feat(perception): simplified configuration for perception index

fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/ambassador/UnitSimulator.java

@@ -372,7 +372,7 @@ public void registerTrafficLight(TrafficLightRegistration trafficLightRegistrati
         // if traffic light index is enabled, we need traffic light state information for all traffic lights via subscriptions
         boolean isTrafficLightIndexEnabled = SimulationKernel.SimulationKernel.getConfiguration().perceptionConfiguration.trafficLightIndex != null &&
                 SimulationKernel.SimulationKernel.getConfiguration().perceptionConfiguration.trafficLightIndex.enabled;
-        if (!trafficLightRegistration.getMapping().hasApplication() &&  !isTrafficLightIndexEnabled) {
+        if (!trafficLightRegistration.getMapping().hasApplication() && !isTrafficLightIndexEnabled) {
             return;
         }
 

fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/ambassador/simulation/perception/errormodels/DimensionsModifier.java

@@ -18,36 +18,43 @@
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.PerceptionModuleOwner;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.objects.SpatialObject;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.objects.VehicleObject;
+import org.eclipse.mosaic.lib.math.MathUtils;
 import org.eclipse.mosaic.lib.math.RandomNumberGenerator;
 import org.eclipse.mosaic.lib.math.Vector3d;
+import org.eclipse.mosaic.lib.math.VectorUtils;
 
 import java.util.List;
 
+/**
+ * Adjusts the dimensions of perceived {@link VehicleObject}s. Since the position
+ * of vehicles is assumed to refer to their front bumper instead of bounding box center,
+ * their position is adjusted accordingly when the length of the vehicle was changed.
+ */
 public class DimensionsModifier implements PerceptionModifier {
 
     private static final double SIGMA_WIDTH_OFFSET = 0.2; // given in m
     private static final double SIGMA_HEIGHT_OFFSET = 0.2; // given in m
     private static final double SIGMA_LENGTH_OFFSET = 0.5; // given in m
 
-    private final double heightOffset;
-    private final double widthOffset;
-    private final double lengthOffset;
+    private final double heightDeviation;
+    private final double widthDeviation;
+    private final double lengthDeviation;
 
     private final RandomNumberGenerator rng;
 
 
-    public DimensionsModifier(RandomNumberGenerator rng, double heightOffset, double widthOffset, double lengthOffset) {
+    public DimensionsModifier(RandomNumberGenerator rng, double heightDeviation, double widthDeviation, double lengthDeviation) {
         this.rng = rng;
-        this.heightOffset = heightOffset;
-        this.widthOffset = widthOffset;
-        this.lengthOffset = lengthOffset;
+        this.heightDeviation = heightDeviation;
+        this.widthDeviation = widthDeviation;
+        this.lengthDeviation = lengthDeviation;
     }
 
     public DimensionsModifier(RandomNumberGenerator rng) {
         this.rng = rng;
-        this.heightOffset = SIGMA_HEIGHT_OFFSET;
-        this.widthOffset = SIGMA_WIDTH_OFFSET;
-        this.lengthOffset = SIGMA_LENGTH_OFFSET;
+        this.heightDeviation = SIGMA_HEIGHT_OFFSET;
+        this.widthDeviation = SIGMA_WIDTH_OFFSET;
+        this.lengthDeviation = SIGMA_LENGTH_OFFSET;
     }
 
     @Override
@@ -62,10 +69,29 @@ public <T extends SpatialObject> List<T> apply(PerceptionModuleOwner owner, List
     }
 
     private void adjustDimensionsOfVehicle(VehicleObject vehicleObject) {
+
+        double oldLength = vehicleObject.getLength();
+
         vehicleObject.setDimensions(
-                Math.abs(rng.nextGaussian(vehicleObject.getLength(), lengthOffset)),
-                Math.abs(rng.nextGaussian(vehicleObject.getHeight(), heightOffset)),
-                Math.abs(rng.nextGaussian(vehicleObject.getWidth(), widthOffset))
+                Math.abs(rng.nextGaussian(vehicleObject.getLength(), lengthDeviation)),
+                Math.abs(rng.nextGaussian(vehicleObject.getWidth(), widthDeviation)),
+                Math.abs(rng.nextGaussian(vehicleObject.getHeight(), heightDeviation))
+        );
+
+        double newLength = vehicleObject.getLength();
+
+        if (MathUtils.isFuzzyEqual(newLength, oldLength)) {
+            return;
+        }
+
+        // move position of vehicle based on length difference since vehicle position is assumed to refer to front bumper and we want to
+        // squeeze the length around bounding box center
+        Vector3d direction = VectorUtils.getDirectionVectorFromHeading(vehicleObject.getHeading(), new Vector3d())
+                .multiply((newLength - oldLength) / 2);
+        vehicleObject.setPosition(
+                vehicleObject.getPosition().x + direction.x,
+                vehicleObject.getPosition().y + direction.y,
+                vehicleObject.getPosition().z + direction.z
         );
     }
 

fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/ambassador/simulation/perception/errormodels/HeadingModifier.java

