Function plot_sdc

src/utils/vis.py:267–309

(
    ax,
    center,
    heading,
    width,
    length,
    steer=0.0,
    color="pink",
    fill=True,
    wheel=True,
    **kwargs,
)

def plot_sdc(
    ax,
    center,
    heading,
    width,
    length,
    steer=0.0,
    color="pink",
    fill=True,
    wheel=True,
    **kwargs,
):
    vec_heading = np.array([np.cos(heading), np.sin(heading)])
    vec_tan = np.array([np.sin(heading), -np.cos(heading)])

    front_left_wheel = center + 1.419 * vec_heading + 0.35 * width * vec_tan
    front_right_wheel = center + 1.419 * vec_heading - 0.35 * width * vec_tan
    wheel_heading = heading + steer
    wheel_size = (0.8, 0.3)

    plot_box(
        ax, center, heading, color=color, fill=fill, bbox_size=(length, width), **kwargs
    )

    if wheel:
        plot_box(
            ax,
            front_left_wheel,
            wheel_heading,
            color="k",
            fill=True,
            bbox_size=wheel_size,
            **kwargs,
        )
        plot_box(
            ax,
            front_right_wheel,
            wheel_heading,
            color="k",
            fill=True,
            bbox_size=wheel_size,
            **kwargs,
        )


def plot_lane_area(ax, left_bound, right_bound, fc="silver", alpha=1.0, ec=None):