From f301069d80cb38600a3818cf4a75d1f3b271cb7e Mon Sep 17 00:00:00 2001
From: keyis2 <keyis2@illinois.edu>
Date: Thu, 16 Jun 2022 14:50:16 -0500
Subject: [PATCH] accelerate mode related
---
demo/demo1.py | 4 +-
demo/demo2.py | 20 +--
demo/demo5.py | 86 +++++++++++
demo/example_controller5.py | 77 ++++++++++
demo/plot1.py | 38 -----
demo/plot_test.py | 113 ++++++++++++--
demo/plot_test1.py | 23 +++
.../example/example_agent/car_agent.py | 5 +
.../example/example_map/simple_map2.py | 123 ++++++++++-----
dryvr_plus_plus/plotter/plotter2D.py | 145 ++++++++++++++----
.../code_parser/pythonparser.py | 3 +-
dryvr_plus_plus/scene_verifier/map/lane.py | 6 +
.../scene_verifier/map/lane_map.py | 10 ++
.../scene_verifier/map/lane_segment.py | 93 +++++++++--
14 files changed, 595 insertions(+), 151 deletions(-)
create mode 100644 demo/demo5.py
create mode 100644 demo/example_controller5.py
delete mode 100644 demo/plot1.py
create mode 100644 demo/plot_test1.py
diff --git a/demo/demo1.py b/demo/demo1.py
index 9ab0f8a0..2fee44d0 100644
--- a/demo/demo1.py
+++ b/demo/demo1.py
@@ -75,6 +75,6 @@ if __name__ == "__main__":
fig = go.Figure()
for traces in res_list:
# plotly_map(tmp_map, 'g', fig)
- # fig = plotly_simulation_tree(traces, 'car2', 1, [2], 'r', fig)
- fig = plotly_simulation_anime(traces, tmp_map, fig)
+ fig = plotly_simulation_tree(traces, 'car2', 1, [2], 'r', fig)
+ # fig = plotly_simulation_anime(traces, tmp_map, fig)
fig.show()
diff --git a/demo/demo2.py b/demo/demo2.py
index b8eaf9b8..6deab510 100644
--- a/demo/demo2.py
+++ b/demo/demo2.py
@@ -56,7 +56,7 @@ if __name__ == "__main__":
]
)
# res_list = scenario.simulate_multi(40,1)
- traces = scenario.verify(40)
+
# traces = scenario.simulate(40)
# fig = plt.figure(2)
@@ -73,16 +73,18 @@ if __name__ == "__main__":
# fig = go.Figure()
# fig = plotly_simulation_tree(traces, 'car1', 1, [2], 'b', fig)
# fig.show()
+ # traces = scenario.simulate(40)
# fig = go.Figure()
- # fig = plotly_simulation_anime(traces, tmp_map, fig)
+ # # fig = plotly_simulation_anime(traces, tmp_map, fig)
# fig.show()
- fig = go.Figure()
- fig = plotly_reachtube_tree_v2(traces, 'car1', 1, [2], 'blue', fig)
- fig = plotly_reachtube_tree_v2(traces, 'car2', 1, [2], 'red', fig)
- fig.show()
# fig = go.Figure()
- # fig = generate_reachtube_anime(
- # traces, 'car1', 1, [2], 'blue', fig, map=tmp_map)
- # # fig = plotly_reachtube_tree_v2(traces, 'car2', 1, [2], 'red', fig)
+ # fig = plotly_reachtube_tree_v2(traces, 'car1', 1, [2], 'blue', fig)
+ # fig = plotly_reachtube_tree_v2(traces, 'car2', 1, [2], 'red', fig)
# fig.show()
+ traces = scenario.verify(5)
+ fig = go.Figure()
+ fig = generate_reachtube_anime(traces, tmp_map, fig)
+ # fig = plotly_simulation_anime(traces, tmp_map, fig)
+ # # fig = plotly_reachtube_tree_v2(traces, 'car2', 1, [2], 'red', fig)
+ fig.show()
diff --git a/demo/demo5.py b/demo/demo5.py
new file mode 100644
index 00000000..e698e425
--- /dev/null
+++ b/demo/demo5.py
@@ -0,0 +1,86 @@
+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, SimpleMap3_v2
+from dryvr_plus_plus.plotter.plotter2D import *
+from dryvr_plus_plus.example.example_sensor.fake_sensor import FakeSensor2
+import plotly.graph_objects as go
+import matplotlib.pyplot as plt
+import numpy as np
+from enum import Enum, auto
+
+
+class VehicleMode(Enum):
+ Normal = auto()
+ SwitchLeft = auto()
+ SwitchRight = auto()
+ Brake = auto()
+ Accelerate = auto()
+
+
+class LaneMode(Enum):
+ Lane0 = auto()
+ Lane1 = auto()
+ Lane2 = auto()
+
+
+class State:
+ x = 0.0
+ y = 0.0
+ theta = 0.0
+ v = 0.0
+ vehicle_mode: VehicleMode = VehicleMode.Normal
+ lane_mode: LaneMode = LaneMode.Lane0
+
+ def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode):
+ self.data = []
+
+
+if __name__ == "__main__":
+ input_code_name = 'example_controller5.py'
+ scenario = Scenario()
+
+ car = CarAgent('car1', file_name=input_code_name)
+ scenario.add_agent(car)
+ car = CarAgent('car2', file_name=input_code_name)
+ scenario.add_agent(car)
+ tmp_map = SimpleMap3_v2()
+ scenario.set_map(tmp_map)
+ scenario.set_sensor(FakeSensor2())
+ scenario.set_init(
+ [
+ [[0, -0.2, 0, 1.0], [0.1, 0.2, 0, 1.0]],
+ [[10, 0, 0, 0.5], [10, 0, 0, 0.5]],
+ ],
+ [
+ (VehicleMode.Normal, LaneMode.Lane1),
+ (VehicleMode.Normal, LaneMode.Lane1),
+ ]
+ )
+ # traces = scenario.verify(30)
+ # # fig = go.Figure()
+ # # fig = plotly_reachtube_tree_v2(traces, 'car1', 1, [2], 'blue', fig)
+ # # fig = plotly_reachtube_tree_v2(traces, 'car2', 1, [2], 'red', fig)
+ # # fig.show()
+ # fig = go.Figure()
+ # fig = generate_reachtube_anime(traces, tmp_map, fig)
+ # # # fig = plotly_reachtube_tree_v2(traces, 'car2', 1, [2], 'red', fig)
+ # fig.show()
+ # fig = plt.figure(2)
+ # fig = plot_map(tmp_map, 'g', fig)
+ # # fig = plot_simulation_tree(traces, 'car1', 1, [2], 'b', fig)
+ # # fig = plot_simulation_tree(traces, 'car2', 1, [2], 'r', fig)
+ # fig = plot_reachtube_tree(traces, 'car1', 1, [2], 'b', fig)
+ # fig = plot_reachtube_tree(traces, 'car2', 1, [2], 'r', fig)
+ # plt.show()
+ # # fig1 = plt.figure(2)
+ # fig = generate_simulation_anime(traces, tmp_map, fig)
+ # plt.show()
+
+ traces = scenario.simulate(30)
+ # fig = go.Figure()
+ # fig = plotly_simulation_tree(traces, 'car1', 1, [2], 'b', fig)
+ # fig.show()
+ fig = go.Figure()
+ fig = plotly_simulation_anime(traces, tmp_map, fig)
+ # fig = plotly_map(tmp_map, fig=fig)
+ fig.show()
diff --git a/demo/example_controller5.py b/demo/example_controller5.py
new file mode 100644
index 00000000..7ccc13ad
--- /dev/null
+++ b/demo/example_controller5.py
@@ -0,0 +1,77 @@
+from enum import Enum, auto
+import copy
+from dryvr_plus_plus.scene_verifier.map.lane_map import LaneMap
+
+
+class VehicleMode(Enum):
+ Normal = auto()
+ SwitchLeft = auto()
+ SwitchRight = auto()
+ Brake = auto()
+ Accelerate = auto()
+
+
+class LaneMode(Enum):
+ Lane0 = auto()
+ Lane1 = auto()
+ Lane2 = auto()
+
+
+class LaneObjectMode(Enum):
+ Vehicle = auto()
+ Ped = auto() # Pedestrians
+ Sign = auto() # Signs, stop signs, merge, yield etc.
+ Signal = auto() # Traffic lights
+ Obstacle = auto() # Static (to road/lane) obstacles
+
+
+class State:
+ x = 0.0
+ y = 0.0
+ theta = 0.0
+ v = 0.0
+ vehicle_mode: VehicleMode = VehicleMode.Normal
+ lane_mode: LaneMode = LaneMode.Lane0
+ type: LaneObjectMode
+
+ def __init__(self, x, y, theta, v, vehicle_mode: VehicleMode, lane_mode: LaneMode, type: LaneObjectMode):
+ self.data = []
+
+
+def controller(ego: State, other: State, sign: State, lane_map: LaneMap):
+ output = copy.deepcopy(ego)
+ if ego.vehicle_mode == VehicleMode.Normal:
+ if lane_map.get_longitudinal_position(other.lane_mode, [other.x, other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x, ego.y]) > 3 \
+ and lane_map.get_longitudinal_position(other.lane_mode, [other.x, other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x, ego.y]) < 5 \
+ and ego.lane_mode == other.lane_mode:
+ if lane_map.has_left(ego.lane_mode):
+ output.vehicle_mode = VehicleMode.SwitchLeft
+ if lane_map.get_longitudinal_position(other.lane_mode, [other.x, other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x, ego.y]) > 3 \
+ and lane_map.get_longitudinal_position(other.lane_mode, [other.x, other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x, ego.y]) < 5 \
+ and ego.lane_mode == other.lane_mode:
+ if lane_map.has_right(ego.lane_mode):
+ output.vehicle_mode = VehicleMode.SwitchRight
+ # if ego.lane_mode != other.lane_mode:
+ # output.vehicle_mode = VehicleMode.Accelerate
+ # if lane_map.get_longitudinal_position(other.lane_mode, [other.x, other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x, ego.y]) > 5:
+ # output.vehicle_mode = VehicleMode.Accelerate
+ if lane_map.get_speed_limit(ego.lane_mode, [ego.x, ego.y]) > 1:
+ output.vehicle_mode = VehicleMode.Accelerate
+
+ if ego.vehicle_mode == VehicleMode.SwitchLeft:
+ if lane_map.get_lateral_distance(ego.lane_mode, [ego.x, ego.y]) >= 2.5:
+ output.vehicle_mode = VehicleMode.Normal
+ output.lane_mode = lane_map.left_lane(ego.lane_mode)
+ if ego.vehicle_mode == VehicleMode.SwitchRight:
+ if lane_map.get_lateral_distance(ego.lane_mode, [ego.x, ego.y]) <= -2.5:
+ output.vehicle_mode = VehicleMode.Normal
+ output.lane_mode = lane_map.right_lane(ego.lane_mode)
+ if ego.vehicle_mode == VehicleMode.Accelerate:
+ if lane_map.get_longitudinal_position(other.lane_mode, [other.x, other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x, ego.y]) > 3 \
+ and lane_map.get_longitudinal_position(other.lane_mode, [other.x, other.y]) - lane_map.get_longitudinal_position(ego.lane_mode, [ego.x, ego.y]) < 5 \
+ and ego.lane_mode == other.lane_mode:
+ output.vehicle_mode = VehicleMode.Normal
+ # if lane_map.get_speed_limit(ego.lane_mode, [ego.x, ego.y]) <= ego.v:
+ # output.vehicle_mode = VehicleMode.Normal
+
+ return output
diff --git a/demo/plot1.py b/demo/plot1.py
deleted file mode 100644
index 93733594..00000000
--- a/demo/plot1.py
+++ /dev/null
@@ -1,38 +0,0 @@
-from dash import Dash, dcc, html, Input, Output
-import plotly.express as px
-
-app = Dash(__name__)
-
-
-app.layout = html.Div([
- html.H4('Animated GDP and population over decades'),
- html.P("Select an animation:"),
- dcc.RadioItems(
- id='selection',
- options=["GDP - Scatter", "Population - Bar"],
- value='GDP - Scatter',
- ),
