comform to newest bark master

CesarLiu · Jun 10, 2022 · 6754a2c · 6754a2c
1 parent d9f07d7
commit 6754a2c
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Showing 3 changed files with 4 additions and 2 deletions.
diff --git a/src/mcts_config/params/sa_lex_mcts_sd.json b/src/mcts_config/params/sa_lex_mcts_sd.json
@@ -51,6 +51,7 @@
           "max_agents_for_crossing": 4,
           "use_frac_param_from_world": false,
           "lateral_difference_threshold": 2.0,
+          "angle_difference_threshold": 1.57,
           "check_lateral_dist": false
         }
       ],

diff --git a/src/traffic_rules/rule_generation.py b/src/traffic_rules/rule_generation.py
@@ -45,8 +45,9 @@ def make_SafeDistanceLabelFunction(params):
     max_agents_for_crossing = params["max_agents_for_crossing"]
     use_frac_param_from_world = params["use_frac_param_from_world"]
     lateral_difference_threshold = params["lateral_difference_threshold"]
+    angle_difference_threshold = params["angle_difference_threshold"]
     check_lateral_dist = params["check_lateral_dist"]
-    return SafeDistanceLabelFunction(label_str, to_rear, delta_ego, delta_others, a_e, a_o, consider_crossing_corridors, max_agents_for_crossing, use_frac_param_from_world, lateral_difference_threshold, check_lateral_dist)
+    return SafeDistanceLabelFunction(label_str, to_rear, delta_ego, delta_others, a_e, a_o, consider_crossing_corridors, max_agents_for_crossing, use_frac_param_from_world, lateral_difference_threshold, angle_difference_threshold, check_lateral_dist)
 
 def make_CollisionEgoLabelFunction(params):
     label_str = params["label_str"]

diff --git a/src/traffic_rules/traffic_rules_evaluators.py b/src/traffic_rules/traffic_rules_evaluators.py
@@ -17,7 +17,7 @@ def get_traffic_rule_evaluator_params(rule_name):
     if rule_name == "safe_distance":
         rule = {"type": "EvaluatorLTL",
                 "params": {"ltl_formula": "G sd_front",
-                           "label_functions": [SafeDistanceLabelFunction("sd_front", False, 1.0, 1.0, -7.84, -7.84, True, 4, False, 2.0, False)]}}
+                           "label_functions": [SafeDistanceLabelFunction("sd_front", False, 1.0, 1.0, -7.84, -7.84, True, 4, False, 2.0, 1.57, False)]}}
 
     elif rule_name == "zip_merge":
         logging.raiseExceptions(NOT_AVAILABLE)