def create_single_scenario(self):
scenario = Scenario(map_file_name=self._map_file_name,
json_params=self._params.convert_to_dict())
world = scenario.get_world_state()
agent_list = []
eval_agent_ids = []
track_params = ParameterServer()
track_params["filename"] = self._track_file_name
track_params["execution_model"] = 'ExecutionModelInterpolate'
track_params["dynamic_model"] = 'SingleTrackModel'
track_params["map_interface"] = world.map
track_params["start_offset"] = self.start_time
track_params["end_offset"] = self.end_time
for track_id in self._track_ids:
track_params["track_id"] = track_id
if str(track_id) in self.behavior_models:
track_params["behavior_model"] = self.behavior_models[str(track_id)]
else:
track_params["behavior_model"] = None
agent = agent_from_trackfile(track_params, self._params, track_id)
agent_list.append(agent)
if track_id == self.ego_track_id:
eval_agent_ids = [agent.id]
scenario._agent_list = agent_list
scenario._eval_agent_ids = eval_agent_ids
return scenario
def test_agent_from_trackfile(self):
track_ids = [1, 2, 3]
params = ParameterServer()
params_id = params["Scenario"]["Generation"]["InteractionDataset"]
params_id["MapFilename", "", "modules/runtime/tests/data/DR_DEU_Merging_MT_v01_shifted.xodr"]
params_id["TrackFilename", "", "modules/runtime/tests/data/interaction_dataset_dummy_track.csv"]
params_id["TrackIds", "", track_ids]
params_id["StartTs", "", 100]
params_id["EndTs", "", None]
params_id["EgoTrackId", "", -1]
params_id["BehaviorModel", "", {}]
track_params = ParameterServer()
track_params["filename"] = params["Scenario"]["Generation"]["InteractionDataset"]["TrackFilename"]
track_params["execution_model"] = 'ExecutionModelInterpolate'
track_params["dynamic_model"] = 'SingleTrackModel'
track_params["map_interface"] = None # world.map
track_params["start_offset"] = params["Scenario"]["Generation"]["InteractionDataset"]["StartTs"]
track_params["end_offset"] = params["Scenario"]["Generation"]["InteractionDataset"]["EndTs"]
track_params["behavior_model"] = None
agent_list = []
for track_id in track_ids:
track_params["track_id"] = track_id
agent = agent_from_trackfile(track_params, params, 1)
agent_list.append(agent)
print(agent.behavior_model)
assert(len(agent_list) == len(track_ids))
def test_agent_from_trackfile(self):
map_filename = "modules/runtime/tests/data/DR_DEU_Merging_MT_v01_shifted.xodr"
track_filename = "modules/runtime/tests/data/interaction_dataset_dummy_track.csv"
agent_track_info = AgentTrackInfo(track_filename,
track_id=1,
start_offset=500,
end_offset=1000)
params = ParameterServer()
params_id = params["Scenario"]["Generation"]["InteractionDataset"]
params_id[
"MapFilename", "",
"modules/runtime/tests/data/DR_DEU_Merging_MT_v01_shifted.xodr"]
params_id[
"TrackFilename", "",
"modules/runtime/tests/data/interaction_dataset_dummy_track.csv"]
params_id["BehaviorModel", "", {}]
track_params = ParameterServer()
track_params["execution_model"] = 'ExecutionModelInterpolate'
track_params["dynamic_model"] = 'SingleTrackModel'
track_params["map_interface"] = None # world.map
track_params["behavior_model"] = None
scenario_info = ScenarioTrackInfo(map_filename, track_filename,
agent_track_info)
agent = agent_from_trackfile(track_params, params, scenario_info,
agent_track_info.GetTrackId())
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())
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 = agent_from_trackfile(track_params, self._params,
scenario_track_info, id_other)
agent_list.append(agent)
id_ego = scenario_track_info.GetEgoTrackInfo().GetTrackId()
if str(id_ego) in self._behavior_models:
track_params["behavior_model"] = self._behavior_models[str(id_ego)]
else:
track_params["behavior_model"] = None
agent = agent_from_trackfile(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()
]
return scenario