def _initialize_actors(self, config):
for actor in config.other_actors:
new_actors = CarlaActorPool.request_new_batch_actors(actor.model,
actor.amount,
actor.transform,
hero=False,
autopilot=actor.autopilot,
random_location=actor.random_location)
if new_actors is None:
raise Exception("Error: Unable to add actor {} at {}".format(actor.model, actor.transform))
for _actor in new_actors:
self.other_actors.append(_actor)
def _initialize_actors(self, config):
location = []
infile = open('actor_config5', 'rb')
location = pickle.load(infile)
infile.close()
for actor in config.other_actors:
new_actors = []
new_actors = CarlaActorPool.request_new_batch_actors(
actor.model,
actor.amount,
actor.transform,
hero=False,
autopilot=actor.autopilot,
random_location=actor.random_location)
#Static obstacle for route based driving 2
'''transform = carla.Transform(carla.Location(x=-77.3, y=108.4, z=0.0), carla.Rotation(pitch=360.5, yaw=269.8+90, roll=0.0))
new_actors.append(CarlaActorPool.request_new_actor('static.prop.streetbarrier',
transform,
hero=False,
autopilot=False,
random_location=False))'''
'''for i in range(len(location)):
maploc = location[i]
transform = carla.Transform(carla.Location(x=maploc['x'], y=maploc['y'], z=maploc['z']), carla.Rotation(pitch=maploc['pitch'], yaw=maploc['yaw'], roll=maploc['roll']))
new_actors.append(CarlaActorPool.request_new_actor(maploc['vehicle'],
transform,
hero=False,
autopilot=True,
random_location=False))'''
if new_actors is None:
raise Exception("Error: Unable to add actor {} at {}".format(
actor.model, actor.transform))
for _actor in new_actors:
#print(f'actor_location======={_actor.type_id}')
loc_dict = {
'vehicle': _actor.type_id,
'pitch': _actor.get_transform().rotation.pitch,
'yaw': _actor.get_transform().rotation.yaw,
'roll': _actor.get_transform().rotation.roll,
'x': _actor.get_location().x,
'y': _actor.get_location().y,
'z': _actor.get_location().z
}
location.append(loc_dict)
self.other_actors.append(_actor)
'''filename = 'actor_config2'
def _initialize_actors(self, config):
"""
This initialize actors for the background actitivy. The actors can be both \
walkers (pedestrians) or vehicles (cars, bicycles, trucks ...)
The pedestrian can have a cross factor, how often they cross the road.
"""
for actor in config.other_actors:
new_actors = CarlaActorPool.request_new_batch_actors(
actor.model,
actor.amount,
actor.transform,
hero=False,
autopilot=actor.autopilot,
random_location=actor.random_location,
cross_factor=self.cross_factor)
if new_actors is None:
raise Exception("Error: Unable to add actor {} at {}".format(
actor.model, actor.transform))
for _actor in new_actors:
self.other_actors.append(_actor)
