clean(perception): Improve generics usage in perception module (#416)

Signed-off-by: Moritz Schweppenhäuser <[email protected]>

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

@@ -96,8 +96,8 @@ public List<TrafficLightObject> getPerceivedTrafficLights() {
     abstract List<TrafficLightObject> getTrafficLightsInRange();
 
     @Override
-    public List<SpatialObject> getPerceivedObjects() {
-        List<SpatialObject> objectsInRange = getObjectsInRange();
+    public List<SpatialObject<?>> getPerceivedObjects() {
+        List<SpatialObject<?>> objectsInRange = getObjectsInRange();
         objectsInRange = applyPerceptionModifiers(objectsInRange);
         return objectsInRange;
     }
@@ -108,12 +108,13 @@ public List<SpatialObject> getPerceivedObjects() {
      *
      * @return the raw list of objects in range of the ego vehicle
      */
-    abstract List<SpatialObject> getObjectsInRange();
+    abstract List<SpatialObject<?>> getObjectsInRange();
 
-    private <T extends SpatialObject<T>> List<T> applyPerceptionModifiers(List<T> objectsInRange) {
+    private <T extends SpatialObject<?>> List<T> applyPerceptionModifiers(List<T> objectsInRange) {
         List<T> filteredList = new ArrayList<>(objectsInRange);
         // create a copy of all perceived objects to avoid interference with modifiers of other perception modules.
-        filteredList.replaceAll(T::copy);
+        //noinspection unchecked
+        filteredList.replaceAll(object -> (T) object.copy());
         for (PerceptionModifier perceptionModifier : configuration.getPerceptionModifiers()) {
             filteredList = perceptionModifier.apply(owner, filteredList); // apply filters in sequence
         }

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

@@ -52,7 +52,7 @@ List<TrafficLightObject> getTrafficLightsInRange() {
     }
 
     @Override
-    List<SpatialObject> getObjectsInRange() {
+    List<SpatialObject<?>> getObjectsInRange() {
         log.debug("No vehicle index configured, leading to disabled perception.");
         return new ArrayList<>();
     }

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

@@ -23,7 +23,7 @@ public interface PerceptionModel {
     /**
      * Checks, if the other spatial object is within this perception range.
      */
-    boolean isInRange(SpatialObject other);
+    boolean isInRange(SpatialObject<?> other);
 
     /**
      * Returns the minimum bounding box around this perception area. This is used for range search queries in the perception index.

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

@@ -86,14 +86,14 @@ public List<TrafficLightObject> getTrafficLightsInRange() {
     }
 
     @Override
-    public List<SpatialObject> getObjectsInRange() {
+    public List<SpatialObject<?>> getObjectsInRange() {
         if (perceptionModel == null || owner.getVehicleData() == null) {
             log.warn("No perception model initialized.");
             return Lists.newArrayList();
         }
         perceptionModel.updateOrigin(owner.getVehicleData().getProjectedPosition(), owner.getVehicleData().getHeading());
         SimulationKernel.SimulationKernel.getCentralPerceptionComponent().updateSpatialIndices();
-        List<SpatialObject> objectsInRange = new ArrayList<>();
+        List<SpatialObject<?>> objectsInRange = new ArrayList<>();
         objectsInRange.addAll(SimulationKernel.SimulationKernel.getCentralPerceptionComponent()
                 .getTrafficObjectIndex()
                 .getVehiclesInRange(perceptionModel));
@@ -105,7 +105,8 @@ public List<SpatialObject> getObjectsInRange() {
 
     @Override
     public Collection<Edge<Vector3d>> getSurroundingWalls() {
-        return SimulationKernel.SimulationKernel.getCentralPerceptionComponent().getTrafficObjectIndex().getSurroundingWalls(perceptionModel);
+        return SimulationKernel.SimulationKernel.getCentralPerceptionComponent()
+                .getTrafficObjectIndex().getSurroundingWalls(perceptionModel);
     }
 
