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Fixed waypoint positive lanes offset heading

This commit is contained in:
Marc Garcia Puig 2020-04-10 19:31:26 +02:00 committed by bernat
parent 731743e79c
commit d23e3d5f82
1 changed files with 4 additions and 3 deletions
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7
LibCarla/source/carla/road/Lane.cpp
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@ -9,6 +9,7 @@
#include <limits>
#include "carla/Debug.h"
#include "carla/geom/Math.h"
#include "carla/road/element/Geometry.h"
#include "carla/road/element/RoadInfoElevation.h"
#include "carla/road/element/RoadInfoGeometry.h"
@ -114,11 +115,11 @@ namespace road {
auto current_tang = current_polynomial.Tangent(s);
if (lane.first != lane_id) {
dist += negative_lane_id ? current_dist : -current_dist;
tangent += current_tang;
tangent += negative_lane_id ? current_tang : -current_tang;
} else {
current_dist *= 0.5;
dist += negative_lane_id ? current_dist : -current_dist;
tangent += current_tang * 0.5;
tangent += (negative_lane_id ? current_tang : -current_tang) * 0.5;
break;
}
}
@ -183,7 +184,7 @@ namespace road {
dp.ApplyLateralOffset(lane_width);
if (GetId() > 0) {
rot.yaw += 180.0f;
rot.yaw += 180.0f - geom::Math::ToDegrees(lane_tangent);
rot.pitch = 360.0f - rot.pitch;
} else {
rot.yaw -= geom::Math::ToDegrees(lane_tangent);