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Fixed lead vehicle distance stuttering 

Removed debug statement
This commit is contained in:
Praveen Kumar 2020-03-06 18:19:52 +05:30 committed by Marc Garcia Puig
parent b769786bc3
commit c5cc7b7f2f
2 changed files with 4 additions and 2 deletions
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4
LibCarla/source/carla/trafficmanager/CollisionStage.cpp
View File

@ -202,7 +202,9 @@ namespace CollisionStageConstants {
!(!reference_front_wp->CheckJunction() &&
cg::Math::Dot(reference_heading, reference_to_other) > 0 &&
inter_vehicle_distance > minimum_inter_vehicle_distance)) {
inter_vehicle_distance > std::max(minimum_inter_vehicle_distance,
std::pow(parameters.GetDistanceToLeadingVehicle(reference_vehicle)
+ inter_vehicle_length, 2.0f)))) {
const Polygon reference_geodesic_polygon = GetPolygon(GetGeodesicBoundary(reference_vehicle, reference_location));
const Polygon other_geodesic_polygon = GetPolygon(GetGeodesicBoundary(other_vehicle, other_location));

2
LibCarla/source/carla/trafficmanager/Parameters.cpp
View File

@ -158,7 +158,7 @@ float Parameters::GetDistanceToLeadingVehicle(const ActorPtr &actor) {
} else {
specific_distance_margin = distance_margin;
}
//std::cout <<"distance_margin :- "<< distance_margin <<" " <<"Value of Specific Distance Margin - " << specific_distance_margin << std::endl;
return specific_distance_margin;
}