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drive and turn twice behavior, VehicleTurningRight changes have been added #5

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drive and turn twice behavior, VehicleTurningRight changes have been added #5

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drive and turn twice behavior. VehicleTurningRight changes have been …
ishaan95 Jul 28, 2023
c4c741a
Merge branch 'main' of https://github.com/AugmentedDesignLab/scenario…
ishaan95 Jul 28, 2023
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23 changes: 22 additions & 1 deletion srunner/scenarios/behavior_trees.py
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,7 @@ def create_tree(self):
elif self.turn=='right': self.turn_value = 1
plan = generate_target_waypoint(self.map.get_waypoint(self.start_location), self.turn_value)
self.behavior = WaypointFollower(self.vehicle, self.vehicle_speed, plan=plan)
return self.behavior
return self.behavior, plan

class DriveAndSharpStopAtNextIntersection():
def __init__(self, vehicle, vehicle_speed, distance_from_intersection):
Expand All @@ -65,7 +65,28 @@ def create_tree(self):
self.behavior.add_child(drive_until_intersection_subtree)
self.behavior.add_child(StopVehicle(self.vehicle, 2.0))
return self.behavior


class DriveAndTurnAtNextIntersectionTwice():
def __init__(self, vehicle, vehicle_speed, start_location, turn_1='left', turn_2='left'):
self.vehicle = vehicle
self.vehicle_speed = vehicle_speed
self.start_location = start_location
self.turn_1 = turn_1
self.turn_2 = turn_2
self.map = CarlaDataProvider.get_map()
self.turn_value_1 = -1 #Default to left turn
self.turn_value_2 = -1
self.behavior = None

def create_tree(self):
seq = py_trees.composites.Sequence("Sequence Behavior")
behavior_tree_first_turn, plan = DriveAndTurnAtNextIntersection(self.vehicle, self.vehicle_speed, self.start_location, self.turn_1).create_tree()
behavior_tree_second_turn, plan = DriveAndTurnAtNextIntersection(self.vehicle, self.vehicle_speed, plan[-1][0].transform.location, self.turn_2).create_tree()
seq.add_child(behavior_tree_first_turn)
seq.add_child(behavior_tree_second_turn)
return seq

class DriveAndSlowDownAtNextIntersection():
def __init__(self, vehicle, vehicle_speed, slow_down_speed):
self.vehicle = vehicle
Expand Down
4 changes: 2 additions & 2 deletions srunner/scenarios/object_crash_intersection.py
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Original file line number Diff line number Diff line change
Expand Up @@ -153,7 +153,7 @@ def _initialize_actors(self, config):

# Move a certain distance to the front
start_distance = 8
waypoint = waypoint.next(start_distance)[0]
waypoint = waypoint[-1][0].next(start_distance)[0]

# Get the last driving lane to the right
waypoint, self._num_lane_changes = get_right_driving_lane(waypoint)
Expand Down Expand Up @@ -320,7 +320,7 @@ def _initialize_actors(self, config):

# Move a certain distance to the front
start_distance = 8
waypoint = waypoint.next(start_distance)[0]
waypoint = waypoint[-1][0].next(start_distance)[0]

# Get the last driving lane to the right
waypoint, self._num_lane_changes = get_right_driving_lane(waypoint)
Expand Down