct NopVehicle : public Vehicle {
                         CloeComponent::DEFAULT_WORLD_SENSOR);
     this->new_component(new LatLongActuator(),
                         CloeComponent::DEFAULT_LATLONG_ACTUATOR);
+    this->new_component(new NopLaneSensor(),
+                        CloeComponent::GROUNDTRUTH_LANE_SENSOR,
+                        CloeComponent::DEFAULT_LANE_SENSOR);
     // clang-format on
   }
 };

models/include/cloe/component/lane_sensor.hpp

@@ -62,6 +62,20 @@ class LaneBoundarySensor : public Component {
   }
 };
 
+class NopLaneSensor : public LaneBoundarySensor {
+ public:
+  NopLaneSensor() : LaneBoundarySensor("nop_lane_sensor") {}
+  virtual ~NopLaneSensor() = default;
+  const LaneBoundaries& sensed_lane_boundaries() const override { return lane_boundaries_; }
+  const Frustum& frustum() const override { return frustum_; }
+  const Eigen::Isometry3d& mount_pose() const override { return mount_pose_; }
+
+ private:
+  LaneBoundaries lane_boundaries_;
+  Frustum frustum_;
+  Eigen::Isometry3d mount_pose_;
+};
+
 }  // namespace cloe
 
 #endif  // CLOE_COMPONENT_LANE_SENSOR_HPP_