def init_traps(self, scenario):
self._traps.clear()
trap_configs: Sequence[TrapConfig] = []
for agent_id in scenario.missions:
mission = scenario.missions[agent_id]
mission_planner = MissionPlanner(scenario.waypoints,
scenario.road_network)
if mission is None:
mission = mission_planner.random_endless_mission()
if not mission.entry_tactic:
mission = replace(mission, entry_tactic=default_entry_tactic())
if (not isinstance(mission.entry_tactic, TrapEntryTactic)
and mission.entry_tactic):
continue
mission_planner.plan(mission)
trap_config = self._mission2trap(scenario.road_network, mission)
trap_configs.append((agent_id, trap_config))
for agent_id, tc in trap_configs:
trap = Trap(
geometry=tc.zone.to_geometry(scenario.road_network),
mission=tc.mission,
exclusion_prefixes=tc.exclusion_prefixes,
reactivation_time=tc.reactivation_time,
remaining_time_to_reactivation=tc.activation_delay,
patience=tc.patience,
)
self.add_trap_for_agent_id(agent_id, trap)
def init_traps(self, road_network, waypoints, missions):
self._traps.clear()
for agent_id, mission in missions.items():
mission_planner = MissionPlanner(waypoints, road_network)
if mission is None:
mission = mission_planner.random_endless_mission()
if not mission.entry_tactic:
mission = replace(mission, entry_tactic=default_entry_tactic())
if (not isinstance(mission.entry_tactic, TrapEntryTactic)
and mission.entry_tactic):
continue
mission = mission_planner.plan(mission)
trap = self._mission2trap(road_network, mission)
self.add_trap_for_agent_id(agent_id, trap)