From 4ea55ca9d9e9d023d17bff7582ca04646d7059ac Mon Sep 17 00:00:00 2001
From: sacardoz <sacardoz@uwaterloo.ca>
Date: Fri, 15 Dec 2023 03:52:42 -0500
Subject: [PATCH] renaming relevance _full_inference_distance
---
nuplan/planning/simulation/observation/ml_planner_agents.py | 5 ++---
1 file changed, 2 insertions(+), 3 deletions(-)
diff --git a/nuplan/planning/simulation/observation/ml_planner_agents.py b/nuplan/planning/simulation/observation/ml_planner_agents.py
index 8da67f7..3ebcc4e 100644
--- a/nuplan/planning/simulation/observation/ml_planner_agents.py
+++ b/nuplan/planning/simulation/observation/ml_planner_agents.py
@@ -45,8 +45,7 @@ class MLPlannerAgents(AbstractObservation):
self._agents: Dict = None
self._trajectory_cache: Dict = {}
self._inference_frequency: float = 0.2
- self._relevance_distance: float = 30
- self._cull_distance: float = 400
+ self._full_inference_distance: float = 30
self._agent_presence_threshold: float = 10
def reset(self) -> None:
@@ -138,7 +137,7 @@ class MLPlannerAgents(AbstractObservation):
if agent_token in self._trajectory_cache and \
(next_iteration.time_s - self._trajectory_cache[agent_token][0]) < self._inference_frequency and \
(((agent_data['ego_state'].center.x - history.current_state[0].center.x) ** 2 + \
- (agent_data['ego_state'].center.y - history.current_state[0].center.y) ** 2) ** 0.5) >= self._relevance_distance:
+ (agent_data['ego_state'].center.y - history.current_state[0].center.y) ** 2) ** 0.5) >= self._full_inference_distance:
trajectory = self._trajectory_cache[agent_token][1]
else:
history_input = self._build_history_input(agent_token, agent_data['ego_state'], history)
--
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