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Removing unnecessary comments

This commit is contained in:
Joel Moriana 2022-02-07 12:54:42 +01:00 committed by joel-mb
parent 8cc6f132fc
commit c82f9ffc9f
2 changed files with 30 additions and 108 deletions
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128
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/AcekrmannController.cpp
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@ -14,7 +14,7 @@
FAckermannController::~FAckermannController() {} FAckermannController::~FAckermannController() {}
// ============================================================================= // =============================================================================
// -- FAckermannController -------------------------------------------------------------- // -- FAckermannController -----------------------------------------------------
// ============================================================================= // =============================================================================
FAckermannControllerSettings FAckermannController::GetSettings() const { FAckermannControllerSettings FAckermannController::GetSettings() const {
@ -59,25 +59,18 @@ void FAckermannController::Reset() {
// Reset control parameters // Reset control parameters
Steer = 0.0f; Steer = 0.0f;
//SpeedControlActivation = 0;
SpeedControlAccelDelta = 0.0f; SpeedControlAccelDelta = 0.0f;
SpeedControlAccelTarget = 0.0f; SpeedControlAccelTarget = 0.0f;
AccelControlPedalDelta = 0.0f; AccelControlPedalDelta = 0.0f;
AccelControlPedalTarget = 0.0f; AccelControlPedalTarget = 0.0f;
//ThrottleLowerBorder = 0.0f;
//BrakeUpperBorder = 0.0f;
// Reset vehicle state // Reset vehicle state
VehicleSpeed = 0.0f; VehicleSpeed = 0.0f;
VehicleAcceleration = 0.0f; VehicleAcceleration = 0.0f;
//VehiclePitch = 0.0f;
LastVehicleSpeed = 0.0f; LastVehicleSpeed = 0.0f;
LastVehicleAcceleration = 0.0f; LastVehicleAcceleration = 0.0f;
//LastVehiclePitch = 0.0f;
} }
void FAckermannController::RunLoop(FVehicleControl& Control) { void FAckermannController::RunLoop(FVehicleControl& Control) {
@ -172,36 +165,20 @@ void FAckermannController::RunControlReverse() {
void FAckermannController::RunControlSpeed() { void FAckermannController::RunControlSpeed() {
SpeedController.SetTargetPoint(TargetSpeed);
SpeedControlAccelDelta = SpeedController.Run(VehicleSpeed, DeltaTime);
// TODO(joel): Minimum acceleration 1.0f // Clipping borders
//if (FMath::Abs(TargetAcceleration) < 1.0f) { float ClippingLowerBorder = -FMath::Abs(TargetAcceleration);
// SpeedControlActivation = (SpeedControlActivation < 5) ? SpeedControlActivation + 1 : SpeedControlActivation; float ClippingUpperBorder = FMath::Abs(TargetAcceleration);
//} else { if (FMath::Abs(TargetAcceleration) < 0.0001f) {
// SpeedControlActivation = (SpeedControlActivation > 0) ? SpeedControlActivation - 1 : SpeedControlActivation; // Per definition of AckermannDrive: if zero, then use max value
//} ClippingLowerBorder = -MaxDecel;
ClippingUpperBorder = MaxAccel;
//if (SpeedControlActivation >= 5) { }
//SpeedController.SetTargetPoint(FMath::Abs(TargetSpeed)); SpeedControlAccelTarget += SpeedControlAccelDelta;
//SpeedControlAccelDelta = SpeedController.Run(FMath::Abs(VehicleSpeed), DeltaTime); SpeedControlAccelTarget = FMath::Clamp(SpeedControlAccelTarget,
SpeedController.SetTargetPoint(TargetSpeed); ClippingLowerBorder, ClippingUpperBorder);
SpeedControlAccelDelta = SpeedController.Run(VehicleSpeed, DeltaTime);
