def print_measurements(measurements):
non_player_measurements = measurements.non_player_agents
number_of_agents = len(non_player_measurements)
player_measurements = measurements.player_measurements
message = 'Vehicle at ({pos_x:.1f}, {pos_y:.1f}), '
message += 'roll {roll:.1f}, pitch {pitch:.1f}, yaw {yaw:.1f}, '
message += '{speed:.2f} m/s, '
message += 'Collision: {{vehicles={col_cars:.0f}, pedestrians={col_ped:.0f}, other={col_other:.0f}}}, '
message += '{other_lane:.0f}% other lane, {offroad:.0f}% off-road, '
message += '({agents_num:d} agents)'
message = message.format(
pos_x=player_measurements.transform.location.x,
pos_y=player_measurements.transform.location.y,
roll=player_measurements.transform.rotation.roll,
pitch=player_measurements.transform.rotation.pitch,
yaw=player_measurements.transform.rotation.yaw,
speed=player_measurements.forward_speed,
col_cars=player_measurements.collision_vehicles,
col_ped=player_measurements.collision_pedestrians,
col_other=player_measurements.collision_other,
other_lane=100 * player_measurements.intersection_otherlane,
offroad=100 * player_measurements.intersection_offroad,
agents_num=number_of_agents)
print_over_same_line(message)
def printSteering(correctSpeed, correctThrottle, correctSteer, sy, throttle,
steer, direction, predictedSteer):
message = '(correct,prediction) Speed: ({cs: .3f}, {ps: .3f}), '
message += 'throttle: ({ct: .3f}, {pt: .3f}), '
message += 'steer: ({cst: .3f}, {pst: .3f}), '
message += 'predicted mean speed: {p1: .3f}, '
message += 'predicted mean yaw rate {p2: .3f}, predicted mean binary direction ({pb1: .3f}, {pb2: .3f}), '
message += ' Steering Prediction:{s1: .3f},{s2: .3f},{s3: .3f},{s4: .3f},{s5: .3f},{s6: .3f}'
message = message.format(cs=correctSpeed,
ps=sy[0][0][0],
ct=correctThrottle,
pt=throttle,
cst=correctSteer,
pst=steer,
p1=predictedSteer[0],
p2=predictedSteer[1],
pb1=direction[0],
pb2=direction[1],
s1=sy[0][0][1],
s2=sy[1][0][1],
s3=sy[2][0][1],
s4=sy[3][0][1],
s5=sy[4][0][1],
s6=sy[5][0][1])
print_over_same_line(message)
def print_state(self, step, state, action, reward, epsilon=0):
content = "Step %d : epsilong=%f \n" \
"\tState : self_speed=%f(km/h), npc_speed=%f(km/h), rel_angle=%f(degree)\n," \
"\t\trel_x=%f(m), rel_y=%f(m), last_rel_x=%f(m), last_rel_y=%f(m)\n" \
"\tAction : steer=%f, throttle/brake=%f, reward=%f\n" \
% (step, epsilon, state[0] * self.speed_scale, state[1] * self.speed_scale, state[2] * self.relative_angle_scale,
state[3] * self.relative_x_scale, state[4] * self.relative_y_scale,
state[-2] * self.relative_x_scale, state[-1] * self.relative_y_scale,
action[0], action[1], reward)
print_over_same_line(content)
def _print_player_measurements(self, player_measurements):
message = 'Step {step} ({fps:.1f} FPS): '
message += '{speed:.2f} km/h, '
message += '{other_lane:.0f}% other lane, {offroad:.0f}% off-road'
message = message.format(
step=self._timer.step,
fps=self._timer.ticks_per_second(),
speed=player_measurements.forward_speed * 3.6,
other_lane=100 * player_measurements.intersection_otherlane,
offroad=100 * player_measurements.intersection_offroad)
print_over_same_line(message)
def print_measurements(measurements):
number_of_agents = len(measurements.non_player_agents)
player_measurements = measurements.player_measurements
message = 'Vehicle at ({pos_x:.1f}, {pos_y:.1f}), '
message += '{speed:.0f} km/h, '
message = message.format(
pos_x=player_measurements.transform.location.x,
pos_y=player_measurements.transform.location.y,
speed=player_measurements.forward_speed * 3.6, # m/s -> km/h
)
print_over_same_line(message)
def _print_player_states(self):
message = 'location:({x:.1f},{y:.1f},{z:.1f})\tspeed:{speed:.1f} m/s\tsteer:{steer:.3f}\toffroad:{offroad:.0f} %\tmax distance:{dis:.2f} m\tdiff yaw:{yaw:.2f}'