     /**
@@ -157,7 +158,7 @@ public BoundingBox getBoundingBox() {
         }
 
         @Override
-        public boolean isInRange(SpatialObject other) {
+        public boolean isInRange(SpatialObject<?> other) {
             if (other.getId().equals(this.ownerId)) { // cannot see itself
                 return false;
             }
@@ -167,10 +168,10 @@ public boolean isInRange(SpatialObject other) {
                 // we use tmpVector2 as origin from the viewpoint of this object
                 tmpVector2.set(0, 0, 0);
 
-                if (tmpVector1.magnitude() > configuration.getViewingRange()) { // other vehicle is NOT in range
+                if (tmpVector1.magnitude() > configuration.getViewingRange()) { // the other vehicle is NOT in range
                     return false;
                 }
-                if (MathUtils.isFuzzyEqual(configuration.getViewingAngle(), 360d)) { // for 360 degree viewing angle field-of-view check is obsolete
+                if (MathUtils.isFuzzyEqual(configuration.getViewingAngle(), 360d)) { // for 360° viewing angle FOV check is obsolete
                     return true;
                 } else if (configuration.getViewingAngle() < 180d) { // for < 180 degree viewing angle we use left and right vector
                     return isBetweenVectors(tmpVector1, tmpVector2, leftBoundVector, rightBoundVector)

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

@@ -65,7 +65,7 @@ public List<TrafficLightObject> getTrafficLightsInRange() {
     }
 
     @Override
-    public List<SpatialObject> getObjectsInRange() {
+    public List<SpatialObject<?>> getObjectsInRange() {
         this.log.debug("Traffic Light Perception not implemented for {} only vehicles will be retrieved.", this.getClass().getSimpleName());
         return new ArrayList<>(getVehiclesInRange());
     }

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

@@ -26,6 +26,19 @@
 import java.util.ArrayList;
 import java.util.List;
 
+/**
+ * An occlusion modifier for other vehicles configuration is done using {@link #pointsPerSide} and {@link #detectionThreshold}.
+ * Example for {@code pointsPerSide = 3} (x's are the corners which will be evaluated anyway, o's are the added points):
+ * <pre>
+ *     x-----o-----x
+ *     |           |
+ *     |           |
+ *     o           o
+ *     |           |
+ *     |           |
+ *     x-----o-----x
+ * </pre>
+ */
 public class BoundingBoxOcclusion implements PerceptionModifier {
 
     private final Vector3d intersectionResult = new Vector3d();
@@ -58,7 +71,6 @@ public BoundingBoxOcclusion() {
      *
      * @param pointsPerSide      the number of points that will be evaluated per object side (corners count towards 2 edges)
      * @param detectionThreshold how many points have to be visible in order for an object to be treated as detected
-     *
      * @throws IllegalArgumentException if pointsPerSide or detectionThreshold is configured wrongly
      */
     public BoundingBoxOcclusion(int pointsPerSide, int detectionThreshold) {
@@ -76,7 +88,7 @@ public BoundingBoxOcclusion(int pointsPerSide, int detectionThreshold) {
     }
 
     @Override
-    public <T extends SpatialObject> List<T> apply(PerceptionModuleOwner owner, List<T> spatialObjects) {
+    public <T extends SpatialObject<?>> List<T> apply(PerceptionModuleOwner owner, List<T> spatialObjects) {
         List<T> newObjects = new ArrayList<>();
         // the ego object cannot occlude vision
         List<T> occludingObjects = spatialObjects.stream()
@@ -115,7 +127,8 @@ public <T extends SpatialObject> List<T> apply(PerceptionModuleOwner owner, List
      * @param occludingObjects all objects that potentially occlude the vehicle
      * @return {@code true} if the point is visible, else {@code false}
      */
-    private <T extends SpatialObject> boolean isVisible(Vector3d egoPosition, Vector3d pointToEvaluate, String objectId, List<T> occludingObjects) {
+    private <T extends SpatialObject<?>> boolean isVisible(Vector3d egoPosition, Vector3d pointToEvaluate,
+                                                           String objectId, List<T> occludingObjects) {
         for (T occludingObject : occludingObjects) {
             if (occludingObject.getId().equals(objectId)) {
                 continue; // cannot be occluded by itself
@@ -146,12 +159,12 @@ private <T extends SpatialObject> boolean isVisible(Vector3d egoPosition, Vector
      *     o           o
      *     |           |
      *     |           |
-     *     x-----o-----y
+     *     x-----o-----x
      * </pre>
      *
      * @param spatialObject a {@link SpatialObject} for which the occlusion should be evaluated
      */
-    private <T extends SpatialObject> List<Vector3d> createPointsToEvaluate(T spatialObject) {
+    private <T extends SpatialObject<?>> List<Vector3d> createPointsToEvaluate(T spatialObject) {
         List<Vector3d> pointsToEvaluate = new ArrayList<>();
         SpatialObjectBoundingBox boundingBox = spatialObject.getBoundingBox();
         // if object has edges and more than 2 points per side are to be evaluated, calculate points that have to be evaluated