- dcc.Loading(dcc.Graph(id="graph"), type="cube")
-])
-
-
-@app.callback(
- Output("graph", "figure"),
- Input("selection", "value"))
-def display_animated_graph(selection):
- df = px.data.gapminder() # replace with your own data source
- animations = {
- 'GDP - Scatter': px.scatter(
- df, x="gdpPercap", y="lifeExp", animation_frame="year",
- animation_group="country", size="pop", color="continent",
- hover_name="country", log_x=True, size_max=55,
- range_x=[100, 100000], range_y=[25, 90]),
- 'Population - Bar': px.bar(
- df, x="continent", y="pop", color="continent",
- animation_frame="year", animation_group="country",
- range_y=[0, 4000000000]),
- }
- return animations[selection]
-
-
-app.run_server()
diff --git a/demo/plot_test.py b/demo/plot_test.py
index 66102f97..83bedd06 100644
--- a/demo/plot_test.py
+++ b/demo/plot_test.py
@@ -1,9 +1,13 @@
+from turtle import color
import plotly.graph_objects as go
import numpy as np
x = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
x_rev = x[::-1]
+x2 = [11, 12, 13, 14, 15, 16, 17, 18, 19, 20]
+x2_rev = x2[::-1]
+
# Line 1
y1 = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
@@ -26,15 +30,100 @@ y3_lower = y3_lower[::-1]
fig = go.Figure()
+# fig.add_trace(go.Scatter(
+# x=x+x_rev + x2+x2_rev,
+# y=y1_upper+y1_lower+y1_upper+y1_lower,
+# fill='toself',
+# marker=dict(
+# symbol='square',
+# size=16,
+# cmax=39,
+# cmin=0,
+# color='rgb(0,100,80)',
+# colorbar=dict(
+# title="Colorbar"
+# ),
+# colorscale="Viridis"
+# ),
+# # fillcolor='rgba(0,100,80,0.2)',
+# # line_color='rgba(255,255,255,0)',
+# showlegend=False,
+# name='Fair',
+# mode="markers"
+# ))
+# fig.add_trace(go.Scatter(
+# x=[1, 2, 2, 1, 2, 3, 3, 2],
+# y=[1, 1, 2, 2, 3, 3, 4, 4],
+# fill='toself',
+# marker=dict(
+# symbol='square',
+# size=16,
+# cmax=3,
+# cmin=0,
+# color=[1, 2],
+# colorbar=dict(
+# title="Colorbar"
+# ),
+# colorscale="Viridis"
+# ),
+# # fillcolor='rgba(0,100,80,0.2)',
+# # line_color='rgba(255,255,255,0)',
+# showlegend=False,
+# name='Fair',
+# mode="markers"
+# ))
+start = [0, 0, 255, 0.5]
+end = [255, 0, 0, 0.5]
+rgb = [0, 0, 255, 0.5]
+pot = 4
+for i in range(len(rgb)-1):
+ rgb[i] = rgb[i] + (pot-0)/(4-0)*(end[i]-start[i])
+print(rgb)
fig.add_trace(go.Scatter(
- x=x+x_rev,
- y=y1_upper+y1_lower,
- # fill='toself',
+ x=[1, 2, 2, 1],
+ y=[1, 1, 2, 2],
+ fill='toself',
+ marker=dict(
+ symbol='square',
+ size=16,
+ cmax=4,
+ cmin=0,
+ # color=[3, 3, 3, 3],
+ colorbar=dict(
+ title="Colorbar"
+ ),
+ colorscale=[[0, 'rgba(0,0,255,0.5)'], [1, 'rgba(255,0,0,0.5)']]
+ ),
+
+ fillcolor='rgba'+str(tuple(rgb)),
# fillcolor='rgba(0,100,80,0.2)',
# line_color='rgba(255,255,255,0)',
- # showlegend=False,
+ showlegend=False,
name='Fair',
+ mode="markers"
))
+# for i in range(10):
+# fig.add_trace(go.Scatter(
+# x=x+x_rev,
+# y=y3_upper+y3_lower,
+# fill='toself',
+# marker=dict(
+# symbol='square',
+# size=16,
+# cmax=39,
+# cmin=0,
+# color='rgb(0,100,80)',
+# colorbar=dict(
+# title="Colorbar"
+# ),
+# colorscale="Viridis"
+# ),
+# # fillcolor='rgba(0,100,80,0.2)',
+# # line_color='rgba(255,255,255,0)',
+# showlegend=False,
+# name='Fair',
+# mode="markers"
+# ))
# fig.add_trace(go.Scatter(
# x=x+x_rev,
# y=y2_upper+y2_lower,
@@ -53,11 +142,11 @@ fig.add_trace(go.Scatter(
# showlegend=False,
# name='Ideal',
# ))
-fig.add_trace(go.Scatter(
- x=x, y=y1,
- line_color='rgb(0,100,80)',
- name='Fair',
-))
+# fig.add_trace(go.Scatter(
+# x=x, y=y1,
+# line_color='rgb(0,100,80)',
+# name='Fair',
+# ))
# fig.add_trace(go.Scatter(
# x=x, y=y2,
# line_color='rgb(0,176,246)',
@@ -69,7 +158,7 @@ fig.add_trace(go.Scatter(
# name='Ideal',
# ))
-fig.update_traces(mode='lines')
+# fig.update_traces(mode='lines')
fig.show()
-print(x+x_rev)
-print(y1_upper+y1_lower)
+# print(x+x_rev)
+# print(y1_upper+y1_lower)
diff --git a/demo/plot_test1.py b/demo/plot_test1.py
new file mode 100644
index 00000000..3ba2de26
--- /dev/null
+++ b/demo/plot_test1.py
@@ -0,0 +1,23 @@
+import plotly.graph_objects as go
+import numpy as np
+
+fig = go.Figure()
+values = [1, 2, 3]
+fig.add_trace(go.Scatter(
+ x=values,
+ y=values,
+ marker=dict(
+ symbol='square',
+ size=16,
+ cmax=39,
+ cmin=0,
+ color=values,
+ colorbar=dict(
+ title="Colorbar"
+ ),
+ colorscale="Viridis"
+ ),
+ # marker_symbol='square', marker_line_color="midnightblue", marker_color="lightskyblue",
+ # marker_line_width=2, marker_size=15,
+ mode="markers"))
+fig.show()
diff --git a/dryvr_plus_plus/example/example_agent/car_agent.py b/dryvr_plus_plus/example/example_agent/car_agent.py
index cfad53fb..7accb5b3 100644
--- a/dryvr_plus_plus/example/example_agent/car_agent.py
+++ b/dryvr_plus_plus/example/example_agent/car_agent.py
