diff --git a/.travis.yml b/.travis.yml index 31b655e..fac2f8d 100644 --- a/.travis.yml +++ b/.travis.yml @@ -27,6 +27,7 @@ addons: ## uncomment the following lines to override the default test script script: - git clone https://github.com/JuliaRegistries/General $(julia -e 'import Pkg; println(joinpath(Pkg.depots1(), "registries", "General"))') + - git clone https://github.com/SISL/Registry $(julia -e 'import Pkg; println(joinpath(Pkg.depots1(), "registries", "SISL"))') - git clone https://github.com/JuliaPOMDP/Registry $(julia -e 'import Pkg; println(joinpath(Pkg.depots1(), "registries", "JuliaPOMDP"))') - if [[ -a .git/shallow ]]; then git fetch --unshallow; fi - julia --project --color=yes -e 'import Pkg; Pkg.build(); Pkg.test(coverage=true)' diff --git a/Manifest.toml b/Manifest.toml deleted file mode 100644 index d0d0244..0000000 --- a/Manifest.toml +++ /dev/null @@ -1,761 +0,0 @@ -# This file is machine-generated - editing it directly is not advised - -[[AbstractFFTs]] -deps = ["Compat", "LinearAlgebra"] -git-tree-sha1 = "8d59c3b1463b5e0ad05a3698167f85fac90e184d" -uuid = "621f4979-c628-5d54-868e-fcf4e3e8185c" -version = "0.3.2" - -[[Arpack]] -deps = ["BinaryProvider", "Libdl", "LinearAlgebra", "Random", "SparseArrays", "Test"] -git-tree-sha1 = "1ce1ce9984683f0b6a587d5bdbc688ecb480096f" -uuid = "7d9fca2a-8960-54d3-9f78-7d1dccf2cb97" -version = "0.3.0" - -[[AutoUrban]] -deps = ["AutoViz", "AutomotiveDrivingModels", "EzXML", "LinearAlgebra", "Pkg", "Printf", "Records", "Vec"] -git-tree-sha1 = "b909cfacec2777a5f7ce36f6df255134bb2561b9" -repo-rev = "master" -repo-url = "https://github.com/sisl/AutoUrban.jl" -uuid = "1385418a-9289-5a49-ab93-843b508de4cb" -version = "0.2.0" - -[[AutoViz]] -deps = ["AutomotiveDrivingModels", "Cairo", "Colors", "Parameters", "Pkg", "Printf", "Records", "Reel", "Reexport", "StaticArrays", "Vec"] -git-tree-sha1 = "ac5899736ccb4dd880f80697b90415ce67afe199" -repo-rev = "master" -repo-url = "https://github.com/sisl/AutoViz.jl" -uuid = "82aa6e0c-a491-5edf-8d4b-c16b98e4ea17" -version = "0.7.1" - -[[AutomotiveDrivingModels]] -deps = ["Distributions", "LinearAlgebra", "Parameters", "Pkg", "Printf", "Records", "Reexport", "Vec"] -git-tree-sha1 = "bb3e6b52e757e5b55576c2114689b6a65dcd4b91" -repo-rev = "master" -repo-url = "https://github.com/sisl/AutomotiveDrivingModels.jl" -uuid = "99497e54-f3d6-53d3-a3a9-fa9315a7f1ba" -version = "0.7.0" - -[[AutomotiveSensors]] -deps = ["AutoViz", "AutomotiveDrivingModels", "LinearAlgebra", "Parameters", "Random", "Records", "StaticArrays", "Vec"] -git-tree-sha1 = "c8dfc7095ea7699992cd30b0932691b67a7717d8" -repo-rev = "master" -repo-url = "https://github.com/sisl/AutomotiveSensors.jl" -uuid = "9ec66b5e-c605-11e8-1454-ede748df6f96" -version = "0.0.0" - -[[AxisAlgorithms]] -deps = ["Compat", "WoodburyMatrices"] -git-tree-sha1 = "99dabbe853e4f641ab21a676131f2cf9fb29937e" -uuid = "13072b0f-2c55-5437-9ae7-d433b7a33950" -version = "0.3.0" - -[[AxisArrays]] -deps = ["Compat", "Dates", "IntervalSets", "IterTools", "Random", "RangeArrays", "Test"] -git-tree-sha1 = "2e2536e9e6f27c4f8d09d8442b61a7ae0b910c28" -uuid = "39de3d68-74b9-583c-8d2d-e117c070f3a9" -version = "0.3.0" - -[[Base64]] -uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" - -[[BeliefUpdaters]] -deps = ["POMDPModelTools", "POMDPs", "Random", "Statistics", "StatsBase", "Test"] -git-tree-sha1 = "f2c17c607f45236ce8bfe77f4e0278e29fe4a760" -uuid = "8bb6e9a1-7d73-552c-a44a-e5dc5634aac4" -version = "0.1.1" - -[[BinDeps]] -deps = ["Compat", "Libdl", "SHA", "URIParser"] -git-tree-sha1 = "12093ca6cdd0ee547c39b1870e0c9c3f154d9ca9" -uuid = "9e28174c-4ba2-5203-b857-d8d62c4213ee" -version = "0.8.10" - -[[BinaryProvider]] -deps = ["Libdl", "Pkg", "SHA", "Test"] -git-tree-sha1 = "055eb2690182ebc31087859c3dd8598371d3ef9e" -uuid = "b99e7846-7c00-51b0-8f62-c81ae34c0232" -version = "0.5.3" - -[[BufferedStreams]] -deps = ["Compat", "Test"] -git-tree-sha1 = "5d55b9486590fdda5905c275bb21ce1f0754020f" -uuid = "e1450e63-4bb3-523b-b2a4-4ffa8c0fd77d" -version = "1.0.0" - -[[Cairo]] -deps = ["BinDeps", "Colors", "Compat", "Graphics", "Homebrew", "Libdl", "WinRPM"] -git-tree-sha1 = "a427098d5aa2808504d94b8ed9fc5740ceaf71d0" -uuid = "159f3aea-2a34-519c-b102-8c37f9878175" -version = "0.5.6" - -[[CatIndices]] -deps = ["CustomUnitRanges", "OffsetArrays", "Test"] -git-tree-sha1 = "254cf73ea369d2e39bfd6c5eb27a2296cfaed68c" -uuid = "aafaddc9-749c-510e-ac4f-586e18779b91" -version = "0.2.0" - -[[CategoricalArrays]] -deps = ["Compat", "Future", "Missings", "Printf", "Reexport", "Requires"] -git-tree-sha1 = "94d16e77dfacc59f6d6c1361866906dbb65b6f6b" -uuid = "324d7699-5711-5eae-9e2f-1d82baa6b597" -version = "0.5.2" - -[[CodecZlib]] -deps = ["BinaryProvider", "Libdl", "Test", "TranscodingStreams"] -git-tree-sha1 = "36bbf5374c661054d41410dc53ff752972583b9b" -uuid = "944b1d66-785c-5afd-91f1-9de20f533193" -version = "0.5.2" - -[[ColorTypes]] -deps = ["FixedPointNumbers", "Random", "Test"] -git-tree-sha1 = "f73b0e10f2a5756de7019818a41654686da06b09" -uuid = "3da002f7-5984-5a60-b8a6-cbb66c0b333f" -version = "0.7.5" - -[[ColorVectorSpace]] -deps = ["ColorTypes", "Colors", "FixedPointNumbers", "LinearAlgebra", "SpecialFunctions", "Statistics", "StatsBase", "Test"] -git-tree-sha1 = "a890f08e61b40e9843d7177206da61229a3603c8" -uuid = "c3611d14-8923-5661-9e6a-0046d554d3a4" -version = "0.6.2" - -[[Colors]] -deps = ["ColorTypes", "FixedPointNumbers", "InteractiveUtils", "Printf", "Reexport", "Test"] -git-tree-sha1 = "9f0a0210450acb91c730b730a994f8eef1d3d543" -uuid = "5ae59095-9a9b-59fe-a467-6f913c188581" -version = "0.9.5" - -[[Compat]] -deps = ["Base64", "Dates", "DelimitedFiles", "Distributed", "InteractiveUtils", "LibGit2", "Libdl", "LinearAlgebra", "Markdown", "Mmap", "Pkg", "Printf", "REPL", "Random", "Serialization", "SharedArrays", "Sockets", "SparseArrays", "Statistics", "Test", "UUIDs", "Unicode"] -git-tree-sha1 = "195a3ffcb8b0762684b6821de18f83a16455c6ea" -uuid = "34da2185-b29b-5c13-b0c7-acf172513d20" -version = "2.0.0" - -[[ComputationalResources]] -deps = ["Test"] -git-tree-sha1 = "89e7e7ed20af73d9f78877d2b8d1194e7b6ff13d" -uuid = "ed09eef8-17a6-5b46-8889-db040fac31e3" -version = "0.3.0" - -[[Conda]] -deps = ["Compat", "JSON", "VersionParsing"] -git-tree-sha1 = "b625d802587c2150c279a40a646fba63f9bd8187" -uuid = "8f4d0f93-b110-5947-807f-2305c1781a2d" -version = "1.2.0" - -[[CoordinateTransformations]] -deps = ["Compat", "Rotations", "StaticArrays"] -git-tree-sha1 = "47f05d0b7f4999609f92e657147df000818c1f24" -uuid = "150eb455-5306-5404-9cee-2592286d6298" -version = "0.5.0" - -[[CustomUnitRanges]] -deps = ["Test"] -git-tree-sha1 = "0a106457a1831555857e18ac9617279c22fc393b" -uuid = "dc8bdbbb-1ca9-579f-8c36-e416f6a65cce" -version = "0.2.0" - -[[DataFrames]] -deps = ["CategoricalArrays", "CodecZlib", "Compat", "DataStreams", "Dates", "InteractiveUtils", "IteratorInterfaceExtensions", "LinearAlgebra", "Missings", "Printf", "Random", "Reexport", "SortingAlgorithms", "Statistics", "StatsBase", "TableTraits", "Tables", "Test", "TranscodingStreams", "Unicode", "WeakRefStrings"] -git-tree-sha1 = "9cfed75401d25d281076eb5d82de148ac2933f9e" -uuid = "a93c6f00-e57d-5684-b7b6-d8193f3e46c0" -version = "0.17.1" - -[[DataStreams]] -deps = ["Dates", "Missings", "Test", "WeakRefStrings"] -git-tree-sha1 = "69c72a1beb4fc79490c361635664e13c8e4a9548" -uuid = "9a8bc11e-79be-5b39-94d7-1ccc349a1a85" -version = "0.4.1" - -[[DataStructures]] -deps = ["InteractiveUtils", "OrderedCollections", "Random", "Serialization", "Test"] -git-tree-sha1 = "ca971f03e146cf144a9e2f2ce59674f5bf0e8038" -uuid = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8" -version = "0.15.0" - -[[Dates]] -deps = ["Printf"] -uuid = "ade2ca70-3891-5945-98fb-dc099432e06a" - -[[DelimitedFiles]] -deps = ["Mmap"] -uuid = "8bb1440f-4735-579b-a4ab-409b98df4dab" - -[[DiscreteValueIteration]] -deps = ["POMDPModelTools", "POMDPPolicies", "POMDPs", "Printf", "SparseArrays"] -git-tree-sha1 = "63d5a3ebd595f944d57f14e1578998c96da7a0cc" -uuid = "4b033969-44f6-5439-a48b-c11fa3648068" -version = "0.3.0" - -[[Distances]] -deps = ["LinearAlgebra", "Printf", "Random", "Statistics", "Test"] -git-tree-sha1 = "a135c7c062023051953141da8437ed74f89d767a" -uuid = "b4f34e82-e78d-54a5-968a-f98e89d6e8f7" -version = "0.8.0" - -[[Distributed]] -deps = ["Random", "Serialization", "Sockets"] -uuid = "8ba89e20-285c-5b6f-9357-94700520ee1b" - -[[Distributions]] -deps = ["Distributed", "LinearAlgebra", "PDMats", "Printf", "QuadGK", "Random", "SpecialFunctions", "Statistics", "StatsBase", "StatsFuns", "Test"] -git-tree-sha1 = "c24e9b6500c037673f0241a2783472b8c3d080c7" -uuid = "31c24e10-a181-5473-b8eb-7969acd0382f" -version = "0.16.4" - -[[EzXML]] -deps = ["BinaryProvider", "Libdl", "Pkg", "Printf", "Test"] -git-tree-sha1 = "ad00b79cca4bb3eabb4209217859c553af4401f5" -uuid = "8f5d6c58-4d21-5cfd-889c-e3ad7ee6a615" -version = "0.9.1" - -[[FFTViews]] -deps = ["CustomUnitRanges", "FFTW", "Test"] -git-tree-sha1 = "9d7993227ca7c0fdb6b31deef193adbba11c8f4e" -uuid = "4f61f5a4-77b1-5117-aa51-3ab5ef4ef0cd" -version = "0.2.0" - -[[FFTW]] -deps = ["AbstractFFTs", "BinaryProvider", "Compat", "Conda", "Libdl", "LinearAlgebra", "Reexport", "Test"] -git-tree-sha1 = "29cda58afbf62f35b1a094882ad6c745a47b2eaa" -uuid = "7a1cc6ca-52ef-59f5-83cd-3a7055c09341" -version = "0.2.4" - -[[FileIO]] -deps = ["Pkg", "Random", "Test"] -git-tree-sha1 = "c94b0787956629036fb2b20fccde9e52b89d079a" -uuid = "5789e2e9-d7fb-5bc7-8068-2c6fae9b9549" -version = "1.0.5" - -[[FileWatching]] -uuid = "7b1f6079-737a-58dc-b8bc-7a2ca5c1b5ee" - -[[FixedPointNumbers]] -deps = ["Test"] -git-tree-sha1 = "b8045033701c3b10bf2324d7203404be7aef88ba" -uuid = "53c48c17-4a7d-5ca2-90c5-79b7896eea93" -version = "0.5.3" - -[[Future]] -deps = ["Random"] -uuid = "9fa8497b-333b-5362-9e8d-4d0656e87820" - -[[Glob]] -deps = ["Compat", "Test"] -git-tree-sha1 = "c72f1fcb7d17426de1e8af2e948dfb3de1116eed" -uuid = "c27321d9-0574-5035-807b-f59d2c89b15c" -version = "1.2.0" - -[[Graphics]] -deps = ["Colors", "Compat", "NaNMath"] -git-tree-sha1 = "e3ead4211073d4117a0d2ef7d1efc5c8092c8412" -uuid = "a2bd30eb-e257-5431-a919-1863eab51364" -version = "0.4.0" - -[[GridInterpolations]] -deps = ["DelimitedFiles", "LinearAlgebra", "Printf", "Random", "StaticArrays", "Statistics", "Test"] -git-tree-sha1 = "6883405b686c52af87897e0c729e747932babfd5" -uuid = "bb4c363b-b914-514b-8517-4eb369bc008a" -version = "1.0.0" - -[[Gtk]] -deps = ["BinDeps", "Cairo", "Compat", "Graphics", "Homebrew", "Libdl", "Reexport", "Serialization", "Test", "WinRPM"] -git-tree-sha1 = "dd884c7cbd08c8e370172bdd535d6bea45359537" -uuid = "4c0ca9eb-093a-5379-98c5-f87ac0bbbf44" -version = "0.16.5" - -[[GtkReactive]] -deps = ["Cairo", "Colors", "Dates", "FixedPointNumbers", "Graphics", "Gtk", "IntervalSets", "Reactive", "Reexport", "RoundingIntegers", "Test"] -git-tree-sha1 = "6d5596de3fd5d6d2f012f6f36d3b226eac5e2b47" -uuid = "27996c0f-39cd-5cc1-a27a-05f136f946b6" -version = "0.5.3" - -[[HTTPClient]] -deps = ["Compat", "LibCURL"] -git-tree-sha1 = "161d5776ae8e585ac0b8c20fb81f17ab755b3671" -uuid = "0862f596-cf2d-50af-8ef4-f2be67dfa83f" -version = "0.2.1" - -[[Homebrew]] -deps = ["BinDeps", "InteractiveUtils", "JSON", "Libdl", "Test", "Unicode"] -git-tree-sha1 = "f01fb2f34675f9839d55ba7238bab63ebd2e531e" -uuid = "d9be37ee-ecc9-5288-90f1-b9ca67657a75" -version = "0.7.1" - -[[IdentityRanges]] -deps = ["OffsetArrays", "Test"] -git-tree-sha1 = "b8c36c6083fd14e2a82c5974225702126e894f23" -uuid = "bbac6d45-d8f3-5730-bfe4-7a449cd117ca" -version = "0.3.0" - 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-[[ZMQ]] -deps = ["BinaryProvider", "FileWatching", "Libdl", "Sockets", "Test"] -git-tree-sha1 = "34e7ac2d1d59d19d0e86bde99f1f02262bfa1613" -uuid = "c2297ded-f4af-51ae-bb23-16f91089e4e1" -version = "1.0.0" diff --git a/Project.toml b/Project.toml index 8116a18..b66cb88 100644 --- a/Project.toml +++ b/Project.toml @@ -11,6 +11,7 @@ AutomotiveSensors = "9ec66b5e-c605-11e8-1454-ede748df6f96" BeliefUpdaters = "8bb6e9a1-7d73-552c-a44a-e5dc5634aac4" DataStructures = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8" DiscreteValueIteration = "4b033969-44f6-5439-a48b-c11fa3648068" +Distributions = "31c24e10-a181-5473-b8eb-7969acd0382f" GridInterpolations = "bb4c363b-b914-514b-8517-4eb369bc008a" LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e" POMDPModelTools = "08074719-1b2a-587c-a292-00f91cc44415" @@ -30,4 +31,4 @@ Vec = "44eeaf0b-fee4-471f-9310-ed6585cb3142" Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40" [targets] -test = ["Test"] \ No newline at end of file +test = ["Test"] diff --git a/src/AutomotivePOMDPs.jl b/src/AutomotivePOMDPs.jl index 4f89c17..6b16075 100644 --- a/src/AutomotivePOMDPs.jl +++ b/src/AutomotivePOMDPs.jl @@ -2,6 +2,7 @@ module AutomotivePOMDPs using POMDPs using StatsBase +using Distributions using POMDPModelTools using POMDPSimulators using POMDPPolicies @@ -42,7 +43,6 @@ export get_exit_lanes, get_ego, is_crash, - collision_checker, direction_from_center, random_route, is_observable_dyna, @@ -59,7 +59,6 @@ export include("constants.jl") include("utils/helpers.jl") -include("utils/collision_checker.jl") include("utils/occlusions.jl") include("utils/rendering.jl") diff --git a/src/utils/collision_checker.jl b/src/utils/collision_checker.jl deleted file mode 100644 index b5d4524..0000000 --- a/src/utils/collision_checker.jl +++ /dev/null @@ -1,165 +0,0 @@ - - -""" - collision_checker(veh_a::Vehicle, veh_b::Vehicle) - collision_checker(veh_a::VehicleState, veh_b::VehicleState, veh_a_def::VehicleDef, veh_b_def::VehicleDef) -return True if `veh_a` and `veh_b` collides. -Relies on the parallel axis theorem. -""" -function collision_checker(veh_a::Vehicle, veh_b::Vehicle) - return collision_checker(veh_a.state, veh_b.state, veh_a.def, veh_b.def) -end - -function collision_checker(veh_a::VehicleState, veh_b::VehicleState, veh_a_def::VehicleDef, veh_b_def::VehicleDef) - center_a = veh_a.posG - center_b = veh_b.posG - # first fast check: - @fastmath begin - Δ = sqrt((veh_a.posG.x - veh_b.posG.x)^2 + (veh_a.posG.y - veh_b.posG.y)^2) - r_a = sqrt(veh_a_def.length*veh_a_def.length/4 + veh_a_def.width*veh_a_def.width/4) - r_b = sqrt(veh_b_def.length*veh_b_def.length/4 + veh_b_def.width*veh_b_def.width/4) - end - if Δ ≤ r_a + r_b - # fast check is true, run parallel axis theorem - Pa = polygon(center_a, veh_a_def) - Pb = polygon(center_b, veh_b_def) - return overlap(Pa, Pb) - end - return false -end - -""" - polygon(pos::VecSE2{Float64}, veh_def::VehicleDef) - polygon(x::Float64,y::Float64,theta::Float64,veh_def::VehicleDef) -returns a 4x2 static matrix corresponding to a rectangle around a car -centered at `pos` and of dimensions specified by `veh_def` -""" -function polygon(pos::VecSE2{Float64}, veh_def::VehicleDef) - x, y ,θ = pos - return polygon(x, y, θ, veh_def.length, veh_def.width) -end - -function polygon(x::Float64,y::Float64,theta::Float64, length::Float64, width::Float64) - l_ = length/2 - w_ = width/2 - - # compute each vertex: - @fastmath begin - #top left - Ax = x + l_*cos(theta) - w_*sin(theta) - Ay = y + l_*sin(theta) + w_*cos(theta) - - #top right - Bx = x + l_*cos(theta) + w_*sin(theta) - By = y + l_*sin(theta) - w_*cos(theta) - - # bottom right - Cx = x - l_*cos(theta) + w_*sin(theta) - Cy = y - l_*sin(theta) - w_*cos(theta) - - # bttom left - Dx = x - l_*cos(theta) - w_*sin(theta) - Dy = y - l_*sin(theta) + w_*cos(theta) - end - P = @SMatrix [Ax Ay; - Bx By; - Cx Cy; - Dx Dy] - - return P -end - -### POLYGON INTERSECTION USING PARALLEL AXIS THEOREM - -""" - overlap(poly_a::SMatrix{4, 2, Float64}, poly_b::SMatrix{4, 2, Float64}) -Check if two convex polygons overlap, using the parallel axis theorem -a polygon is a nx2 matrix where n in the number of verteces -http://gamemath.com/2011/09/detecting-whether-two-convex-polygons-overlap/ - /!