Merge 5a460eb into 1e49ef0

Project.toml

@@ -11,7 +11,6 @@ Parameters = "d96e819e-fc66-5662-9728-84c9c7592b0a"
 Printf = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
-SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 Tricks = "410a4b4d-49e4-4fbc-ab6d-cb71b17b3775"
 

src/AutomotiveDrivingModels.jl

@@ -7,72 +7,14 @@ using StaticArrays
 using Distributions
 using Reexport
 using Random
-using SparseArrays
 using DataFrames
 using Tricks: static_hasmethod
 
 include("vec/Vec.jl")
 @reexport using .Vec
 
-# Records
-export
-    Entity,
-    Frame,
-    EntityFrame,
-    RecordFrame,
-    RecordState,
-    ListRecord,
-    QueueRecord,
-    EntityQueueRecord,
-
-    ListRecordFrameIterator,
-    ListRecordStateByIdIterator,
-
-    get_statetype,
-    get_deftype,
-    get_idtype,
-
-    capacity,
-    nframes,
-    nstates,
-    nids,
-    frame_inbounds,
-    pastframe_inbounds,
-    n_objects_in_frame,
-    id2index,
-    get_ids,
-    nth_id,
-    get_state,
-    get_def,
-    get_time,
-    get_timestep,
-    get_elapsed_time,
-    get_subinterval,
-    get_by_id,
-    findfirst_stateindex_with_id,
-    findfirst_frame_with_id,
-    findlast_frame_with_id,
-    get_first_available_id,
-    push_back_records!,
-    update!,
-    allocate_frame,
-    get_sparse_lookup
-
-include("records/common.jl")
-include("records/entities.jl")
-include("records/frames.jl")
-include("records/listrecords.jl")
-include("records/queuerecords.jl")
-include("records/conversions.jl")
-
 # Roadways
 
-export StraightRoadway,
-       mod_position_to_roadway,
-       get_headway
-
-include("roadways/straight_1d_roadways.jl")
-
 export CurvePt,
        Curve,
        CurveIndex,
@@ -158,20 +100,27 @@ export
 include("agent-definitions/agent_definitions.jl")
 
 export
+    Entity,
+    Frame,
+    EntityFrame,
+    capacity,
+    id2index,
+    get_by_id,
+    get_first_available_id,    
     posf,
     posg,
     vel,
     velf,
     velg,
     VehicleState,
-    get_vel_s,
-    get_vel_t,
     get_center,
     get_footpoint,
     get_front,
     get_rear,
     get_lane
 
+include("states/entities.jl")
+include("states/frames.jl")
 include("states/interface.jl")
 include("states/vehicle_state.jl")
 
@@ -285,6 +234,7 @@ include("feature-extraction/lidar_sensor.jl")
 
 export
     propagate,
+    EntityAction,
     LaneFollowingAccel,
     AccelTurnrate,
     AccelDesang,
@@ -303,12 +253,11 @@ include("actions/pedestrian_lat_lon_accel.jl")
 export
     DriverModel,
     StaticDriver,
-    get_name,
     action_type,
     set_desired_speed!,
     observe!,
     reset_hidden_state!,
-    prime_with_history!
+    reset_hidden_states!
 
 include("behaviors/interface.jl")
 
@@ -346,24 +295,16 @@ include("behaviors/tim_2d_driver.jl")
 include("behaviors/sidewalk_pedestrian_model.jl")
 
 export 
-    get_actions!,
-    tick!,
-    reset_hidden_states!,
     simulate,
     simulate!,
-    EntityAction,
     run_callback,
-    CollisionCallback
+    CollisionCallback,
+    observe_from_history!,
+    simulate_from_history!,
+    simulate_from_history
 
 include("simulation/simulation.jl")
 include("simulation/callbacks.jl")
-
-
-export
-    State1D,
-    Vehicle1D,
-    Scene1D
-
-include("deprecated.jl")
+include("simulation/simulation_from_history.jl")
 
 end # AutomotiveDrivingModels

src/agent-definitions/agent_definitions.jl

@@ -76,16 +76,6 @@ 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/MOBIL.jl

