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Added a vehicle simualtion update on teleportation

This commit is contained in:
Guillermo 2022-12-16 12:08:56 +01:00 committed by bernat
parent e608c8c55f
commit 7f2d656c25
2 changed files with 10 additions and 2 deletions
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2
CHANGELOG.md
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@ -19,7 +19,7 @@
* Fixed bug causing the scene lights to return an incorrect location at large maps.
* Fixed bug causing the `world.ground_projection()` function to return an incorrect location at large maps.
* Added failure state to vehicles, which can be retrieved by using `Vehicle.get_failure_state()`. Only Rollover failure state is currently supported.
* Fixed bug causing the TM to block the simulation when another client teleported a vehicle with no physics.
* Fixed bug causing the TM to block the simulation when a vehicle with no physics was teleported.
* Fixed bug causing the TM to block the simulation when travelling through a short roads that looped on themselves.
* Improved the TM's handling of non signalized junctions, resulting in a more fluid overall behavior.
* Added check to avoid adding procedural trigger boxes inside intersections.

10
LibCarla/source/carla/trafficmanager/MotionPlanStage.cpp
View File

@ -68,6 +68,7 @@ void MotionPlanStage::Update(const unsigned long index) {
const float vehicle_speed = vehicle_velocity.Length();
const cg::Vector3D vehicle_heading = simulation_state.GetHeading(actor_id);
const bool vehicle_physics_enabled = simulation_state.IsPhysicsEnabled(actor_id);
const float vehicle_speed_limit = simulation_state.GetSpeedLimit(actor_id);
const Buffer &waypoint_buffer = buffer_map.at(actor_id);
const LocalizationData &localization = localization_frame.at(index);
const CollisionHazardData &collision_hazard = collision_frame.at(index);
@ -117,12 +118,19 @@ void MotionPlanStage::Update(const unsigned long index) {
}
}
output_array.at(index) = carla::rpc::Command::ApplyTransform(actor_id, teleportation_transform);
// Update the simulation state with the new transform of the vehicle after teleporting it.
KinematicState kinematic_state{teleportation_transform.location,
teleportation_transform.rotation,
vehicle_velocity, vehicle_speed_limit,
vehicle_physics_enabled, simulation_state.IsDormant(actor_id),
teleportation_transform.location};
simulation_state.UpdateKinematicState(actor_id, kinematic_state);
}
else {
// Target velocity for vehicle.
const float vehicle_speed_limit = simulation_state.GetSpeedLimit(actor_id);
float max_target_velocity = parameters.GetVehicleTargetVelocity(actor_id, vehicle_speed_limit) / 3.6f;
// Algorithm to reduce speed near landmarks