def _update_route(self, world, config, debug_mode):
"""
Update the input route, i.e. refine waypoint list, and extract possible scenario locations
Parameters:
- world: CARLA world
- config: Scenario configuration (RouteConfiguration)
"""
# Transform the scenario file into a dictionary
world_annotations = RouteParser.parse_annotations_file(config.scenario_file)
# prepare route's trajectory (interpolate and add the GPS route)
gps_route, route = interpolate_trajectory(config.trajectory)
potential_scenarios_definitions, _ = RouteParser.scan_route_for_scenarios(config.town, route, world_annotations)
self.route = route
CarlaDataProvider.set_ego_vehicle_route(convert_transform_to_location(self.route))
if config.agent is not None:
config.agent.set_global_plan(gps_route, self.route)
# Sample the scenarios to be used for this route instance.
self.sampled_scenarios_definitions = self._scenario_sampling(potential_scenarios_definitions)
# Timeout of scenario in seconds
self.timeout = self._estimate_route_timeout()
# Print route in debug mode
if debug_mode:
self._draw_waypoints(world, self.route, vertical_shift=0.1, persistency=50000.0)
def _update_route(self, world, config, debug_mode):
"""
Update the input route, i.e. refine waypoint list, and extract possible scenario locations
Parameters:
- world: CARLA world
- config: Scenario configuration (RouteConfiguration)
"""
# retrieve worlds annotations
world_annotations = RouteParser.parse_annotations_file(
config.scenario_file)
_route_description = copy.copy(config.route_description)
# prepare route's trajectory
gps_route, _route_description['trajectory'] = interpolate_trajectory(
world, _route_description['trajectory'])
potential_scenarios_definitions, _ = RouteParser.scan_route_for_scenarios(
_route_description, world_annotations)
self.route = _route_description['trajectory']
self.target = self.route[-1][0]
CarlaDataProvider.set_ego_vehicle_route(
convert_transform_to_location(self.route))
#Commenting this out because we want to run our own agent in pygame mode
#config.agent.set_global_plan(gps_route, self.route)
# Sample the scenarios to be used for this route instance.
self.sampled_scenarios_definitions = self._scenario_sampling(
potential_scenarios_definitions)
# Timeout of scenario in seconds
self.timeout = self._estimate_route_timeout()
# Print route in debug mode
if debug_mode:
turn_positions_and_labels = clean_route(self.route)
self._draw_waypoints(world,
self.route,
turn_positions_and_labels,
vertical_shift=1.0,
persistency=50000.0)