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Fixed ending lane control bug

This commit is contained in:
Guillermo 2023-11-08 11:38:41 +01:00 committed by bernat
parent 116edcdc69
commit 642a36d75e
2 changed files with 11 additions and 2 deletions
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1
LibCarla/source/carla/trafficmanager/Constants.h
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@ -105,6 +105,7 @@ static const float MAX_WPT_RADIANS = 0.087f; // 5º
static float const DELTA = 25.0f;
static float const Z_DELTA = 500.0f;
static float const STRAIGHT_DEG = 19.0f;
static const double MIN_LANE_WIDTH = 1.0f;
} // namespace Map
namespace TrafficLight {

12
LibCarla/source/carla/trafficmanager/InMemoryMap.cpp
View File

@ -180,6 +180,11 @@ namespace traffic_manager {
// Setting segment predecessors and successors.
SegmentId waypoint_segment_id = GetSegmentId(connection.first);
SegmentId successor_segment_id = GetSegmentId(connection.second);
if (waypoint_segment_id == successor_segment_id){
// If both topology waypoints are at the same segment, ignore them.
// This happens at lanes that have either no successor or predecessor connections.
continue;
}
using SegIdVectorPair = std::pair<std::vector<SegmentId>, std::vector<SegmentId>>;
SegIdVectorPair &connection_first = segment_topology[waypoint_segment_id];
SegIdVectorPair &connection_second = segment_topology[successor_segment_id];
@ -226,7 +231,10 @@ namespace traffic_manager {
assert(_world_map != nullptr && "No map reference found.");
auto raw_dense_topology = _world_map->GenerateWaypoints(MAP_RESOLUTION);
for (auto &waypoint_ptr: raw_dense_topology) {
segment_map[GetSegmentId(waypoint_ptr)].emplace_back(std::make_shared<SimpleWaypoint>(waypoint_ptr));
if (waypoint_ptr->GetLaneWidth() > MIN_LANE_WIDTH){
// Avoid making the vehicles move through very narrow lanes
segment_map[GetSegmentId(waypoint_ptr)].emplace_back(std::make_shared<SimpleWaypoint>(waypoint_ptr));
}
}
// 3. Processing waypoints.
@ -347,7 +355,7 @@ namespace traffic_manager {
if (neighbour) {
swp->SetNextWaypoint(neighbour->GetNextWaypoint());
for (auto next_waypoint : neighbour->GetNextWaypoint()) {
next_waypoint->SetPreviousWaypoint({swp});
next_waypoint->SetPreviousWaypoint({swp});
}
}
}