def _scenario_sampling(self, potential_scenarios_definitions):
"""
The function used to sample the scenarios that are going to happen for this route.
"""
# fix the random seed for reproducibility
rng = CarlaDataProvider.get_random_seed()
def position_sampled(scenario_choice, sampled_scenarios):
"""
Check if a position was already sampled, i.e. used for another scenario
"""
for existent_scenario in sampled_scenarios:
# If the scenarios have equal positions then it is true.
if compare_scenarios(scenario_choice, existent_scenario):
return True
return False
# The idea is to randomly sample a scenario per trigger position.
sampled_scenarios = []
for trigger in potential_scenarios_definitions.keys():
possible_scenarios = potential_scenarios_definitions[trigger]
scenario_choice = rng.choice(possible_scenarios)
del possible_scenarios[possible_scenarios.index(scenario_choice)]
# We keep sampling and testing if this position is present on any of the scenarios.
while position_sampled(scenario_choice, sampled_scenarios):
if possible_scenarios is None or not possible_scenarios:
scenario_choice = None
break
scenario_choice = rng.choice(possible_scenarios)
del possible_scenarios[possible_scenarios.index(scenario_choice)]
if scenario_choice is not None:
sampled_scenarios.append(scenario_choice)
return sampled_scenarios
def __init__(self,
world,
ego_vehicles,
config,
randomize=False,
debug_mode=False,
criteria_enable=True,
timeout=180):
"""
Setup all relevant parameters and create scenario
and instantiate scenario manager
"""
self._world = world
self._map = CarlaDataProvider.get_map()
self._source_dist = 30
self._sink_dist = 20
self._direction = None
self._opposite_bp_wildcards = [
'*firetruck*', '*ambulance*', '*police*'
] # Wildcard patterns of the blueprints
self.timeout = timeout
self._adversary_speed = 70 / 3.6 # Speed of the adversary [m/s]
self._sync_time = 2.2 # Time the agent has to react to avoid the collision [s]
self._min_trigger_dist = 9.0 # Min distance to the collision location that triggers the adversary [m]
self._speed_duration_ratio = 2.0
self._speed_distance_ratio = 1.5
# Get the CDP seed or at routes, all copies of the scenario will have the same configuration
self._rng = CarlaDataProvider.get_random_seed()
super(OppositeVehicleRunningRedLight,
self).__init__("OppositeVehicleRunningRedLight",
ego_vehicles,
config,
world,
debug_mode,
criteria_enable=criteria_enable)
