00a73c4f02
Splited the map generation in chunks
2020-04-13 16:50:32 +02:00
832b293a33
Added MeshFactory + improved code architecture
2020-04-13 16:50:32 +02:00
01f98aac07
Fixing Windows compilation errors and some warnings
2020-04-13 13:06:38 +02:00
a108bf5b3b
Updated default value for TM. Now should be retrocompatible.
2020-04-13 13:06:38 +02:00
66efc6ea17
Cleaned some TM includes
2020-04-13 13:06:38 +02:00
2f6b8e048f
Change to support default parameter to keep compatibility
2020-04-13 13:06:38 +02:00
79d6298395
Cleaned logs
2020-04-13 13:06:38 +02:00
64cc616938
Added changes to SetAutopilot BatchCommand
2020-04-13 13:06:38 +02:00
f2f4b229d7
Updated set_autopilot to get tm as a parameter
2020-04-13 13:06:38 +02:00
6b1a5db4f6
Implemented carla::geom::Vector3D::MakeSafeUnitVector
2020-04-09 19:48:03 +02:00
ba6957b405
Magnitude guard on vector normalization.
2020-04-09 19:48:03 +02:00
b0787c0018
Merge branch 'master' into feature/integrate_rss_3.0.0
2020-04-09 15:23:00 +02:00
9d76978f93
Fixed get_all_landmarks functions returning invalid landmarks when using world.get_map().get_all_landmarks().
2020-04-09 14:47:49 +02:00
5e7c6bb783
Merge branch 'master' into feature/integrate_rss_3.0.0
2020-04-09 12:18:23 +02:00
b839cf3419
Minor changes to Traffic Manager ( #2708 )
...
* removes vertical offset
changes in radius
radius increasing with higher velocity
* changes to collision detection policy
* introducing radius as parameter
removed radius increasing with velocity
2020-04-09 09:56:04 +02:00
53967647ed
Merge branch 'master' into feature/integrate_rss_3.0.0
2020-04-08 16:00:03 +02:00
30edd5ce2c
Implemented changes to track multiple hero vehicles
...
in hybrid physics mode.
2020-04-08 15:45:52 +02:00
f02c269bd1
Merge branch 'master' into feature/integrate_rss_3.0.0
2020-04-08 14:55:41 +02:00
8c7ac56f8f
Implemented changes to account for corners
...
of unregistered vehicles during localization.
2020-04-08 14:26:34 +02:00
cf413fa8b4
Merge branch 'master' into feature/integrate_rss_3.0.0
2020-04-07 17:05:32 +02:00
499b189fe7
Fix compilation issue with BullseyeCoverage
2020-04-06 17:40:25 +02:00
f3930a8f0f
Ensure make package always package the correct version
...
Add postfix to libcarla_client{_rss}{_debug}.a in RSS variant.
make package target always rebuilds the final python shared library and
so cannot package wrong version.
Put LGPL lisence in python egg if RSS is linked.
2020-04-03 19:57:44 +02:00
07fafaea67
Merge branch 'master' into feature/integrate_rss_3.0.0
2020-04-02 19:59:17 +02:00
bdd0aaaac9
Added function to retrieve landmarks in the same group.
2020-04-02 19:01:31 +02:00
e24bcebfbf
Added get landmarks functions from map.
2020-04-02 19:01:31 +02:00
938c4516ae
Added detailed documentation of RSSSensor
2020-04-01 11:51:33 +02:00
5743930238
Merge branch 'master' into feature/integrate_rss_3.0.0
2020-04-01 08:25:14 +02:00
fe86dc21d1
Changed ApplyBatchSync call by passing do_tick_cue=true
...
to reduce longitudinal oscillation in hybrid physics mode.
2020-03-31 23:04:04 +02:00
58c7fe3539
Implemented waiting trigger in localization stage
...
to initiate pipeline in synchronous mode.
Restricting teleportation to forward direction only
by checking teleportation transform in batch control stage.
2020-03-31 23:04:04 +02:00
179ec725fa
Fix some robustness issues
...
Create RssCheck (again) when Listen is called to prevent from creating
loggers all the time someone lopps over the actor list and the
actor/sensor instances getting created.
Only traverse actor list in CreateWorldModel once.
tbb::parallel_for_each() gets already created actors and doesn't loop
itself over actor list (which blocks).
Finally changed code format of RSS to keep 120 chars per line.
