Add Road Network and Obstacle components to SUMO Reader#1128
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timothy-glover wants to merge 42 commits intodstl:mainfrom
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Add Road Network and Obstacle components to SUMO Reader#1128timothy-glover wants to merge 42 commits intodstl:mainfrom
timothy-glover wants to merge 42 commits intodstl:mainfrom
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…ertance for RadarBearing and RadarBearingRange
…ertance for RadarBearing and RadarBearingRange
…and relative edge caching
Co-authored-by: Henry Pritchett <87075245+hpritchett-dstl@users.noreply.github.com>
…s_clutter_detectable return
Co-authored-by: James Wright <69153443+jswright-dstl@users.noreply.github.com>
…arge obstacle numbers. Add in_obstacle method and removed obstacle_check flag
…ptional dependency. Modify VIBPF to handle multiple sensors
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Closed
…required, update tests and docs
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…ved mapping from obstacle plotting, removed redundant intersection check and improved condition statements
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…rdinates==True. Requires network to be geo-referenced.
…ehicle types for filtering roads to import
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NOTE: This pull request is dependent on the changes in #1096 to enable use of
Obstacleplatforms when processing buildings from SUMO. The first 21 commits are comparable to those in #1096, but rebased onto a more current version of main.This pull request introduces new components for the SUMO reader, initially introduced by @hpritchett-dstl in #827.
obstacle_genis a new method for reading polygons from the SUMO config file, filtering for polygons representing buildings, and constructing a list ofObstacleplatforms to represent them. Adjacent buildings that share a face are merged into a single obstacle.The second new component is the
road_network_genmethod which reads road network information from the SUMO config and returns a dictionary of edges representing the network. The user can provide an optional list of enumerators (VehicleTypeEnum) for specifying the roads which should be processed, those only allowing passenger vehicles for example. Edges are represented by straight line segments with each edge in the returned dictionary containing a sequence of coordinates representing the segments. The method attempts to combine multi lane roads into a single edge to reduce the size of the output. Tests are not provided due to the difficulty in simulatingSUMOGroundTruthReaderwithout an installation of SUMO and a suitable config file.