message = message.format(speed=self._speed,
steer=self._control.steer,
offroad=100 * self._offroad,
dis=self._error_dis,
x=self._location[0],
y=self._location[1],
z=self._location[2],
yaw=self._error_yaw)
print_over_same_line(message)
def printTimePerEval(time, ppTime, evTime, imTime, tkTime):
message = 'Time per gridmap gen: {td:.3f}, '
message += 'Time per preprocess: {pp:.3f}, '
message += 'Time per eval: {ev:.3f}, '
message += 'Time per image: {im:.3f}, '
message += 'Time per tk: {tk:.3f}'
message = message.format(td=time,
pp=ppTime,
ev=evTime,
im=imTime,
tk=tkTime)
print_over_same_line(message)
def _print_player_measurements_map(self, player_measurements, map_position,
lane_orientation):
message = 'Step {step} ({fps:.1f} FPS): '
message += 'Map Position ({map_x:.1f},{map_y:.1f}) Lane Orientation ({ori_x:.1f},{ori_y:.1f}) '
message += '{speed:.2f} km/h, '
message += '{other_lane:.0f}% other lane, {offroad:.0f}% off-road'
message = message.format(
map_x=map_position[0],
map_y=map_position[1],
ori_x=lane_orientation[0],
ori_y=lane_orientation[1],
step=self._timer.step,
fps=self._timer.ticks_per_second(),
speed=player_measurements.forward_speed,
other_lane=100 * player_measurements.intersection_otherlane,
offroad=100 * player_measurements.intersection_offroad)
print_over_same_line(message)
def print_measurements(measurements):
number_of_agents = len(measurements.non_player_agents)
player_measurements = measurements.player_measurements
message = 'Vehicle at ({pos_x:.1f}, {pos_y:.1f}), '
message += '{speed:.0f} km/h, '
message += 'Collision: {{vehicles={col_cars:.0f}, pedestrians={col_ped:.0f}, other={col_other:.0f}}}, '
message += '{other_lane:.0f}% other lane, {offroad:.0f}% off-road, '
message += '({agents_num:d} non-player agents in the scene)'
message = message.format(
pos_x=player_measurements.transform.location.x,
pos_y=player_measurements.transform.location.y,
speed=player_measurements.forward_speed * 3.6, # m/s -> km/h
col_cars=player_measurements.collision_vehicles,
col_ped=player_measurements.collision_pedestrians,
col_other=player_measurements.collision_other,
other_lane=100 * player_measurements.intersection_otherlane,
offroad=100 * player_measurements.intersection_offroad,
agents_num=number_of_agents)
print_over_same_line(message)
def print_measurements(measurements):
number_of_agents = len(measurements.non_player_agents)
player_measurements = measurements.player_measurements
message = 'Vehicle at ({pos_x:.1f}, {pos_y:.1f}), '
message += '{speed:.0f} km/h, '
message += 'Collision: {{vehicles={col_cars:.0f}, pedestrians={col_ped:.0f}, other={col_other:.0f}}}, '
message += '{other_lane:.0f}% other lane, {offroad:.0f}% off-road, '
message += '({agents_num:d} non-player agents in the scene)'
message = message.format(
pos_x=player_measurements.transform.location.x,
pos_y=player_measurements.transform.location.y,
speed=player_measurements.forward_speed * 3.6, # m/s -> km/h
col_cars=player_measurements.collision_vehicles,
col_ped=player_measurements.collision_pedestrians,
col_other=player_measurements.collision_other,
other_lane=100 * player_measurements.intersection_otherlane,
offroad=100 * player_measurements.intersection_offroad,
agents_num=number_of_agents)
print_over_same_line(message)
def print_message(elapsed_time, point_n, frame):
message = ' '.join([
'Transformations took {:>3.0f} ms.',
'Saved {:>6} points to "{:0>5}.ply".'
]).format(elapsed_time, point_n, frame)
print_over_same_line(message)
def print_message(elapsed_time, point_n, frame):
message = ' '.join([
'Transformations took {:>3.0f} ms.',
'Saved {:>6} points to "{:0>5}.ply".'
]).format(elapsed_time, point_n, frame)
print_over_same_line(message)
