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Speed up information retrieval #1098

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Speed up information retrieval #1098

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7 changes: 7 additions & 0 deletions srunner/scenariomanager/carla_data_provider.py
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Original file line number Diff line number Diff line change
Expand Up @@ -160,6 +160,9 @@ def get_velocity(actor):
"""
returns the absolute velocity for the given actor
"""
if actor in CarlaDataProvider._actor_velocity_map:
return CarlaDataProvider._actor_velocity_map[actor]
# Look for same actor, but stored as different python object
for key in CarlaDataProvider._actor_velocity_map:
if key.id == actor.id:
return CarlaDataProvider._actor_velocity_map[key]
Expand All @@ -174,6 +177,8 @@ def get_location(actor):
"""
returns the location for the given actor
"""
if actor in CarlaDataProvider._actor_location_map:
return CarlaDataProvider._actor_location_map[actor]
for key in CarlaDataProvider._actor_location_map:
if key.id == actor.id:
return CarlaDataProvider._actor_location_map[key]
Expand All @@ -189,6 +194,8 @@ def get_transform(actor):
"""
returns the transform for the given actor
"""
if actor in CarlaDataProvider._actor_transform_map:
return CarlaDataProvider._actor_transform_map[actor] or actor.get_transform()
for key in CarlaDataProvider._actor_transform_map:
if key.id == actor.id:
# The velocity location information is the entire behavior tree updated every tick
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