remove Scene,SceneRecord,Trajdata

src/AutomotiveDrivingModels.jl

@@ -175,17 +175,6 @@ export
 include("states/interface.jl")
 include("states/vehicle_state.jl")
 
-export Trajdata
-
-include("states/trajdatas.jl")
-
-export
-    Scene,
-    SceneRecord
-
-include("states/scenes.jl")
-
-
 ## Collision Checkers
 
 export

src/agent-definitions/agent_definitions.jl

@@ -76,6 +76,16 @@ function Base.read(io::IO, ::MIME"text/plain", ::Type{VehicleDef})
     return VehicleDef(class, length, width)
 end
 
+"""
+    Base.convert(::Type{Entity{S, VehicleDef, I}}, veh::Entity{S, D, I}) where {S,D<:AbstractAgentDefinition,I}
+
+Converts the definition of an entity
+"""
+function Base.convert(::Type{Entity{S, VehicleDef, I}}, veh::Entity{S, D, I}) where {S,D<:AbstractAgentDefinition,I}
+    vehdef = VehicleDef(class(veh.def), length(veh.def), width(veh.def))
+    return Entity{S, VehicleDef, I}(veh.state, vehdef, veh.id)
+end
+
 """
     BicycleModel
     BicycleModel(def::VehicleDef; a::Float64 = 1.5, b::Float64 = 1.5)

src/behaviors/tim_2d_driver.jl

@@ -10,26 +10,20 @@ Driver that combines longitudinal driver and lateral driver into one model.
 - `mlat::LateralDriverModel = ProportionalLaneTracker()` Lateral driving model
 - `mlane::LaneChangeModel =TimLaneChanger` Lane change model
 """
-mutable struct Tim2DDriver <: DriverModel{LatLonAccel}
-    mlon::LaneFollowingDriver
-    mlat::LateralDriverModel
-    mlane::LaneChangeModel
-end
-function Tim2DDriver(
-        timestep::Float64;
-        mlon::LaneFollowingDriver=IntelligentDriverModel(),
-        mlat::LateralDriverModel=ProportionalLaneTracker(),
-        mlane::LaneChangeModel=TimLaneChanger(timestep),
-        )
-    return Tim2DDriver(mlon, mlat, mlane)
+@with_kw mutable struct Tim2DDriver <: DriverModel{LatLonAccel}
+    mlon::LaneFollowingDriver = IntelligentDriverModel()
+    mlat::LateralDriverModel = ProportionalLaneTracker()
+    mlane::LaneChangeModel = TimLaneChanger()
 end
 
 get_name(::Tim2DDriver) = "Tim2DDriver"
+
 function set_desired_speed!(model::Tim2DDriver, v_des::Float64)
     set_desired_speed!(model.mlon, v_des)
     set_desired_speed!(model.mlane, v_des)
     model
 end
+
 function track_longitudinal!(driver::LaneFollowingDriver, scene::Frame{Entity{VehicleState, D, I}}, roadway::Roadway, vehicle_index::Int64, fore::NeighborLongitudinalResult) where {D, I}
     v_ego = vel(scene[vehicle_index].state)
     if fore.ind != nothing
@@ -39,6 +33,7 @@ function track_longitudinal!(driver::LaneFollowingDriver, scene::Frame{Entity{Ve
     end
     return track_longitudinal!(driver, v_ego, v_oth, headway)
 end
+
 function observe!(driver::Tim2DDriver, scene::Frame{Entity{S, D, I}}, roadway::Roadway, egoid::I) where {S, D, I}
 
     observe!(driver.mlane, scene, roadway, egoid)
@@ -68,6 +63,9 @@ function observe!(driver::Tim2DDriver, scene::Frame{Entity{S, D, I}}, roadway::R
 
     driver
 end
+
 Base.rand(rng::AbstractRNG, driver::Tim2DDriver) = LatLonAccel(rand(rng, driver.mlat), rand(rng, driver.mlon).a)
+
 Distributions.pdf(driver::Tim2DDriver, a::LatLonAccel) = pdf(driver.mlat, a.a_lat) * pdf(driver.mlon, a.a_lon)
+
 Distributions.logpdf(driver::Tim2DDriver, a::LatLonAccel) = logpdf(driver.mlat, a.a_lat) * logpdf(driver.mlon, a.a_lon)

src/behaviors/tim_lane_changer.jl

@@ -8,54 +8,33 @@ Has not been published anywhere, so first use in a paper would have to describe
 See MOBIL if you want a lane changer you can cite.
 