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

@@ -43,13 +43,26 @@ public class DimensionsModifier implements PerceptionModifier {
     private final RandomNumberGenerator rng;
 
 
-    public DimensionsModifier(RandomNumberGenerator rng,  double lengthDeviation, double widthDeviation, double heightDeviation) {
+    /**
+     * Constructor for {@link DimensionsModifier} given the sigma values for the gaussian distribution applied to different dimensions.
+     *
+     * @param rng             {@link RandomNumberGenerator} used to generate pseudo-random gaussian numbers
+     * @param lengthDeviation sigma value for the length
+     * @param widthDeviation  sigma value for the width
+     * @param heightDeviation sigma value for the height
+     */
+    public DimensionsModifier(RandomNumberGenerator rng, double lengthDeviation, double widthDeviation, double heightDeviation) {
         this.rng = rng;
         this.lengthDeviation = lengthDeviation;
         this.widthDeviation = widthDeviation;
         this.heightDeviation = heightDeviation;
     }
 
+    /**
+     * Constructor for {@link DimensionsModifier} using default values of 0.2 for the sigma value of the dimensions
+     *
+     * @param rng @link RandomNumberGenerator} used to generate pseudo-random gaussian numbers
+     */
     public DimensionsModifier(RandomNumberGenerator rng) {
         this.rng = rng;
         this.lengthDeviation = SIGMA_LENGTH_OFFSET;
@@ -58,7 +71,7 @@ public DimensionsModifier(RandomNumberGenerator rng) {
     }
 
     @Override
-    public <T extends SpatialObject> List<T> apply(PerceptionModuleOwner owner, List<T> spatialObjects) {
+    public <T extends SpatialObject<?>> List<T> apply(PerceptionModuleOwner owner, List<T> spatialObjects) {
         spatialObjects.stream()
                 .filter(o -> o instanceof VehicleObject)
                 .forEach(o -> adjustDimensionsOfVehicle((VehicleObject) o));

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

@@ -51,7 +51,7 @@ public DistanceFilter(RandomNumberGenerator rng, double offset) {
     }
 
     @Override
-    public <T extends SpatialObject> List<T> apply(PerceptionModuleOwner owner, List<T> spatialObjects) {
+    public <T extends SpatialObject<?>> List<T> apply(PerceptionModuleOwner owner, List<T> spatialObjects) {
         if (spatialObjects.isEmpty()) {
             return spatialObjects;
         }

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

@@ -59,6 +59,13 @@ public HeadingModifier(RandomNumberGenerator rng) {
         this.chanceOfWrongDirection = DEFAULT_CHANCE_WRONG_DIR;
     }
 
+    /**
+     * Constructor for the {@link HeadingModifier} using configured values.
+     *
+     * @param rng                      {@link RandomNumberGenerator} for evaluation of probabilities
+     * @param headingStandardDeviation the sigma value used for the applied heading offset [0, 360]
+     * @param chanceOfWrongDirection   chance for a heading to be rotated by 180° [0, 1]
+     */
     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");
@@ -69,18 +76,15 @@ public HeadingModifier(RandomNumberGenerator rng, double headingStandardDeviatio
     }
 
