Exposed Python agents' offset

PythonAPI/carla/agents/navigation/basic_agent.py

@@ -229,6 +229,10 @@ class BasicAgent(object):
         """(De)activates the checks for stop signs"""
         self._ignore_vehicles = active
 
+    def set_offset(self, offset):
+        """Sets an offset for the vehicle"""
+        self._local_planner.set_offset(offset)
+
     def lane_change(self, direction, same_lane_time=0, other_lane_time=0, lane_change_time=2):
         """
         Changes the path so that the vehicle performs a lane change.

PythonAPI/carla/agents/navigation/controller.py

@@ -100,6 +100,10 @@ class VehiclePIDController():
         """Changes the parameters of the PIDLateralController"""
         self._lat_controller.change_parameters(**args_lateral)
 
+    def set_offset(self, offset):
+        """Changes the offset"""
+        self._lat_controller.set_offset(offset)
+
 
 class PIDLongitudinalController():
     """
@@ -204,6 +208,10 @@ class PIDLateralController():
         """
         return self._pid_control(waypoint, self._vehicle.get_transform())
 
+    def set_offset(self, offset):
+        """Changes the offset"""
+        self._offset = offset
+
     def _pid_control(self, waypoint, vehicle_transform):
         """
         Estimate the steering angle of the vehicle based on the PID equations

PythonAPI/carla/agents/navigation/local_planner.py

@@ -216,6 +216,10 @@ class LocalPlanner(object):
 
         self._stop_waypoint_creation = stop_waypoint_creation
 
+    def set_offset(self, offset):
+        """Sets an offset for the vehicle"""
+        self._vehicle_controller.set_offset(offset)
+
     def run_step(self, debug=False):
         """
         Execute one step of local planning which involves running the longitudinal and lateral PID controllers to