simulation.src.simulation_evaluation.src.speaker.speakers package

The speakers package contains all speaker classes.

The common base class is Speaker. The speakers are used to combine the current CarState with known groundtruth information.

Submodules:

• simulation.src.simulation_evaluation.src.speaker.speakers.area module
• simulation.src.simulation_evaluation.src.speaker.speakers.broadcast module
• simulation.src.simulation_evaluation.src.speaker.speakers.event module
• simulation.src.simulation_evaluation.src.speaker.speakers.speaker module
• simulation.src.simulation_evaluation.src.speaker.speakers.speed module
• simulation.src.simulation_evaluation.src.speaker.speakers.zone module

Subpackages:

• simulation.src.simulation_evaluation.src.speaker.speakers.test package

Summary

__all__ Classes:

AreaSpeaker	Check in which area of the road the vehicle is (e.g.
BroadcastSpeaker	Keep high level information about the drive (e.g.
EventSpeaker	Find events that happen during a drive e.g collision, parked in spot.
Speaker	Base class for all speakers.
SpeedSpeaker	Publish information about the cars speed.
ZoneSpeaker	Information about the zone of the road the car is in.

class Speaker(*, section_proxy: Callable[], List[simulation_groundtruth.msg._Section.Section]], lane_proxy: Callable[[int], simulation_groundtruth.msg._Lane.Lane], obstacle_proxy: Optional[Callable[[int], List[simulation_groundtruth.msg._LabeledPolygon.LabeledPolygon]]] = None, surface_marking_proxy: Optional[Callable[[int], List[simulation_groundtruth.msg._LabeledPolygon.LabeledPolygon]]] = None, intersection_proxy: Optional[Callable[[int], Any]] = None, sign_proxy: Optional[Callable[[int], List[simulation_groundtruth.msg._LabeledPolygon.LabeledPolygon]]] = None)

Base class for all speakers.

This class is part of the evaluation pipeline used to automatically evaluate the cars behavior in simulation. It converts information about the cars state and the predefined groundtruth into SpeakerMsg’s which serve as inputs for the state machines.

Information is passed to the speaker by calling the Speaker.listen() function

with a new CarState msg.

Output can be retrieved in form of Speaker msgs by calling the .speak function.

sections

List of all sections as SectionMsgs

Type

Callable[[], List[SectionMsg]]

get_lanes

Get LaneMsg for a given section

Type

Callable[[int], LaneMsg]

get_obstacles

Get ObstacleMsg for a given section

Type

Callable[[int], List[LabeledPolygonMsg]]

get_intersection

Get intersections for a given section

Type

Callable[[int], Any]

listen(msg: gazebo_simulation.msg._CarState.CarState)

Receive information about current observations and update internal values.

speak() → List[simulation_evaluation.msg._Speaker.Speaker]

Speak about the current observations.

property middle_line

Complete middle line.

property left_line

Complete left line.

property right_line

Complete right line.

property arc_length

Position of the car projected on the middle line (== Length driven so far).

property section_intervals

Get (start,end) intervals of all sections.

property current_section

Get the current section.

Returns

SectionMsg of the current.

get_road_lines(section_id: int) → simulation.utils.road.sections.line_tuple.LineTuple

Request and return the road lines of a single section.

Parameters

section_id (int) – id of the section

Returns

LineTuple of the section as a named tuple.

_get_labeled_polygons(proxy: Callable[[int], List[simulation_groundtruth.msg._LabeledPolygon.LabeledPolygon]], section_id: int) → List[simulation.src.simulation_evaluation.src.speaker.speakers.speaker.LabeledSpeakerPolygon]

Get all objects inside a section returned by a service.

Parameters

• proxy – Service receiver function

• section_id – id of the section

Returns

List of tuples containing id, description, polygon, and height.

get_obstacles_in_section(section_id: int) → List[simulation.src.simulation_evaluation.src.speaker.speakers.speaker.LabeledSpeakerPolygon]

Get all obstacles in a section.

get_traffic_signs_in_section(section_id: int) → List[simulation.src.simulation_evaluation.src.speaker.speakers.speaker.LabeledSpeakerPolygon]

Get all traffic_signs inside section.

get_surface_markings_in_section(section_id: int) → List[simulation.src.simulation_evaluation.src.speaker.speakers.speaker.LabeledSpeakerPolygon]

Get all surface_markings inside a section.

get_interval_for_polygon(*polygons: Iterable[simulation.utils.geometry.polygon.Polygon]) → Tuple[float, float]

Get start and end points of the polygons.

Parameters

polygon – The polygon.

Returns

Start and end point for each polygon as a tuple

car_is_inside(*polygons: Iterable[simulation.utils.geometry.polygon.Polygon], min_wheel_count: Optional[int] = None) → bool

Check if the car is currently inside one of the polygons.

The car can also be in the union of the provided polygons.

Parameters

• polygons – The polygons.

• min_wheel_count – If provided it is enough for a given number of wheels to be inside the polygons (e.g. 3 wheels inside parking spot)

wheel_count_inside(*polygons: Iterable[simulation.utils.geometry.polygon.Polygon], in_total: bool = False) → int

Get the maximum number of wheels inside one of the polygons.

Parameters

• polygons – The polygons.

