/road_analyzer

Primary LanguageC++

road_analyzer

Given the center line and a vector of BasicObstacle's creates a matrix representation of the road. The module assumes that the given obstacles are accurate.

Data Channels

Read

  • CENTER_LINE(lms::math::polyLine2f)
  • NEW_OBSTACLES(bool)
  • OBSTACLES(street_environment::BasicObstacleVector)

Write

  • ROADMATRIX(street_environment::RoadMatrix)

Config values

  • laneWidthMeter(float)
  • cellsPerLane(int)
  • cellLengthMeter(float)
  • maxCellTranslate(int)

The cell width is calculated by dividing the laneWidth by the number of cells per lane. This way there is always an even number of cells on the road.