igp2 package

Subpackages

• igp2.agents package
  • Submodules
  • igp2.agents.agent module
    • Agent
      • Agent.agent_id
      • Agent.alive
      • Agent.done()
      • Agent.fps
      • Agent.goal
      • Agent.metadata
      • Agent.next_action()
      • Agent.next_state()
      • Agent.reset()
      • Agent.state
      • Agent.trajectory_cl
      • Agent.update_goal()
      • Agent.vehicle
  • igp2.agents.macro_agent module
    • MacroAgent
      • MacroAgent.current_macro
      • MacroAgent.done()
      • MacroAgent.maneuver_end_idx
      • MacroAgent.next_action()
      • MacroAgent.next_state()
      • MacroAgent.reset()
      • MacroAgent.update_macro_action()
  • igp2.agents.maneuver_agent module
    • ManeuverAgent
      • ManeuverAgent.create_next_maneuver()
      • ManeuverAgent.done()
      • ManeuverAgent.next_action()
  • igp2.agents.mcts_agent module
    • MCTSAgent
      • MCTSAgent.done()
      • MCTSAgent.get_goals()
      • MCTSAgent.goal_probabilities
      • MCTSAgent.mcts
      • MCTSAgent.next_action()
      • MCTSAgent.observations
      • MCTSAgent.possible_goals
      • MCTSAgent.reset()
      • MCTSAgent.update_observations()
      • MCTSAgent.update_plan()
      • MCTSAgent.view_radius
  • igp2.agents.traffic_agent module
    • TrafficAgent
      • TrafficAgent.done()
      • TrafficAgent.macro_actions
      • TrafficAgent.next_action()
      • TrafficAgent.reset()
      • TrafficAgent.set_destination()
      • TrafficAgent.set_macro_actions()
  • igp2.agents.trajectory_agent module
    • TrajectoryAgent
      • TrajectoryAgent.done()
      • TrajectoryAgent.next_action()
      • TrajectoryAgent.next_state()
      • TrajectoryAgent.open_loop
      • TrajectoryAgent.parked()
      • TrajectoryAgent.reset()
      • TrajectoryAgent.set_trajectory()
      • TrajectoryAgent.trajectory
  • Module contents
• igp2.carlasim package
  • Submodules
  • igp2.carlasim.carla_agent_wrapper module
    • CarlaAgentWrapper
      • CarlaAgentWrapper.actor
      • CarlaAgentWrapper.actor_id
      • CarlaAgentWrapper.agent
      • CarlaAgentWrapper.agent_id
      • CarlaAgentWrapper.done()
      • CarlaAgentWrapper.name
      • CarlaAgentWrapper.next_control()
      • CarlaAgentWrapper.reset_waypoints()
      • CarlaAgentWrapper.state
  • igp2.carlasim.carla_client module
    • CarlaSim
      • CarlaSim.TIMEOUT
      • CarlaSim.add_agent()
      • CarlaSim.agents
      • CarlaSim.attach_camera()
      • CarlaSim.client
      • CarlaSim.dead_ids
      • CarlaSim.fps
      • CarlaSim.get_ego()
      • CarlaSim.get_traffic_manager()
      • CarlaSim.load_opendrive_world()
      • CarlaSim.map
      • CarlaSim.recording
      • CarlaSim.recording_path
      • CarlaSim.remove_agent()
      • CarlaSim.run()
      • CarlaSim.scenario_map
      • CarlaSim.spectator
      • CarlaSim.step()
      • CarlaSim.timestep
      • CarlaSim.world
  • igp2.carlasim.controller module
    • PIDLateralController
      • PIDLateralController.change_parameters()
      • PIDLateralController.run_step()
    • PIDLongitudinalController
      • PIDLongitudinalController.change_parameters()
      • PIDLongitudinalController.run_step()
    • VehiclePIDController
      • VehiclePIDController.change_lateral_PID()
      • VehiclePIDController.change_longitudinal_PID()
      • VehiclePIDController.run_step()
  • igp2.carlasim.local_planner module
    • LocalPlanner
      • LocalPlanner.done()
      • LocalPlanner.follow_speed_limits()
      • LocalPlanner.get_incoming_waypoint_and_direction()
      • LocalPlanner.reset_vehicle()
      • LocalPlanner.run_step()
      • LocalPlanner.set_global_plan()
      • LocalPlanner.set_speed()
    • RoadOption
      • RoadOption.CHANGELANELEFT
      • RoadOption.CHANGELANERIGHT
