def render(self, process: 'KRoadProcess', view: KRoadView) -> None:
# print('render')
super().render(process, view)
for p in self.ego_vehicle.positions:
view.draw_circle((200, 0, 64), p, .2)
if self.cross_track is not None:
view.draw_circle((64, 0, 200), self.cross_track.point, .3)
def render(self, process: TrajectoryTrackingProcess,
view: KRoadView) -> None:
for waypoint in self.render_waypoints:
view.draw_circle((0, 192, 0), waypoint[0], .6)
# if process.mirror_steering < 0:
# for waypoint in self.mirrored_waypoints:
# view.draw_circle((0, 192, 192), waypoint, .5)
ego = process.ego_vehicle
position = ego.position
view.draw_line((192, 0, 192), position,
Vec2d(ego.internal_longitudinal_velocity * 1.0 + 10,
0).rotated(ego.angle) + position)
view.draw_line(
(55, 204, 189), position,
Vec2d(ego.internal_longitudinal_velocity,
ego.internal_lateral_velocity).rotated(ego.angle) * 1.5 +
position)