def draw_scan(self,
process: RoadProcess,
view: KRoadView,
ray_scanner,
scan_results,
color=(64, 64, 64)) -> None:
if scan_results is None:
return
position = process.ego_vehicle.position
contact_size = min(.1, ray_scanner.beam_radius / 2)
for (endpoint, ray_contacts) in scan_results:
ray_vector = (endpoint - position)
view.draw_segment(color, False, position, endpoint,
ray_scanner.beam_radius)
def draw_contact(color, type_):
if type_ in ray_contacts:
view.draw_circle(
color,
position + ray_vector * ray_contacts[type_].alpha,
contact_size)
draw_contact((255, 255, 255), EntityType.curb)
# draw_contact((0, 255, 0), EntityType.lane_marking_white_dashed)
draw_contact((255, 0, 0), EntityType.vehicle)
def render(self, process: 'KRoadProcess', view: KRoadView) -> None:
# print('render')
super().render(process, view)
for p in self.ego_vehicle.positions:
view.draw_circle((200, 0, 64), p, .2)
if self.cross_track is not None:
view.draw_circle((64, 0, 200), self.cross_track.point, .3)
def make_view(self, mode) -> KRoadView:
"""
Factory method from Process class that returns a KRoadView.
This implementation puts the view over all shapes in the KRoadProcess, plus a bit of padding.
Override this to get a different viewport or to use a different view type.
"""
left, bottom, right, top = self.bounding_box
# pad bounds by a little bit
padding = self.__viewport_padding
horizontal_padding = padding * (right - left)
vertical_padding = padding * (top - bottom)
left = left - horizontal_padding
right = right + horizontal_padding
bottom = bottom - vertical_padding
top = top + vertical_padding
center = Vec2d((left + right) / 2, (top + bottom) / 2)
horizontal_size = right - left
vertical_size = top - bottom
scale = min(self.__max_viewport_resolution[0] / horizontal_size,
self.__max_viewport_resolution[1] / vertical_size)
view_size = (math.ceil(scale * horizontal_size),
math.ceil(scale * vertical_size))
return KRoadView(view_size, center, scale, self.__time_dilation)
def make_view(self, mode) -> KRoadView:
scale = 4.0
padding = .01
size = 2 * self.max_distance_from_target * (1.0 + padding)
view_size = math.ceil(scale * size)
return KRoadView((view_size, view_size), Vec2d(0, 0), scale,
self.time_dilation)
def make_view(self, mode) -> KRoadView:
# print('make_view')
padding = .01
size = 1.0 * self.view_distance * (1.0 + padding)
view_size = int(ceil(self.scale * size))
return KRoadView((view_size, view_size), self.ego_vehicle.position,
self.scale, self.time_dilation)
def render(self, process: TrajectoryTrackingProcess,
view: KRoadView) -> None:
for waypoint in self.render_waypoints:
view.draw_circle((0, 192, 0), waypoint[0], .6)
# if process.mirror_steering < 0:
# for waypoint in self.mirrored_waypoints:
# view.draw_circle((0, 192, 192), waypoint, .5)
ego = process.ego_vehicle
position = ego.position
view.draw_line((192, 0, 192), position,
Vec2d(ego.internal_longitudinal_velocity * 1.0 + 10,
0).rotated(ego.angle) + position)
view.draw_line(
(55, 204, 189), position,
Vec2d(ego.internal_longitudinal_velocity,
ego.internal_lateral_velocity).rotated(ego.angle) * 1.5 +
position)
def begin_render(self, process: 'KRoadProcess', view: KRoadView) -> None:
super().begin_render(process, view)
if self.view_follows_ego:
view.set_view_center(self.ego_vehicle.position)