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Merge branch 'dev' of https://github.com/carla-simulator/carla into dev

This commit is contained in:
Blyron 2024-05-13 16:07:17 +02:00
parent 5be0e2fd17 9037124f59
commit 649e2aa56b
3 changed files with 10 additions and 8 deletions
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12
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/V2X/PathLossModel.cpp
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@ -6,6 +6,8 @@
#include "Carla.h" #include "Carla.h"
#include "Carla/Game/CarlaEpisode.h" #include "Carla/Game/CarlaEpisode.h"
#include "Math/UnrealMathUtility.h"
#include "PathLossModel.h" #include "PathLossModel.h"
#include <random> #include <random>
#include <limits> #include <limits>
@ -332,7 +334,7 @@ float PathLossModel::ComputeLoss(AActor *OtherActor, FVector Source, FVector Des
EPathState state; EPathState state;
float PathLoss = 0.0; float PathLoss = 0.0;
double VehicleBlockageLoss; double VehicleBlockageLoss = 0.0;
float ShadowFadingLoss = 0.0; float ShadowFadingLoss = 0.0;
// state and vehicle obstacles are call-by-reference // state and vehicle obstacles are call-by-reference
@ -365,7 +367,7 @@ float PathLossModel::ComputeLoss(AActor *OtherActor, FVector Source, FVector Des
{ {
// fspl + knife edge // fspl + knife edge
// fspl // fspl
double free_space_loss = 20.0 * log10(Distance3d) + 20.0 * log10(4.0 * M_PI / lambda); double free_space_loss = 20.0 * log10(Distance3d) + 20.0 * log10(4.0 * PI / lambda);
// add the knife edge vehicle blockage loss // add the knife edge vehicle blockage loss
PathLoss = free_space_loss + CalculateNLOSvLoss(Source, Destination, TxHeight, RxHeight, Distance3d, vehicle_obstacles); PathLoss = free_space_loss + CalculateNLOSvLoss(Source, Destination, TxHeight, RxHeight, Distance3d, vehicle_obstacles);
} }
@ -446,7 +448,7 @@ bool PathLossModel::GetLocationIfVehicle(const FVector CurrentActorLocation, con
void PathLossModel::CalculateFSPL_d0() void PathLossModel::CalculateFSPL_d0()
{ {
m_fspl_d0 = 20.0 * log10(reference_distance_fspl) + 20.0 * log10(Frequency) + 20.0 * log10(4.0 * M_PI / c_speedoflight); m_fspl_d0 = 20.0 * log10(reference_distance_fspl) + 20.0 * log10(Frequency) + 20.0 * log10(4.0 * PI / c_speedoflight);
} }
// Following ETSI TR 103 257-1 V1.1.1 (2019-05: from WINNER Project Board: "D5.3 - WINNER+ Final Channel Models", 30 06 2010. // Following ETSI TR 103 257-1 V1.1.1 (2019-05: from WINNER Project Board: "D5.3 - WINNER+ Final Channel Models", 30 06 2010.
@ -563,7 +565,7 @@ double PathLossModel::CalculateTwoRayPathLoss(double Distance3d, double TxHeight
double gamma = (sin_theta - sqrt(epsilon_r - std::pow(cos_theta, 2))) / (sin_theta + sqrt(epsilon_r - std::pow(cos_theta, 2))); double gamma = (sin_theta - sqrt(epsilon_r - std::pow(cos_theta, 2))) / (sin_theta + sqrt(epsilon_r - std::pow(cos_theta, 2)));
double phi = (2.0 * M_PI / lambda * (Distance3d - d_refl)); double phi = (2.0 * PI / lambda * (Distance3d - d_refl));
return 20 * log10(4.0 * M_PI * d_ground / lambda * 1.0 / sqrt(std::pow(1 + gamma * cos(phi), 2) + std::pow(gamma, 2) * std::pow(sin(phi), 2))); return 20 * log10(4.0 * PI * d_ground / lambda * 1.0 / sqrt(std::pow(1 + gamma * cos(phi), 2) + std::pow(gamma, 2) * std::pow(sin(phi), 2)));
} }

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/V2X/PathLossModel.h
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@ -7,7 +7,7 @@
#pragma once #pragma once
#include <vector> #include <vector>
#include <cmath>
using ActorPowerMap = std::map<AActor *, float>; using ActorPowerMap = std::map<AActor *, float>;
using ActorPowerPair = std::pair<AActor *, float>; using ActorPowerPair = std::pair<AActor *, float>;

4
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CustomTerrainPhysicsComponent.cpp
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@ -1310,13 +1310,13 @@ void UCustomTerrainPhysicsComponent::BeginPlay()
SparseMap.SavePath = SavePath; SparseMap.SavePath = SavePath;
// Creating the FileManager // Creating the FileManager
IPlatformFile& FileManager = FPlatformFileManager::Get().GetPlatformFile(); IPlatformFile& FileManager = FPlatformFileManager::Get().GetPlatformFile();
if( FileManager.CreateDirectory(*SavePath)){ /*if( FileManager.CreateDirectory(*SavePath)){
UE_LOG(LogCarla, Warning, UE_LOG(LogCarla, Warning,
TEXT("Folder was created at %s"), *SavePath); TEXT("Folder was created at %s"), *SavePath);
}else{ }else{
UE_LOG(LogCarla, Error, UE_LOG(LogCarla, Error,
TEXT("Folder was not created at %s"), *SavePath); TEXT("Folder was not created at %s"), *SavePath);
} }*/
if(bUseDeformationPlane){ if(bUseDeformationPlane){
DeformationPlaneActor = GetWorld()->SpawnActor<AStaticMeshActor>(); DeformationPlaneActor = GetWorld()->SpawnActor<AStaticMeshActor>();