def _calculate_base_transform(self, _start_distance, waypoint):
lane_width = waypoint.lane_width
# Patches false junctions
if self._reference_waypoint.is_junction:
stop_at_junction = False
else:
stop_at_junction = True
location, _ = get_location_in_distance_from_wp(waypoint,
_start_distance,
stop_at_junction)
waypoint = self._wmap.get_waypoint(location)
offset = {"orientation": 270, "position": 90, "z": 0.6, "k": 1.0}
position_yaw = waypoint.transform.rotation.yaw + offset['position']
orientation_yaw = waypoint.transform.rotation.yaw + offset[
'orientation']
offset_location = carla.Location(
offset['k'] * lane_width * math.cos(math.radians(position_yaw)),
offset['k'] * lane_width * math.sin(math.radians(position_yaw)))
location += offset_location
location.z = self._trigger_location.z + offset['z']
return carla.Transform(
location, carla.Rotation(yaw=orientation_yaw)), orientation_yaw
def _initialize_actors(self, config):
"""
Custom initialization
"""
_start_distance = 40
lane_width = self._reference_waypoint.lane_width
location, _ = get_location_in_distance_from_wp(
self._reference_waypoint, _start_distance)
waypoint = self._wmap.get_waypoint(location)
self._create_construction_setup(waypoint.transform, lane_width)
def _initialize_actors(self, config):
"""
Custom initialization
"""
if self._randomize:
self._distance = random.randint(low=10, high=80, size=3)
self._distance = sorted(self._distance)
else:
self._distance = [14, 48, 74]
first_loc, _ = get_location_in_distance_from_wp(
self._reference_waypoint, self._distance[0])
second_loc, _ = get_location_in_distance_from_wp(
self._reference_waypoint, self._distance[1])
third_loc, _ = get_location_in_distance_from_wp(
self._reference_waypoint, self._distance[2])
self.loc_list.extend([first_loc, second_loc, third_loc])
self._dist_prop = [x - 2 for x in self._distance]
self.first_loc_prev, _ = get_location_in_distance_from_wp(
self._reference_waypoint, self._dist_prop[0])
self.sec_loc_prev, _ = get_location_in_distance_from_wp(
self._reference_waypoint, self._dist_prop[1])
self.third_loc_prev, _ = get_location_in_distance_from_wp(
self._reference_waypoint, self._dist_prop[2])
self.first_transform = carla.Transform(self.first_loc_prev)
self.sec_transform = carla.Transform(self.sec_loc_prev)
self.third_transform = carla.Transform(self.third_loc_prev)
self.first_transform = carla.Transform(
carla.Location(self.first_loc_prev.x, self.first_loc_prev.y,
self.first_loc_prev.z))
self.sec_transform = carla.Transform(
carla.Location(self.sec_loc_prev.x, self.sec_loc_prev.y,
self.sec_loc_prev.z))
self.third_transform = carla.Transform(
carla.Location(self.third_loc_prev.x, self.third_loc_prev.y,
self.third_loc_prev.z))
first_debris = CarlaDataProvider.request_new_actor(
'static.prop.dirtdebris01', self.first_transform, 'prop')
second_debris = CarlaDataProvider.request_new_actor(
'static.prop.dirtdebris01', self.sec_transform, 'prop')
third_debris = CarlaDataProvider.request_new_actor(
'static.prop.dirtdebris01', self.third_transform, 'prop')
first_debris.set_transform(self.first_transform)
second_debris.set_transform(self.sec_transform)
third_debris.set_transform(self.third_transform)
self.obj.extend([first_debris, second_debris, third_debris])
for debris in self.obj:
debris.set_simulate_physics(False)
self.other_actors.append(first_debris)
self.other_actors.append(second_debris)
self.other_actors.append(third_debris)
def _initialize_actors(self, config):
"""
Custom initialization
"""
actor_list = []
num_actors = 0
# initialize parameters for each actor
while num_actors < self._num_actors:
actor_dict = {}
actor_dict["_start_distance"] = random.randint(
1, 3) * num_actors * 10 + random.randint(
10, 30) #num_actors * 20 + 20
actor_dict["offset"] = {
"orientation": 270,
"position": 90,
"z": 0.4,
"k": 0.2
}
actor_list.append(actor_dict)
num_actors += 1
print("num_actors: " + str(num_actors))
num_actors -= 1
while num_actors >= 0:
actor_dict = actor_list[num_actors]
_start_distance = actor_dict["_start_distance"]
lane_width = self._reference_waypoint.lane_width
location, _ = get_location_in_distance_from_wp(
self._reference_waypoint, _start_distance)
waypoint = self._wmap.get_waypoint(location)
offset = actor_dict["offset"]
position_yaw = waypoint.transform.rotation.yaw + offset['position']
orientation_yaw = waypoint.transform.rotation.yaw + offset[
'orientation']
offset_location = carla.Location(
offset['k'] * lane_width *
math.cos(math.radians(position_yaw)), offset['k'] *
lane_width * math.sin(math.radians(position_yaw)))
location += offset_location
location.z += offset['z']
self.transform = carla.Transform(
location, carla.Rotation(yaw=orientation_yaw))
static = CarlaActorPool.request_new_actor('static.prop.container',
self.transform)
static.set_simulate_physics(True)
self.other_actors.append(static)
print("initialized actor: " + str(num_actors))
num_actors -= 1
def _initialize_actors(self, config):
"""
Custom initialization
"""
self._distance = random.sample(range(10, 80), 3)
self._distance = sorted(self._distance)
first_loc, _ = get_location_in_distance_from_wp(
self._reference_waypoint, self._distance[0])
