diff --git a/demo/demo1.py b/demo/demo1.py
index 44b98844ff3bae7c5c5b80e087f242ee420cd85a..446e380bbe7cdfdfb024f0f45984c3c4c64ae7d0 100644
--- a/demo/demo1.py
+++ b/demo/demo1.py
@@ -1,11 +1,10 @@
from dryvr_plus_plus.example.example_agent.car_agent import CarAgent, NPCAgent
from dryvr_plus_plus.scene_verifier.scenario.scenario import Scenario
from dryvr_plus_plus.example.example_map.simple_map2 import SimpleMap2, SimpleMap3, SimpleMap5, SimpleMap6
-from dryvr_plus_plus.plotter.plotter2D_new import *
from dryvr_plus_plus.example.example_sensor.fake_sensor import FakeSensor2
-import plotly.graph_objects as go
-import numpy as np
from enum import Enum, auto
+import plotly.graph_objects as go
+from dryvr_plus_plus.plotter.plotter2D_new import *
class VehicleMode(Enum):
@@ -57,5 +56,5 @@ if __name__ == "__main__":
traces = scenario.simulate(10, 0.01)
fig = go.Figure()
- fig = test_simu_anime(traces, tmp_map, fig, 1, 2, 'lines')
+ fig = general_simu_anime(traces, tmp_map, fig, 1, 2, 'lines', 'trace')
fig.show()
diff --git a/demo/demo2.py b/demo/demo2.py
index 2386b599c4e6e2f6fb3338c18664db1533c60665..d58e88f7cce2f33714e11dd8fe02b6261c3ab225 100644
--- a/demo/demo2.py
+++ b/demo/demo2.py
@@ -1,11 +1,11 @@
-from dryvr_plus_plus.example.example_agent.car_agent import CarAgent
+from dryvr_plus_plus.example.example_agent.car_agent import CarAgent, NPCAgent
from dryvr_plus_plus.scene_verifier.scenario.scenario import Scenario
from dryvr_plus_plus.example.example_map.simple_map2 import SimpleMap2, SimpleMap3, SimpleMap5, SimpleMap6
-from dryvr_plus_plus.plotter.plotter2D import *
-from dryvr_plus_plus.plotter.plotter2D_new import *
from dryvr_plus_plus.example.example_sensor.fake_sensor import FakeSensor2
+from enum import Enum, auto
import plotly.graph_objects as go
-# import matplotlib.pyplot as plt
+from dryvr_plus_plus.plotter.plotter2D_new import *
+
import numpy as np
from enum import Enum, auto
@@ -58,8 +58,7 @@ if __name__ == "__main__":
]
)
- traces = scenario.simulate(30)
+ traces = scenario.simulate(30, 0.05)
fig = go.Figure()
fig = test_simu_anime(traces, tmp_map, fig, 1, 2, 'lines')
fig.show()
-
diff --git a/demo/demo3.py b/demo/demo3.py
index a459d2ecf1799151f86ef91b974ddcc3dbc5eb1a..1ec2ce32b6490e90759d66512643e908737c0ea3 100644
--- a/demo/demo3.py
+++ b/demo/demo3.py
@@ -2,13 +2,11 @@ from dryvr_plus_plus.example.example_agent.car_agent import CarAgent, NPCAgent
from dryvr_plus_plus.example.example_agent.car_agent import CarAgent
from dryvr_plus_plus.scene_verifier.scenario.scenario import Scenario
from dryvr_plus_plus.example.example_map.simple_map2 import SimpleMap2, SimpleMap3, SimpleMap5, SimpleMap6
-from dryvr_plus_plus.plotter.plotter2D import *
from dryvr_plus_plus.example.example_sensor.fake_sensor import FakeSensor3
-
-import matplotlib.pyplot as plt
-import plotly.graph_objects as go
-import numpy as np
from enum import Enum, auto
+import plotly.graph_objects as go
+from dryvr_plus_plus.plotter.plotter2D_new import *
+
class LaneObjectMode(Enum):
Vehicle = auto()
@@ -17,17 +15,20 @@ class LaneObjectMode(Enum):
Signal = auto() # Traffic lights
Obstacle = auto() # Static (to road/lane) obstacles
+
class VehicleMode(Enum):
Normal = auto()
SwitchLeft = auto()
SwitchRight = auto()
Brake = auto()
+
class LaneMode(Enum):
Lane0 = auto()
Lane1 = auto()
Lane2 = auto()
+
class State:
x = 0.0
y = 0.0
@@ -57,10 +58,10 @@ if __name__ == "__main__":
scenario.set_map(tmp_map)
scenario.set_init(