2020-03-31 18:30:50 +02:00
849a6c54c5
Merge branch 'master' into feature/integrate_rss_3.0.0
2020-03-31 18:28:22 +02:00
858a58556f
Hot Fixes For Hybrid Physics Mode ( #2680 )
...
* Improved braking, collision negotiation.
* Improved braking algorithm for smoother approach
to lead vehicle.
* Implemented smoother path boundary modification
to aid smoother braking.
* Re-worked collision negotiation algorithm.
* Improved collision candidate filtering.
* Added safe-guard in case of vehicle removal
in collision stage.
* Used local variable for heavily referenced object
in localization stage.
* Implemented vector relative velocities
for motion planner's collision consideration.
* Moved collision candidate sorting logic
from collision stage to localization stage.
* Sorting collision candidates using their ids
instead of shared pointers to avoid memory corruption.
* Improved conditions for collision consideration
for greater efficiency.
* Removed fps limit in async mode.
* Hybrid physics mode
* Introduced hybrid physics mode parameter
* Implemented physics independent velocity computation
* Modified localization stage to be physics agnostic
* Fixing velocity compute interval in sync and async mode.
Made motion planner stage work with internally computed velocities.
* Made collision stage agnostic to actor physics
* Sampling waypoint buffer for teleportation window
* WIP: Teleportation changes
* WIP2: Teleportation changes
* Fixes waypoint window and vehicle spawning
* hotfix to performance benchmark
* comment out debugs
* changelog
* fixes collision bug
* fixes package error and out_of_range bug
* WIP: Hybrid mode oscillation bug
* Added vertical offset parameter for physics-less mode.
Restricting longitudinal waypoint offset to forward only.
* remove comment
Co-authored-by: Jacopo Bartiromo <jackbart94@gmail.com>
Co-authored-by: Jacopo Bartiromo <32928804+jackbart94@users.noreply.github.com>
2020-03-31 14:56:18 +02:00
1e06309953
Added warning when signals overlap driving lanes.
2020-03-31 12:12:02 +02:00
0eed245e34
Review fixes
2020-03-31 12:11:39 +02:00
5520f31d0a
Exposed road mesh generation params to PythonAPI
2020-03-31 12:11:39 +02:00
b94180b0ce
Fixed wall generation
2020-03-31 12:11:39 +02:00
0999b0ba05
Added basic walls to standalone OpenDRIVE mode
2020-03-31 12:11:39 +02:00
dc6c80a820
Merge branch 'master' into feature/integrate_rss_3.0.0
2020-03-31 10:28:35 +02:00
151e38ce8d
Hybrid mode for Traffic Manager ( #2674 )
...
* Improved braking, collision negotiation.
* Improved braking algorithm for smoother approach
to lead vehicle.
* Implemented smoother path boundary modification
to aid smoother braking.
* Re-worked collision negotiation algorithm.
* Improved collision candidate filtering.
* Added safe-guard in case of vehicle removal
in collision stage.
* Used local variable for heavily referenced object
in localization stage.
* Implemented vector relative velocities
for motion planner's collision consideration.
* Moved collision candidate sorting logic
from collision stage to localization stage.
* Sorting collision candidates using their ids
instead of shared pointers to avoid memory corruption.
* Improved conditions for collision consideration
for greater efficiency.
* Removed fps limit in async mode.
* Hybrid physics mode
* Introduced hybrid physics mode parameter
* Implemented physics independent velocity computation
* Modified localization stage to be physics agnostic
* Fixing velocity compute interval in sync and async mode.
Made motion planner stage work with internally computed velocities.
* Made collision stage agnostic to actor physics
* Sampling waypoint buffer for teleportation window
* WIP: Teleportation changes
* WIP2: Teleportation changes
* Fixes waypoint window and vehicle spawning
* hotfix to performance benchmark
* comment out debugs
* changelog
* fixes collision bug
* fixes package error and out_of_range bug
* changes after review
* Left & Right Transit of a lane: Waypoint mapping
Co-authored-by: Praveen Kumar <pravinblaze@hotmail.com>
Co-authored-by: Soumyadeep <soumyadeep.dhar@kpit.com>
2020-03-30 22:53:29 +02:00
081de023ce
Added methods to get trafficlights and trafficsigns from landmarks
2020-03-30 19:44:46 +02:00
d913938f1f
Integrate ad-rss without find_package to cope with cmake 3.5 and newer boost version
2020-03-30 17:52:37 +02:00
5dda249040
Merge branch 'master' into feature/integrate_rss_3.0.0
2020-03-30 17:49:15 +02:00
1b108a027c
Review fixes. Added default lane validity if missing record in OpenDRIVE. Added Automatic spawn of traffic lights and signals to the map generation without geometry.