second_loc, _ = get_location_in_distance_from_wp(
self._reference_waypoint, self._distance[1])
third_loc, _ = get_location_in_distance_from_wp(
self._reference_waypoint, self._distance[2])
self.loc_list.extend([first_loc, second_loc, third_loc])
self._dist_prop = [x - 2 for x in self._distance]
self.first_loc_prev, _ = get_location_in_distance_from_wp(
self._reference_waypoint, self._dist_prop[0])
self.sec_loc_prev, _ = get_location_in_distance_from_wp(
self._reference_waypoint, self._dist_prop[1])
self.third_loc_prev, _ = get_location_in_distance_from_wp(
self._reference_waypoint, self._dist_prop[2])
self.first_transform = carla.Transform(self.first_loc_prev)
self.sec_transform = carla.Transform(self.sec_loc_prev)
self.third_transform = carla.Transform(self.third_loc_prev)
self.first_transform = carla.Transform(
carla.Location(self.first_loc_prev.x, self.first_loc_prev.y,
self.first_loc_prev.z))
self.sec_transform = carla.Transform(
carla.Location(self.sec_loc_prev.x, self.sec_loc_prev.y,
self.sec_loc_prev.z))
self.third_transform = carla.Transform(
carla.Location(self.third_loc_prev.x, self.third_loc_prev.y,
self.third_loc_prev.z))
first_debris = CarlaActorPool.request_new_actor(
'static.prop.dirtdebris01', self.first_transform)
second_debris = CarlaActorPool.request_new_actor(
'static.prop.dirtdebris01', self.sec_transform)
third_debris = CarlaActorPool.request_new_actor(
'static.prop.dirtdebris01', self.third_transform)
first_debris.set_transform(self.first_transform)
second_debris.set_transform(self.sec_transform)
third_debris.set_transform(self.third_transform)
self.obj.extend([first_debris, second_debris, third_debris])
for debris in self.obj:
debris.set_simulate_physics(False)
self.other_actors.append(first_debris)
self.other_actors.append(second_debris)
self.other_actors.append(third_debris)
def _calculate_transform(self):
if (self.direction == "left"):
self.spawn_point = self.spawn_point.get_left_lane()
else:
self.spawn_point = self.spawn_point.get_right_lane()
spawn_location = self.spawn_point.transform.location
ahead_location, _ = get_location_in_distance_from_wp(
self.trigger, self.start_dist, False)
self.trigger = self.map.get_waypoint(ahead_location)
# change_x = ahead_location.x - trigger_location.x
# change_y = ahead_location.y - trigger_location.y
actor_location = carla.Location(spawn_location.x, spawn_location.y,
spawn_location.z)
waypoint = self.map.get_waypoint(actor_location)
print("cut in start location: " + str(waypoint))
return waypoint.transform
def _calculate_base_transform(self, _start_distance, waypoint):
lane_width = waypoint.lane_width
location, _ = get_location_in_distance_from_wp(waypoint,
_start_distance)
waypoint = self._wmap.get_waypoint(location)
if self._adversary_type:
offset = {"orientation": 270, "position": 90, "z": 0.6, "k": -0.1}
else:
offset = {"orientation": 270, "position": 90, "z": 0.6, "k": -0.1}
position_yaw = waypoint.transform.rotation.yaw + offset['position']
orientation_yaw = waypoint.transform.rotation.yaw + offset[
'orientation']
offset_location = carla.Location(
offset['k'] * lane_width * math.cos(math.radians(position_yaw)),
offset['k'] * lane_width * math.sin(math.radians(position_yaw)))
location += offset_location
location.z = self._trigger_location.z + offset['z']
return carla.Transform(
location, carla.Rotation(yaw=orientation_yaw)), orientation_yaw
def _initialize_actors(self, config):
"""
Custom initialization
"""
_start_distance = 40
lane_width = self._reference_waypoint.lane_width
location, _ = get_location_in_distance_from_wp(
self._reference_waypoint, _start_distance)
waypoint = self._wmap.get_waypoint(location)
offset = {"orientation": 270, "position": 90, "z": 0.4, "k": 0.2}
position_yaw = waypoint.transform.rotation.yaw + offset['position']
orientation_yaw = waypoint.transform.rotation.yaw + offset[
'orientation']
offset_location = carla.Location(
offset['k'] * lane_width * math.cos(math.radians(position_yaw)),
offset['k'] * lane_width * math.sin(math.radians(position_yaw)))
location += offset_location
location.z += offset['z']
self.transform = carla.Transform(location,
carla.Rotation(yaw=orientation_yaw))
static = CarlaDataProvider.request_new_actor('static.prop.container',
self.transform)
static.set_simulate_physics(True)
self.other_actors.append(static)
def _calculate_transform(self):
waypoint = self._get_sidewalk_waypoint()
lane_width = waypoint.lane_width
if self.trigger.is_junction:
stop_at_junction = False
else:
stop_at_junction = True
# print("self.start_dist when calculating: " + str(self.start_dist))
location, _ = get_location_in_distance_from_wp(waypoint,
self.start_dist,
stop_at_junction)
waypoint = self.map.get_waypoint(location)
position_yaw = waypoint.transform.rotation.yaw + self.offset['position']
orientation_yaw = waypoint.transform.rotation.yaw + self.offset[
'orientation']
offset_location = carla.Location(
self.offset['k'] * lane_width *
math.cos(math.radians(position_yaw)), self.offset['k'] *
lane_width * math.sin(math.radians(position_yaw)))
location += offset_location
return carla.Transform(
location, carla.Rotation(yaw=orientation_yaw)), orientation_yaw
