Fix remaining quickstart scripts

Author: shalinmehtalgsvl

lgsvl/geometry.py

@@ -43,11 +43,6 @@ def __mul__(self, v):
 
   def __rmul__(self, v):
     return self * v
-    # if isinstance(v, Vector):
-    #   return Vector(self.x * v.x, self.y * v.y, self.z * v.z)
-    
-    # if isinstance(v, (int, float)):
-    #   return Vector(self.x * v, self.y * v, self.z * v)
 
 class BoundingBox:
   def __init__(self, min, max):

quickstart/16-pedestrian-follow-waypoints.py

@@ -25,10 +25,6 @@
 state.transform = spawns[1]
 a = sim.add_agent("Lincoln2017MKZ (Apollo 5.0)", lgsvl.AgentType.EGO, state)
 
-# sx = state.position.x + 8
-# sy = state.position.y
-# sz = state.position.z
-
 # This will create waypoints in a circle for the pedestrian to follow
 radius = 5
 count = 8

quickstart/17-many-pedestrians-walking.py

@@ -20,6 +20,8 @@
 
 state = lgsvl.AgentState()
 state.transform = spawns[0]
+forward = lgsvl.utils.transform_to_forward(spawns[0])
+right = lgsvl.utils.transform_to_right(spawns[0])
 a = sim.add_agent("Lincoln2017MKZ (Apollo 5.0)", lgsvl.AgentType.EGO, state)
 
 sx = state.transform.position.x
@@ -30,18 +32,17 @@
 
 for i in range(20*6):
   # Create peds in a block
-  px = sx - 8 + (1.0 * (i % 6))
-  pz = sz - 5 + (1.0 * (i//6))
+  start = spawns[0].position + (5 + (1.0 * (i//6))) * forward - (2 + (1.0 * (i % 6))) * right
+  end = start + 10 * forward
 
 # Give waypoints for the spawn location and 10m ahead
-  wp = [ lgsvl.WalkWaypoint(lgsvl.Vector(px, sy, pz), 0),
-         lgsvl.WalkWaypoint(lgsvl.Vector(px, sy, pz + 10), 0),
+  wp = [ lgsvl.WalkWaypoint(start, 0),
+         lgsvl.WalkWaypoint(end, 0),
        ]
 
   state = lgsvl.AgentState()
-  state.transform = spawns[0]
-  state.transform.position.x = px
-  state.transform.position.z = pz
+  state.transform.position = start
+  state.transform.rotation = spawns[0].rotation
   name = random.choice(names)
 
 # Send the waypoints and make the pedestrian loop over the waypoints

quickstart/23-npc-callbacks.py

@@ -17,13 +17,11 @@
   sim.load("BorregasAve")
 
 spawns = sim.get_spawn()
-sx = spawns[0].position.x
-sy = spawns[0].position.y
-sz = spawns[0].position.z + 200.0
+forward = lgsvl.utils.transform_to_forward(spawns[0])
+right = lgsvl.utils.transform_to_right(spawns[0])
 
 state = lgsvl.AgentState()
-state.transform = spawns[0]
-state.transform = sim.map_point_on_lane(lgsvl.Vector(sx, sy, sz))
+state.transform = sim.map_point_on_lane(spawns[0].position + 200 * forward)
 a = sim.add_agent("Lincoln2017MKZ (Apollo 5.0)", lgsvl.AgentType.EGO, state)
 
 mindist = 10.0
@@ -44,7 +42,7 @@ def on_lane_change(agent):
   angle = random.uniform(0.0, 2*math.pi)
   dist = random.uniform(mindist, maxdist)
 
-  point = lgsvl.Vector(sx + dist * math.sin(angle), sy, sz + 25 + dist * math.cos(angle))
+  point = spawns[0].position + dist * math.sin(angle) * right + (225 + dist * math.cos(angle)) * forward
 
   state = lgsvl.AgentState()
   state.transform = sim.map_point_on_lane(point)

quickstart/24-ego-drive-straight-non-realtime.py

@@ -19,8 +19,9 @@
 
 state = lgsvl.AgentState()
 state.transform = spawns[0]
+forward = lgsvl.utils.transform_to_forward(spawns[0])
 # Agents can be spawned with a velocity. Default is to spawn with 0 velocity
-state.velocity = lgsvl.Vector(0, 0, 20)
+state.velocity = 20 * forward
 a = sim.add_agent("Lincoln2017MKZ (Apollo 5.0)", lgsvl.AgentType.EGO, state)
 
 print("Real time elapsed =", 0)

quickstart/25-waypoint-flying-npc.py

@@ -20,19 +20,16 @@
 # EGO
 
 state = lgsvl.AgentState()
+forward = lgsvl.utils.transform_to_forward(spawns[0])
+right = lgsvl.utils.transform_to_right(spawns[0])
+up = lgsvl.utils.transform_to_up(spawns[0])
 state.transform = spawns[0]
 a = sim.add_agent("Lincoln2017MKZ (Apollo 5.0)", lgsvl.AgentType.EGO, state)
 