2020-03-30 14:40:39 +02:00
df75abf5bf
Added stop sign automatic triggerbox generation.
2020-03-30 14:40:39 +02:00
d2b9c7e11f
Added computation of conflicting road in junctions.
2020-03-30 14:40:39 +02:00
ee5c7c8c42
Merge branch 'master' into feature/integrate_rss_3.0.0
2020-03-30 09:46:50 +02:00
a075e4fc5c
Collision avoidance and braking improvements ( #2650 )
...
* Improved braking, collision negotiation.
* Improved braking algorithm for smoother approach
to lead vehicle.
* Implemented smoother path boundary modification
to aid smoother braking.
* Re-worked collision negotiation algorithm.
* Improved collision candidate filtering.
* Added safe-guard in case of vehicle removal
in collision stage.
* Used local variable for heavily referenced object
in localization stage.
* Implemented vector relative velocities
for motion planner's collision consideration.
* Moved collision candidate sorting logic
from collision stage to localization stage.
* Sorting collision candidates using their ids
instead of shared pointers to avoid memory corruption.
* Improved conditions for collision consideration
for greater efficiency.
* Removed fps limit in async mode.
* removed unused variable e
* Implemented more details in snippet profiler
Demonstration of compute bottleneck demo
* Deeper bottleneck investigation demo
* * Implemented road curvature threshold for path polygon
vertex selection
* Implemented direct boost point append to construct polygons
* * Fix for polygon shrink bug.
* Changed polygon start point relative to front waypoint
instead of vehicle location.
* Removed debug statements
* Implemented lock and track logic for collision avoidance
instead of state-less boundary extension.
Improved braking logic to approach moving lead vehicle
until a threshold and then following it at distance.
* Increased vertical overlap threshold
to accomodate high slope roads.
* Implemented PR review change
* Fixed collision negotiation bug inside junctions.
* Implemented speed dependent (linear) follow distance.
Temporary solution to flush overcompensating controller state.
* Clamped velocity integral to avoid accumulating
over-compensation for vehicles that take
a long time to reach high target velocities.
* changes to pid values
changes to collision stage conditions
Co-authored-by: Jacopo Bartiromo <jackbart94@gmail.com>
Co-authored-by: Jacopo Bartiromo <32928804+jackbart94@users.noreply.github.com>
Co-authored-by: bernat <bernatx@gmail.com>
2020-03-28 16:26:50 +01:00
38c59e714f
Merge branch 'master' into feature/integrate_rss_3.0.0
2020-03-27 17:20:35 +01:00
bd9a4a3603
Remove unnecessary pass-by-ref
2020-03-27 16:27:21 +01:00
c4af2157f8
Fix compilation on older compilers
2020-03-27 16:27:21 +01:00
f015a1236d
Replace uses of abs by std::abs
2020-03-27 16:27:21 +01:00
2190005300
Fix wrong optional includes
2020-03-27 16:27:21 +01:00
7d351b721d
Merge branch 'master' into feature/integrate_rss_3.0.0
2020-03-27 14:45:53 +01:00
714850c4f9
Fixed the mesh addition
2020-03-27 12:51:34 +01:00
b0038182e6
Improved straight mesh generation
2020-03-27 12:51:34 +01:00
393f6dd527
Fixed material name for crosswalks
2020-03-27 12:51:34 +01:00
d467bbb1da
Used new tri strip function to generate road mesh
2020-03-27 12:51:34 +01:00
e20bb714b0
Used new tri fan function to generate crosswalks
2020-03-27 12:51:34 +01:00
6e4801c992
Allow triangle fan generation to mesh class
2020-03-27 12:51:34 +01:00
35d039c846
Fixed mesh indexes
2020-03-27 12:51:34 +01:00
d9b216c474
Added basic support for pedestrian crosswalks
2020-03-27 12:51:34 +01:00
457b63b85e
Upgrade to LLVM 8.0.1
2020-03-27 12:51:02 +01:00
77316f086b
Review comment implementation
2020-03-26 13:53:01 +01:00
151726f455
Implemented Review comment
2020-03-26 13:53:01 +01:00
063fb89012
Minor Code Improvement
2020-03-26 13:53:01 +01:00
2e8323f393
Removed all the Logging Code
...
