Get current lanelet in Survival Mode

CommonRoad-Search
1

Hi,

when I try to get my current lanelet in survival mode (= no goal region specified), I always get none because of the code in lanelets_of_position(). As you can see, every lanelet that was found before is removed from the list if its costs are -1 (= cannot reach the goal lanelet from there)

        while len(correctLanelets) > 0:
            if self.dict_lanelets_costs[correctLanelets[0]] == -1:
                correctLanelets.pop(0)
            else:
                break

        return correctLanelets

However, every lanelet is assigned -1 in the survival mode as this part of initialize_lanelets_costs() shows:

        for lanelet in self.scenario.lanelet_network.lanelets:
            self.dict_lanelets_costs[lanelet.lanelet_id] = -1

        if self.list_ids_lanelets_goal is not None:
           ...

My question therefore is, how can I get my current lanelet in survival mode in order to avoid nearby obstacles?

2

The lanelets can be retrieved by passing in a position, see here.