p71924506
/
carla
mirror of https://github.com/carla-simulator/carla.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Changed conditions trigger box location

This commit is contained in:
Joel Moriana 2022-05-03 12:14:52 +02:00 committed by Axel1092
parent cf0600293e
commit 4d5d3a9169
3 changed files with 24 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/StopSignComponent.cpp
View File

@ -43,9 +43,12 @@ void UStopSignComponent::InitializeSign(const carla::road::Map &Map)
auto box_waypoint = signal_waypoint;
// Prevent adding the bounding box inside the intersection
if (Map.IsJunction(RoadId)) {
auto previous_waypoints = Map.GetPrevious(signal_waypoint, 2.0);
if (previous_waypoints.size() == 1) {
box_waypoint = previous_waypoints.front();
auto predecessors = Map.GetPredecessors(box_waypoint);
if (predecessors.size() == 1) {
auto predecessor = predecessors.front();
if (!Map.IsJunction(predecessor.road_id)) {
box_waypoint = predecessor;
}
}
}
@ -62,12 +65,12 @@ void UStopSignComponent::InitializeSign(const carla::road::Map &Map)
double LaneDistance = Map.GetLane(box_waypoint).GetDistance();
if(lane < 0)
{
box_waypoint.s = FMath::Clamp(box_waypoint.s - BoxWidth,
box_waypoint.s = FMath::Clamp(box_waypoint.s - (BoxLength + 1.5f),
LaneDistance + epsilon, LaneDistance + LaneLength - epsilon);
}
else
{
box_waypoint.s = FMath::Clamp(box_waypoint.s + BoxWidth,
box_waypoint.s = FMath::Clamp(box_waypoint.s + (BoxLength + 1.5f),
LaneDistance + epsilon, LaneDistance + LaneLength - epsilon);
}
FTransform BoxTransform = Map.ComputeTransform(box_waypoint);

13
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightComponent.cpp
View File

@ -41,9 +41,12 @@ void UTrafficLightComponent::InitializeSign(const carla::road::Map &Map)
// Prevent adding the bounding box inside the intersection
if (Map.IsJunction(RoadId)) {
auto previous_waypoints = Map.GetPrevious(signal_waypoint, 2.0);
if (previous_waypoints.size() == 1) {
signal_waypoint = previous_waypoints.front();
auto predecessors = Map.GetPredecessors(signal_waypoint);
if (predecessors.size() == 1) {
auto predecessor = predecessors.front();
if (!Map.IsJunction(predecessor.road_id)) {
signal_waypoint = predecessor;
}
}
}
@ -64,12 +67,12 @@ void UTrafficLightComponent::InitializeSign(const carla::road::Map &Map)
double LaneDistance = Map.GetLane(signal_waypoint).GetDistance();
if(lane < 0)
{
signal_waypoint.s = FMath::Clamp(signal_waypoint.s - BoxWidth,
signal_waypoint.s = FMath::Clamp(signal_waypoint.s - (BoxLength + 1.5f),
LaneDistance + epsilon, LaneDistance + LaneLength - epsilon);
}
else
{
signal_waypoint.s = FMath::Clamp(signal_waypoint.s + BoxWidth,
signal_waypoint.s = FMath::Clamp(signal_waypoint.s + (BoxLength + 1.5f),
LaneDistance + epsilon, LaneDistance + LaneLength - epsilon);
}
FTransform BoxTransform = Map.ComputeTransform(signal_waypoint);

13
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/YieldSignComponent.cpp
View File

@ -45,9 +45,12 @@ void UYieldSignComponent::InitializeSign(const carla::road::Map &Map)
auto box_waypoint = signal_waypoint;
// Prevent adding the bounding box inside the intersection
if (Map.IsJunction(RoadId)) {
auto previous_waypoints = Map.GetPrevious(signal_waypoint, 2.0);
if (previous_waypoints.size() == 1) {
box_waypoint = previous_waypoints.front();
auto predecessors = Map.GetPredecessors(box_waypoint);
if (predecessors.size() == 1) {
auto predecessor = predecessors.front();
if (!Map.IsJunction(predecessor.road_id)) {
box_waypoint = predecessor;
}
}
}
@ -64,12 +67,12 @@ void UYieldSignComponent::InitializeSign(const carla::road::Map &Map)
double LaneDistance = Map.GetLane(box_waypoint).GetDistance();
if(lane < 0)
{
box_waypoint.s = FMath::Clamp(box_waypoint.s - BoxWidth,
box_waypoint.s = FMath::Clamp(box_waypoint.s - (BoxLength + 1.5f),
LaneDistance + epsilon, LaneDistance + LaneLength - epsilon);
}
else
{
box_waypoint.s = FMath::Clamp(box_waypoint.s + BoxWidth,
box_waypoint.s = FMath::Clamp(box_waypoint.s + (BoxLength + 1.5f),
LaneDistance + epsilon, LaneDistance + LaneLength - epsilon);
}
FTransform BoxTransform = Map.ComputeTransform(box_waypoint);