def get_pedestrian_parameters():
pedestrian_dynamics = rss.RssDynamics()
pedestrian_dynamics.alphaLon.accelMax = 2.0
pedestrian_dynamics.alphaLon.brakeMax = -4.0
pedestrian_dynamics.alphaLon.brakeMin = -2.0
pedestrian_dynamics.alphaLon.brakeMinCorrect = -2.0
pedestrian_dynamics.alphaLat.accelMax = 0.001
pedestrian_dynamics.alphaLat.brakeMin = -0.001
pedestrian_dynamics.lateralFluctuationMargin = 0.1
pedestrian_dynamics.responseTime = 0.5
pedestrian_dynamics.maxSpeedOnAcceleration = 10
pedestrian_dynamics.unstructuredSettings.pedestrianTurningRadius = 2.0
pedestrian_dynamics.unstructuredSettings.driveAwayMaxAngle = 2.4
#not used:
pedestrian_dynamics.unstructuredSettings.vehicleYawRateChange = 0.3
pedestrian_dynamics.unstructuredSettings.vehicleMinRadius = 3.5
pedestrian_dynamics.unstructuredSettings.vehicleTrajectoryCalculationStep = 0.2
pedestrian_dynamics.unstructuredSettings.vehicleTrajectoryCalculationStep = 0.2
pedestrian_dynamics.unstructuredSettings.vehicleFrontIntermediateRatioSteps = 4
pedestrian_dynamics.unstructuredSettings.vehicleBackIntermediateRatioSteps = 0
pedestrian_dynamics.unstructuredSettings.vehicleContinueForwardIntermediateAccelerationSteps = 0
pedestrian_dynamics.unstructuredSettings.vehicleBrakeIntermediateAccelerationSteps = 0
pedestrian_dynamics.unstructuredSettings.vehicleResponseTimeIntermediateAccelerationSteps = 4
return pedestrian_dynamics
def _get_object_vehicle_dynamics(self):
objectRssDynamics = rss.RssDynamics()
objectRssDynamics.responseTime = physics.Duration(0.5)
objectRssDynamics.alphaLat.accelMax = physics.Acceleration(1.)
objectRssDynamics.alphaLat.brakeMin = physics.Acceleration(-1.)
objectRssDynamics.alphaLon.accelMax = physics.Acceleration(4.)
objectRssDynamics.alphaLon.brakeMax = physics.Acceleration(-8.)
objectRssDynamics.alphaLon.brakeMinCorrect = physics.Acceleration(-4.)
objectRssDynamics.alphaLon.brakeMin = physics.Acceleration(-4.)
objectRssDynamics.lateralFluctuationMargin = physics.Distance(0.)
return objectRssDynamics
def _get_ego_vehicle_dynamics(self):
egoRssDynamics = rss.RssDynamics()
egoRssDynamics.responseTime = physics.Duration(0.2)
egoRssDynamics.alphaLat.accelMax = physics.Acceleration(0.1)
egoRssDynamics.alphaLat.brakeMin = physics.Acceleration(-0.1)
egoRssDynamics.alphaLon.accelMax = physics.Acceleration(0.1)
egoRssDynamics.alphaLon.brakeMax = physics.Acceleration(-8.)
egoRssDynamics.alphaLon.brakeMinCorrect = physics.Acceleration(-4.)
egoRssDynamics.alphaLon.brakeMin = physics.Acceleration(-4.)
egoRssDynamics.lateralFluctuationMargin = physics.Distance(0.)
return egoRssDynamics
def _get_ego_vehicle_dynamics(self):
egoRssDynamics = rss.RssDynamics()
egoRssDynamics.responseTime = physics.Duration(0.2)
egoRssDynamics.maxSpeedOnAcceleration = physics.Speed(0.)
egoRssDynamics.alphaLat.accelMax = physics.Acceleration(0.1)
egoRssDynamics.alphaLat.brakeMin = physics.Acceleration(-0.1)
egoRssDynamics.alphaLon.accelMax = physics.Acceleration(0.1)
egoRssDynamics.alphaLon.brakeMax = physics.Acceleration(-8.)
egoRssDynamics.alphaLon.brakeMinCorrect = physics.Acceleration(-4.)
egoRssDynamics.alphaLon.brakeMin = physics.Acceleration(-4.)
egoRssDynamics.lateralFluctuationMargin = physics.Distance(0.)
egoRssDynamics.unstructuredSettings = self._getUnstructuedSettings()
return egoRssDynamics
def get_default_parameters():
ego_dynamics = rss.RssDynamics()
ego_dynamics.alphaLon.accelMax = 3.5
ego_dynamics.alphaLon.brakeMax = -8
ego_dynamics.alphaLon.brakeMin = -4
ego_dynamics.alphaLon.brakeMinCorrect = -3
ego_dynamics.alphaLat.accelMax = 0.2
ego_dynamics.alphaLat.brakeMin = -0.8
ego_dynamics.lateralFluctuationMargin = 0.1
ego_dynamics.responseTime = 0.5
ego_dynamics.maxSpeedOnAcceleration = 100
ego_dynamics.unstructuredSettings.pedestrianTurningRadius = 2.0
ego_dynamics.unstructuredSettings.driveAwayMaxAngle = 2.4
ego_dynamics.unstructuredSettings.vehicleYawRateChange = 0.3
ego_dynamics.unstructuredSettings.vehicleMinRadius = 3.5
ego_dynamics.unstructuredSettings.vehicleTrajectoryCalculationStep = 0.2
ego_dynamics.unstructuredSettings.vehicleFrontIntermediateRatioSteps = 4
ego_dynamics.unstructuredSettings.vehicleBackIntermediateRatioSteps = 0
ego_dynamics.unstructuredSettings.vehicleContinueForwardIntermediateAccelerationSteps = 0
ego_dynamics.unstructuredSettings.vehicleBrakeIntermediateAccelerationSteps = 0
ego_dynamics.unstructuredSettings.vehicleResponseTimeIntermediateAccelerationSteps = 4
return ego_dynamics