This method sets up a global router and returns the optimal route from start_waypoint to end_waypoint
(self, start_waypoint, end_waypoint)
| 59 | self._local_planner.set_global_plan(route_trace) |
| 60 | |
| 61 | def _trace_route(self, start_waypoint, end_waypoint): |
| 62 | """ |
| 63 | This method sets up a global router and returns the optimal route |
| 64 | from start_waypoint to end_waypoint |
| 65 | """ |
| 66 | |
| 67 | # Setting up global router |
| 68 | if self._grp is None: |
| 69 | dao = GlobalRoutePlannerDAO(self._vehicle.get_world().get_map(), self._hop_resolution) |
| 70 | grp = GlobalRoutePlanner(dao) |
| 71 | grp.setup() |
| 72 | self._grp = grp |
| 73 | |
| 74 | # Obtain route plan |
| 75 | route = self._grp.trace_route( |
| 76 | start_waypoint.transform.location, |
| 77 | end_waypoint.transform.location) |
| 78 | |
| 79 | return route |
| 80 | |
| 81 | def run_step(self, debug=False): |
| 82 | """ |
no test coverage detected