Function plot_box

src/utils/vis.py:83–115

(
    ax: plt.Axes,
    cur_location: np.ndarray,
    heading: float,
    color: str,
    bbox_size: Tuple[float, float],
    alpha=1.0,
    label=None,
    zorder=50,
    fill=True,
    **kwargs,
)

def plot_box(
    ax: plt.Axes,
    cur_location: np.ndarray,
    heading: float,
    color: str,
    bbox_size: Tuple[float, float],
    alpha=1.0,
    label=None,
    zorder=50,
    fill=True,
    **kwargs,
) -> None:
    (bbox_length, bbox_width) = bbox_size

    # Compute coordinate for pivot point of bounding box
    d = np.hypot(bbox_length, bbox_width)
    theta_2 = math.atan2(bbox_width, bbox_length)
    pivot_x = cur_location[0] - (d / 2) * math.cos(heading + theta_2)
    pivot_y = cur_location[1] - (d / 2) * math.sin(heading + theta_2)

    vehicle_bounding_box = Rectangle(
        xy=(pivot_x, pivot_y),
        width=bbox_length,
        height=bbox_width,
        angle=np.degrees(heading),
        fc=color if fill else "none",
        ec="dimgrey",
        alpha=alpha,
        label=label,
        zorder=zorder,
        **kwargs,
    )
    ax.add_patch(vehicle_bounding_box)


def plot_polygon(