def test_one_agent_at_goal_sequential(self): param_server = ParameterServer() # Model Definition dynamic_model = SingleTrackModel(param_server) behavior_model = BehaviorMotionPrimitives(dynamic_model, param_server) idx = behavior_model.add_motion_primitive(np.array([1, 0])) behavior_model.action_to_behavior(idx) execution_model = ExecutionModelInterpolate(param_server) # Agent Definition agent_2d_shape = CarLimousine() init_state = np.array([0, 0, 0, 0, 0]) agent_params = param_server.addChild("agent1") goal_frame = Polygon2d([0, 0, 0], [Point2d(-1,-1), Point2d(-1,1), Point2d(1,1), Point2d(1,-1)]) goal_polygon1 = goal_frame.translate(Point2d(10, 0)) goal_polygon2 = goal_frame.translate(Point2d(20, 0)) goal_polygon3 = goal_frame.translate(Point2d(30, 0)) goal_def1 = GoalDefinitionStateLimits(goal_polygon1, [-0.08, 0.08]) goal_def2 = GoalDefinitionStateLimits(goal_polygon2, [-0.08, 0.08]) goal_def3 = GoalDefinitionStateLimits(goal_polygon3, [-0.08, 0.08]) goal_definition = GoalDefinitionSequential([goal_def1, goal_def2, goal_def3]) self.assertEqual(len(goal_definition.sequential_goals),3) agent = Agent(init_state, behavior_model, dynamic_model, execution_model, agent_2d_shape, agent_params, goal_definition, None) world = World(param_server) world.add_agent(agent) evaluator = EvaluatorGoalReached(agent.id) world.add_evaluator("success", evaluator) # just drive with the single motion primitive should be successful for _ in range(0,1000): world.step(0.2) info = world.evaluate() if info["success"]: break self.assertEqual(info["success"], True) self.assertAlmostEqual(agent.state[int(StateDefinition.X_POSITION)], 30, delta=0.5)
def test_one_agent_at_goal_state_limits(self): param_server = ParameterServer() # Model Definition behavior_model = BehaviorConstantVelocity(param_server) execution_model = ExecutionModelInterpolate(param_server) dynamic_model = SingleTrackModel(param_server) # Agent Definition agent_2d_shape = CarLimousine() init_state = np.array( [0, -191.789, -50.1725, 3.14 * 3.0 / 4.0, 150 / 3.6]) agent_params = param_server.AddChild("agent1") goal_polygon = Polygon2d( [0, 0, 0], [Point2d(-1, -1), Point2d(-1, 1), Point2d(1, 1), Point2d(1, -1)]) goal_polygon = goal_polygon.Translate(Point2d(-191.789, -50.1725)) agent = Agent( init_state, behavior_model, dynamic_model, execution_model, agent_2d_shape, agent_params, GoalDefinitionStateLimits( goal_polygon, (3.14 * 3.0 / 4.0 - 0.08, 3.14 * 3.0 / 4.0 + 0.08)), None) world = World(param_server) world.AddAgent(agent) evaluator = EvaluatorGoalReached(agent.id) world.AddEvaluator("success", evaluator) info = world.Evaluate() self.assertEqual(info["success"], True)
def create_single_scenario(self): scenario = Scenario(map_file_name=self._map_file_name, json_params=self._params.ConvertToDict()) world = scenario.get_world_state() agent_list = [] scenario._agent_list = [] for agent_json_ in self._local_params["Agents"]: agent_json = agent_json_["VehicleModel"].copy() agent_json["map_interface"] = world.map goal_polygon = Polygon2d([0, 0, 0], np.array( agent_json["goal"]["polygon_points"])) goal_polygon = goal_polygon.Translate( Point2d(agent_json["goal"]["center_pose"][0], agent_json["goal"]["center_pose"][1])) sequential_goals = [] goal = GoalDefinitionPolygon(goal_polygon) if "goal_type" in agent_json["goal"]: goal_type = agent_json["goal"]["goal_type"] if goal_type == "GoalDefinitionStateLimits": goal = GoalDefinitionStateLimits(goal_polygon, (1.49, 1.65)) # state_limit_goal = GoalDefinitionStateLimits(goal_polygon, (1.49, 1.65)) for _ in range(self._local_params["goal"]["num_reached", "num", 5]): sequential_goals.append(goal) sequential_goal = GoalDefinitionSequential(sequential_goals) agent_json["goal_definition"] = sequential_goal agent_state = np.array(agent_json["state"]) if len(np.shape(agent_state)) > 1: agent_state = np.random.uniform(low=agent_state[:, 0], high=agent_state[:, 1]) agent_json["state"] = agent_state.tolist() agent = self._json_converter.agent_from_json( agent_json, param_server=self._params) agent.SetAgentId(agent_json["id"]) scenario._agent_list.append(agent) # TODO(@hart): this could be mult. agents scenario._eval_agent_ids = self._local_params[ "controlled_ids", "IDs of agents to be controlled. ", [0]] return scenario
