Adding a new function that loads a map only if it is different (#6651)

* Adding a new function to load a map only if it is different

* Removing commented code

* Updated AddVehicleWheelsAnimation function

* Revert "Updated AddVehicleWheelsAnimation function"

This reverts commit 55405a3de7.

* Small correction: removing blank space

* Changelog.md update

---------

Co-authored-by: Adri Ollero <adriollero@gmail.com>
Co-authored-by: Axel1092 <35765780+Axel1092@users.noreply.github.com>

CHANGELOG.md

@@ -16,6 +16,7 @@
   * Add keyword arguments for `carla.TrafficManager` Python API functions
   * Fixed bug causing the `FPixelReader::SavePixelsToDisk(PixelData, FilePath)` function to crash due to pixel array not set correctly.
   * Collisions detected by the CollisionSensor no longer generate more than one event per frame.
+  * Added API function to load a map only if it is different from the current one.
 
 ## CARLA 0.9.14
 

LibCarla/source/carla/client/Client.h

@@ -8,6 +8,7 @@
 
 #include "carla/client/detail/Simulator.h"
 #include "carla/client/World.h"
+#include "carla/client/Map.h"
 #include "carla/PythonUtil.h"
 #include "carla/trafficmanager/TrafficManager.h"
 
@@ -77,6 +78,23 @@ namespace client {
       return World{_simulator->LoadEpisode(std::move(map_name), reset_settings, map_layers)};
     }
 
+    /// Return (and load) a new world (map) only when the requested map is different from the current one
+
+    void LoadWorldIfDifferent(
+        std::string map_name,
+        bool reset_settings = true,
+        rpc::MapLayer map_layers = rpc::MapLayer::All) const {
+      carla::client::World world = GetWorld();
+      carla::SharedPtr<carla::client::Map> current_map = world.GetMap();
+      std::string current_map_name = current_map->GetName();
+      std::string map_name_prefix = "Carla/Maps/";
+      std::string map_name_without_prefix = map_name;
+      std::string map_name_with_prefix = map_name_prefix + map_name;
+      if(!(map_name_without_prefix == current_map_name) && !(map_name_with_prefix == current_map_name)){
+        World World{_simulator->LoadEpisode(std::move(map_name), reset_settings, map_layers)};
+      }else{}
+    }
+    
     World GenerateOpenDriveWorld(
         std::string opendrive,
         const rpc::OpendriveGenerationParameters & params,

PythonAPI/carla/source/libcarla/Client.cpp

@@ -198,6 +198,7 @@ void export_client() {
     .def("request_file", &cc::Client::RequestFile, (arg("name")))
     .def("reload_world", CONST_CALL_WITHOUT_GIL_1(cc::Client, ReloadWorld, bool), (arg("reset_settings")=true))
     .def("load_world", CONST_CALL_WITHOUT_GIL_3(cc::Client, LoadWorld, std::string, bool, rpc::MapLayer), (arg("map_name"), arg("reset_settings")=true, arg("map_layers")=rpc::MapLayer::All))
+    .def("load_world_if_different", &cc::Client::LoadWorldIfDifferent, (arg("map_name"), arg("reset_settings")=true, arg("map_layers")=rpc::MapLayer::All))
     .def("generate_opendrive_world", CONST_CALL_WITHOUT_GIL_3(cc::Client, GenerateOpenDriveWorld, std::string,
         rpc::OpendriveGenerationParameters, bool), (arg("opendrive"), arg("parameters")=rpc::OpendriveGenerationParameters(),
         arg("reset_settings")=true))