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The specific effect of each constants is documented in the code.
SIMULATOR
Implemented a simulator in C for Linux. This is integrated with the code used on cars (ca2). It simulates the cars dynamics and the behavior of the Camera Positioning Systems (CPS). Besides being very useful to verify the system model, it makes easy to test changes to code and the controller before applying those changes to carsThe simulator emulates the laboratory environment by computing the dynamics of the vehicles, taking into account disturbances and measurement noise, and communicating with ca2 exactly like CPS does. It is transparent to ca2, meaning that the car code basically does not need to know if it is interfacing with the lab CPS or with the simulator. This allows to test the changes in the code in a controlled environment and speed up significantly the identification of problems, testing the system model and debugging.
- Compatibility *
It is implemented in C and it surely works on the last version of Ubuntu. It should not have problems also with other distros of Linux but I did not have time to test it. Since it uses the POSIX library for threading and network communication, it cannot work on Windows unless one uses some (untested) workarounds such as using a POSIX porting for windows (see article on Wikipedia http://en.wikipedia.org/wiki/POSIX#POSIX_for_Windows). However it should work on Mac since it is Unix-based.
- Compilation *
To compile both ca2 and the simulator I wrote the simple shell script "Andrea/src/scripts/compile.sh".
- path file name changed
CA2
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