p71924506
/
carla
mirror of https://github.com/carla-simulator/carla.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
LibCarla/source/carla/road/Lane.cpp
View File

@ -9,6 +9,7 @@
#include <limits> #include <limits>
#include "carla/Debug.h" #include "carla/Debug.h"
#include "carla/geom/Math.h"
#include "carla/road/element/Geometry.h" #include "carla/road/element/Geometry.h"
#include "carla/road/element/RoadInfoElevation.h" #include "carla/road/element/RoadInfoElevation.h"
#include "carla/road/element/RoadInfoGeometry.h" #include "carla/road/element/RoadInfoGeometry.h"
@ -114,11 +115,11 @@ namespace road {
auto current_tang = current_polynomial.Tangent(s); auto current_tang = current_polynomial.Tangent(s);
if (lane.first != lane_id) { if (lane.first != lane_id) {
dist += negative_lane_id ? current_dist : -current_dist; dist += negative_lane_id ? current_dist : -current_dist;
tangent += current_tang; tangent += negative_lane_id ? current_tang : -current_tang;
} else { } else {
current_dist *= 0.5; current_dist *= 0.5;
dist += negative_lane_id ? current_dist : -current_dist; dist += negative_lane_id ? current_dist : -current_dist;
tangent += current_tang * 0.5; tangent += (negative_lane_id ? current_tang : -current_tang) * 0.5;
break; break;
} }
} }
@ -183,7 +184,7 @@ namespace road {
dp.ApplyLateralOffset(lane_width); dp.ApplyLateralOffset(lane_width);
if (GetId() > 0) { if (GetId() > 0) {
rot.yaw += 180.0f; rot.yaw += 180.0f - geom::Math::ToDegrees(lane_tangent);
rot.pitch = 360.0f - rot.pitch; rot.pitch = 360.0f - rot.pitch;
} else { } else {
rot.yaw -= geom::Math::ToDegrees(lane_tangent); rot.yaw -= geom::Math::ToDegrees(lane_tangent);