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Added lane check to landmark search

This commit is contained in:
Axel 2021-07-12 10:50:48 +02:00 committed by bernat
parent 6f0c9acc55
commit 2f488b6efe
1 changed files with 22 additions and 0 deletions
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22
LibCarla/source/carla/road/Map.cpp
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@ -343,6 +343,17 @@ namespace road {
} else {
distance_to_signal = waypoint.s - signal->GetDistance();
}
bool is_valid = false;
for (auto &validity : signal->GetValidities()) {
if (waypoint.lane_id > validity._from_lane &&
waypoint.lane_id < validity._to_lane) {
is_valid = true;
break;
}
}
if(!is_valid){
continue;
}
if (distance_to_signal == 0) {
result.emplace_back(SignalSearchData
{signal, waypoint,
@ -368,6 +379,17 @@ namespace road {
} else {
distance_to_signal = waypoint.s - signal->GetDistance();
}
bool is_valid = false;
for (auto &validity : signal->GetValidities()) {
if (waypoint.lane_id > validity._from_lane &&
waypoint.lane_id < validity._to_lane) {
is_valid = true;
break;
}
}
if(!is_valid){
continue;
}
if (distance_to_signal == 0) {
result.emplace_back(SignalSearchData
{signal, waypoint,