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| <div class="section" id="observation-log"> | |
| <span id="id1"></span><h1>Observation_Log<a class="headerlink" href="#observation-log" title="Permalink to this headline"></a></h1> | |
| <p>This section describes the parameters and outputs of the <code class="docutils literal notranslate"><span class="pre">Observation_Log</span></code> observer.</p> | |
| <div class="section" id="paramerization"> | |
| <span id="observationlog-paramerization"></span><h2>Paramerization<a class="headerlink" href="#paramerization" title="Permalink to this headline"></a></h2> | |
| <p>Following parameters are supported:</p> | |
| <table class="tight-table docutils align-default"> | |
| <colgroup> | |
| <col style="width: 18%" /> | |
| <col style="width: 12%" /> | |
| <col style="width: 70%" /> | |
| </colgroup> | |
| <thead> | |
| <tr class="row-odd"><th class="head"><p>Parameter</p></th> | |
| <th class="head"><p>Type</p></th> | |
| <th class="head"><p>Description</p></th> | |
| </tr> | |
| </thead> | |
| <tbody> | |
| <tr class="row-even"><td><p>OutputFilename</p></td> | |
| <td><p>String</p></td> | |
| <td><p>Name of the output file (normally <code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code>)</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>LoggingCyclicsToCsv</p></td> | |
| <td><p>Bool</p></td> | |
| <td><p>If <code class="docutils literal notranslate"><span class="pre">true</span></code>, cyclics are written an additional file (one CSV file per run)</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>LoggingGroup_<NAME></p></td> | |
| <td><p>StringVector</p></td> | |
| <td><p>Defines which columns belong to the logging group named NAME</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>LoggingGroups</p></td> | |
| <td><p>StringVector</p></td> | |
| <td><p>Defines active logging groups</p></td> | |
| </tr> | |
| </tbody> | |
| </table> | |
| <p>The columns, defined by the <code class="docutils literal notranslate"><span class="pre">LoggingGroup_<NAME></span></code> correspond to cyclic data entries written by the core and other components. | |
| At time or writing, the core publishes the following cyclics (see source of <code class="docutils literal notranslate"><span class="pre">AgentNetwork.cpp</span></code>):</p> | |
| <ul class="simple"> | |
| <li><p>XPosition</p></li> | |
| <li><p>YPosition</p></li> | |
| <li><p>VelocityEgo</p></li> | |
| <li><p>AccelerationEgo</p></li> | |
| <li><p>YawAngle</p></li> | |
| <li><p>YawRate</p></li> | |
| <li><p>SteeringAngle</p></li> | |
| <li><p>TotalDistanceTraveled</p></li> | |
| <li><p>PositionRoute</p></li> | |
| <li><p>TCoordinate</p></li> | |
| <li><p>Lane</p></li> | |
| <li><p>Road</p></li> | |
| <li><p>SecondaryLanes</p></li> | |
| <li><p>AgentInFront</p></li> | |
| </ul> | |
| <p>Please refer to the individual components, for information about their published cyclics.</p> | |
| <div class="admonition-todo admonition" id="id2"> | |
| <p class="admonition-title">Todo</p> | |
| <p>The concept Cyclics and the DataBuffer needs further explanation. | |
| We also need a way to better communicate, who is publishing what. | |
| This should directly come out of the source code, to keep the documentation up to date.</p> | |
| </div> | |
| <div class="admonition-wildcards-in-logginggroup-definitions admonition"> | |
| <p class="admonition-title"><strong>Wildcards in LoggingGroup definitions</strong></p> | |
| <div class="line-block"> | |
| <div class="line">It is possible to use the wildcard character <code class="docutils literal notranslate"><span class="pre">*</span></code> in a <code class="docutils literal notranslate"><span class="pre">LoggingGroup_<NAME></span></code> entry.</div> | |
| <div class="line">The wildcard can be used only once per column reference.</div> | |
| </div> | |
| </div> | |
| <p><strong>Example</strong></p> | |
| <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span> <span class="nt"><Library></span>Observation_Log<span class="nt"></Library></span> | |
| <span class="nt"><Parameters></span> | |
| <span class="nt"><String</span> <span class="na">Key=</span><span class="s">"OutputFilename"</span> <span class="na">Value=</span><span class="s">"simulationOutput.xml"</span><span class="nt">/></span> | |
| <span class="nt"><Bool</span> <span class="na">Key=</span><span class="s">"LoggingCyclicsToCsv"</span> <span class="na">Value=</span><span class="s">"false"</span><span class="nt">/></span> | |
