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Fixed collision detection

This commit is contained in:
Guillermo 2022-10-11 13:51:35 +02:00 committed by bernat
parent aeac45b09c
commit dec92e690c
2 changed files with 1 additions and 2 deletions
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1
CHANGELOG.md
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@ -23,6 +23,7 @@
* Python agents now accept a carla.Map and GlobalRoutePlanner instances as inputs, avoiding the need to recompute them. * Python agents now accept a carla.Map and GlobalRoutePlanner instances as inputs, avoiding the need to recompute them.
* Python agents now have a function to lane change. * Python agents now have a function to lane change.
* Python agents now detect vehicle in adjacent lanes if invaded due to the offset. * Python agents now detect vehicle in adjacent lanes if invaded due to the offset.
* Fixed bug causing the python agents to sometimes not detect a blocking actor if there were severral actors around it.
* Improved Python agents performance for large maps. * Improved Python agents performance for large maps.
* Fix a bug at `Map.get_topology()`, causing lanes with no successors to not be part of it. * Fix a bug at `Map.get_topology()`, causing lanes with no successors to not be part of it.
* Added new ConstantVelocityAgent * Added new ConstantVelocityAgent

2
PythonAPI/carla/agents/navigation/basic_agent.py
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@ -391,8 +391,6 @@ class BasicAgent(object):
if route_polygon.intersects(target_polygon): if route_polygon.intersects(target_polygon):
return (True, target_vehicle, compute_distance(target_vehicle.get_location(), ego_location)) return (True, target_vehicle, compute_distance(target_vehicle.get_location(), ego_location))
return (False, None, -1)
# Simplified approach, using only the plan waypoints (similar to TM) # Simplified approach, using only the plan waypoints (similar to TM)
else: else: