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Adding conversion for meter / centimeter for Vector3D

This commit is contained in:
bernatx 2019-01-23 13:59:59 +01:00 committed by nsubiron
parent eaf3392c66
commit c360d1407b
6 changed files with 26 additions and 12 deletions
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2
LibCarla/source/carla/client/detail/EpisodeState.cpp
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@ -38,7 +38,7 @@ namespace detail {
DEBUG_ONLY(auto result = )
next->_actors.emplace(
actor.id,
ActorState{actor.transform, actor.velocity, actor.angularVelocity, acceleration, actor.state});
ActorState{actor.transform, actor.velocity, actor.angular_velocity, acceleration, actor.state});
DEBUG_ASSERT(result.second);
}
return next;

2
LibCarla/source/carla/client/detail/EpisodeState.h
View File

@ -29,7 +29,7 @@ namespace detail {
struct ActorState {
geom::Transform transform;
geom::Vector3D velocity;
geom::Vector3D angularVelocity;
geom::Vector3D angular_velocity;
geom::Vector3D acceleration;
sensor::data::ActorDynamicState::TypeDependentState state;
};

2
LibCarla/source/carla/client/detail/Simulator.h
View File

@ -178,7 +178,7 @@ namespace detail {
}
geom::Vector3D GetActorAngularVelocity(const Actor &actor) const {
return GetActorDynamicState(actor).angularVelocity;
return GetActorDynamicState(actor).angular_velocity;
}
void SetActorAngularVelocity(const Actor &actor, const geom::Vector3D &vector) {

18
LibCarla/source/carla/geom/Vector3D.h
View File

@ -137,8 +137,22 @@ namespace geom {
#ifdef LIBCARLA_INCLUDED_FROM_UE4
Vector3D(const FVector &vector) // from centimeters to meters.
: Vector3D(1e-2f * vector.X, 1e-2f * vector.Y, 1e-2f * vector.Z) {}
Vector3D(const FVector &vector)
: Vector3D(vector.X, vector.Y, vector.Z) {}
Vector3D &ToMeters(void) { // from centimeters to meters.
x *= 0.001f;
y *= 0.001f;
z *= 0.001f;
return *this;
}
Vector3D &ToCentimeters(void) { // from meters to centimeters.
x *= 100.0f;
y *= 100.0f;
z *= 100.0f;
return *this;
}
operator FVector() const {
return FVector{1e2f * x, 1e2f * y, 1e2f * z}; // from meters to centimeters.

2
LibCarla/source/carla/sensor/data/ActorDynamicState.h
View File

@ -88,7 +88,7 @@ namespace detail {
geom::Vector3D velocity;
geom::Vector3D angularVelocity;
geom::Vector3D angular_velocity;
union TypeDependentState {
rpc::TrafficLightState traffic_light_state;

12
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/TheNewCarlaServer.cpp
View File

@ -305,7 +305,7 @@ void FTheNewCarlaServer::FPimpl::BindActions()
if (!ActorView.IsValid() || ActorView.GetActor()->IsPendingKill()) {
RespondErrorStr("unable to get actor velocity: actor not found");
}
return {ActorView.GetActor()->GetRootComponent()->GetComponentVelocity()};
return cr::Vector3D(ActorView.GetActor()->GetRootComponent()->GetComponentVelocity()).ToMeters();
});
Server.BindSync("get_actor_angular_velocity", [this](cr::Actor Actor) -> cr::Vector3D {
@ -318,7 +318,7 @@ void FTheNewCarlaServer::FPimpl::BindActions()
if (RootComponent == nullptr) {
RespondErrorStr("unable to get actor angular velocity: not supported by actor");
}
return {RootComponent->GetPhysicsAngularVelocityInDegrees()};
return cr::Vector3D(RootComponent->GetPhysicsAngularVelocityInDegrees()).ToMeters();
});
Server.BindSync("set_actor_angular_velocity", [this](
@ -334,7 +334,7 @@ void FTheNewCarlaServer::FPimpl::BindActions()
RespondErrorStr("unable to set actor angular velocity: not supported by actor");
}
RootComponent->SetPhysicsAngularVelocityInDegrees(
vector,
vector.ToCentimeters(),
false,
"None");
});
@ -352,7 +352,7 @@ void FTheNewCarlaServer::FPimpl::BindActions()
RespondErrorStr("unable to set actor velocity: not supported by actor");
}
RootComponent->SetPhysicsLinearVelocity(
vector,
vector.ToCentimeters(),
false,
"None");
});
@ -370,7 +370,7 @@ void FTheNewCarlaServer::FPimpl::BindActions()
RespondErrorStr("unable to add actor force: not supported by actor");
}
RootComponent->AddForce(
vector,
vector.ToCentimeters(),
"None",
false);
});
@ -388,7 +388,7 @@ void FTheNewCarlaServer::FPimpl::BindActions()
RespondErrorStr("unable to add actor impulse: not supported by actor");
}
RootComponent->AddImpulse(
vector,
vector.ToCentimeters(),
"None",
false);
});