• in_total – If true, the number of wheels are summed up

car_overlaps_with(*polygons: Iterable[simulation.utils.geometry.polygon.Polygon]) → bool

Decide if the car overlaps with any of the polygons.

Parameters

polygons – The polygons.

class EventSpeaker(*, section_proxy: Callable[], List[simulation_groundtruth.msg._Section.Section]], lane_proxy: Callable[[int], simulation_groundtruth.msg._Lane.Lane], obstacle_proxy: Callable[[int], List[simulation_groundtruth.msg._LabeledPolygon.LabeledPolygon]], surface_marking_proxy: Callable[[int], List[simulation_groundtruth.msg._LabeledPolygon.LabeledPolygon]], parking_proxy: Callable[[int], Any], parking_spot_buffer: float, min_parking_wheels: int)

Find events that happen during a drive e.g collision, parked in spot.

property parking_spots

Return all parking spots as a list of polygons.

property obstacles

All obstacles as a list of polygons.

property blocked_areas

All blocked_areas as a list of polygons.

speak() → List[simulation_evaluation.msg._Speaker.Speaker]

Return a list of SpeakerMsgs.

Contents:

• Collision with an obstacle -> Speaker.COLLISION,

• inside a parking spot -> Speaker.PARKING_SPOT

class AreaSpeaker(*, section_proxy: Callable[], List[simulation_groundtruth.msg._Section.Section]], lane_proxy: Callable[[int], simulation_groundtruth.msg._Lane.Lane], parking_proxy: Callable[[int], Any], min_wheel_count: int, area_buffer: int)

Check in which area of the road the vehicle is (e.g. right corridor, parking lot).

property left_corridor

Concatenated left corridor from all sections.

property right_corridor

Concatenated right corridor from all sections.

property parking_lots

Return all parking bays as a list of polygons.

speak()

Return a list of SpeakerMsgs.

With one of the following messages.

Contents:

• Right lane -> Speaker.RIGHT_LANE,

• right or left lange -> Speaker.LEFT_LANE,

• right, left lane or parking lot -> Speaker.PARKING_LOT,

• None of the above -> Speaker.OFF_ROAD

class SpeedSpeaker(time: float = 0, speed_factor: float = 36.0, stop_threshold: float = 1, halt_time: float = 1, stop_time: float = 3)

Publish information about the cars speed.

speak(current_time: Optional[float] = None) → List[simulation_evaluation.msg._Speaker.Speaker]

List of SpeakerMsgs with the current speed as the only entry.

class ZoneSpeaker(*, section_proxy: Callable[], List[simulation_groundtruth.msg._Section.Section]], lane_proxy: Callable[[int], simulation_groundtruth.msg._Lane.Lane], obstacle_proxy: Callable[[int], List[simulation_groundtruth.msg._LabeledPolygon.LabeledPolygon]], surface_marking_proxy: Callable[[int], List[simulation_groundtruth.msg._LabeledPolygon.LabeledPolygon]], parking_proxy: Callable[[int], Any], intersection_proxy: Callable[[int], Any], overtaking_buffer: float = 2, start_zone_buffer: float = 1, end_zone_buffer: float = 1.5, yield_distance: Tuple[float, float] = (- 0.6, - 0.2))

Information about the zone of the road the car is in.

property overtaking_zones

Intervals in which the car is allowed to overtake along the Speaker.middle_line.

_intersection_yield_zones(rule: int) → List[Tuple[float, float]]

Intervals in which the car is supposed to halt/stop (in front of intersections).

Parameters

rule – only intersections with this rule are considered

property stop_zones

Intervals in which the car is supposed to stop (in front of intersections).

property halt_zones

Intervals in which the car is supposed to halt (in front of intersections).

_inside_any_interval(intervals: List[Tuple[float, float]]) → bool

Determine if the car is currently in any of the given intervals.

speak() → List[simulation_evaluation.msg._Speaker.Speaker]

List of speaker msgs.

Contents:

• beginning of road -> Speaker.START_ZONE, end of road -> Speaker.END_ZONE, and in between -> Speaker.DRIVING_ZONE,

• close to an obstacle -> Speaker.OVERTAKING_ZONE

• before yield/stop lines -> Speaker.HALT_ZONE/SpeakerMsg.STOP_ZONE,

• parking area -> Speaker.PARKING_ZONE

class BroadcastSpeaker(*, section_proxy: Callable[], List[simulation_groundtruth.msg._Section.Section]], lane_proxy: Callable[[int], simulation_groundtruth.msg._Lane.Lane], obstacle_proxy: Optional[Callable[[int], List[simulation_groundtruth.msg._LabeledPolygon.LabeledPolygon]]] = None, surface_marking_proxy: Optional[Callable[[int], List[simulation_groundtruth.msg._LabeledPolygon.LabeledPolygon]]] = None, intersection_proxy: Optional[Callable[[int], Any]] = None, sign_proxy: Optional[Callable[[int], List[simulation_groundtruth.msg._LabeledPolygon.LabeledPolygon]]] = None)

Keep high level information about the drive (e.g. speed, distance driven).

Instead of returning Speaker msgs this speaker returns a Broadcast msg.

speak() → List[simulation_evaluation.msg._Broadcast.Broadcast]

Return a new broadcast msg in a list.