This module is in charge of warning in case of a collision and managing possible overtaking or tailgating chances. :para

Compare function for scenarios based on distance of the scenario start position

Compare function for scenarios based on distance of the scenario start position

Euclidean distance between 3D points :param location_1, location_2: 3D points

Compute the current statistics by evaluating all relevant scenario criteria

Predicts vehicle control with a PID controller. Args: waypoints (tensor): output of self.plan() velocity (tensor): sp

Convert a JSON string to an ActorConfigurationData dictionary

Convert a JSON string to an ActorConfigurationData dictionary

Convert a JSON string to a CARLA transform

Convert a JSON string to a CARLA transform

Convert an OpenSCENARIO maneuver action into a Behavior atomic Note not all OpenSCENARIO actions are currently supported

Convert waypoint values to float

Convert waypoint values to float

Generate frustum

Creates the output message

Creates the output message

Test model with multiple gpus. This method tests model with multiple gpus and collects the results under two different modes: gpu and cpu mo

A function wrapper for launching model training according to cfg. Because we need different eval_hook in runner. Should be deprecated in the

This function identifies if an obstacle is present in front of the reference actor

Returns the 2D distance from a waypoint to a vehicle :param waypoint: actual waypoint :param vehicle_transform: transform of the

Check whether the agent has reached its destination. :return bool

Downsample the route by some factor. :param route: the trajectory , has to contain the waypoints and the road options :param sample_facto

This method follow waypoints to a junction @returns a waypoint list according to turn input

This method follow waypoints to a junction and choose path based on turn input. Turn input: LEFT -> -1, RIGHT -> 1, STRAIGHT -> 0 @return

Get feature maps from images.

Input: gt_depths: [B, N, H, W] Output: gt_depths: [B*N*h*w, d]

Transfer points from camera coord to ego coord. Args: rots(Tensor): Rotation matrix from camera to ego. trans(Tensor)

Get the actor object of the hero actor if it exists, returns none otherwise.

Get timestamp of the last issued longitudinal control command (target_speed) returns: Timestamp of last longitudinal con

vehicle: carla.Vehicle

Parse *all* config files and provide a list with all scenarios @return

Extract the route from the OSC XML or a catalog Args: xml_tree: Containing the route information, or the

Some scenarios have different types depending on the route. :param scenario: the scenario name :param match_position: the mat

Some scenarios have different types depending on the route. :param scenario: the scenario name :param match_position: the mat

Checks the list of possible altered traffic lights and gets the first one that exists in the intersection Important paramete

get area of a given traffic light

Get the port of the traffic manager.

Returns the vehicle lights of the vehicle at a specific frame.

Calculates the time the ego traffic light will remain red to let vehicles enter the junction

Set current time to current CARLA time

Given some raw keypoints interpolate a full dense trajectory to be used by the user. Args: world: an reference to the CARLA world so

Given some raw keypoints interpolate a full dense trajectory to be used by the user. returns the full interpolated route both in GPS coordina

Given some raw keypoints interpolate a full dense trajectory to be used by the user. :param world: an reference to the CARLA world so we

This function filters false negative Shoulder which are in reality Parking lanes. These are differentiated from the others because, similar t

check if vehicle crosses a line segment

Check if a target object is within a certain distance from a reference object. A vehicle in front would be something around 0 deg, while one

Load a new scenario

Load a new scenario

:param target_loc_in_global: carla.Location in global coordinate (world, actor) :param ref_trans_in_global: carla.Transform in global coordin

Locate each waypoint of the route into gps, (lat long ) representations. :param route: :param lat_ref: :param lon_ref: :retur

Locate each waypoint of the route into gps, (lat long ) representations. :param route: :param lat_ref: :param lon_ref: :retur

main function