File size: 1,398 Bytes
7accb91 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 | from nuplan.planning.simulation.trajectory.trajectory_sampling import TrajectorySampling
from navsim.agents.abstract_agent import AbstractAgent
from navsim.common.dataclasses import AgentInput, Trajectory, Scene, SensorConfig
class HumanAgent(AbstractAgent):
"""Privileged agent interface of human operator."""
requires_scene = True
def __init__(
self,
trajectory_sampling: TrajectorySampling = TrajectorySampling(time_horizon=4, interval_length=0.5),
):
"""
Initializes the human agent object.
:param trajectory_sampling: trajectory sampling specification
"""
self._trajectory_sampling = trajectory_sampling
def name(self) -> str:
"""Inherited, see superclass."""
return self.__class__.__name__
def initialize(self) -> None:
"""Inherited, see superclass."""
pass
def get_sensor_config(self) -> SensorConfig:
"""Inherited, see superclass."""
return SensorConfig.build_no_sensors()
def compute_trajectory(self, agent_input: AgentInput, scene: Scene) -> Trajectory:
"""
Computes the ego vehicle trajectory.
:param current_input: Dataclass with agent inputs.
:return: Trajectory representing the predicted ego's position in future
"""
return scene.get_future_trajectory(self._trajectory_sampling.num_poses)
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