Added new trigger quickstart script.

New script 32-pedestrian-time-to-collision plays a scenario where pedestrian forces a collision with ego vehicle.
Fixed 30-time-to-collision-trigger.

Author: KarByc

quickstart/30-time-to-collision-trigger.py

@@ -1,13 +1,12 @@
 #!/usr/bin/env python3
 #
-# Copyright (c) 2019 LG Electronics, Inc.
+# Copyright (c) 2020 LG Electronics, Inc.
 #
 # This software contains code licensed as described in LICENSE.
 #
 
 import os
 import lgsvl
-import math
 
 sim = lgsvl.Simulator(os.environ.get("SIMULATOR_HOST", "127.0.0.1"), 8181)
 if sim.current_scene == "BorregasAve":
@@ -20,7 +19,6 @@
 layer_mask |= 1 << 0 # 0 is the layer for the road (default)
 
 # EGO
-
 state = lgsvl.AgentState()
 forward = lgsvl.utils.transform_to_forward(spawns[0])
 right = lgsvl.utils.transform_to_right(spawns[0])
@@ -70,8 +68,7 @@ def on_collision(agent1, agent2, contact):
   hit = sim.raycast(npc_position, lgsvl.Vector(0,-1,0), layer_mask) 
 
   trigger = None
-  if i == 1:
-    parameters = {"value": 4.0}
+  if i == 0:
     effector = lgsvl.TriggerEffector("TimeToCollision", {})
     trigger = lgsvl.WaypointTrigger([effector])
   wp = lgsvl.DriveWaypoint(position=hit.point, speed=speed, angle=angle, idle=0, trigger_distance=0, trigger = trigger)

quickstart/31-wait-for-distance-trigger.py

@@ -1,13 +1,12 @@
 #!/usr/bin/env python3
 #
-# Copyright (c) 2019 LG Electronics, Inc.
+# Copyright (c) 2020 LG Electronics, Inc.
 #
 # This software contains code licensed as described in LICENSE.
 #
 
 import os
 import lgsvl
-import math
 
 sim = lgsvl.Simulator(os.environ.get("SIMULATOR_HOST", "127.0.0.1"), 8181)
 if sim.current_scene == "BorregasAve":
@@ -20,7 +19,6 @@
 layer_mask |= 1 << 0 # 0 is the layer for the road (default)
 
 # EGO
-
 state = lgsvl.AgentState()
 forward = lgsvl.utils.transform_to_forward(spawns[0])
 right = lgsvl.utils.transform_to_right(spawns[0])

quickstart/32-pedestrian-time-to-collision.py

@@ -0,0 +1,92 @@
+#!/usr/bin/env python3
+#
+# Copyright (c) 2019 LG Electronics, Inc.
+#
+# This software contains code licensed as described in LICENSE.
+#
+
+import os
+import lgsvl
+
+sim = lgsvl.Simulator(os.environ.get("SIMULATOR_HOST", "127.0.0.1"), 8181)
+if sim.current_scene == "BorregasAve":
+    sim.reset()
+else:
+    sim.load("BorregasAve")
+
+spawns = sim.get_spawn()
+layer_mask = 0
+layer_mask |= 1 << 0  # 0 is the layer for the road (default)
+
+# EGO
+state = lgsvl.AgentState()
+ego_position = lgsvl.Vector(342.0, 0.0, -87.7)
+hit = sim.raycast(ego_position, lgsvl.Vector(0, -1, 0), layer_mask)
+state.transform.position = hit.point
+state.transform.rotation = lgsvl.Vector(0.0, 15.0, 0.0)
+forward = lgsvl.Vector(0.2, 0.0, 0.8)
+state.velocity = forward*15
+a = sim.add_agent("Lincoln2017MKZ (Apollo 5.0)", lgsvl.AgentType.EGO, state)
+
+# Pedestrian
+state = lgsvl.AgentState()
+pedestrian_position = lgsvl.Vector(350.0, 0.0, -12)
+hit = sim.raycast(pedestrian_position, lgsvl.Vector(0, -1, 0), layer_mask)
+pedestrian_rotation = lgsvl.Vector(0.0, 105.0, 0.0)
+state.transform.position = hit.point
+state.transform.rotation = pedestrian_rotation
+pedestrian = sim.add_agent("Bob", lgsvl.AgentType.PEDESTRIAN, state)
+
+agents = {
+    a: "EGO",
+    pedestrian: "Bob"
+}
+
+
+# Executed upon receiving collision callback -- pedestrian is expected to walk into colliding objects
+def on_collision(agent1, agent2, contact):
+    name1 = agents[agent1]
+    name2 = agents[agent2] if agent2 is not None else "OBSTACLE"
+    print("{} collided with {}".format(name1, name2))
+
+
+a.on_collision(on_collision)
+pedestrian.on_collision(on_collision)
+
+# This block creates the list of waypoints that the pedestrian will follow
+# Each waypoint is an position vector paired with the speed that the pedestrian will walk to
+waypoints = []
+
+trigger = None
+speed = 3
+hit = sim.raycast(pedestrian_position+lgsvl.Vector(7.4, 0.0, -2.2), lgsvl.Vector(0, -1, 0), layer_mask)
+effector = lgsvl.TriggerEffector("TimeToCollision", {})
+trigger = lgsvl.WaypointTrigger([effector])
+wp = lgsvl.WalkWaypoint(position=hit.point, speed=speed, idle=0, trigger_distance=0, trigger=trigger)
+waypoints.append(wp)
+
+hit = sim.raycast(pedestrian_position+lgsvl.Vector(12.4, 0.0, -3.4), lgsvl.Vector(0, -1, 0), layer_mask)
+wp = lgsvl.WalkWaypoint(position=hit.point, speed=speed, idle=0, trigger_distance=0, trigger=None)
+waypoints.append(wp)
+
+
+def on_waypoint(agent, index):
+    print("waypoint {} reached".format(index))
+
+
+def agents_traversed_waypoints():
+    print("All agents traversed their waypoints.")
+    sim.stop()
+
+
+# The above function needs to be added to the list of callbacks for the pedestrian
+pedestrian.on_waypoint_reached(on_waypoint)
+sim.agents_traversed_waypoints(agents_traversed_waypoints)
+
+# The pedestrian needs to be given the list of waypoints. A bool can be passed as the 2nd argument that controls
+# whether or not the pedestrian loops over the waypoints (default false)
+pedestrian.follow(waypoints, False)
+
+input("Press Enter to run")
+
+sim.run()