Method dbTrajectory

limsim/simModel/egoTracking/interReplay.py:255–288

(self, vehid: str, currFrame: int)

        conn.close()

    def dbTrajectory(self, vehid: str, currFrame: int) -> dict:
        conn = sqlite3.connect(self.dataBase)
        cur = conn.cursor()
        cur.execute(
            """SELECT frame, x, y, yaw, speed, accel, laneID, lanePos, routeIdx FROM frameINFO 
            WHERE vid = '{}' AND frame >= {} AND frame < {};""".format(
                vehid, currFrame, currFrame + 50
            )
        )
        frameData = cur.fetchall()
        if frameData:
            # if the trajectory is segmented in time, only the data of the first
            # segment will be taken.
            validSeq = [frameData[0]]
            for i in range(len(frameData)-1):
                if frameData[i+1][0] - frameData[i][0] == 1:
                    validSeq.append(frameData[i+1])

            tState = []
            for vs in validSeq:
                state = State(
                    x=vs[1], y=vs[2], yaw=vs[3], vel=vs[4],
                    acc=vs[5], laneID=vs[6], s=vs[7], routeIdx=vs[8]
                )
                tState.append(state)
            dbTrajectory = Trajectory(states=tState)
        else:
            if vehid not in self.sr.vehINAoI.keys():
                self.sr.outOfRange.add(vehid)
            return

        cur.close()
        conn.close()
        return dbTrajectory

    def dbVType(self, vid: str):
        conn = sqlite3.connect(self.dataBase)