      • RoadOption.LANEFOLLOW
      • RoadOption.LEFT
      • RoadOption.RIGHT
      • RoadOption.STRAIGHT
      • RoadOption.VOID
  • igp2.carlasim.traffic_manager module
    • TrafficManager
      • TrafficManager.agents
      • TrafficManager.disable()
      • TrafficManager.ego
      • TrafficManager.enabled
      • TrafficManager.n_agents
      • TrafficManager.set_agents_count()
      • TrafficManager.set_ego_agent()
      • TrafficManager.set_spawn_filter()
      • TrafficManager.set_spawn_generation()
      • TrafficManager.spawns
      • TrafficManager.update()
  • igp2.carlasim.util module
    • draw_waypoints()
    • find_weather_presets()
    • get_actor_blueprints()
    • get_actor_display_name()
    • get_speed()
  • igp2.carlasim.visualisation module
    • CameraManager
      • CameraManager.next_sensor()
      • CameraManager.render()
      • CameraManager.set_sensor()
      • CameraManager.toggle_camera()
      • CameraManager.toggle_recording()
    • CollisionSensor
      • CollisionSensor.get_collision_history()
    • FadingText
      • FadingText.render()
      • FadingText.set_text()
      • FadingText.tick()
    • GnssSensor
    • HUD
      • HUD.error()
      • HUD.notification()
      • HUD.on_world_tick()
      • HUD.render()
      • HUD.tick()
      • HUD.toggle_info()
    • HelpText
      • HelpText.render()
      • HelpText.toggle()
    • IMUSensor
    • Igp2HUD
      • Igp2HUD.on_world_tick()
      • Igp2HUD.render()
      • Igp2HUD.tick()
      • Igp2HUD.toggle_info()
    • KeyboardControl
      • KeyboardControl.parse_events()
    • LaneInvasionSensor
    • RadarSensor
    • Visualiser
      • Visualiser.initialize()
      • Visualiser.run()
      • Visualiser.step()
    • World
      • World.destroy()
      • World.destroy_sensors()
      • World.load_map_layer()
      • World.next_map_layer()
      • World.next_weather()
      • World.render()
      • World.restart()
      • World.tick()
      • World.toggle_radar()
  • Module contents
• igp2.core package
  • Submodules
  • igp2.core.agentstate module
    • AgentMetadata
      • AgentMetadata.CAR_DEFAULT
      • AgentMetadata.agent_type
      • AgentMetadata.back_track
      • AgentMetadata.default_meta_frame()
      • AgentMetadata.drag_coefficient
      • AgentMetadata.final_time
      • AgentMetadata.friction_coefficient
      • AgentMetadata.front_overhang
      • AgentMetadata.front_track
      • AgentMetadata.height
      • AgentMetadata.initial_time
      • AgentMetadata.interleave()
      • AgentMetadata.length
      • AgentMetadata.max_acceleration
      • AgentMetadata.max_angular_vel
      • AgentMetadata.rear_overhang
      • AgentMetadata.wheelbase
      • AgentMetadata.width
    • AgentState
      • AgentState.acceleration
      • AgentState.heading
      • AgentState.macro_action
      • AgentState.maneuver
      • AgentState.metadata
      • AgentState.position
      • AgentState.speed
      • AgentState.time
      • AgentState.to_hashable()
      • AgentState.velocity
  • igp2.core.config module
    • Configuration
      • Configuration.fps
      • Configuration.max_oncoming_vehicle_dist
      • Configuration.max_speed
      • Configuration.min_speed
      • Configuration.next_lane_offset
      • Configuration.set_properties()
      • Configuration.target_switch_length
      • Configuration.velocity_stop
  • igp2.core.cost module
    • Cost
      • Cost.cost
      • Cost.cost_components
      • Cost.cost_difference()
      • Cost.cost_difference_resampled()
      • Cost.factors
      • Cost.fix_points()
      • Cost.limits
      • Cost.resample_trajectory()
      • Cost.trajectory_cost()
  • igp2.core.goal module
    • BoxGoal
      • BoxGoal.box
      • BoxGoal.distance()