[
- [[0, -0.2, 0, 1.0],[0.01, 0.2, 0, 1.0]],
- [[10, 0, 0, 0.5],[10, 0, 0, 0.5]],
- [[20, 3, 0, 0.5],[20, 3, 0, 0.5]],
- [[30, 0, 0, 0.5],[30, 0, 0, 0.5]],
+ [[0, -0.2, 0, 1.0], [0.01, 0.2, 0, 1.0]],
+ [[10, 0, 0, 0.5], [10, 0, 0, 0.5]],
+ [[20, 3, 0, 0.5], [20, 3, 0, 0.5]],
+ [[30, 0, 0, 0.5], [30, 0, 0, 0.5]],
],
[
(VehicleMode.Normal, LaneMode.Lane1, LaneObjectMode.Vehicle),
@@ -78,9 +79,8 @@ if __name__ == "__main__":
# fig = plot_reachtube_tree(traces, 'car2', 1, [2], 'r', fig)
# fig = plot_reachtube_tree(traces, 'car3', 1, [2], 'r', fig)
# fig = plot_reachtube_tree(traces, 'car4', 1, [2], 'r', fig)
- # plt.show()
+ # plt.show()
fig = go.Figure()
- fig = plotly_simulation_anime(traces, tmp_map, fig)
+ fig = general_simu_anime(traces, tmp_map, fig, 1, 2, 'lines')
fig.show()
-
diff --git a/demo/demo4.py b/demo/demo4.py
index a0025e590cdc268c8ae6d27accc5bed50bd614d0..40f430b5e0e8589cd29d60312af67a59ca98fdec 100644
--- a/demo/demo4.py
+++ b/demo/demo4.py
@@ -5,11 +5,10 @@ from dryvr_plus_plus.example.example_map.simple_map2 import SimpleMap2, SimpleMa
from dryvr_plus_plus.plotter.plotter2D import *
from dryvr_plus_plus.example.example_sensor.fake_sensor import FakeSensor3
from dryvr_plus_plus.scene_verifier.sensor.base_sensor import BaseSensor
-
-import matplotlib.pyplot as plt
-import plotly.graph_objects as go
-import numpy as np
from enum import Enum, auto
+import plotly.graph_objects as go
+from dryvr_plus_plus.plotter.plotter2D_new import *
+
class LaneObjectMode(Enum):
Vehicle = auto()
@@ -18,18 +17,21 @@ class LaneObjectMode(Enum):
Signal = auto() # Traffic lights
Obstacle = auto() # Static (to road/lane) obstacles
+
class VehicleMode(Enum):
Normal = auto()
SwitchLeft = auto()
SwitchRight = auto()
Brake = auto()
+
class LaneMode(Enum):
Lane0 = auto()
Lane1 = auto()
Lane2 = auto()
Lane3 = auto()
+
class State:
x = 0.0
y = 0.0
@@ -63,12 +65,12 @@ if __name__ == "__main__":
scenario.set_map(tmp_map)
scenario.set_init(
[
- [[0, -0.2, 0, 1.0],[0.05, 0.2, 0, 1.0]],
- [[10, 0, 0, 0.5],[10, 0, 0, 0.5]],
- [[20, 3, 0, 0.5],[20, 3, 0, 0.5]],
- [[30, 0, 0, 0.5],[30, 0, 0, 0.5]],
- [[23, -3, 0, 0.5],[23, -3, 0, 0.5]],
- [[40, -6, 0, 0.5],[40, -6, 0, 0.5]],
+ [[0, -0.2, 0, 1.0], [0.05, 0.2, 0, 1.0]],
+ [[10, 0, 0, 0.5], [10, 0, 0, 0.5]],
+ [[20, 3, 0, 0.5], [20, 3, 0, 0.5]],
+ [[30, 0, 0, 0.5], [30, 0, 0, 0.5]],
+ [[23, -3, 0, 0.5], [23, -3, 0, 0.5]],
+ [[40, -6, 0, 0.5], [40, -6, 0, 0.5]],
],
[
(VehicleMode.Normal, LaneMode.Lane1),
@@ -92,7 +94,6 @@ if __name__ == "__main__":
# fig = plot_reachtube_tree(traces, 'car6', 1, [2], 'r', fig)
# plt.show()
- # fig = go.Figure()
- # fig = plotly_simulation_anime(traces, tmp_map, fig)
- # fig.show()
-
+ fig = go.Figure()
+ fig = draw_simulation_tree(traces, tmp_map, fig, 1, 2, 'lines')
+ fig.show()
diff --git a/dryvr_plus_plus/plotter/plotter2D_new.py b/dryvr_plus_plus/plotter/plotter2D_new.py
index 5016b55be0270480c8770d01410191cfd903b7ef..6013916481481fb198e25e469af3fd4ee8285c2b 100644
--- a/dryvr_plus_plus/plotter/plotter2D_new.py
+++ b/dryvr_plus_plus/plotter/plotter2D_new.py
@@ -3,22 +3,22 @@ This file consist main plotter code for DryVR reachtube output
"""
from __future__ import annotations
-from audioop import reverse
+# from audioop import reverse
# from curses import start_color
-from re import A
-import matplotlib.patches as patches
-import matplotlib.pyplot as plt
+# from re import A
+# import matplotlib.patches as patches
