def test_scenario_track_info(self):
map_filename = os.path.join(
os.path.dirname(__file__),
"../runtime/tests/data/DR_DEU_Merging_MT_v01_shifted.xodr")
track_filename = os.path.join(
os.path.dirname(__file__),
"../runtime/tests/data/interaction_dataset_dummy_track.csv")
agent1 = AgentTrackInfo(track_filename,
track_id=1,
start_offset=500,
end_offset=1000)
print(agent1)
agent2 = AgentTrackInfo(track_filename,
track_id=2,
start_offset=500,
end_offset=1000)
print(agent2)
scen_info = ScenarioTrackInfo(map_filename,
track_filename,
agent1,
xy_offset=[0, 0],
start_ts=500,
end_ts=1000)
scen_info.AddTrackInfoOtherAgent(agent2)
print(scen_info)
assert (scen_info.TimeSanityCheck() == True)
def __fill_scenario_track_info__(self):
if self._ego_track_id == -1:
raise ValueError("No ego id has been defined")
ego_track_info = AgentTrackInfo(filename=self._track_file_name, track_id=self._ego_track_id,
start_time=self._start_time, end_time=self._end_time)
scenario_track_info = ScenarioTrackInfo(track_filename=self._track_file_name, ego_track_info=ego_track_info, xy_offset=self._xy_offset)
for track_id in self._track_ids:
new_agent = AgentTrackInfo(filename=self._track_file_name, track_id=track_id,
start_time=self._start_time, end_time=self._end_time)
scenario_track_info.AddTrackInfoOtherAgent(new_agent)
return scenario_track_info
def __find_all_scenarios__(self):
scenario_list = []
for id_ego in self._agents_track_infos.keys():
ego_track_info = self.__get_agent_track_info__(id_ego)
new_scenario = ScenarioTrackInfo(
map_filename=self._map_filename, track_filename=self._track_filename, ego_track_info=ego_track_info)
ids_others = self.__find_all_ids__(id_ego)
for id_o in ids_others:
agent_o_track_info = self.__get_agent_track_info__(id_o)
new_scenario.AddTrackInfoOtherAgent(agent_o_track_info)
scenario_list.append(new_scenario)
return scenario_list
def test_agent_from_trackfile_centered(self):
map_filename = os.path.join(
os.path.dirname(__file__),
"../tests/data/DR_DEU_Merging_MT_v01_centered.xodr")
track_filename = os.path.join(
os.path.dirname(__file__),
"../tests/data/interaction_dataset_dummy_track.csv")
agent_track_info = AgentTrackInfo(track_filename,
track_id=1,
start_offset=500,
end_offset=1000)
params = ParameterServer()
params_id = params["Scenario"]["Generation"]["InteractionDataset"]
params_id["MapFilename", "", map_filename]
params_id["TrackFilename", "", track_filename]
params_id["BehaviorModel", "", {}]
track_params = ParameterServer()
track_params["execution_model"] = 'ExecutionModelInterpolate'
track_params["dynamic_model"] = 'SingleTrackModel'
track_params["map_interface"] = None # world.map
track_params["behavior_model"] = None
scenario_info = ScenarioTrackInfo(map_filename,
track_filename,
agent_track_info,
xy_offset=[-900, -900])
ds_reader = InteractionDatasetReader()
agent = ds_reader.AgentFromTrackfile(track_params, params,
scenario_info,
agent_track_info.GetTrackId())