Method dbTrajectory

limsim/simModel/fixedScene/replay.py:80–118

(self, vehid: str, currFrame: int)

        self.tpEnd = 0

    def dbTrajectory(self, vehid: str, currFrame: int) -> Trajectory:
        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:
            self.lsr.outOfRange.add(vehid)
            return

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

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