Small corrections on planner

PythonClient/carla/benchmarks/benchmark.py

@@ -285,8 +285,8 @@ class Benchmark(object):
             else:
                 # Ask question, to avoid mistaken override situations
                 answer = input("The experiment was already found in the files"
-                               + ",Do you want to continue (y/n)  ? \n"
-                               + " If not the experiment will be overwritten")
+                               + ", Do you want to continue (y/n)  ? \n"
+                               )
                 if answer == 'Yes' or answer == 'y':
                     line_on_file = self._get_last_position()
                 else:
@@ -331,7 +331,7 @@ class Benchmark(object):
         Must be redefined in an inherited class.
 
         """
-        pass
+
     @abc.abstractmethod
     def get_all_statistics(self):
         """
@@ -344,7 +344,7 @@ class Benchmark(object):
         """
         Parse the experiment depending on number of poses and tasks
         """
-        pass
+
 
     @abc.abstractmethod
     def plot_summary_train(self):

PythonClient/carla/planner/city_track.py

@@ -37,28 +37,32 @@ class CityTrack(object):
         node_orientation = np.array([node_orientation[0],
                             node_orientation[1]])
 
-
-        node  =   tuple([ int(x) for x in node ])
+        node = tuple([ int(x) for x in node ])
 
         # Set to zero if it is less than zero.
 
-
         node =(max(0,node[0]),max(0,node[1]))
         node =(min(self._map.get_graph_resolution()[0]-1,node[0]),
                min(self._map.get_graph_resolution()[1]-1,node[1]))
         # is it x or y ? Check to avoid  special corner cases
 
 
-        if math.fabs(node_orientation[0]) > math.fabs(node_orientation[1]):
-            node_orientation = (node_orientation[0], 0.0, 0.0)
-        else:
-            node_orientation = (0.0, node_orientation[1], 0.0)
+        #if math.fabs(node_orientation[0]) > math.fabs(node_orientation[1]):
+        #    node_orientation = (node_orientation[0], 0.0, 0.0)
+        #else:
+        #    node_orientation = (0.0, node_orientation[1], 0.0)
 
-        node = self._map._grid.search_on_grid(node[0],node[1])
+        node = self._map._grid.search_on_grid(node[0], node[1])
 
 
         return node
 
+
+    def get_pixel_density(self):
+        return self._pixel_density
+    def get_node_density(self):
+        return self._node_density
+
     def is_at_goal(self,source,target):
         return source == target
 

PythonClient/carla/planner/graph.py

@@ -26,7 +26,7 @@ class Graph(object):
     A simple directed, weighted graph
     """
 
-    def __init__(self, graph_file=None,node_density=50):
+    def __init__(self, graph_file=None, node_density=50):
 
         self._nodes = set()
         self._angles = {}

PythonClient/carla/planner/map.py

@@ -40,10 +40,10 @@ class CarlaMap(object):
 
         # The built graph. This is the exact same graph that unreal builds. This
         # is a generic structure used for many cases
-        self._graph = Graph(city_file)
+        self._graph = Graph(city_file, node_density)
 
         self._pixel_density = pixel_density
-        self._grid = Grid(self._graph, node_density)
+        self._grid = Grid(self._graph)
         # The number of game units per pixel. For now this is fixed.
 
         self._converter = Converter(city_file, pixel_density, node_density)

PythonClient/carla/planner/planner.py

@@ -117,7 +117,7 @@ class Planner(object):
             current_pos = node_iter
 
         # We multiply by these values to convert distance to world coordinates
-        return distance * self._city_track._map.get_pixel_density() \
+        return distance * self._city_track.get_pixel_density() \
             * self._city_track.get_node_density()