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Signed-off-by: Taekjin LEE <[email protected]>
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@pre-commit-ci @technolojin
pre-commit-ci[bot] authored and technolojin committed Jun 11, 2024
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Showing 1 changed file with 82 additions and 96 deletions.
178 changes: 82 additions & 96 deletions ...ti_object_tracker/include/multi_object_tracker/tracker/object_model/object_model_base.hpp
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Expand Up @@ -16,56 +16,47 @@
// Author: v1.0 Taekjin Lee
//

#ifndef MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__MOTION_MODEL_BASE_HPP_
#define MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__MOTION_MODEL_BASE_HPP_
#ifndef MULTI_OBJECT_TRACKER__TRACKER__OBJECT_MODEL__OBJECT_MODEL_BASE_HPP_
#define MULTI_OBJECT_TRACKER__TRACKER__OBJECT_MODEL__OBJECT_MODEL_BASE_HPP_

#include <cmath>

namespace
{
constexpr double const_g = 9.81;
double deg2rad(const double deg)
{
return deg * M_PI / 180.0;
}
constexpr double const_g = 9.81;
double deg2rad(const double deg)
{
return deg * M_PI / 180.0;
}
} // namespace

namespace object_model
{

enum class ObjectModelType
{
NORMAL_VEHICLE,
BIG_VEHICLE,
BICYCLE,
PEDESTRIAN,
STATIC,
UNKNOWN
};
enum class ObjectModelType { NORMAL_VEHICLE, BIG_VEHICLE, BICYCLE, PEDESTRIAN, STATIC, UNKNOWN };
struct ObjectSize
{
double length; // [m]
double width; // [m]
double height; // [m]
double length; // [m]
double width; // [m]
double height; // [m]
};
struct ObjectSizeLimit
{
double length_min; // [m]
double length_max; // [m]
double width_min; // [m]
double width_max; // [m]
double height_min; // [m]
double height_max; // [m]
double length_min; // [m]
double length_max; // [m]
double width_min; // [m]
double width_max; // [m]
double height_min; // [m]
double height_max; // [m]
};
struct MotionProcessNoise
{
double acc_long; // [m/s^2]
double acc_lat; // [m/s^2]
double yaw_rate_min; // [rad/s]
double yaw_rate_max; // [rad/s]
double slip_rate_min;
double acc_long; // [m/s^2]
double acc_lat; // [m/s^2]
double yaw_rate_min; // [rad/s]
double yaw_rate_max; // [rad/s]
double slip_rate_min;
double slip_rate_max;

};
struct MotionProcessLimit
{
Expand All @@ -76,23 +67,23 @@ struct MotionProcessLimit
};
struct StateCovariance
{
double pos_x; // [m^2]
double pos_y; // [m^2]
double yaw; // [rad^2]
double yaw_rate; // [rad^2/s^2]
double acc_long; // [m^2/s^4]
double acc_lat; // [m^2/s^4]
double vel_long; // [m^2/s^2]
double vel_lat; // [m^2/s^2]
double pos_x; // [m^2]
double pos_y; // [m^2]
double yaw; // [rad^2]
double yaw_rate; // [rad^2/s^2]
double acc_long; // [m^2/s^4]
double acc_lat; // [m^2/s^4]
double vel_long; // [m^2/s^2]
double vel_lat; // [m^2/s^2]
};
struct BicycleModelState
{
double slip_angle; // [rad^2]
double slip_rate; // [rad^2/s^2]
double wheel_pos_ratio_front; // [-]
double wheel_pos_ratio_rear; // [-]
double wheel_pos_front_min; // [m]
double wheel_pos_rear_min; // [m]
double slip_angle; // [rad^2]
double slip_rate; // [rad^2/s^2]
double wheel_pos_ratio_front; // [-]
double wheel_pos_ratio_rear; // [-]
double wheel_pos_front_min; // [m]
double wheel_pos_rear_min; // [m]
};

class ObjectModel
Expand All @@ -106,64 +97,59 @@ class ObjectModel
StateCovariance state_covariance;
BicycleModelState bicycle_model_state;

