def __init__(self, init_state, constants):
super().__init__(init_state, constants)
self.indicators_shape = geometry.make_rectangle(
self.constants.length * 0.8, self.constants.width)
self.longitudinal_lights_shape = geometry.make_rectangle(
self.constants.length, self.constants.width * 0.6)
def __init__(self, init_state, constants):
super().__init__(init_state, constants)
position = Point(self.constants.x_position, 0.0).transform(
self.constants.road.constants.orientation,
self.constants.road.constants.position)
self.static_bounding_box = geometry.make_rectangle(
self.constants.width, self.constants.road.width).transform(
self.constants.road.constants.orientation, position)
self.outbound_intersection_bounding_box = geometry.make_rectangle(
self.constants.width,
self.constants.road.outbound.width).transform(
self.constants.road.constants.orientation,
Point(0, (self.constants.road.inbound.width - position.y) *
0.5).translate(position))
self.inbound_intersection_bounding_box = geometry.make_rectangle(
self.constants.width, self.constants.road.inbound.width).transform(
self.constants.road.constants.orientation,
Point(0, -(self.constants.road.outbound.width - position.y) *
0.5).translate(position))
outbound_traffic_light_position = geometry.Point(
self.static_bounding_box.rear_left.x,
self.static_bounding_box.rear_left.y + 20.0)
inbound_traffic_light_position = geometry.Point(
self.static_bounding_box.front_right.x,
self.static_bounding_box.front_right.y - 20.0)
outbound_traffic_light_constants = TrafficLightConstants(
width=10,
height=20,
position=outbound_traffic_light_position,
orientation=self.constants.road.constants.orientation)
inbound_traffic_light_constants = TrafficLightConstants(
width=10,
height=20,
position=inbound_traffic_light_position,
orientation=self.constants.road.constants.orientation)
self.outbound_traffic_light = TrafficLight(
init_state, outbound_traffic_light_constants)
self.inbound_traffic_light = TrafficLight(
init_state, inbound_traffic_light_constants)
self.outbound_spawn = Point(
self.constants.x_position + (self.constants.width * 0.15),
(self.constants.road.width / 2.0) +
(self.constants.road.constants.lane_width / 2.0)).transform(
self.constants.road.constants.orientation,
self.constants.road.constants.position)
self.inbound_spawn = Point(
self.constants.x_position - (self.constants.width * 0.15),
-(self.constants.road.width / 2.0) -
(self.constants.road.constants.lane_width / 2.0)).transform(
self.constants.road.constants.orientation,
self.constants.road.constants.position)
def __init__(self, constants, **kwargs):
super().__init__(**kwargs)
self.constants = constants
self.static_bounding_box = geometry.make_rectangle(
self.constants.width,
self.constants.height).transform(self.constants.orientation,
self.constants.position)
def __init__(self, constants):
self.constants = constants
self.static_bounding_box = geometry.make_rectangle(
self.constants.length,
self.constants.road_direction.lane_width * 0.75,
left_offset=0).translate(
Point(self.constants.x_position,
0).translate(self.constants.road_direction.
static_bounding_box.rear_left))
def __init__(self, init_state, constants):
super().__init__(init_state=init_state, constants=constants)
self.shape = geometry.make_rectangle(self.constants.length,
self.constants.width)
self.wheelbase_offset = self.constants.wheelbase / 2.0
self.wheels = geometry.make_rectangle(self.constants.wheelbase,
self.constants.track)
self.noop_action = [0.0, 0.0]
self.throttle, self.steering_angle = self.noop_action
self.target_velocity = None
self.target_orientation = None
self.target_spline = None
self.planner_spline = None
def __init__(self, init_state, constants):
super().__init__(init_state=init_state, constants=constants)
self.static_bounding_box = geometry.make_rectangle(
self.constants.width,
self.constants.height).transform(self.constants.orientation,
self.constants.position)
def make_light(y):
return Point(0.0, y).transform(self.constants.orientation,
self.constants.position)
self.red_light = make_light(self.constants.height * 0.25)
self.amber_light = make_light(0.0)
self.green_light = make_light(-self.constants.height * 0.25)
def __init__(self, constants):
self.constants = constants
self.num_lanes = self.constants.num_outbound_lanes + self.constants.num_inbound_lanes
self.width = self.num_lanes * self.constants.lane_width
self.static_bounding_box = geometry.make_rectangle(
self.constants.length, self.width,
rear_offset=0).transform(self.constants.orientation,
self.constants.position)
left, right = self.static_bounding_box.split_laterally(
left_percentage=self.constants.num_outbound_lanes / self.num_lanes)
self.outbound = Direction(left, self.constants.num_outbound_lanes,
self.constants.lane_width,
self.constants.orientation)
self.inbound = Direction(
right.flip(), self.constants.num_inbound_lanes,
self.constants.lane_width,
self.constants.orientation + (math.radians(180.0)))
def stopping_zones(self):
braking_distance = (self.state.velocity**
2) / (2 * -self.constants.min_throttle)
reaction_distance = self.state.velocity * REACTION_TIME
total_distance = braking_distance + reaction_distance
if total_distance == 0:
return None, None
if self.steering_angle == 0:
zone = geometry.make_rectangle(
total_distance, self.constants.width, rear_offset=0).transform(
self.state.orientation,
Point(self.constants.length * 0.5,
0).transform(self.state.orientation,
self.state.position))
braking_zone, reaction_zone = zone.split_longitudinally(
braking_distance / total_distance)
return braking_zone, reaction_zone
return None, None
def __init__(self, init_state, constants):
super().__init__(init_state, constants)
self.roof_shape = geometry.make_rectangle(self.constants.length * 0.5,
self.constants.width)
num_inbound_lanes=1,
lane_width=M2PX * 3.65,
position=geometry.Point(0.0, 0.0),
orientation=0.0)))
pavement_width = (M2PX * 3)
env_constants = CAVEnvConstants(
viewer_width=int(road_map.major_road.constants.length),
viewer_height=int(road_map.major_road.width + (pavement_width * 2)),
road_map=road_map)
bounding_box = road_map.major_road.bounding_box()
outbound_pavement = geometry.make_rectangle(
road_map.major_road.constants.length, pavement_width,
rear_offset=0).transform(
road_map.major_road.constants.orientation,
geometry.Point(0,
pavement_width / 2).translate(bounding_box.rear_left))
inbound_pavement = geometry.make_rectangle(
road_map.major_road.constants.length, pavement_width,
rear_offset=0).transform(
road_map.major_road.constants.orientation,
geometry.Point(0, -(pavement_width / 2)).translate(
bounding_box.rear_right))
pedestrian_diameter = math.sqrt(pedestrian_constants.length**2 +
pedestrian_constants.width**2)
x_scale = 1 - (pedestrian_diameter / road_map.major_road.constants.length)
y_scale = 1 - (pedestrian_diameter / pavement_width)
# spawn_position_boxes = [
# outbound_pavement.rescale(x_scale=x_scale, y_scale=y_scale),
# inbound_pavement.rescale(x_scale=x_scale, y_scale=y_scale)