Q&A
発生している問題・エラーメッセージ
オープンソースコードのカーシュミレーションソフトにおいて作成した車両制御システムの実用性を検討したいと考えています． そこで，ビルドを行うと #ifdef TL_ENABLE_RESTARTS /* If Simulink has requested a restart process this before anything else */ if (tlData->controlFlag == TL_RESTART_RACE) { car->ctrl.askRestart = true; return; } #endif のcar->ctrl.askRestart = true;という行で以下のエラーが発生します Visual studio のバージョンは2017です． どのような原因が考えられるでしょうか． 宜しくお願い致します． 重大度レベル コード 説明 プロジェクト ファイル 行 抑制状態 エラー C2039 'askRestart': 'tCarCtrl' のメンバーではありません。 matlab c:\users\owner\desktop\torcs-1.3.7\src\drivers\verifiableautonomy-torcslink-2f28237\matlab.cpp 153 エラー (アクティブ) E0135 class "tCarCtrl" にメンバー "askRestart" がありません matlab C:\Users\owner\Desktop\torcs-1.3.7\src\drivers\VerifiableAutonomy-TORCSLink-2f28237\matlab.cpp 153
C++コード
#include <ctime> #include <stdio.h> #include <stdlib.h> #include <math.h> #include <tgf.h> #include <track.h> #include <car.h> #include <raceman.h> #include <robottools.h> #include <robot.h> #include "TORCSLink.h" static void initTrack(int index, tTrack* track, void *carHandle, void **carParmHandle, tSituation *s); static void newRace(int index, tCarElt* car, tSituation *s); static void drive(int index, tCarElt* car, tSituation *s); static void shutdown(int index); static int InitFuncPt(int index, void *pt); static void endRace(int index, tCarElt *car, tSituation *s); /* Module entry point */ extern "C" int matlab(tModInfo *modInfo) { /* Set up shared memory */ if (tlInitSharedMemory() != 0) { printf("matlab robots: Error initialising shared memory!\n"); } /* Clear all structures */ memset(modInfo, 0, N_VEHICLES*sizeof(tModInfo)); for (int i = 0; i < N_VEHICLES; i++) { char name[64]; sprintf(name, "matlab %d", i); modInfo[i].name = strdup(name); modInfo[i].desc = strdup(name); modInfo[i].fctInit = InitFuncPt; modInfo[i].gfId = ROB_IDENT; modInfo[i].index = i; } printf("matlab robots: Initialised!\n"); return 0; } /* Module interface initialization */ static int InitFuncPt(int index, void *pt) { tRobotItf *itf = (tRobotItf *)pt; itf->rbNewTrack = initTrack; /* Give the robot the track view called */ itf->rbNewRace = newRace; /* Start a new race */ itf->rbDrive = drive; /* Drive during race */ itf->rbPitCmd = NULL; /* Pit commands */ itf->rbEndRace = endRace; /* End of the current race */ itf->rbShutdown = shutdown; /* Called before the module is unloaded */ itf->index = index; /* Index used if multiple interfaces */ return 0; } /* Called for every track change or new race */ static void initTrack(int index, tTrack* track, void *carHandle, void **carParmHandle, tSituation *s) { /* Don't load any particular car set up */ *carParmHandle = NULL; } /* Start a new race */ static void newRace(int index, tCarElt* car, tSituation *sit) { // Zero data store memset((void*)tlData,0,sizeof(TORCSData_t)); tlData->controlFlag = TL_NO_DATA; printf("matlab %d: Online\n",index); } int lastEnable = 0; /* Called once per robot update */ static int oncePerCycle(double t) { /* Inform user when enabling/disabling */ if (lastEnable != tlData->enable) { if (tlData->enable) { printf("matlab robots: Enabled!\n"); } else { printf("matlab robots: Disabled!\n"); } } lastEnable = tlData->enable; /* If we are disabled, occasionally let the user know we're still alive, but otherwise do nothing */ if (tlData->enable < 1) { tlData->controlFlag = TL_READY; /* Tell Simulink we're ready and waiting... */ if (fmod(t, 10) <= RCM_MAX_DT_SIMU) { printf("matlab robots: Disabled (t=%.0fs)\n", t); } return -1; } else { tlData->controlFlag = TL_NO_DATA; } /* We want to block TORCS until we have an update from Simulink this ensures the two remain in sync Ensure we timeout after 10s so we don't block forever if Simulink dies on us */ int startT = std::time(0); int timeout = 0; while (tlData->enable == 1 && tlData->controlFlag == TL_NO_DATA) { if ((std::time(0) - startT) > 5) { startT = std::time(0); switch (timeout) { case 0: printf("matlab robots: No data from Simulink in the last 5 seconds... waiting 5 more...