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Functions459 in github.com/Rex-sys-hk/PlanScope

⨍ Functions 459◇ Types & classes 70

Initializes the ML planner class. :param model: Model to use for inference.

src/planners/scope_planner.py:42

src/post_processing/observation/world_from_prediction.py:46

Number of geometries in the occupancy map :return: int

src/scenario_manager/occupancy_map.py:49

:return: String representation of class without expanding the fields.

src/custom_training/custom_training_builder.py:84

Method_check_end_condition

Check if the search should end regardless if the goal condition is met. :param depth: The current depth to check. :param targ

src/scenario_manager/utils/dijkstra.py:113

Function_compute_jerk_metric

Compute absolute jerk over batch-dim of simulated proposals :param states: array representation of ego state values :param time_steps_s:

src/post_processing/evaluation/comfort_metrics.py:265

Function_compute_lat_acceleration

Compute lateral acceleration over batch-dim of simulated proposals :param states: array representation of ego state values :param time_st

src/post_processing/evaluation/comfort_metrics.py:247

Function_compute_lon_acceleration

Compute longitudinal acceleration over batch-dim of simulated proposals :param states: array representation of ego state values :param ti

src/post_processing/evaluation/comfort_metrics.py:229

Function_compute_lon_jerk_metric

Compute longitudinal jerk over batch-dim of simulated proposals :param states: array representation of ego state values :param time_steps

src/post_processing/evaluation/comfort_metrics.py:286

Function_compute_yaw_accel

Compute acceleration of yaw-angle over batch-dim of simulated proposals :param states: array representation of ego state values :param ti

src/post_processing/evaluation/comfort_metrics.py:307

Function_compute_yaw_rate

Compute velocity of yaw-angle over batch-dim of simulated proposals :param states: array representation of ego state values :param time_s

src/post_processing/evaluation/comfort_metrics.py:325

Method_get_ego_head_position

(self, xy, angle)

src/feature_builders/pluto_feature_builder.py:804

Method_get_ego_head_position

(self, xy, angle)

src/feature_builders/scope_feature_builder.py:804

Method_get_interact_type

src/feature_builders/pluto_feature_builder.py:789

Method_get_interact_type

src/feature_builders/scope_feature_builder.py:789

Method_infer_model

Makes a single inference on a Pytorch/Torchscript model. :param features: dictionary of feature types :return: predicted tra

src/planners/pluto_planner.py:109

Method_infer_model

Makes a single inference on a Pytorch/Torchscript model. :param features: dictionary of feature types :return: predicted tra

src/planners/scope_planner.py:109

Method_init_weights

src/models/pluto/pluto_model.py:113

Method_init_weights

src/models/pluto/scope_model.py:131

Method_route_graph_search

(self, lane: LaneGraphEdgeMapObject, search_depth=15)

src/scenario_manager/route_manager.py:195

Inherited, see superclass.

src/data_augmentation/contrastive_scenario_generator.py:54

Inherited, see superclass.

src/data_augmentation/scope_scenario_generator.py:54

Methodaugmentation_probability

Inherited, see superclass.

src/data_augmentation/contrastive_scenario_generator.py:321

Methodaugmentation_probability

Inherited, see superclass.

src/data_augmentation/scope_scenario_generator.py:323

(cls, feature_list: List[ScopeFeature])

src/features/scope_feature.py:24

src/metrics/prediction_avg_ade.py:48

src/metrics/prediction_avg_fde.py:49

src/metrics/min_fde.py:43

src/metrics/min_ade.py:48

src/metrics/mr.py:41

Methodcompute_planner_trajectory

Infer relative trajectory poses from model and convert to absolute agent states wrapped in a trajectory. Inherited, see superclass.

src/planners/pluto_planner.py:153

Methodcompute_planner_trajectory

Infer relative trajectory poses from model and convert to absolute agent states wrapped in a trajectory. Inherited, see superclass.

src/planners/scope_planner.py:155

Methodconfigure_optimizers

Configures the optimizers and learning schedules for the training. :return: optimizer or dictionary of optimizers and schedules

src/models/pluto/scope_trainer.py:460

Methodconfigure_optimizers

Configures the optimizers and learning schedules for the training. :return: optimizer or dictionary of optimizers and schedules

src/models/pluto/pluto_trainer.py:401

Methoddeserialize

(cls, data: Dict[str, Any])

src/features/scope_feature.py:154

Methoddeserialize

Deserialize the type when loading from a string.

src/feature_builders/common.py:37

Methoddfs_search

(cur_lane: LaneGraphEdgeMapObject, visited: List, length)

src/scenario_manager/route_manager.py:154

Methoddrivable_area_map

src/scenario_manager/scenario_manager.py:69

Functionenable_grad

src/utils/utils.py:46

Methodfeature_and_targets_builder

Get feature and target builders.

