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CARLA cleanups + calculating the distance to goal

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This commit is contained in:
itaicaspi-intel
2018-09-16 16:37:04 +03:00
parent 6797824892
commit bb76c5c726
3 changed files with 8 additions and 7 deletions
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5
rl_coach/environments/carla_environment.py
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@@ -359,6 +359,9 @@ class CarlaEnvironment(Environment):
measurements.player_measurements.transform.location.y,
measurements.player_measurements.transform.location.z]
self.distance_from_goal = np.linalg.norm(np.array(self.location[:2]) -
[self.current_goal.location.x, self.current_goal.location.y])
is_collision = measurements.player_measurements.collision_vehicles != 0 \
or measurements.player_measurements.collision_pedestrians != 0 \
or measurements.player_measurements.collision_other != 0
@@ -381,8 +384,6 @@ class CarlaEnvironment(Environment):
self.state['high_level_command'] = directions
if (measurements.game_timestamp >= self.episode_max_time) or is_collision:
# screen.success('EPISODE IS DONE. GameTime: {}, Collision: {}'.format(str(measurements.game_timestamp),
# str(is_collision)))
self.done = True
self.state['measurements'] = np.array(self.measurements)