def draw_rotate_rec(x, y, a, l, w, color, linestyle='-'):
RU_x, RU_y, _ = rotate_coordination(l / 2, w / 2, 0, -a)
RD_x, RD_y, _ = rotate_coordination(l / 2, -w / 2, 0, -a)
LU_x, LU_y, _ = rotate_coordination(-l / 2, w / 2, 0, -a)
LD_x, LD_y, _ = rotate_coordination(-l / 2, -w / 2, 0, -a)
ax.plot([RU_x + x, RD_x + x], [RU_y + y, RD_y + y], color=color, linestyle=linestyle)
ax.plot([RU_x + x, LU_x + x], [RU_y + y, LU_y + y], color=color, linestyle=linestyle)
ax.plot([LD_x + x, RD_x + x], [LD_y + y, RD_y + y], color=color, linestyle=linestyle)
ax.plot([LD_x + x, LU_x + x], [LD_y + y, LU_y + y], color=color, linestyle=linestyle)
def recover_orig_position_fn(self, transformed_x, transformed_y, x, y,
d): # x, y, d are used to transform
# coordination
transformed_x, transformed_y, _ = rotate_coordination(
transformed_x, transformed_y, 0, -d)
orig_x, orig_y = shift_coordination(transformed_x, transformed_y, -x,
-y)
return orig_x, orig_y
def draw_rotate_rec(x, y, a, l, w, c):
bottom_left_x, bottom_left_y, _ = rotate_coordination(
-l / 2, w / 2, 0, -a)
ax.add_patch(
plt.Rectangle((x + bottom_left_x, y + bottom_left_y),
w,
l,
edgecolor=c,
facecolor='white',
angle=-(90 - a),
zorder=50))
def reset(self):
self.multiego.reset(copy.deepcopy(self.init_n_ego_dict))
self.traffic.init_traffic(copy.deepcopy(self.init_n_ego_dict))
self.traffic.sim_step()
n_ego_traj = {egoID: self.multiego.mpp.generate_path(NAME2TASK[egoID[:2]]) for egoID in
self.multiego.n_ego_dynamics.keys()}
self.n_ego_traj_trans = {}
for egoID, ego_traj in n_ego_traj.items():
traj_list = []
for item in ego_traj:
temp = np.array([rotate_coordination(x, y, 0, -ROTATE_ANGLE[egoID[0]])[0] for x, y in
zip(item.path[0], item.path[1])]), \
np.array([rotate_coordination(x, y, 0, -ROTATE_ANGLE[egoID[0]])[1] for x, y in
zip(item.path[0], item.path[1])])
traj_list.append(temp)
self.n_ego_traj_trans[egoID] = traj_list
self.hist_posi = {egoID: [] for egoID in self.init_n_ego_dict.keys()}
if self.logdir is not None:
self.episode_counter += 1
self.step_counter = -1
os.makedirs(self.logdir + '/episode{}/figs'.format(self.episode_counter))
if self.episode_counter >= 1:
select_and_rename_snapshots_of_an_episode(self.logdir, self.episode_counter - 1, 12)