+# import matplotlib.pyplot as plt
import numpy as np
from math import pi
import plotly.graph_objects as go
from typing import List
-from PIL import Image, ImageDraw
-import io
+# from PIL import Image, ImageDraw
+# import io
import copy
-import operator
-from collections import OrderedDict
+# import operator
+# from collections import OrderedDict
-from torch import layout
+# from torch import layout
from dryvr_plus_plus.scene_verifier.analysis.analysis_tree_node import AnalysisTreeNode
colors = [['#CC0000', '#FF0000', '#FF3333', '#FF6666', '#FF9999'],
@@ -39,6 +39,9 @@ scheme_dict = {'red': 0, 'orange': 1, 'yellow': 2, 'yellowgreen': 3, 'lime': 4,
bg_color = ['rgba(31,119,180,1)', 'rgba(255,127,14,0.2)', 'rgba(44,160,44,0.2)', 'rgba(214,39,40,0.2)', 'rgba(148,103,189,0.2)',
'rgba(140,86,75,0.2)', 'rgba(227,119,194,0.2)', 'rgba(127,127,127,0.2)', 'rgba(188,189,34,0.2)', 'rgba(23,190,207,0.2)']
color_cnt = 0
+text_size = 8
+scale_factor = 0.25
+mode_color = 'rgba(0,0,0,0.5)'
def general_reachtube_anime(root, map=None, fig=None, x_dim: int = 1, y_dim: int = 2, map_type='lines'):
@@ -69,18 +72,6 @@ def general_reachtube_anime(root, map=None, fig=None, x_dim: int = 1, y_dim: int
x_max = max(x_max, trace[i][x_dim])
y_min = min(y_min, trace[i][y_dim])
y_max = max(y_max, trace[i][y_dim])
- # if round(trace[i][0], 2) not in timed_point_dict:
- # timed_point_dict[round(trace[i][0], 2)] = [
- # trace[i][1:].tolist()]
- # else:
- # init = False
- # for record in timed_point_dict[round(trace[i][0], 2)]:
- # if record == trace[i][1:].tolist():
- # init = True
- # break
- # if init == False:
- # timed_point_dict[round(trace[i][0], 2)].append(
- # trace[i][1:].tolist())
time_point = round(trace[i][0], 2)
rect = [trace[i][0:].tolist(), trace[i+1][0:].tolist()]
if time_point not in timed_point_dict:
@@ -584,7 +575,7 @@ def draw_simulation_tree(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_
queue = [root]
x_min, x_max = float('inf'), -float('inf')
y_min, y_max = float('inf'), -float('inf')
- scale_factor = 0.25
+ # scale_factor = 0.25
i = 0
queue = [root]
previous_mode = {}
@@ -635,13 +626,13 @@ def draw_simulation_tree(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_
fig.add_trace(go.Scatter(x=[trace[0, x_dim]], y=[trace[0, y_dim]],
mode='markers+text',
- line_color='rgba(255,255,255,0.3)',
+ line_color=mode_color,
text=str(agent_id)+': ' +
str(node.mode[agent_id][0]),
textposition=text_pos,
textfont=dict(
# family="sans serif",
- size=10,
+ size=text_size,
color="grey"),
showlegend=False,
))
@@ -687,7 +678,7 @@ def draw_simulation_tree_single(root: AnalysisTreeNode, agent_id, fig: go.Figure
# showlegend=False))'
trace_text = []
for i in range(len(trace)):
- trace_text.append([round(trace[i, j], 2)
+ trace_text.append(['{:.2f}'.format(trace[i, j])
for j in range(trace.shape[1])])
fig.add_trace(go.Scatter(x=trace[:, x_dim], y=trace[:, y_dim],
@@ -825,7 +816,7 @@ def draw_simulation_anime(root, map=None, fig=None):
"y": y_list,
"mode": "markers + text",
"text": text_list,
- "textfont": dict(size=14, color="black"),
+ "textfont": dict(size=text_size, color="black"),
"textposition": "bottom center",
# "marker": {
# "sizemode": "area",
@@ -862,7 +853,7 @@ def draw_simulation_anime(root, map=None, fig=None):
"mode": "markers + text",
# "text": [(round(trace_theta[i]/pi*180, 2), round(trace_v[i], 3)) for i in range(len(trace_theta))],
"text": [('{:.2f}'.format(trace_theta[i]/pi*180), '{:.3f}'.format(trace_v[i])) for i in range(len(trace_theta))],
