def _init(self):
super()._init()
self._turn_controller = PIDController(K_P=1.25, K_I=0.75, K_D=0.3, n=40)
self._speed_controller = PIDController(K_P=5.0, K_I=0.5, K_D=1.0, n=40)
# addition:
self._vehicle = CarlaDataProvider.get_hero_actor()
self._world = self._vehicle.get_world()
def _init(self):
super()._init()
self._vehicle = CarlaDataProvider.get_hero_actor()
self._world = self._vehicle.get_world()
self._waypoint_planner = RoutePlanner(4.0, 50)
self._waypoint_planner.set_route(self._plan_gps_HACK, True)
self._traffic_lights = list()
def _init(self):
self._command_planner = RoutePlanner(7.5, 25.0, 257)
self._command_planner.set_route(self._global_plan, True)
self.initialized = True
self._vehicle = CarlaDataProvider.get_hero_actor()
self._world = self._vehicle.get_world()
self._map = CarlaDataProvider.get_map()
self.min_d = 10000
self.offroad_d = 10000
self.wronglane_d = 10000
self.dev_dist = 0