      • BoxGoal.passed_through_goal()
      • BoxGoal.point_on_lane()
      • BoxGoal.poly
      • BoxGoal.reached()
    • Goal
      • Goal.center
      • Goal.distance()
      • Goal.passed_through_goal()
      • Goal.point_on_lane()
      • Goal.reached()
    • PointCollectionGoal
      • PointCollectionGoal.center
      • PointCollectionGoal.distance()
      • PointCollectionGoal.goals()
      • PointCollectionGoal.passed_through_goal()
      • PointCollectionGoal.point_on_lane()
      • PointCollectionGoal.reached()
    • PointGoal
      • PointGoal.distance()
      • PointGoal.passed_through_goal()
      • PointGoal.point_on_lane()
      • PointGoal.radius
      • PointGoal.reached()
    • StoppingGoal
  • igp2.core.results module
    • AgentResult
      • AgentResult.add_data()
      • AgentResult.goal_accuracy
      • AgentResult.inference_time
      • AgentResult.position
      • AgentResult.reward_difference
      • AgentResult.true_goal_probability
      • AgentResult.zero_probability
    • AllMCTSResult
      • AllMCTSResult.add_data()
      • AllMCTSResult.optimal_rollouts
      • AllMCTSResult.optimal_trace
      • AllMCTSResult.plot_q_values()
    • EpisodeResult
      • EpisodeResult.add_data()
      • EpisodeResult.goal_accuracy
      • EpisodeResult.goal_accuracy_ste
      • EpisodeResult.inference_time
      • EpisodeResult.reward_difference
      • EpisodeResult.reward_difference_median
      • EpisodeResult.reward_difference_std
      • EpisodeResult.true_goal_probability
      • EpisodeResult.true_goal_ste
      • EpisodeResult.zero_probability
    • ExperimentResult
      • ExperimentResult.add_data()
      • ExperimentResult.goal_accuracy
      • ExperimentResult.inference_time
      • ExperimentResult.inference_time_ste
      • ExperimentResult.reward_difference
      • ExperimentResult.true_goal_probability
      • ExperimentResult.zero_probability
    • MCTSResult
      • MCTSResult.leaf
      • MCTSResult.samples
      • MCTSResult.trace
      • MCTSResult.tree
    • MCTSResultTemplate
    • PlanningResult
      • PlanningResult.add_data()
    • RunResult
      • RunResult.agents
      • RunResult.collided_agents_ids
      • RunResult.ego_id
      • RunResult.ego_maneuvers
      • RunResult.ego_maneuvers_trajectories
      • RunResult.ego_trajectory
      • RunResult.goal_reached
      • RunResult.plot()
      • RunResult.selected_action
  • igp2.core.trajectory module
    • StateTrajectory
      • StateTrajectory.add_state()
      • StateTrajectory.calculate_path_and_velocity()
      • StateTrajectory.extend()
      • StateTrajectory.from_velocity_trajectory()
      • StateTrajectory.heading
      • StateTrajectory.length
      • StateTrajectory.slice()
      • StateTrajectory.states
      • StateTrajectory.timesteps
    • Trajectory
      • Trajectory.VELOCITY_STOP
      • Trajectory.acceleration
      • Trajectory.angular_acceleration
      • Trajectory.angular_velocity
      • Trajectory.curvature
      • Trajectory.differentiate()
      • Trajectory.duration
      • Trajectory.extend()
      • Trajectory.final_agent_state
      • Trajectory.heading
      • Trajectory.heading_from_path()
      • Trajectory.initial_agent_state
      • Trajectory.jerk
      • Trajectory.length
      • Trajectory.path
      • Trajectory.slice()
      • Trajectory.times
      • Trajectory.timesteps
      • Trajectory.trajectory_dt()
      • Trajectory.velocity
      • Trajectory.velocity_stop
    • VelocityTrajectory
      • VelocityTrajectory.calculate_pathlength()
      • VelocityTrajectory.extend()
      • VelocityTrajectory.from_agent_state()
      • VelocityTrajectory.from_agent_states()
      • VelocityTrajectory.heading
      • VelocityTrajectory.insert()
      • VelocityTrajectory.length
