def create_single_scenario(self):
"""Creates one scenario using the defined LaneCorridorConfig
Returns:
Scenario -- Returns a BARK scenario
"""
scenario = Scenario(map_file_name=self._map_file_name,
json_params=self._params.ConvertToDict())
# as we always use the same world, we can create the MapIntf. once
if self._map_interface is None:
scenario.CreateMapInterface(self._map_file_name)
else:
scenario.map_interface = self._map_interface
self._map_interface = scenario.map_interface
world = scenario.GetWorldState()
map_interface = world.map
# fill agent list of the BARK world and set agents that are controlled
scenario._agent_list = []
scenario._eval_agent_ids = []
for lc_config in self._lane_corridor_configs:
agent_state = True
lc_agents = []
if lc_config._source_pos is not None and lc_config._sink_pos is not None:
lc_config.InferRoadIdsAndLaneCorr(world)
while agent_state is not None:
agent_state = lc_config.state(world)
if agent_state is not None:
agent_behavior = lc_config.behavior_model(world)
agent_dyn = lc_config.dynamic_model
agent_exec = lc_config.execution_model
agent_polygon = lc_config.shape
agent_params = self._params.AddChild("agent")
agent_goal = lc_config.goal(world)
new_agent = Agent(
agent_state,
agent_behavior,
agent_dyn,
agent_exec,
agent_polygon,
agent_params,
agent_goal,
map_interface)
new_agent.road_corridor = lc_config._road_corridor
lc_agents.append(new_agent)
# set the road corridor
# handle controlled agents
controlled_agent_ids = []
for controlled_agent in lc_config.controlled_ids(lc_agents):
controlled_agent.goal_definition = lc_config.controlled_goal(world)
controlled_agent.behavior_model = \
lc_config.controlled_behavior_model(world)
controlled_agent_ids.append(controlled_agent.id)
scenario._eval_agent_ids.extend(controlled_agent_ids)
scenario._agent_list.extend(lc_agents)
lc_config.reset()
return scenario
def __create_single_scenario__(self, scenario_track_info):
scenario_track_info.TimeSanityCheck()
scenario = Scenario(map_file_name=self._map_file_name,
json_params=self._params.ConvertToDict())
# as we always use the same world, we can create the MapIntf. once
if self._map_interface is None:
scenario.CreateMapInterface(self._map_file_name)
print("Creating New Map Interface for Scenario!")
else:
scenario.map_interface = self._map_interface
self._map_interface = scenario.map_interface
world = scenario.GetWorldState()
track_params = ParameterServer()
track_params["execution_model"] = 'ExecutionModelInterpolate'
track_params["dynamic_model"] = 'SingleTrackModel'
track_params["map_interface"] = world.map
all_track_ids = list(scenario_track_info.GetOtherTrackInfos().keys())
# also add ego id
ego_track_id = scenario_track_info.GetEgoTrackInfo().GetTrackId()
all_track_ids.append(ego_track_id)
agent_list = []
model_converter = ModelJsonConversion()
for track_id in all_track_ids:
if self._behavior_model and track_id != ego_track_id:
behavior_params = self.__fill_agent_params(
scenario_track_info.GetEgoTrackInfo(),
scenario_track_info.GetOtherTrackInfos()[track_id])
behavior_model_name = self._behavior_model
track_params["behavior_model"] = model_converter.convert_model(
behavior_model_name, behavior_params)
# behavior_params.Save("/tmp/agent_prams_{}.json".format(track_id))
else:
track_params["behavior_model"] = None
agent = self.interaction_ds_reader.AgentFromTrackfile(
track_params, self._params, scenario_track_info, track_id)
agent.first_valid_timestamp = scenario_track_info.GetOffsetOfAgentMillisec(
track_id)
agent_list.append(agent)
scenario._agent_list = agent_list # must contain all agents!
scenario._eval_agent_ids = [
scenario_track_info.GetEgoTrackInfo().GetTrackId()
]
scenario.json_params[
"track_file"] = scenario_track_info.GetTrackFilename()
return scenario
def __create_single_scenario__(self, scenario_track_info):
scenario_track_info.TimeSanityCheck()
scenario = Scenario(map_file_name=self._map_file_name,
json_params=self._params.ConvertToDict())
# as we always use the same world, we can create the MapIntf. once
if self._map_interface is None:
scenario.CreateMapInterface(self._map_file_name)
print("Creating New Map Interface for Scenario!")
else:
scenario.map_interface = self._map_interface
self._map_interface = scenario.map_interface
world = scenario.GetWorldState()
agent_list = []
track_params = ParameterServer()
track_params["execution_model"] = 'ExecutionModelInterpolate'
track_params["dynamic_model"] = 'SingleTrackModel'
track_params["map_interface"] = world.map
for id_other in scenario_track_info.GetOtherTrackInfos().keys():
if str(id_other) in self._behavior_models:
track_params["behavior_model"] = self._behavior_models[str(
id_other)]
else:
track_params["behavior_model"] = None
agent = self.interaction_ds_reader.AgentFromTrackfile(
track_params, self._params, scenario_track_info, id_other)
agent_list.append(agent)
id_ego = scenario_track_info.GetEgoTrackInfo().GetTrackId()
if "ego" in self._behavior_models:
# Always set this behavior to the ego agent, regardless of agent's ID
track_params["behavior_model"] = self._behavior_models["ego"]
elif str(id_ego) in self._behavior_models:
track_params["behavior_model"] = self._behavior_models[str(id_ego)]
else:
track_params["behavior_model"] = None
agent = self.interaction_ds_reader.AgentFromTrackfile(
track_params, self._params, scenario_track_info, id_ego)
agent_list.append(agent)
scenario._agent_list = agent_list # must contain all agents!
scenario._eval_agent_ids = [
scenario_track_info.GetEgoTrackInfo().GetTrackId()
]
scenario.json_params[
"track_file"] = scenario_track_info.GetTrackFilename()
return scenario