 # Constructors
-	TimLaneChanger(timestep::Float64;v_des::Float64=29.0,rec::SceneRecord=SceneRecord(2,timestep),threshold_fore::Float64 = 50.0,threshold_lane_change_gap_fore::Float64 = 10.0, threshold_lane_change_gap_rear::Float64 = 10.0,dir::Int=DIR_MIDDLE)
+	TimLaneChanger(timestep::Float64;v_des::Float64=29.0,rec::QueueRecord=QueueRecord(2,timestep),threshold_fore::Float64 = 50.0,threshold_lane_change_gap_fore::Float64 = 10.0, threshold_lane_change_gap_rear::Float64 = 10.0,dir::Int=DIR_MIDDLE)
 
 # Fields
 - `dir::Int = DIR_MIDDLE` the desired lane to go to eg: left,middle (i.e. stay in same lane) or right
-- `rec::SceneRecord` TODO
+- `rec::QueueRecord` TODO
 - `v_des::Float64 = 29.0` desired velocity
 - `threshold_fore::Float64 = 50.0` Distance from lead vehicle
 - `threshold_lane_change_gap_fore::Float64 = 10.0` Space in front
 - `threshold_lane_change_gap_rear::Float64 = 10.0` Space rear
 """
-mutable struct TimLaneChanger <: LaneChangeModel{LaneChangeChoice}
-    dir::Int
-    rec::SceneRecord
-
-    v_des::Float64
-    threshold_fore::Float64
-    threshold_lane_change_gap_fore::Float64
-    threshold_lane_change_gap_rear::Float64
-
-    function TimLaneChanger(
-        timestep::Float64;
-        v_des::Float64=29.0,
-        rec::SceneRecord=SceneRecord(2,timestep),
-        threshold_fore::Float64 = 50.0,
-        threshold_lane_change_gap_fore::Float64 = 10.0,
-        threshold_lane_change_gap_rear::Float64 = 10.0,
-        dir::Int=DIR_MIDDLE,
-        )
-
-        retval = new()
-        retval.dir = dir
-        retval.rec = rec
-        retval.v_des = v_des
-        retval.threshold_fore = threshold_fore
-        retval.threshold_lane_change_gap_fore = threshold_lane_change_gap_fore
-        retval.threshold_lane_change_gap_rear = threshold_lane_change_gap_rear
-        retval
-    end
+@with_kw mutable struct TimLaneChanger <: LaneChangeModel{LaneChangeChoice}
+    dir::Int = DIR_MIDDLE
+    v_des::Float64 = 29.0
+    threshold_fore::Float64 = 50.0
+    threshold_lane_change_gap_fore::Float64 = 10.0
+    threshold_lane_change_gap_rear::Float64 = 10.0
 end
+
 get_name(::TimLaneChanger) = "TimLaneChanger"
+
 function set_desired_speed!(model::TimLaneChanger, v_des::Float64)
     model.v_des = v_des
     model
 end
+
 function observe!(model::TimLaneChanger, scene::Frame{Entity{S, D, I}}, roadway::Roadway, egoid::I) where {S, D, I}
 
