smarts.core.bubble_manager module

class smarts.core.bubble_manager.Bubble(bubble: Bubble, road_map: RoadMap)[source]

Wrapper around sstudio.sstypes.Bubble to cache bubble geometry (and does some internal Bubble-related business logic).

property active_condition: Condition: Fast inclusions for the bubble.

property actor: SocialAgentActor | TrafficEngineActor: The actor that should replace the captured actor.

admissibility(vehicle_id: str, index: VehicleIndex, vehicle_ids_in_bubbles: Dict[Bubble, Set[str]], running_cursors: Set[Cursor])[source]: The vehicle_id we are querying for and the other_vehicle_ids _presently in this Bubble.

property airlock_condition: Condition: Conditions under which this bubble will accept an agent.

property airlock_geometry: Polygon: The airlock geometry of the managed bubble.

condition_passes(active_condition_requirements)[source]: If the broadphase condition allows for this

property exclusion_prefixes: The blacklist of actor prefixes, used to ignore specific actors.

property follow_actor_id: str: A target actor that the bubble should remain at a fixed offset from.

property follow_vehicle_id: str: A target vehicle that the bubble should remain at a fixed offset from.

property geometry: Polygon: The geometry of the managed bubble.

property id: The id of the underlying bubble.

in_bubble_or_airlock_zone(position: Point)[source]: Test if the position is within the bubble or airlock around the bubble.

property is_boid: If the actors captured by the bubble should be controlled by a boid agent.

property is_traveling: If the bubble is following an actor.

property keep_alive: If enabled, the social agent actor will be spawned upon first vehicle airlock and be reused for every subsequent vehicle entering the bubble until the episode is over.

property limit: The maximum number of actors that the bubble can have captured at the same time.

move_to_follow_vehicle(vehicle: Vehicle)[source]: Move the bubble to a pose relative to the given vehicle.

class smarts.core.bubble_manager.BubbleCaptureState(value)[source]

Describes the actor’s capture state in the bubble.

Captured = 1

Controlled = 0

Uncaptured = 2

class smarts.core.bubble_manager.BubbleManager(bubbles: Sequence[Bubble], road_map: RoadMap)[source]

Manages bubble interactions.

property active_bubbles: Sequence[Bubble]: A sequence of currently active bubbles.

agent_ids_for_bubble(bubble: Bubble, sim) → Set[str][source]: Agents generated by this bubble.

step(sim)[source]: Update the associations between bubbles, actors, and agents

teardown()[source]: Clean up internal state.

vehicle_ids_per_bubble() → Dict[Bubble, Set[str]][source]: Bubbles associated with the vehicles they contain.

class smarts.core.bubble_manager.BubbleRelationState(value)[source]

Describes the actor’s spatial occupancy in a bubble.

InAirlock = 1

InBubble = 0

WasInBubble = 2

class smarts.core.bubble_manager.BubbleTransition(value)[source]

Describes a bubble transition state.

AirlockEntered = 0

AirlockExited = 3

Entered = 1

Exited = 2

class smarts.core.bubble_manager.Cursor(vehicle_id: str, state: BubbleRelationState | None = None, capture: BubbleCaptureState | None = None, transition: BubbleTransition | None = None, bubble: Bubble | None = None)[source]

Tracks an actor through an airlock or a bubble.

bubble: Bubble | None = None

capture: BubbleCaptureState | None = None

static for_removed(vehicle_id: str, bubble: Bubble, index: VehicleIndex, vehicle_ids_per_bubble: Dict[Bubble, Set[str]]) → Cursor[source]: Generate a cursor for an inactive bubble. :param vehicle: The vehicle that is to be tracked. :type vehicle: Vehicle :param bubble: The bubble that the vehicle is interacting with. :type bubble: Bubble :param index: The vehicle index the vehicle is in. :type index: VehicleIndex :param vehicle_ids_per_bubble: Bubbles associated with vehicle ids. :type vehicle_ids_per_bubble: Dict[Bubble, Set[str]] :param running_cursors: A set of existing cursors. :type running_cursors: Set[“Cursor”]

static from_pos(position: Point, vehicle_id: str, bubble: Bubble, index: VehicleIndex, vehicle_ids_per_bubble: Dict[Bubble, Set[str]], running_cursors: Set[Cursor], previous_cursor: Cursor | None, is_hijack_admissible, is_airlock_admissible) → Cursor[source]: Generate a cursor. :param position: The shapely position of the vehicle. :type position: Point :param vehicle: The vehicle that is to be tracked. :type vehicle: Vehicle :param bubble: The bubble that the vehicle is interacting with. :type bubble: Bubble :param index: The vehicle index the vehicle is in. :type index: VehicleIndex :param vehicle_ids_per_bubble: Bubbles associated with vehicle ids. :type vehicle_ids_per_bubble: Dict[Bubble, Set[str]] :param running_cursors: A set of existing cursors. :type running_cursors: Set[“Cursor”]

state: BubbleRelationState | None = None

transition: BubbleTransition | None = None

vehicle_id: str