From f6da3d17189269ae6d2144af804f351c22f86557 Mon Sep 17 00:00:00 2001 From: Daniel Santos-Olivan Date: Tue, 3 Nov 2020 17:50:21 +0100 Subject: [PATCH] Minor formatting changes --- LibCarla/source/carla/rpc/EpisodeSettings.h | 2 +- .../util/check_collisions_substepping.py | 56 +++++++++---------- 2 files changed, 26 insertions(+), 32 deletions(-) diff --git a/LibCarla/source/carla/rpc/EpisodeSettings.h b/LibCarla/source/carla/rpc/EpisodeSettings.h index 7112372e7..dc0068db2 100644 --- a/LibCarla/source/carla/rpc/EpisodeSettings.h +++ b/LibCarla/source/carla/rpc/EpisodeSettings.h @@ -103,7 +103,7 @@ namespace rpc { Settings.bSubstepping = substepping; Settings.MaxSubstepDeltaTime = max_substep_delta_time; Settings.MaxSubsteps = max_substeps; - + return Settings; } diff --git a/PythonAPI/util/check_collisions_substepping.py b/PythonAPI/util/check_collisions_substepping.py index ff3dd8dac..506e79304 100644 --- a/PythonAPI/util/check_collisions_substepping.py +++ b/PythonAPI/util/check_collisions_substepping.py @@ -34,7 +34,7 @@ import carla def wait(world, frames=100): - for i in range(0, frames): + for _i in range(0, frames): world.tick() class Scenario(): @@ -71,7 +71,7 @@ class Scenario(): def save_snapshots(self): for i in range (0, len(self.vehicle_list)): self.snapshots[i] = np.vstack((self.snapshots[i], self.save_snapshot(self.vehicle_list[i]))) - + def get_filename(self, prefix, i): return prefix + "_v" + str(i) + ".out" @@ -250,6 +250,7 @@ class CarBikeCollis1(Scenario): super().init_scene() + class CarWalkCollis1(Scenario): def init_scene(self): world = self.world @@ -326,7 +327,7 @@ class TestScenario(): mat_check[j][i] = int(sim_check) determinism = np.sum(mat_check,axis=1) - max_rep_equal = np.amax(determinism) + #max_rep_equal = np.amax(determinism) max_rep_equal_idx = np.argmax(determinism) min_rep_equal_idx = np.argmin(determinism) @@ -343,30 +344,28 @@ class TestScenario(): def save_simulations(self, rep_prefixes, prefix, max_idx, min_idx): for i in range(0, len(self.scene.vehicle_list)): - file_repetition = self.scene.get_filename(rep_prefixes[max_idx], i) - file_reference = self.scene.get_filename(prefix + "reference", i) + file_repetition = self.scene.get_filename(rep_prefixes[max_idx], i) + file_reference = self.scene.get_filename(prefix + "reference", i) shutil.copyfile(file_repetition, file_reference) - + if min_idx != max_idx: for i in range(0, len(self.scene.vehicle_list)): - file_repetition = self.scene.get_filename(rep_prefixes[min_idx], i) - file_failed = self.scene.get_filename(prefix + "failed", i) + file_repetition = self.scene.get_filename(rep_prefixes[min_idx], i) + file_failed = self.scene.get_filename(prefix + "failed", i) shutil.copyfile(file_repetition, file_failed) for r_prefix in rep_prefixes: for i in range(0, len(self.scene.vehicle_list)): file_repetition = self.scene.get_filename(r_prefix, i) - + os.remove(file_repetition) def test_determ_one_config(self, fps, fps_phys, repetitions = 1, sim_tics = 100): print("Testing Determinism in %s for %3d render FPS and %3d physics FPS -> " % \ (self.scenario_name, fps, fps_phys), end='') - old_settings = self.world.get_settings() - settings = self.world.get_settings() delta = 1.0/fps settings.synchronous_mode = True @@ -387,7 +386,7 @@ class TestScenario(): t_start = time.perf_counter() sim_prefixes = [] for i in range(0, repetitions): - prefix_rep = prefix + "rep" + str(i) + prefix_rep = prefix + "rep" + str(i) self.scene.run_simulation(prefix_rep, tics=sim_tics) sim_prefixes.append(prefix_rep) t_end = time.perf_counter() @@ -396,8 +395,6 @@ class TestScenario(): print("Deterministic Repetitions: %r / %2d" % (determ_repet, repetitions), end="") print(" -> Comp. Time per frame: %.0f" % ((t_end-t_start)/repetitions*sim_tics)) - return - def main(arg): @@ -408,15 +405,12 @@ def main(arg): pre_settings = world.get_settings() world.apply_settings(pre_settings) - fps = arg.fps - fps_phys = arg.phys_fps - spectator_transform = carla.Transform(carla.Location(120, -256, 5), carla.Rotation(yaw=180)) spectator_transform.location.z += 5 spectator = world.get_spectator() spectator.set_transform(spectator_transform) - try: + try: repetitions = 10 #test00 = TestScenario(SpawnCars01(client, world)) @@ -504,19 +498,19 @@ if __name__ == "__main__": metavar='PATTERN', default='model3', help='actor filter (default: "vehicle.*")') - argparser.add_argument( - '-fps', '--fps', - metavar='FPS', - default=20, - type=int, - help='Frames per simulatation second (default: 20)') - argparser.add_argument( - '-phys_fps', '--phys_fps', - metavar='PHYSFPS', - default=100, - type=int, - help='Target physical frames per simulatation second, it will \ - divide the dt in substeps if required to get more precision. (default: 100)') +# argparser.add_argument( +# '-fps', '--fps', +# metavar='FPS', +# default=20, +# type=int, +# help='Frames per simulatation second (default: 20)') +# argparser.add_argument( +# '-phys_fps', '--phys_fps', +# metavar='PHYSFPS', +# default=100, +# type=int, +# help='Target physical frames per simulatation second, it will \ +# divide the dt in substeps if required to get more precision. (default: 100)') args = argparser.parse_args() try: