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 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)