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Fixed comments with no ASCII characters

This commit is contained in:
dotero 2019-12-04 15:06:14 +01:00 committed by Marc Garcia Puig
parent 47aa772b60
commit ba32d5a08e
1 changed files with 17 additions and 10 deletions
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27
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Radar.cpp
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@ -181,16 +181,23 @@ void ARadar::SendLineTraces(float DeltaSeconds)
}
float ARadar::CalculateRelativeVelocity(const FHitResult& OutHit, const FVector& ForwardVector) {
// Calculate Doppler speed
// 𝐹𝑑 = 2𝑉 (𝐹0/𝑐) cos(𝜃)
// 𝐹𝑑 = Doppler shift (Hz)
// 𝑉 = Velocity
// 𝐹0 = Original wave frequency (Hz)
// 𝑐 = Speed of light
// θ = Offset angle of sensor relative to direction of object motion
// 𝐹0 = 35.5 ± 0.1 𝐺𝐻 ;
// The frequency of the output increases by 105.8 ± 0.3 Hz for every mph (65.74 ± 0.19 Hz per kph) of velocity
float ARadar::CalculateRelativeVelocity(const FHitResult& OutHit, const FVector& ForwardVector)
{
/**
* Calculate Doppler speed
*
* Fd = 2V (F0 / c) cos(Theta)
* Fd = Doppler shift (Hz)
* V = Velocity
* F0 = Original wave frequency (Hz)
* c = Speef of light
* Theta = Offset angle of sensor relative to direction of object motion
* F0 = 35.5 +- 0.1 GHz
*
* The frequency of the ouput increases by 105.8 +- 0.3 Hz for every mph
* (65.74 +- 0.19 Hz per Kmph) of velocity
*
*/
constexpr float TO_METERS = 1e-2;
constexpr float KMPH_TO_MPS = 3600.0f / 1000.0f;