def groundElevationAt(self, pos):
origin = utils.scenicToLGSVLPosition(pos, 100000)
result = self.client.raycast(origin, lgsvl.Vector(0, -1, 0), 1)
if result is None:
warnings.warn(f'no ground at position {pos}')
return 0
return result.point.y
def createObjectInSimulator(self, obj):
# Figure out what type of LGSVL object this is
if not hasattr(obj, 'lgsvlName'):
raise RuntimeError(f'object {obj} does not have an lgsvlName property')
if not hasattr(obj, 'lgsvlAgentType'):
raise RuntimeError(f'object {obj} does not have an lgsvlAgentType property')
name = obj.lgsvlName
agentType = obj.lgsvlAgentType
# Set up position and orientation
state = lgsvl.AgentState()
elevation = obj.elevation
if elevation is None:
elevation = self.groundElevationAt(obj.position)
state.transform.position = utils.scenicToLGSVLPosition(obj.position, elevation)
state.transform.rotation = utils.scenicToLGSVLRotation(obj.heading)
# Create LGSVL object
lgsvlObj = self.client.add_agent(name, agentType, state)
obj.lgsvlObject = lgsvlObj
# Initialize Data
self.data[obj] = {}
# Initialize Apollo if needed
if getattr(obj, 'apolloVehicle', None):
self.initApolloFor(obj, lgsvlObj)
def __init__(self, waypoints): self.waypoints = tuple(waypoints) if not isinstance(self.waypoints[0], lgsvl.DriveWaypoint): pts = [] for wp in self.waypoints: elev = veneer.simulation().groundElevationAt(wp.position) pos = utils.scenicToLGSVLPosition(wp.position, y=elev) rot = utils.scenicToLGSVLRotation(wp.heading) pt = lgsvl.DriveWaypoint(pos, wp.speed, rot) pts.append(pt) self.waypoints = tuple(pts) self.lastTime = -2
def __init__(self, scene, client, verbosity=0):
timestep = scene.params.get('time_step', 1.0 / 10)
super().__init__(scene, timestep=timestep, verbosity=verbosity)
self.client = client
self.usingApollo = False
self.data = {}
self.collisionOccurred = False
# Reset simulator (deletes all existing objects)
self.client.reset()
# Create LGSVL objects corresponding to Scenic objects
self.lgsvlObjects = {}
for obj in self.objects:
# Figure out what type of LGSVL object this is
if not hasattr(obj, 'lgsvlObject'):
continue # not an LGSVL object
if not hasattr(obj, 'lgsvlName'):
raise RuntimeError(
f'object {obj} does not have an lgsvlName property')
if not hasattr(obj, 'lgsvlAgentType'):
raise RuntimeError(
f'object {obj} does not have an lgsvlAgentType property')
name = obj.lgsvlName
agentType = obj.lgsvlAgentType
# Set up position and orientation
state = lgsvl.AgentState()
elevation = obj.elevation
if elevation is None:
elevation = self.groundElevationAt(obj.position)
state.transform.position = utils.scenicToLGSVLPosition(
obj.position, elevation)
state.transform.rotation = utils.scenicToLGSVLRotation(obj.heading)
# Create LGSVL object
lgsvlObj = self.client.add_agent(name, agentType, state)
obj.lgsvlObject = lgsvlObj
# Initialize Data
self.data[obj] = {}
# Initialize Apollo if needed
if getattr(obj, 'apolloVehicle', None):
self.initApolloFor(obj, lgsvlObj)
