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Fixed global planner's RoadOptions

This commit is contained in:
Guillermo 2020-07-30 10:31:05 +02:00 committed by bernat
parent aeb30d6b5a
commit 8c1181ca00
2 changed files with 6 additions and 4 deletions
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8
PythonAPI/carla/agents/navigation/global_route_planner.py
View File

@ -185,7 +185,7 @@ class GlobalRoutePlanner(object):
if next_segment is not None:
self._graph.add_edge(
self._id_map[segment['entryxyz']], next_segment[0], entry_waypoint=waypoint,
exit_waypoint=next_waypoint,
exit_waypoint=next_waypoint, intersection=False, exit_vector=None,
path=[], length=0, type=next_road_option, change_waypoint=next_waypoint)
right_found = True
if waypoint.left_lane_marking.lane_change & carla.LaneChange.Left and not left_found:
@ -196,7 +196,7 @@ class GlobalRoutePlanner(object):
if next_segment is not None:
self._graph.add_edge(
self._id_map[segment['entryxyz']], next_segment[0], entry_waypoint=waypoint,
exit_waypoint=next_waypoint,
exit_waypoint=next_waypoint, intersection=False, exit_vector=None,
path=[], length=0, type=next_road_option, change_waypoint=next_waypoint)
left_found = True
if left_found and right_found:
@ -275,7 +275,9 @@ class GlobalRoutePlanner(object):
self._intersection_end_node = last_node
if tail_edge is not None:
next_edge = tail_edge
cv, nv = current_edge['exit_vector'], next_edge['net_vector']
cv, nv = current_edge['exit_vector'], next_edge['exit_vector']
if cv is None or nv is None:
return next_edge['type']
cross_list = []
for neighbor in self._graph.successors(current_node):
select_edge = self._graph.edges[current_node, neighbor]

2
PythonAPI/examples/manual_control.py
View File

@ -567,7 +567,7 @@ class HUD(object):
self._info_text += ['Nearby vehicles:']
distance = lambda l: math.sqrt((l.x - t.location.x)**2 + (l.y - t.location.y)**2 + (l.z - t.location.z)**2)
vehicles = [(distance(x.get_location()), x) for x in vehicles if x.id != world.player.id]
for d, vehicle in sorted(vehicles):
for d, vehicle in sorted(vehicles, key=lambda vehicles: vehicles[0]):
if d > 200.0:
break
vehicle_type = get_actor_display_name(vehicle, truncate=22)