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Removed debug line

This commit is contained in:
Guillermo 2021-12-16 12:09:16 +01:00 committed by Jacopo Bartiromo
parent e0719a8270
commit fc944bfcc5
3 changed files with 1 additions and 15 deletions
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2
LibCarla/source/carla/trafficmanager/ALSM.cpp
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@ -225,7 +225,7 @@ void ALSM::UpdateData(const bool hybrid_physics_mode,
bool enable_physics = hybrid_physics_mode ? in_range_of_hero_actor : true;
if (!has_physics_enabled.count(actor_id) || has_physics_enabled[actor_id] != enable_physics) {
if (hero_actors.find(actor_id) == hero_actors.end()) {
// vehicle->SetSimulatePhysics(enable_physics);
vehicle->SetSimulatePhysics(enable_physics);
has_physics_enabled[actor_id] = enable_physics;
if (enable_physics == true && simulation_state.ContainsActor(actor_id)) {
vehicle->SetTargetVelocity(simulation_state.GetVelocity(actor_id));

13
LibCarla/source/carla/trafficmanager/MotionPlanStage.cpp
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@ -84,15 +84,6 @@ void MotionPlanStage::Update(const unsigned long index) {
current_timestamp = world.GetSnapshot().GetTimestamp();
StateEntry current_state;
// std::cout << index << std::endl;
// std::cout << " Location: " << vehicle_location.x << " " << vehicle_location.y << " " << vehicle_location.z << std::endl;
// std::cout << " Rotation: " << vehicle_rotation.roll << " " << vehicle_rotation.pitch << " " << vehicle_rotation.yaw << std::endl;
// std::cout << " Velocity: " << vehicle_velocity.x << " " << vehicle_velocity.y << " " << vehicle_velocity.z << std::endl;
// std::cout << " Speed: " << vehicle_speed << std::endl;
// std::cout << " Heading: " << vehicle_heading.x << " " << vehicle_heading.y << " " << vehicle_heading.z << std::endl;
// std::cout << " Physics: " << vehicle_physics_enabled << std::endl;
// Instanciating teleportation transform as current vehicle transform.
cg::Transform teleportation_transform = cg::Transform(vehicle_location, vehicle_rotation);
@ -224,8 +215,6 @@ void MotionPlanStage::Update(const unsigned long index) {
current_state.steer = actuation_signal.steer;
StateEntry &state = pid_state_map.at(actor_id);
state = current_state;
// std::cout << " Control: " << vehicle_control.throttle << " " << vehicle_control.brake << " " << vehicle_control.steer << " " << std::endl;
}
// For physics-less vehicles, determine position and orientation for teleportation.
else {
@ -268,8 +257,6 @@ void MotionPlanStage::Update(const unsigned long index) {
}
// Constructing the actuation signal.
output_array.at(index) = carla::rpc::Command::ApplyTransform(actor_id, teleportation_transform);
// std::cout << " Teleport transform: " << teleportation_transform.location.x << " " << teleportation_transform.location.y << " " << teleportation_transform.location.z << " " << teleportation_transform.rotation.roll << " " << teleportation_transform.rotation.pitch << " " << teleportation_transform.rotation.yaw << std::endl;
}
}
}

1
LibCarla/source/carla/trafficmanager/TrafficManagerLocal.cpp
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@ -227,7 +227,6 @@ void TrafficManagerLocal::Run() {
}
collision_stage.ClearCycleCache();
vehicle_light_stage.UpdateWorldInfo();
// std::cout << "New Frame" << std::endl;
for (unsigned long index = 0u; index < vehicle_id_list.size(); ++index) {
traffic_light_stage.Update(index);
motion_plan_stage.Update(index);