@@ -88,6 +88,11 @@ class CarAgent(BaseAgent):
a = -1
if v <= 0.02:
a = 0
+ elif vehicle_mode == "Accelerate":
+ d = -lane_map.get_lateral_distance(vehicle_lane, vehicle_pos)
+ a = 1
+ if v >= lane_map.get_speed_limit(vehicle_lane, vehicle_pos)-0.02:
+ a = 0
elif vehicle_mode == 'Stop':
d = -lane_map.get_lateral_distance(vehicle_lane, vehicle_pos)
a = 0
diff --git a/dryvr_plus_plus/example/example_map/simple_map2.py b/dryvr_plus_plus/example/example_map/simple_map2.py
index 05721390..4bf59de7 100644
--- a/dryvr_plus_plus/example/example_map/simple_map2.py
+++ b/dryvr_plus_plus/example/example_map/simple_map2.py
@@ -4,39 +4,41 @@ from dryvr_plus_plus.scene_verifier.map.lane import Lane
import numpy as np
+
class SimpleMap2(LaneMap):
def __init__(self):
super().__init__()
segment0 = StraightLane(
'seg0',
- [0,0],
- [100,0],
+ [0, 0],
+ [100, 0],
3
)
lane0 = Lane('Lane1', [segment0])
self.add_lanes([lane0])
+
class SimpleMap3(LaneMap):
def __init__(self):
super().__init__()
segment0 = StraightLane(
'Seg0',
- [0,3],
- [50,3],
+ [0, 3],
+ [50, 3],
3
)
lane0 = Lane('Lane0', [segment0])
segment1 = StraightLane(
'seg0',
- [0,0],
- [50,0],
+ [0, 0],
+ [50, 0],
3
)
lane1 = Lane('Lane1', [segment1])
segment2 = StraightLane(
'seg0',
- [0,-3],
- [50,-3],
+ [0, -3],
+ [50, -3],
3
)
lane2 = Lane('Lane2', [segment2])
@@ -48,63 +50,100 @@ class SimpleMap3(LaneMap):
self.right_lane_dict[lane0.id].append(lane1.id)
self.right_lane_dict[lane1.id].append(lane2.id)
+
+class SimpleMap3_v2(LaneMap):
+ def __init__(self):
+ super().__init__()
+ segment0 = StraightLane(
+ 'Seg0',
+ [0, 3],
+ [50, 3],
+ 3,
+ speed_limit=[(0, 1), (10, 2)]
+ )
+ lane0 = Lane('Lane0', [segment0])
+ segment1 = StraightLane(
+ 'seg0',
+ [0, 0],
+ [50, 0],
+ 3,
+ speed_limit=[(0, 1), (20, 3)]
+ )
+ lane1 = Lane('Lane1', [segment1])
+ segment2 = StraightLane(
+ 'seg0',
+ [0, -3],
+ [50, -3],
+ 3,
+ speed_limit=[(0, 1), (25, 2.5)]
+ )
+ lane2 = Lane('Lane2', [segment2])
+ # segment2 = LaneSegment('Lane1', 3)
+ # self.add_lanes([segment1,segment2])
+ self.add_lanes([lane0, lane1, lane2])
+ self.left_lane_dict[lane1.id].append(lane0.id)
+ self.left_lane_dict[lane2.id].append(lane1.id)
+ self.right_lane_dict[lane0.id].append(lane1.id)
+ self.right_lane_dict[lane1.id].append(lane2.id)
+
+
class SimpleMap5(LaneMap):
def __init__(self):
super().__init__()
segment0 = StraightLane(
'Seg0',
- [0,3],
- [15,3],
+ [0, 3],
+ [15, 3],
3
)
segment1 = StraightLane(
'Seg1',
- [15,3],
- [25,13],
+ [15, 3],
+ [25, 13],
3
)
segment2 = StraightLane(
'Seg2',
- [25,13],
- [50,13],
+ [25, 13],
+ [50, 13],
3
)
lane0 = Lane('Lane0', [segment0, segment1, segment2])
segment0 = StraightLane(
'seg0',
- [0,0],
- [17,0],
+ [0, 0],
+ [17, 0],
3
)
segment1 = StraightLane(
'seg1',
- [17,0],
- [27,10],
+ [17, 0],
+ [27, 10],
3
)
segment2 = StraightLane(
'seg2',
- [27,10],
- [50,10],
+ [27, 10],
+ [50, 10],
3
)
lane1 = Lane('Lane1', [segment0, segment1, segment2])
segment0 = StraightLane(
'seg0',
- [0,-3],
- [19,-3],
+ [0, -3],
+ [19, -3],
3
)
segment1 = StraightLane(
'seg1',
- [19,-3],
- [29,7],
+ [19, -3],
+ [29, 7],
3
)
segment2 = StraightLane(
'seg2',
- [29,7],
- [50,7],
+ [29, 7],
+ [50, 7],
3
)
lane2 = Lane('Lane2', [segment0, segment1, segment2])
@@ -114,18 +153,19 @@ class SimpleMap5(LaneMap):
self.right_lane_dict[lane0.id].append(lane1.id)
self.right_lane_dict[lane1.id].append(lane2.id)
+
class SimpleMap6(LaneMap):
def __init__(self):
super().__init__()
segment0 = StraightLane(
'Seg0',
- [0,3],
- [15,3],
+ [0, 3],
+ [15, 3],
3
)
segment1 = CircularLane(
'Seg1',
- [15,8],
+ [15, 8],
5,
np.pi*3/2,
np.pi*2,
@@ -134,20 +174,20 @@ class SimpleMap6(LaneMap):
)
segment2 = StraightLane(
'Seg2',
- [20,8],
- [20,30],
+ [20, 8],
+ [20, 30],
3
)
lane0 = Lane('Lane0', [segment0, segment1, segment2])
segment0 = StraightLane(
'seg0',
- [0,0],
- [18,0],
+ [0, 0],
+ [18, 0],
3
)
segment1 = CircularLane(
'seg1',
- [18,5],
+ [18, 5],
5,
3*np.pi/2,
2*np.pi,
@@ -156,20 +196,20 @@ class SimpleMap6(LaneMap):
)
segment2 = StraightLane(
'seg2',
- [23,5],
- [23,30],
+ [23, 5],
+ [23, 30],
3
)
lane1 = Lane('Lane1', [segment0, segment1, segment2])
segment0 = StraightLane(
'seg0',
- [0,-3],
- [21,-3],
+ [0, -3],
+ [21, -3],
3
)
segment1 = CircularLane(
'seg1',
- [21,2],
+ [21, 2],
5,
np.pi*3/2,
np.pi*2,
@@ -178,8 +218,8 @@ class SimpleMap6(LaneMap):
)
segment2 = StraightLane(
'seg2',
- [26,2],
- [26,30],
+ [26, 2],
+ [26, 30],
3
)
lane2 = Lane('Lane2', [segment0, segment1, segment2])
@@ -189,6 +229,7 @@ class SimpleMap6(LaneMap):
self.right_lane_dict[lane0.id].append(lane1.id)
self.right_lane_dict[lane1.id].append(lane2.id)
+
if __name__ == "__main__":
