def _build_world_state(self):
param_server = ParameterServer(json=self._json_params)
world = World(param_server)
if self._map_interface is None:
self.CreateMapInterface(self.full_map_file_name)
world.SetMap(self._map_interface)
else:
world.SetMap(self._map_interface)
for agent in self._agent_list:
agent.GenerateRoadCorridor(self._map_interface)
world.AddAgent(agent)
world.UpdateAgentRTree()
return world
def test_lateral_highway_unsafe(self):
"""
Checking Lateral Responses (true means safe)
"""
params = ParameterServer()
map = "bark/runtime/tests/data/city_highway_straight.xodr"
params["EvaluatorRss"]["MapFilename"] = map
map_interface = EvaluatorRSSTests.load_map(map)
world = World(params)
world.SetMap(map_interface)
goal_polygon_1 = Polygon2d(
[0, 0, 0],
[Point2d(-1, -1),
Point2d(-1, 1),
Point2d(1, 1),
Point2d(1, -1)])
goal_polygon_1 = goal_polygon_1.Translate(Point2d(5.5, 120))
goal_polygon_2 = Polygon2d(
[0, 0, 0],
[Point2d(-1, -1),
Point2d(-1, 1),
Point2d(1, 1),
Point2d(1, -1)])
goal_polygon_2 = goal_polygon_2.Translate(Point2d(1.8, 120))
# Hard coded
ego_state = np.array([0, 5.0, 10, np.pi / 2, 10]) # straight north
other_state = np.array([0, 3.1, 0, np.pi / 2, 10]) # straight north
ego = TestAgent(ego_state, goal_polygon_1, map_interface, params)
other = TestAgent(other_state, goal_polygon_2, map_interface, params)
world.AddAgent(ego)
world.AddAgent(other)
world.UpdateAgentRTree()
viewer = MPViewer(params=params, use_world_bounds=True)
viewer.drawWorld(world)
viewer.show(block=False)
evaluator_rss = EvaluatorRSS(ego.id, params)
self.assertEqual(
False,
evaluator_rss.PairwiseDirectionalEvaluate(world)[other.id][1])
def test_longitude_highway_unsafe(self):
"""
Checking Longitudinal Responses (true means safe)
"""
params = ParameterServer()
map = "bark/runtime/tests/data/city_highway_straight.xodr"
params["EvaluatorRss"]["MapFilename"] = map
map_interface = EvaluatorRSSTests.load_map(map)
world = World(params)
world.SetMap(map_interface)
goal_polygon = Polygon2d(
[0, 0, 0],
[Point2d(-1, -1),
Point2d(-1, 1),
Point2d(1, 1),
Point2d(1, -1)])
goal_polygon = goal_polygon.Translate(Point2d(1.8, 120))
# The safety distance seems more conservative than in the paper
# Hard coded
ego_state = np.array([0, 1.8, -60.0, np.pi / 2, 10])
other_state = np.array([0, 1.8, -68.0, np.pi / 2, 10])
ego = TestAgent(ego_state, goal_polygon, map_interface, params)
other = TestAgent(other_state, goal_polygon, map_interface, params)
world.AddAgent(ego)
world.AddAgent(other)
world.UpdateAgentRTree()
viewer = MPViewer(params=params, use_world_bounds=True)
viewer.drawWorld(world)
viewer.show(block=False)
evaluator_rss = EvaluatorRSS(ego.id, params)
pw_directional_evaluation_return = evaluator_rss.PairwiseDirectionalEvaluate(
world)
self.assertEqual(False, pw_directional_evaluation_return[other.id][0])
def test_lateral_merging_safe(self):
"""
Checking Lateral Responses (true means safe)
"""
params = ParameterServer()
map = "bark/runtime/tests/data/DR_DEU_Merging_MT_v01_centered.xodr"
params["EvaluatorRss"]["MapFilename"] = map
map_interface = EvaluatorRSSTests.load_map(map)
world = World(params)
world.SetMap(map_interface)
goal_polygon = Polygon2d(
[0, 0, 0],
[Point2d(-1, -1),
Point2d(-1, 1),
Point2d(1, 1),
Point2d(1, -1)])
goal_polygon = goal_polygon.Translate(Point2d(-15.4, 108.6))
# Hard coded
ego_state = np.array([0, 68.1, 108, -np.pi, 5])
other_state = np.array([0, 64.1, 105, -np.pi, 5])
ego = TestAgent(ego_state, goal_polygon, map_interface, params)
other = TestAgent(other_state, goal_polygon, map_interface, params)
world.AddAgent(ego)
world.AddAgent(other)
world.UpdateAgentRTree()
viewer = MPViewer(params=params, use_world_bounds=True)
viewer.drawWorld(world)
viewer.show(block=False)
evaluator_rss = EvaluatorRSS(ego.id, params)
world.AddEvaluator("rss", evaluator_rss)
pw_directional_evaluation_return = evaluator_rss.PairwiseDirectionalEvaluate(
world)
self.assertEqual(True, pw_directional_evaluation_return[other.id][1])