\n"); timeout++; break; case 1: printf("matlab robots: No data from Simulink in the last 10 seconds... disabling robot...\n"); tlData->enable = 0; return -1; } } } return 0; } double lastTime = 0.0; /* Drive during race */ static void drive(int index, tCarElt* car, tSituation *s) { /* We don't want control before the race starts */ if (s->currentTime < 0) { return; } #ifdef TL_ENABLE_RESTARTS /* If Simulink has requested a restart process this before anything else */ if (tlData->controlFlag == TL_RESTART_RACE) { car->ctrl.askRestart = true; return; } #endif if ((s->currentTime - lastTime) > RCM_MAX_DT_ROBOTS / 2) { if (oncePerCycle(s->currentTime) < 0) { return; } else { lastTime = s->currentTime; } } /* If we've got this far then we have new data from Simulink, update our control */ car->ctrl.accelCmd = tlData->vehicle[index].control.throttle; car->ctrl.brakeCmd = tlData->vehicle[index].control.brake; car->ctrl.clutchCmd = tlData->vehicle[index].control.clutch; car->ctrl.gear = tlData->vehicle[index].control.gear; car->ctrl.steer = tlData->vehicle[index].control.steering; /* Update the outputs of our vehicle */ #ifdef TL_USE_DOUBLE_POSITION tlData->vehicle[index].data.position[0] = car->pub.DynGCg.posD.x; tlData->vehicle[index].data.position[1] = car->pub.DynGCg.posD.y; tlData->vehicle[index].data.position[2] = car->pub.DynGCg.posD.z; #else tlData->vehicle[index].data.position[0] = car->pub.DynGCg.pos.x; tlData->vehicle[index].data.position[1] = car->pub.DynGCg.pos.y; tlData->vehicle[index].data.position[2] = car->pub.DynGCg.pos.z; #endif tlData->vehicle[index].data.velocity[0] = car->pub.DynGCg.vel.x; tlData->vehicle[index].data.velocity[1] = car->pub.DynGCg.vel.y; tlData->vehicle[index].data.velocity[2] = car->pub.DynGCg.vel.z; tlData->vehicle[index].data.acceleration[0] = car->pub.DynGCg.acc.x; tlData->vehicle[index].data.acceleration[1] = car->pub.DynGCg.acc.y; tlData->vehicle[index].data.acceleration[2] = car->pub.DynGCg.acc.z; tlData->vehicle[index].data.angle[0] = car->pub.DynGCg.pos.ax; tlData->vehicle[index].data.angle[1] = car->pub.DynGCg.pos.ay; tlData->vehicle[index].data.angle[2] = car->pub.DynGCg.pos.az; tlData->vehicle[index].data.angularVelocity[0] = car->pub.DynGC.vel.ax; tlData->vehicle[index].data.angularVelocity[1] = car->pub.DynGC.vel.ay; tlData->vehicle[index].data.angularVelocity[2] = car->pub.DynGC.vel.az; double error = RtTrackSideTgAngleL(&(car->_trkPos)) - car->_yaw; error = fmod(error + 2*PI,2*PI); // Normalise heading angle if (error > PI) { error = error - 2*PI; } tlData->vehicle[index].data.headingError = error; tlData->vehicle[index].data.lateralError = car->_trkPos.toMiddle; tlData->vehicle[index].data.roadDistance = RtGetDistFromStart(car); double curvature = 0.0; if (car->_trkPos.seg->radius > 0) { curvature = 1.0/car->_trkPos.seg->radius; if (car->_trkPos.seg->type == TR_RGT) { curvature *= -1; } } tlData->vehicle[index].data.roadCurvature = curvature; tlData->vehicle[index].data.engineRPM = car->_enginerpm * 9.54929659; // For some reason RPM is actually rad/s! } // End of the current race. static void endRace(int index, tCarElt *car, tSituation *s) { printf("matlab %d: Offline\n", index); } // Called before the module is unloaded. static void shutdown(int index) { tlCloseSharedMemory(); }
回答1件
1
ベストアンサー
if (tlData->controlFlag == TL_RESTART_RACE) {という行で以下のエラーが発生します
間違いです。
car->ctrl.askRestart = true;
ビルドエラーはこの行で発生しているように見受けられます。
エラーは発生せずビルドは無事に終了しています．
無事終了していません。
これ以上は、tCarElt構造体？クラス？の内容が不明なため、どなたも回答できないと思われます。
tCarEltにカーソルを合わせ、F12キーを押して定義へジャンプした上で、この内容を追記いただけますでしょうか。
投稿2018/12/20 11:31
総合スコア7196
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