Clears the junction, and all subsequent actors that enter it

Compute the type of topological connection between an active waypoint (current_waypoint) and a target waypoint (next_waypoint). :param c

Add new waypoints to the trajectory queue. :param k: how many waypoints to compute :return:

Computes the parameters that are dependent on the speed of the ego.

Update collision count

Callback to update lane invasion count

Pure virtual function to setup user-defined scenario behavior

Creates the cones at the side

Create construction setup

We can make use of the blackboard variables used by the behaviors themselves, as we already have an atomic that handles their (de)act

We can make use of the blackboard variables used by the behaviors themselves, as we already have an atomic that handles their (de)act

Extracts the junctions the ego vehicle will pass through.

Default empty initialization of the lights behavior, responsible of controlling the street lights during the simulation. Over

Pure virtual function to setup the metrics by the user. Args: town_map (carla.Map): Map of the simulation. Used to acces

Pure virtual function to setup user-defined evaluation criteria for the scenario

Default initialization of the timeout behavior. Override this method in child class to provide custom initialization.

Default empty initialization of the weather behavior, responsible of controlling the weather during the simulation. Override

Draw a list of waypoints at a certain height given in vertical_shift.

Draw a list of waypoints at a certain height given in vertical_shift.

Destroys unneeded actors (those that aren't part of the route's road), moving the rest to other data structures and cleaning up the v

Estimate the duration of the route, as a proportinal value of its length

Evaluation for a single model in nuScenes protocol. Args: result_path (str): Path of the result file. logger (logging

Evaluation for a single model in nuScenes protocol. Args: result_path (str): Path of the result file. logger (logging

Increases the space left by the exit vehicles at a specific road

Generate the train/val infos from the raw data. Args: nusc (:obj:`NuScenes`): Dataset class in the nuScenes dataset. train_scenes

Generate the train/val infos from the raw data. Args: nusc (:obj:`NuScenes`): Dataset class in the nuScenes dataset. train_scenes

Generate the train/val infos from the raw data. Args: nusc (:obj:`NuScenes`): Dataset class in the nuScenes dataset. train_scenes

Generate the train/val infos from the raw data. Args: nusc (:obj:`NuScenes`): Dataset class in the nuScenes dataset. train_scenes

Filters fake junctions. A fake junction is that which has no intersecting maneuvers (i.e, no two maneuvers start / end at the same la

Given a list of scenarios, filters out does that don't make sense to be triggered, as they are either too far from the route or don't

Given a list of scenarios, filters out does that don't make sense to be triggered, as they are either too far from the route or don't

This method finds road segments that have an unconnected end, and adds them to the internal graph representation

Get the initial actor transform provided by the Init section Note: - The OpenScenario specification allows multiple definitions. We

Gets the accumulated percentage of each of the route transforms

Processes the driving wp to get a waypoint at the side that looks at the road

Function to hardcode the topology of some complex junctions. This is done for the roundabouts, as the current API doesn't offer that

Parses the criteria argument into a dictionary

Calculates the transforming such that the actor is at the sidemost part of the lane

Gets a list of entry-exit lanes of the fake junctions

Convert the vehicle transform directly to forward speed

Gets all the junctions the ego passes through

Convert from waypoints world coordinates to CARLA GPS coordinates :return: tuple with lat and lon coordinates

Convert from waypoints world coordinates to CARLA GPS coordinates :return: tuple with lat and lon coordinates

Function to extract the metrics class from the path given by the metrics argument. Returns the first class found that is a child of B

Check wheather or not the street lights need to be turned on

Spawn parked vehicles.

Parses the log argument into readable information

Returns the name of the map the simulation took place in

Gets the route from the configuration, interpolating it to the desired density, saving it to the CarlaDataProvider and sending it to

Gets the route from the configuration, interpolating it to the desired density, saving it to the CarlaDataProvider and sending it to

Extract the information from the route

Calculate the accumulated distance percentage at each point in the route

Get scenario class by scenario name If scenario is not supported or not found, exit script

Gets the first waypoint after the junction. This method depends on the subtype of VehicleTurning scenario

Get the traffic light of the junction, mapping their states

Get the traffic light of the junction, mapping their states

Processes the driving wp to get a waypoint at the side that looks at the road

Returns a list of waypoints starting from the ego location and a set amount forward

Adapts the BA to the junction scenario by clearing the junction, its entries, exits, and by extending the road exit to add more space

Controller initialization

Moves the actors currently at the exit lane of the last junction to entry actors of the newly created junction

Computes and stores the max capacity of the exit. Prepares the behavior of the next road by creating actors at the route exit, and th

Initializes the actor sources to ensure the junction is always populated. They are placed at certain distance from the junction, but

Initialises the road behavior, consisting on several vehicle in front of the ego, and several on the back and are only spawned outsid

Default initialization of other actors. Override this method in child class to provide custom initialization.

Custom initialization

Custom initialization

Default initialization of other actors. Override this method in child class to provide custom initialization.

Default initialization of other actors. Override this method in child class to provide custom initialization.

Default initialization of weather and road friction. Override this method in child class to provide custom initialization.

Parse ParameterAction from Init and update global osc parameters.

Detects if the ego_vehicle has invaded a wrong lane

Detects if the ego_vehicle is outside driving lanes

Joins complex junctions into one. This makes it such that all the junctions, as well as their connecting lanes, are treated as the sa

Parses the json file into a list of carla.VehicleControl

This method places zero cost links in the topology graph representing availability of lane changes.