def test_scenario_track_info(self): map_filename = os.path.join( os.path.dirname(__file__), "../runtime/tests/data/DR_DEU_Merging_MT_v01_shifted.xodr") track_filename = os.path.join( os.path.dirname(__file__), "../runtime/tests/data/interaction_dataset_dummy_track.csv") agent1 = AgentTrackInfo(track_filename, track_id=1, start_offset=500, end_offset=1000) print(agent1) agent2 = AgentTrackInfo(track_filename, track_id=2, start_offset=500, end_offset=1000) print(agent2) scen_info = ScenarioTrackInfo(map_filename, track_filename, agent1, xy_offset=[0, 0], start_ts=500, end_ts=1000) scen_info.AddTrackInfoOtherAgent(agent2) print(scen_info) assert (scen_info.TimeSanityCheck() == True)
def __fill_scenario_track_info__(self): if self._ego_track_id == -1: raise ValueError("No ego id has been defined") ego_track_info = AgentTrackInfo(filename=self._track_file_name, track_id=self._ego_track_id, start_time=self._start_time, end_time=self._end_time) scenario_track_info = ScenarioTrackInfo(track_filename=self._track_file_name, ego_track_info=ego_track_info, xy_offset=self._xy_offset) for track_id in self._track_ids: new_agent = AgentTrackInfo(filename=self._track_file_name, track_id=track_id, start_time=self._start_time, end_time=self._end_time) scenario_track_info.AddTrackInfoOtherAgent(new_agent) return scenario_track_info
def __find_all_scenarios__(self): scenario_list = [] for id_ego in self._agents_track_infos.keys(): ego_track_info = self.__get_agent_track_info__(id_ego) new_scenario = ScenarioTrackInfo( map_filename=self._map_filename, track_filename=self._track_filename, ego_track_info=ego_track_info) ids_others = self.__find_all_ids__(id_ego) for id_o in ids_others: agent_o_track_info = self.__get_agent_track_info__(id_o) new_scenario.AddTrackInfoOtherAgent(agent_o_track_info) scenario_list.append(new_scenario) return scenario_list
def test_agent_from_trackfile_centered(self): map_filename = os.path.join( os.path.dirname(__file__), "../tests/data/DR_DEU_Merging_MT_v01_centered.xodr") track_filename = os.path.join( os.path.dirname(__file__), "../tests/data/interaction_dataset_dummy_track.csv") agent_track_info = AgentTrackInfo(track_filename, track_id=1, start_offset=500, end_offset=1000) params = ParameterServer() params_id = params["Scenario"]["Generation"]["InteractionDataset"] params_id["MapFilename", "", map_filename] params_id["TrackFilename", "", track_filename] params_id["BehaviorModel", "", {}] track_params = ParameterServer() track_params["execution_model"] = 'ExecutionModelInterpolate' track_params["dynamic_model"] = 'SingleTrackModel' track_params["map_interface"] = None # world.map track_params["behavior_model"] = None scenario_info = ScenarioTrackInfo(map_filename, track_filename, agent_track_info, xy_offset=[-900, -900]) ds_reader = InteractionDatasetReader() agent = ds_reader.AgentFromTrackfile(track_params, params, scenario_info, agent_track_info.GetTrackId())