def create_single_scenario(self): scenario = Scenario(map_file_name=self._map_file_name, json_params=self._params.ConvertToDict()) world = scenario.get_world_state() agent_list = [] # OTHER AGENTS for idx, source in enumerate(self._others_source): connecting_center_line, s_start, s_end = \ self.center_line_between_source_and_sink(world.map, source, self._others_sink[idx]) goal_polygon = Polygon2d([0, 0, 0], [ Point2d(-1.5, 0), Point2d(-1.5, 8), Point2d(1.5, 8), Point2d(1.5, 0) ]) goal_polygon = goal_polygon.Translate( Point2d(self._others_sink[idx][0], self._others_sink[idx][1])) goal_definition = GoalDefinitionPolygon(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.ConvertToDict() description["ScenarioGenerator"] = "UniformVehicleDistribution" # EGO AGENT ego_agent = None if len(self._ego_route) == 0: # take agent in the middle of list num_agents = len(agent_list) ego_agent = agent_list[math.floor(num_agents / 4)] else: connecting_center_line, s_start, s_end = \ self.center_line_between_source_and_sink(world.map, self._ego_route[0], self._ego_route[1]) sego = self.sample_srange_uniform([s_start, s_end]) xy_point = GetPointAtS(connecting_center_line, sego) angle = GetTangentAngleAtS(connecting_center_line, sego) velocity = self.sample_velocity_uniform(self._ego_velocity_range) agent_state = np.array( [0, xy_point.x(), xy_point.y(), angle, velocity]) agent_params = self._agent_params.copy() agent_params["state"] = agent_state # goal for driving corridor generation goal_polygon = Polygon2d([0, 0, 0], [ Point2d(-1.5, 0), Point2d(-1.5, 8), Point2d(1.5, 8), Point2d(1.5, 0) ]) goal_polygon = goal_polygon.Translate( Point2d(self._ego_route[1][0], self._ego_route[1][1])) goal_definition = GoalDefinitionPolygon(goal_polygon) agent_params["goal_definition"] = goal_definition agent_params["map_interface"] = world.map converter = ModelJsonConversion() ego_agent = converter.agent_from_json(agent_params, self._params["Agent"]) # TODO(@bernhard): ensure that ego agent not collides with others agent_list.append(ego_agent) # EGO Agent Goal Definition if len(self._ego_goal_start) == 0: if len(self._ego_route) == 0: # ego agent is one of the random agents, so the goal definition is # already set pass else: goal_polygon = Polygon2d([0, 0, 0], [ Point2d(-1.5, 0), Point2d(-1.5, 8), Point2d(1.5, 8), Point2d(1.5, 0) ]) goal_polygon = goal_polygon.Translate( Point2d(self._ego_goal_end[0], self._ego_goal_end[1])) ego_agent.goal_definition = GoalDefinitionPolygon(goal_polygon) else: connecting_center_line, s_start, s_end = \ self.center_line_between_source_and_sink(world.map, self._ego_goal_start, self._ego_goal_end) goal_center_line = GetLineFromSInterval(connecting_center_line, s_start, s_end) # build polygon representing state limits lims = self._ego_goal_state_limits goal_limits_left = goal_center_line.Translate( Point2d(-lims[0], -lims[1])) goal_limits_right = goal_center_line.Translate( Point2d(lims[0], lims[1])) goal_limits_right.Reverse() goal_limits_left.AppendLinestring(goal_limits_right) polygon = Polygon2d([0, 0, 0], goal_limits_left) ego_agent.goal_definition = GoalDefinitionStateLimits( polygon, (1.57 - 0.08, 1.57 + 0.08)) # only one agent is ego in the middle of all other agents scenario._agent_list = agent_list scenario._eval_agent_ids = [ego_agent.id] return scenario