| <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_Trace"</span> <span class="na">Value=</span><span class="s">"XPosition,YPosition,YawAngle"</span><span class="nt">/></span> | |
| <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_RoadPosition"</span> <span class="na">Value=</span><span class="s">"AgentInFront,Lane,PositionRoute,Road,TCoordinate"</span><span class="nt">/></span> | |
| <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_RoadPositionExtended"</span> <span class="na">Value=</span><span class="s">"SecondaryLanes"</span><span class="nt">/></span> | |
| <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_Sensor"</span> <span class="na">Value=</span><span class="s">"Sensor*_DetectedAgents,Sensor*_VisibleAgents"</span><span class="nt">/></span> | |
| <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_Vehicle"</span> <span class="na">Value=</span><span class="s">"AccelerationPedalPosition,BrakePedalPosition,EngineMoment,Gear,SteeringAngle,TotalDistanceTraveled,YawRate"</span><span class="nt">/></span> | |
| <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroup_Visualization"</span> <span class="na">Value=</span><span class="s">"AccelerationEgo,BrakeLight,IndicatorState,LightStatus,VelocityEgo"</span><span class="nt">/></span> | |
| <span class="nt"><StringVector</span> <span class="na">Key=</span><span class="s">"LoggingGroups"</span> <span class="na">Value=</span><span class="s">"Trace,Visualization,RoadPosition,Sensor"</span><span class="nt">/></span> | |
| <span class="nt"></Parameters></span> | |
| </pre></div> | |
| </div> | |
| </div> | |
| <div class="section" id="output-files"> | |
| <h2>Output Files<a class="headerlink" href="#output-files" title="Permalink to this headline"></a></h2> | |
| <div class="section" id="simulationoutput"> | |
| <span id="observationlog-simout"></span><h3>SimulationOutput<a class="headerlink" href="#simulationoutput" title="Permalink to this headline"></a></h3> | |
| <p>Every successful run (single experiment) generates a single file, normally called <code class="docutils literal notranslate"><span class="pre">simulationOutput.xml</span></code> (see :ref:’observationlog_paramerization’). | |
| The output can contain multiple invocations of the same configuration with different random seeds. | |
| For each invocation a RunResult is stored, which contains information about the agents and their parameters. | |
| As well as run specific events and parameters.</p> | |
| <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><SimulationOutput></span> | |
| <span class="nt"><RunResults></span> | |
| <span class="nt"><RunResult</span> <span class="na">RunId=</span><span class="s">"0"</span><span class="nt">></span> | |
| ... | |
| <span class="nt"></RunResult></span> | |
| <span class="nt"><RunResult</span> <span class="na">RunId=</span><span class="s">"1"</span><span class="nt">></span> | |
| ... | |
| <span class="nt"></RunResult></span> | |
| <span class="nt"></RunResults></span> | |
| <span class="nt"></SimulationOutput></span> | |
| </pre></div> | |
| </div> | |
| <p>The RunResult consist out of the following parts:</p> | |
| <ul class="simple"> | |
| <li><p><a class="reference internal" href="#observationlog-runstatistics"><span class="std std-ref">RunStatistics</span></a></p></li> | |
| <li><p><a class="reference internal" href="#observationlog-events"><span class="std std-ref">Events</span></a></p></li> | |
| <li><p><a class="reference internal" href="#observationlog-agents"><span class="std std-ref">Agents</span></a></p></li> | |
| <li><p><a class="reference internal" href="#observationlog-cyclics"><span class="std std-ref">Cyclics</span></a></p></li> | |
| </ul> | |
| <div class="section" id="runstatistics"> | |
| <span id="observationlog-runstatistics"></span><h4>RunStatistics<a class="headerlink" href="#runstatistics" title="Permalink to this headline"></a></h4> | |
| <p>This section contains the RandomSeed and general statistics of the invocation.</p> | |
| <table class="tight-table docutils align-default"> | |
| <colgroup> | |
| <col style="width: 26%" /> | |
| <col style="width: 74%" /> | |
| </colgroup> | |
| <thead> | |
| <tr class="row-odd"><th class="head"><p>Tag</p></th> | |
| <th class="head"><p>Description</p></th> | |
| </tr> | |
| </thead> | |
| <tbody> | |
| <tr class="row-even"><td><p>RandomSeed</p></td> | |
| <td><p>Random seed used for this invocation</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>VisibilityDistance</p></td> | |
