def resetExternalSampler(self):
"""Reset the scenario's external sampler, if any.
If the Python random seed is reset before calling this function, this
should cause the sequence of generated scenes to be deterministic."""
self.externalSampler = ExternalSampler.forParameters(
self.externalParams, self.params)
def __init__(self, workspace, simulator, objects, egoObject, params,
externalParams, requirements, requirementDeps, monitors,
behaviorNamespaces, dynamicScenario):
if workspace is None:
workspace = Workspace() # default empty workspace
self.workspace = workspace
self.simulator = simulator # simulator for dynamic scenarios
# make ego the first object, while otherwise preserving order
ordered = []
for obj in objects:
if obj is not egoObject:
ordered.append(obj)
self.objects = (egoObject, ) + tuple(ordered) if egoObject else tuple(
ordered)
self.egoObject = egoObject
self.params = dict(params)
self.externalParams = tuple(externalParams)
self.externalSampler = ExternalSampler.forParameters(
self.externalParams, self.params)
self.monitors = tuple(monitors)
self.behaviorNamespaces = behaviorNamespaces
self.dynamicScenario = dynamicScenario
staticReqs, alwaysReqs, terminationConds = [], [], []
self.requirements = tuple(
dynamicScenario._requirements) # TODO clean up
self.alwaysRequirements = tuple(dynamicScenario._alwaysRequirements)
self.terminationConditions = tuple(
dynamicScenario._terminationConditions)
self.terminateSimulationConditions = tuple(
dynamicScenario._terminateSimulationConditions)
self.initialRequirements = self.requirements + self.alwaysRequirements
assert all(req.constrainsSampling for req in self.initialRequirements)
# dependencies must use fixed order for reproducibility
paramDeps = tuple(p for p in self.params.values()
if isinstance(p, Samplable))
behaviorDeps = []
for namespace in self.behaviorNamespaces.values():
for value in namespace.values():
if isinstance(value, Samplable):
behaviorDeps.append(value)
self.dependencies = self.objects + paramDeps + tuple(
requirementDeps) + tuple(behaviorDeps)
self.validate()
def __init__(self, workspace, objects, egoObject, params, externalParams,
requirements, requirementDeps):
if workspace is None:
workspace = Workspace() # default empty workspace
self.workspace = workspace
ordered = []
for obj in objects:
ordered.append(obj)
if obj is egoObject: # make ego the first object
ordered[0], ordered[-1] = ordered[-1], ordered[0]
assert ordered[0] is egoObject
self.objects = tuple(ordered)
self.egoObject = egoObject
self.params = dict(params)
self.externalParams = tuple(externalParams)
self.requirements = tuple(requirements)
self.externalSampler = ExternalSampler.forParameters(
self.externalParams, self.params)
# dependencies must use fixed order for reproducibility
paramDeps = tuple(p for p in self.params.values()
if isinstance(p, Samplable))
self.dependencies = self.objects + paramDeps + tuple(requirementDeps)
self.validate()