      • VelocityTrajectory.pathlength
      • VelocityTrajectory.slice()
      • VelocityTrajectory.timesteps
  • igp2.core.util module
    • Box
      • Box.boundary
      • Box.calculate_boundary()
      • Box.diagonal
      • Box.inside()
      • Box.overlaps()
    • Circle
      • Circle.contains()
    • add_offset_point()
    • all_subclasses()
    • calculate_multiple_bboxes()
    • cart2pol()
    • copy_agents_dict()
    • find_lane_sequence()
    • get_curvature()
    • get_linestring_side()
    • get_points_parallel()
    • list_startswith()
    • pol2cart()
  • igp2.core.vehicle module
    • Action
      • Action.acceleration
      • Action.steer_angle
      • Action.target_angle
      • Action.target_speed
    • KinematicVehicle
      • KinematicVehicle.execute_action()
    • Observation
      • Observation.frame
      • Observation.plot()
      • Observation.scenario_map
    • TrajectoryVehicle
      • TrajectoryVehicle.execute_action()
    • Vehicle
      • Vehicle.execute_action()
      • Vehicle.get_state()
  • igp2.core.velocitysmoother module
    • VelocitySmoother
      • VelocitySmoother.amax
      • VelocitySmoother.dt
      • VelocitySmoother.horizon_threshold
      • VelocitySmoother.lambda_acc
      • VelocitySmoother.lin_interpolant()
      • VelocitySmoother.load_trajectory()
      • VelocitySmoother.min_n
      • VelocitySmoother.n
      • VelocitySmoother.optimiser()
      • VelocitySmoother.remove_duplicates()
      • VelocitySmoother.smooth_velocity()
      • VelocitySmoother.split_at_stops()
      • VelocitySmoother.split_pathlength
      • VelocitySmoother.split_smooth()
      • VelocitySmoother.split_velocity
      • VelocitySmoother.vmax
      • VelocitySmoother.vmin
  • Module contents
• igp2.data package
  • Submodules
  • igp2.data.data_loaders module
    • DataLoader
      • DataLoader.load()
      • DataLoader.scenario
      • DataLoader.test()
      • DataLoader.train()
      • DataLoader.valid()
    • InDDataLoader
      • InDDataLoader.get_split()
      • InDDataLoader.load()
      • InDDataLoader.test()
      • InDDataLoader.train()
      • InDDataLoader.valid()
  • igp2.data.episode module
    • Episode
    • EpisodeConfig
      • EpisodeConfig.recording_id
    • EpisodeLoader
      • EpisodeLoader.EPISODE_LOADERS
      • EpisodeLoader.get_loader()
      • EpisodeLoader.load()
      • EpisodeLoader.register_loader()
    • EpisodeMetadata
      • EpisodeMetadata.frame_rate
      • EpisodeMetadata.max_speed
    • Frame
      • Frame.add_agent_state()
      • Frame.agents
      • Frame.all_agents
    • IndEpisodeLoader
      • IndEpisodeLoader.load()
  • igp2.data.scenario module
    • InDScenario
      • InDScenario.filter_by_goal_completion()
      • InDScenario.load()
      • InDScenario.load_episode()
      • InDScenario.load_episodes()
    • Scenario
      • Scenario.episodes
      • Scenario.load()
      • Scenario.load_map()
      • Scenario.loader
      • Scenario.opendrive_map
      • Scenario.plot_goals()
    • ScenarioConfig
      • ScenarioConfig.agent_types
      • ScenarioConfig.background_image
      • ScenarioConfig.background_px_to_meter
      • ScenarioConfig.buildings
      • ScenarioConfig.check_lanes
      • ScenarioConfig.check_oncoming
      • ScenarioConfig.cost_factors
      • ScenarioConfig.data_format
      • ScenarioConfig.data_root
      • ScenarioConfig.dataset_split
      • ScenarioConfig.episodes
      • ScenarioConfig.goal_threshold
      • ScenarioConfig.goal_types
      • ScenarioConfig.goals
      • ScenarioConfig.goals_priors
      • ScenarioConfig.lat_origin
      • ScenarioConfig.load()
      • ScenarioConfig.lon_origin
      • ScenarioConfig.name
      • ScenarioConfig.opendrive_file
