crosswalk-parsing fixed PR#478
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aaravshar wants to merge 2 commits into
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…ario, as well as pedestrian.scenic
…rianCrossing for conflicting maneuvers, updated crosswalk scenario to reflect this
Eric-Vin
reviewed
Jun 30, 2026
| from shapely.geometry import GeometryCollection, MultiPoint, MultiPolygon, Point, Polygon | ||
| from shapely.ops import snap, unary_union | ||
| from scipy.spatial.transform import Rotation as R | ||
| from shapely.geometry import GeometryCollection, MultiPoint, MultiPolygon, Point, Polygon, LineString |
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May be a good idea to import Point as ShapelyPoint or something like that, since otherwise we could easily encounter a conflict with Scenic's Point.
Eric-Vin
reviewed
Jun 30, 2026
| dv_du = self.poly.grad_at(u) | ||
| local_heading = math.atan2(dv_du, 1) | ||
| global_heading = local_heading + self.hdg | ||
| while global_heading > math.pi: |
Collaborator
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You can probably just use normalizeAngle in scenic.core.gometry here.
Eric-Vin
reviewed
Jun 30, 2026
| dv_dp = self.v_poly.grad_at(p) | ||
| local_heading = math.atan2(dv_dp, du_dp) | ||
| global_heading = local_heading + self.hdg | ||
| while global_heading > math.pi: |
Eric-Vin
reviewed
Jun 30, 2026
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| def heading_at(self, s): | ||
| theta = (self.curv0 * s) + (0.5 * self.curve_rate * s * s) + self.hdg | ||
| while theta > math.pi: |
Eric-Vin
reviewed
Jun 30, 2026
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| def heading_at(self, s): | ||
| heading = self.hdg | ||
| while heading > math.pi: |
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crosswalk parsing changes to xodr_parser and 1 scenario for pedestrian-vehicle interactions