 # NPC, 10 meters ahead
-
-sx = spawns[0].position.x
-sy = spawns[0].position.y
-sz = spawns[0].position.z + 10.0
-
 state = lgsvl.AgentState()
-state.transform = spawns[0]
-state.transform.position.x = sx
-state.transform.position.z = sz
+state.transform.position = spawns[0].position + 10 * forward
+state.transform.rotation = spawns[0].rotation
 npc = sim.add_agent("Sedan", lgsvl.AgentType.NPC, state)
 
 
@@ -57,9 +54,9 @@
   angle = lgsvl.Vector(i, 0, 3*i)
 
   # Raycast the points onto the ground because BorregasAve is not flat
-  hit = sim.raycast(lgsvl.Vector(sx + px, sy, sz + pz), lgsvl.Vector(0,-1,0), layer_mask) 
+  hit = sim.raycast(spawns[0].position + px * right + pz * forward, lgsvl.Vector(0,-1,0), layer_mask) 
 
-  wp = lgsvl.DriveWaypoint(lgsvl.Vector(sx + px, sy + py, sz + pz), speed, angle, 0, 0)
+  wp = lgsvl.DriveWaypoint(spawns[0].position + px * right + py * up + pz * forward, speed, angle, 0, 0)
   waypoints.append(wp)
 
 # When the NPC is within 1m of the waypoint, this will be called

quickstart/26-npc-trigger-waypoints.py

@@ -20,19 +20,15 @@
 # EGO
 
 state = lgsvl.AgentState()
+forward = lgsvl.utils.transform_to_forward(spawns[0])
+right = lgsvl.utils.transform_to_right(spawns[0])
 state.transform = spawns[0]
 a = sim.add_agent("Lincoln2017MKZ (Apollo 5.0)", lgsvl.AgentType.EGO, state)
 
 # NPC, 10 meters ahead
-
-sx = spawns[0].position.x
-sy = spawns[0].position.y
-sz = spawns[0].position.z + 10.0
-
 state = lgsvl.AgentState()
-state.transform = spawns[0]
-state.transform.position.x = sx
-state.transform.position.z = sz
+state.transform.position = spawns[0].position + 10 * forward
+state.transform.rotation = spawns[0].rotation
 npc = sim.add_agent("Sedan", lgsvl.AgentType.NPC, state)
 
 vehicles = {
@@ -63,9 +59,9 @@ def on_collision(agent1, agent2, contact):
   px = 0
   pz = (i + 1) * z_delta
   # Waypoint angles are input as Euler angles (roll, pitch, yaw)
-  angle = lgsvl.Vector(0, 0, 0)
+  angle = spawns[0].rotation
   # Raycast the points onto the ground because BorregasAve is not flat
-  hit = sim.raycast(lgsvl.Vector(sx + px, sy, sz + pz), lgsvl.Vector(0,-1,0), layer_mask) 
+  hit = sim.raycast(spawns[0].position + px * right + pz * forward, lgsvl.Vector(0,-1,0), layer_mask) 
 
   # Trigger is set to 10 meters for every other waypoint (0 means no trigger)
   tr = 0

quickstart/27-control-traffic-lights.py

@@ -20,9 +20,9 @@
 spawns = sim.get_spawn()
 
 state = lgsvl.AgentState()
+forward = lgsvl.utils.transform_to_forward(spawns[0])
 state.transform = spawns[0]
-state.transform.position.z += 20
-# state.velocity = lgsvl.Vector(0, 0, 20)
+state.transform.position = spawns[0].position + 20 * forward
 ego = sim.add_agent("Lincoln2017MKZ (Apollo 5.0)", lgsvl.AgentType.EGO, state)
 
 print("Python API Quickstart #27: How to Control Traffic Light")