Cleanup parameter file

Signed-off-by: yamacir-kit <httperror@404-notfound.jp>
tier4 · Feb 28, 2025 · 92cce2c · 92cce2c
1 parent eb295db
commit 92cce2c
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Showing 2 changed files with 27 additions and 27 deletions.
diff --git a/...ation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp b/...ation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp
@@ -343,7 +343,7 @@ auto DetectionSensor<autoware_perception_msgs::msg::DetectedObjects>::update(
           detected_entity.pose().position().x() - ego_entity_status->pose().position().x();
         const auto y =
           detected_entity.pose().position().y() - ego_entity_status->pose().position().y();
-        const auto velocity = std::hypot(
+        const auto speed = std::hypot(
           detected_entity.action_status().twist().linear().x(),
           detected_entity.action_status().twist().linear().y());
         const auto interval =
@@ -454,9 +454,9 @@ auto DetectionSensor<autoware_perception_msgs::msg::DetectedObjects>::update(
         }();
 
         noise_output->second.flip = [&]() {
-          static const auto velocity_threshold = parameter("yaw_flip.velocity_threshold");
+          static const auto speed_threshold = parameter("yaw_flip.speed_threshold");
           static const auto rate = parameter("yaw_flip.rate");
-          return velocity < velocity_threshold and
+          return speed < speed_threshold and
                  markov_process_noise(
                    noise_output->second.flip, rate, autocorrelation_coefficient("yaw_flip"));
         }();

diff --git a/test_runner/scenario_test_runner/config/parameters.yaml b/test_runner/scenario_test_runner/config/parameters.yaml
@@ -136,7 +136,7 @@ simulation:
         clairvoyant: false # This value is used only if `override_legacy_configuration` is true. If it is false, the value of `isClairvoyant` in `ObjectController.Properties` in the scenario file is used.
         noise:
           model:
-            version: 2 # Any of [1, 2].
+            version: 1 # Any of [1, 2].
           v1: # This clause is used only if `model.version` is 1.
             position:
               standard_deviation: 0.0 # This value is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectPositionStandardDeviation` in `ObjectController.Properties` in the scenario file is used.
@@ -145,41 +145,41 @@ simulation:
             ellipse_y_radii: [10.0, 20.0, 40.0, 60.0, 80.0, 120.0, 150.0, 180.0, 1000.0]
             distance:
               autocorrelation_coefficient:
-                amplitude: 0.32
-                decay: 0.45
-                offset: 0.26
+                amplitude: 0.0
+                decay: 0.0
+                offset: 0.0
               mean:
-                ellipse_normalized_x_radius: 1.1
-                values: [-0.06, -0.04, -0.04, -0.07, -0.26, -0.56, -1.02, -1.05, 0.0]
+                ellipse_normalized_x_radius: 1.0
+                values: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
               standard_deviation:
                 ellipse_normalized_x_radius: 1.0
-                values: [0.17, 0.20, 0.27, 0.40, 0.67, 0.94, 1.19, 1.17, 0.0]
+                values: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
             yaw:
               autocorrelation_coefficient:
-                amplitude: 0.22
-                decay: 0.52
-                offset: 0.21
+                amplitude: 0.0
+                decay: 0.0
+                offset: 0.0
               mean:
-                ellipse_normalized_x_radius: 1.9
-                values: [0.0, 0.01, 0.0, 0.0, 0.0, -0.07, 0.18, 0.06, 0.0]
+                ellipse_normalized_x_radius: 1.0
+                values: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
               standard_deviation:
-                ellipse_normalized_x_radius: 0.8
-                values: [0.09, 0.15, 0.21, 0.18, 0.17, 0.19, 0.39, 0.15, 0.0]
+                ellipse_normalized_x_radius: 1.0
+                values: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
             yaw_flip:
               autocorrelation_coefficient:
-                amplitude: 0.29
-                decay: 0.12
-                offset: 0.49
-              velocity_threshold: 0.1
-              rate: 0.12
+                amplitude: 0.0
+                decay: 0.0
+                offset: 0.0
+              speed_threshold: 0.1
+              rate: 0.0
             true_positive:
               autocorrelation_coefficient:
-                amplitude: 0.32
-                decay: 0.26
-                offset: 0.40
+                amplitude: 0.0
+                decay: 0.0
+                offset: 0.0
               rate:
-                ellipse_normalized_x_radius: 0.7
-                values: [0.96, 0.78, 0.57, 0.48, 0.27, 0.07, 0.01, 0.0, 0.0]
+                ellipse_normalized_x_radius: 1.0
+                values: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
       /perception/object_recognition/ground_truth/objects:
         version: 20240605 # architecture_type suffix (mandatory)
         override_legacy_configuration: false