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Added missed Set function to Gnss and fixed Set function in BlueprintLibrary

This commit is contained in:
dotero 2019-11-15 12:17:59 +01:00 committed by Marc Garcia Puig
parent 5e17f743cd
commit 2bc3b397cb
3 changed files with 25 additions and 8 deletions
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10
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorBlueprintFunctionLibrary.cpp
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@ -1280,13 +1280,13 @@ void UActorBlueprintFunctionLibrary::SetGnss(
Gnss->SetLatitudeDeviation(
RetrieveActorAttributeToFloat("noise_lat_stddev", Description.Variations, 0.0f));
Gnss->SetLongitudeDeviation(
RetrieveActorAttributeToFloat("noise_lat_bias", Description.Variations, 0.0f));
Gnss->SetAltitudeDeviation(
RetrieveActorAttributeToFloat("noise_long_stddev", Description.Variations, 0.0f));
Gnss->SetLatitudeBias(
RetrieveActorAttributeToFloat("noise_long_bias", Description.Variations, 0.0f));
Gnss->SetLongitudeBias(
Gnss->SetAltitudeDeviation(
RetrieveActorAttributeToFloat("noise_alt_stddev", Description.Variations, 0.0f));
Gnss->SetLatitudeBias(
RetrieveActorAttributeToFloat("noise_lat_bias", Description.Variations, 0.0f));
Gnss->SetLongitudeBias(
RetrieveActorAttributeToFloat("noise_long_bias", Description.Variations, 0.0f));
Gnss->SetAltitudeBias(
RetrieveActorAttributeToFloat("noise_alt_bias", Description.Variations, 0.0f));
}

21
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/GnssSensor.cpp
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@ -24,6 +24,14 @@ FActorDefinition AGnssSensor::GetSensorDefinition()
return UActorBlueprintFunctionLibrary::MakeGnssDefinition();
}
void AGnssSensor::Set(const FActorDescription &ActorDescription)
{
Super::Set(ActorDescription);
// Fill the parameters that the user requested
// Not currently needed in this sensor
UActorBlueprintFunctionLibrary::SetGnss(ActorDescription, this);
}
void AGnssSensor::Tick(float DeltaSeconds)
{
Super::Tick(DeltaSeconds);
@ -33,9 +41,16 @@ void AGnssSensor::Tick(float DeltaSeconds)
carla::geom::GeoLocation current_location = CurrentGeoLocation.Transform(location);
auto Stream = GetDataStream(*this);
double latitude = current_location.latitude + LatitudeBias + RandomEngine->GetNormalDistribution(0.0f, LatitudeDeviation);
double longitude = current_location.longitude + LongitudeBias + RandomEngine->GetNormalDistribution(0.0f, LongitudeDeviation);
double altitude = current_location.altitude + AltitudeBias + RandomEngine->GetNormalDistribution(0.0f, AltitudeDeviation);;
float lat_error = RandomEngine->GetNormalDistribution(0.0f, LatitudeDeviation);
float long_error = RandomEngine->GetNormalDistribution(0.0f, LongitudeDeviation);
float alt_error = RandomEngine->GetNormalDistribution(0.0f, AltitudeDeviation);
UE_LOG(LogCarla, Warning, TEXT("lat = %f - long = %f - alt = %f"), lat_error, long_error, alt_error);
UE_LOG(LogCarla, Warning, TEXT("lat_dev = %f - long_dev = %f - alt_dev = %f"), LatitudeDeviation, LongitudeDeviation, AltitudeDeviation);
double latitude = current_location.latitude + LatitudeBias + lat_error;
double longitude = current_location.longitude + LongitudeBias + long_error;
double altitude = current_location.altitude + AltitudeBias + alt_error;
Stream.Send(*this, carla::geom::GeoLocation{latitude, longitude, altitude});
}

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/GnssSensor.h
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@ -30,6 +30,8 @@ public:
static FActorDefinition GetSensorDefinition();
void Set(const FActorDescription &ActorDescription);
void Tick(float DeltaSeconds) override;
void SetLatitudeDeviation(float Value);