def __init__(self):
params = ParameterServer(filename= \
os.path.join(os.path.dirname(__file__),
"../environments/blueprints/visualization_params.json"))
cont_merging_bp = ContinuousMergingBlueprint(params, mode="medium")
SingleAgentRuntime.__init__(self,
blueprint=cont_merging_bp,
render=True)
def __init__(self):
params = ParameterServer(filename=os.path.join(
os.path.dirname(__file__),
"../environments/blueprints/visualization_params.json"))
cont_highway_bp = ContinuousHighwayBlueprint(params)
SingleAgentRuntime.__init__(self,
blueprint=cont_highway_bp,
render=True)
def __init__(self,
params = ParameterServer(filename= \
os.path.join(os.path.dirname(__file__),
"../environments/blueprints/visualization_params.json")),
render=False):
discrete_merging_bp = DiscreteMergingBlueprint(params)
SingleAgentRuntime.__init__(self,
blueprint=discrete_merging_bp,
render=render)
def __init__(self,
blueprint=None,
ml_behavior=None,
observer=None,
evaluator=None,
step_time=None,
viewer=None,
scenario_generator=None,
render=False,
max_col_rate=0.1,
behavior_model_pool=None,
ego_rule_based=None,
params=None):
SingleAgentRuntime.__init__(
self,
blueprint=blueprint,
ml_behavior=ml_behavior,
observer=observer,
evaluator=evaluator,
step_time=step_time,
viewer=viewer,
scenario_generator=scenario_generator,
render=render)
self._params = params or ParameterServer()
self._max_col_rate = params["ML"][
"MaxColRate",
"Max. collision rate allowed over all counterfactual worlds.", 0.1]
self._cf_simulation_steps = params["ML"][
"CfSimSteps",
"Simulation steps for the counterfactual worlds.", 5]
self._visualize_cf_worlds = params["ML"][
"VisualizeCfWorlds",
"Whether the counterfactual worlds are visualized.", False]
self._visualize_heatmap = params["ML"][
"VisualizeCfHeatmap",
"Whether the heatmap is being visualized.", False]
self._results_folder = params["ML"][
"ResultsFolder",
"Whether the heatmap is being visualized.", "./"]
self._logger = logging.getLogger()
self._behavior_model_pool = behavior_model_pool or []
self._ego_rule_based = ego_rule_based or BehaviorIDMLaneTracking(self._params)
self._tracer = Tracer()
if self._visualize_heatmap:
_, self._axs_heatmap = plt.subplots(1, 1, constrained_layout=True)
self._count = 0
self._cf_axs = {}
def __init__(self, *args, **kwargs):
SingleAgentRuntime.__init__(self, *args, **kwargs)
def __init__(self, params=ParameterServer(), render=False):
discrete_merging_bp = DiscreteIntersectionBlueprint(params)
SingleAgentRuntime.__init__(self,
blueprint=discrete_merging_bp,
render=render)
def __init__(self):
params = ParameterServer()
cont_merging_bp = ContinuousIntersectionBlueprint(params)
SingleAgentRuntime.__init__(self,
blueprint=cont_merging_bp,
render=True)
def __init__(self, params=ParameterServer(), render=False):
discrete_highway_bp = DiscreteHighwayBlueprint(params)
SingleAgentRuntime.__init__(self,
blueprint=discrete_highway_bp,
render=render)
def __init__(self):
params = ParameterServer()
cont_highway_bp = ContinuousHighwayBlueprint(params)
SingleAgentRuntime.__init__(self,
blueprint=cont_highway_bp,
render=True)
def __init__(self):
params = ParameterServer()
discrete_merging_bp = DiscreteMergingBlueprint(params)
SingleAgentRuntime.__init__(self,
blueprint=discrete_merging_bp,
render=True)
def __init__(self):
params = ParameterServer()
discrete_highway_bp = DiscreteHighwayBlueprint(params)
SingleAgentRuntime.__init__(self,
blueprint=discrete_highway_bp,
render=True)