detection when multiple spots are present integrated

Author: AadarshHegde123

GEMstack/knowledge/defaults/computation_graph.yaml

@@ -1,69 +1,69 @@
-# This file defines all of the possible elements of the computation
-# graph for the onboard behavior stack.
-#
-# `components` lists the components in order, and defines their permissable inputs and outputs.
-# See AllState for attributes that can be listed as inputs or outputs.
-#
-# The actual implementation of each component must use a subset of the specified inputs
-# and must generate a superset of the specified outputs.
-components:   
-  - state_estimation: 
-      outputs: vehicle
-  - roadgraph_update:
-      inputs: vehicle
-      outputs: roadgraph
-  - obstacle_detection:
-      inputs: vehicle
-      outputs: obstacles
-  - agent_detection:
-      inputs: vehicle
-      outputs: agents
-  - lane_detection:
-      inputs: [vehicle, roadgraph]
-      outputs: vehicle_lane
-  - parking_detection:
-      inputs: agents
-      outputs: [goal, obstacles]
-  - sign_detection: 
-      inputs: [vehicle, roadgraph]
-      outputs: roadgraph.signs
-  - environment_detection:
-      inputs: vehicle
-      outputs: environment
-  - intent_estimation:
-      inputs: [vehicle, roadgraph, agents]
-      outputs: agent_intents
-  - relations_estimation:
-      inputs: [vehicle, roadgraph, agents, obstacles]
-      outputs: relations
-  - predicate_evaluation:
-      inputs: [vehicle, roadgraph, agents, obstacles]
-      outputs: predicates
-  - perception_normalization:
-      inputs: all
-  - mission_execution:
-      outputs: mission
-  - route_planning:
-      inputs: [vehicle, roadgraph, mission]
-      outputs: route
-  - driving_logic:
-      inputs: 
-      outputs: intent
-  - parking_component: # one way
-      inputs: all
-      outputs: mission_plan
-  - summon_component: # one way
-      inputs: all
-      outputs: route
-  - route_planning_component: # one way
-      inputs: all
-      outputs: route
-  - motion_planning:
-      inputs: all
-      outputs: trajectory
-  - trajectory_tracking:
-      inputs: [vehicle, trajectory]
-      outputs: 
-  - signaling:
-      inputs: [intent]
-      outputs:
+# This file defines all of the possible elements of the computation
+# graph for the onboard behavior stack.
+#
+# `components` lists the components in order, and defines their permissable inputs and outputs.
+# See AllState for attributes that can be listed as inputs or outputs.
+#
+# The actual implementation of each component must use a subset of the specified inputs
+# and must generate a superset of the specified outputs.
+components:   
+  - state_estimation: 
+      outputs: vehicle
+  - roadgraph_update:
+      inputs: vehicle
+      outputs: roadgraph
+  - obstacle_detection:
+      inputs: vehicle
+      outputs: obstacles
+  - agent_detection:
+      inputs: vehicle
+      outputs: agents
+  - lane_detection:
+      inputs: [vehicle, roadgraph]
+      outputs: vehicle_lane
+  - parking_detection:
+      inputs: agents
+      outputs: [goal, obstacles]
+  - sign_detection: 
+      inputs: [vehicle, roadgraph]
+      outputs: roadgraph.signs
+  - environment_detection:
+      inputs: vehicle
+      outputs: environment
+  - intent_estimation:
+      inputs: [vehicle, roadgraph, agents]
+      outputs: agent_intents
+  - relations_estimation:
+      inputs: [vehicle, roadgraph, agents, obstacles]
+      outputs: relations
+  - predicate_evaluation:
+      inputs: [vehicle, roadgraph, agents, obstacles]
+      outputs: predicates
+  - perception_normalization:
+      inputs: all
+  - mission_execution:
+      outputs: mission
+  - route_planning:
+      inputs: [vehicle, roadgraph, mission]
+      outputs: route
+  - driving_logic:
+      inputs: 
+      outputs: intent
+  - parking_component: # one way
+      inputs: all
+      outputs: mission_plan
+  - summon_component: # one way
+      inputs: all
+      outputs: route
+  - route_planning_component: # one way
+      inputs: all
+      outputs: route
+  - motion_planning:
+      inputs: all
+      outputs: trajectory
+  - trajectory_tracking:
+      inputs: [vehicle, trajectory]
+      outputs: 
+  - signaling:
+      inputs: [intent]
+      outputs: