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Fix max speed of pedestrians and a bug fix for windows compilation

This commit is contained in:
bernatx 2019-06-13 10:14:19 +02:00 committed by Néstor Subirón
parent b7486c90a4
commit 2cc9ddafb6
1 changed files with 6 additions and 4 deletions
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10
LibCarla/source/carla/nav/Navigation.cpp
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@ -4,6 +4,9 @@
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
#define _USE_MATH_DEFINES // to avoid undefined error (bug in Visual Studio 2015 and 2017)
#include <cmath>
#include "carla/Logging.h"
#include "carla/nav/Navigation.h"
@ -15,9 +18,8 @@ namespace carla {
namespace nav {
static const int MAX_POLYS = 256;
static const int MAX_AGENTS = 300;
static const int MAX_AGENTS = 500;
static const float AGENT_RADIUS = 0.3f;
static const float AGENT_HEIGHT = 1.8f;
// return a random float
float frand() {
@ -267,9 +269,9 @@ namespace nav {
// set parameters
memset(&params, 0, sizeof(params));
params.radius = AGENT_RADIUS;
params.height = AGENT_HEIGHT;
params.height = base_offset * 2.0f;
params.maxAcceleration = 8.0f;
params.maxSpeed = 2.5f;
params.maxSpeed = 1.47f;
params.collisionQueryRange = params.radius * 12.0f;
params.pathOptimizationRange = params.radius * 30.0f;