simulation.src.simulation_evaluation.src.evaluation_test package¶
Submodules¶
simulation.src.simulation_evaluation.src.evaluation_test.node module¶
Classes:
Node primarily useful to test and debug nodes in the evaluation pipeline. |
- class EvaluationTestNode[source]¶
Bases:
simulation.utils.ros_base.node_base.NodeBase
Node primarily useful to test and debug nodes in the evaluation pipeline.
The node has a number of predefined paths and is able to fake CarState messages as if the car was driving on one of those paths.
Methods:
start
()Called when activating the node.
fake_car_state
(path, arc_length, speed)Publish a CarState message depending on situation.
Create a predefined path.
Load stops from parameters.
drive
()Drive along a path.
- fake_car_state(path: simulation.utils.geometry.line.Line, arc_length: float, speed: float)[source]¶
Publish a CarState message depending on situation.
- Parameters
path – The car drives on this path.
arc_length – Current arc length of the car on the path.
speed – Speed the car drives with.
- _get_path() → simulation.utils.geometry.line.Line[source]¶
Create a predefined path.
Depending on the path parameter, one of the predefined paths is created.
- _get_stops() → List[Tuple[float, float]][source]¶
Load stops from parameters.
A stop can be configured inside a parameter file by appending to the stops list. The stop list should be a list of lists with two values. E.g.
stops: [[1, 2], [3, 1]]
is interpretated as a stop after 1m for 2 seconds and another stop after 3 meters for 1 second. :returns: Sorted list of all stops as tuples with arc_length and duration.