paralleldomain.data_lab.sim_state¶

class ExtendedSimState(initial_state=None)¶

A class to represent the Simulation State of a Data Lab scenario at a particular timestep

frame_count¶: The frame number of the current simulation state within the scenario

sim_time¶: The time (in milliseconds) from the beginning of the scenario of the current simulation state

frame_ids¶: Integer frame id in the scenario of which the simulation state is a part

frame_date_times¶: List of the times (in date time format) of the frame in the scenario of which the simulation state is a part

time_since_last_frame¶: The time (in milliseconds) which has elapsed since the preceding frame in the scenario of which the simulation state is a part

static from_blank_state(**kwargs)¶

Creates a blank ExtendedSimulationState object except for the parameters specified

Parameters:: **kwargs – Keyword arguments of parameters to be passed in when initializing the ExtendedSimulationState
Return type:: ExtendedSimState

is_using_occupied_space(agent, scale_length=1.0, scale_width=1.0, pose=None)¶

Checks whether an agent in a particular pose is using space which is occupied by other agents

Parameters:

agent (CustomSimulationAgent) – The agent that should be checked for collisions. If pose is not passed, the agent’s current pose from the sim state is checked for collisions
scale_length (float) – Scales the region the collision check is performed over in the length direction. A value of 1.0 checks the exact dimension of the agent’s bounding box. Values greater than 1.0 expand the collision check region to be larger than the bounding box of the agent, values below 1.0 make the collision check region smaller than the agent
scale_width (float) – Scales the region the collision check is performed over in the width direction. A value of 1.0 checks the exact dimension of the agent’s bounding box. Values greater than 1.0 expand the collision check region to be larger than the bounding box of the agent, values below 1.0 make the collision check region smaller than the agent
pose (Optional[Transformation]) – A pose of the agent (other that the agent’s current pose) to check for collisions, useful for checking if a new pose is a valid location for the agent to be moved to

Return type:

bool

Returns:

True if there is a collision between the agent and other objects in the world, False if there are no: collisions

property current_occupancy_grid: OccupancyGrid¶: Returns the occupancy grid of the current simulation state

property ego_pose: Transformation¶: Pose of the ego agent in the current simulation state

property map_query: MapQuery¶: Returns MapQuery object of the current simulation state

property previous_occupancy_grid: OccupancyGrid¶: Returns the occupancy grid of the previous simulation state