Added the instances

CHANGELOG.md

@@ -1,5 +1,6 @@
 ## Latest
 
+  * Python agents now accept a carla.Map and GlobalRoutePlanner instances as inputs, avoiding the need to recompute them.
   * 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.

PythonAPI/carla/agents/navigation/basic_agent.py

@@ -26,7 +26,7 @@ class BasicAgent(object):
     as well as to change its parameters in case a different driving mode is desired.
     """
 
-    def __init__(self, vehicle, target_speed=20, opt_dict={}):
+    def __init__(self, vehicle, target_speed=20, opt_dict={}, map_inst=None, grp_inst=None):
         """
         Initialization the agent paramters, the local and the global planner.
 
@@ -34,9 +34,19 @@ class BasicAgent(object):
             :param target_speed: speed (in Km/h) at which the vehicle will move
             :param opt_dict: dictionary in case some of its parameters want to be changed.
                 This also applies to parameters related to the LocalPlanner.
+            :param map_inst: carla.Map instance to avoid the expensive call of getting it.
+            :param grp_inst: GlobalRoutePlanner instance to avoid the expensive call of getting it.
+
         """
         self._vehicle = vehicle
         self._world = self._vehicle.get_world()
+        if map_inst:
+            if isinstance(map_inst, carla.Map):
+                self._map = map_inst
+            else:
+                print("Warning: Ignoring the given map as it is not a 'carla.Map'")
+                self._map = self._world.get_map()
+        else:
             self._map = self._world.get_map()
         self._last_traffic_light = None
 
@@ -68,7 +78,14 @@ class BasicAgent(object):
             self._max_steering = opt_dict['max_brake']
 
         # Initialize the planners
-        self._local_planner = LocalPlanner(self._vehicle, opt_dict=opt_dict)
+        self._local_planner = LocalPlanner(self._vehicle, opt_dict=opt_dict, map_inst=self._map)
+        if grp_inst:
+            if isinstance(grp_inst, GlobalRoutePlanner):
+                self._global_planner = grp_inst
+            else:
+                print("Warning: Ignoring the given map as it is not a 'carla.Map'")
+                self._global_planner = GlobalRoutePlanner(self._map, self._sampling_resolution)
+        else:
             self._global_planner = GlobalRoutePlanner(self._map, self._sampling_resolution)
 
     def add_emergency_stop(self, control):

PythonAPI/carla/agents/navigation/behavior_agent.py

@@ -30,7 +30,7 @@ class BehaviorAgent(BasicAgent):
     are encoded in the agent, from cautious to a more aggressive ones.
     """
 
-    def __init__(self, vehicle, behavior='normal', opt_dict={}):
+    def __init__(self, vehicle, behavior='normal', opt_dict={}, map_inst=None, grp_inst=None):
         """
         Constructor method.
 
@@ -38,7 +38,7 @@ class BehaviorAgent(BasicAgent):
             :param behavior: type of agent to apply
         """
 
-        super(BehaviorAgent, self).__init__(vehicle, opt_dict=opt_dict)
+        super().__init__(vehicle, opt_dict=opt_dict, map_inst=map_inst, grp_inst=grp_inst)
         self._look_ahead_steps = 0
 
         # Vehicle information

PythonAPI/carla/agents/navigation/constant_velocity_agent.py

@@ -22,7 +22,7 @@ class ConstantVelocityAgent(BasicAgent):
     wait for a bit, and then start again.
     """
 
-    def __init__(self, vehicle, target_speed=20, opt_dict={}):
+    def __init__(self, vehicle, target_speed=20, opt_dict={}, map_inst=None, grp_inst=None):
         """
         Initialization the agent parameters, the local and the global planner.
 
@@ -30,8 +30,10 @@ class ConstantVelocityAgent(BasicAgent):
             :param target_speed: speed (in Km/h) at which the vehicle will move
             :param opt_dict: dictionary in case some of its parameters want to be changed.
                 This also applies to parameters related to the LocalPlanner.
+            :param map_inst: carla.Map instance to avoid the expensive call of getting it.
+            :param grp_inst: GlobalRoutePlanner instance to avoid the expensive call of getting it.
         """
-        super(ConstantVelocityAgent, self).__init__(vehicle, target_speed, opt_dict=opt_dict)
+        super().__init__(vehicle, target_speed, opt_dict=opt_dict, map_inst=map_inst, grp_inst=grp_inst)
 
         self._use_basic_behavior = False  # Whether or not to use the BasicAgent behavior when the constant velocity is down
         self._target_speed = target_speed / 3.6  # [m/s]

PythonAPI/carla/agents/navigation/local_planner.py

@@ -40,7 +40,7 @@ class LocalPlanner(object):
     unless a given global plan has already been specified.
     """
 
-    def __init__(self, vehicle, opt_dict={}):
+    def __init__(self, vehicle, opt_dict={}, map_inst=None):
         """
         :param vehicle: actor to apply to local planner logic onto
         :param opt_dict: dictionary of arguments with different parameters:
@@ -53,9 +53,17 @@ class LocalPlanner(object):
             max_brake: maximum brake applied to the vehicle
             max_steering: maximum steering applied to the vehicle
             offset: distance between the route waypoints and the center of the lane
+        :param map_inst: carla.Map instance to avoid the expensive call of getting it.
         """
         self._vehicle = vehicle
         self._world = self._vehicle.get_world()
+        if map_inst:
+            if isinstance(map_inst, carla.Map):
+                self._map = map_inst
+            else:
+                print("Warning: Ignoring the given map as it is not a 'carla.Map'")
+                self._map = self._world.get_map()
+        else:
             self._map = self._world.get_map()
 
         self._vehicle_controller = None