- "textfont": dict(size=14, color="black"),
+ "textfont": dict(size=text_size, color="black"),
"textposition": "bottom center",
# "marker": {
# "sizemode": "area",
@@ -983,13 +974,13 @@ def draw_simulation_anime(root, map=None, fig=None):
text_pos = 'top center'
fig.add_trace(go.Scatter(x=[trace[0, 1]], y=[trace[0, 2]],
mode='markers+text',
- line_color='rgba(255,255,255,0.3)',
+ line_color=mode_color,
text=str(agent_id)+': ' +
str(node.mode[agent_id][0]),
textposition=text_pos,
textfont=dict(
# family="sans serif",
- size=10,
+ size=text_size,
color="grey"),
showlegend=False,
))
@@ -1026,7 +1017,7 @@ def general_simu_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_ty
traces = node.trace
for agent_id in traces:
trace = np.array(traces[agent_id])
- print(trace)
+ # print(trace)
# segment_start.add(round(trace[0][0], 2))
for i in range(len(trace)):
x_min = min(x_min, trace[i][x_dim])
@@ -1052,7 +1043,7 @@ def general_simu_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_ty
# fill in most of layout
# print(segment_start)
# print(timed_point_dict.keys())
- duration = int(600/time)
+ duration = 10
fig_dict["layout"]["xaxis"] = {
"range": [x_min, x_max],
"title": "x position"}
@@ -1107,7 +1098,7 @@ def general_simu_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_ty
}
# make data
point_list = timed_point_dict[0]
- print(point_list)
+ # print(point_list)
x_list = []
y_list = []
text_list = []
@@ -1118,13 +1109,14 @@ def general_simu_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_ty
y_list.append(trace[y_dim])
# text_list.append(
# ('{:.2f}'.format(trace[x_dim]), '{:.2f}'.format(trace[y_dim])))
- text_list.append([round(trace[i], 2) for i in range(len(trace))])
+ text_list.append(['{:.2f}'.format(trace[i])
+ for i in range(len(trace))])
data_dict = {
"x": x_list,
"y": y_list,
"mode": "markers + text",
"text": text_list,
- "textfont": dict(size=14, color="black"),
+ "textfont": dict(size=text_size, color="black"),
"textposition": "bottom center",
# "marker": {
# "sizemode": "area",
@@ -1148,20 +1140,28 @@ def general_simu_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_ty
trace_y = []
text_list = []
for data in point_list:
+ # todo
trace = list(data.values())[0]
# print(trace)
trace_x.append(trace[x_dim])
trace_y.append(trace[y_dim])
# text_list.append(
# ('{:.2f}'.format(trace[x_dim]), '{:.2f}'.format(trace[y_dim])))
- text_list.append([round(trace[i], 2) for i in range(len(trace))])
+ text_list.append(['{:.2f}'.format(trace[i])
+ for i in range(len(trace))])
data_dict = {
"x": trace_x,
"y": trace_y,
"mode": "markers + text",
- # "text": [(round(trace_theta[i]/pi*180, 2), round(trace_v[i], 3)) for i in range(len(trace_theta))],
"text": text_list,
- "textfont": dict(size=14, color="black"),
+ "marker": {
+ # "color": color,
+ # "opacity": opacity_step*(trail_len-id),
+ # # "sizemode": "area",
+ # # "sizeref": 200000,
+ # "size": min_size + size_step*(trail_len-id)
+ },
+ "textfont": dict(size=text_size, color="black"),
"textposition": "bottom center",
# "marker": {
# "sizemode": "area",
@@ -1252,13 +1252,14 @@ def general_simu_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_ty
fig.add_trace(go.Scatter(x=[trace[0, x_dim]], y=[trace[0, y_dim]],
mode='markers+text',
- line_color='rgba(255,255,255,0.3)',
+ line_color=mode_color,
text=str(agent_id)+': ' +
str(node.mode[agent_id][0]),
textposition=text_pos,
+ opacity=0.5,
