From 5dd74b7200d22036352fc59aa654a577ba896720 Mon Sep 17 00:00:00 2001
From: MaximeBouton <maxim.bouton@gmail.com>
Date: Sun, 9 Aug 2020 19:35:02 -0700
Subject: [PATCH] fix bug, correct s position when projecting on lane

---
 Project.toml                                 | 4 ++--
 src/feature-extraction/neighbors_features.jl | 8 ++++++--
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/Project.toml b/Project.toml
index a69f4bf..66eec91 100644
--- a/Project.toml
+++ b/Project.toml
@@ -1,7 +1,7 @@
 name = "AutomotiveSimulator"
 uuid = "6aa42d20-6c96-11ea-1103-339224409280"
 repo = "https://github.com/sisl/AutomotiveSimulator.jl.git"
-version = "0.1.0"
+version = "0.1.1"
 
 [deps]
 DataFrames = "a93c6f00-e57d-5684-b7b6-d8193f3e46c0"
@@ -21,7 +21,7 @@ Parameters = "0.12"
 Reexport = "0.2"
 StaticArrays = "0.12"
 Tricks = "0.1"
-julia = "1.3, 1.4"
+julia = "1.3, 1.4, 1.5"
 
 [extras]
 AutomotiveVisualization = "0faf7fd0-6c98-11ea-1740-03605baa3b07"
diff --git a/src/feature-extraction/neighbors_features.jl b/src/feature-extraction/neighbors_features.jl
index b93df8b..e5df918 100644
--- a/src/feature-extraction/neighbors_features.jl
+++ b/src/feature-extraction/neighbors_features.jl
@@ -57,6 +57,7 @@ const VEHICLE_TARGET_POINT_CENTER = VehicleTargetPointCenter()
     find_neighbor(scene::Scene, roadway::Roawday, ego::Entity; kwargs...)
 
 Search through lanes and road segments to find a neighbor of `ego` in the `scene`. 
+Returns a `NeighborLongitudinalResult` object with the index of the neighbor in the scene and its relative distance.
 
 # Arguments
 
@@ -81,15 +82,18 @@ function find_neighbor(scene::Scene, roadway::Roadway, ego::Entity{S,D,I};
                        ids_to_ignore::Union{Nothing, Set{I}} = nothing) where {S,D,I}
     
    
-    if lane == nothing 
+    if lane === nothing 
         return NeighborLongitudinalResult(nothing, max_distance)
     elseif get_lane(roadway, ego).tag == lane.tag
         tag_start = lane.tag 
+        s_start = posf(ego.state).s
     else  # project ego on desired lane
         roadproj = proj(posg(ego.state), lane, roadway)
+        roadind = RoadIndex(roadproj)
         tag_start = roadproj.tag 
+        s_start = roadway[roadind].s
     end
-    s_base = posf(ego.state).s + targetpoint_delta(targetpoint_ego, ego)
+    s_base = s_start + targetpoint_delta(targetpoint_ego, ego)
     
     tag_target = tag_start
     best_ind = nothing