CarlaNavAreas.h

Go to the documentation of this file.

// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include <util/ue-header-guard-begin.h>
#include "CoreMinimal.h"
#include "NavAreas/NavArea.h"
#include <util/ue-header-guard-end.h>
 
#include "CarlaNavAreas.generated.h"
 
/// Nav area stamped on driving-lane surfaces (via the road meshes' nav
/// collision area class). Expensive to traverse so that crossing pedestrians
/// prefer crosswalks and only cut through open road when the detour is large;
/// excluded entirely from non-crossing walkers' query filters.
UCLASS()
class CARLA_API UNavAreaCarlaRoad : public UNavArea
{
  GENERATED_BODY()
 
public:
 
  UNavAreaCarlaRoad()
  {
    DefaultCost = 10.0f;
    DrawColor = FColor::Red;
  }
};
 
/// Nav area stamped over OpenDRIVE crosswalk polygons (modifier boxes
/// generated by the CarlaCrosswalkNav world-partition builder). Slightly more
/// expensive than sidewalk so paths do not weave through crossings casually,
/// but far cheaper than open road.
UCLASS()
class CARLA_API UNavAreaCarlaCrosswalk : public UNavArea
{
  GENERATED_BODY()
 
public:
 
  UNavAreaCarlaCrosswalk()
  {
    DefaultCost = 1.5f;
    DrawColor = FColor::Yellow;
  }
};