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Merge pull request #1512 from carla-simulator/fix/global_routing 

Added check for dangling edge with infinitesimal path
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germanros1987 2019-04-08 13:21:04 -07:00 committed by GitHub
parent 37922ab530 573722732a
commit 95a8dc8c6f
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1 changed files with 11 additions and 10 deletions
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21
PythonAPI/carla/agents/navigation/global_route_planner.py
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@ -132,16 +132,17 @@ class GlobalRoutePlanner(object):
next_wp[0].lane_id == lane_id:
path.append(next_wp[0])
next_wp = next_wp[0].next(hop_resolution)
n2_xyz = (path[-1].transform.location.x,
path[-1].transform.location.y,
path[-1].transform.location.z)
self._graph.add_node(n2, vertex=n2_xyz)
self._graph.add_edge(
n1, n2,
length=len(path) + 1, path=path,
entry_waypoint=end_wp, exit_waypoint=path[-1],
entry_vector=None, exit_vector=None, net_vector=None,
intersection=end_wp.is_intersection, type=RoadOption.LANEFOLLOW)
if path:
n2_xyz = (path[-1].transform.location.x,
path[-1].transform.location.y,
path[-1].transform.location.z)
self._graph.add_node(n2, vertex=n2_xyz)
self._graph.add_edge(
n1, n2,
length=len(path) + 1, path=path,
entry_waypoint=end_wp, exit_waypoint=path[-1],
entry_vector=None, exit_vector=None, net_vector=None,
intersection=end_wp.is_intersection, type=RoadOption.LANEFOLLOW)
def _localize(self, location):
"""