def _must_obey_european_traffic_light(self, ego_transform: Transform,
tl_locations,
tl_max_dist_thresh: float) -> bool:
ego_waypoint = self._get_waypoint(ego_transform.location)
# We're not on a road, or we're already in the intersection. Carry on.
if ego_waypoint is None or self.__is_intersection(ego_waypoint):
return (False, None)
# Iterate through traffic lights.
for tl_loc in tl_locations:
tl_waypoint = self._get_waypoint(tl_loc)
if (tl_waypoint.road_id != ego_waypoint.road_id
or tl_waypoint.lane_id != ego_waypoint.lane_id):
continue
if ego_transform.is_within_distance_ahead(tl_loc,
tl_max_dist_thresh):
return (True, tl_loc)
return (False, None)
def _must_obey_american_traffic_light(self, ego_transform: Transform,
tl_locations,
tl_max_dist_thresh: float) -> bool:
ego_waypoint = self._get_waypoint(ego_transform.location)
# We're not on a road, or we're already in the intersection. Carry on.
if ego_waypoint is None or self.__is_intersection(ego_waypoint):
return (False, None)
min_angle = 25.0
selected_tl_loc = None
for tl_loc in tl_locations:
if ego_transform.is_within_distance_ahead(tl_loc,
tl_max_dist_thresh):
angle, distance = ego_transform.get_angle_and_magnitude(tl_loc)
if distance < 60.0 and angle < min(25.0, min_angle):
min_angle = angle
selected_tl_loc = tl_loc
if selected_tl_loc is not None:
return (True, selected_tl_loc)
else:
return (False, None)
