AutopilotSettings.hpp

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#ifndef MAPSETTINGS_H
#define MAPSETTINGS_H
 
#include <array>
 
#include <galaxis/linatypes.hpp>
 
using namespace galaxis::lina;
 
namespace galaxis {
 
  namespace autopilot {
    /*
      DR DRIFT: 
      - wheelbase 0.24m
      - Longitudinal Distance from CarOrigin (Car Camera Position) to Front Axis ~0.206m
      - Longitudinal Distance from CarOrigin (Car Camera Position) to Rear Axis ~-0.034m
      -> Center of Car: lat=0m, long=0.086m -> x=0m, y=0.086m
    */
    // SIMULATION Car Offset to Car Center
    galaxis::lina::Vector2f const simluationCarPositionOffsetToFrontAxisM = galaxis::lina::Vector2f(0.f, 0.086f);
 
    // Image Import
    constexpr float realPixelToPositionConversionFactorCM = 0.78125f;
    // constexpr float realPixelToPositionConversionFactorCM = 1.5625f;
    constexpr float simulationPixelToPositionConversionFactorCM = 1.f;
 
 
    constexpr int imageLLinePixelByteIndex = 0; // Left Line Byte in Pixel
    constexpr int imageCLinePixelByteIndex = 1; // Center
    constexpr int imageRLinePixelByteIndex = 2; // Right
    
    // Image Ignore Field
    // [left-y 0, left-x-middle 1, left-y-middle 2, right-x-middle 3, right-y-middle 4, right-y 5]
    constexpr std::array<unsigned int, 6> imageIgnoreFieldArray = {125, 87, 222, 165, 227, 138};  // 256x265
    // constexpr std::array<unsigned int, 6> imageIgnoreFieldArray = {63, 44, 111, 83, 114, 69};  // 128x128
 
    constexpr int lookupLookBehindCarCM = 10; // TODO increase but test if works properly with rotation etc
 
    // NOTE: ALL OTHER PARAMETERS ARE MOVED TO SYSTEM.JSON 
 
  } // namespace autopilot
 
} // namespace galaxis
 
#endif