def lane_distance_to(self, vehicle: "Vehicle", lane: AbstractLane = None) -> float:
"""
Compute the signed distance to another vehicle along a lane.
:param vehicle: the other vehicle
:param lane: a lane
:return: the distance to the other vehicle [m]
"""
if not vehicle:
return np.nan
if not lane:
lane = self.lane
return lane.local_coordinates(vehicle.position)[0] - lane.local_coordinates(self.position)[0]
def draw_ground(cls,
lane: AbstractLane,
surface: WorldSurface,
color: Tuple[float],
width: float,
draw_surface: pygame.Surface = None) -> None:
draw_surface = draw_surface or surface
stripes_count = int(2 * (surface.get_height() + surface.get_width()) /
(cls.STRIPE_SPACING * surface.scaling))
s_origin, _ = lane.local_coordinates(surface.origin)
s0 = (int(s_origin) // cls.STRIPE_SPACING -
stripes_count // 2) * cls.STRIPE_SPACING
dots = []
for side in range(2):
longis = np.clip(
s0 + np.arange(stripes_count) * cls.STRIPE_SPACING, 0,
lane.length)
lats = [2 * (side - 0.5) * width for _ in longis]
new_dots = [
surface.vec2pix(lane.position(longi, lat))
for longi, lat in zip(longis, lats)
]
new_dots = reversed(new_dots) if side else new_dots
dots.extend(new_dots)
pygame.draw.polygon(draw_surface, color, dots, 0)
def interval_absolute_to_local(position_i: Interval, lane: AbstractLane) -> Tuple[np.ndarray, np.ndarray]:
"""
Converts an interval in absolute x,y coordinates to an interval in local (longiturinal, lateral) coordinates
:param position_i: the position interval [x_min, x_max]
:param lane: the lane giving the local frame
:return: the corresponding local interval
"""
position_corners = np.array([[position_i[0, 0], position_i[0, 1]],
[position_i[0, 0], position_i[1, 1]],
[position_i[1, 0], position_i[0, 1]],
[position_i[1, 0], position_i[1, 1]]])
corners_local = np.array([lane.local_coordinates(c) for c in position_corners])
longitudinal_i = np.array([min(corners_local[:, 0]), max(corners_local[:, 0])])
lateral_i = np.array([min(corners_local[:, 1]), max(corners_local[:, 1])])
return longitudinal_i, lateral_i
def display(cls, lane: AbstractLane, surface: WorldSurface) -> None:
"""
Display a lane on a surface.
:param lane: the lane to be displayed
:param surface: the pygame surface
"""
stripes_count = int(2 * (surface.get_height() + surface.get_width()) / (cls.STRIPE_SPACING * surface.scaling))
s_origin, _ = lane.local_coordinates(surface.origin)
s0 = (int(s_origin) // cls.STRIPE_SPACING - stripes_count // 2) * cls.STRIPE_SPACING
for side in range(2):
if lane.line_types[side] == LineType.STRIPED:
cls.striped_line(lane, surface, stripes_count, s0, side)
elif lane.line_types[side] == LineType.CONTINUOUS:
cls.continuous_curve(lane, surface, stripes_count, s0, side)
elif lane.line_types[side] == LineType.CONTINUOUS_LINE:
cls.continuous_line(lane, surface, stripes_count, s0, side)
