def __setup_map_interface__(self):
params = ParameterServer()
# we are creating a dummy scenario to get the map interface from it
scenario = Scenario(map_file_name=self._map_filename,
json_params=params.ConvertToDict())
world = scenario.GetWorldState()
map_interface = world.map
return map_interface
def getScenarioForSerialization(self):
self._world.agents[self._ego_id].behavior_model = BehaviorContinuousML(
self._params)
scenario = Scenario(agent_list=list(self._world.agents.values()),
map_interface=self._map_interface,
eval_agent_ids=[self._ego_id],
json_params=self._json_params)
new_scenario = scenario.copy()
self._world.agents[self._ego_id].behavior_model = self._ml_behavior
return new_scenario
def _append_to_scenario_history(self, scenario_history, world, scenario):
scenario = Scenario(agent_list=list(world.agents.values()),
map_file_name=scenario.map_file_name,
eval_agent_ids=scenario.eval_agent_ids,
json_params=scenario.json_params)
scenario_history.append(scenario.copy())