Commit ed6fe428 authored by Philipp Helios's avatar Philipp Helios

Updated wrapper component

parent 3af6efb4
Pipeline #187206 failed with stage
in 1 minute and 6 seconds
......@@ -6,9 +6,9 @@ component CalculateWrappedValues{
// ports for CARLA to Autopilot:
ports
in Vehicle_Status vehicle_status,
in Vehicle_Status vehicle_status,
in Quaternion orientation,
in Ego_Vehicle tmp_vehicle,
out Q (0.0 m/s : 0.01 m/s : oo m/s) velocity,
out Q (0.0 : 0.001 : 2.5) throttle,
......@@ -26,7 +26,7 @@ component CalculateWrappedValues{
implementation Math{
//Wrapping CARLA output into Autopilot input:
tmp_vehicle = vehicle_status.control;
Ego_Vehicle tmp_vehicle = vehicle_status.control;
//autopilot: engine actuation (0, 2.5)
throttle = (tmp_vehicle.throttle * 2.5);
......
......@@ -13,7 +13,6 @@ component Wrapper{
in Q (-oo m : 0.01 m : oo m) ^ {1,100} trajectory_y,
out Ego_Vehicle vehicle_control,
out Q test;
//Connections for CARLA to Autopilot:
......
package wrapper;
stream WrapperTest for Wrapper{
// Input
vehicle_status.velocity: 0;
vehicle_status.acceleration: 0;
orientation.x: -3.40606290796e-05;
orientation.y: -1.96673991356e-06;
orientation.z: -0.715650891876;
orientation.w: 0.698458158942;
control.throttle: 0;
control.steer: 0;
control.brake: 0;
control.hand_brake: false;
control.reverse: false;
control.gear: 1;
control.manual_gear_shift: false;
trajectory_length: 100;
trajectory_x: [231.27, 231.27, 231.25, 231.22, 231.2, 231.17, 231.15, 231.13, 231.1, 231.08, 231.05, 231.03, 231.0, 230.98, 230.95, 230.93, 230.91, 230.88, 230.86, 230.83, 230.81, 230.78, 230.76, 230.74, 230.71, 230.69, 230.66, 230.64, 230.61, 230.59, 230.57, 230.54, 230.52, 230.49, 230.47, 230.44, 230.42, 230.39, 230.39, 230.37, 230.34, 230.32, 230.27, 230.12, 229.86, 229.49, 229.04, 228.49, 227.84, 227.15, 226.41, 225.64, 224.86, 223.99, 222.99, 221.0, 221.0, 220.0, 219.0, 218.0, 217.0, 216.0, 215.0, 214.0, 213.0, 212.0, 211.0, 210.0, 209.0, 208.0, 207.0, 206.0, 205.0, 204.0, 203.0, 202.0, 201.0, 200.0, 199.0, 198.0, 197.0, 196.0, 195.0, 194.0, 193.0, 192.0, 191.0, 190.0, 189.0, 188.0, 187.0, 186.0, 185.0, 184.0, 183.0, 182.0, 181.0, 179.99, 179.99];
trajectory_y: [-14.27, -14.27, -15.27, -16.26, -17.26, -18.26, -19.26, -20.26, -21.26, -22.26, -23.26, -24.26, -25.26, -26.26, -27.26, -28.26, -29.26, -30.26, -31.26, -32.26, -33.26, -34.26, -35.26, -36.26, -37.26, -38.26, -39.26, -40.26, -41.26, -42.26, -43.26, -44.26, -45.26, -46.26, -47.26, -48.26, -49.26, -50.41, -50.41, -51.41, -52.41, -53.41, -54.22, -54.93, -55.61, -56.24, -56.81, -57.31, -57.76, -58.14, -58.42, -58.62, -58.73, -58.75, -58.75, -58.76, -58.76, -58.76, -58.76, -58.77, -58.77, -58.77, -58.77, -58.78, -58.78, -58.78, -58.78, -58.79, -58.79, -58.79, -58.79, -58.8, -58.8, -58.8, -58.8, -58.81, -58.81, -58.81, -58.82, -58.82, -58.82, -58.82, -58.83, -58.83, -58.83, -58.83, -58.84, -58.84, -58.84, -58.84, -58.85, -58.85, -58.85, -58.85, -58.86, -58.86, -58.86, -58.86, -58.86];
// Output
// - means: all values are allowed
// 100 +/- 1 means: all values from 99 to 101 are allowed
vehicle_control.throttle: 0 +/- 1;
vehicle_control.steer: -;
vehicle_control.brake: -;
vehicle_control.hand_brake: false;
vehicle_control.reverse: false;
vehicle_control.gear: -;
vehicle_control.manual_gear_shift: false;
}
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