Stops all road vehicles behind the ego. Use `_start_road_back_vehicles` to make them move again.

Stops all road vehicles in front of the ego. Use `_start_road_front_vehicles` to make them move again.

This method returns the last successive intersection edge from a starting index on the route. This helps moving past tiny int

Disables all sources that are part of the ego's route

Prepares the junction mode, removing all road behaviours. Actors that are stopped via a scenario will still wait.

This method is in charge of tailgating behaviors. :param location: current location of the agent :param waypoint: cu

Run next tick of scenario and the agent and tick the world.

Run next tick of scenario and the agent. If running synchornously, it also handles the ticking of the world.

Turns off the lights of all object

Turns on the lights of all the objects close to the ego vehicle

This method returns the turn decision (RoadOption) for pair of edges around current index of route list

merge close ped crossings. Args: ped_geoms (list): list of Polygon Returns: union_ped_geoms

Checks the ego location to see if it has moved closer to the next route waypoint, updating its information. This never checks for bac

This method updates the information regarding the ego vehicle based on the surrounding world.

Handles an actor depending on their previous state. Actors entering the junction have its exit monitored through their waypoint. When

Checks the actor sources to see if new actors have to be created

Update the plan (waypoint list) of the LocalPlanner

Updates the opposite actors. This involves tracking their position, removing them if too far behind the ego.

Checks the opposite actor sources to see if new actors have to be created

Changes those parameters that have dynamic behaviors and / or that can be changed by external source. This is done using py_trees' Bl

Dynamically controls the actor speed in front of the ego. Not applied to those behind it so that they can catch up it

Manages the sources that spawn actors behind the ego. These are always behind the ego and will continuously spawn actors. The

Validate the given OpenSCENARIO catalog config against the 1.0 XSD Note: This will throw if the catalog config is not valid. But thi

Validate the given OpenSCENARIO config against the 1.0 XSD Note: This will throw if the config is not valid. But this is fine here.

Check that the current scenario configuration is valid

Method to check if there is a vehicle in front of the agent blocking its path. :param vehicle_list (list of carla.Vehicle): list

Writing to Junit XML

Write a machine-readable report to JSON The resulting report has the following format: { criteria: [

Check if a certain id is still at the simulation

Adds new blackboards to the list. Used by the runtime initialization of scenarios

Overwrites the throttle a brake values of a control to perform an emergency stop. The steering is kept the same to avoid going out of

Analyzes and prints the results of the route

This function is intended to be called from outside and provide the final statistics about the scenario (human-readable, in form of a

Get the smallest angle difference between 2 angles: the angle from y to x. :param x: To angle. :param y: From angle. :param period: P

Get dictionary with traffic light group info for a given traffic light

Computes one-to-one matching based on the weighted costs. This method assign each query prediction to a ground truth or

Parse catalog_reference, and replace all parameter references in entry_instance by the values provided in catalog_reference.

Computes the classification accuracy for the attribute of this class (if any). If the GT class has no attributes or the annotation is missing

Calculate average precision. Args: recalls (ndarray): shape (num_dets, ) precisions (ndarray): shape (num_dets, ) mode (

Private function to compute camera info camera info doesn't change over time

Calculated average precision.

Draws each vertex in vertices_pos2d if it is in front of the camera The color is based on whether the object is occluded or not. Retu

Method to calculate the velocity of a actor

Module in charge of car-following behaviors when there's someone in front of us. :param vehicle: car to follow

L2 distance between the box centers (xy only). :param gt_box: GT annotation sample. :param pred_box: Predicted sample. :return: L2 di

Calculate chamfer distance between two group of lines. Make sure the lines are interpolated. Args: pred_lines (array or tensor): sh

ego_box: tensor with shape [7], [x, y, z, w, l, h, yaw] boxes: tensor with shape [N, 7]

Checks that all route ids are present only once in the files

Checks that there is no missing data, by changing their route id to an integer

Check if the actor reached the end of the waypoint list returns: True if the end was reached, False otherwise.

Reset all parameters

This function triggers a proper termination of a scenario

Cleanes up the file

对轨迹数据进行自适应聚类，返回按簇大小排序的索引列表 参数： traj_array: 形状为[N,6,2]的轨迹数组 min_samples: DBSCAN的最小样本数参数 percentile: 用于自动计算eps的百分位数 返

对轨迹数据进行自适应聚类，返回按簇大小排序的索引列表 参数： traj_array: 形状为[N,6,2]的轨迹数组 min_samples: DBSCAN的最小样本数参数 percentile: 用于自动计算eps的百分位数 返

This module is in charge of warning in case of a collision and managing possible tailgating chances. :param location: cu

trajs: torch.Tensor (B, n_future, 3) gt_trajs: torch.Tensor (B, n_future, 3)

Euclidean distance between 3D points :param location_1, location_2: 3D points

reg_all: Tensor [B, M, T, 2] - 多模态预测轨迹 data: 包含 'gt_agent_fut_trajs'（list）和 'gt_agent_fut_masks'（list） return: -

Checks whether or not a carla.Waypoint is inside the junction

Convert a JSON string to a Carla.Location

Convert a JSON string to a Carla.Location

Convert an ElementTree.Element to a CARLA Location

Convert an ElementTree.Element to a CARLA Location

Convert an ElementTree.Element to a CARLA Location

Convert an ElementTree.Element to a CARLA transform

Convert an ElementTree.Element to a CARLA transform

Convert an OpenSCENARIO maneuver action into a Behavior atomic Note not all OpenSCENARIO actions are currently supported

Create info file of nuscene dataset. Given the raw data, generate its related info file in pkl format. Args: root_path (str): Path o

Create info file of nuscene dataset. Given the raw data, generate its related info file in pkl format. Args: root_path (str): Path o

Create info file of nuscene dataset. Given the raw data, generate its related info file in pkl format. Args: root_path (str): Path o

Create info file of nuscene dataset. Given the raw data, generate its related info file in pkl format. Args: root_path (str): Path o

Creates the output message

Creates the output message

Creates the basic route data. This is done at the beginning to ensure the data is saved, even if a crash occurs

Creates new S7 to S10 by moving 5 meters backwards from an already existing S4. They have to be manually added to the json file but informati

Encode bitmap mask to RLE code. Semantic Masks only Args: mask_results (list | tuple[list]): bitmap mask results. In mask scor