| <td><p>Visibility distance of the world</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>StopReason</p></td> | |
| <td><p>Displays the reason why the simulation stopped. | |
| Currently only due to time out.</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>StopTime</p></td> | |
| <td><p>Currently not used and set to -1</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>EgoAccident</p></td> | |
| <td><p>Flag which shows whether the ego agent was involved in an accident</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>TotalDistanceTraveled</p></td> | |
| <td><p>Total traveled distance of all agents</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>EgoDistanceTraveled</p></td> | |
| <td><p>Total traveled distance of ego vehicle only</p></td> | |
| </tr> | |
| </tbody> | |
| </table> | |
| </div> | |
| <div class="section" id="events"> | |
| <span id="observationlog-events"></span><h4>Events<a class="headerlink" href="#events" title="Permalink to this headline"></a></h4> | |
| <p>This section contains all events that occurred during the invocation. | |
| Event can either be triggered by an EventDetector, Manipulator or by certain vehicle components. | |
| They are used to track special behavior in the simulation.</p> | |
| <table class="tight-table docutils align-default"> | |
| <colgroup> | |
| <col style="width: 21%" /> | |
| <col style="width: 79%" /> | |
| </colgroup> | |
| <thead> | |
| <tr class="row-odd"><th class="head"><p>Attribute</p></th> | |
| <th class="head"><p>Description</p></th> | |
| </tr> | |
| </thead> | |
| <tbody> | |
| <tr class="row-even"><td><p>Time</p></td> | |
| <td><p>Time in ms when the event occurred.</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Source</p></td> | |
| <td><p>Name of the component which created the event. | |
| <code class="docutils literal notranslate"><span class="pre">OpenSCENARIO</span></code>, if triggered by an OpenSCENARIO condition.</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>Name</p></td> | |
| <td><p>In case of an OpenSCENARIO event, a path expression Story/Act/Sequence/Maneuver/Event | |
| using the names of the corresponding tags as described in the OpenSCENARIO file. | |
| Otherwise determined by the triggering component.</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>TriggeringEntities</p></td> | |
| <td><p>List of entity IDs triggering this event.</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>AffectedEntities</p></td> | |
| <td><p>List of entity IDs affected by this event.</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Parameters</p></td> | |
| <td><p>List of generic key/value string pairs.</p></td> | |
| </tr> | |
| </tbody> | |
| </table> | |
| </div> | |
| <div class="section" id="agents"> | |
| <span id="observationlog-agents"></span><h4>Agents<a class="headerlink" href="#agents" title="Permalink to this headline"></a></h4> | |
| <p>This section contains some information on how each agent is configured.</p> | |
| <table class="tight-table docutils align-default"> | |
| <colgroup> | |
| <col style="width: 26%" /> | |
| <col style="width: 74%" /> | |
| </colgroup> | |
| <thead> | |
| <tr class="row-odd"><th class="head"><p>Attribute</p></th> | |
| <th class="head"><p>Description</p></th> | |
| </tr> | |
| </thead> | |
| <tbody> | |
| <tr class="row-even"><td><p>Id</p></td> | |
| <td><p>Identification number</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>AgentTypeGroupName</p></td> | |
| <td><p>The agent category. This can either be Ego, Scenario or Common</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>AgentTypeName</p></td> | |
| <td><p>Name of the agent profile</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>VehicleModelType</p></td> | |
| <td><p>Name of the vehicle model</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>DriverProfileName</p></td> | |
| <td><p>Name of the driver profile</p></td> | |
| </tr> | |
| </tbody> | |
| </table> | |
| <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Agent</span> <span class="na">Id=</span><span class="s">"0"</span> | |
| <span class="na">AgentTypeGroupName=</span><span class="s">"Ego"</span> | |
| <span class="na">AgentTypeName=</span><span class="s">"MiddleClassCarAgent"</span> | |
| <span class="na">VehicleModelType=</span><span class="s">"car_bmw_7"</span> | |
| <span class="na">DriverProfileName=</span><span class="s">"Regular"</span><span class="nt">></span> | |
