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Added warnings for substepping parameters.

This commit is contained in:
Daniel Santos-Olivan 2020-11-03 17:00:52 +01:00 committed by DSantosO
parent 95d27a5dcc
commit 1c08f651d4
1 changed files with 15 additions and 0 deletions
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15
LibCarla/source/carla/client/detail/Simulator.cpp
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@ -175,6 +175,21 @@ namespace detail {
"synchronous mode enabled with variable delta seconds. It is highly "
"recommended to set 'fixed_delta_seconds' when running on synchronous mode.");
}
else if (settings.synchronous_mode && settings.substepping) {
if(settings.max_substeps < 1 || settings.max_substeps > 16) {
log_warning(
"synchronous mode and substepping are enabled but the number of substeps is not valid. "
"Please be aware that this value needs to be in the range [1-16].");
}
float n_substeps = settings.fixed_delta_seconds.get() / settings.max_substep_delta_time;
if (n_substeps > static_cast<float>(settings.max_substeps)) {
log_warning(
"synchronous mode and substepping are enabled but the values for the simulation are not valid. "
"The values should fulfil fixed_delta_seconds <= max_substep_delta_time * max_substeps. "
"Be very careful about that, the time deltas are not guaranteed.");
}
}
const auto frame = _client.SetEpisodeSettings(settings);
using namespace std::literals::chrono_literals;
SynchronizeFrame(frame, *_episode, 10s);