Page History

...

• The constructor calculates the length of each waysegment between two neibourghed points.
• The constructor defines a vector called "jobs" where all jobs are listed with the information, if the minimal distance of 0.01 between two vehicles is undergone (called collision) or not. All possible collisions, between all pairs of path nodes are checked. The result (boolean: collision yes/no?) is cached. The collision decision is based on the rectangle-rectange distance between the vehicles.
• map_match_pose(): A function which defines for each path if it can be matched to an edge on the map
• find_subsequent_edges(): A function which finds the subsequent edges of a trajectory
  

  The reference state of a vehicle in the graph is stored as the triple (edge_index (called currentcalled current_edge_index in the sourcecode), path_index (called called current_edge_path_index in the sourcecode), s_offset [in meters](called delta_s_path_node_offset in the sourcecode))

  The following image shows a reference state that would be stored as (edge_index = 11, path_index = 1, s_offset = 0.01m).

  

move_along_route(): A function which helps you to move along the route. It moves the reference state along the given route by a given distance and takes into account the remaining distance on the current edge to next node and the changing to the next edge if neccessary. For example, assume that the distance between path nodes in the above image is 0.02 m (except for the end nodes 0/3, which are in the same location). We want to move the reference state by 0.055 m.

...

If you use the real lab application, make sure that the supporting software (LCC, IPS) is running and that the vehicles are online (only the ID LED is still blinking, all three other LEDs are turned on) and placed on the map. Assure that you activated Lab mode in the LCC. Then load your example in the LCC and hit "Deploy". The follow the steps described in Running an HLC. The example does not start, if collision cannot be avoided. Therefore make sure not to have to many vehicles selected. Usually up to 10 vehicles will work fine.

...