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- package main
- import (
- "cicv-data-closedloop/pjisuv_msgs"
- "cicv-data-closedloop/pjisuv_param"
- "fmt"
- "math"
- )
- func Topic() string {
- return "/tpperception"
- }
- func Label() string {
- return "TTC"
- }
- func Rule(data *pjisuv_msgs.PerceptionObjects, param *pjisuv_param.PjisuvParam) string {
- defer func() {
- if r := recover(); r != nil {
- fmt.Println("Recovered from panic:", r)
- }
- }()
- for _, obj := range data.Objs {
- if math.Abs(float64(obj.Y)) <= 2 && obj.X >= 6 && param.VelocityXOfCicvLocation > 0.5 {
- ttc := -((float64(obj.X) - 4) / (float64(obj.Vxrel) + 0.001))
- if ttc >= 0 && ttc <= 3 {
- return "TTC"
- }
- }
- }
- return ""
- }
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