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Fixed PR review recommendations

This commit is contained in:
Marc Garcia Puig 2019-11-20 13:33:05 +01:00
parent 5aa514fb03
commit 8b88803163
4 changed files with 14 additions and 12 deletions
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3
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorBlueprintFunctionLibrary.cpp
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@ -654,7 +654,6 @@ void UActorBlueprintFunctionLibrary::MakeIMUDefinition(
FActorDefinition &Definition)
{
FillIdAndTags(Definition, TEXT("sensor"), TEXT("other"), TEXT("imu"));
// AddRecommendedValuesForSensorRoleNames(Definition);
AddVariationsForSensor(Definition);
// - Noise seed --------------------------------
@ -798,8 +797,8 @@ void UActorBlueprintFunctionLibrary::MakeGnssDefinition(
FActorDefinition &Definition)
{
FillIdAndTags(Definition, TEXT("sensor"), TEXT("other"), TEXT("gnss"));
AddRecommendedValuesForSensorRoleNames(Definition);
AddVariationsForSensor(Definition);
// - Noise seed --------------------------------
FActorVariation NoiseSeed;
NoiseSeed.Id = TEXT("noise_seed");

2
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorBlueprintFunctionLibrary.h
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@ -8,11 +8,11 @@
#include "Carla/Actor/ActorDefinition.h"
#include "Carla/Actor/ActorDescription.h"
#include "Carla/Sensor/InertialMeasurementUnit.h"
#include "Carla/Actor/PedestrianParameters.h"
#include "Carla/Actor/PropParameters.h"
#include "Carla/Actor/VehicleParameters.h"
#include "Carla/Sensor/GnssSensor.h"
#include "Carla/Sensor/InertialMeasurementUnit.h"
#include "Kismet/BlueprintFunctionLibrary.h"

15
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/InertialMeasurementUnit.cpp
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@ -5,8 +5,8 @@
// For a copy, see <https://opensource.org/licenses/MIT>.
#include "Carla.h"
#include "Carla/Sensor/InertialMeasurementUnit.h"
#include "Carla/Sensor/InertialMeasurementUnit.h"
#include "Carla/Actor/ActorBlueprintFunctionLibrary.h"
#include "Carla/Sensor/WorldObserver.h"
#include "Carla/Vehicle/CarlaWheeledVehicle.h"
@ -66,9 +66,9 @@ static FVector FIMU_GetActorAngularVelocityInRadians(
const carla::geom::Vector3D AInertialMeasurementUnit::ComputeAccelerometerNoise(
const FVector &Accelerometer)
{
// mean = 0.0f
// norm_distr => (mean, standard_deviation)
// Noise function => acc + norm_distr
// Normal (or Gaussian or Gauss) distribution will be used as noise function.
// A mean of 0.0 is used as a first parameter, the standard deviation is
// determined by the client
constexpr float Mean = 0.0f;
return carla::geom::Vector3D {
Accelerometer.X + RandomEngine->GetNormalDistribution(Mean, StdDevAccel.X),
@ -80,9 +80,10 @@ const carla::geom::Vector3D AInertialMeasurementUnit::ComputeAccelerometerNoise(
const carla::geom::Vector3D AInertialMeasurementUnit::ComputeGyroscopeNoise(
const FVector &Gyroscope)
{
// mean = 0.0f
// norm_distr => (mean, standard_deviation)
// Noise function => ang_vel + bias + norm_distr
// Normal (or Gaussian or Gauss) distribution and a bias will be used as
// noise function.
// A mean of 0.0 is used as a first parameter.The standard deviation and the
// bias are determined by the client
constexpr float Mean = 0.0f;
return carla::geom::Vector3D {
Gyroscope.X + BiasGyro.X + RandomEngine->GetNormalDistribution(Mean, StdDevGyro.X),

6
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/InertialMeasurementUnit.h
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@ -36,9 +36,11 @@ public:
void Tick(float DeltaTime) override;
const carla::geom::Vector3D ComputeAccelerometerNoise(const FVector &Accelerometer);
const carla::geom::Vector3D ComputeAccelerometerNoise(
const FVector &Accelerometer);
const carla::geom::Vector3D ComputeGyroscopeNoise(const FVector &Gyroscope);
const carla::geom::Vector3D ComputeGyroscopeNoise(
const FVector &Gyroscope);
/// Accelerometer: measures linear acceleration in m/s^2
carla::geom::Vector3D ComputeAccelerometer(const float DeltaTime);