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Collision Prevention: Scale obstacle distance with vehicle attitude for varying sensor orientations (#24107)

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Mahima Yoga
2024-12-20 14:47:22 +01:00
committed by GitHub
parent b765769f50
commit defccfa99b
2 changed files with 18 additions and 4 deletions
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src/lib/collision_prevention/CollisionPrevention.cpp
+8 -4
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@@ -400,11 +400,15 @@ CollisionPrevention::_addDistanceSensorData(distance_sensor_s &distance_sensor,
int lower_bound = (int)round((sensor_yaw_body_deg - math::degrees(distance_sensor.h_fov / 2.0f)) / BIN_SIZE);
int upper_bound = (int)round((sensor_yaw_body_deg + math::degrees(distance_sensor.h_fov / 2.0f)) / BIN_SIZE);
const Quatf q_sensor(Quatf(cosf(sensor_yaw_body_rad / 2.f), 0.f, 0.f, sinf(sensor_yaw_body_rad / 2.f)));
// rotate vehicle attitude into the sensor body frame
Quatf attitude_sensor_frame = vehicle_attitude;
attitude_sensor_frame.rotate(Vector3f(0.f, 0.f, sensor_yaw_body_rad));
float sensor_dist_scale = cosf(Eulerf(attitude_sensor_frame).theta()); // verify
const Vector3f forward_vector(1.0f, 0.0f, 0.0f);
const Quatf q_sensor_rotation = vehicle_attitude * q_sensor;
const Vector3f rotated_sensor_vector = q_sensor_rotation.rotateVector(forward_vector);
const float sensor_dist_scale = rotated_sensor_vector.xy().norm();
if (distance_reading < distance_sensor.max_distance) {
distance_reading = distance_reading * sensor_dist_scale;