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metadriverse · May 14, 2024 · 8787adb · 8787adb
1 parent 384549b
commit 8787adb
Showing 1 changed file with 2 additions and 3 deletions.
diff --git a/metadrive/component/vehicle/base_vehicle.py b/metadrive/component/vehicle/base_vehicle.py
@@ -515,11 +515,10 @@ def update_dist_to_left_right(self):
         self.dist_to_left_side, self.dist_to_right_side = self._dist_to_route_left_right()
 
     def _dist_to_route_left_right(self, navigation=None):
-        # TODO
-        if self.navigation is None or self.navigation.current_ref_lanes is None:
-            return 0, 0
         if navigation is None:
             navigation = self.navigation
+        if navigation is None or navigation.current_ref_lanes is None:
+            return 0, 0
         current_reference_lane = navigation.current_ref_lanes[0]
         _, lateral_to_reference = current_reference_lane.local_coordinates(self.position)
         lateral_to_left = lateral_to_reference + navigation.get_current_lane_width() / 2