// Clipping borders
float ClippingLowerBorder = -FMath::Abs(TargetAcceleration);
float ClippingUpperBorder = FMath::Abs(TargetAcceleration);
if (FMath::Abs(TargetAcceleration) < 0.0001f) {
// Per definition of AckermannDrive: if zero, then use max value
ClippingLowerBorder = -MaxDecel;
ClippingUpperBorder = MaxAccel;
}
SpeedControlAccelTarget += SpeedControlAccelDelta;
SpeedControlAccelTarget = FMath::Clamp(SpeedControlAccelTarget,
ClippingLowerBorder, ClippingUpperBorder);
//} else {
// SpeedControlAccelDelta = 0.0f;
// SpeedControlAccelTarget = TargetAcceleration;
//}
} }
void FAckermannController::RunControlAcceleration() { void FAckermannController::RunControlAcceleration() {
@ -210,86 +187,44 @@ void FAckermannController::RunControlAcceleration() {
// Clipping borders // Clipping borders
AccelControlPedalTarget += AccelControlPedalDelta; AccelControlPedalTarget += AccelControlPedalDelta;
//AccelControlPedalTarget = FMath::Clamp(AccelControlPedalTarget, -MaxPedal, MaxPedal);
AccelControlPedalTarget = FMath::Clamp(AccelControlPedalTarget, -1.0f, 1.0f); AccelControlPedalTarget = FMath::Clamp(AccelControlPedalTarget, -1.0f, 1.0f);
} }
void FAckermannController::UpdateVehicleControlCommand() { void FAckermannController::UpdateVehicleControlCommand() {
if (AccelControlPedalTarget < 0.0f) { if (AccelControlPedalTarget < 0.0f) {
if (bReverse) { if (bReverse) {
Throttle = FMath::Abs(AccelControlPedalTarget); Throttle = FMath::Abs(AccelControlPedalTarget);
Brake = 0.0f; Brake = 0.0f;
} else {
Throttle = 0.0f;
Brake = FMath::Abs(AccelControlPedalTarget);
}
} else { } else {
if (bReverse) { Throttle = 0.0f;
Throttle = 0.0f; Brake = FMath::Abs(AccelControlPedalTarget);
Brake = FMath::Abs(AccelControlPedalTarget);
} else {
Throttle = FMath::Abs(AccelControlPedalTarget);
Brake = 0.0f;
}
} }
} else {
// ThrottleLowerBorder = GetVehicleDrivingImpedanceAcceleration(); if (bReverse) {
// BrakeUpperBorder = ThrottleLowerBorder + GetVehicleLayOffEngineAcceleration(); Throttle = 0.0f;
Brake = FMath::Abs(AccelControlPedalTarget);
// if (AccelControlPedalTarget > ThrottleLowerBorder) { } else {
// // Accelerating Throttle = FMath::Abs(AccelControlPedalTarget);
// Throttle = (AccelControlPedalTarget - ThrottleLowerBorder) / MaxPedal; Brake = 0.0f;
// Brake = 0.0f; }
}
// } else if (AccelControlPedalTarget > BrakeUpperBorder) {
// // Coasting
// Throttle = 0.0f;
// Brake = 0.0f;
// } else {
// // Braking
// Throttle = 0.0f;
// Brake = (BrakeUpperBorder - AccelControlPedalTarget) / MaxPedal;
// }
} }
// float FAckermannController::GetVehicleLayOffEngineAcceleration() {
// float EngineBrakeForce = 500.0f; // [N]
// return -EngineBrakeForce / VehicleMass;
// }
// float FAckermannController::GetVehicleDrivingImpedanceAcceleration() {
// float RollingResistanceForce = 0.01 * 9.81f * VehicleMass;
// float AirDensity = 1.25f;
// float AerodynamicDragForce = 0.5f * AirDensity * VehicleDragCoefficient * VehicleDragArea * (VehicleSpeed * VehicleSpeed);
// //float SlopeForce = 9.81f * VehicleMass * FMath::Sin(VehiclePitch);
// float SlopeForce = 0.0f;
// return -(RollingResistanceForce + AerodynamicDragForce + SlopeForce) / VehicleMass;
// }
void FAckermannController::UpdateVehicleState(const ACarlaWheeledVehicle* Vehicle) { void FAckermannController::UpdateVehicleState(const ACarlaWheeledVehicle* Vehicle) {
TRACE_CPUPROFILER_EVENT_SCOPE_STR(__FUNCTION__); TRACE_CPUPROFILER_EVENT_SCOPE_STR(__FUNCTION__);
LastVehicleSpeed = VehicleSpeed; LastVehicleSpeed = VehicleSpeed;
