def get_geoms(model_details):
disk = shapely_rotate(
shapely_scale(Point(*model_details['disk']['mu']).buffer(1.0),
xfact=model_details['disk']['rEff'],
yfact=model_details['disk']['rEff'] *
model_details['disk']['axRatio']),
-np.rad2deg(model_details['disk']['roll'])
) if model_details['disk'] is not None else None
bulge = shapely_rotate(
shapely_scale(Point(*model_details['bulge']['mu']).buffer(1.0),
xfact=model_details['bulge']['rEff'],
yfact=model_details['bulge']['rEff'] *
model_details['bulge']['axRatio']),
-np.rad2deg(model_details['bulge']['roll'])
) if model_details['bulge'] is not None else None
bar = shapely_rotate(
box(
model_details['bar']['mu'][0] -
model_details['bar']['rEff'] / model_details['bar']['axRatio'],
model_details['bar']['mu'][1] - model_details['bar']['rEff'],
model_details['bar']['mu'][0] +
model_details['bar']['rEff'] / model_details['bar']['axRatio'],
model_details['bar']['mu'][1] + model_details['bar']['rEff'],
), -np.rad2deg(model_details['bar']['roll'])
) if model_details['bar'] is not None else None
return disk, bulge, bar
def _shape_of_vehicle(self, vehicle_id):
p = self._traci_conn.vehicle.getPosition(vehicle_id)
length = self._traci_conn.vehicle.getLength(vehicle_id)
width = self._traci_conn.vehicle.getWidth(vehicle_id)
heading = Heading.from_sumo(self._traci_conn.vehicle.getAngle(vehicle_id))
poly = shapely_box(p[0] - width * 0.5, p[1] - length, p[0] + width * 0.5, p[1],)
return shapely_rotate(poly, heading, use_radians=True)
def _shape_of_vehicle(self, sumo_vehicle_state, vehicle_id):
p = sumo_vehicle_state[vehicle_id][tc.VAR_POSITION]
length = sumo_vehicle_state[vehicle_id][tc.VAR_LENGTH]
width = sumo_vehicle_state[vehicle_id][tc.VAR_WIDTH]
heading = Heading.from_sumo(sumo_vehicle_state[vehicle_id][tc.VAR_ANGLE])
poly = shapely_box(p[0] - width * 0.5, p[1] - length, p[0] + width * 0.5, p[1],)
return shapely_rotate(poly, heading, use_radians=True)
def to_polygon(self) -> Polygon:
p = self.pose.position
d = self.dimensions
poly = shapely_box(
p[0] - d.width * 0.5,
p[1] - d.length * 0.5,
p[0] + d.width * 0.5,
p[1] + d.length * 0.5,
)
return shapely_rotate(poly, self.pose.heading, use_radians=True)
def make_box(comp):
if not comp or comp['axRatio'] == 0:
return None
return shapely_rotate(
box(
comp['mu'][0] - comp['rEff'] / 2 / comp['axRatio'],
comp['mu'][1] - comp['rEff'] / 2,
comp['mu'][0] + comp['rEff'] / 2 / comp['axRatio'],
comp['mu'][1] + comp['rEff'] / 2,
), -np.rad2deg(comp['roll']))
def to_polygon(self) -> Polygon:
"""Convert the chassis to a 2D shape."""
p = self.pose.as_position2d()
d = self.dimensions
poly = shapely_box(
p[0] - d.width * 0.5,
p[1] - d.length * 0.5,
p[0] + d.width * 0.5,
p[1] + d.length * 0.5,
)
return shapely_rotate(poly, self.pose.heading, use_radians=True)
def make_ellipse(comp):
if comp is None:
return None
return shapely_rotate(
shapely_scale(
Point(comp['mux'], comp['muy']).buffer(1.0),
xfact=comp['Re'] * comp['q'],
yfact=comp['Re']
),
comp['roll'],
use_radians=True,
)
def make_box(comp):
if comp is None:
return None
return shapely_rotate(
box(
comp['mux'] - comp['Re'] * comp['q'],
comp['muy'] - comp['Re'],
comp['mux'] + comp['Re'] * comp['q'],
comp['muy'] + comp['Re'],
),
comp['roll'],
use_radians=True,
)
def rotate(cell, angle, origin='center'):
rotated_cell = deepcopy(cell)
rotated_cell.center = shapely_rotate(cell.center, angle, origin)
rotated_cell.vertices = shapely_rotate(cell.vertices, angle, origin)
return rotated_cell
def ellipse_geom_from_zoo(a):
ellipse = shapely_rotate(
shapely_scale(Point(a['x'], a['y']).buffer(1.0),
xfact=a['rx'],
yfact=a['ry']), -a['angle'])
return ellipse
def bar_geom_from_zoo(a):
b = box(a['x'], a['y'], a['x'] + a['width'], a['y'] + a['height'])
return shapely_rotate(b, a['angle'])
def make_ellipse(comp):
return shapely_rotate(
shapely_scale(Point(*comp['mu']).buffer(1.0),
xfact=comp['rEff'],
yfact=comp['rEff'] * comp['axRatio']),
-np.rad2deg(comp['roll'])) if comp else None
