files moved within source/carla

PythonAPI/automatic_control.py

@@ -55,7 +55,7 @@ except ImportError:
 
 import carla
 from carla import ColorConverter as cc
-from Navigation.roaming_agent import *
+from carla.navigation.roaming_agent import *
 
 # ==============================================================================
 # -- World ---------------------------------------------------------------

PythonAPI/source/carla/navigation/controller.py

@@ -14,7 +14,7 @@ import math
 import numpy as np
 
 import carla
-from Tools.misc import distance_vehicle, get_speed
+from carla.tools.misc import distance_vehicle, get_speed
 
 
 class VehiclePIDController():

PythonAPI/source/carla/navigation/local_planner.py

@@ -12,8 +12,8 @@ from enum import Enum
 from collections import deque
 import random
 
-from Navigation.controller import VehiclePIDController
-from Tools.misc import distance_vehicle, draw_waypoints
+from carla.navigation.controller import VehiclePIDController
+from carla.tools.misc import distance_vehicle, draw_waypoints
 
 
 class RoadOption(Enum):

PythonAPI/source/carla/navigation/roaming_agent.py

@@ -12,8 +12,8 @@ The agent also responds to traffic lights. """
 from enum import Enum
 
 import carla
-from Navigation.local_planner import LocalPlanner
-from Tools.misc import is_within_distance_ahead
+from carla.navigation.local_planner import LocalPlanner
+from carla.tools.misc import is_within_distance_ahead
 
 
 class AgentState(Enum):

PythonAPI/source/carla/tools/misc.py

@@ -0,0 +1,80 @@
+#!/usr/bin/env python
+
+# Copyright (c) 2018 Intel Labs.
+# authors: German Ros (german.ros@intel.com)
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+
+""" Module with auxiliary functions. """
+
+import math
+
+import numpy as np
+
+import carla
+
+
+def draw_waypoints(world, waypoints, z=0.5):
+    """
+    Draw a list of waypoints at a certain height given in z.
+
+    :param world: carla.world object
+    :param waypoints: list or iterable container with the waypoints to draw
+    :param z: height in meters
+    :return:
+    """
+    for w in waypoints:
+        t = w.transform
+        begin = t.location + carla.Location(z=z)
+        angle = math.radians(t.rotation.yaw)
+        end = begin + carla.Location(x=math.cos(angle), y=math.sin(angle))
+        world.debug.draw_arrow(begin, end, arrow_size=0.3, life_time=1.0)
+
+
+def get_speed(vehicle):
+    """
+    Compute speed of a vehicle in Kmh
+    :param vehicle: the vehicle for which speed is calculated
+    :return: speed as a float in Kmh
+    """
+    vel = vehicle.get_velocity()
+    return 3.6 * math.sqrt(vel.x ** 2 + vel.y ** 2 + vel.z ** 2)
+
+
+def is_within_distance_ahead(
+        target_location, current_location, orientation, max_distance):
+    """
+    Check if a target object is within a certain distance in front of a reference object.
+
+    :param target_location: location of the target object
+    :param current_location: location of the reference object
+    :param orientation: orientation of the reference object
+    :param max_distance: maximum allowed distance
+    :return: True if target object is within max_distance ahead of the reference object
+    """
+    target_vector = np.array([target_location.x -
+                              current_location.x, target_location.y -
+                              current_location.y])
+    norm_target = np.linalg.norm(target_vector)
+    if norm_target > max_distance:
+        return False
+
+    forward_vector = np.array(
+        [math.cos(math.radians(orientation)), math.sin(math.radians(orientation))])
+    d_angle = math.degrees(
+        math.acos(
+            np.dot(
+                forward_vector,
+                target_vector) /
+            norm_target))
+
+    return d_angle < 90.0
+
+
+def distance_vehicle(waypoint, vehicle_transform):
+    loc = vehicle_transform.location
+    dx = waypoint.transform.location.x - loc.x
+    dy = waypoint.transform.location.y - loc.y
+
+    return math.sqrt(dx * dx + dy * dy)