(self, walkers_list)
| 375 | return any(x is not None for x in [vehicle, walker]) |
| 376 | |
| 377 | def _is_walker_hazard(self, walkers_list): |
| 378 | z = self._ego_vehicle.get_location().z |
| 379 | p1 = _numpy(self._ego_vehicle.get_location()) |
| 380 | v1 = 10.0 * _orientation(self._ego_vehicle.get_transform().rotation.yaw) |
| 381 | |
| 382 | for walker in walkers_list: |
| 383 | v2_hat = _orientation(walker.get_transform().rotation.yaw) |
| 384 | s2 = np.linalg.norm(_numpy(walker.get_velocity())) |
| 385 | |
| 386 | if s2 < 0.05: |
| 387 | v2_hat *= s2 |
| 388 | |
| 389 | p2 = -3.0 * v2_hat + _numpy(walker.get_location()) |
| 390 | v2 = 8.0 * v2_hat |
| 391 | |
| 392 | collides, collision_point = get_collision(p1, v1, p2, v2) |
| 393 | |
| 394 | if collides: |
| 395 | return walker |
| 396 | |
| 397 | return None |
| 398 | |
| 399 | def _is_vehicle_hazard(self, vehicle_list): |
| 400 | z = self._ego_vehicle.get_location().z |
no test coverage detected