| 38 | |
| 39 | class RoutePlanner(object): |
| 40 | def __init__(self, min_distance, max_distance, debug_size=256): |
| 41 | self.route = deque() |
| 42 | self.min_distance = min_distance |
| 43 | self.max_distance = max_distance |
| 44 | |
| 45 | # self.mean = np.array([49.0, 8.0]) # for carla 9.9 |
| 46 | # self.scale = np.array([111324.60662786, 73032.1570362]) # for carla 9.9 |
| 47 | self.mean = np.array([0.0, 0.0]) # for carla 9.10 |
| 48 | self.scale = np.array([111324.60662786, 111319.490945]) # for carla 9.10 |
| 49 | |
| 50 | self.debug = Plotter(debug_size) |
| 51 | |
| 52 | def set_route(self, global_plan, gps=False, global_plan_world = None): |
| 53 | self.route.clear() |