Merge pull request #148 from krishauser/teamb_planning

TeamB Planning: Trapezoidal profile and Yeilding to pedestrian

GEMstack/onboard/perception/agent_detection.py

@@ -5,29 +5,52 @@
 import threading
 import copy
 
+import numpy as np
+
 class OmniscientAgentDetector(Component):
     """Obtains agent detections from a simulator"""
-    def __init__(self,vehicle_interface : GEMInterface):
+
+    def __init__(self, vehicle_interface: GEMInterface):
         self.vehicle_interface = vehicle_interface
         self.agents = {}
         self.lock = threading.Lock()
 
+        self.start_pose = None
+
     def rate(self):
         return 4.0
-    
+
     def state_inputs(self):
-        return []
-    
+        return ['vehicle']
+
     def state_outputs(self):
         return ['agents']
 
     def initialize(self):
-        self.vehicle_interface.subscribe_sensor('agent_detector',self.agent_callback, AgentState)
-    
-    def agent_callback(self, name : str, agent : AgentState):
+        self.vehicle_interface.subscribe_sensor('agent_detector', self.agent_callback, AgentState)
+
+    def agent_callback(self, name: str, agent: AgentState):
         with self.lock:
             self.agents[name] = agent
 
-    def update(self) -> Dict[str,AgentState]:
+    def update(self, vehicle : VehicleState) -> Dict[str, AgentState]:
         with self.lock:
-            return copy.deepcopy(self.agents)
+            res = {}
+            ped_num = 0
+
+            if self.start_pose is None:
+                self.start_pose = vehicle.pose
+            # print("\nVehicle start state self.start_pose:", self.start_pose)
+            # print("\nVehicle current state:", vehicle.pose, vehicle.v)
+
+            for n, a in self.agents.items():
+                # print("\nBefore to_frame: Agent:", n, a.pose, a.velocity)
+                a = a.to_frame(ObjectFrameEnum.START, current_pose = a.pose, start_pose_abs = self.start_pose)
+                # print("\nAfter to_frame START: Agent:", n, a.pose, a.velocity)
+                # print('==============', a.pose.frame==ObjectFrameEnum.START)
+                res[n] = a
+                if a.type == AgentEnum.PEDESTRIAN:
+                    ped_num += 1
+            if ped_num > 0:
+                print("\nDetected", ped_num, "pedestrians")
+            return res