| 355 | |
| 356 | #------------------------------------------ utility ------------------------------------------# |
| 357 | def _create_dynamics(self): |
| 358 | if self._dynamics_type in ["Unicycle", dynamics.DynType.UNICYCLE]: |
| 359 | self.dyn = dynamics.Unicycle( |
| 360 | "dynamics", |
| 361 | max_steer=self._dynamics_kwargs["max_steer"], |
| 362 | max_yawvel=self._dynamics_kwargs["max_yawvel"], |
| 363 | acce_bound=self._dynamics_kwargs["acce_bound"] |
| 364 | ) |
| 365 | else: |
| 366 | self.dyn = None |
| 367 | |
| 368 | def get_aux_info(self, data_batch, plan=None, include_class_free_cond=False): |
| 369 | N = data_batch["history_positions"].size(0) |