     @Override
-    public <T extends SpatialObject> List<T> apply(PerceptionModuleOwner owner, List<T> spatialObjects) {
-        final Vector3d ownerPosition = owner.getVehicleData().getProjectedPosition().toVector3d();
-
+    public <T extends SpatialObject<?>> List<T> apply(PerceptionModuleOwner owner, List<T> spatialObjects) {
         spatialObjects.stream()
                 .filter(o -> o instanceof VehicleObject)
-                .forEach(o -> adjustHeadingOfVehicle(ownerPosition, (VehicleObject) o));
+                .forEach(o -> adjustHeadingOfVehicle((VehicleObject) o));
 
         return spatialObjects;
     }
 
-    private void adjustHeadingOfVehicle(Vector3d ownerPosition, VehicleObject vehicleObject) {
-
+    private void adjustHeadingOfVehicle(VehicleObject vehicleObject) {
         double oldHeading = vehicleObject.getHeading();
 
         if (rng.nextDouble() < chanceOfWrongDirection) {

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

@@ -27,5 +27,5 @@ public interface PerceptionModifier {
      *
      * @return the filtered/modified list
      */
-    <T extends SpatialObject> List<T> apply(PerceptionModuleOwner owner, List<T> spatialObjects);
+    <T extends SpatialObject<?>> List<T> apply(PerceptionModuleOwner owner, List<T> spatialObjects);
 }

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

@@ -81,7 +81,7 @@ public PositionModifier(RandomNumberGenerator rng, double longitudinalStandardDe
     }
 
     @Override
-    public <T extends SpatialObject> List<T> apply(PerceptionModuleOwner owner, List<T> spatialObjects) {
+    public <T extends SpatialObject<?>> List<T> apply(PerceptionModuleOwner owner, List<T> spatialObjects) {
         Vector3d ownerPosition = owner.getVehicleData().getProjectedPosition().toVector3d();
         Vector3d ownerDirection = new Vector3d();
         VectorUtils.getDirectionVectorFromHeading(owner.getVehicleData().getHeading(), ownerDirection);

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

@@ -62,13 +62,13 @@ public SimpleOcclusion(double minDetectionAngle, double maxDetectionAngle) {
     }
 
     @Override
-    public <T extends SpatialObject> List<T> apply(PerceptionModuleOwner owner, List<T> spatialObjects) {
+    public <T extends SpatialObject<?>> List<T> apply(PerceptionModuleOwner owner, List<T> spatialObjects) {
         if (spatialObjects.isEmpty()) {
             return spatialObjects;
         }
         Vector3d ownerPosition = owner.getVehicleData().getProjectedPosition().toVector3d();
         // sort by distances
-        List<SpatialObject> sortedByDistance = new ArrayList<>(spatialObjects);
+        List<T> sortedByDistance = new ArrayList<>(spatialObjects);
         sortedByDistance.sort(Comparator.comparingDouble(vehicleObject -> vehicleObject.getPosition().distanceTo(ownerPosition)));
         // fit linear function to (closest distance, min angle) and (furthest distance, max angle)
         double closestPerceivedDistance = ownerPosition.distanceTo(sortedByDistance.get(0).getPosition());
@@ -81,7 +81,7 @@ public <T extends SpatialObject> List<T> apply(PerceptionModuleOwner owner, List
         double m = (maxDetectionAngle - minDetectionAngle) / (furthestPerceivedDistance - closestPerceivedDistance);
         double n = minDetectionAngle - (closestPerceivedDistance * m);
 
-        List<SpatialObject> notOccludedObjects = new ArrayList<>();
+        List<T> notOccludedObjects = new ArrayList<>();
         List<Vector3d> nonOccludedVectors = new ArrayList<>();
         notOccludedObjects.add(sortedByDistance.get(0)); // closest vehicle is always perceived
         nonOccludedVectors.add(getVectorRelativeTo(ownerPosition, sortedByDistance.get(0).getPosition()));

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

@@ -35,7 +35,7 @@
 public class WallOcclusion implements PerceptionModifier {
 
     @Override
-    public <T extends SpatialObject> List<T> apply(PerceptionModuleOwner owner, List<T> spatialObjects) {
+    public <T extends SpatialObject<?>> List<T> apply(PerceptionModuleOwner owner, List<T> spatialObjects) {
         if (spatialObjects.isEmpty()) {
             return spatialObjects;
         }