| </pre></div> | |
| </div> | |
| <p>The VehicleAttributes tag lists basic information of the vehicle parameters.</p> | |
| <table class="tight-table docutils align-default"> | |
| <colgroup> | |
| <col style="width: 23%" /> | |
| <col style="width: 77%" /> | |
| </colgroup> | |
| <thead> | |
| <tr class="row-odd"><th class="head"><p>Attribute</p></th> | |
| <th class="head"><p>Description</p></th> | |
| </tr> | |
| </thead> | |
| <tbody> | |
| <tr class="row-even"><td><p>Width</p></td> | |
| <td><p>Width of the vehicles bounding box</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Length</p></td> | |
| <td><p>Length of the vehicles bounding box</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>Height</p></td> | |
| <td><p>Height of the vehicles bounding box</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>LongitudinalPivotOffset</p></td> | |
| <td><p>Distance between center of the bounding box and reference point of the agent. | |
| Positive distances are closer to the front of the vehicle. | |
| Negative distances are closer to the rear of the vehicle.</p></td> | |
| </tr> | |
| </tbody> | |
| </table> | |
| <p>The Sensors tag lists all sensors of the agent and their parameters.</p> | |
| <table class="tight-table docutils align-default"> | |
| <colgroup> | |
| <col style="width: 25%" /> | |
| <col style="width: 75%" /> | |
| </colgroup> | |
| <thead> | |
| <tr class="row-odd"><th class="head"><p>Attribute</p></th> | |
| <th class="head"><p>Description</p></th> | |
| </tr> | |
| </thead> | |
| <tbody> | |
| <tr class="row-even"><td><p>Name</p></td> | |
| <td><p>Name of the component</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>Model</p></td> | |
| <td><p>Type of the sensor</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>MountingPosLongitudinal</p></td> | |
| <td><p>Relative longitudinal position of the sensor in relation to the agent</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>MountingPosLateral</p></td> | |
| <td><p>Relative lateral position of the sensor in relation to the agent</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>MountingPosHeight</p></td> | |
| <td><p>Relative height of the sensor in relation to the agent</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>OrientationPitch</p></td> | |
| <td><p>Pitch rotation of the sensor in relation to the agent</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>OrientationYaw</p></td> | |
| <td><p>Yaw rotation of the sensor in relation to the agent</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>OpeningAngleH</p></td> | |
| <td><p>Horizontal opening angle of the sensor</p></td> | |
| </tr> | |
| <tr class="row-even"><td><p>OpeningAngleV</p></td> | |
| <td><p>Vertical opening angle of the sensor</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>DetectionRange</p></td> | |
| <td><p>Range how far the sensor reaches in m</p></td> | |
| </tr> | |
| </tbody> | |
| </table> | |
| <div class="admonition note"> | |
| <p class="admonition-title">Note</p> | |
| <p>Calculation of visual obstruction is currently supported only by the Geometric2D sensor. | |
| See <a class="reference internal" href="../configs/systemconfigblueprint.html#systemconfigblueprint"><span class="std std-ref">SystemConfigBlueprint</span></a> for configuration.</p> | |
| </div> | |
| <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Sensor</span> <span class="na">Name=</span><span class="s">"Geometric2DFront"</span> | |
| <span class="na">Model=</span><span class="s">"Geometric2D"</span> | |
| <span class="na">MountingPosLongitudinal=</span><span class="s">"0"</span> | |
| <span class="na">MountingPosLateral=</span><span class="s">"0"</span> | |
| <span class="na">MountingPosHeight=</span><span class="s">"0.5"</span> | |
| <span class="na">OrientationPitch=</span><span class="s">"0"</span> | |
| <span class="na">OrientationYaw=</span><span class="s">"0"</span> | |
| <span class="na">OpeningAngleH=</span><span class="s">"20"</span> | |
| <span class="na">OpeningAngleV=</span><span class="s">"-999"</span> | |
| <span class="na">DetectionRange=</span><span class="s">"300"</span> <span class="nt">/></span> | |
| </pre></div> | |
| </div> | |
| </div> | |
| <div class="section" id="cyclics"> | |
| <span id="observationlog-cyclics"></span><h4>Cyclics<a class="headerlink" href="#cyclics" title="Permalink to this headline"></a></h4> | |