      • ScenarioConfig.reachable_pairs
      • ScenarioConfig.scale_down_factor
      • ScenarioConfig.scaling_factor
      • ScenarioConfig.target_switch_length
  • Module contents
• igp2.opendrive package
  • Subpackages
    • igp2.opendrive.elements package
      • Submodules
      • igp2.opendrive.elements.eulerspiral module
      • igp2.opendrive.elements.geometry module
      • igp2.opendrive.elements.junction module
      • igp2.opendrive.elements.opendrive module
      • igp2.opendrive.elements.road module
      • igp2.opendrive.elements.road_elevation_profile module
      • igp2.opendrive.elements.road_lanes module
      • igp2.opendrive.elements.road_lateral_profile module
      • igp2.opendrive.elements.road_link module
      • igp2.opendrive.elements.road_plan_view module
      • igp2.opendrive.elements.road_record module
      • igp2.opendrive.elements.road_type module
      • Module contents
  • Submodules
  • igp2.opendrive.map module
    • Map
      • Map.JUNCTION_PRECISION_ERROR
      • Map.LANE_PRECISION_ERROR
      • Map.ROAD_PRECISION_ERROR
      • Map.adjacent_lanes_at()
      • Map.best_lane_at()
      • Map.best_road_at()
      • Map.date
      • Map.east
      • Map.geo_reference
      • Map.get_adjacent_lanes()
      • Map.get_lane()
      • Map.in_roundabout()
      • Map.is_valid()
      • Map.junction_at()
      • Map.junction_groups
      • Map.junction_predecessor_lanes()
      • Map.junctions
      • Map.lanes_at()
      • Map.lanes_within_angle()
      • Map.name
      • Map.north
      • Map.parse_from_opendrive()
      • Map.road_in_roundabout()
      • Map.roads
      • Map.roads_at()
      • Map.roads_within_angle()
      • Map.south
      • Map.west
      • Map.xodr_path
  • igp2.opendrive.parser module
    • calculate_lane_section_lengths()
    • load_junction_lane_links()
    • load_road_lane_links()
    • parse_opendrive()
    • parse_opendrive_header()
    • parse_opendrive_junction()
    • parse_opendrive_junction_group()
    • parse_opendrive_road()
    • parse_opendrive_road_elevation_profile()
    • parse_opendrive_road_geometry()
    • parse_opendrive_road_lane_offset()
    • parse_opendrive_road_lane_section()
    • parse_opendrive_road_lateral_profile()
    • parse_opendrive_road_link()
    • parse_opendrive_road_type()
  • igp2.opendrive.plot_map module
    • plot_map()
  • Module contents
• igp2.planlibrary package
  • Submodules
  • igp2.planlibrary.controller module
    • AdaptiveCruiseControl
      • AdaptiveCruiseControl.get_acceleration()
    • PIDController
      • PIDController.next_action()
    • PIDLateralController
      • PIDLateralController.next_action()
    • PIDLongitudinalController
      • PIDLongitudinalController.next_action()
  • igp2.planlibrary.macro_action module
    • ChangeLane
      • ChangeLane.CHECK_ONCOMING
      • ChangeLane.check_applicability()
      • ChangeLane.get_maneuvers()
      • ChangeLane.get_possible_lanes()
      • ChangeLane.get_target_lane()
    • ChangeLaneLeft
      • ChangeLaneLeft.applicable()
      • ChangeLaneLeft.get_possible_args()
    • ChangeLaneRight
      • ChangeLaneRight.applicable()
      • ChangeLaneRight.get_possible_args()
    • Continue
      • Continue.applicable()
      • Continue.get_maneuvers()
      • Continue.get_possible_args()
    • Exit
      • Exit.TURN_TARGET_THRESHOLD
      • Exit.applicable()
      • Exit.get_maneuvers()
      • Exit.get_possible_args()
    • MacroAction
      • MacroAction.applicable()
      • MacroAction.current_maneuver
      • MacroAction.done()
      • MacroAction.get_maneuvers()
      • MacroAction.get_possible_args()
      • MacroAction.get_trajectory()
      • MacroAction.maneuvers
      • MacroAction.next_action()
      • MacroAction.play_forward_macro_action()
