Package org.eclipse.mosaic.lib.perception.modifier

Class SimpleOcclusion

java.lang.Object

org.eclipse.mosaic.lib.perception.modifier.SimpleOcclusion

All Implemented Interfaces:

PerceptionModifier

public class SimpleOcclusion
extends Object
implements PerceptionModifier

This PerceptionModifier tries to emulate the behaviour of occlusion. The general approach is to look at the angle of all vehicles that are perceived closer to the current vehicle. If any of those previously perceived vehicles has an angle smaller than defined by getOcclusionAngle(double, double, double) the current vehicle will not be perceived.

Additionally, a linear function between minDetectionAngle and maxDetectionAngle is fitted, which makes it necessary for further vehicles to have a larger "free" angle.

Constructor Summary

Constructors

Constructor	Description
SimpleOcclusion(double minDetectionAngle, double maxDetectionAngle)	Constructor for the SimpleOcclusion.

Method Summary

Modifier and Type	Method	Description
<T extends SpatialObject<?>> List<T>	apply(PerceptionEgo ego, List<T> spatialObjects)	Applies the implemented filter/modifier.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

SimpleOcclusion

public SimpleOcclusion(double minDetectionAngle,
 double maxDetectionAngle)

Constructor for the SimpleOcclusion.

Parameters:

minDetectionAngle - the "free" angle that will be required by closest vehicles [degree]

maxDetectionAngle - the "free" angle that will be required by furthest vehicles [degree]

Method Details

apply

public <T extends SpatialObject<?>> List<T> apply(PerceptionEgo ego,
 List<T> spatialObjects)

Description copied from interface: PerceptionModifier

Applies the implemented filter/modifier.

Specified by:

apply in interface PerceptionModifier

Returns:

the filtered/modified list