Explain hardcoded values

[ClemensLinnhoff]

Reference to a related issue in the repository
#11

Add a description

• Remove unused functions
• Add explanation to hardcoded values, which are waiting for implementation in OSI standard
• Move remaining hardcoded values to profile with an explanation of the value

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• My suggestion follows the governance rules.
• All commits of this PR are signed.
• My changes generate no errors when passing CI tests.
• I updated all documentation (readmes incl. figures) according to my changes.
• I have successfully implemented and tested my fix/feature locally.
• Appropriate reviewer(s) are assigned.

[github-actions]

📜 Run clang-format on the following files

• src/model/strategies/lidar-environmental-effects-strategy/src/DetectionEnvironmentalEffects.cpp

---

💬 Output from clang-tidy

src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp

/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:124:22: warning: [readability-identifier-naming]

invalid case style for local variable 'signal_strength_in_dBm'

                auto signal_strength_in_dBm = rendering_result.received_signal().signal_strength();
                     ^~~~~~~~~~~~~~~~~~~~~~
                     signal_strength_in_d_bm

/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:176:24: warning: [readability-function-cognitive-complexity]

function 'process_collected_beam_cells' has cognitive complexity of 52 (threshold 50)

void DetectionSensing::process_collected_beam_cells(LidarDetectionData* current_sensor,
                       ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:187:15: note: nesting level increased to 1
              [](const DetectionSensing::LidarBeamCellmW& first, const DetectionSensing::LidarBeamCellmW& second) { return first.dist_cell_idx < second.dist_cell_idx; });
              ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:195:5: note: +1, including nesting penalty of 0, nesting level increased to 1
    for (auto& lidar_cuboid_cell_of_beam : lidar_cuboid_cells_of_beam)
    ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:197:9: note: +2, including nesting penalty of 1, nesting level increased to 2
        if (lidar_cuboid_cell_of_beam.dist_cell_idx == summed_dist_cell_of_beam.dist_cell_idx)
        ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:201:9: note: +1, nesting level increased to 2
        else
        ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:210:5: note: +1, including nesting penalty of 0, nesting level increased to 1
    if (!thresholded_summed_dist_cells.empty())
    ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:227:9: note: +2, including nesting penalty of 1, nesting level increased to 2
        for (size_t thresholded_summed_dist_cell_dB_idx = 1; thresholded_summed_dist_cell_dB_idx < thresholded_summed_dist_cells.size(); thresholded_summed_dist_cell_dB_idx++)
        ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:230:13: note: +3, including nesting penalty of 2, nesting level increased to 3
            if ((float)thresholded_summed_dist_cells[thresholded_summed_dist_cell_dB_idx].dist_cell_idx >
            ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:236:17: note: +4, including nesting penalty of 3, nesting level increased to 4
                if (no_of_peaks_in_beam > profile.detection_sensing_parameters.max_echos_per_beam)
                ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:252:13: note: +1, nesting level increased to 3
            else
            ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:258:17: note: +4, including nesting penalty of 3, nesting level increased to 4
                if (thresholded_summed_dist_cells[thresholded_summed_dist_cell_dB_idx].signal_strength_in_dBm > peaks_in_beam[no_of_peaks_in_beam - 1].signal_strength_in_dBm)
                ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:269:9: note: +2, including nesting penalty of 1, nesting level increased to 2
        for (auto& current_peak : peaks_in_beam)
        ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:275:13: note: +3, including nesting penalty of 2, nesting level increased to 3
            if (profile.detection_sensing_parameters.echo_determination_mode == "peak")
            ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:279:13: note: +1, nesting level increased to 3
            else
            ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:287:13: note: +3, including nesting penalty of 2, nesting level increased to 3
            if ((profile.vertical_angle_clamping != "center") && (profile.beam_step_elevation > 0))
            ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:287:63: note: +1
            if ((profile.vertical_angle_clamping != "center") && (profile.beam_step_elevation > 0))
                                                              ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:289:17: note: +4, including nesting penalty of 3, nesting level increased to 4
                if (profile.vertical_angle_clamping == "max_abs")
                ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:294:22: note: +1, nesting level increased to 4
                else if (profile.vertical_angle_clamping == "top")
                     ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:298:22: note: +1, nesting level increased to 4
                else if (profile.vertical_angle_clamping == "bottom")
                     ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:305:13: note: +3, including nesting penalty of 2, nesting level increased to 3
            if (profile.detection_sensing_parameters.distance_stddev > 0.0)
            ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:321:13: note: +3, including nesting penalty of 2, nesting level increased to 3
            if (profile.detection_sensing_parameters.intensity_or_epw == 0)
            ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:324:17: note: +4, including nesting penalty of 3, nesting level increased to 4
                if (profile.detection_sensing_parameters.range_compensate_intensity)
                ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:335:17: note: +1, nesting level increased to 4
                else
                ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:358:13: note: +1, nesting level increased to 3
            else
            ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:373:17: note: +4, including nesting penalty of 3, nesting level increased to 4
                while ((count < signal_strength_to_epw.size() - 1) &&
                ^
/home/runner/work/sl-1-2-reflection-based-lidar-object-model/sl-1-2-reflection-based-lidar-object-model/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:373:68: note: +1
                while ((count < signal_strength_to_epw.size() - 1) &&
                                                                   ^

