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This commit is contained in:
Praveen 2019-01-23 14:01:32 +05:30 committed by nsubiron
parent be920463f2
commit 7e6b924dd4
1 changed files with 14 additions and 5 deletions
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19
PythonAPI/agents/navigation/basic_agent.py
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@ -45,13 +45,14 @@ class BasicAgent(Agent):
start_waypoint = self._map.get_waypoint(self._vehicle.get_location()) start_waypoint = self._map.get_waypoint(self._vehicle.get_location())
end_waypoint = self._map.get_waypoint( end_waypoint = self._map.get_waypoint(
carla.Location(location[0], location[1], location[2])) carla.Location(location[0], location[1], location[2]))
solution = [] solution = []
# Setting up global router
dao = GlobalRoutePlannerDAO(self._vehicle.get_world().get_map()) dao = GlobalRoutePlannerDAO(self._vehicle.get_world().get_map())
grp = GlobalRoutePlanner(dao) grp = GlobalRoutePlanner(dao)
grp.setup() grp.setup()
# Obtain route plan
x1 = start_waypoint.transform.location.x x1 = start_waypoint.transform.location.x
y1 = start_waypoint.transform.location.y y1 = start_waypoint.transform.location.y
x2 = end_waypoint.transform.location.x x2 = end_waypoint.transform.location.x
@ -63,17 +64,21 @@ class BasicAgent(Agent):
for action in route: for action in route:
# Generate waypoints to next junction
wp_choice = current_waypoint.next(5.0) wp_choice = current_waypoint.next(5.0)
while len(wp_choice) == 1: while len(wp_choice) == 1:
current_waypoint = wp_choice[0] current_waypoint = wp_choice[0]
solution.append((current_waypoint, RoadOption.LANEFOLLOW)) solution.append((current_waypoint, RoadOption.LANEFOLLOW))
wp_choice = current_waypoint.next(5.0) wp_choice = current_waypoint.next(5.0)
# Stop at destination
if current_waypoint.transform.location.distance(
end_waypoint.transform.location) < 5.0: break
if action.value == "STOP": break
if action.value == "STOP": # Select appropriate path at the junction
break
if len(wp_choice) > 1: if len(wp_choice) > 1:
# Current heading vector
current_transform = current_waypoint.transform current_transform = current_waypoint.transform
current_location = current_transform.location current_location = current_transform.location
projected_location = current_location + \ projected_location = current_location + \
@ -82,6 +87,7 @@ class BasicAgent(Agent):
y=math.sin(math.radians(current_transform.rotation.yaw))) y=math.sin(math.radians(current_transform.rotation.yaw)))
v_current = self._vector(current_location, projected_location) v_current = self._vector(current_location, projected_location)
# Road option based on route decision
direction = 0 direction = 0
road_option = None road_option = None
if action.value == "LEFT": if action.value == "LEFT":
@ -95,6 +101,7 @@ class BasicAgent(Agent):
road_option = RoadOption.STRAIGHT road_option = RoadOption.STRAIGHT
select_criteria = float('inf') select_criteria = float('inf')
# Choose correct path
for wp_select in wp_choice: for wp_select in wp_choice:
v_select = self._vector( v_select = self._vector(
current_location, wp_select.transform.location) current_location, wp_select.transform.location)
@ -107,6 +114,8 @@ class BasicAgent(Agent):
select_criteria = cross select_criteria = cross
current_waypoint = wp_select current_waypoint = wp_select
# Generate all waypoints within the junction
# along selected path
solution.append((current_waypoint, road_option)) solution.append((current_waypoint, road_option))
current_waypoint = current_waypoint.next(5.0)[0] current_waypoint = current_waypoint.next(5.0)[0]
while current_waypoint.is_intersection: while current_waypoint.is_intersection: