Given frenet coordinate (pos_s, 0), compute its cartesian coordinate. Args: pos_s (float): longitudinal coordinate Retur

compute the yaw angle in frenet coordinate (pos_s, 0) Args: pos_s (float): longitudinal coordinate Returns:

Given the cartesian coordinate (pos_x, pos_y), computes its frenet coordinate Args: pos_x (float): x coordinate pos_y

Given the frenet coordinate (pos_s, pos_d), compute its cartesian coordinate Args: pos_s (float): longitudinal coordinate

compute the curvature at position (pos_s, 0) Args: pos_s (float): longitudinal coordinate Returns: float: cu

Given x coordinate, use Spline to approximate dy/dx at x Args: pos_x (float): x coordinate Returns: float: a

This function plans the trajectories of vehicles in a given roadgraph. It takes in the total time T, the roadgraph, and the vehicles

edge: 某个方向几条车道的集合

Given x coordinate, use Spline to approximate d^2y/dx^2 at x Args: pos_x (float): x coordinate Returns: floa

Check if there is a collision between ego vehicle and obstacle. Args: ego_center (np.ndarray): The center coordinates of the ego veh

find the closest frenet coordinate on reference line, i.e. argmin_{s} (x(s, 0) - pos_x)^2 + (y(s, 0) - pos_y)^2 where x(s, 0), y

check if two rectangles intersects (in collision) Args: other_rectangle (Rectangle): another rectangle Returns:

return the last state of the trajectory for replay model: x, y, yaw, vel, acc, laneID, lanPos, routeIdx

Given x coordinate, use Spline to approximate y coordinate Args: pos_x (float): x coordinate Returns: float:

Creates a new Vehicle instance based on the provided information. Args: vehicle_info (Dict): Information about the vehicle.

Rotate the yaw angle. Args: yaw (float): The yaw angle in radians. Returns: np.ndarray: The rotation matrix for the giv

Given x coordinate, use Spline to approximate d^3y/dx^3 at x Args: pos_x (float): x coordinate Returns: floa

Converts a given state from Cartesian coordinates to Frenet coordinates. Args: rs (float): The s coordinate of the reference poi

Change the vehicle to the next lane.

Get the coordinates of corners of a rectangle Returns: List[np.ndarray]: an array of shape (4, 2) each of them repres