separate arrows for obstacle velocity and heading (#868)

modules/dreamview/backend/simulation_world/simulation_world_service.cc

@@ -112,6 +112,8 @@ void SetObstacleInfo(const PerceptionObstacle &obstacle, Object *world_object) {
   world_object->set_height(obstacle.height());
   world_object->set_speed(
       std::hypot(obstacle.velocity().x(), obstacle.velocity().y()));
+  world_object->set_speed_heading(
+        std::atan2(obstacle.velocity().y(), obstacle.velocity().x()));
   world_object->set_timestamp_sec(obstacle.timestamp());
 }
 

modules/dreamview/backend/simulation_world/simulation_world_service_test.cc

@@ -233,6 +233,7 @@ TEST_F(SimulationWorldServiceTest, UpdatePerceptionObstacles) {
       EXPECT_DOUBLE_EQ(5.0, object.width());
       EXPECT_DOUBLE_EQ(6.0, object.height());
       EXPECT_DOUBLE_EQ(5.0, object.speed());
+      EXPECT_NEAR(0.927295, object.speed_heading(), kEpsilon);
       EXPECT_EQ(0, object.polygon_point_size());
       EXPECT_EQ(Object_Type_VEHICLE, object.type());
     } else {

modules/dreamview/frontend/src/components/SideBar/Menu.js

@@ -26,7 +26,8 @@ const MenuIdOptionMapping = {
         perceptionUnknownUnmovable: 'showObstaclesUnknownUnmovable',
         perceptionUnknown: 'showObstaclesUnknown',
         perceptionVirtual: 'showObstaclesVirtual',
-        perceptionArrow: 'showObstaclesArrow',
+        perceptionVelocity: 'showObstaclesVelocity',
+        perceptionHeading: 'showObstaclesHeading',
         perceptionId: 'showObstaclesId',
         predictionMajor: 'showPredictionMajor',
         predictionMinor: 'showPredictionMinor',

modules/dreamview/frontend/src/renderer/obstacles.js

@@ -60,14 +60,20 @@ export default class PerceptionObstacles {
                                       obstacle.positionY,
                                       (obstacle.height || DEFAULT_HEIGHT) / 2));
             const color = ObstacleColorMapping[obstacle.type] || DEFAULT_COLOR;
-            if (STORE.options.showObstaclesArrow && obstacle.type &&
+            if (STORE.options.showObstaclesVelocity && obstacle.type &&
                     obstacle.type !== 'UNKNOWN_UNMOVABLE' && obstacle.speed > 0.5) {
-                const arrowMesh = this.updateArrow(position, obstacle.heading,
-                        color, arrowIdx++, scene);
+                const arrowMesh = this.updateArrow(position,
+                        obstacle.speedHeading, color, arrowIdx++, scene);
                 const scale = 1 + Math.log2(obstacle.speed);
                 arrowMesh.scale.set(scale, scale, scale);
                 arrowMesh.visible = true;
             }
+            if (STORE.options.showObstaclesHeading) {
+                const arrowMesh = this.updateArrow(position, obstacle.heading,
+                        0xFFFFFF, arrowIdx++, scene);
+                arrowMesh.scale.set(1, 1, 1);
+                arrowMesh.visible = true;
+            }
             if (STORE.options.showObstaclesId) {
                 this.updateId(obstacle.id,
                         new THREE.Vector3(position.x, position.y, obstacle.height),

modules/dreamview/frontend/src/store/config/MenuData.js

@@ -10,7 +10,8 @@ export default [
             perceptionUnknownMovable: 'Unknown Movable',
             perceptionUnknownUnmovable: 'Unknown Stationary',
             perceptionUnknown: 'Unknown',
-            perceptionArrow: 'Heading & Speed',
+            perceptionVelocity: 'Velocity',
+            perceptionHeading: 'Heading',
             perceptionId: 'Id'
         }
     }, {

modules/dreamview/frontend/src/store/config/parameters.yml

@@ -48,7 +48,8 @@ options:
     showObstaclesUnknownUnmovable: true
     showObstaclesUnknown: true
     showObstaclesVirtual: false
-    showObstaclesArrow: true
+    showObstaclesVelocity: true
+    showObstaclesHeading: true
     showObstaclesId: true
     cameraAngle: Default
 debug:

modules/dreamview/frontend/src/store/options.js

@@ -22,8 +22,10 @@ export default class Options {
         PARAMETERS.options.defaults.showObstaclesUnknown;
     @observable showObstaclesVirtual =
         PARAMETERS.options.defaults.showObstaclesVirtual;
-    @observable showObstaclesArrow =
-        PARAMETERS.options.defaults.showObstaclesArrow;
+    @observable showObstaclesVelocity =
+        PARAMETERS.options.defaults.showObstaclesVelocity;
+    @observable showObstaclesHeading =
+        PARAMETERS.options.defaults.showObstaclesHeading;
     @observable showObstaclesId =
         PARAMETERS.options.defaults.showObstaclesId;
     @observable cameraAngle = PARAMETERS.options.defaults.cameraAngle;