| 214 | return vType[0] |
| 215 | |
| 216 | def initVeh(self, vid: str, currFrame: int) -> Vehicle | egoCar: |
| 217 | dbTrajectory = self.dbTrajectory(vid, currFrame) |
| 218 | if vid == self.egoID: |
| 219 | veh = egoCar(vid) |
| 220 | else: |
| 221 | veh = Vehicle(vid) |
| 222 | veh.dbTrajectory = dbTrajectory |
| 223 | |
| 224 | vType = self.dbVType(vid) |
| 225 | length, width, maxAccel, maxDecel, maxSpeed, vTypeID, routes = vType |
| 226 | veh.length = length |
| 227 | veh.width = width |
| 228 | veh.maxAccel = maxAccel |
| 229 | veh.maxDecel = maxDecel |
| 230 | veh.maxSpeed = maxSpeed |
| 231 | veh.vTypeID = vTypeID |
| 232 | veh.routes = routes.split(' ') |
| 233 | |
| 234 | return veh |
| 235 | |
| 236 | def setDBTrajectory(self, veh: Vehicle | egoCar): |
| 237 | dbTrajectory = self.dbTrajectory(veh.id, self.timeStep) |