def drawEgoVehicle(self):
egoPoly = self.core.getCurrentEgoPoly()
pos = self.core.getCurrentEgoPos()
if pos is not None:
c = 'black'
if self.core.getCurrentAcceleration() > 0.3:
c = 'green'
if self.core.getCurrentAcceleration() < -0.3:
c = 'red'
helper.drawPoint(self.core.getCurrentPath(), color='lightRed')
helper.drawPoly(egoPoly, color='blue', alpha=1)
helper.drawHeading(egoPoly, color=c, alpha=1)
self._x_center = pos[0]
self._y_center = pos[1]
p_pose = self.core.getPredictEgo()
if self._drawPredict:
for i in range(0, len(p_pose), 2):
pp = p_pose[i]
helper.drawPoly(pp['poly'],
color='blue',
alpha=0.1,
fill=False)
def drawPedestrian(self):
pedesList = self.core.exportCurrentPedestrian()
hypoList = self.core.exportHypoPedestrian()
for hypo in hypoList:
hc = hypo['c']
helper.drawPoly(hc['poly'], color='pink', alpha=0.3)
helper.drawHeading(hc['poly'], color='black', alpha=0.3)
if self._drawPredictHypo:
hp = hypo['p']
for i in range(0, len(hp), 2):
hpp = hp[i]
helper.drawPoly(hpp['poly'],
color='pink',
alpha=0.1,
fill=False)
for pedes in pedesList:
c = pedes['c']
c_color = 'lightGreen'
if c['visible']:
helper.drawPoly(c['poly'], color=c_color, alpha=0.5)
helper.drawHeading(c['poly'], color='black', alpha=0.5)
else:
c_color = 'lightRed'
helper.drawPoly(c['poly'], color=c_color, alpha=0.5)
helper.drawHeading(c['poly'], color='black', alpha=0.5)
if self._drawPredictObject:
p = pedes['p']
for i in range(
0,
len(p),
):
pp = p[i]
helper.drawPoly(pp['poly'],
color=c_color,
alpha=0.1,
fill=False)
def drawOtherVehicle(self):
vehicleList = self.core.exportCurrentVehicle()
hypoList = self.core.exportHypoVehicle()
for hypo in hypoList:
hc = hypo['c']
helper.drawPoly(hc['poly'], color='yellow', alpha=0.3)
helper.drawHeading(hc['poly'], color='black', alpha=0.3)
if self._drawPredictHypo:
hp = hypo['p']
for i in range(0, len(hp), 2):
hpp = hp[i]
helper.drawPoly(hpp['poly'],
color='yellow',
alpha=0.1,
fill=False)
for vehicle in vehicleList:
c = vehicle['c']
c_color = 'green'
if c['visible']:
helper.drawPoly(c['poly'], color='green', alpha=0.5)
helper.drawHeading(c['poly'], color='black', alpha=0.5)
else:
c_color = 'red'
helper.drawPoly(c['poly'], color='red', alpha=0.5)
helper.drawHeading(c['poly'], color='black', alpha=0.5)
if self._drawPredictObject:
p = vehicle['p']
for i in range(0, len(p), 2):
pp = p[i]
helper.drawPoly(pp['poly'],
color=c_color,
alpha=0.1,
fill=False)
def drawFOV(self):
l_FOV = self.core.getCurrentFOV()
helper.drawPoly(l_FOV, color='lightBlue', alpha=0.3, fill=False)
def drawStaticObject(self):
objectList = self.core._env._l_staticObject
for obj in objectList:
helper.drawPoly(obj._poly, color='gray', alpha=0.5)