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Eli Henry Dykhne
nuplan-devkit
Commits
c4b74285
Commit
c4b74285
authored
1 year ago
by
sacardoz
Committed by
Eli Henry Dykhne
1 year ago
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angle diff fix
parent
1ec2d197
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2 merge requests
!21
Major changes. convert nuplan devkit to handle occlusions for project
,
!18
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1 changed file
nuplan/planning/simulation/observation/ml_planner_agents.py
+4
-1
4 additions, 1 deletion
nuplan/planning/simulation/observation/ml_planner_agents.py
with
4 additions
and
1 deletion
nuplan/planning/simulation/observation/ml_planner_agents.py
+
4
−
1
View file @
c4b74285
from
collections
import
deque
from
copy
import
deepcopy
import
math
from
typing
import
Dict
,
List
,
Optional
,
Tuple
,
Type
import
numpy
as
np
...
...
@@ -17,6 +18,8 @@ from nuplan.common.geometry.transform import translate_longitudinally
from
nuplan.common.maps.abstract_map
import
AbstractMap
from
nuplan.common.maps.abstract_map_objects
import
LaneGraphEdgeMapObject
from
nuplan.database.utils.measure
import
angle_diff
from
nuplan.planning.scenario_builder.abstract_scenario
import
AbstractScenario
from
nuplan.planning.script.builders.occlusion_manager_builder
import
build_occlusion_manager
from
nuplan.planning.simulation.controller.motion_model.abstract_motion_model
import
AbstractMotionModel
...
...
@@ -510,7 +513,7 @@ class MLPlannerAgents(AbstractObservation):
ego_state_at_start
=
scenario
.
get_ego_state_at_iteration
(
0
)
if
self
.
_optimization_cfg
.
mixed_agent_heading_check
:
if
abs
(
ego_state_at_start
.
rear_axle
.
heading
-
agent
.
center
.
heading
)
<=
self
.
_optimization_cfg
.
mixed_agent_heading_check_range
:
if
abs
(
angle_diff
(
ego_state_at_start
.
rear_axle
.
heading
,
agent
.
center
.
heading
,
math
.
pi
*
2
)
)
<=
self
.
_optimization_cfg
.
mixed_agent_heading_check_range
:
return
"
idm
"
for
index
in
range
(
scenario
.
get_number_of_iterations
()):
...
...
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