def _get_actor_transform(self, actor_name):
"""
Get the initial actor transform provided by the Init section
Note: - The OpenScenario specification allows multiple definitions. We use the _first_ one
- The OpenScenario specification allows different ways of specifying a position.
We currently only support a specification with absolute world coordinates
"""
actor_transform = carla.Transform()
actor_found = False
for private_action in self.init.iter("Private"):
if private_action.attrib.get('object', None) == actor_name:
if actor_found:
# pylint: disable=line-too-long
print(
"Warning: The actor '{}' was already assigned an initial position. Overwriting pose!"
.format(actor_name))
# pylint: enable=line-too-long
actor_found = True
for position in private_action.iter('Position'):
transform = OpenScenarioParser.convert_position_to_transform(
position)
if transform:
actor_transform = transform
if not actor_found:
print(
"Warning: The actor '{}' was not assigned an initial position. Using (0,0,0)"
.format(actor_name))
return actor_transform
def _get_actor_transform(self, actor_name):
"""
Get the initial actor transform provided by the Init section
Note: - The OpenScenario specification allows multiple definitions. We use the _first_ one
- The OpenScenario specification allows different ways of specifying a position.
We currently support the specification with absolute world coordinates and the relative positions
RelativeWorld, RelativeObject and RelativeLane
- When using relative positions the relevant reference point (e.g. transform of another actor)
should be defined before!
"""
actor_transform = carla.Transform()
actor_found = False
for private_action in self.init.iter("Private"):
if private_action.attrib.get('entityRef', None) == actor_name:
if actor_found:
# pylint: disable=line-too-long
self.logger.warning(
" Warning: The actor '%s' was already assigned an initial position. Overwriting pose!",
actor_name)
# pylint: enable=line-too-long
actor_found = True
for position in private_action.iter('Position'):
transform = OpenScenarioParser.convert_position_to_transform(
position,
actor_list=self.other_actors + self.ego_vehicles)
if transform:
actor_transform = transform
if not actor_found:
# pylint: disable=line-too-long
self.logger.warning(
" Warning: The actor '%s' was not assigned an initial position. Using (0,0,0)",
actor_name)
# pylint: enable=line-too-long
return actor_transform