| <p>If the parameter <code class="docutils literal notranslate"><span class="pre">LoggingCyclicsToCsv</span></code> is set to <code class="docutils literal notranslate"><span class="pre">false</span></code>, this section contains all logged parameters of the agents per time step. | |
| The tag <code class="docutils literal notranslate"><span class="pre">header</span></code> defines the layout of all samples. | |
| Each entry of the header consists of the agent id and the name of the logged value, in the form <code class="docutils literal notranslate"><span class="pre">ID:SAMPLE_NAME</span></code>. | |
| A sample contains all information for one specific time step. | |
| If an agent does not exist at the current time step, the value is ‘ ‘.</p> | |
| <p><strong>Example</strong></p> | |
| <p>In this example exist two agents with the ids 0 and 1. | |
| Two time steps were being tracked, one at 0 seconds and one at 100 ms. | |
| Agent 0 has a constant velocity of 30 m/s and starts at the position X: 100 and Y: 50. | |
| Agent 1 has a initial velocity of 40 m/s and starts at the position X: 200 and Y: 50.</p> | |
| <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Cyclics></span> | |
| <span class="nt"><Header></span>00:VelocityEgo, 00:XPosition, 00:YPosition, 00:YawAngle, 01:VelocityEgo, 01:XPosition, 01:YPosition, 01:YawAngle<span class="nt"></Header></span> | |
| <span class="nt"><Samples></span> | |
| <span class="nt"><Sample</span> <span class="na">Time=</span><span class="s">"0"</span><span class="nt">></span>30, 100, 50, 0, 40, 200, 50, 0<span class="nt"></Sample></span> | |
| <span class="nt"><Sample</span> <span class="na">Time=</span><span class="s">"100"</span><span class="nt">></span>30, 103, 50, 0, 40, 204, 50, 0<span class="nt"></Sample></span> | |
| <span class="nt"></Samples></span> | |
| <span class="nt"></Cyclics></span> | |
| </pre></div> | |
| </div> | |
| <p>If the parameter <code class="docutils literal notranslate"><span class="pre">LoggingCyclicsToCsv</span></code> is set to <code class="docutils literal notranslate"><span class="pre">true</span></code>, this section only contains a reference to the corresponding CSV file, e.g.</p> | |
| <div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="nt"><Cyclics></span> | |
| <span class="nt"><CyclicsFile></span>Cyclics_Run_000.csv<span class="nt"></CyclicsFile></span> | |
| <span class="nt"></Cyclics></span> | |
| </pre></div> | |
| </div> | |
| <p>For each invocation, the file number of the filename is incremented, starting with <code class="docutils literal notranslate"><span class="pre">Cyclics_Run_000.csv</span></code>.</p> | |
| </div> | |
| </div> | |
| <div class="section" id="cyclics-run"> | |
| <h3>Cyclics_Run_###<a class="headerlink" href="#cyclics-run" title="Permalink to this headline"></a></h3> | |
| <p>This file contains the samples as described in :ref:’observationlog_cyclics’, but with the time step as leading column.</p> | |
| <p><strong>Example</strong></p> | |
| <table class="docutils align-default"> | |
| <colgroup> | |
| <col style="width: 8%" /> | |
| <col style="width: 13%" /> | |
| <col style="width: 11%" /> | |
| <col style="width: 11%" /> | |
| <col style="width: 10%" /> | |
| <col style="width: 13%" /> | |
| <col style="width: 11%" /> | |
| <col style="width: 11%" /> | |
| <col style="width: 10%" /> | |
| </colgroup> | |
| <thead> | |
| <tr class="row-odd"><th class="head"><p>Timestep</p></th> | |
| <th class="head"><p>00:VelocityEgo</p></th> | |
| <th class="head"><p>00:XPosition</p></th> | |
| <th class="head"><p>00:YPosition</p></th> | |
| <th class="head"><p>00:YawAngle</p></th> | |
| <th class="head"><p>01:VelocityEgo</p></th> | |
| <th class="head"><p>01:XPosition</p></th> | |
| <th class="head"><p>01:YPosition</p></th> | |
| <th class="head"><p>01:YawAngle</p></th> | |
| </tr> | |
| </thead> | |
| <tbody> | |
| <tr class="row-even"><td><p>0</p></td> | |
| <td><p>30</p></td> | |
| <td><p>100</p></td> | |
| <td><p>50</p></td> | |
| <td><p>0</p></td> | |
| <td><p>40</p></td> | |
| <td><p>200</p></td> | |
| <td><p>50</p></td> | |
| <td><p>0</p></td> | |
| </tr> | |
| <tr class="row-odd"><td><p>100</p></td> | |
| <td><p>30</p></td> | |
| <td><p>103</p></td> | |
| <td><p>50</p></td> | |
| <td><p>0</p></td> | |
| <td><p>40</p></td> | |
| <td><p>204</p></td> | |
| <td><p>50</p></td> | |
| <td><p>0</p></td> | |
| </tr> | |
| </tbody> | |
| </table> | |
| </div> | |
| </div> | |
| </div> | |
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