test_map = SimpleMap3()
print(test_map.left_lane_dict)
diff --git a/dryvr_plus_plus/plotter/plotter2D.py b/dryvr_plus_plus/plotter/plotter2D.py
index 9e8fd27b..bb8fc7fd 100644
--- a/dryvr_plus_plus/plotter/plotter2D.py
+++ b/dryvr_plus_plus/plotter/plotter2D.py
@@ -4,16 +4,17 @@ This file consist main plotter code for DryVR reachtube output
from __future__ import annotations
from audioop import reverse
+# from curses import start_color
from re import A
import matplotlib.patches as patches
import matplotlib.pyplot as plt
import numpy as np
from math import pi
-import plotly.express as px
import plotly.graph_objects as go
from typing import List
from PIL import Image, ImageDraw
import io
+import copy
import operator
from collections import OrderedDict
@@ -97,7 +98,7 @@ def plot(
return fig, (x_min, x_max), (y_min, y_max)
-def generate_reachtube_anime(root, agent_id, x_dim: int = 0, y_dim_list: List[int] = [1], color='blue', fig=None, x_lim=None, y_lim=None, map=None):
+def generate_reachtube_anime(root, map=None, fig=None):
# make figure
fig_dict = {
"data": [],
@@ -109,11 +110,13 @@ def generate_reachtube_anime(root, agent_id, x_dim: int = 0, y_dim_list: List[in
stack = [root]
x_min, x_max = float('inf'), -float('inf')
y_min, y_max = float('inf'), -float('inf')
+ print("reachtude")
while stack != []:
node = stack.pop()
traces = node.trace
for agent_id in traces:
trace = np.array(traces[agent_id])
+ print(trace)
for i in range(len(trace)):
x_min = min(x_min, trace[i][1])
x_max = max(x_max, trace[i][1])
@@ -181,7 +184,7 @@ def generate_reachtube_anime(root, agent_id, x_dim: int = 0, y_dim_list: List[in
"visible": True,
"xanchor": "right"
},
- "method": "update",
+ # "method": "update",
"transition": {"duration": duration, "easing": "cubic-in-out"},
"pad": {"b": 10, "t": 50},
"len": 0.9,
@@ -191,6 +194,7 @@ def generate_reachtube_anime(root, agent_id, x_dim: int = 0, y_dim_list: List[in
}
# make data
point_list = timed_point_dict[0]
+ # print("reachtude")
# print(point_list)
data_dict = {
"x": [data[0] for data in point_list],
@@ -232,23 +236,25 @@ def generate_reachtube_anime(root, agent_id, x_dim: int = 0, y_dim_list: List[in
"name": "current position"
}
frame["data"].append(data_dict)
+ # print(trace_x)
for i in range(len(trace_x)):
- ax = np.cos(trace_theta[i])*trace_v[i]
- ay = np.sin(trace_theta[i])*trace_v[i]
+ pass
+ # ax = np.cos(trace_theta[i])*trace_v[i]
+ # ay = np.sin(trace_theta[i])*trace_v[i]
# print(trace_x[i]+ax, trace_y[i]+ay)
- annotations_dict = {"x": trace_x[i]+ax+0.1, "y": trace_y[i]+ay,
- # "xshift": ax, "yshift": ay,
- "ax": trace_x[i], "ay": trace_y[i],
- "arrowwidth": 2,
- # "arrowside": 'end',
- "showarrow": True,
- # "arrowsize": 1,
- "xref": 'x', "yref": 'y',
- "axref": 'x', "ayref": 'y',
- # "text": "erver",
- "arrowhead": 1,
- "arrowcolor": "black"}
- frame["layout"]["annotations"].append(annotations_dict)
+ # annotations_dict = {"x": trace_x[i]+ax+0.1, "y": trace_y[i]+ay,
+ # # "xshift": ax, "yshift": ay,
+ # "ax": trace_x[i], "ay": trace_y[i],
+ # "arrowwidth": 2,
+ # # "arrowside": 'end',
+ # "showarrow": True,
+ # # "arrowsize": 1,
+ # "xref": 'x', "yref": 'y',
+ # "axref": 'x', "ayref": 'y',
+ # # "text": "erver",
+ # "arrowhead": 1,
+ # "arrowcolor": "black"}
+ # frame["layout"]["annotations"].append(annotations_dict)
fig_dict["frames"].append(frame)
slider_step = {"args": [
@@ -265,7 +271,7 @@ def generate_reachtube_anime(root, agent_id, x_dim: int = 0, y_dim_list: List[in
fig_dict["layout"]["sliders"] = [sliders_dict]
fig = go.Figure(fig_dict)
- fig = plotly_map(map, 'g', fig)
+ # fig = plotly_map(map, 'g', fig)
for agent_id in traces:
fig = plotly_reachtube_tree_v2(root, agent_id, 1, [2], 'blue', fig)
@@ -274,7 +280,7 @@ def generate_reachtube_anime(root, agent_id, x_dim: int = 0, y_dim_list: List[in
def plotly_reachtube_tree(root, agent_id, x_dim: int = 0, y_dim_list: List[int] = [1], color='blue', fig=None, x_lim=None, y_lim=None):
if fig is None:
- fig = go.figure()
+ fig = go.Figure()
# ax = fig.gca()
# if x_lim is None:
@@ -301,7 +307,7 @@ def plotly_reachtube_tree(root, agent_id, x_dim: int = 0, y_dim_list: List[int]
def plotly_reachtube_tree_v2(root, agent_id, x_dim: int = 0, y_dim_list: List[int] = [1], color='blue', fig=None, x_lim=None, y_lim=None):
if fig is None:
- fig = go.figure()
+ fig = go.Figure()
# ax = fig.gca()
# if x_lim is None:
@@ -316,7 +322,7 @@ def plotly_reachtube_tree_v2(root, agent_id, x_dim: int = 0, y_dim_list: List[in
node = queue.pop(0)
traces = node.trace
trace = np.array(traces[agent_id])
- print(trace[0], trace[1], trace[-2], trace[-1])
+ # print(trace[0], trace[1], trace[-2], trace[-1])