-    rec = model.rec
-    update!(rec, scene)
     vehicle_index = findfirst(egoid, scene)
 
     veh_ego = scene[vehicle_index]
@@ -117,4 +96,5 @@ function observe!(model::TimLaneChanger, scene::Frame{Entity{S, D, I}}, roadway:
 
     model
 end
+
 Base.rand(rng::AbstractRNG, model::TimLaneChanger) = LaneChangeChoice(model.dir)

src/feature-extraction/features.jl

@@ -59,12 +59,12 @@ The row correspond to the feature value for each scene (time history).
 ```julia
 roadway = gen_straight_roadway(4, 100.0) 
 
-scene_0 = Scene([
+scene_0 = Frame([
             Entity(VehicleState(VecSE2( 0.0,0.0,0.0), roadway, 10.0), VehicleDef(AgentClass.CAR, 5.0, 2.0), 1),
             Entity(VehicleState(VecSE2(10.0,0.0,0.0), roadway, 10.0), VehicleDef(AgentClass.CAR, 5.0, 2.0), 2),
         ])
 
-scene_1 = Scene([
+scene_1 = Frame([
             Entity(VehicleState(VecSE2( 10.0,0.0,0.0), roadway, 10.0), VehicleDef(AgentClass.CAR, 5.0, 2.0), 1),
             Entity(VehicleState(VecSE2(20.0,0.0,0.0), roadway, 10.0), VehicleDef(AgentClass.CAR, 5.0, 2.0), 2),
         ])

test/test_behaviors.jl

@@ -8,7 +8,7 @@ struct FakeDriverModel <: DriverModel{FakeDriveAction} end
 
     model = FakeDriverModel()
     @test_throws MethodError reset_hidden_state!(model)
-    @test_throws MethodError observe!(model, Scene(), roadway, 1)
+    @test_throws MethodError observe!(model, Frame(), roadway, 1)
     @test_throws MethodError prime_with_history!(model, trajdata, roadway, 1, 2, 1)
 
     @test action_type(model) <: FakeDriveAction
@@ -31,13 +31,11 @@ end
     veh_state = VehicleState(Frenet(roadway[LaneTag(1,1)], 70.0), roadway, 5.)
     veh2 = Entity(veh_state, VehicleDef(), 2)
 
-    scene = Scene()
-    push!(scene, veh1)
-    push!(scene, veh2)
+    scene = Frame([veh1, veh2])
 
     n_steps = 40
     dt = 0.1
-    rec = SceneRecord(n_steps, dt)
+    rec = QueueRecord(typeof(veh1), n_steps, dt)
     @test_deprecated simulate!(rec, scene, roadway, models, n_steps)
     simulate(scene, roadway, models, n_steps, dt)
 
@@ -51,7 +49,7 @@ end
     @test logpdf(models[1], LaneFollowingAccel(0.0)) < 0.0
     n_steps = 40
     dt = 0.1
-    rec = SceneRecord(n_steps, dt)
+    rec = QueueRecord(typeof(veh1), n_steps, dt)
     @test_deprecated simulate!(rec, scene, roadway, models, n_steps)
     simulate(scene, roadway, models, n_steps, dt)
 
@@ -65,11 +63,9 @@ end
     veh_state = VehicleState(Frenet(roadway[LaneTag(1,1)], 3.0), roadway, 5.)
     veh2 = Entity(veh_state, VehicleDef(), 2)
 
-    scene = Scene()
-    push!(scene, veh1)
-    push!(scene, veh2)
+    scene = Frame([veh1, veh2])
 
-    rec = SceneRecord(n_steps, dt)
+    rec = QueueRecord(eltype(scene), n_steps, dt)
     @test_deprecated simulate!(rec, scene, roadway, models, 1)
     simulate(scene, roadway, models, 1, dt)
 end
@@ -86,7 +82,7 @@ struct FakeLaneChanger <: LaneChangeModel{LaneChangeChoice} end
 
     model = FakeLaneChanger()
     @test_throws MethodError reset_hidden_state!(model)
-    @test_throws MethodError observe!(model, Scene(), roadway, 1)
