-
Notifications
You must be signed in to change notification settings - Fork 22
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
docs: Update documentation for 0.22.0 release
- Loading branch information
Showing
6 changed files
with
203 additions
and
3 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,144 @@ | ||
| # Version 0.22.0 Release | ||
|
|
||
| This version comes relatively soon after the previous version, | ||
| but includes some additions that have been several months in the | ||
| making. | ||
|
|
||
| For the entire changelog, see the [Git commit history](https://github.com/eclipse/cloe/compare/v0.21.0...v0.22.0). | ||
|
|
||
| ## ESMini Simulator Plugin | ||
|
|
||
| This release marks the initial release of the ESMini simulator | ||
| plugin binding. | ||
|
|
||
| You can use it by adding it to your test configuration `conanfile.py` | ||
| at the appropriate location: | ||
|
|
||
| ```python | ||
| require("cloe-plugin-esmini/0.22.0@cloe/develop") | ||
| ``` | ||
|
|
||
| The ESMini simulator uses OpenScenario XML files as inputs, and | ||
| this needs to be configured in the stackfile in order for you | ||
| to use it: | ||
|
|
||
| ```yaml | ||
| version: "4" | ||
| simulators: | ||
| binding: esmini | ||
| args: | ||
| headless: true | ||
| scenario: "${ESMINI_XOSC_PATH}/test-driver.xosc" | ||
| vehicles: | ||
| Ego: | ||
| closed_loop: true | ||
| filter_distance: 200.0 | ||
| vehicles: | ||
| name: default | ||
| from: | ||
| simulator: esmini | ||
| index: 0 | ||
| ``` | ||
| The `${ESMINI_XOSC_PATH}` is defined by the `esmini-data` Conan package | ||
| and made available in the environment through `cloe-launch`. (You | ||
| can of course use your own environment variables if you want, | ||
| or none at all.) | ||
|
|
||
| The above example code assumes it will integrate in an existing vehicle | ||
| and controller configuration and be passed to cloe-engine as JSON. | ||
|
|
||
| See {doc}`the reference documentation <../reference/plugins/esmini>` for more. | ||
|
|
||
| ## Clothoid-Fit Component Plugin | ||
|
|
||
| The clothoid-fit component plugin for lane boundaries makes its | ||
| entrance. | ||
|
|
||
| You can use it by adding it to your test configuration `conanfile.py` | ||
| at the appropriate location: | ||
|
|
||
| ```python | ||
| require("cloe-plugin-clothoid-fit/0.22.0@cloe/develop") | ||
| ``` | ||
|
|
||
| And then you need to configure your vehicle in the stackfile: | ||
|
|
||
| ```yaml | ||
| version: "4" | ||
| vehicles: | ||
| name: default | ||
| from: | ||
| simulator: minimator | ||
| name: ego1 | ||
| components: | ||
| "cloe::clothoid_fit": | ||
| binding: clothoid_fit | ||
| from: "cloe::default_lane_sensor" | ||
| args: | ||
| enable: true | ||
| estimation_distance: 40 | ||
| ``` | ||
|
|
||
| The above example code assumes it will integrate in an existing vehicle | ||
| and simulator configuration and be passed to cloe-engine as JSON. | ||
|
|
||
| See {doc}`the reference documentation <../reference/plugins/clothoid_fit>` for more. | ||
|
|
||
| ## Fable Library | ||
|
|
||
| Compile-time improvements for the Fable library radically | ||
| speed up the compilation of code that use the `make_schema` functions. | ||
|
|
||
| However, the following definitions were removed from the Fable | ||
| library in order to make the `make_schema()` functions consistent: | ||
|
|
||
| - `Struct make_schema(TPropertyList&&)` | ||
| - `Struct make_schema(std::string&&, TPropertyList&&)` | ||
| - `Struct make_schema(std::string&&, const Box&, TPropertyList&&)` | ||
| - `Struct make_schema(std::string&&, const Struct&, TPropertyList&&)` | ||
| - `Variant make_schema(std::string&&, std::initializer_list<Box>)` | ||
| - `Variant make_schema(std::string&&, std::vector<Box>&&)` | ||
| - `Variant make_schema(std::initializer_list<Box>)` | ||
| - `Variant make_schema(std::vector<Box>&&)` | ||
| - `Ignore make_schema(std::string&&, JsonType t = Jsontype::object)` | ||
|
|
||
| The purpose of `make_schema()` is to make it easy to derive the | ||
| correct schema for any C++ standard type you may have, even | ||
| more complex ones such as `std::vector<std::map<std::string, MyConfableClass>>`. | ||
| The removed `make_schema()` definitions do not fall into this | ||
| use-case, and were rarely if ever used. | ||
|
|
||
| If you want to create a struct, please use `fable::Schema` or | ||
| `fable::schema::Struct` directly: | ||
|
|
||
| ```cpp | ||
| return fable::Schema{ | ||
| { "foo", fable::Schema { | ||
| { "nested", make_schema(&variable, "description") }, | ||
| }} | ||
| }; | ||
| ``` | ||
|
|
||
| If you want to create a variant, please use `fable::schema::Variant` | ||
| directly: | ||
|
|
||
| ```cpp | ||
| return fable::schema::Variant{ | ||
| fable::Schema{ /* variant 1 * / }, | ||
| /* ... */ | ||
| fable::Schema{ /* variant N * / }, | ||
| }; | ||
| ``` | ||
|
|
||
| If you want to name a key but ignore it, please use `fable::schema::Ignore` | ||
| directly: | ||
|
|
||
| ```cpp | ||
| return fable::Schema{ | ||
| { "field", make_schema(&value, "description") }, | ||
| { "ignore", fable::schema::Ignore("description") }, | ||
| }; | ||
| ``` | ||
|
|
||
| Please see the respective header files for more initialization forms. |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters