Tracking speed/acceleration statistics

[harurenu]

Good day.

I am a computer engineering student, interested in using VDrift as a component in my group capstone project. We are assisting Kentucky Air Education in developing a driving simulator that reports pollutants/etc. outputted by the driver depending on the car.

What I am looking for is some information on tracking speed/acceleration statistics for a session. What I am thinking is I can put some custom hooks in the code where the numbers are generated for the odometer to log this information - that is of course if it doesn't already exist.

If someone could point me to the area of the source code that populates the odometer, that would be super.

Thanks in advance.

~Harlen Compton
-University of Louisville
-J.B. Speed School of Engineering

[joevenzon]

In include/cardynamics.h there is a CARTELEMETRY class that is designed for this sort of thing, although you may need to extend it a bit to do exactly what you want as the current implementation is pretty basic. To enable telemetry you need to comment in SetupTelemetry() in CARDYNAMICS::SetInitialConditions(). Then, in CARDYNAMICS::SetupTelemetry(), add the parameters that you want to write to a file (the existing code there should give you an idea of what it should look like). The data will be written to some output files that are intended for use with GNUPLOT. The car's speed and acceleration are kept track of in CARDYNAMICS member variable body -- see rigidbody.h, which has accessors for velocity and position. The only caution about the current way the telemetry class is set up is that it expects a pointer to a memory location to watch, so don't give it locations of temporary stack variables.

[ntsourak]

Hi!

I added this code fragment in the SetupTelemetry method:

std:tringstream str;
telemetry.push_back(CARTELEMETRY <T> ("car"));
telemetry.back().AddVariable(&(body.GetVelocity()[0]), "velocity x");
telemetry.back().AddVariable(&(body.GetVelocity()[1]), "velocity y");
telemetry.back().AddVariable(&(body.GetVelocity()[2]), "velocity z");

but in the output .dat file i always get the same value for each one of them. Is it certain that the SetVelocity method in rigidbody.h is called somewhere?

Finally is there a documentation of all the different measurements as from the names in the code it's not easy to understand their utility.

Thanks a lot for your excellent piece of work
Nikos

[joevenzon]

The telemetry stuff is pretty simple; it takes a pointer to a variable and then writes the pointed to data every frame. The velocity that's returned from body.GetVelocity() is a temporary value not a reference, so storing a pointer to it doesn't work. This is a problem with the telemetry design. The telemetry class should be rewritten so that it gets a value for each variable every frame.

Unfortunately there's no documentation of the different measurements. If you can't figure them out from the function names let me know and I can decode them for you.

[ntsourak]

I am interested in these variables:

telemetry.back().AddVariable(&(suspension[WHEEL_POSITION(i)].GetDisplacement()), str.str()+"-displacement");
telemetry.back().AddVariable(&(suspension[WHEEL_POSITION(i)].GetLastDisplacement()), str.str()+"-last-displacement");
telemetry.back().AddVariable(&(suspension[WHEEL_POSITION(i)].GetVelocity()), str.str()+"-velocity");

What are exactly? Is it possible to get car's speed out of these?
Is it possible to have the steering wheel angle and the car lane possition?

Thanks again!

[joevenzon]

In R2445 I rewrote the telemetry system so it takes values every frame in the UpdateTelemetry() function. Uncomment UpdateTelemetry() at the end of CARDYNAMICS::Tick in include/cardynamics.h to enable it. You'll see it outputs telemetry plots with the x, y, and z velocity plus the magnitude of the velocity (the speed). Does that work better for you?

[ntsourak]

I did a checkout and ran scons, This is the error log

Checking for C++ header file GL/gl.h... (cached) yes
Checking for C++ header file GL/glu.h... (cached) yes
Checking for C++ header file SDL/SDL.h... (cached) yes
Checking for C++ header file SDL/SDL_image.h... (cached) yes
Checking for C++ header file SDL/SDL_net.h... (cached) yes
Checking for C++ header file SDL/SDL_rotozoom.h... (cached) yes
Checking for C++ header file vorbis/vorbisfile.h... (cached) yes
Checking for C++ header file GL/glew.h... (cached) yes
scons: done reading SConscript files.
scons: Building targets ...
g++ -o build/boost/system/error_code.o -c -Wall -Wextra -Wno-unused-parameter -pthread -g3 -D_GNU_SOURCE=1 -D_REENTRANT -Iinclude -Isrc/bullet -I/usr/include/SDL src/boost/system/error_code.cpp
src/boost/system/error_code.cpp:12:44: error: boost/config/warning_disable.hpp: No such file or directory
In file included from src/boost/system/error_code.cpp:18:
include/boost/system/config.hpp:13:28: error: boost/config.hpp: No such file or directory
In file included from src/boost/system/error_code.cpp:19:
include/boost/system/error_code.hpp:15:29: error: boost/cstdint.hpp: No such file or directory
include/boost/system/error_code.hpp:16:28: error: boost/assert.hpp: No such file or directory
include/boost/system/error_code.hpp:17:31: error: boost/operators.hpp: No such file or directory
include/boost/system/error_code.hpp:18:33: error: boost/noncopyable.hpp: No such file or directory
include/boost/system/error_code.hpp:19:39: error: boost/utility/enable_if.hpp: No such file or directory
include/boost/system/error_code.hpp:26:29: error: boost/cerrno.hpp: No such file or directory
include/boost/system/error_code.hpp:32:68: error: boost/config/abi_prefix.hpp: No such file or directory
include/boost/system/error_code.hpp:493:70: error: boost/config/abi_suffix.hpp: No such file or directory
In file included from src/boost/system/error_code.cpp:19:
include/boost/system/error_code.hpp:57: error: ‘EAFNOSUPPORT’ was not declared in this scope
include/boost/system/error_code.hpp:58: error: ‘EADDRINUSE’ was not declared in this scope
include/boost/system/error_code.hpp:59: error: ‘EADDRNOTAVAIL’ was not declared in this scope
include/boost/system/error_code.hpp:60: error: ‘EISCONN’ was not declared in this scope
include/boost/system/error_code.hpp:61: error: ‘E2BIG’ was not declared in this scope
include/boost/system/error_code.hpp:62: error: ‘EDOM’ was not declared in this scope
include/boost/system/error_code.hpp:63: error: ‘EFAULT’ was not declared in this scope
include/boost/system/error_code.hpp:64: error: ‘EBADF’ was not declared in this scope
include/boost/system/error_code.hpp:65: error: ‘EBADMSG’ was not declared in this scope
include/boost/system/error_code.hpp:66: error: ‘EPIPE’ was not declared in this scope
include/boost/system/error_code.hpp:67: error: ‘ECONNABORTED’ was not declared in this scope
include/boost/system/error_code.hpp:68: error: ‘EALREADY’ was not declared in this scope
include/boost/system/error_code.hpp:69: error: ‘ECONNREFUSED’ was not declared in this scope
include/boost/system/error_code.hpp:70: error: ‘ECONNRESET’ was not declared in this scope
include/boost/system/error_code.hpp:71: error: ‘EXDEV’ was not declared in this scope
include/boost/system/error_code.hpp:72: error: ‘EDESTADDRREQ’ was not declared in this scope
include/boost/system/error_code.hpp:73: error: ‘EBUSY’ was not declared in this scope
include/boost/system/error_code.hpp:74: error: ‘ENOTEMPTY’ was not declared in this scope
include/boost/system/error_code.hpp:75: error: ‘ENOEXEC’ was not declared in this scope
include/boost/system/error_code.hpp:76: error: ‘EEXIST’ was not declared in this scope
include/boost/system/error_code.hpp:77: error: ‘EFBIG’ was not declared in this scope
include/boost/system/error_code.hpp:78: error: ‘ENAMETOOLONG’ was not declared in this scope
include/boost/system/error_code.hpp:79: error: ‘ENOSYS’ was not declared in this scope
include/boost/system/error_code.hpp:80: error: ‘EHOSTUNREACH’ was not declared in this scope
include/boost/system/error_code.hpp:81: error: ‘EIDRM’ was not declared in this scope
include/boost/system/error_code.hpp:82: error: ‘EILSEQ’ was not declared in this scope
include/boost/system/error_code.hpp:83: error: ‘ENOTTY’ was not declared in this scope
include/boost/system/error_code.hpp:84: error: ‘EINTR’ was not declared in this scope
include/boost/system/error_code.hpp:85: error: ‘EINVAL’ was not declared in this scope
include/boost/system/error_code.hpp:86: error: ‘ESPIPE’ was not declared in this scope
include/boost/system/error_code.hpp:87: error: ‘EIO’ was not declared in this scope
include/boost/system/error_code.hpp:88: error: ‘EISDIR’ was not declared in this scope
include/boost/system/error_code.hpp:89: error: ‘EMSGSIZE’ was not declared in this scope
include/boost/system/error_code.hpp:90: error: ‘ENETDOWN’ was not declared in this scope
include/boost/system/error_code.hpp:91: error: ‘ENETRESET’ was not declared in this scope
include/boost/system/error_code.hpp:92: error: ‘ENETUNREACH’ was not declared in this scope
include/boost/system/error_code.hpp:93: error: ‘ENOBUFS’ was not declared in this scope
include/boost/system/error_code.hpp:94: error: ‘ECHILD’ was not declared in this scope
include/boost/system/error_code.hpp:95: error: ‘ENOLINK’ was not declared in this scope
include/boost/system/error_code.hpp:96: error: ‘ENOLCK’ was not declared in this scope
include/boost/system/error_code.hpp:97: error: ‘ENODATA’ was not declared in this scope
include/boost/system/error_code.hpp:98: error: ‘ENOMSG’ was not declared in this scope
include/boost/system/error_code.hpp:99: error: ‘ENOPROTOOPT’ was not declared in this scope
include/boost/system/error_code.hpp:100: error: ‘ENOSPC’ was not declared in this scope
include/boost/system/error_code.hpp:101: error: ‘ENOSR’ was not declared in this scope
include/boost/system/error_code.hpp:102: error: ‘ENXIO’ was not declared in this scope
include/boost/system/error_code.hpp:103: error: ‘ENODEV’ was not declared in this scope
include/boost/system/error_code.hpp:104: error: ‘ENOENT’ was not declared in this scope
include/boost/system/error_code.hpp:105: error: ‘ESRCH’ was not declared in this scope
include/boost/system/error_code.hpp:106: error: ‘ENOTDIR’ was not declared in this scope
include/boost/system/error_code.hpp:107: error: ‘ENOTSOCK’ was not declared in this scope
include/boost/system/error_code.hpp:108: error: ‘ENOSTR’ was not declared in this scope
include/boost/system/error_code.hpp:109: error: ‘ENOTCONN’ was not declared in this scope
include/boost/system/error_code.hpp:110: error: ‘ENOMEM’ was not declared in this scope
include/boost/system/error_code.hpp:111: error: ‘ENOTSUP’ was not declared in this scope
include/boost/system/error_code.hpp:112: error: ‘ECANCELED’ was not declared in this scope
include/boost/system/error_code.hpp:113: error: ‘EINPROGRESS’ was not declared in this scope
include/boost/system/error_code.hpp:114: error: ‘EPERM’ was not declared in this scope
include/boost/system/error_code.hpp:115: error: ‘EOPNOTSUPP’ was not declared in this scope
include/boost/system/error_code.hpp:116: error: ‘EWOULDBLOCK’ was not declared in this scope
include/boost/system/error_code.hpp:117: error: ‘EOWNERDEAD’ was not declared in this scope
include/boost/system/error_code.hpp:118: error: ‘EACCES’ was not declared in this scope
include/boost/system/error_code.hpp:119: error: ‘EPROTO’ was not declared in this scope
include/boost/system/error_code.hpp:120: error: ‘EPROTONOSUPPORT’ was not declared in this scope
include/boost/system/error_code.hpp:121: error: ‘EROFS’ was not declared in this scope
include/boost/system/error_code.hpp:122: error: ‘EDEADLK’ was not declared in this scope
include/boost/system/error_code.hpp:123: error: ‘EAGAIN’ was not declared in this scope
include/boost/system/error_code.hpp:124: error: ‘ERANGE’ was not declared in this scope
include/boost/system/error_code.hpp:125: error: ‘ENOTRECOVERABLE’ was not declared in this scope
include/boost/system/error_code.hpp:126: error: ‘ETIME’ was not declared in this scope
include/boost/system/error_code.hpp:127: error: ‘ETXTBSY’ was not declared in this scope
include/boost/system/error_code.hpp:128: error: ‘ETIMEDOUT’ was not declared in this scope
include/boost/system/error_code.hpp:129: error: ‘ENFILE’ was not declared in this scope
include/boost/system/error_code.hpp:130: error: ‘EMFILE’ was not declared in this scope
include/boost/system/error_code.hpp:131: error: ‘EMLINK’ was not declared in this scope
include/boost/system/error_code.hpp:132: error: ‘ELOOP’ was not declared in this scope
include/boost/system/error_code.hpp:133: error: ‘EOVERFLOW’ was not declared in this scope
include/boost/system/error_code.hpp:134: error: ‘EPROTOTYPE’ was not declared in this scope
include/boost/system/error_code.hpp:183: error: expected class-name before ‘{’ token
include/boost/system/error_code.hpp:230: error: ‘enable_if’ in namespace ‘boost’ does not name a type
include/boost/system/error_code.hpp:230: error: expected ‘,’ or ‘...’ before ‘<’ token
include/boost/system/error_code.hpp:244: error: ‘enable_if’ in namespace ‘boost’ does not name a type
include/boost/system/error_code.hpp:244: error: expected unqualified-id before ‘<’ token
include/boost/system/error_code.hpp:317: error: ‘enable_if’ in namespace ‘boost’ does not name a type
include/boost/system/error_code.hpp:317: error: expected ‘,’ or ‘...’ before ‘<’ token
include/boost/system/error_code.hpp:330: error: ‘enable_if’ in namespace ‘boost’ does not name a type
include/boost/system/error_code.hpp:330: error: expected unqualified-id before ‘<’ token
src/boost/system/error_code.cpp: In member function ‘virtual boost:ystem::error_condition<unnamed>:ystem_error_category::default_error_condition(int) const’:
src/boost/system/error_code.cpp:164: error: ‘E2BIG’ was not declared in this scope
src/boost/system/error_code.cpp:165: error: ‘EACCES’ was not declared in this scope
src/boost/system/error_code.cpp:166: error: ‘EADDRINUSE’ was not declared in this scope
src/boost/system/error_code.cpp:167: error: ‘EADDRNOTAVAIL’ was not declared in this scope
src/boost/system/error_code.cpp:168: error: ‘EAFNOSUPPORT’ was not declared in this scope
src/boost/system/error_code.cpp:169: error: ‘EAGAIN’ was not declared in this scope
src/boost/system/error_code.cpp:173: error: ‘EBADF’ was not declared in this scope
src/boost/system/error_code.cpp:174: error: ‘EBADMSG’ was not declared in this scope
src/boost/system/error_code.cpp:175: error: ‘EBUSY’ was not declared in this scope
src/boost/system/error_code.cpp:176: error: ‘ECANCELED’ was not declared in this scope
src/boost/system/error_code.cpp:177: error: ‘ECHILD’ was not declared in this scope
src/boost/system/error_code.cpp:178: error: ‘ECONNABORTED’ was not declared in this scope
src/boost/system/error_code.cpp:179: error: ‘ECONNREFUSED’ was not declared in this scope
src/boost/system/error_code.cpp:180: error: ‘ECONNRESET’ was not declared in this scope
src/boost/system/error_code.cpp:181: error: ‘EDEADLK’ was not declared in this scope
src/boost/system/error_code.cpp:182: error: ‘EDESTADDRREQ’ was not declared in this scope
src/boost/system/error_code.cpp:183: error: ‘EDOM’ was not declared in this scope
src/boost/system/error_code.cpp:184: error: ‘EEXIST’ was not declared in this scope
src/boost/system/error_code.cpp:185: error: ‘EFAULT’ was not declared in this scope
src/boost/system/error_code.cpp:186: error: ‘EFBIG’ was not declared in this scope
src/boost/system/error_code.cpp:187: error: ‘EHOSTUNREACH’ was not declared in this scope
src/boost/system/error_code.cpp:188: error: ‘EIDRM’ was not declared in this scope
src/boost/system/error_code.cpp:189: error: ‘EILSEQ’ was not declared in this scope
src/boost/system/error_code.cpp:190: error: ‘EINPROGRESS’ was not declared in this scope
src/boost/system/error_code.cpp:191: error: ‘EINTR’ was not declared in this scope
src/boost/system/error_code.cpp:192: error: ‘EINVAL’ was not declared in this scope
src/boost/system/error_code.cpp:193: error: ‘EIO’ was not declared in this scope
src/boost/system/error_code.cpp:194: error: ‘EISCONN’ was not declared in this scope
src/boost/system/error_code.cpp:195: error: ‘EISDIR’ was not declared in this scope
src/boost/system/error_code.cpp:196: error: ‘ELOOP’ was not declared in this scope
src/boost/system/error_code.cpp:197: error: ‘EMFILE’ was not declared in this scope
src/boost/system/error_code.cpp:198: error: ‘EMLINK’ was not declared in this scope
src/boost/system/error_code.cpp:199: error: ‘EMSGSIZE’ was not declared in this scope
src/boost/system/error_code.cpp:200: error: ‘ENAMETOOLONG’ was not declared in this scope
src/boost/system/error_code.cpp:201: error: ‘ENETDOWN’ was not declared in this scope
src/boost/system/error_code.cpp:202: error: ‘ENETRESET’ was not declared in this scope
src/boost/system/error_code.cpp:203: error: ‘ENETUNREACH’ was not declared in this scope
src/boost/system/error_code.cpp:204: error: ‘ENFILE’ was not declared in this scope
src/boost/system/error_code.cpp:205: error: ‘ENOBUFS’ was not declared in this scope
src/boost/system/error_code.cpp:206: error: ‘ENODATA’ was not declared in this scope
src/boost/system/error_code.cpp:207: error: ‘ENODEV’ was not declared in this scope
src/boost/system/error_code.cpp:208: error: ‘ENOENT’ was not declared in this scope
src/boost/system/error_code.cpp:209: error: ‘ENOEXEC’ was not declared in this scope
src/boost/system/error_code.cpp:210: error: ‘ENOLCK’ was not declared in this scope
src/boost/system/error_code.cpp:211: error: ‘ENOLINK’ was not declared in this scope
src/boost/system/error_code.cpp:212: error: ‘ENOMEM’ was not declared in this scope
src/boost/system/error_code.cpp:213: error: ‘ENOMSG’ was not declared in this scope
src/boost/system/error_code.cpp:214: error: ‘ENOPROTOOPT’ was not declared in this scope
src/boost/system/error_code.cpp:215: error: ‘ENOSPC’ was not declared in this scope
src/boost/system/error_code.cpp:216: error: ‘ENOSR’ was not declared in this scope
src/boost/system/error_code.cpp:217: error: ‘ENOSTR’ was not declared in this scope
src/boost/system/error_code.cpp:218: error: ‘ENOSYS’ was not declared in this scope
src/boost/system/error_code.cpp:219: error: ‘ENOTCONN’ was not declared in this scope
src/boost/system/error_code.cpp:220: error: ‘ENOTDIR’ was not declared in this scope
src/boost/system/error_code.cpp:224: error: ‘ENOTRECOVERABLE’ was not declared in this scope
src/boost/system/error_code.cpp:225: error: ‘ENOTSOCK’ was not declared in this scope
src/boost/system/error_code.cpp:226: error: ‘ENOTSUP’ was not declared in this scope
src/boost/system/error_code.cpp:227: error: ‘ENOTTY’ was not declared in this scope
src/boost/system/error_code.cpp:228: error: ‘ENXIO’ was not declared in this scope
src/boost/system/error_code.cpp:232: error: ‘EOVERFLOW’ was not declared in this scope
src/boost/system/error_code.cpp:233: error: ‘EOWNERDEAD’ was not declared in this scope
src/boost/system/error_code.cpp:234: error: ‘EPERM’ was not declared in this scope
src/boost/system/error_code.cpp:235: error: ‘EPIPE’ was not declared in this scope
src/boost/system/error_code.cpp:236: error: ‘EPROTO’ was not declared in this scope
src/boost/system/error_code.cpp:237: error: ‘EPROTONOSUPPORT’ was not declared in this scope
src/boost/system/error_code.cpp:238: error: ‘EPROTOTYPE’ was not declared in this scope
src/boost/system/error_code.cpp:239: error: ‘ERANGE’ was not declared in this scope
src/boost/system/error_code.cpp:240: error: ‘EROFS’ was not declared in this scope
src/boost/system/error_code.cpp:241: error: ‘ESPIPE’ was not declared in this scope
src/boost/system/error_code.cpp:242: error: ‘ESRCH’ was not declared in this scope
src/boost/system/error_code.cpp:243: error: ‘ETIME’ was not declared in this scope
src/boost/system/error_code.cpp:244: error: ‘ETIMEDOUT’ was not declared in this scope
src/boost/system/error_code.cpp:245: error: ‘ETXTBSY’ was not declared in this scope
src/boost/system/error_code.cpp:249: error: ‘EXDEV’ was not declared in this scope
include/boost/system/error_code.hpp: At global scope:
include/boost/system/error_code.hpp:211: warning: ‘boost:ystem::posix_category’ defined but not used
include/boost/system/error_code.hpp:212: warning: ‘boost:ystem::errno_ecat’ defined but not used
include/boost/system/error_code.hpp:213: warning: ‘boost:ystem::native_ecat’ defined but not used
scons: *** [build/boost/system/error_code.o] Error 1
scons: building terminated because of errors.

[joevenzon]

Sorry, I tried to partially add some of boost due to other stuff I was working on, but now with R2453 I've added a full boost dependency. So install boost (on ubuntu 9.04, sudo apt-get install libboost-dev) and see if that works.

[ntsourak]

New problem....:

scons: Reading SConscript files ...
Checking for C++ header file boost/asio.hpp... no
You do not have the boost/asio.hpp headers installed. Exiting.

I have Ubuntu 8.04 - the Hardy Heron and it seems i can only install 1.34.1 boost library :?
The asio library is not included in this package.

[alex25]

scons: Reading SConscript files ...
Checking for C++ header file boost/asio.hpp... no
You do not have the boost/asio.hpp headers installed. Exiting.

I have Ubuntu 8.04 - the Hardy Heron and it seems i can only install 1.34.1 boost library :?
The asio library is not included in this package.

libasio used to be a separate package. try installing libasio-dev (at least debian has such a package) and then change boost/asio.hpp to asio.hpp (in the code as well). that should work.

--alex--

[ntsourak]

Ok I intalled libasio-dev and did some hacking in the code in order to work.

joevenzon:

I get results in telemetry.dat file and i have two questions.

1)The velocity in the last column is not the one depicted in the speedometer. I reach to speeds up to 60 MpH but i don't see these high values in the file.

2)Can you explain a little bit what is the velocity of the wheel in the 3-axis. Is it possible to related it somehow with the angle of the wheel?

Thanks a lot guys for your immediate responses!

[joevenzon]

Ah, the units in the file are meters per second. I guess I should have mentioned that.

The X Y Z velocity units are in world space; that is, if the car is traveling in exactly the +X direction in vdrift, the X velocity will be some number and the Y and Z values will be zero. If you start going up a hill, the X value will decrease slightly and the Z value will increase (Z is up).