      • MacroAction.reset()
      • MacroAction.to_closed_loop()
    • MacroActionConfig
      • MacroActionConfig.fps
      • MacroActionConfig.left
      • MacroActionConfig.open_loop
      • MacroActionConfig.stop
      • MacroActionConfig.stop_duration
      • MacroActionConfig.target_sequence
      • MacroActionConfig.termination_point
      • MacroActionConfig.turn_target
      • MacroActionConfig.type
    • MacroActionFactory
      • MacroActionFactory.create()
      • MacroActionFactory.get_applicable_actions()
      • MacroActionFactory.macro_action_types
      • MacroActionFactory.register_new_macro()
    • StopMA
      • StopMA.DEFAULT_STOP_DURATION
      • StopMA.applicable()
      • StopMA.get_maneuvers()
      • StopMA.get_possible_args()
  • igp2.planlibrary.maneuver module
    • FollowLane
      • FollowLane.applicable()
      • FollowLane.get_trajectory()
    • GiveWay
      • GiveWay.GAP_TIME
      • GiveWay.GIVE_WAY_DISTANCE
      • GiveWay.MAX_ONCOMING_VEHICLE_DIST
      • GiveWay.SLOW_DOWN_VEL
      • GiveWay.STANDBY_VEL
      • GiveWay.add_stop_points()
      • GiveWay.add_stop_velocities()
      • GiveWay.applicable()
      • GiveWay.get_trajectory()
    • Maneuver
      • Maneuver.HEADING_DIF_THRESHOLD
      • Maneuver.LON_SWERVE_DISTANCE
      • Maneuver.MAX_RAD_S
      • Maneuver.MAX_SPEED
      • Maneuver.MIN_POINT_SPACING
      • Maneuver.MIN_SPEED
      • Maneuver.NORM_WIDTH_ACCEPTABLE
      • Maneuver.POINT_SPACING
      • Maneuver.applicable()
      • Maneuver.get_const_acceleration_vel()
      • Maneuver.get_curvature_velocity()
      • Maneuver.get_lane_path_midline()
      • Maneuver.get_trajectory()
      • Maneuver.get_vehicle_in_front()
      • Maneuver.get_vehicles_in_path()
      • Maneuver.get_velocity()
      • Maneuver.play_forward_maneuver()
    • ManeuverConfig
      • ManeuverConfig.adjust_swerving
      • ManeuverConfig.fps
      • ManeuverConfig.junction_lane_id
      • ManeuverConfig.junction_road_id
      • ManeuverConfig.lane_sequence
      • ManeuverConfig.stop
      • ManeuverConfig.stop_duration
      • ManeuverConfig.termination_point
      • ManeuverConfig.type
    • Stop
      • Stop.STOP_VELOCITY
      • Stop.applicable()
      • Stop.get_trajectory()
    • SwitchLane
      • SwitchLane.MIN_SWITCH_LENGTH
      • SwitchLane.TARGET_SWITCH_LENGTH
      • SwitchLane.get_trajectory()
    • SwitchLaneLeft
      • SwitchLaneLeft.applicable()
    • SwitchLaneRight
      • SwitchLaneRight.applicable()
    • TrajectoryManeuver
      • TrajectoryManeuver.applicable()
      • TrajectoryManeuver.get_trajectory()
    • Turn
      • Turn.applicable()
      • Turn.get_velocity()
  • igp2.planlibrary.maneuver_cl module
    • CLManeuverFactory
      • CLManeuverFactory.create()
      • CLManeuverFactory.maneuver_types
      • CLManeuverFactory.register_new_maneuver()
    • ClosedLoopManeuver
      • ClosedLoopManeuver.done()
      • ClosedLoopManeuver.next_action()
      • ClosedLoopManeuver.reset()
    • FollowLaneCL
    • GiveWayCL
      • GiveWayCL.next_action()
    • StopCL
      • StopCL.done()
      • StopCL.next_action()
      • StopCL.reset()
    • SwitchLaneLeftCL
    • SwitchLaneRightCL
    • TrajectoryManeuverCL
    • TurnCL
    • WaypointManeuver
      • WaypointManeuver.ACC_ARGS
      • WaypointManeuver.COMPLETION_MARGIN
      • WaypointManeuver.LATERAL_ARGS
      • WaypointManeuver.LONGITUDINAL_ARGS
      • WaypointManeuver.WAYPOINT_MARGIN
      • WaypointManeuver.done()
      • WaypointManeuver.get_target_waypoint()
      • WaypointManeuver.next_action()
      • WaypointManeuver.reset()
  • Module contents
• igp2.planning package
  • Submodules
  • igp2.planning.mcts module
    • MCTS
      • MCTS.create_node()
