From 92cce2c26dba4dce17e720f6064ce3d76d78e8a4 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Fri, 28 Feb 2025 11:07:18 +0900 Subject: [PATCH] Cleanup parameter file Signed-off-by: yamacir-kit --- .../detection_sensor/detection_sensor.cpp | 6 +-- .../config/parameters.yaml | 48 +++++++++---------- 2 files changed, 27 insertions(+), 27 deletions(-) diff --git a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp index 47ea84d9f85..91633a3eb29 100644 --- a/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp +++ b/simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp @@ -343,7 +343,7 @@ auto DetectionSensor::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::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 index 595a732991b..82a608efea8 100644 --- 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