max_id = len(trace)-1
# trace_x = np.zeros(max_id+1)
# trace_x_2 = np.zeros(max_id+1)
@@ -413,7 +419,7 @@ def plotly_reachtube_tree_v2(root, agent_id, x_dim: int = 0, y_dim_list: List[in
node = queue.pop(0)
traces = node.trace
trace = np.array(traces[agent_id])
- print(trace[0], trace[1], trace[-2], trace[-1])
+ # print(trace[0], trace[1], trace[-2], trace[-1])
max_id = len(trace)-1
# trace_x = np.zeros(max_id+1)
# trace_x_2 = np.zeros(max_id+1)
@@ -541,10 +547,12 @@ def plot_reachtube_tree(root, agent_id, x_dim: int = 0, y_dim_list: List[int] =
return fig
-def plotly_map(map, color='b', fig=None, x_lim=None, y_lim=None):
+def plotly_map(map, color='b', fig: go.Figure() = None, x_lim=None, y_lim=None):
if fig is None:
- fig = go.figure()
-
+ fig = go.Figure()
+ all_x = []
+ all_y = []
+ all_v = []
for lane_idx in map.lane_dict:
lane = map.lane_dict[lane_idx]
for lane_seg in lane.segment_list:
@@ -574,6 +582,11 @@ def plotly_map(map, color='b', fig=None, x_lim=None, y_lim=None):
showlegend=False,
# text=theta,
name='lines'))
+ # fig = go.Figure().add_heatmap(x=)
+ seg_x, seg_y, seg_v = lane_seg.get_all_speed()
+ all_x += seg_x
+ all_y += seg_y
+ all_v += seg_v
elif lane_seg.type == "Circular":
phase_array = np.linspace(
start=lane_seg.start_phase, stop=lane_seg.end_phase, num=100)
@@ -598,6 +611,59 @@ def plotly_map(map, color='b', fig=None, x_lim=None, y_lim=None):
name='lines'))
else:
raise ValueError(f'Unknown lane segment type {lane_seg.type}')
+ start_color = [0, 0, 255, 0.2]
+ end_color = [255, 0, 0, 0.2]
+ curr_color = copy.deepcopy(start_color)
+ max_speed = max(all_v)
+ min_speed = min(all_v)
+
+ for i in range(len(all_v)):
+ # print(all_x[i])
+ # print(all_y[i])
+ # print(all_v[i])
+ curr_color = copy.deepcopy(start_color)
+ for j in range(len(curr_color)-1):
+ curr_color[j] += (all_v[i]-min_speed)/(max_speed -
+ min_speed)*(end_color[j]-start_color[j])
+ fig.add_trace(go.Scatter(x=all_x[i], y=all_y[i],
+ mode='lines',
+ line_color='rgba(0,0,0,0)',
+ fill='toself',
+ fillcolor='rgba'+str(tuple(curr_color)),
+ # marker=dict(
+ # symbol='square',
+ # size=16,
+ # cmax=max_speed,
+ # cmin=min_speed,
+ # # color=all_v[i],
+ # colorbar=dict(
+ # title="Colorbar"
+ # ),
+ # colorscale=[
+ # [0, 'rgba'+str(tuple(start_color))], [1, 'rgba'+str(tuple(end_color))]]
+ # ),
+ showlegend=False,
+ ))
+ fig.add_trace(go.Scatter(x=[0], y=[0],
+ mode='markers',
+ # fill='toself',
+ # fillcolor='rgba'+str(tuple(curr_color)),
+ marker=dict(
+ symbol='square',
+ size=16,
+ cmax=max_speed,
+ cmin=min_speed,
+ color='rgba(0,0,0,0)',
+ colorbar=dict(
+ title="Speed Limit"
+ ),
+ colorscale=[
+ [0, 'rgba'+str(tuple(start_color))], [1, 'rgba'+str(tuple(end_color))]]
+ ),
+ showlegend=False,
+ ))
+ # fig.update_coloraxes(colorbar=dict(title="Colorbar"), colorscale=[
+ # [0, 'rgba'+str(tuple(start_color))], [1, 'rgba'+str(tuple(end_color))]])
return fig
@@ -791,7 +857,7 @@ def plotly_simulation_anime(root, map=None, fig=None):
# print(root.mode)
x_min, x_max = float('inf'), -float('inf')
y_min, y_max = float('inf'), -float('inf')
- segment_start = set()
+ # segment_start = set()
# previous_mode = {}
# for agent_id in root.mode:
# previous_mode[agent_id] = []
@@ -801,7 +867,8 @@ def plotly_simulation_anime(root, map=None, fig=None):
traces = node.trace
for agent_id in traces:
trace = np.array(traces[agent_id])
- segment_start.add(round(trace[0][0], 2))
+ print(trace)
+ # segment_start.add(round(trace[0][0], 2))
for i in range(len(trace)):
x_min = min(x_min, trace[i][1])
x_max = max(x_max, trace[i][1])
@@ -823,7 +890,7 @@ def plotly_simulation_anime(root, map=None, fig=None):
time = round(trace[i][0], 2)
stack += node.child
# fill in most of layout
- print(segment_start)
+ # print(segment_start)
# print(timed_point_dict.keys())
duration = int(600/time)
fig_dict["layout"]["xaxis"] = {
@@ -880,6 +947,7 @@ def plotly_simulation_anime(root, map=None, fig=None):
}
# make data
point_list = timed_point_dict[0]
+ print(point_list)
x_list = []
y_list = []
text_list = []
@@ -888,12 +956,14 @@ def plotly_simulation_anime(root, map=None, fig=None):
# print(trace)
x_list.append(trace[0])
y_list.append(trace[1])
- text_list.append((round(trace[3], 2), round(trace[2]/pi*180, 2)))
+ text_list.append(
+ ('{:.2f}'.format(trace[2]/pi*180), '{:.3f}'.format(trace[3])))
data_dict = {
"x": x_list,
"y": y_list,
"mode": "markers + text",
"text": text_list,
+ "textfont": dict(size=14, color="black"),
"textposition": "bottom center",
# "marker": {
# "sizemode": "area",
@@ -908,7 +978,7 @@ def plotly_simulation_anime(root, map=None, fig=None):
for time_point in timed_point_dict:
