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Fix topology with ending lanes

This commit is contained in:
Guillermo 2022-04-20 16:44:12 +02:00 committed by Axel1092
parent 5003e58d7c
commit 46d50df7c5
3 changed files with 21 additions and 4 deletions
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1
CHANGELOG.md
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@ -1,5 +1,6 @@
## Latest
* Fix a bug at `Map.get_topology()`, causing lanes with no successors to not be part of it.
* Added new ConstantVelocityAgent
* Added new parameter to the TrafficManager, `set_desired_speed`, to set a vehicle's speed.
* Added 4 new attributes to all vehicles:

10
LibCarla/source/carla/road/Map.cpp
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@ -711,9 +711,19 @@ namespace road {
for (const auto &pair : _data.GetRoads()) {
const auto &road = pair.second;
ForEachDrivableLane(road, [&](auto &&waypoint) {
auto successors = GetSuccessors(waypoint);
if (successors.size() == 0){
auto distance = static_cast<float>(GetDistanceAtEndOfLane(GetLane(waypoint)));
auto last_waypoint = GetWaypoint(waypoint.road_id, waypoint.lane_id, distance);
if (last_waypoint.has_value()){
result.push_back({waypoint, *last_waypoint});
}
}
else{
for (auto &&successor : GetSuccessors(waypoint)) {
result.push_back({waypoint, successor});
}
}
});
}
return result;

10
PythonAPI/carla/agents/navigation/global_route_planner.py
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@ -110,9 +110,15 @@ class GlobalRoutePlanner(object):
w = wp1.next(self._sampling_resolution)[0]
while w.transform.location.distance(endloc) > self._sampling_resolution:
seg_dict['path'].append(w)
w = w.next(self._sampling_resolution)[0]
next_ws = w.next(self._sampling_resolution)
if len(next_ws) == 0:
break
w = next_ws[0]
else:
seg_dict['path'].append(wp1.next(self._sampling_resolution)[0])
next_wps = wp1.next(self._sampling_resolution)
if len(next_wps) == 0:
break
seg_dict['path'].append(next_wps[0])
self._topology.append(seg_dict)
def _build_graph(self):