LastVehicleAcceleration = VehicleAcceleration; LastVehicleAcceleration = VehicleAcceleration;
//LastVehiclePitch = VehiclePitch;
// Update simulation state // Update simulation state
DeltaTime = Vehicle->GetWorld()->GetDeltaSeconds(); DeltaTime = Vehicle->GetWorld()->GetDeltaSeconds();
// Update Vehicle state // Update Vehicle state
//VehicleSpeed = FMath::RoundToFloat((Vehicle->GetVehicleForwardSpeed() / 100.0f) * 10.0f) / 10.0f; // From cm/s to m/s
VehicleSpeed = Vehicle->GetVehicleForwardSpeed() / 100.0f; // From cm/s to m/s VehicleSpeed = Vehicle->GetVehicleForwardSpeed() / 100.0f; // From cm/s to m/s
//VehicleSpeed = (4.0f*LastVehicleSpeed + CurrentSpeed) / 5.0f;
float CurrentAcceleration = (VehicleSpeed - LastVehicleSpeed) / DeltaTime; float CurrentAcceleration = (VehicleSpeed - LastVehicleSpeed) / DeltaTime;
//CurrentAcceleration = FMath::RoundToFloat(CurrentAcceleration * 10.0f) / 10.0f;
VehicleAcceleration = (4.0f*LastVehicleAcceleration + CurrentAcceleration) / 5.0f; VehicleAcceleration = (4.0f*LastVehicleAcceleration + CurrentAcceleration) / 5.0f;
//VehiclePitch = FMath::DegreesToRadians(
// Vehicle->GetVehicleTransform().GetRotation().Rotator().Pitch
//);
} }
void FAckermannController::UpdateVehiclePhysics(const ACarlaWheeledVehicle* Vehicle) { void FAckermannController::UpdateVehiclePhysics(const ACarlaWheeledVehicle* Vehicle) {
@ -298,8 +233,5 @@ void FAckermannController::UpdateVehiclePhysics(const ACarlaWheeledVehicle* Vehi
check(Vehicle4W != nullptr); check(Vehicle4W != nullptr);
// Update vehicle physics // Update vehicle physics
//VehicleMass = Vehicle4W->Mass;
//VehicleDragArea = Vehicle4W->DragArea / (100.0f * 100.0f); // From cm2 to m2
//VehicleDragCoefficient = Vehicle4W->DragCoefficient;
VehicleMaxSteering = FMath::DegreesToRadians(Vehicle->GetMaximumSteerAngle()); VehicleMaxSteering = FMath::DegreesToRadians(Vehicle->GetMaximumSteerAngle());
} }

10
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/AckermannController.h
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@ -110,9 +110,6 @@ private:
void RunControlAcceleration(); void RunControlAcceleration();
void UpdateVehicleControlCommand(); void UpdateVehicleControlCommand();
//float GetVehicleDrivingImpedanceAcceleration();
//float GetVehicleLayOffEngineAcceleration();
private: private:
PID SpeedController = PID(0.15f, 0.0f, 0.25f); PID SpeedController = PID(0.15f, 0.0f, 0.25f);
@ -130,8 +127,6 @@ private:
float MaxAccel = 3.0f; // [m/s2] float MaxAccel = 3.0f; // [m/s2]
float MaxDecel = 8.0f; // [m/s2] float MaxDecel = 8.0f; // [m/s2]
//float MaxPedal = 3.0f; // min(MaxAccel, MaxDecel)
// Control parameters // Control parameters
float Steer = 0.0f; float Steer = 0.0f;
float Throttle = 0.0f; float Throttle = 0.0f;
@ -149,16 +144,11 @@ private:
float DeltaTime = 0.0f; // [s] float DeltaTime = 0.0f; // [s]
// Vehicle state // Vehicle state
//float VehicleMass = 0.0f; // [Kg]
float VehicleMaxSteering = 0.0f; // [rad] float VehicleMaxSteering = 0.0f; // [rad]
//float VehicleDragArea = 0.0f; // [m2]
//float VehicleDragCoefficient = 0.0f; // [?]
float VehicleSpeed = 0.0f; // [m/s] float VehicleSpeed = 0.0f; // [m/s]
float VehicleAcceleration = 0.0f; // [m/s2] float VehicleAcceleration = 0.0f; // [m/s2]
//float VehiclePitch = 0.0f; // [rad]
float LastVehicleSpeed = 0.0f; // [m/s] float LastVehicleSpeed = 0.0f; // [m/s]
float LastVehicleAcceleration = 0.0f; // [m/s2] float LastVehicleAcceleration = 0.0f; // [m/s2]
//float LastVehiclePitch = 0.0f; // [rad]
}; };