def evaluate_rules(poses_sequence, interval: SampledSequence[Timestamp],
world: PlacedObject,
ego_name: str) -> Dict[str, RuleEvaluationResult]:
from duckietown_world.world_duckietown import create_lane_highlight
lane_pose_seq = create_lane_highlight(poses_sequence, world)
from duckietown_world.rules import DeviationFromCenterLine
from duckietown_world.rules import InDrivableLane
from duckietown_world.rules import DeviationHeading
from duckietown_world.rules import DrivenLength
from duckietown_world.rules import DrivenLengthConsecutive
from duckietown_world.rules import SurvivalTime
rules = {}
rules["deviation-heading"] = DeviationHeading()
rules["in-drivable-lane"] = InDrivableLane()
rules["deviation-center-line"] = DeviationFromCenterLine()
rules["driving-distance"] = DrivenLength()
rules["driving-distance-consecutive"] = DrivenLengthConsecutive()
rules["survival_time"] = SurvivalTime()
context = RuleEvaluationContext(
interval=interval,
world=world,
ego_name=ego_name,
lane_pose_seq=lane_pose_seq,
pose_seq=poses_sequence,
)
evaluated = {}
for name, rule in rules.items():
result = RuleEvaluationResult(rule)
rule.evaluate(context, result)
evaluated[name] = result
return evaluated
def evaluate_rules(poses_sequence, interval, world, ego_name):
from duckietown_world.world_duckietown import create_lane_highlight
lane_pose_seq = create_lane_highlight(poses_sequence, world)
from duckietown_world.rules import DeviationFromCenterLine
from duckietown_world.rules import InDrivableLane
from duckietown_world.rules import DeviationHeading
from duckietown_world.rules import DrivenLength
from duckietown_world.rules import DrivenLengthConsecutive
rules = OrderedDict()
rules['deviation-heading'] = DeviationHeading()
rules['in-drivable-lane'] = InDrivableLane()
rules['deviation-center-line'] = DeviationFromCenterLine()
rules['driving-distance'] = DrivenLength()
rules['driving-distance-consecutive'] = DrivenLengthConsecutive()
context = RuleEvaluationContext(interval,
world,
ego_name=ego_name,
lane_pose_seq=lane_pose_seq,
pose_seq=poses_sequence)
evaluated = OrderedDict()
for name, rule in rules.items():
result = RuleEvaluationResult(rule)
rule.evaluate(context, result)
evaluated[name] = result
return evaluated