def create_single_scenario(self):
scenario = Scenario(map_file_name=self.map_file_name,
json_params=self.params.convert_to_dict())
world = scenario.get_world_state()
agent_list = []
for idx, source in enumerate(self.others_source):
connecting_center_line, s_start, s_end, _, lane_id_end = \
self.center_line_between_source_and_sink( world.map, source, self.others_sink[idx])
goal_polygon = Polygon2d([0, 0, 0], [
Point2d(-1, -1),
Point2d(-1, 1),
Point2d(1, 1),
Point2d(1, -1)
])
goal_polygon = goal_polygon.translate(
Point2d(self.ego_goal[0], self.ego_goal[1]))
goal_definition = GoalDefinition(goal_polygon)
agent_list.extend( self.place_agents_along_linestring(world, connecting_center_line, s_start, s_end, \
self.agent_params, goal_definition) )
description = self.params.convert_to_dict()
description["ScenarioGenerator"] = "UniformVehicleDistribution"
scenario.agent_list = agent_list
num_agents = len(scenario.agent_list)
scenario.eval_agent_ids = [
scenario.agent_list[math.floor(num_agents / 2)].id
] # only one agent is ego in the middle of all other agents
return scenario
def create_single_scenario(self):
scenario = Scenario(map_file_name=self.map_file_name,
json_params=self.params.convert_to_dict())
world = scenario.get_world_state()
agent_list = []
for idx, source in enumerate(self.others_source):
connecting_center_line, s_start, s_end, _, lane_id_end = \
self.center_line_between_source_and_sink( world.map, source, self.others_sink[idx])
agent_list.extend( self.place_agents_along_linestring(world, connecting_center_line, s_start, s_end, \
self.agent_params, lane_id_end) )
description = self.params.convert_to_dict()
description["ScenarioGenerator"] = "UniformVehicleDistribution"
scenario.agent_list = agent_list
return scenario