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Fixes to base code for new agent and correction of method for following speed limits

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corkyw10 2021-07-12 11:13:02 +02:00 committed by bernat
parent 144252915f
commit 699251526b
1 changed files with 4 additions and 2 deletions
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6
Docs/adv_agents.md
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@ -96,7 +96,7 @@ while True:
The __Basic Agent__ provides a few methods to manipulate agent behavior or program routes to follow:
- __`set_target_speed(speed)`:__ Set the target speed in km/h
- __`follow_speed_limits(value=True)`:__ Sets the agent to ignore or follow speed limits.
- __`follow_speed_limits(value=True)`:__ Sets the agent to follow speed limits.
- __`set_destination(end_location, start_location=None)`:__ The agent will travel from a specific start location to an end location via the shortest route possible. If no start location is provided, it will use the current agent location.
- __`set_global_plan(plan, stop_waypoint_creation=True, clean_queue=True)`:__ Adds a specific plan for the agent to follow. The plan argument should consist of a list of `[carla.Waypoint, RoadOption]` that will be the path the agent needs to take. `stop_waypoint_creation` will prevent waypoints from being automatically created once the path has run its course. `clean_queue` will reset the agent's current plan.
- __`trace_route(start_waypoint, end_waypoint)`:__ Gets the shortest distance between two waypoints from the Global Route Planner and returns the path as a list of `[carla.Waypoint, RoadOption]` for the agent to follow.
@ -176,7 +176,7 @@ class CustomAgent(BasicAgent):
:param vehicle: actor to apply to local planner logic onto
:param target_speed: speed (in Km/h) at which the vehicle will move
"""
super(BasicAgent)
super().__init__(target_speed, debug)
def run_step(self, debug=False):
"""
@ -184,6 +184,8 @@ class CustomAgent(BasicAgent):
:return: carla.VehicleControl
"""
# Actions to take during each simulation step
control = carla.VehicleControl()
return control
```
Check out the `basic_agent.py` and `behavior_agent.py` scripts to explore their structure and functions for more ideas on how to create your own.