Added IMUI gravity parameter

LibCarla/source/carla/client/World.cpp

@@ -90,6 +90,15 @@ namespace client {
   void World::SetWeather(const rpc::WeatherParameters &weather) {
     _episode.Lock()->SetWeatherParameters(weather);
   }
+  
+  float World::GetIMUISensorGravity() const {
+    return _episode.Lock()->GetIMUISensorGravity();
+  }
+
+  void World::SetIMUISensorGravity(float NewIMUISensorGravity) {
+    _episode.Lock()->SetIMUISensorGravity(NewIMUISensorGravity);
+  }
+  
 
   WorldSnapshot World::GetSnapshot() const {
     return _episode.Lock()->GetWorldSnapshot();

LibCarla/source/carla/client/World.h

@@ -94,6 +94,12 @@ namespace client {
     /// Change the weather in the simulation.
     void SetWeather(const rpc::WeatherParameters &weather);
 
+    /// Get Gravity value used for IMUI Sensor accelerometer calculation
+    float GetIMUISensorGravity() const;
+    
+    /// Set Gravity value used for IMUI Sensor accelerometer calculation
+    void SetIMUISensorGravity(float NewIMUISensorGravity);
+
     /// Return a snapshot of the world at this moment.
     WorldSnapshot GetSnapshot() const;
 

LibCarla/source/carla/client/detail/Client.cpp

@@ -266,6 +266,14 @@ namespace detail {
   void Client::SetWeatherParameters(const rpc::WeatherParameters &weather) {
     _pimpl->AsyncCall("set_weather_parameters", weather);
   }
+  
+  float Client::GetIMUISensorGravity() {
+    return _pimpl->CallAndWait<float>("get_imui_gravity");
+  }
+
+  void Client::SetIMUISensorGravity(float NewIMUISensorGravity) {
+    _pimpl->AsyncCall("set_imui_gravity", NewIMUISensorGravity);
+  }
 
   std::vector<rpc::Actor> Client::GetActorsById(
       const std::vector<ActorId> &ids) {

LibCarla/source/carla/client/detail/Client.h

@@ -148,6 +148,10 @@ namespace detail {
     rpc::WeatherParameters GetWeatherParameters();
 
     void SetWeatherParameters(const rpc::WeatherParameters &weather);
+    
+    float GetIMUISensorGravity();
+
+    void SetIMUISensorGravity( float NewIMUISensorGravity );
 
     std::vector<rpc::Actor> GetActorsById(const std::vector<ActorId> &ids);
 

LibCarla/source/carla/client/detail/Simulator.h

@@ -250,7 +250,7 @@ namespace detail {
     }
 
     uint64_t SetEpisodeSettings(const rpc::EpisodeSettings &settings);
-
+    
     rpc::WeatherParameters GetWeatherParameters() {
       return _client.GetWeatherParameters();
     }
@@ -259,6 +259,14 @@ namespace detail {
       _client.SetWeatherParameters(weather);
     }
 
+    float GetIMUISensorGravity() {
+      return _client.GetIMUISensorGravity();
+    }
+
+    void SetIMUISensorGravity(float NewIMUISensorGravity) {
+      _client.SetIMUISensorGravity(NewIMUISensorGravity);
+    }
+    
     rpc::VehiclePhysicsControl GetVehiclePhysicsControl(const Vehicle &vehicle) const {
       return _client.GetVehiclePhysicsControl(vehicle.GetId());
     }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h

@@ -111,7 +111,11 @@ public:
       const carla::rpc::MaterialParameter& TextureParam);
 
   TArray<FString> GetNamesOfAllActors();
-
+  
+  // Gravitational acceleration. Default is earth one, which is approximately 9.81 m/s^2
+  UPROPERTY(BlueprintReadOnly, EditAnywhere, Category="Sensor Gravity")
+  float IMUISensorGravity = 9.81f;
+  
 protected:
 
   void InitGame(const FString &MapName, const FString &Options, FString &ErrorMessage) override;
@@ -176,8 +180,9 @@ private:
   UPROPERTY()
   ATrafficLightManager* TrafficLightManager = nullptr;
 
+  UPROPERTY()
   ALargeMapManager* LMManager = nullptr;
-
+  
   FDelegateHandle OnEpisodeSettingsChangeHandle;
 
   boost::optional<carla::road::Map> Map;

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

@@ -104,8 +104,8 @@ carla::geom::Vector3D AInertialMeasurementUnit::ComputeAccelerometer(
 {
   // Used to convert from UE4's cm to meters
   constexpr float TO_METERS = 1e-2;
-  // Earth's gravitational acceleration is approximately 9.81 m/s^2
-  constexpr float GRAVITY = 9.81f;
+  // Gravity set by gamemode
+  const float GRAVITY = UCarlaStatics::GetGameMode(GetWorld())->IMUISensorGravity;
 
   // 2nd derivative of the polynomic (quadratic) interpolation
   // using the point in current time and two previous steps:

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp

@@ -664,6 +664,31 @@ void FCarlaServer::FPimpl::BindActions()
     Weather->ApplyWeather(weather);
     return R<void>::Success();
   };
+  
+  // -- IMUI Gravity ---------------------------------------------------------
+  
+  BIND_SYNC(get_imui_gravity) << [this]() -> R<float>
+  {
+    REQUIRE_CARLA_EPISODE();
+    ACarlaGameModeBase* GameMode = UCarlaStatics::GetGameMode(Episode->GetWorld());
+    if (GameMode == nullptr)
+    {
+      RESPOND_ERROR("get_imui_gravity error: unable to get carla gamemode");
+    }
+    return GameMode->IMUISensorGravity;
+  };
+
+  BIND_SYNC(set_imui_gravity) << [this](float newimuigravity) -> R<void>
+  {
+    REQUIRE_CARLA_EPISODE();
+    ACarlaGameModeBase* GameMode = UCarlaStatics::GetGameMode(Episode->GetWorld());
+    if (GameMode == nullptr)
+    {
+      RESPOND_ERROR("get_imui_gravity error: unable to get carla gamemode");
+    }
+    GameMode->IMUISensorGravity = newimuigravity;
+    return R<void>::Success();
+  };
 
   // ~~ Actor operations ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~