(self)
| 112 | (self.save_path / 'bev').mkdir() |
| 113 | |
| 114 | def _init(self): |
| 115 | self._waypoint_planner = RoutePlanner(4.0, 50) |
| 116 | self._waypoint_planner.set_route(self._plan_gps_HACK, True) |
| 117 | |
| 118 | self._command_planner = RoutePlanner(7.5, 25.0, 257) |
| 119 | self._command_planner.set_route(self._global_plan, True) |
| 120 | |
| 121 | self._route_planner = RoutePlanner(4.0, 50.0) |
| 122 | self._route_planner.set_route(self._global_plan, True) |
| 123 | |
| 124 | self._world = CarlaDataProvider.get_world() |
| 125 | self._map = self._world.get_map() |
| 126 | self._ego_vehicle = CarlaDataProvider.get_ego() |
| 127 | self._last_route_location = self._ego_vehicle.get_location() |
| 128 | self._criteria_stop = run_stop_sign.RunStopSign(self._world) |
| 129 | self.birdview_obs_manager = ObsManager(self.cfg['obs_configs']['birdview'], self._criteria_stop) |
| 130 | self.birdview_obs_manager.attach_ego_vehicle(self._ego_vehicle) |
| 131 | |
| 132 | self.navigation_idx = -1 |
| 133 | |
| 134 | |
| 135 | # for stop signs |
| 136 | self._target_stop_sign = None # the stop sign affecting the ego vehicle |
| 137 | self._stop_completed = False # if the ego vehicle has completed the stop sign |
| 138 | self._affected_by_stop = False # if the ego vehicle is influenced by a stop sign |
| 139 | |
| 140 | TrafficLightHandler.reset(self._world) |
| 141 | print("initialized") |
| 142 | |
| 143 | self.initialized = True |
| 144 | |
| 145 | def _get_angle_to(self, pos, theta, target): |
| 146 | R = np.array([ |
no test coverage detected