Question about tdble type and vehicle position

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Hello developers,

Firstly I'd like to say thanks for creating such a great piece of software!
I've just started a research job and will be using TORCS extensively to
study the behavior of autonomous vehicles.

I have written a small interface between TORCS and MATLAB such that I can I
can prototype my algorithms quickly and I have come across a small problem.
The 'tdble' type used by TORCS is defined as a float, which for the
majority of parameters makes sense but when working with the vehicle
positions I have found some numerical errors creeping in to the integration
inside SimCarUpdatePos (in car.cpp). The issue comes about when two
vehicles have very similar (but not identical) velocities, which when
integrated with the position get truncated to be identical. This has the
effect that computing the distance between two vehicles returns a constant
value (as the velocities are being made identical). I have attached a plot
illustrating the bug, it shows the computed distance between two vehicles
(one following the other with near identical velocity) when the lead
vehicle brakes.

At first I thought I could simply change the definition of tdble to double
and this would solve the problem, but it seems that tdble is not used
consistently through the source, so this caused more problems! In the end I
modified the structures a little to simply have the position values
represented as double (in addition to the tdble values, for compatibility)
and leave the rest untouched, this has solved the problem (but is not
elegant!).

I appreciate this is an edge case which will only crop up very rarely, but
if you'd like me to share my changes with you (or if you have a more
elegant solution!) please let me know.

Best regards,
Owen

-- 
Dr Owen McAree
Research Fellow
Department of Automatic Control and Systems Engineering
University of Sheffield, S13JD
T: 0114 222 5138
E: [email protected]

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<div dir=3D"ltr"><div class=3D"gmail_quote"><div dir=3D"ltr">Hello develope=
rs,<div><br></div><div>Firstly I&#39;d like to say thanks for creating such=
 a great piece of software! I&#39;ve just started a research job and will b=
e using TORCS extensively to study the behavior of autonomous vehicles.</di=
v><div><br></div><div>I have written a small interface between TORCS and MA=
TLAB such that I can I can prototype my algorithms quickly and I have come =
across a small problem. The &#39;tdble&#39; type used by TORCS is defined a=
s a float, which for the majority of parameters makes sense but when workin=
g with the vehicle positions I have found some numerical errors creeping in=
 to the integration inside=C2=A0SimCarUpdatePos (in car.cpp). The issue com=
es about when two vehicles have very similar (but not identical) velocities=
, which when integrated with the position get truncated to be identical. Th=
is has the effect that computing the distance between two vehicles returns =
a constant value (as the velocities are being made identical). I have attac=
hed a plot illustrating the bug, it shows the computed distance between two=
 vehicles (one following the other with near identical velocity) when the l=
ead vehicle brakes.</div><div><br></div><div>At first I thought I could sim=
ply change the definition of tdble to double and this would solve the probl=
em, but it seems that tdble is not used consistently through the source, so=
 this caused more problems! In the end I modified the structures a little t=
o simply have the position values represented as double (in addition to the=
 tdble values, for compatibility) and leave the rest untouched, this has so=
lved the problem (but is not elegant!).</div><div><br></div><div>I apprecia=
te this is an edge case which will only crop up very rarely, but if you&#39=
;d like me to share my changes with you (or if you have a more elegant solu=
tion!) please let me know.</div><div><br></div><div>Best regards,</div><div=
>Owen</div></div></div><div><br></div>-- <br><div class=3D"gmail_signature"=
><div dir=3D"ltr">Dr Owen McAree<div>Research Fellow</div><div><div>Departm=
ent of Automatic Control and Systems Engineering</div><div>University of Sh=
effield, S13JD</div><div>T: 0114 222 5138</div><div>E: <a href=3D"mailto:o.=
[email protected]" target=3D"_blank">[email protected]</a></div=
></div></div></div>
</div>

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