Added Waypoint Binning changes
- Improved waypoint buffer scanning.The buffer need not to be fully scanned to find the target waypoint
- Improvised Localization Util class for getting targetWaypoint
2020-03-26 13:53:01 +01:00
8218f2e0f8
WIP Added More Logging
2020-03-26 13:53:01 +01:00
519be13bbc
WIP Initial code for WayPoint Binning
2020-03-26 13:53:01 +01:00
67b17ee42a
Code format according to google style
...
and tried to spot the remaining CamelStyle variable names and changed to
snake_style
Added code formatting script and clang-format slightly changed from
google format:
AccessModifierOffset: -1 -> -2
AllowShortFunctionsOnASingleLine: All -> Empty
ConstructorInitializerIndentWidth: 4 -> 2
2020-03-25 18:34:29 +01:00
eea9359527
Integrate AD RSS v3.0.0
...
Move carla::client::Timestamp ostream operator to Timestamp.h to enable
reuse in log messages
Use of generated python interfaces of ad::physics, ad::map and ad::rss
types
RssSensor (and therefore also the RssRestrictor) now work globally on
the whole road network.
RssCheck: object conversion done in parallel using tbb
2020-03-24 13:46:54 +01:00
6acecb2579
Added spawn of traffic signals.
2020-03-23 13:36:12 +01:00
40dc7bd7c5
Rollback component serialization and updated querries to use the new components if possible
2020-03-18 20:49:37 +01:00
1fb733c085
Fixed buffer resize when parsing components
2020-03-18 20:49:37 +01:00
783643f051
Updated traffic light serialization on server side
2020-03-18 20:49:37 +01:00
4a9129bfba
Review comment implemented
2020-03-16 15:11:51 +01:00
b35f6c95f6
Removed Logging code
...
Added clear logic for clearing the cache
Modified the key generation logic as hash approach is more expensive
2020-03-16 15:11:51 +01:00
f256a68fa6
Added changes for cacheing Geometric Result
2020-03-16 15:11:51 +01:00
bcfc906368
Quick fix.
2020-03-11 16:15:47 +01:00
ad2f05673c
Style fixes.
2020-03-11 12:09:02 +01:00
e2f9fa605f
Implementing signal spawn from OpenDRIVE.
2020-03-11 12:09:02 +01:00
d533e359b6
Added Traffic Lights from OpenDRIVE.
2020-03-11 12:09:02 +01:00
0b9084495b
Adding Controllers to the parser
2020-03-11 12:09:02 +01:00
853317b594
Creation of TrafficLight and Sign Components on UE
2020-03-11 12:09:02 +01:00
c076a722f7
Added signal parsing and queries.
2020-03-11 12:09:02 +01:00
e32e6bff93
Removing debug statements
2020-03-09 16:35:24 +01:00
e55d5750e9
Sychronous mode bug resolution
2020-03-09 16:35:24 +01:00
4f21f94ac0
Synchronous mode bug demonstration
2020-03-09 16:35:24 +01:00
2b29bc24ef
Implemented keep right rule
...
for lane change logic
2020-03-06 16:06:34 +01:00
48fb019be6
Added parameter set_percentage_keep_right_rule
2020-03-06 16:06:34 +01:00
8e14666bdf
Fixed unused variable
2020-03-06 16:06:34 +01:00
aff8fe8fc3
changelog and remove print
2020-03-06 16:06:34 +01:00
c5cc7b7f2f
Fixed lead vehicle distance stuttering
...
Removed debug statement
2020-03-06 16:06:34 +01:00
b769786bc3
Re-introduced force lane change parameter
2020-03-06 16:06:34 +01:00
35ac295f72
minor improvements
2020-03-06 16:06:34 +01:00
6f892cff57
Changes to add Global distance to Leading Vehicle
2020-03-06 16:06:34 +01:00
9d214c2d7c
Fixed lane change oscillation bug
2020-03-06 16:06:34 +01:00
8ce51d73e3
Debug buffer oscillation
2020-03-06 16:06:34 +01:00
5616dd005c
Increased distance check for waypoint clearing
...
Removed debug statements
2020-03-06 16:06:34 +01:00
ba4f0a2b27
Fixed improper waypoint buffer updates
2020-03-06 16:06:34 +01:00
2ec242bf46
WIP: Revamping lane change algorithm
...
Neighboring lane occupancy bug
2020-03-06 16:06:34 +01:00
Marc Garcia Puig