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Document non-player agents

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nsubiron 2018-04-14 17:02:35 +02:00
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Docs/measurements.md
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@ -126,18 +126,68 @@ If enabled, the server attaches a list of agents to the measurements package
every frame. Each of these agents has an unique id that identifies it, and
belongs to one of the following classes
* **Vehicle** Contains its transform, box-extent, and forward speed.
* **Pedestrian** Contains its transform, box-extent, and forward speed. (*)
* **Traffic light** Contains its transform and state (green, yellow, red).
* **Speed-limit sign** Contains its transform and speed-limit.
* Vehicle
* Pedestrian
* Traffic ligth
* Speed limit sign
(*) At this point every pedestrian is assumed to have the same bounding-box
size.
Each of them can be accessed in Python by checking if the agent object has the
field enabled
```python
measurements, sensor_data = client.read_data()
for agent in measurements.non_player_agents:
agent.id # unique id of the agent
if agent.HasField('vehicle'):
agent.vehicle.forward_speed
agent.vehicle.transform
agent.vehicle.bounding_box
```
<h6>Vehicle</h6>
Key | Type | Description
------------------------------- | --------- | ------------
id | uint32 | Agent ID
vehicle.forward_speed | float | Forward speed of the vehicle in m/s
vehicle.transform | Transform | Agent-to-world transform
vehicle.bounding_box.transform | Transform | Transform of the bounding box relative to the vehicle
vehicle.bounding_box.extent | Vector3D | Radii dimensions of the bounding box in meters
<h6>Pedestrian</h6>
Key | Type | Description
--------------------------------- | --------- | ------------
id | uint32 | Agent ID
pedestrian.forward_speed | float | Forward speed of the pedestrian in m/s
pedestrian.transform | Transform | Agent-to-world transform
pedestrian.bounding_box.transform | Transform | Transform of the bounding box relative to the pedestrian
pedestrian.bounding_box.extent | Vector3D | Radii dimensions of the bounding box in meters (*)
<small>(*) At this point every pedestrian is assumed to have the same
bounding-box size.</small>
<h6>Traffic light</h6>
Key | Type | Description
---------------------------- | --------- | ------------
id | uint32 | Agent ID
traffic_light.transform | Transform | Agent-to-world transform
traffic_light.state | enum | Traffic light state; `GREEN`, `YELLOW`, or `RED`
<h6>Speed limit sign</h6>
Key | Type | Description
---------------------------- | --------- | ------------
id | uint32 | Agent ID
speed_limit_sign.transform | Transform | Agent-to-world transform
speed_limit_sign.speed_limit | float | Speed limit in m/s
<h4>Transform and bounding box</h4>
The transform defines the location and orientation of the agent. The bounding
box is centered at the agent's location. The box extent gives the radii
dimensions of the bounding box of the agent.
The transform defines the location and orientation of the agent. The transform
of the bounding box is given relative to the vehicle. The box extent gives the
radii dimensions of the bounding box of the agent.
![Vehicle Bounding Box](img/vehicle_bounding_box.png)