textfont=dict(
# family="sans serif",
- size=10,
+ size=text_size,
color="grey"),
showlegend=False,
))
@@ -1266,7 +1267,7 @@ def general_simu_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_ty
previous_mode[agent_id] = node.mode[agent_id]
queue += node.child
fig.update_traces(showlegend=False)
- scale_factor = 0.5
+ # scale_factor = 0.25
if scale_type == 'trace':
fig.update_xaxes(
range=[x_min-scale_factor*(x_max-x_min), x_max+scale_factor*(x_max-x_min)])
@@ -1301,14 +1302,11 @@ def test_simu_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_type=
traces = node.trace
for agent_id in traces:
trace = np.array(traces[agent_id])
- # print(trace)
- # segment_start.add(round(trace[0][0], 2))
for i in range(len(trace)):
x_min = min(x_min, trace[i][x_dim])
x_max = max(x_max, trace[i][x_dim])
y_min = min(y_min, trace[i][y_dim])
y_max = max(y_max, trace[i][y_dim])
- # print(round(trace[i][0], 2))
time_point = round(trace[i][0], 2)
tmp_trace = trace[i][0:].tolist()
if time_point not in timed_point_dict:
@@ -1392,14 +1390,14 @@ def test_simu_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_type=
y_list.append(point[y_dim])
# text_list.append(
# ('{:.2f}'.format(point[x_dim]), '{:.2f}'.format(point[y_dim])))
- text_list.append([round(point[i], 2)
- for i in range(len(point))])
+ text_list.append(['{:.2f}'.format(point[i])
+ for i in range(len(point))])
data_dict = {
"x": x_list,
"y": y_list,
"mode": "markers",
"text": text_list,
- "textfont": dict(size=14, color="black"),
+ "textfont": dict(size=text_size, color="black"),
"visible": False,
"textposition": "bottom center",
# "marker": {
@@ -1427,6 +1425,7 @@ def test_simu_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_type=
size_step = 2/trail_len
min_size = 5
for agent_id in agent_list:
+ color = colors[agent_list.index(agent_id) % 12][1]
for id in range(0, trail_len, 2):
tmp_point_list = timed_point_dict[time_list[time_point_id-id]][agent_id]
trace_x = []
@@ -1437,20 +1436,20 @@ def test_simu_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_type=
trace_y.append(point[y_dim])
# text_list.append(
# ('{:.2f}'.format(point[x_dim]), '{:.2f}'.format(point[y_dim])))
- text_list.append([round(point[i], 2)
- for i in range(len(point))])
+ text_list.append(['{:.2f}'.format(point[i])
+ for i in range(len(point))])
# print(trace_y)
if id == 0:
data_dict = {
"x": trace_x,
"y": trace_y,
- "mode": "markers",
+ "mode": "markers+text",
"text": text_list,
- "textfont": dict(size=6, color="black"),
+ "textfont": dict(size=text_size, color="black"),
"textposition": "bottom center",
"visible": True,
"marker": {
- "color": 'Black',
+ "color": color,
"opacity": opacity_step*(trail_len-id),
# "sizemode": "area",
# "sizeref": 200000,
@@ -1469,7 +1468,7 @@ def test_simu_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_type=
# "textposition": "bottom center",
"visible": True,
"marker": {
- "color": 'Black',
+ "color": color,
"opacity": opacity_step*(trail_len-id),
# "sizemode": "area",
# "sizeref": 200000,
@@ -1541,13 +1540,14 @@ def test_simu_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_type=
fig.add_trace(go.Scatter(x=[trace[0, x_dim]], y=[trace[0, y_dim]],
mode='markers+text',
- line_color='rgba(255,255,255,0.3)',
+ line_color=mode_color,
text=str(agent_id)+': ' +
str(node.mode[agent_id][0]),
+ opacity=0.5,
textposition=text_pos,
textfont=dict(
# family="sans serif",
- size=10,
+ size=text_size,
color="grey"),
showlegend=False,
))
