# MIT License
# Copyright (C) 2023. Huawei Technologies Co., Ltd. All rights reserved.
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE.
from dataclasses import dataclass, field
from typing import List
[docs]@dataclass(frozen=True)
class Collisions:
"""Parameters for collisions cost function."""
active: bool = False
"""If True, enables computation of corresponding cost function. Else,
disabled.
"""
[docs]@dataclass(frozen=True)
class Comfort:
"""Parameters for comfort cost function."""
active: bool = False
"""If True, enables computation of corresponding cost function. Else,
disabled.
"""
[docs]@dataclass(frozen=True)
class DistToDestination:
"""Parameters for distance to destination cost function."""
active: bool = True
"""If True, enables computation of corresponding cost function. Else,
disabled.
"""
[docs]@dataclass(frozen=True)
class DistToObstacles:
"""Parameters for distance to obstacles cost function."""
active: bool = True
"""If True, enables computation of corresponding cost function. Else,
disabled.
"""
ignore: List[str] = field(default_factory=list)
"""Vehicle id of neighbors to be excluded from being considered as an
obstacle.
"""
[docs]@dataclass(frozen=True)
class JerkLinear:
"""Parameters for jerk linear cost function."""
active: bool = True
"""If True, enables computation of corresponding cost function. Else,
disabled.
"""
[docs]@dataclass(frozen=True)
class LaneCenterOffset:
"""Parameters for lane center offset cost function."""
active: bool = True
"""If True, enables computation of corresponding cost function. Else,
disabled.
"""
[docs]@dataclass(frozen=True)
class OffRoad:
"""Parameters for off road cost function."""
active: bool = False
"""If True, enables computation of corresponding cost function. Else,
disabled.
"""
[docs]@dataclass(frozen=True)
class SpeedLimit:
"""Parameters for speed limit cost function."""
active: bool = True
"""If True, enables computation of corresponding cost function. Else,
disabled.
"""
[docs]@dataclass(frozen=True)
class Steps:
"""Parameters for steps cost function."""
active: bool = True
"""If True, enables computation of corresponding cost function. Else,
disabled.
"""
[docs]@dataclass(frozen=True)
class VehicleGap:
"""Parameters for gap between vehicles cost function."""
active: bool = False
"""If True, enables computation of corresponding cost function. Else,
disabled.
"""
actor: str = ""
"""Gap between ego and the specified `actor` is computed."""
[docs]@dataclass(frozen=True)
class WrongWay:
"""Parameters for wrong way cost function."""
active: bool = True
"""If True, enables computation of corresponding cost function. Else,
disabled.
"""
[docs]@dataclass(frozen=True)
class Params:
"""Parameters for cost functions."""
collisions: Collisions = Collisions()
comfort: Comfort = Comfort()
dist_to_destination: DistToDestination = DistToDestination()
dist_to_obstacles: DistToObstacles = DistToObstacles()
jerk_linear: JerkLinear = JerkLinear()
lane_center_offset: LaneCenterOffset = LaneCenterOffset()
off_road: OffRoad = OffRoad()
speed_limit: SpeedLimit = SpeedLimit()
steps: Steps = Steps()
vehicle_gap: VehicleGap = VehicleGap()
wrong_way: WrongWay = WrongWay()