\\ edges needs to be ordered -""" -function overlap(poly_a::SMatrix{M, 2, Float64}, - poly_b::SMatrix{N, 2, Float64}) where {M,N} - - if find_separating_axis(poly_a, poly_b) - return false - end - if find_separating_axis(poly_b, poly_a) - return false - end - - return true - -end - -""" - find_separating_axis(poly_a::SMatrix{4, 2, Float64}, poly_b::SMatrix{4, 2, Float64}) - -build a list of candidate separating axes from the edges of a - /!\\ edges needs to be ordered -""" -function find_separating_axis(poly_a::SMatrix{M, 2, Float64}, - poly_b::SMatrix{N, 2, Float64}) where {M, N} - n_a = size(poly_a)[1] - n_b = size(poly_b)[1] - axis = zeros(2) - @views previous_vertex = poly_a[end,:] - for i=1:n_a # loop through all the edges n edges - @views current_vertex = poly_a[i,:] - # get edge vector - edge = current_vertex - previous_vertex - - # rotate 90 degrees to get the separating axis - axis[1] = edge[2] - axis[2] = -edge[1] - - # project polygons onto the axis - a_min,a_max = polygon_projection(poly_a, axis) - b_min,b_max = polygon_projection(poly_b, axis) - - # check separation - if a_max < b_min - return true#,current_vertex,previous_vertex,edge,a_max,b_min - - end - if b_max < a_min - return true#,current_vertex,previous_vertex,edge,a_max,b_min - - end - - @views previous_vertex = poly_a[i,:] - end - - # no separation was found - return false -end - -""" - polygon_projection(poly::SMatrix{4, 2, Float64}, axis::Vector{Float64}) - -return the projection interval for the polygon poly over the axis axis -""" -function polygon_projection(poly::SMatrix{N, 2, Float64}, - axis::Vector{Float64}) where {N} - n_a = size(poly)[1] - @inbounds @fastmath @views d1 = dot(poly[1,:],axis) - @inbounds @fastmath @views d2 = dot(poly[2,:],axis) - # initialize min and max - if d1 out_max - out_max = d - end - end - return out_min,out_max -end diff --git a/src/utils/helpers.jl b/src/utils/helpers.jl index d89faaa..b746ec1 100644 --- a/src/utils/helpers.jl +++ b/src/utils/helpers.jl @@ -8,6 +8,7 @@ mutable struct EgoDriver{A} <: DriverModel{A} end Base.rand(model::EgoDriver) = model.a +AutomotiveDrivingModels.observe!(m::EgoDriver, s::EntityFrame{S,D,I}, roadway::R, egoid::Int64) where {S,D,I,R} = m mutable struct GenerativeDist problem::POMDP @@ -17,7 +18,6 @@ function Base.rand(rng::AbstractRNG, d::GenerativeDist) return initialstate(d.problem, rng) end - """ is_crash(scene::Scene) return true if the ego car is in collision in the given scene, do not check for collisions between diff --git a/src/utils/rendering.jl b/src/utils/rendering.jl index be273b1..7977309 100644 --- a/src/utils/rendering.jl +++ b/src/utils/rendering.jl @@ -80,10 +80,10 @@ mutable struct IDOverlay <: SceneOverlay end end -function AutoViz.render!(rendermodel::RenderModel, overlay::IDOverlay, scene::Scene, env::OccludedEnv) +function AutoViz.render!(rendermodel::RenderModel, overlay::IDOverlay, scene::Scene, env::E) where E font_size = overlay.font_size for veh in scene - add_instruction!(rendermodel, render_text, ("$(veh.id)", veh.state.posG.x, veh.state.posG.y, font_size, colorant"black"), incameraframe=true) + add_instruction!(rendermodel, render_text, ("$(veh.id)", veh.state.posG.x, veh.state.posG.y, font_size, overlay.color), incameraframe=true) end return rendermodel end