chore: change to ObjectClassification Class

tier4 · Oct 10, 2023 · 7c16cb0 · 7c16cb0
1 parent 1069cc3
commit 7c16cb0
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Showing 4 changed files with 15 additions and 15 deletions.
diff --git a/.../PerceptionResultSensor/Classification.cs → ...ptionResultSensor/ObjectClassification.cs b/.../PerceptionResultSensor/Classification.cs → ...ptionResultSensor/ObjectClassification.cs
@@ -2,7 +2,7 @@
 
 namespace AWSIM
 {
-public class Classification : MonoBehaviour
+public class ObjectClassification : MonoBehaviour
 {
     // Attach this script to target object to enable perception result sensor
     public enum ObjectType

diff --git a/...eptionResultSensor/Classification.cs.meta → ...ResultSensor/ObjectClassification.cs.meta b/...eptionResultSensor/Classification.cs.meta → ...ResultSensor/ObjectClassification.cs.meta
diff --git a/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/PerceptionResultRos2Publisher.cs b/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/PerceptionResultRos2Publisher.cs
@@ -79,28 +79,28 @@ void Publish(PerceptionResultSensor.OutputData outputData)
                 {
                 switch (detectedObject.classification)
                 {
-                    case Classification.ObjectType.UNKNOWN:
+                    case ObjectClassification.ObjectType.UNKNOWN:
                         classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.UNKNOWN;
                         break;
-                    case Classification.ObjectType.CAR:
+                    case ObjectClassification.ObjectType.CAR:
                         classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.CAR;
                         break;
-                    case Classification.ObjectType.TRUCK:
+                    case ObjectClassification.ObjectType.TRUCK:
                         classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.TRUCK;
                         break;
-                    case Classification.ObjectType.BUS:
+                    case ObjectClassification.ObjectType.BUS:
                         classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.BUS;
                         break;
-                    case Classification.ObjectType.TRAILER:
+                    case ObjectClassification.ObjectType.TRAILER:
                         classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.TRAILER;
                         break;
-                    case Classification.ObjectType.MOTORCYCLE:
+                    case ObjectClassification.ObjectType.MOTORCYCLE:
                         classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.MOTORCYCLE;
                         break;
-                    case Classification.ObjectType.BICYCLE:
+                    case ObjectClassification.ObjectType.BICYCLE:
                         classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.BICYCLE;
                         break;
-                    case Classification.ObjectType.PEDESTRIAN:
+                    case ObjectClassification.ObjectType.PEDESTRIAN:
                         classification.Label = autoware_auto_perception_msgs.msg.ObjectClassification.PEDESTRIAN;
                         break;
                     default:

diff --git a/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/PerceptionResultSensor.cs b/Assets/AWSIM/Scripts/Sensors/PerceptionResultSensor/PerceptionResultSensor.cs
@@ -23,7 +23,7 @@ public class DetectedObject
             public Rigidbody rigidBody;
             public Vector3 dimension;
             public Vector2[] bounds;
-            public Classification.ObjectType classification;
+            public ObjectClassification.ObjectType classification;
         }
 
         public class OutputData
@@ -52,11 +52,11 @@ public class OutputData
         public OnOutputDataDelegate OnOutputData;
         float timer = 0;
         public OutputData outputData = new OutputData();
-        private List<Classification> filteredObjects = new List<Classification>();
+        private List<ObjectClassification> filteredObjects = new List<ObjectClassification>();
         [Header("Hint: Manually attaching classification objects is quicker.")]
         [Header("Warning: Objects without a rigidbody are not supported for classification.")]
 
-        public Classification[] cachedObjectsWithClassification;
+        public ObjectClassification[] cachedObjectsWithClassification;
         private bool manuallyCached = true;
 
         // This method generates a footprint for the vehicle based on its dimensions, position, and rotation.
@@ -92,7 +92,7 @@ Vector2[] GenerateFootprint(Vector3 dimensions, Rigidbody vehicleRb)
         void CreateDetectedObjectData(){
             outputData.objects = new DetectedObject[cachedObjectsWithClassification.Length];
             for (int i = 0; i < cachedObjectsWithClassification.Length; i++) {
-                Classification obj = cachedObjectsWithClassification[i];
+                ObjectClassification obj = cachedObjectsWithClassification[i];
                 outputData.objects[i] = new DetectedObject();
                 // add classification
                 outputData.objects[i].classification = obj.objectType;
@@ -129,7 +129,7 @@ void Start()
             // Check if cachedObjectsWithClassification is empty
             if(cachedObjectsWithClassification == null || cachedObjectsWithClassification.Length == 0)
             {
-                cachedObjectsWithClassification = FindObjectsOfType<Classification>();
+                cachedObjectsWithClassification = FindObjectsOfType<ObjectClassification>();
                 manuallyCached = false;
             }
             CreateDetectedObjectData();
@@ -146,7 +146,7 @@ void FixedUpdate()
             timer = 0;
             outputData.origin = this.transform;
             if(!manuallyCached){
-                var currentObjectsWithClassification = FindObjectsOfType<Classification>();
+                var currentObjectsWithClassification = FindObjectsOfType<ObjectClassification>();
                 if (!Enumerable.SequenceEqual(cachedObjectsWithClassification, currentObjectsWithClassification)) {
                     cachedObjectsWithClassification = currentObjectsWithClassification;
                     CreateDetectedObjectData();