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Renamed few variables

This commit is contained in:
Marc Garcia Puig 2019-11-15 18:37:12 +01:00
parent a21160743f
commit 8955d61a2e
2 changed files with 14 additions and 14 deletions
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1
PythonAPI/examples/manual_control.py
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@ -643,6 +643,7 @@ class LaneInvasionSensor(object):
text = ['%r' % str(x).split()[-1] for x in lane_types]
self.hud.notification('Crossed line %s' % ' and '.join(text))
# ==============================================================================
# -- GnssSensor --------------------------------------------------------
# ==============================================================================

27
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/GnssSensor.cpp
View File

@ -34,23 +34,22 @@ void AGnssSensor::Tick(float DeltaSeconds)
{
Super::Tick(DeltaSeconds);
carla::geom::Location location = GetActorLocation();
carla::geom::Location Location = GetActorLocation();
carla::geom::GeoLocation current_location = CurrentGeoReference.Transform(location);
carla::geom::GeoLocation CurrentLocation = CurrentGeoReference.Transform(Location);
// Compute the noise for the sensor
const float LatError = RandomEngine->GetNormalDistribution(0.0f, LatitudeDeviation);
const float LonError = RandomEngine->GetNormalDistribution(0.0f, LongitudeDeviation);
const float AltError = RandomEngine->GetNormalDistribution(0.0f, AltitudeDeviation);
// Apply the noise to the sensor
double Latitude = CurrentLocation.latitude + LatitudeBias + LatError;
double Longitude = CurrentLocation.longitude + LongitudeBias + LonError;
double Altitude = CurrentLocation.altitude + AltitudeBias + AltError;
auto Stream = GetDataStream(*this);
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});
Stream.Send(*this, carla::geom::GeoLocation{Latitude, Longitude, Altitude});
}
void AGnssSensor::SetLatitudeDeviation(float Value)