@@ -30,11 +30,6 @@ function MOBIL(
     return MOBIL(DIR_MIDDLE, mlon, safe_decel, politeness, advantage_threshold)
 end
 
-"""
-Return the name of the lane changing model
-"""
-get_name(::MOBIL) = "MOBIL"
-
 """
 Set the desired speed of the longitudinal model within MOBIL
 """

src/behaviors/intelligent_driver_model.jl

@@ -34,7 +34,7 @@ around the non-errorable IDM output.
     d_cmf::Float64 = 2.0 # comfortable deceleration [m/s²] (positive)
     d_max::Float64 = 9.0 # maximum deceleration [m/s²] (positive)
 end
-get_name(::IntelligentDriverModel) = "IDM"
+
 function set_desired_speed!(model::IntelligentDriverModel, v_des::Float64)
     model.v_des = v_des
     model

src/behaviors/interface.jl

@@ -9,12 +9,6 @@ The DriverModel type is an abstract type! Custom driver models should inherit fr
 """
 abstract type DriverModel{DriveAction} end
 
-"""
-    get_name(::DriverModel)
-returns the name of the driver model
-"""
-function get_name end
-
 """
     action_type(::DriverModel{A}) where {A}
 returns the type of the actions that are sampled from the model
@@ -34,6 +28,17 @@ Resets the hidden states of the model.
 """
 function reset_hidden_state! end
 
+"""
+    reset_hidden_states!(models::Dict{I,M}) where {M<:DriverModel}
+reset hidden states of all driver models in `models`
+"""
+function reset_hidden_states!(models::Dict{I,M}) where {I, M<:DriverModel}
+    for model in values(models)
+        reset_hidden_state!(model)
+    end
+    return models
+end
+
 """
     observe!(model::DriverModel, scene, roadway, egoid)
 Observes the scene and updates the model states accordingly. 
@@ -48,40 +53,6 @@ Samples an action from the model.
 Base.rand(model::DriverModel) = rand(Random.GLOBAL_RNG, model)
 Base.rand(rng::AbstractRNG, model::DriverModel) = error("AutomotiveDrivingModelsError: Base.rand(::AbstractRNG, ::$(typeof(model))) not implemented")
 
-function prime_with_history!(
-    model::DriverModel,
-    trajdata::ListRecord{S,D,I},
-    roadway::R,
-    frame_start::Int,
-    frame_end::Int,
-    egoid::I,
-    scene::EntityFrame{S,D,I} = allocate_frame(trajdata),
-    ) where {S,D,I,R}
-
-    reset_hidden_state!(model)
-
-    for frame in frame_start : frame_end
-        get!(scene, trajdata, frame)
-        observe!(model, scene, roadway, egoid)
-    end
-
-    return model
-end
-function prime_with_history!(model::DriverModel, rec::EntityQueueRecord{S,D,I}, roadway::R, egoid::I;
-    pastframe_start::Int=1-nframes(rec),
-    pastframe_end::Int=0,
-    ) where {S,D,I,R}
-
-    reset_hidden_state!(model)
-
-    for pastframe in pastframe_start : pastframe_end
-        scene = rec[pastframe]
-        observe!(model, scene, roadway, egoid)
-    end
-
-    model
-end
-
 ####
 
 """
@@ -97,7 +68,6 @@ struct StaticDriver{A,P<:ContinuousMultivariateDistribution} <: DriverModel{A}
     distribution::P
 end
 
