(actor)
| 376 | return carla.Vector2D(v.x, v.y) |
| 377 | |
| 378 | def get_bounding_box_corners(actor): |
| 379 | bbox = actor.bounding_box |
| 380 | loc = carla.Vector2D(bbox.location.x, bbox.location.y) + get_position(actor) |
| 381 | forward_vec = get_forward_direction(actor).make_unit_vector() |
| 382 | sideward_vec = forward_vec.rotate(np.deg2rad(90)) |
| 383 | half_y_len = bbox.extent.y |
| 384 | half_x_len = bbox.extent.x |
| 385 | corners = [loc - half_x_len * forward_vec + half_y_len * sideward_vec, |
| 386 | loc + half_x_len * forward_vec + half_y_len * sideward_vec, |
| 387 | loc + half_x_len * forward_vec - half_y_len * sideward_vec, |
| 388 | loc - half_x_len * forward_vec - half_y_len * sideward_vec] |
| 389 | return corners |
| 390 | |
| 391 | def get_vehicle_bounding_box_corners(actor): |
| 392 | bbox = actor.bounding_box |
no test coverage detected