ObjectModel(const ObjectModelType & type)
ObjectModel(const ObjectModelType & type)
{
switch (type)
{
case ObjectModelType::NORMAL_VEHICLE:
size.length = 3.0;
size.width = 2.0;
size.height = 1.8;
size_limit.length_min = 2.0;
size_limit.length_max = 5.0;
size_limit.width_min = 1.5;
size_limit.width_max = 3.0;
size_limit.height_min = 1.5;
size_limit.height_max = 2.0;

process_noise.acc_long = const_g * 0.35;
process_noise.acc_lat = const_g * 0.15;
process_noise.yaw_rate_min = 1.5;
process_noise.yaw_rate_max = 15.0;
process_noise.slip_rate_min = 0.3;
process_noise.slip_rate_max = 10.0;

process_limit.slip_angle_max = 30;
process_limit.acc_long_max = 2.0;
process_limit.acc_lat_max = 2.0;
process_limit.vel_long_max = 30.0;

// initial covariance
initial_covariance.pos_x = 0.5;
initial_covariance.pos_y = 0.4;
initial_covariance.yaw = deg2rad(20.0);
initial_covariance.yaw_rate = deg2rad(10.0);
initial_covariance.acc_long = 1.0;
initial_covariance.acc_lat = 1.0;
initial_covariance.vel_long = 1.0;
initial_covariance.vel_lat = 1.0;

// noise model
state_covariance.pos_x = 0.5;
state_covariance.pos_y = 0.4;
state_covariance.yaw = 0.1;
state_covariance.yaw_rate = 0.1;
state_covariance.acc_long = 0.1;
state_covariance.acc_lat = 0.1;
state_covariance.vel_long = 0.1;
state_covariance.vel_lat = 0.1;
break;
switch (type) {
case ObjectModelType::NORMAL_VEHICLE:
size.length = 3.0;
size.width = 2.0;
size.height = 1.8;
size_limit.length_min = 2.0;
size_limit.length_max = 5.0;
size_limit.width_min = 1.5;
size_limit.width_max = 3.0;
size_limit.height_min = 1.5;
size_limit.height_max = 2.0;

process_noise.acc_long = const_g * 0.35;
process_noise.acc_lat = const_g * 0.15;
process_noise.yaw_rate_min = 1.5;
process_noise.yaw_rate_max = 15.0;
process_noise.slip_rate_min = 0.3;
process_noise.slip_rate_max = 10.0;

process_limit.slip_angle_max = 30;
process_limit.acc_long_max = 2.0;
process_limit.acc_lat_max = 2.0;
process_limit.vel_long_max = 30.0;

// initial covariance
initial_covariance.pos_x = 0.5;
initial_covariance.pos_y = 0.4;
initial_covariance.yaw = deg2rad(20.0);
initial_covariance.yaw_rate = deg2rad(10.0);
initial_covariance.acc_long = 1.0;
initial_covariance.acc_lat = 1.0;
initial_covariance.vel_long = 1.0;
initial_covariance.vel_lat = 1.0;

// noise model
state_covariance.pos_x = 0.5;
state_covariance.pos_y = 0.4;
state_covariance.yaw = 0.1;
state_covariance.yaw_rate = 0.1;
state_covariance.acc_long = 0.1;
state_covariance.acc_lat = 0.1;
state_covariance.vel_long = 0.1;
state_covariance.vel_lat = 0.1;
break;
}
}
virtual ~ObjectModel() = default;
};



ObjectModel normal_vehicle(ObjectModelType::NORMAL_VEHICLE);



} // namespace object_model

#endif // MULTI_OBJECT_TRACKER__TRACKER__MOTION_MODEL__MOTION_MODEL_BASE_HPP_
#endif // MULTI_OBJECT_TRACKER__TRACKER__OBJECT_MODEL__OBJECT_MODEL_BASE_HPP_

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