Class Trajectory

limsim/utils/trajectory.py:164–327

Trajectory class.

@dataclass
class Trajectory:
    """Trajectory class."""

    states: list[State] = field(default_factory=list)
    cost: float = 0.0

    def __len__(self):
        return len(self.states)

    def pop_last_state(self) -> tuple:
        """
        return the last state of the trajectory:
        x, y, yaw, vel, acc, laneID, lanPos
        """
        last_state = self.states.pop(0)
        return last_state.x, last_state.y, last_state.yaw, last_state.vel, last_state.acc

    def pop_last_state_r(self) -> tuple:
        """
        return the last state of the trajectory for replay model:
        x, y, yaw, vel, acc, laneID, lanPos, routeIdx
        """
        last_state = self.states.pop(0)
        return last_state.x, last_state.y, last_state.yaw, last_state.vel, last_state.acc, last_state.laneID, last_state.s, last_state.routeIdx

    @property
    def xQueue(self) -> deque[float]:
        return deque([state.x for state in self.states])

    @property
    def yQueue(self) -> deque[float]:
        return deque([state.y for state in self.states])

    @property
    def yawQueue(self) -> deque[float]:
        return deque([state.yaw for state in self.states])

    @property
    def velQueue(self) -> deque[float]:
        return deque([state.vel for state in self.states])

    @property
    def accQueue(self) -> deque[float]:
        return deque([state.acc for state in self.states])

    @property
    def laneIDQueue(self) -> deque[str]:
        return deque([state.laneID for state in self.states])

    @property
    def lanePosQueue(self) -> deque[float]:
        return deque([state.s for state in self.states])

    @property
    def routeIdxQueue(self) -> deque[float]:
        return deque([state.routeIdx for state in self.states])

    @staticmethod