      • MCTS.reset_results()
      • MCTS.search()
      • MCTS.to_key()
  • igp2.planning.mctsaction module
    • MCTSAction
  • igp2.planning.node module
    • Node
      • Node.action_visits
      • Node.actions
      • Node.actions_names
      • Node.add_child()
      • Node.add_reward_result()
      • Node.children
      • Node.descendants
      • Node.expand()
      • Node.is_leaf
      • Node.key
      • Node.q_values
      • Node.reward_results
      • Node.run_result
      • Node.state
      • Node.state_visits
      • Node.store_q_values()
  • igp2.planning.policy module
    • MaxPolicy
      • MaxPolicy.select()
    • Policy
      • Policy.select()
    • UCB1
      • UCB1.select()
  • igp2.planning.reward module
    • Reward
      • Reward.cost_components
      • Reward.default_rewards
      • Reward.factors
      • Reward.reset()
      • Reward.reward
      • Reward.reward_components
      • Reward.time_discount
      • Reward.trajectory_reward()
  • igp2.planning.rollout module
    • Rollout
      • Rollout.agents
      • Rollout.ego_id
      • Rollout.fps
      • Rollout.initial_frame
      • Rollout.metadata
      • Rollout.plot()
      • Rollout.reset()
      • Rollout.run()
      • Rollout.update_ego_action()
      • Rollout.update_ego_goal()
      • Rollout.update_trajectory()
  • igp2.planning.tree module
    • Tree
      • Tree.add_child()
      • Tree.backprop()
      • Tree.max_depth
      • Tree.on_finish()
      • Tree.predictions
      • Tree.print()
      • Tree.root
      • Tree.select_action()
      • Tree.select_plan()
      • Tree.set_samples()
      • Tree.tree
  • Module contents
• igp2.recognition package
  • Submodules
  • igp2.recognition.astar module
    • AStar
      • AStar.NEXT_LANE_OFFSET
      • AStar.cost_function()
      • AStar.goal_reached()
      • AStar.search()
      • AStar.time_to_goal()
      • AStar.trajectory_duration()
  • igp2.recognition.goalprobabilities module
    • GoalWithType
    • GoalsProbabilities
      • GoalsProbabilities.add_smoothing()
      • GoalsProbabilities.all_plans
      • GoalsProbabilities.all_reward_differences
      • GoalsProbabilities.all_rewards
      • GoalsProbabilities.all_trajectories
      • GoalsProbabilities.current_reward
      • GoalsProbabilities.current_trajectory
      • GoalsProbabilities.goals_and_types
      • GoalsProbabilities.goals_priors
      • GoalsProbabilities.goals_probabilities
      • GoalsProbabilities.likelihood
      • GoalsProbabilities.map_prediction()
      • GoalsProbabilities.optimum_plan
      • GoalsProbabilities.optimum_reward
      • GoalsProbabilities.optimum_trajectory
      • GoalsProbabilities.plot()
      • GoalsProbabilities.reward_difference
      • GoalsProbabilities.sample_goals()
      • GoalsProbabilities.sample_trajectories_to_goal()
      • GoalsProbabilities.trajectories_probabilities
      • GoalsProbabilities.trajectory_to_plan()
      • GoalsProbabilities.uniform_distribution()
  • igp2.recognition.goalrecognition module
    • GoalRecognition
      • GoalRecognition.update_goals_probabilities()
  • Module contents
• igp2.simplesim package
  • Submodules
  • igp2.simplesim.plot_simulation module
    • plot_diagnostics()
    • plot_maneuvers()
    • plot_predictions()
    • plot_simulation()
  • igp2.simplesim.simulation module
    • Simulation
      • Simulation.actions
      • Simulation.add_agent()
      • Simulation.agents
      • Simulation.remove_agent()
      • Simulation.reset()
      • Simulation.scenario_map
      • Simulation.step()
      • Simulation.t
  • Module contents

Module contents

IGP2: Interpretable Goal-Based Prediction and Planning for Autonomous Vehicles

igp2.setup_logging(level=None, vel_smooting_level=None, log_dir=None, log_name=None)