@@ -1555,7 +1555,7 @@ def test_simu_anime(root, map=None, fig=None, x_dim: int = 1, y_dim=2, map_type=
previous_mode[agent_id] = node.mode[agent_id]
queue += node.child
fig.update_traces(showlegend=False)
- scale_factor = 0.5
+ # scale_factor = 0.5
if scale_type == 'trace':
fig.update_xaxes(
range=[x_min-scale_factor*(x_max-x_min), x_max+scale_factor*(x_max-x_min)])
diff --git a/dryvr_plus_plus/scene_verifier/analysis/simulator.py b/dryvr_plus_plus/scene_verifier/analysis/simulator.py
index c7567cef5aaa6562b0cb16b252400f48df702491..39f753a39376ff3532cd528e02971c715527144f 100644
--- a/dryvr_plus_plus/scene_verifier/analysis/simulator.py
+++ b/dryvr_plus_plus/scene_verifier/analysis/simulator.py
@@ -12,7 +12,7 @@ class Simulator:
def __init__(self):
self.simulation_tree_root = None
- def simulate(self, init_list, init_mode_list, agent_list:List[BaseAgent], transition_graph, time_horizon, time_step, lane_map):
+ def simulate(self, init_list, init_mode_list, agent_list: List[BaseAgent], transition_graph, time_horizon, time_step, lane_map):
# Setup the root of the simulation tree
root = AnalysisTreeNode(
trace={},
@@ -33,9 +33,9 @@ class Simulator:
simulation_queue.append(root)
# Perform BFS through the simulation tree to loop through all possible transitions
while simulation_queue != []:
- node:AnalysisTreeNode = simulation_queue.pop(0)
+ node: AnalysisTreeNode = simulation_queue.pop(0)
print(node.start_time, node.mode)
- remain_time = round(time_horizon - node.start_time,10)
+ remain_time = round(time_horizon - node.start_time, 10)
if remain_time <= 0:
continue
# For trace not already simulated
@@ -45,20 +45,20 @@ class Simulator:
# [time, x, y, theta, v]
mode = node.mode[agent_id]
init = node.init[agent_id]
- trace = node.agent[agent_id].TC_simulate(mode, init, remain_time, time_step, lane_map)
- trace[:,0] += node.start_time
+ trace = node.agent[agent_id].TC_simulate(
+ mode, init, remain_time, time_step, lane_map)
+ trace[:, 0] += node.start_time
node.trace[agent_id] = trace.tolist()
- transitions, transition_idx = transition_graph.get_transition_simulate_new(node)
+ transitions, transition_idx = transition_graph.get_transition_simulate_new(
+ node)
# If there's no transitions (returned transitions is empty), continue
if not transitions:
continue
-
# truncate the computed trajectories from idx and store the content after truncate
truncated_trace = {}
- print("idx", idx)
for agent_idx in node.agent:
truncated_trace[agent_idx] = node.trace[agent_idx][transition_idx:]
node.trace[agent_idx] = node.trace[agent_idx][:transition_idx+1]
@@ -72,8 +72,8 @@ class Simulator:
# copy the traces that are not under transition
for transition_combination in all_transition_combinations:
- next_node_mode = copy.deepcopy(node.mode)
- next_node_agent = node.agent
+ next_node_mode = copy.deepcopy(node.mode)
+ next_node_agent = node.agent
next_node_start_time = list(truncated_trace.values())[0][0][0]
next_node_init = {}
next_node_trace = {}
@@ -82,8 +82,8 @@ class Simulator:
if dest_mode is None:
continue
# next_node = AnalysisTreeNode(trace = {},init={},mode={},agent={}, child = [], start_time = 0)
- next_node_mode[transit_agent_idx] = dest_mode
- next_node_init[transit_agent_idx] = next_init
+ next_node_mode[transit_agent_idx] = dest_mode
+ next_node_init[transit_agent_idx] = next_init
for agent_idx in next_node_agent:
if agent_idx not in next_node_init:
next_node_trace[agent_idx] = truncated_trace[agent_idx]