Added is not None check for net vector in turn decision, fixes carla-…

…simulator#6467
sebplorenz · May 11, 2023 · 9e0304e · 9e0304e
1 parent f14acb2
commit 9e0304e
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/PythonAPI/carla/agents/navigation/global_route_planner.py b/PythonAPI/carla/agents/navigation/global_route_planner.py
@@ -360,7 +360,8 @@ def _turn_decision(self, index, route, threshold=math.radians(35)):
                         if select_edge['type'] == RoadOption.LANEFOLLOW:
                             if neighbor != route[index+1]:
                                 sv = select_edge['net_vector']
-                                cross_list.append(np.cross(cv, sv)[2])
+                                if sv is not None:
+                                    cross_list.append(np.cross(cv, sv)[2])
                     next_cross = np.cross(cv, nv)[2]
                     deviation = math.acos(np.clip(
                         np.dot(cv, nv)/(np.linalg.norm(cv)*np.linalg.norm(nv)), -1.0, 1.0))