simulation.src.simulation_groundtruth.src.groundtruth.groundtruth module¶

Summary¶

Classes:

`Groundtruth`	Provide functionality to extract groundtruth information as ROS messages.
`IntersectionTuple`	Container for information about an intersection.

Reference¶

_lane_msg_from_lines(left: simulation.utils.geometry.line.Line, middle: simulation.utils.geometry.line.Line, right: simulation.utils.geometry.line.Line) → simulation_groundtruth.msg._Lane.Lane[source]¶: Create a lane message from three lines.

class IntersectionTuple(turn, rule, south, west, east, north)¶

Bases: tuple

Container for information about an intersection.

_asdict()¶: Return a new dict which maps field names to their values.

_field_defaults = {}¶

_fields = ('turn', 'rule', 'south', 'west', 'east', 'north')¶

_fields_defaults = {}¶

classmethod _make(iterable)¶: Make a new IntersectionTuple object from a sequence or iterable

_replace(**kwds)¶: Return a new IntersectionTuple object replacing specified fields with new values

east¶

Lane markings on the right side when coming from south.

Type: LaneMsg

north¶

Lane markings straight ahead when coming from south.

Type: LaneMsg

rule¶

Priority rule.

Type: int

south¶

Lane markings approaching the intersection.

Type: LaneMsg

turn¶

Direction the road follows.

Type: int

west¶

Lane markings on the left side when coming from south.

Type: LaneMsg

class Groundtruth(road: simulation.utils.road.road.Road)[source]¶

Bases: object

Provide functionality to extract groundtruth information as ROS messages.

road: simulation.utils.road.road.Road¶: Store the current road.

get_section_msgs() → List[simulation_groundtruth.msg._Section.Section][source]¶: Section message for all sections.

get_lane_msg(id: int) → simulation_groundtruth.msg._Lane.Lane[source]¶

Lane message for requested road section.

Parameters: id – section id

get_intersection_msg(id: int) → simulation.src.simulation_groundtruth.src.groundtruth.groundtruth.IntersectionTuple [source]¶

Intersection tuple for requested road section.

Parameters: id – section id

get_parking_msg(id: int) → Tuple[simulation_groundtruth.msg._Parking.Parking, simulation_groundtruth.msg._Parking.Parking][source]¶

Parking message for the left and right side of the requested road section.

Parameters: id – section id

get_obstacle_msgs(id: int) → List[simulation_groundtruth.msg._LabeledPolygon.LabeledPolygon][source]¶

Labeled polygon msg for each obstacle in the requested road section.

Parameters: id – section id

get_surface_marking_msgs(id: int) → List[simulation_groundtruth.msg._LabeledPolygon.LabeledPolygon][source]¶

Labeled polygon msg for each surface marking in the requested road section.

Parameters: id – section id

get_traffic_sign_msgs(id: int) → List[simulation_groundtruth.msg._LabeledPolygon.LabeledPolygon][source]¶

Labeled polygon msg for each traffic sign in the requested road section.

Parameters: id – section id