@@ -18,13 +18,20 @@
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.PerceptionModuleOwner;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.objects.SpatialObject;
 import org.eclipse.mosaic.fed.application.ambassador.simulation.perception.index.objects.VehicleObject;
+import org.eclipse.mosaic.lib.math.MathUtils;
 import org.eclipse.mosaic.lib.math.RandomNumberGenerator;
 import org.eclipse.mosaic.lib.math.Vector3d;
 import org.eclipse.mosaic.lib.math.VectorUtils;
 
-import java.util.List;
+import org.apache.commons.lang3.Validate;
 
+import java.util.List;
 
+/**
+ * Adjusts the heading of perceived {@link VehicleObject}s. Since the position
+ * of vehicles is assumed to refer to their front bumper and instead bounding box center,
+ * their position is adjusted accordingly when the heading of the vehicle was changed.
+ */
 public class HeadingModifier implements PerceptionModifier {
 
     /**
@@ -53,6 +60,9 @@ public HeadingModifier(RandomNumberGenerator rng) {
     }
 
     public HeadingModifier(RandomNumberGenerator rng, double headingStandardDeviation, double chanceOfWrongDirection) {
+        Validate.inclusiveBetween(0, 360, headingStandardDeviation, "Heading deviation should lie between 0 and 360");
+        Validate.inclusiveBetween(0, 1, chanceOfWrongDirection, "Wrong direction probability should lie between 0 and 1");
+
         this.rng = rng;
         this.headingStandardDeviation = headingStandardDeviation;
         this.chanceOfWrongDirection = chanceOfWrongDirection;
@@ -74,12 +84,19 @@ private void adjustHeadingOfVehicle(Vector3d ownerPosition, VehicleObject vehicl
         double oldHeading = vehicleObject.getHeading();
 
         if (rng.nextDouble() < chanceOfWrongDirection) {
-            vehicleObject.setHeading(rotatedVehicleHeading(vehicleObject.getHeading()));
+            vehicleObject.setHeading((vehicleObject.getHeading() + 180) % 360);
         }
         vehicleObject.setHeading(rng.nextGaussian(vehicleObject.getHeading(), headingStandardDeviation) % 360);
 
         double newHeading = vehicleObject.getHeading();
 
+        if (MathUtils.isFuzzyEqual(oldHeading, newHeading)) {
+            return;
+        }
+
+        // move position of vehicle based on heading diff since vehicle position is assumed to refer to front bumper and we want to
+        // rotate around bounding box center
+
         Vector3d oldHeadingVector = VectorUtils.getDirectionVectorFromHeading(oldHeading, new Vector3d());
         Vector3d newHeadingVector = VectorUtils.getDirectionVectorFromHeading(newHeading, new Vector3d());
 

fed/mosaic-application/src/main/java/org/eclipse/mosaic/fed/application/ambassador/simulation/perception/errormodels/PositionModifier.java

@@ -33,6 +33,7 @@
  * orientation of the ego vehicle, and after error calculation re-transformed.
  */
 public class PositionModifier implements PerceptionModifier {
+
     /**
      * Default standard deviation for longitudinal error. (Taken from referenced source)
      */
@@ -42,10 +43,12 @@ public class PositionModifier implements PerceptionModifier {
      * Default standard deviation for lateral error. (Taken from referenced source)
      */
     private static final double SIGMA_LAT_OFFSET = 0.390; // [m]
+
     /**
      * Standard deviation for longitudinal error.
      */
     private final double longitudinalStandardDeviation;
+
     /**
      * Standard deviation for lateral error.
      */

fed/mosaic-application/src/test/java/org/eclipse/mosaic/fed/application/ambassador/navigation/NavigationModuleTest.java

@@ -98,7 +98,6 @@ public void setup() {
         navigationModule = Mockito.spy(new NavigationModule(vehicle));
         navigationModule.setVehicleData(vehicleDataMock);
 
-
         when(vehicleDataMock.getHeading()).thenReturn(45.0d);
         when(vehicleDataMock.getPosition()).thenReturn(GeoPoint.latLon(10, 10));
         when(vehicleDataMock.getRoadPosition()).thenReturn(mock(IRoadPosition.class));
@@ -112,8 +111,6 @@ public void setup() {
         routeMap.put("123", new VehicleRoute("123", Collections.singletonList("edgeID"), Collections.singletonList("nodeID"), 0.0));
         when(cncMock.getRouteMap()).thenReturn(routeMap);
         when(cncMock.getTargetPositionOfRoute(ArgumentMatchers.anyString())).thenReturn(GeoPoint.latLon(30, 40));
-
-
     }
 
     @Test