def __init__(self, path_to_conf_file):
# current global plans to reach a destination
self._global_plan = None,
# this data structure will contain all sensor data
self.sensor_interface = SensorInterface()
# agent's initialization
self.setup(path_to_conf_file)
def __init__(self, path_to_conf_file):
self.track = Track.CAMERAS
# current global plans to reach a destination
self._global_plan = None
self._global_plan_world_coord = None
# this data structure will contain all sensor data
self.sensor_interface = SensorInterface()
# agent's initialization
self.setup(path_to_conf_file)
class AutonomousAgent():
def __init__(self, path_to_conf_file):
self.track = Track.CAMERAS
# current global plans to reach a destination
self._global_plan = None,
# this data structure will contain all sensor data
self.sensor_interface = SensorInterface()
# agent's initialization
self.setup(path_to_conf_file)
def setup(self, path_to_conf_file):
"""
Initialize everything needed by your agent and set the track attribute to the right type:
Track.ALL_SENSORS : LIDAR, cameras, GPS and speed sensor allowed
Track.CAMERAS : Only cameras and GPS allowed
Track.ALL_SENSORS_HDMAP_WAYPOINTS : All sensors and HD Map and waypoints allowed
Track.SCENE_LAYOUT : No sensors allowed, the agent receives a high-level representation of the scene.
"""
pass
def sensors(self):
"""
Define the sensor suite required by the agent
:return: a list containing the required sensors in the following format:
[
{'type': 'sensor.camera.rgb', 'x': 0.7, 'y': -0.4, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0,
'width': 300, 'height': 200, 'fov': 100, 'id': 'Left'},
{'type': 'sensor.camera.rgb', 'x': 0.7, 'y': 0.4, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0,
'width': 300, 'height': 200, 'fov': 100, 'id': 'Right'},
{'type': 'sensor.lidar.ray_cast', 'x': 0.7, 'y': 0.0, 'z': 1.60, 'yaw': 0.0, 'pitch': 0.0, 'roll': 0.0,
'id': 'LIDAR'}
]
"""
sensors = []
return sensors
def run_step(self):
"""
Execute one step of navigation.
:return: control
"""
pass
def destroy(self):
"""
Destroy (clean-up) the agent
:return:
"""
pass
def __call__(self):
input_data = self.sensor_interface.get_data()
control = self.run_step(input_data)
control.manual_gear_shift = False
return control
def all_sensors_ready(self):
return self.sensor_interface.all_sensors_ready()
def set_global_plan(self, global_plan):
self._global_plan = global_plan
class AutonomousAgent():
def __init__(self, path_to_conf_file):
# current global plans to reach a destination
self._global_plan = None,
# this data structure will contain all sensor data
self.sensor_interface = SensorInterface()
# agent's initialization
self.setup(path_to_conf_file)
def setup(self, path_to_conf_file):
"""
Initialize everything needed by your agent.
"""
pass
def sensors(self):
"""
Define the sensor suite required by the agent
:return: a list containing the required sensors in the following format:
[
{'type': 'sensor.camera.rgb', 'x': 0.7, 'y': -0.4, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0,
'width': 300, 'height': 200, 'fov': 100, 'id': 'Left'},
{'type': 'sensor.camera.rgb', 'x': 0.7, 'y': 0.4, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0,
'width': 300, 'height': 200, 'fov': 100, 'id': 'Right'},
{'type': 'sensor.lidar.ray_cast', 'x': 0.7, 'y': 0.0, 'z': 1.60, 'yaw': 0.0, 'pitch': 0.0, 'roll': 0.0,
'id': 'LIDAR'}
]
"""
sensors = []
return sensors
def run_step(self):
"""
Execute one step of navigation.
:return: control
"""
pass
def destroy(self):
"""
Destroy (clean-up) the agent
:return:
"""
pass
def __call__(self):
input_data = self.sensor_interface.get_data()
control = self.run_step(input_data)
control.manual_gear_shift = False
return control
def all_sensors_ready(self):
return self.sensor_interface.all_sensors_ready()
def set_global_plan(self, global_plan):
self._global_plan = global_plan
class AutonomousAgent(object):
"""
Autonomous agent base class. All user agents have to be derived from this class
"""
def __init__(self, path_to_conf_file):
self.track = Track.CAMERAS
# current global plans to reach a destination
self._global_plan = None
self._global_plan_world_coord = None
# this data structure will contain all sensor data
self.sensor_interface = SensorInterface()
# agent's initialization
self.setup(path_to_conf_file)
def setup(self, path_to_conf_file):
"""
Initialize everything needed by your agent and set the track attribute to the right type:
Track.ALL_SENSORS : LIDAR, cameras, GPS and speed sensor allowed
Track.CAMERAS : Only cameras and GPS allowed
Track.ALL_SENSORS_HDMAP_WAYPOINTS : All sensors and HD Map and waypoints allowed
Track.SCENE_LAYOUT : No sensors allowed, the agent receives a high-level representation of the scene.
"""
pass
def sensors(self): # pylint: disable=no-self-use
"""
Define the sensor suite required by the agent
:return: a list containing the required sensors in the following format:
[
{'type': 'sensor.camera.rgb', 'x': 0.7, 'y': -0.4, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0,
'width': 300, 'height': 200, 'fov': 100, 'id': 'Left'},
{'type': 'sensor.camera.rgb', 'x': 0.7, 'y': 0.4, 'z': 1.60, 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0,
'width': 300, 'height': 200, 'fov': 100, 'id': 'Right'},
{'type': 'sensor.lidar.ray_cast', 'x': 0.7, 'y': 0.0, 'z': 1.60, 'yaw': 0.0, 'pitch': 0.0, 'roll': 0.0,
'id': 'LIDAR'}
]
"""
sensors = []
return sensors
def run_step(self, input_data, timestamp):
"""
Execute one step of navigation.
:return: control
"""
control = carla.VehicleControl()
control.steer = 0.0
control.throttle = 0.0
control.brake = 0.0
control.hand_brake = False
return control
def destroy(self):
"""
Destroy (clean-up) the agent
:return:
"""
pass
def __call__(self):
"""
Execute the agent call, e.g. agent()
Returns the next vehicle controls
"""
input_data = self.sensor_interface.get_data()
timestamp = GameTime.get_time()
wallclock = GameTime.get_wallclocktime()
print('======[Agent] Wallclock_time = {} / Sim_time = {}'.format(
wallclock, timestamp))
control = self.run_step(input_data, timestamp)
control.manual_gear_shift = False
return control
def all_sensors_ready(self):
"""
Check if all sensors are ready
Returns true if sensors are ready
"""
return self.sensor_interface.all_sensors_ready()
def set_global_plan(self, global_plan_gps, global_plan_world_coord):
"""
Set the plan (route) for the agent
"""
if self.track == Track.CAMERAS or self.track == Track.ALL_SENSORS:
ds_ids = downsample_route(global_plan_world_coord, 32)
self._global_plan_world_coord = [(global_plan_world_coord[x][0],
global_plan_world_coord[x][1])
for x in ds_ids]
self._global_plan = [global_plan_gps[x] for x in ds_ids]
else: # No downsampling is performed
self._global_plan = global_plan_gps
self._global_plan_world_coord = global_plan_world_coord