def _initialize_actors(self, config): for actor in config.other_actors: new_actors = CarlaActorPool.request_new_batch_actors(actor.model, actor.amount, actor.transform, hero=False, autopilot=actor.autopilot, random_location=actor.random_location) if new_actors is None: raise Exception("Error: Unable to add actor {} at {}".format(actor.model, actor.transform)) for _actor in new_actors: self.other_actors.append(_actor)
def _initialize_actors(self, config): location = [] infile = open('actor_config5', 'rb') location = pickle.load(infile) infile.close() for actor in config.other_actors: new_actors = [] new_actors = CarlaActorPool.request_new_batch_actors( actor.model, actor.amount, actor.transform, hero=False, autopilot=actor.autopilot, random_location=actor.random_location) #Static obstacle for route based driving 2 '''transform = carla.Transform(carla.Location(x=-77.3, y=108.4, z=0.0), carla.Rotation(pitch=360.5, yaw=269.8+90, roll=0.0)) new_actors.append(CarlaActorPool.request_new_actor('static.prop.streetbarrier', transform, hero=False, autopilot=False, random_location=False))''' '''for i in range(len(location)): maploc = location[i] transform = carla.Transform(carla.Location(x=maploc['x'], y=maploc['y'], z=maploc['z']), carla.Rotation(pitch=maploc['pitch'], yaw=maploc['yaw'], roll=maploc['roll'])) new_actors.append(CarlaActorPool.request_new_actor(maploc['vehicle'], transform, hero=False, autopilot=True, random_location=False))''' if new_actors is None: raise Exception("Error: Unable to add actor {} at {}".format( actor.model, actor.transform)) for _actor in new_actors: #print(f'actor_location======={_actor.type_id}') loc_dict = { 'vehicle': _actor.type_id, 'pitch': _actor.get_transform().rotation.pitch, 'yaw': _actor.get_transform().rotation.yaw, 'roll': _actor.get_transform().rotation.roll, 'x': _actor.get_location().x, 'y': _actor.get_location().y, 'z': _actor.get_location().z } location.append(loc_dict) self.other_actors.append(_actor) '''filename = 'actor_config2'
def _initialize_actors(self, config): """ This initialize actors for the background actitivy. The actors can be both \ walkers (pedestrians) or vehicles (cars, bicycles, trucks ...) The pedestrian can have a cross factor, how often they cross the road. """ for actor in config.other_actors: new_actors = CarlaActorPool.request_new_batch_actors( actor.model, actor.amount, actor.transform, hero=False, autopilot=actor.autopilot, random_location=actor.random_location, cross_factor=self.cross_factor) if new_actors is None: raise Exception("Error: Unable to add actor {} at {}".format( actor.model, actor.transform)) for _actor in new_actors: self.other_actors.append(_actor)