src/custom_training/custom_datamodule.py:170

Methodfill_polyline

(self, mask, polyline, value=1)

src/scenario_manager/cost_map_manager.py:112

Methodfind_min_norm_element_FW

Given a list of vectors (vecs), this method finds the minimum norm element in the convex hull as min |u|_2 st. u = \sum c_i vecs[i] a

src/utils/min_norm_solvers.py:140

(self, outputs: Dict[str, torch.Tensor], data: Dict[str, torch.Tensor])

src/metrics/mul_ade.py:237

(self, outputs: Dict[str, torch.Tensor], data: Dict[str, torch.Tensor])

src/metrics/nll_loss.py:124

src/models/pluto/pluto_model.py:127

src/models/pluto/scope_model.py:145

tgt: (bs, R, M, dim) tgt_key_padding_mask: (bs, R)

src/models/pluto/modules/planning_decoder.py:42

(self, data, enc_data)

src/models/pluto/modules/planning_decoder.py:135

src/models/pluto/modules/static_objects_encoder.py:17

src/models/pluto/modules/agent_encoder.py:54

src/models/pluto/modules/agent_encoder.py:111

x: (bs, N, dim)

src/models/pluto/modules/agent_predictor.py:17

tgt: (bs, R, M, dim) tgt_key_padding_mask: (bs, R)

src/models/pluto/modules/hierachical_decoder.py:42

(self, data, enc_data)

src/models/pluto/modules/hierachical_decoder.py:162

src/models/pluto/modules/map_encoder.py:31

src/models/pluto/layers/mlp_layer.py:15

( self, continuous_inputs: Optional[torch.Tensor], )

src/models/pluto/layers/fourier_embedding.py:45

src/models/pluto/layers/transformer.py:31

( self, src, mask: Optional[Tensor] = None, key_padding_mask: Optional[Tensor]

src/models/pluto/layers/transformer.py:73

( self, x, memory, mask: Optional[Tensor] = None, key_padding_mask: Op

src/models/pluto/layers/transformer.py:131

( self, tgt, memory, tgt_mask: Optional[Tensor] = None, memory_mask: O

src/models/pluto/layers/transformer.py:262

src/models/pluto/layers/embedding.py:62

src/models/pluto/layers/embedding.py:100

src/models/pluto/layers/embedding.py:115

src/models/pluto/layers/embedding.py:138

src/models/pluto/layers/embedding.py:189

src/models/pluto/layers/embedding.py:246

x : B M 3 mask: B M ----------------- feature_global : B C

src/models/pluto/layers/embedding.py:271

trajectory: (bs, T, 4) - [x, y, cos0, sin0] sdf: (bs, H, W)

src/models/pluto/loss/esdf_collision_loss.py:34

Methodfrom_scenario

(cls, scenario: AbstractScenario)

src/scenario_manager/cost_map_manager.py:42

Methodgenerate_planner_report

Inherited, see superclass.

src/planners/pluto_planner.py:435

Methodgenerate_planner_report

Inherited, see superclass.

src/planners/scope_planner.py:436

Functionget_activation_fn

Return an activation function given a string

src/models/pluto/layers/transformer.py:296

Methodget_class

src/feature_builders/pluto_feature_builder.py:91

Methodget_class

src/feature_builders/scope_feature_builder.py:91

Functionget_ego_corners

rear_axle_xy: [T, x, y]

src/feature_builders/common.py:95

Methodget_feature_type

Inherited, see superclass.

src/feature_builders/pluto_feature_builder.py:87

Methodget_feature_type

Inherited, see superclass.

src/feature_builders/scope_feature_builder.py:87

Methodget_feature_unique_name

Inherited, see superclass.

src/feature_builders/pluto_feature_builder.py:95

Methodget_feature_unique_name

Inherited, see superclass.

src/feature_builders/scope_feature_builder.py:95

Methodget_features_from_scenario

( self, scenario: AbstractScenario, iteration=0, )

src/feature_builders/pluto_feature_builder.py:99

Methodget_features_from_scenario

( self, scenario: AbstractScenario, iteration=0, )

src/feature_builders/scope_feature_builder.py:99

Methodget_features_from_simulation

( self, current_input: PlannerInput, initialization: PlannerInitialization )

src/feature_builders/scope_feature_builder.py:158

Methodget_init_lr

src/optim/warmup_cos_lr.py:35

src/optim/warmup_cos_lr.py:39

Methodget_reference_lines

(self, length=100)

src/scenario_manager/scenario_manager.py:229

Methodget_schedulable_attributes

Inherited, see superclass.

src/data_augmentation/contrastive_scenario_generator.py:330

Methodget_schedulable_attributes

Inherited, see superclass.

src/data_augmentation/scope_scenario_generator.py:332

Functionget_sub_polygon

(polygon: Polygon, ratio=0.4)

src/post_processing/common/geometry.py:70

Methodget_subset_by_intersection

(self, geometry: Geometry)

src/scenario_manager/occupancy_map.py:89

Methodget_subset_by_type

src/scenario_manager/occupancy_map.py:95

Functiongradient_normalizers

(grads, losses, normalization_type)

src/utils/min_norm_solvers.py:184

Methodinitialize

Inherited, see superclass.

src/planners/pluto_planner.py:122

Methodinitialize

Inherited, see superclass.

src/planners/scope_planner.py:122

Functioninterpolate_polyline

copy from av2-api

src/feature_builders/common.py:52

src/features/pluto_feature.py:161

src/features/scope_feature.py:161

Functionload_checkpoint

src/utils/utils.py:87

Inherited, see superclass.

src/planners/pluto_planner.py:145

Inherited, see superclass.

src/planners/scope_planner.py:147

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