Fixed agent crashes due to API changes in is_within_distance_ahead (#…

…2386) * Fixed agent crashes due to API changes in is_within_distance_ahead
carla-simulator · Jan 23, 2020 · 1f7669e · 1f7669e
1 parent 7bd95e4
commit 1f7669e
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -7,6 +7,7 @@
   * New python clients:
     - `weather.py`: allows weather changes using the new weather parameters
   * Fixed typos
+  * Fixed agent failures due to API changes in is_within_distance_ahead()
 
 ## CARLA 0.9.7
   * Upgraded parameters of Unreal/CarlaUE4/Config/DefaultInput.ini to prevent mouse freeze

diff --git a/PythonAPI/carla/agents/navigation/agent.py b/PythonAPI/carla/agents/navigation/agent.py
@@ -95,9 +95,8 @@ def _is_light_red_europe_style(self, lights_list):
                     object_waypoint.lane_id != ego_vehicle_waypoint.lane_id:
                 continue
 
-            loc = traffic_light.get_location()
-            if is_within_distance_ahead(loc, ego_vehicle_location,
-                                        self._vehicle.get_transform().rotation.yaw,
+            if is_within_distance_ahead(traffic_light.get_transform(),
+                                        self._vehicle.get_transform(),
                                         self._proximity_threshold):
                 if traffic_light.state == carla.TrafficLightState.Red:
                     return (True, traffic_light)
@@ -184,9 +183,8 @@ def _is_vehicle_hazard(self, vehicle_list):
                     target_vehicle_waypoint.lane_id != ego_vehicle_waypoint.lane_id:
                 continue
 
-            loc = target_vehicle.get_location()
-            if is_within_distance_ahead(loc, ego_vehicle_location,
-                                        self._vehicle.get_transform().rotation.yaw,
+            if is_within_distance_ahead(target_vehicle.get_transform(),
+                                        self._vehicle.get_transform(),
                                         self._proximity_threshold):
                 return (True, target_vehicle)