smarts.core.vehicle_state module
- class smarts.core.vehicle_state.Collision(collidee_id: str, collidee_owner_id: str)[source]
Represents a collision by an ego vehicle with another vehicle.
- collidee_id: str
The id of the body that was collided with.
- collidee_owner_id: str
The id of the controlling agent or other controlling entity.
- class smarts.core.vehicle_state.VehicleConfig(vehicle_type: str, color: SceneColors, dimensions: Dimensions, glb_model: str)[source]
Vehicle configuration
- color: SceneColors
- dimensions: Dimensions
- glb_model: str
- vehicle_type: str
- class smarts.core.vehicle_state.VehicleState(actor_id: str, actor_type: str | None = None, source: str | None = None, role: ActorRole = ActorRole.Unknown, updated: bool = False, vehicle_config_type: str | None = None, pose: Pose | None = None, dimensions: Dimensions | None = None, speed: float = 0.0, steering: float | None = None, yaw_rate: float | None = None, linear_velocity: ndarray | None = None, angular_velocity: ndarray | None = None, linear_acceleration: ndarray | None = None, angular_acceleration: ndarray | None = None)[source]
Vehicle state information.
- angular_acceleration: ndarray | None = None
- angular_velocity: ndarray | None = None
- angular_velocity_tuple() Tuple[float, float, float] | None[source]
Generates a tuple representation of angular velocity with standard python types.
- property bbox: Polygon
Returns a bounding box around the vehicle.
- property bounding_box_points: Tuple[Tuple[float, float], Tuple[float, float], Tuple[float, float], Tuple[float, float]]
The minimum fitting heading aligned bounding box. Four 2D points representing the minimum fitting box.
- dimensions: Dimensions | None = None
- get_dimensions() Dimensions | None[source]
Get the dimensions of this actor. Some actors do not have physical dimensions.
- get_pose() Pose | None[source]
Get the pose of this actor. Some actors do not have a physical location.
- linear_acceleration: ndarray | None = None
- linear_velocity: ndarray | None = None
- linear_velocity_tuple() Tuple[float, float, float] | None[source]
Generates a tuple representation of linear velocity with standard python types.
- speed: float = 0.0
- steering: float | None = None
- vehicle_config_type: str | None = None
- yaw_rate: float | None = None