tools.aqua.stars.importer.carla.dataclasses.JsonVehicle.kt Maven / Gradle / Ivy
/*
* Copyright 2023-2024 The STARS Project Authors
* SPDX-License-Identifier: Apache-2.0
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package tools.aqua.stars.importer.carla.dataclasses
import kotlin.math.pow
import kotlin.math.sqrt
import kotlinx.serialization.SerialName
import kotlinx.serialization.Serializable
/**
* Json object for vehicles.
*
* @property id The identifier of the vehicle.
* @property location The [JsonLocation] of the vehicle.
* @property rotation The [JsonRotation] of the vehicle.
* @property typeId The type identifier, i.e. "vehicle.ford.mustang".
* @property egoVehicle Whether this is the own vehicle.
* @property forwardVector The current forward vector.
* @property velocity The current velocity.
* @property acceleration The current acceleration.
* @property angularVelocity The current angular velocity.
*/
@Serializable
@SerialName("Vehicle")
data class JsonVehicle(
@SerialName("id") override val id: Int,
@SerialName("location") override val location: JsonLocation,
@SerialName("rotation") override val rotation: JsonRotation,
@SerialName("type_id") val typeId: String,
@SerialName("ego_vehicle") val egoVehicle: Boolean,
@SerialName("forward_vector") val forwardVector: JsonVector3D,
@SerialName("velocity") val velocity: JsonVector3D,
@SerialName("acceleration") val acceleration: JsonVector3D,
@SerialName("angular_velocity") val angularVelocity: JsonVector3D
) : JsonActor() {
/** The effective velocity. */
@Suppress("unused")
val effVelocity: Double
get() = sqrt(this.velocity.x.pow(2) + this.velocity.y.pow(2) + this.velocity.z.pow(2))
}