class StopLines:
def __init__(self, waypoint_positions, stopline_positions):
self.waypoints = Waypoints(waypoint_positions)
self.stopline_waypoints = self._calc_stopline_waypoints(
stopline_positions)
def _calc_stopline_waypoints(self, stopline_positions):
return [
self.waypoints.find_closest(x, y) for x, y in stopline_positions
]
def find_nearest_stopline(self, my_position):
my_waypoint = self.waypoints.find_closest(my_position.x, my_position.y)
min_distance = len(self.waypoints.waypoints)
nearest_so_far = None
for light_index, stopline_waypoint in enumerate(
self.stopline_waypoints):
distance = stopline_waypoint - my_waypoint
if (distance >= 0) and (distance < min_distance):
min_distance = distance
nearest_so_far = (light_index, stopline_waypoint)
return nearest_so_far
def update_base_waypoints(self, lane):
self.waypoints = Waypoints(lane.waypoints)
def update_base_waypoints(self, lane):
self.waypoints = Waypoints(lane.waypoints)
self.stoplines = StopLines(lane.waypoints,
self.config['stop_line_positions'])
def __init__(self, waypoint_positions, stopline_positions):
self.waypoints = Waypoints(waypoint_positions)
self.stopline_waypoints = self._calc_stopline_waypoints(
stopline_positions)