+    @test_throws MethodError observe!(model, Frame(), roadway, 1)
 
     @test_throws MethodError set_desired_speed!(model, 0.0)
     @test_throws ErrorException rand(model)
@@ -108,12 +104,12 @@ end
     dt = 0.5
     n_steps = 10
     models = Dict{Int, DriverModel}()
-    models[1] = Tim2DDriver(dt, mlane=MOBIL(dt))
+    models[1] = Tim2DDriver(mlane=MOBIL(dt))
     set_desired_speed!(models[1], 10.0)
-    models[2] = Tim2DDriver(dt, mlane=MOBIL(dt))
+    models[2] = Tim2DDriver(mlane=MOBIL(dt))
     set_desired_speed!(models[2], 2.0)
 
-    scene = Scene([veh1, veh2])
+    scene = Frame([veh1, veh2])
     scenes = simulate(scene, roadway, models, n_steps, dt)
 
     @test posf(last(scenes)[1]).roadind.tag == LaneTag(1, 3)
@@ -123,7 +119,7 @@ end
 
 @testset "Tim2DDriver" begin
     timestep = 0.1
-    drivermodel = Tim2DDriver(timestep)
+    drivermodel = Tim2DDriver()
 
     set_desired_speed!(drivermodel,20.0)
     @test drivermodel.mlon.v_des == 20.0
@@ -138,14 +134,14 @@ end
     dt = 0.5
     n_steps = 10
     models = Dict{Int, DriverModel}()
-    models[1] = Tim2DDriver(dt)
+    models[1] = Tim2DDriver()
     set_desired_speed!(models[1], 10.0)
-    models[2] = Tim2DDriver(dt)
+    models[2] = Tim2DDriver()
     set_desired_speed!(models[2], 2.0)
 
-    scene = Scene([veh1, veh2])
+    scene = Frame([veh1, veh2])
 
-    rec = SceneRecord(n_steps, dt)
+    rec = QueueRecord(typeof(veh1), n_steps, dt)
     @test_deprecated simulate!(rec, scene, roadway, models, n_steps)
     simulate(scene, roadway, models, n_steps, dt)
 
@@ -178,14 +174,11 @@ end
     veh_state = VehicleState(Frenet(roadway[LaneTag(1,1)], 130.0), roadway, 5.)
     veh3 = Entity(veh_state, VehicleDef(), 3)
 
-    scene = Scene()
-    push!(scene, veh1)
-    push!(scene, veh2)
-    push!(scene, veh3)
+    scene = Frame([veh1, veh2, veh3])
 
     n_steps = 40
     dt = 0.1
-    rec = SceneRecord(n_steps, dt)
+    rec = QueueRecord(typeof(veh1), n_steps, dt)
     @test_deprecated simulate!(rec, scene, roadway, models, n_steps)
     simulate(scene, roadway, models, n_steps, dt)
 
@@ -206,7 +199,7 @@ end
 
     n_steps = 40
     dt = 0.1
-    rec = SceneRecord(n_steps, dt)
+    rec = QueueRecord(typeof(veh1), n_steps, dt)
     @test_deprecated simulate!(rec, scene, roadway, models, n_steps)
     simulate(scene, roadway, models, n_steps, dt)
 
@@ -271,9 +264,7 @@ end
     car_initial_state = VehicleState(VecSE2(0.0, 0., 0.), roadway.segments[1].lanes[1],roadway, 8.0)
     car = Entity(car_initial_state, VehicleDef(), 2)
 
-    scene = Scene()
-    push!(scene, ped)
-    push!(scene, car)
+    scene = Frame([ped, car])
 
     # Define a model for each entity present in the scene
     models = Dict{Int, DriverModel}()
@@ -294,7 +285,7 @@ end
     )
 
     nticks = 300
-    rec = SceneRecord(nticks+1, timestep)
+    rec = QueueRecord(typeof(car), nticks+1, timestep)
     # Execute the simulation
     @test_deprecated simulate!(rec, scene, roadway, models, nticks)
     simulate(scene, roadway, models, nticks, timestep)