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Fixed false straights

This commit is contained in:
Praveen Kumar 2019-04-16 09:45:30 +05:30
parent 6591cb3e1a
commit ec4fdd71f5
1 changed files with 10 additions and 6 deletions
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16
PythonAPI/carla/agents/navigation/global_route_planner.py
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@ -86,17 +86,17 @@ class GlobalRoutePlanner(object):
road_id_to_edge[road_id][section_id] = dict()
road_id_to_edge[road_id][section_id][lane_id] = (n1, n2)
entry_carla_vector = entry_wp.transform.rotation.get_forward_vector()
exit_carla_vector = exit_wp.transform.rotation.get_forward_vector()
# Adding edge with attributes
graph.add_edge(
n1, n2,
length=len(path) + 1, path=path,
entry_waypoint=entry_wp, exit_waypoint=exit_wp,
entry_vector=vector(
entry_wp.transform.location,
path[0].transform.location if len(path) > 0 else exit_wp.transform.location),
exit_vector=vector(
path[-1].transform.location if len(path) > 0 else entry_wp.transform.location,
exit_wp.transform.location),
entry_vector=np.array(
[entry_carla_vector.x, entry_carla_vector.y, entry_carla_vector.z]),
exit_vector=np.array(
[exit_carla_vector.x, exit_carla_vector.y, exit_carla_vector.z]),
net_vector=vector(entry_wp.transform.location, exit_wp.transform.location),
intersection=intersection, type=RoadOption.LANEFOLLOW)
@ -309,6 +309,10 @@ class GlobalRoutePlanner(object):
decision = RoadOption.LEFT
elif cross_list and next_cross > max(cross_list):
decision = RoadOption.RIGHT
elif next_cross < 0:
decision = RoadOption.LEFT
elif next_cross > 0:
decision = RoadOption.RIGHT
else:
decision = next_edge['type']
else: