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This commit is contained in:
Guillermo 2021-07-07 10:16:43 +02:00 committed by bernat
parent eebf56c103
commit d61afc74f4
2 changed files with 4 additions and 4 deletions
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2
PythonAPI/carla/agents/navigation/basic_agent.py
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@ -54,7 +54,7 @@ class BasicAgent(object):
self._base_tlight_threshold = 5.0 # meters
self._base_vehicle_threshold = 5.0 # meters
self._max_brake = 0.5
self._max_steering = 0.3
self._max_steering = 0.5
self._local_planner = LocalPlanner(
self._vehicle,
opt_dict={

6
PythonAPI/carla/agents/tools/route_helper.py
View File

@ -118,7 +118,7 @@ def to_ad_paraPoint(location, distance=1, probability=0):
distance = [float(mmap.matchedPointDistance) for mmap in match_results]
return match_results[distance.index(min(distance))].lanePoint.paraPoint
def trace_route(start_waypoint, end_waypoint, town_map, sample_resolution=1, match_dist=0.4, max_match_dist=10):
def trace_route(start_waypoint, end_waypoint, town_map, sample_resolution=1, match_dist=1, max_match_dist=10):
"""
Gets the shortest route between a starting and end waypoint. This transforms the given location
to AD map paraPoints, and iterates through all permutations to return the shortest route to ensure
@ -144,7 +144,7 @@ def trace_route(start_waypoint, end_waypoint, town_map, sample_resolution=1, mat
added_dist = 0
start_matches = None
while not start_matches and added_dist < max_match_dist:
start_matches = _waypoint_matches(start_waypoint, town_map, match_dist + added_dist, 0)
start_matches = _waypoint_matches(start_waypoint, town_map, match_dist + added_dist)
added_dist += 0.2
if not start_matches:
@ -155,7 +155,7 @@ def trace_route(start_waypoint, end_waypoint, town_map, sample_resolution=1, mat
added_dist = 0
end_matches = None
while not end_matches and added_dist < max_match_dist:
end_matches = _waypoint_matches(end_waypoint, town_map, match_dist + added_dist, 0)
end_matches = _waypoint_matches(end_waypoint, town_map, match_dist + added_dist)
added_dist += 0.2
if not end_matches: