def update(self):
"""
Check if the actor can arrive at target_location within time
"""
new_status = py_trees.common.Status.RUNNING
current_location = CarlaDataProvider.get_location(self._actor)
if current_location is None:
return new_status
distance = calculate_distance(current_location, self._target_location)
velocity = CarlaDataProvider.get_velocity(self._actor)
# if velocity is too small, simply use a large time to arrival
time_to_arrival = self._max_time_to_arrival
if velocity > EPSILON:
time_to_arrival = distance / velocity
if self._comparison_operator(time_to_arrival, self._time):
new_status = py_trees.common.Status.SUCCESS
self.logger.debug("%s.update()[%s->%s]" %
(self.__class__.__name__, self.status, new_status))
return new_status
def update(self):
"""
Check if actor can arrive within trigger time
"""
new_status = py_trees.common.Status.RUNNING
# calculate transform with method in openscenario_parser.py
try:
osc_transform = srunner.tools.openscenario_parser.OpenScenarioParser.convert_position_to_transform(
self._osc_position)
except AttributeError:
return py_trees.common.Status.FAILURE
target_location = osc_transform.location
actor_location = CarlaDataProvider.get_location(self._actor)
if target_location is None or actor_location is None:
return new_status
distance = calculate_distance(actor_location, target_location)
actor_velocity = CarlaDataProvider.get_velocity(self._actor)
# time to arrival
if actor_velocity > 0:
time_to_arrival = distance / actor_velocity
elif distance == 0:
time_to_arrival = 0
else:
time_to_arrival = float('inf')
if self._comparison_operator(time_to_arrival, self._time):
new_status = py_trees.common.Status.SUCCESS
return new_status
def update(self):
"""
Check if actor is in trigger distance
"""
new_status = py_trees.common.Status.RUNNING
# calculate transform with method in openscenario_parser.py
osc_transform = sr_tools.openscenario_parser.OpenScenarioParser.convert_position_to_transform(
self._osc_position)
if osc_transform is not None:
osc_location = osc_transform.location
actor_location = CarlaDataProvider.get_location(self._actor)
if self._along_route:
# Global planner needs a location at a driving lane
actor_location = self._map.get_waypoint(
actor_location).transform.location
osc_location = self._map.get_waypoint(
osc_location).transform.location
distance = calculate_distance(actor_location, osc_location,
self._grp)
if self._comparison_operator(distance, self._distance):
new_status = py_trees.common.Status.SUCCESS
return new_status
def update(self):
"""
Check if the ego vehicle can arrive at other actor within time
"""
new_status = py_trees.common.Status.RUNNING
current_location = CarlaDataProvider.get_location(self._actor)
other_location = CarlaDataProvider.get_location(self._other_actor)
if current_location is None or other_location is None:
return new_status
current_velocity = CarlaDataProvider.get_velocity(self._actor)
other_velocity = CarlaDataProvider.get_velocity(self._other_actor)
if self._along_route:
# Global planner needs a location at a driving lane
current_location = self._map.get_waypoint(current_location).transform.location
other_location = self._map.get_waypoint(other_location).transform.location
distance = calculate_distance(current_location, other_location, self._grp)
# if velocity is too small, simply use a large time to arrival
time_to_arrival = self._max_time_to_arrival
if current_velocity > other_velocity:
time_to_arrival = 2 * distance / (current_velocity - other_velocity)
if self._comparison_operator(time_to_arrival, self._time):
new_status = py_trees.common.Status.SUCCESS
self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
return new_status
def update(self):
"""
Check if the ego vehicle can arrive at other actor within time
"""
new_status = py_trees.common.Status.RUNNING
current_location = CarlaDataProvider.get_location(self._actor)
target_location = CarlaDataProvider.get_location(self._other_actor)
if current_location is None or target_location is None:
return new_status
distance = calculate_distance(current_location, target_location)
current_velocity = CarlaDataProvider.get_velocity(self._actor)
other_velocity = CarlaDataProvider.get_velocity(self._other_actor)
# if velocity is too small, simply use a large time to arrival
time_to_arrival = self._max_time_to_arrival
if current_velocity > other_velocity:
time_to_arrival = 2 * distance / (current_velocity - other_velocity)
if time_to_arrival < self._time:
new_status = py_trees.common.Status.SUCCESS
self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
return new_status
def update(self):
"""
Check if the ego vehicle can arrive at other actor within time
"""
new_status = py_trees.common.Status.RUNNING
current_location = CarlaDataProvider.get_location(self._actor)
other_location = CarlaDataProvider.get_location(self._other_actor)
# Get the bounding boxes
if self._condition_freespace:
if isinstance(self._actor, (carla.Vehicle, carla.Walker)):
actor_extent = self._actor.bounding_box.extent.x
else:
# Patch, as currently static objects have no bounding boxes
actor_extent = 0
if isinstance(self._other_actor, (carla.Vehicle, carla.Walker)):
other_extent = self._other_actor.bounding_box.extent.x
else:
# Patch, as currently static objects have no bounding boxes
other_extent = 0
if current_location is None or other_location is None:
return new_status
current_velocity = CarlaDataProvider.get_velocity(self._actor)
other_velocity = CarlaDataProvider.get_velocity(self._other_actor)
if self._along_route:
# Global planner needs a location at a driving lane
current_location = self._map.get_waypoint(
current_location).transform.location
other_location = self._map.get_waypoint(
other_location).transform.location
distance = calculate_distance(current_location, other_location,
self._grp)
# if velocity is too small, simply use a large time to arrival
time_to_arrival = self._max_time_to_arrival
if current_velocity > other_velocity:
if self._condition_freespace:
time_to_arrival = (distance - actor_extent - other_extent) / (
current_velocity - other_velocity)
else:
time_to_arrival = distance / (current_velocity -
other_velocity)
if self._comparison_operator(time_to_arrival, self._time):
new_status = py_trees.common.Status.SUCCESS
self.logger.debug("%s.update()[%s->%s]" %
(self.__class__.__name__, self.status, new_status))
return new_status
def update(self):
"""
Check if the actor is within trigger distance to the intersection
"""
new_status = py_trees.common.Status.RUNNING
current_waypoint = self._map.get_waypoint(CarlaDataProvider.get_location(self._actor))
distance = calculate_distance(current_waypoint.transform.location, self._final_location)
if distance < self._distance:
new_status = py_trees.common.Status.SUCCESS
self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
return new_status
def update(self):
"""
Check driven distance
"""
new_status = py_trees.common.Status.RUNNING
new_location = CarlaDataProvider.get_location(self._actor)
self._distance += calculate_distance(self._location, new_location)
self._location = new_location
if self._distance > self._target_distance:
new_status = py_trees.common.Status.SUCCESS
self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
return new_status
def update(self):
"""
Check if the ego vehicle is within trigger distance to other actor
"""
new_status = py_trees.common.Status.RUNNING
location = CarlaDataProvider.get_location(self._actor)
reference_location = CarlaDataProvider.get_location(self._reference_actor)
if location is None or reference_location is None:
return new_status
if self._comparison_operator(calculate_distance(location, reference_location), self._distance):
new_status = py_trees.common.Status.SUCCESS
self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
return new_status
def update(self):
"""
Check if the actor is within trigger distance to the target location
"""
new_status = py_trees.common.Status.RUNNING
location = CarlaDataProvider.get_location(self._actor)
if location is None:
return new_status
if calculate_distance(
location, self._target_location) < self._distance:
new_status = py_trees.common.Status.SUCCESS
self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
return new_status
def update(self):
"""
Check if the ego vehicle is within trigger distance to other actor
"""
new_status = py_trees.common.Status.RUNNING
ego_location = CarlaDataProvider.get_location(self._actor)
other_location = CarlaDataProvider.get_location(self._other_actor)
if ego_location is None or other_location is None:
return new_status
if calculate_distance(ego_location, other_location) < self._distance:
new_status = py_trees.common.Status.SUCCESS
self.logger.debug("%s.update()[%s->%s]" % (self.__class__.__name__, self.status, new_status))
return new_status
def update(self):
"""
Check if actor is in trigger distance
"""
new_status = py_trees.common.Status.RUNNING
# calculate transform with method in openscenario_parser.py
osc_transform = srunner.tools.openscenario_parser.OpenScenarioParser.convert_position_to_transform(
self._osc_position)
if osc_transform is not None:
osc_location = osc_transform.location
actor_location = CarlaDataProvider.get_location(self._actor)
distance = calculate_distance(osc_location, actor_location)
if self._comparison_operator(distance, self._distance):
new_status = py_trees.common.Status.SUCCESS
return new_status
def update(self):
"""
Check driven distance
"""
new_status = py_trees.common.Status.RUNNING
new_location = CarlaDataProvider.get_location(self._actor)
self._distance += calculate_distance(self._location, new_location)
self._location = new_location
if self.tmp_travel_dist_file:
with open(self.tmp_travel_dist_file, 'a') as f_out:
f_out.write(
','.join([str(self._actor.id),
str(self._distance)]) + '\n')
if self._distance > self._target_distance:
new_status = py_trees.common.Status.SUCCESS
self.logger.debug("%s.update()[%s->%s]" %
(self.__class__.__name__, self.status, new_status))
return new_status