# print(time_point)
frame = {"data": [], "layout": {
- "annotations": []}, "name": str(time_point)}
+ "annotations": []}, "name": '{:.2f}'.format(time_point)}
# print(timed_point_dict[time_point][0])
point_list = timed_point_dict[time_point]
# point_list = list(OrderedDict.fromkeys(timed_point_dict[time_point]))
@@ -928,7 +998,8 @@ def plotly_simulation_anime(root, map=None, fig=None):
"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": [(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"),
"textposition": "bottom center",
# "marker": {
@@ -936,7 +1007,8 @@ def plotly_simulation_anime(root, map=None, fig=None):
# "sizeref": 200000,
# "size": 2
# },
- "name": "current position"
+ "name": "current position",
+ # "show_legend": False
}
frame["data"].append(data_dict)
for i in range(len(trace_x)):
@@ -1032,6 +1104,11 @@ def plotly_simulation_anime(root, map=None, fig=None):
text_pos = 'middle left'
else:
text_pos = 'middle right'
+ elif veh_mode == 'Accelerate':
+ if theta >= -pi/2 and theta <= pi/2:
+ text_pos = 'middle right'
+ else:
+ text_pos = 'middle left'
elif veh_mode == 'SwitchLeft':
if theta >= -pi/2 and theta <= pi/2:
text_pos = 'top center'
@@ -1057,7 +1134,7 @@ def plotly_simulation_anime(root, map=None, fig=None):
# i += 1
previous_mode[agent_id] = node.mode[agent_id]
queue += node.child
- # fig.update_traces(mode='lines')
+ fig.update_traces(showlegend=False)
# fig.update_annotations(textfont=dict(size=14, color="black"))
# print(fig.frames[0].layout["annotations"])
return fig
diff --git a/dryvr_plus_plus/scene_verifier/code_parser/pythonparser.py b/dryvr_plus_plus/scene_verifier/code_parser/pythonparser.py
index c468de0b..7f75ed5a 100644
--- a/dryvr_plus_plus/scene_verifier/code_parser/pythonparser.py
+++ b/dryvr_plus_plus/scene_verifier/code_parser/pythonparser.py
@@ -68,6 +68,7 @@ class Guard(Statement):
'''
def parseGuard(node, code):
# assume guard is a strict comparision (modeType == mode)
+ # keyi mark: may support more comparision
if isinstance(node.test, ast.Compare): # ==
if isinstance(node.test.comparators[0], ast.Attribute):
if ("Mode" in str(node.test.comparators[0].value.id)):
@@ -467,7 +468,7 @@ class ControllerAst():
childrens_guards = []
childrens_resets = []
recoutput = []
- # tree.show()
+ tree.show()
if parent == None:
s = Statement("root", None, None)
tree.create_node("root")
diff --git a/dryvr_plus_plus/scene_verifier/map/lane.py b/dryvr_plus_plus/scene_verifier/map/lane.py
index da3adef5..aca0fa3d 100644
--- a/dryvr_plus_plus/scene_verifier/map/lane.py
+++ b/dryvr_plus_plus/scene_verifier/map/lane.py
@@ -45,3 +45,9 @@ class Lane():
seg_idx, segment = self.get_lane_segment(position)
longitudinal, lateral = segment.local_coordinates(position)
return lateral
+
+ def get_speed_limit(self, position: np.ndarray) -> float:
+ seg_idx, segment = self.get_lane_segment(position)
+ longitudinal, lateral = segment.local_coordinates(position)
+ return segment.speed_limit_at(longitudinal)
+
diff --git a/dryvr_plus_plus/scene_verifier/map/lane_map.py b/dryvr_plus_plus/scene_verifier/map/lane_map.py
index f17afe6f..b7723fe9 100644
--- a/dryvr_plus_plus/scene_verifier/map/lane_map.py
+++ b/dryvr_plus_plus/scene_verifier/map/lane_map.py
@@ -1,3 +1,4 @@
+from ctypes.wintypes import PINT
from typing import Dict, List
import copy
from enum import Enum
@@ -93,3 +94,12 @@ class LaneMap:
lane = self.lane_dict[lane_idx]
seg_idx, segment = lane.get_lane_segment(position)
return segment
+
+ def get_speed_limit(self, lane_idx: str, position: np.ndarray) -> AbstractLane:
+ if not isinstance(position, np.ndarray):
+ position = np.array(position)
+ lane = self.lane_dict[lane_idx]
+ limit = lane.get_speed_limit(position)
+ # print(limit)
+ # print(position)
+ return limit
diff --git a/dryvr_plus_plus/scene_verifier/map/lane_segment.py b/dryvr_plus_plus/scene_verifier/map/lane_segment.py
index 642d7a00..fd67782d 100644
--- a/dryvr_plus_plus/scene_verifier/map/lane_segment.py
+++ b/dryvr_plus_plus/scene_verifier/map/lane_segment.py
@@ -1,9 +1,13 @@
+from turtle import speed
from typing import List
import numpy as np
from abc import ABCMeta, abstractmethod
from typing import Tuple, List, Optional, Union
+import copy
+from sympy import false
+
+from dryvr_plus_plus.scene_verifier.utils.utils import wrap_to_pi, Vector, get_class_path, class_from_path, to_serializable
-from dryvr_plus_plus.scene_verifier.utils.utils import wrap_to_pi, Vector, get_class_path, class_from_path,to_serializable
class LineType:
@@ -14,6 +18,7 @@ class LineType:
CONTINUOUS = 2
CONTINUOUS_LINE = 3
+
class AbstractLane(object):
"""A lane on the road, described by its central curve."""
