torchdrivesim.map
=================

.. py:module:: torchdrivesim.map


Classes
-------

.. autoapisummary::

   torchdrivesim.map.Stopline
   torchdrivesim.map.MapConfig


Functions
---------

.. autoapisummary::

   torchdrivesim.map._filename_defaults
   torchdrivesim.map.resolve_paths_to_absolute
   torchdrivesim.map.load_map_config
   torchdrivesim.map.store_map_config
   torchdrivesim.map.find_map_config
   torchdrivesim.map.download_iai_map
   torchdrivesim.map.traffic_controls_from_map_config
   torchdrivesim.map.find_wrong_way_stoplines


Module Contents
---------------

.. py:class:: Stopline

   .. py:attribute:: actor_id
      :type:  int


   .. py:attribute:: agent_type
      :type:  str


   .. py:attribute:: x
      :type:  float


   .. py:attribute:: y
      :type:  float


   .. py:attribute:: length
      :type:  float


   .. py:attribute:: width
      :type:  float


   .. py:attribute:: orientation
      :type:  float


   .. py:method:: __post_init__()


.. py:class:: MapConfig

   Encapsulates various map metadata, including where to find files defining the map.
   Map definition includes a coordinate frame and traffic signals.


   .. py:attribute:: name
      :type:  str


   .. py:attribute:: left_handed_coordinates
      :type:  bool
      :value: False



   .. py:attribute:: center
      :type:  Optional[Tuple[float, float]]
      :value: None



   .. py:attribute:: lanelet_path
      :type:  Optional[str]
      :value: None



   .. py:attribute:: lanelet_map_origin
      :type:  Tuple[float, float]
      :value: (0, 0)



   .. py:attribute:: mesh_path
      :type:  Optional[str]
      :value: None



   .. py:attribute:: stoplines_path
      :type:  Optional[str]
      :value: None



   .. py:attribute:: traffic_light_controller_path
      :type:  Optional[str]
      :value: None



   .. py:attribute:: iai_location_name
      :type:  Optional[str]
      :value: None



   .. py:attribute:: note
      :type:  Optional[str]
      :value: None



   .. py:property:: lanelet_map
      :type: Optional[torchdrivesim.lanelet2.LaneletMap]



   .. py:property:: road_mesh
      :type: Optional[torchdrivesim.mesh.BirdviewMesh]



   .. py:property:: stoplines
      :type: List[Stopline]



   .. py:property:: traffic_light_controller
      :type: Optional[torchdrivesim.traffic_lights.TrafficLightController]



.. py:function:: _filename_defaults(name: str) -> Dict[str, str]

.. py:function:: resolve_paths_to_absolute(cfg: MapConfig, root: str) -> MapConfig

.. py:function:: load_map_config(json_path: str, resolve_paths: bool = True) -> MapConfig

.. py:function:: store_map_config(cfg: MapConfig, json_path: str, store_absolute_paths: bool = False) -> None

.. py:function:: find_map_config(map_name: str, resolve_paths: bool = True) -> Optional[MapConfig]

   To retrieve configs for maps not bundled with the package,
   folders with corresponding names must be placed inside one of the directories
   listed in TDS_RESOURCE_PATH environment variable.
   Note that map names should be globally unique.


.. py:function:: download_iai_map(location_name: str, save_path: str) -> None

   Downloads the map information using LOCATION_INFO from the Inverted AI API.
   IAI_API_KEY needs to be set for this to succeed.
   Basename of save_path will be used as the map name for TorchDriveSim.
   If the dirpath of save_path is in TDS_RESOURCE_PATH, the map will be immediately
   available in `find_map_config`.


.. py:function:: traffic_controls_from_map_config(cfg: MapConfig) -> Dict[str, torchdrivesim.traffic_controls.BaseTrafficControl]

.. py:function:: find_wrong_way_stoplines(map_cfg: MapConfig, angle_threshold: float = np.pi / 6) -> List[int]