simulation.src.simulation_evaluation.src.speaker.speakers.speaker module¶

Base class for all other speakers.

Summary¶

Classes:

`LabeledSpeakerPolygon`
`Speaker`	Base class for all speakers.

Reference¶

class LabeledSpeakerPolygon(id_: int, desc: str, frame: simulation.utils.geometry.polygon.Polygon, height: float)[source]¶

Bases: object

id_: int¶

desc: str¶

frame: simulation.utils.geometry.polygon.Polygon¶

height: float¶

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)[source]¶

Bases: object

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)[source]¶: Receive information about current observations and update internal values.

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

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][source]¶

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][source]¶: Get all obstacles in a section.

get_traffic_signs_in_section(section_id: int) → List[simulation.src.simulation_evaluation.src.speaker.speakers.speaker.LabeledSpeakerPolygon][source]¶: Get all traffic_signs inside section.

get_surface_markings_in_section(section_id: int) → List[simulation.src.simulation_evaluation.src.speaker.speakers.speaker.LabeledSpeakerPolygon][source]¶: Get all surface_markings inside a section.

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

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[source]¶

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[source]¶

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[source]¶

Decide if the car overlaps with any of the polygons.

Parameters: polygons – The polygons.