smarts.core.simulation_frame module

class smarts.core.simulation_frame.SimulationFrame(actor_states: List[ActorState], agent_vehicle_controls: Dict[str, str], agent_interfaces: Dict[str, AgentInterface], ego_ids: Set[str], pending_agent_ids: List[str], elapsed_sim_time: float, fixed_timestep: float, resetting: bool, map_spec: MapSpec, last_dt: float, last_provider_state: ProviderState, step_count: int, vehicle_collisions: Dict[str, List[Collision]], vehicles_for_agents: Dict[str, List[str]], vehicle_ids: Set[str], vehicle_states: Dict[str, VehicleState], vehicle_sensors: Dict[str, Dict[str, Sensor]], sensor_states: Dict[str, SensorState], interest_filter: re.Pattern, _ground_bullet_id: str | None = None)[source]

This is state that should change per step of the simulation.

actor_is_interest(actor_id: str, extension: Pattern | None = None) → bool[source]

Determine if the actor is of interest.

Parameters:: actor_id (str) – The id of the actor to test.
Returns:: If the actor is of interest.
Return type:: bool

actor_states: List[ActorState]

property actor_states_by_id: Dict[str, ActorState]: Get actor states paired by their ids.

property agent_ids: Set[str]: Get the ids of all agents that currently have vehicles.

agent_interfaces: Dict[str, AgentInterface]

agent_vehicle_controls: Dict[str, str]

ego_ids: Set[str]

elapsed_sim_time: float

filtered_vehicle_collisions(vehicle_id: str) → List[Collision][source]: Get a list of all collisions the given vehicle was involved in during the last physics update.

fixed_timestep: float

interest_actors(extension: re.Pattern | None = None) → Dict[str, ActorState][source]

Get the actor states of actors that are marked as of interest.

Parameters:: extension (re.Pattern) – A matching for interest actors not defined in scenario.

interest_filter: re.Pattern

last_dt: float

last_provider_state: ProviderState

map_spec: MapSpec

pending_agent_ids: List[str]

property potential_agent_ids: Set[str]: This includes current agent ids and future pending ego agent ids.

resetting: bool

sensor_states: Dict[str, SensorState]

step_count: int

vehicle_collisions: Dict[str, List[Collision]]

vehicle_did_collide(vehicle_id: str) → bool[source]: Test if the given vehicle had any collisions in the last physics update.

vehicle_ids: Set[str]

vehicle_sensors: Dict[str, Dict[str, Sensor]]

vehicle_states: Dict[str, VehicleState]

vehicles_for_agents: Dict[str, List[str]]