/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:227:21: warning: [readability-identifier-naming]

invalid case style for local variable 'thresholded_summed_dist_cell_dB_idx'

        for (size_t thresholded_summed_dist_cell_dB_idx = 1; thresholded_summed_dist_cell_dB_idx < thresholded_summed_dist_cells.size(); thresholded_summed_dist_cell_dB_idx++)
                    ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~                                         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
                    thresholded_summed_dist_cell_d_b_idx     thresholded_summed_dist_cell_d_b_idx                                        thresholded_summed_dist_cell_d_b_idx

/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:326:28: warning: [readability-identifier-naming]

invalid case style for local variable 'signal_strength_in_mW'

                    double signal_strength_in_mW = pow(10, current_peak.signal_strength_in_dBm / 10);
                           ^~~~~~~~~~~~~~~~~~~~~
                           signal_strength_in_m_w

/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:327:28: warning: [readability-identifier-naming]

invalid case style for local variable 'signal_strength_in_mW_range_compensated'

                    double signal_strength_in_mW_range_compensated = signal_strength_in_mW * (pow(detection->position().distance(), 2));
                           ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
                           signal_strength_in_m_w_range_compensated

/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:329:28: warning: [readability-identifier-naming]

invalid case style for local variable 'emitted_signal_strength_mW'

                    double emitted_signal_strength_mW = pow(10.0, profile.max_emitted_signal_strength_in_dBm / 10.0);
                           ^~~~~~~~~~~~~~~~~~~~~~~~~~
                           emitted_signal_strength_m_w

/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:393:10: warning: [readability-identifier-naming]

invalid case style for local variable 'summed_signal_strength_in_dBm'

    auto summed_signal_strength_in_dBm = 10 * std::log10(summed_dist_cell_of_beam_ptr->signal_strength_in_mW);
         ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
         summed_signal_strength_in_d_bm

/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:401:20: warning: [readability-identifier-naming]

invalid case style for local variable 'threshold_mW'

            double threshold_mW = pow(10.0, threshold / 10.0) * pow(thres_distance_m, 2) / pow(range, 2);
                   ^~~~~~~~~~~~
                   threshold_m_w

/src/model/strategies/lidar-detection-sensing-strategy/src/DetectionSensing.cpp:408:26: warning: [readability-identifier-naming]

invalid case style for local variable 'thresholded_summed_dist_cell_dBm'

        LidarBeamCelldBm thresholded_summed_dist_cell_dBm;
                         ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
                         thresholded_summed_dist_cell_d_bm

---

src/model/strategies/lidar-environmental-effects-strategy/src/DetectionEnvironmentalEffects.cpp

/src/model/strategies/lidar-environmental-effects-strategy/src/DetectionEnvironmentalEffects.cpp:337:26: warning: [readability-identifier-naming]

invalid case style for local constant 'Gamma'

            const double Gamma = existing_detection.intensity() / 100.0 * 255.0 / 100.0;    //todo: calibrated to intensity values of Velodyne sensor. Change for other lidar types.
                         ^~~~~
                         gamma

/src/model/strategies/lidar-environmental-effects-strategy/src/DetectionEnvironmentalEffects.cpp:747:20: warning: [readability-identifier-naming]

invalid case style for local variable 'emitted_signal_strength_mW'

            double emitted_signal_strength_mW = pow(10.0, profile.max_emitted_signal_strength_in_dBm / 10.0);
                   ^~~~~~~~~~~~~~~~~~~~~~~~~~
                   emitted_signal_strength_m_w

/src/model/strategies/lidar-environmental-effects-strategy/src/DetectionEnvironmentalEffects.cpp:749:20: warning: [readability-identifier-naming]

invalid case style for local variable 'attenuated_power_mW'

            double attenuated_power_mW =
                   ^~~~~~~~~~~~~~~~~~~
                   attenuated_power_m_w

/src/model/strategies/lidar-environmental-effects-strategy/src/DetectionEnvironmentalEffects.cpp:754:20: warning: [readability-identifier-naming]

invalid case style for local variable 'attenuated_power_noise_mW'

            double attenuated_power_noise_mW = noise_distribution(generator);
                   ^~~~~~~~~~~~~~~~~~~~~~~~~
                   attenuated_power_noise_m_w

/src/model/strategies/lidar-environmental-effects-strategy/src/DetectionEnvironmentalEffects.cpp:755:20: warning: [readability-identifier-naming]

invalid case style for local variable 'attenuated_power_dBm'

            double attenuated_power_dBm = 10 * log10(attenuated_power_noise_mW);
                   ^~~~~~~~~~~~~~~~~~~~
                   attenuated_power_d_bm

/src/model/strategies/lidar-environmental-effects-strategy/src/DetectionEnvironmentalEffects.cpp:762:28: warning: [readability-identifier-naming]

invalid case style for local variable 'threshold_mW'

                    double threshold_mW = pow(10.0, threshold / 10.0) * pow(profile.detection_sensing_parameters.thres_distance_m, 2) / pow(range, 2);
                           ^~~~~~~~~~~~
                           threshold_m_w