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Adapt minimator to contain Ego and traffic objects #187

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Feb 2, 2024
Merged

Adapt minimator to contain Ego and traffic objects #187

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32 changes: 30 additions & 2 deletions plugins/gndtruth_extractor/tests/config_minimator_smoketest.json
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Original file line number Diff line number Diff line change
Expand Up @@ -5,15 +5,43 @@
],
"simulators": [
{
"binding": "minimator"
"binding": "minimator",
"args": {
"vehicles": {
"ego1": {
"ego_sensor_mockup": {
"ego_object": {
"velocity": 20.0,
"position": {
"x": 0.0,
"y": 0.0,
"z": 0.0
}
}
},
"object_sensor_mockup": {
"objects": [
{
"velocity": 0.0,
"position": {
"x": 10.0,
"y": 0.0,
"z": 0.0
}
}
]
}
}
}
}
}
],
"vehicles": [
{
"name": "default",
"from": {
"simulator": "minimator",
"index": 0
"name": "ego1"
}
}
],
Expand Down
200 changes: 192 additions & 8 deletions plugins/gndtruth_extractor/tests/test_gndtruth_smoketest_output.json
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Original file line number Diff line number Diff line change
Expand Up @@ -25,8 +25,54 @@
"z": 0.0
}
},
"name": "nop_object_sensor",
"sensed_objects": []
"name": "minimator_object_sensor",
"sensed_objects": [
{
"acceleration": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"angular_velocity": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"class": "unknown",
"cog_offset": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"dimensions": {
"x": 5.0,
"y": 2.0,
"z": 1.8
},
"exist_prob": 1.0,
"id": 0,
"pose": {
"rotation": {
"w": 1.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"translation": {
"x": 10.0,
"y": 0.0,
"z": 0.0
}
},
"type": "unknown",
"velocity": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"velocity_norm": 0.0
}
]
},
"cloe::gndtruth_lane_sensor": {
"frustum": {
Expand Down Expand Up @@ -188,8 +234,54 @@
"z": 0.0
}
},
"name": "nop_object_sensor",
"sensed_objects": []
"name": "minimator_object_sensor",
"sensed_objects": [
{
"acceleration": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"angular_velocity": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"class": "unknown",
"cog_offset": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"dimensions": {
"x": 5.0,
"y": 2.0,
"z": 1.8
},
"exist_prob": 1.0,
"id": 0,
"pose": {
"rotation": {
"w": 1.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"translation": {
"x": 10.0,
"y": 0.0,
"z": 0.0
}
},
"type": "unknown",
"velocity": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"velocity_norm": 0.0
}
]
},
"cloe::gndtruth_lane_sensor": {
"frustum": {
Expand Down Expand Up @@ -351,8 +443,54 @@
"z": 0.0
}
},
"name": "nop_object_sensor",
"sensed_objects": []
"name": "minimator_object_sensor",
"sensed_objects": [
{
"acceleration": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"angular_velocity": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"class": "unknown",
"cog_offset": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"dimensions": {
"x": 5.0,
"y": 2.0,
"z": 1.8
},
"exist_prob": 1.0,
"id": 0,
"pose": {
"rotation": {
"w": 1.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"translation": {
"x": 10.0,
"y": 0.0,
"z": 0.0
}
},
"type": "unknown",
"velocity": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"velocity_norm": 0.0
}
]
},
"cloe::gndtruth_lane_sensor": {
"frustum": {
Expand Down Expand Up @@ -514,8 +652,54 @@
"z": 0.0
}
},
"name": "nop_object_sensor",
"sensed_objects": []
"name": "minimator_object_sensor",
"sensed_objects": [
{
"acceleration": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"angular_velocity": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"class": "unknown",
"cog_offset": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"dimensions": {
"x": 5.0,
"y": 2.0,
"z": 1.8
},
"exist_prob": 1.0,
"id": 0,
"pose": {
"rotation": {
"w": 1.0,
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"translation": {
"x": 10.0,
"y": 0.0,
"z": 0.0
}
},
"type": "unknown",
"velocity": {
"x": 0.0,
"y": 0.0,
"z": 0.0
},
"velocity_norm": 0.0
}
]
},
"cloe::gndtruth_lane_sensor": {
"frustum": {
Expand Down
Binary file modified plugins/gndtruth_extractor/tests/test_gndtruth_smoketest_output.msgpack
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28 changes: 28 additions & 0 deletions plugins/minimator/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -9,9 +9,37 @@ include(CloePluginSetup)
cloe_add_plugin(
TARGET ${PROJECT_NAME}
OUTPUT_NAME simulator_minimator
INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
SOURCES
src/minimator.cpp
LINK_LIBRARIES
cloe::runtime
cloe::models
)

include(CTest)
if(BUILD_TESTING)
find_package(GTest REQUIRED)
include(GoogleTest)

set(test-minimator test-${PROJECT_NAME})
add_executable(${test-minimator}
src/minimator_config_test.cpp
)
target_include_directories(${test-minimator}
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
)
set_target_properties(${test-minimator} PROPERTIES
CXX_STANDARD 17
CXX_STANDARD_REQUIRED ON
)
target_link_libraries(${test-minimator}
GTest::gtest
GTest::gtest_main
cloe::runtime
cloe::models
)
gtest_add_tests(TARGET ${test-minimator})
endif()
3 changes: 3 additions & 0 deletions plugins/minimator/conanfile.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@ class CloeSimulatorMinimator(ConanFile):
generators = "CMakeDeps", "VirtualRunEnv"
no_copy_source = True
exports_sources = [
"include/*",
"src/*",
"CMakeLists.txt",
]
Expand Down Expand Up @@ -60,6 +61,8 @@ def build(self):
cm.configure()
if self.should_build:
cm.build()
if self.should_test:
cm.test()

def package(self):
cm = cmake.CMake(self)
Expand Down
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