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Added car-walker collision test

This commit is contained in:
Daniel Santos-Olivan 2020-10-23 18:05:03 +02:00 committed by DSantosO
parent e3639a1591
commit 1c69f2acc0
1 changed files with 45 additions and 1 deletions
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44
PythonAPI/examples/test_collisions.py
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@ -249,6 +249,43 @@ class CarBikeCollis1(Scenario):
super().init_scene()
class CarWalkCollis1(Scenario):
def init_scene(self):
world = self.world
blueprint_library = world.get_blueprint_library()
car_tr = carla.Transform(carla.Location(50, -255, 0.04), carla.Rotation(yaw=0))
car = world.spawn_actor(blueprint_library.filter("*lincoln*")[0], car_tr)
wait(world, 1)
walker_tr = carla.Transform(carla.Location(85, -248, 1.00), carla.Rotation(yaw=-90))
walker_tr = carla.Transform(carla.Location(85, -255, 1.00), carla.Rotation(yaw=-90))
walker_bp = blueprint_library.filter("walker.pedestrian.0007")[0]
if walker_bp.has_attribute('is_invincible'):
walker_bp.set_attribute('is_invincible', 'false')
walker = world.spawn_actor(walker_bp, walker_tr)
wait(world, 1)
car.set_target_velocity(carla.Vector3D(+20, 0, 0))
walker_control = walker.get_control()
walker_control.direction = carla.Vector3D(0, -1, 0)
walker_control.speed = 5
#walker.apply_control(walker_control)
walker.set_simulate_physics(True)
self.vehicle_list = []
self.vehicle_list.append(car)
self.vehicle_list.append(walker)
wait(world, 1)
super().init_scene()
class TestScenario():
def __init__(self, scene):
self.scene = scene
@ -379,6 +416,13 @@ def main(arg):
#test00.test_determ_one_config(20, 80, repetitions)
#test00.test_determ_one_config(20, 100, repetitions)
testW1 = TestScenario(CarWalkCollis1(client, world))
testW1.test_determ_one_config(20, 20, repetitions)
testW1.test_determ_one_config(20, 40, repetitions)
testW1.test_determ_one_config(20, 60, repetitions)
testW1.test_determ_one_config(20, 80, repetitions)
testW1.test_determ_one_config(20, 100, repetitions)
print("--------------------------------------------------------------")
test01 = TestScenario(CarCollision01(client, world))
test01.test_determ_one_config(20, 20, repetitions)