@@ -25,7 +30,7 @@ class AbstractLane(object):
longitudinal_start: float = 0
line_types: List["LineType"]
- def __init__(self, id:str):
+ def __init__(self, id: str):
self.id = id
self.type = None
@@ -137,18 +142,19 @@ class AbstractLane(object):
angle = np.abs(wrap_to_pi(heading - self.heading_at(s)))
return abs(r) + max(s - self.length, 0) + max(0 - s, 0) + heading_weight*angle
+
class StraightLane(AbstractLane):
"""A lane going in straight line."""
def __init__(self,
- id: str,
+ id: str,
start: Vector,
end: Vector,
width: float = AbstractLane.DEFAULT_WIDTH,
line_types: Tuple[LineType, LineType] = None,
forbidden: bool = False,
- speed_limit: float = 20,
+ speed_limit: List[Tuple[float, float]] = None,
priority: int = 0) -> None:
"""
New straight lane.
@@ -164,14 +170,19 @@ class StraightLane(AbstractLane):
self.start = np.array(start)
self.end = np.array(end)
self.width = width
- self.heading = np.arctan2(self.end[1] - self.start[1], self.end[0] - self.start[0])
+ self.heading = np.arctan2(
+ self.end[1] - self.start[1], self.end[0] - self.start[0])
self.length = np.linalg.norm(self.end - self.start)
self.line_types = line_types or [LineType.STRIPED, LineType.STRIPED]
self.direction = (self.end - self.start) / self.length
- self.direction_lateral = np.array([-self.direction[1], self.direction[0]])
+ self.direction_lateral = np.array(
+ [-self.direction[1], self.direction[0]])
self.forbidden = forbidden
self.priority = priority
- self.speed_limit = speed_limit
+ if speed_limit != None:
+ self.speed_limit = sorted(speed_limit, key=lambda elem: elem[0])
+ else:
+ self.speed_limit = None
self.type = 'Straight'
self.longitudinal_start = 0
@@ -190,6 +201,54 @@ class StraightLane(AbstractLane):
lateral = np.dot(delta, self.direction_lateral)
return float(longitudinal), float(lateral)
+ def speed_limit_at(self, longitudinal: float) -> float:
+ # print(self.speed_limit)
+ if longitudinal >= self.speed_limit[-1][0]:
+ # print(longitudinal, self.speed_limit[-1][1])
+ return self.speed_limit[-1][1]
+ prev_limit = self.speed_limit[0][1]
+ for (start, limit) in self.speed_limit:
+ if longitudinal <= start:
+ # print(longitudinal, prev_limit)
+ return prev_limit
+ prev_limit = limit
+
+ return -1
+ # in format for polty filling mode
+
+ def get_all_speed(self):
+ end_longitudinal, end_lateral = self.local_coordinates(self.end)
+ ret_x = []
+ ret_y = []
+ ret_v = []
+ x_y = np.ndarray(shape=2)
+ seg_pos = []
+ speed_limit = copy.deepcopy(self.speed_limit)
+ speed_limit.append(tuple([end_longitudinal, self.speed_limit[-1][1]]))
+ for i in range(len(self.speed_limit)):
+ seg_start = speed_limit[i][0]
+ limit = speed_limit[i][1]
+ if end_longitudinal < seg_start:
+ break
+ seg_pos = []
+ seg_end = min(end_longitudinal, speed_limit[i+1][0])
+ x_y = self.position(seg_start, self.width/2)
+ seg_pos.append(x_y.tolist())
+ x_y = self.position(seg_end, self.width/2)
+ seg_pos.append(x_y.tolist())
+ x_y = self.position(seg_end, -self.width/2)
+ seg_pos.append(x_y.tolist())
+ x_y = self.position(seg_start, -self.width/2)
+ seg_pos.append(x_y.tolist())
+ ret_x.append([pos[0] for pos in seg_pos])
+ ret_y.append([pos[1] for pos in seg_pos])
+ ret_v.append(limit)
+ # print('get_all_speed')
+ # print(ret_x)
+ # print(ret_y)
+ # print(ret_v)
+ return ret_x, ret_y, ret_v
+
@classmethod
def from_config(cls, config: dict):
config["start"] = np.array(config["start"])
@@ -216,7 +275,7 @@ class CircularLane(AbstractLane):
"""A lane going in circle arc."""
def __init__(self,
- id,
+ id,
center: Vector,
radius: float,
start_phase: float,
@@ -225,7 +284,7 @@ class CircularLane(AbstractLane):
width: float = AbstractLane.DEFAULT_WIDTH,
line_types: List[LineType] = None,
forbidden: bool = False,
- speed_limit: float = 20,
+ speed_limit: List[Tuple[float, float]] = None,
priority: int = 0) -> None:
super().__init__(id)
self.center = np.array(center)
@@ -239,7 +298,7 @@ class CircularLane(AbstractLane):
self.forbidden = forbidden
self.length = radius*(end_phase - start_phase) * self.direction
self.priority = priority
- self.speed_limit = speed_limit
+ self.speed_limit = sorted(speed_limit, key=lambda elem: elem[0])
self.type = 'Circular'
self.longitudinal_start = 0
@@ -264,6 +323,12 @@ class CircularLane(AbstractLane):
lateral = self.direction*(self.radius - r)
return longitudinal, lateral
+ def speed_limit_at(self, longitudinal: float) -> float:
+ for (start, limit) in self.speed_limit:
+ if longitudinal <= start:
+ return limit
+ return -1
+
@classmethod
def from_config(cls, config: dict):
config["center"] = np.array(config["center"])
@@ -288,15 +353,15 @@ class CircularLane(AbstractLane):
class LaneSegment:
- def __init__(self, id, lane_parameter = None):
+ def __init__(self, id, lane_parameter=None):
self.id = id
# self.left_lane:List[str] = left_lane
- # self.right_lane:List[str] = right_lane
+ # self.right_lane:List[str] = right_lane
# self.next_segment:int = next_segment
- self.lane_parameter = None
+ self.lane_parameter = None
if lane_parameter is not None:
self.lane_parameter = lane_parameter
def get_geometry(self):
- return self.lane_parameter
\ No newline at end of file
+ return self.lane_parameter
--
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