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Fixed lane change link anomaly

This commit is contained in:
Praveen Kumar 2019-11-12 10:56:45 +05:30 committed by bernat
parent 4c85696547
commit d36014511f
1 changed files with 25 additions and 10 deletions
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35
LibCarla/source/carla/trafficmanager/InMemoryMap.cpp
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@ -9,7 +9,7 @@ namespace MapConstants {
static const uint LANE_CHANGE_LOOK_AHEAD = 5u; static const uint LANE_CHANGE_LOOK_AHEAD = 5u;
// Cosine of the angle. // Cosine of the angle.
static const float LANE_CHANGE_ANGULAR_THRESHOLD = 0.5f; static const float LANE_CHANGE_ANGULAR_THRESHOLD = 0.5f;
static const float GRID_SIZE = 2.0f; static const float GRID_SIZE = 4.0f;
} }
using namespace MapConstants; using namespace MapConstants;
@ -195,15 +195,30 @@ namespace MapConstants {
uint8_t change_right = static_cast<uint8_t>(carla::road::element::LaneMarking::LaneChange::Right); uint8_t change_right = static_cast<uint8_t>(carla::road::element::LaneMarking::LaneChange::Right);
uint8_t change_left = static_cast<uint8_t>(carla::road::element::LaneMarking::LaneChange::Left); uint8_t change_left = static_cast<uint8_t>(carla::road::element::LaneMarking::LaneChange::Left);
if ((lane_change & change_right) > 0) { try {
WaypointPtr right_waypoint = raw_waypoint->GetRight(); if ((lane_change & change_right) > 0) {
SimpleWaypointPtr closest_simple_waypoint = GetWaypointInVicinity(right_waypoint->GetTransform().location); WaypointPtr right_waypoint = raw_waypoint->GetRight();
reference_waypoint->SetRightWaypoint(closest_simple_waypoint); SimpleWaypointPtr closest_simple_waypoint = GetWaypointInVicinity(right_waypoint->GetTransform().location);
} if (closest_simple_waypoint == nullptr) {
if ((lane_change & change_left) > 0) { closest_simple_waypoint = GetWaypoint(right_waypoint->GetTransform().location);
WaypointPtr left_waypoint = raw_waypoint->GetLeft(); }
SimpleWaypointPtr closest_simple_waypoint = GetWaypointInVicinity(left_waypoint->GetTransform().location); reference_waypoint->SetRightWaypoint(closest_simple_waypoint);
reference_waypoint->SetLeftWaypoint(closest_simple_waypoint); }
if ((lane_change & change_left) > 0) {
WaypointPtr left_waypoint = raw_waypoint->GetLeft();
SimpleWaypointPtr closest_simple_waypoint = GetWaypointInVicinity(left_waypoint->GetTransform().location);
if (closest_simple_waypoint == nullptr) {
closest_simple_waypoint = GetWaypoint(left_waypoint->GetTransform().location);
}
reference_waypoint->SetLeftWaypoint(closest_simple_waypoint);
}
} catch (const std::invalid_argument &e) {
cg::Location loc = reference_waypoint->GetLocation();
carla::log_info(
"Unable to link lane change connection at: "
+ std::to_string(loc.x) + " "
+ std::to_string(loc.y) + " "
+ std::to_string(loc.z));
} }
} }
} }