-get_name(::StaticDriver) = "StaticDriver"
 function Base.rand(rng::AbstractRNG, model::StaticDriver{A,P}) where {A,P}
     a = rand(rng, model.distribution)
     return convert(A, a)

src/behaviors/lane_following_drivers.jl

@@ -26,7 +26,6 @@ mutable struct StaticLaneFollowingDriver <: LaneFollowingDriver
 end
 StaticLaneFollowingDriver() = StaticLaneFollowingDriver(LaneFollowingAccel(0.0))
 StaticLaneFollowingDriver(a::Float64) = StaticLaneFollowingDriver(LaneFollowingAccel(a))
-get_name(::StaticLaneFollowingDriver) = "ProportionalSpeedTracker"
 Base.rand(rng::AbstractRNG, model::StaticLaneFollowingDriver) = model.a
 Distributions.pdf(model::StaticLaneFollowingDriver, a::LaneFollowingAccel) = isapprox(a.a, model.a.a) ? Inf : 0.0
 Distributions.logpdf(model::StaticLaneFollowingDriver, a::LaneFollowingAccel) = isapprox(a.a, model.a.a) ? Inf : -Inf

src/behaviors/lat_lon_separable_driver.jl

@@ -5,7 +5,6 @@ end
 
 LatLonSeparableDriver(mlat::LateralDriverModel, mlon::LaneFollowingDriver) = LatLonSeparableDriver{LatLonAccel}(mlat, mlon)
 
-get_name(model::LatLonSeparableDriver) = @sprintf("%s + %s", get_name(model.mlat), get_name(model.mlon))
 function set_desired_speed!(model::LatLonSeparableDriver, v_des::Float64)
     set_desired_speed!(model.mlon, v_des)
     model

src/behaviors/lateral_driver_models.jl

@@ -22,8 +22,6 @@ A controller that executes the lane change decision made by the `lane change mod
     kd::Float64 = 2.0 # derivative constant for lane tracking
 end
 
-get_name(::ProportionalLaneTracker) = "ProportionalLaneTracker"
-
 function track_lateral!(model::ProportionalLaneTracker, laneoffset::Float64, lateral_speed::Float64)
     model.a = -laneoffset*model.kp - lateral_speed*model.kd
     model

src/behaviors/princeton_driver.jl

@@ -14,7 +14,7 @@ A lane following driver model that controls longitudinal speed by following a fr
     k::Float64 = 1.0 # proportional constant for speed tracking [s⁻¹]
     v_des::Float64 = 29.0 # desired speed [m/s]
 end
-get_name(::PrincetonDriver) = "PrincetonDriver"
+
 function set_desired_speed!(model::PrincetonDriver, v_des::Float64)
     model.v_des = v_des
     model

src/behaviors/sidewalk_pedestrian_model.jl

@@ -65,7 +65,6 @@ Walks along the sidewalk until approaching the crosswalk. Waits for the cars to
     phases = Int[]
 end
 
-AutomotiveDrivingModels.get_name(model::SidewalkPedestrianModel) = "SidewalkPedestrianModel"
 Base.rand(rng::AbstractRNG, model::SidewalkPedestrianModel) = model.a
 
 function AutomotiveDrivingModels.observe!(model::SidewalkPedestrianModel, scene::Frame{Entity{VehicleState, D, I}}, roadway::Roadway, egoid::I) where {D, I}

src/behaviors/speed_trackers.jl

@@ -14,7 +14,7 @@ Longitudinal proportional speed control.
     k::Float64 = 1.0# proportional constant for speed tracking [s⁻¹]
     v_des::Float64 = 29.0 # desired speed [m/s]
 end
-get_name(::ProportionalSpeedTracker) = "ProportionalSpeedTracker"
+
 function set_desired_speed!(model::ProportionalSpeedTracker, v_des::Float64)
     model.v_des = v_des
     model

src/behaviors/tim_2d_driver.jl

@@ -16,8 +16,6 @@ Driver that combines longitudinal driver and lateral driver into one model.
     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)

src/behaviors/tim_lane_changer.jl

@@ -8,11 +8,10 @@ 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::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)
+	TimLaneChanger(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,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::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
@@ -26,8 +25,6 @@ See MOBIL if you want a lane changer you can cite.
     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