Sync IMU transforms

LibCarla/source/carla/road/Lane.cpp

@@ -255,7 +255,7 @@ namespace road {
       // is the exact height that match with most of the RoadRunner sidewalks
       dp_r.location.z += 0.1524f;
       dp_l.location.z += 0.1524f;
-      /// TODO: use the OpenDRIVE 5.3.7.2.1.1.9 Lane Height Record
+      /// @TODO: use the OpenDRIVE 5.3.7.2.1.1.9 Lane Height Record
     }
 
     return std::make_pair(dp_r.location, dp_l.location);

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/InertialMeasurementUnit.cpp

@@ -32,6 +32,7 @@ AInertialMeasurementUnit::AInertialMeasurementUnit(
   // Initialized to something hight to minimize the artifacts
   // when the initial values are unknown
   PrevDeltaTime = std::numeric_limits<float>::max();
+  OldTransform = GetActorTransform();
 }
 
 FActorDefinition AInertialMeasurementUnit::GetSensorDefinition()
@@ -39,6 +40,10 @@ FActorDefinition AInertialMeasurementUnit::GetSensorDefinition()
   return UActorBlueprintFunctionLibrary::MakeIMUDefinition();
 }
 
+const FTransform &AInertialMeasurementUnit::GetSyncActorTransform() const {
+  return OldTransform;
+}
+
 void AInertialMeasurementUnit::Set(const FActorDescription &ActorDescription)
 {
   Super::Set(ActorDescription);
@@ -187,6 +192,9 @@ void AInertialMeasurementUnit::Tick(float DeltaTime)
       ComputeAccelerometer(DeltaTime),
       ComputeGyroscope(),
       ComputeCompass());
+
+  // TODO: delete once the new tick pipeline is done
+  OldTransform = GetActorTransform();
 }
 
 void AInertialMeasurementUnit::SetAccelerationStandardDeviation(const FVector &Vec)
@@ -222,6 +230,4 @@ const FVector &AInertialMeasurementUnit::GetGyroscopeBias() const
 void AInertialMeasurementUnit::BeginPlay()
 {
   Super::BeginPlay();
-
-  constexpr float TO_METERS = 1e-2;
 }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/InertialMeasurementUnit.h

@@ -30,6 +30,9 @@ public:
 
   static FActorDefinition GetSensorDefinition();
 
+  /// @TODO: delete once the new tick pipeline is done
+  const FTransform &GetSyncActorTransform() const override;
+
   void Set(const FActorDescription &ActorDescription) override;
 
   void SetOwner(AActor *Owner) override;
@@ -68,6 +71,9 @@ public:
 
 private:
 
+  /// @TODO: delete once the new tick pipeline is done
+  FTransform OldTransform;
+
   void BeginPlay() override;
 
   /// Standard deviation for acceleration settings.

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.cpp

@@ -511,6 +511,7 @@ void ASceneCaptureSensor::Tick(float DeltaTime)
 
   ReadyToCapture = true;
 
+  // TODO: delete once the new tick pipeline is done
   OldTransform = GetActorTransform();
 }
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.h

@@ -34,14 +34,14 @@ class CARLA_API ASceneCaptureSensor : public ASensor
 
 private:
 
-  /// TODO: delete once the new tick pipeline is done
+  /// @TODO: delete once the new tick pipeline is done
   FTransform OldTransform;
 
 public:
 
   ASceneCaptureSensor(const FObjectInitializer &ObjectInitializer);
 
-  /// TODO: delete once the new tick pipeline is done
+  /// @TODO: delete once the new tick pipeline is done
   const FTransform &GetSyncActorTransform() const override;
 
   void Set(const FActorDescription &ActorDescription) override;

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/WorldObserver.h

@@ -39,7 +39,7 @@ public:
     bool PendingLightUpdate);
 
   /// Dummy. Required for compatibility with other sensors only.
-  /// TODO: raname to 'GetActorTransform' once the new tick pipeline is done
+  /// @TODO: raname to 'GetActorTransform' once the new tick pipeline is done
   FTransform GetSyncActorTransform() const
   {
     return {};