experiment: simulation error

example_two_car_sign_lane_switch.py

@@ -89,9 +89,9 @@ if __name__ == "__main__":
     scenario.set_sensor(FakeSensor2())
     scenario.set_init(
         [
-            [[10, 0, 0, 0.5],[10, 0, 0, 0.5]], 
-            [[-0.2, -0.2, 0, 1.0],[0.2, 0.2, 0, 1.0]],
-            [[20, 3, 0, 0], [20, 3, 0, 0]],
+            [10, 0, 0, 0.5], 
+            [-0.2, -0.2, 0, 1.0],
+            [20, 3, 0, 0],
         ],
         [
             (VehicleMode.Normal, LaneMode.Lane1),
@@ -100,8 +100,8 @@ if __name__ == "__main__":
         ]
     )
     # simulator = Simulator()
-    # traces = scenario.simulate(40)
-    traces = scenario.verify(40)
+    traces = scenario.simulate(40)
+    # traces = scenario.verify(40)
 
     fig = plt.figure()
     fig = plot_tree(traces, 'car1', 1, [2], 'b', fig)

src/example/example_agent/car_agent.py

@@ -31,6 +31,7 @@ class CarAgent(BaseAgent):
         lane_parameter = lane_map.lane_geometry(vehicle_lane)
         if vehicle_mode == "Normal":
             for i in range(len(t)):
+                print(init)
                 x,y,theta,v = init
                 d = -y+lane_parameter
                 psi = -theta
@@ -68,4 +69,4 @@ class CarAgent(BaseAgent):
                 res:np.ndarray = r.integrate(r.t + time_step)
                 init = res.flatten().tolist()
                 trace.append([t[i] + time_step] + init) 
-        return np.array(trace)
\ No newline at end of file
+        return np.array(trace)

src/example/example_agent/sign_agent.py

@@ -10,4 +10,4 @@ class SignAgent(BaseAgent):
         number_points = int(np.ceil(float(time_horizon)/time_step))
         t = [i*time_step for i in range(0,number_points)]
         trace = [[0] + init] + [[i + time_step] + init for i in t]
-        return trace
+        return np.array(trace)