message: extended example
diff: @@ -9,7 +9,7 @@ import os
  from modules.runtime.commons.parameters import ParameterServer
  from modules.runtime.viewer.matplotlib_viewer import MPViewer
  from modules.runtime.commons.xodr_parser import XodrParser
  -from bark.models.behavior import BehaviorConstantVelocity
  +from bark.models.behavior import BehaviorConstantVelocity, BehaviorIDMClassic
  from bark.models.execution import ExecutionModelInterpolate
  from bark.models.dynamic import SingleTrackModel
  from bark.world import World
  @@ -27,14 +27,20 @@ param_server = ParameterServer()
  world = World(param_server)
  # Model Definitions
  -behavior_model = BehaviorConstantVelocity(param_server)
  +# behavior_model = BehaviorConstantVelocity(param_server)
  +behavior_model = BehaviorIDMClassic(param_server)
  execution_model = ExecutionModelInterpolate(param_server)
  dynamic_model = SingleTrackModel(param_server)
  -behavior_model2 = BehaviorConstantVelocity(param_server)
  +# behavior_model2 = BehaviorConstantVelocity(param_server)
  +behavior_model2 = BehaviorIDMClassic(param_server)
  execution_model2 = ExecutionModelInterpolate(param_server)
  dynamic_model2 = SingleTrackModel(param_server)
  +behavior_model3 = BehaviorIDMClassic(param_server)
  +execution_model3 = ExecutionModelInterpolate(param_server)
  +dynamic_model3 = SingleTrackModel(param_server)
  +
  # Map Definition
  xodr_parser = XodrParser("modules/runtime/tests/data/three_way_plain.xodr")
  map_interface = MapInterface()
  @@ -43,7 +49,7 @@ world.SetMap(map_interface)
  # Agent Definition
  agent_2d_shape = CarLimousine()
  -init_state = np.array([0, 2, -20, 3.14/2, 50/3.6])
  +init_state = np.array([0, 2, -20, 3.14/2, 43/3.6])
  goal_polygon = Polygon2d([0, 0, 0],[Point2d(-1,-1),Point2d(-1,1),Point2d(1,1), Point2d(1,-1)])
  goal_polygon = goal_polygon.Translate(Point2d(-30, 2))
  agent_params = param_server.addChild("agent1")
  @@ -72,6 +78,20 @@ agent2 = Agent(init_state2,
  map_interface)
  world.AddAgent(agent2)
  +agent_2d_shape3 = CarLimousine()
  +init_state3 = np.array([0, -30, -2, -3.14, 50/3.6])
  +agent_params3 = param_server.addChild("agent3")
  +goal_polygon = Polygon2d([0, 0, 0], [Point2d(-1,-1),Point2d(-1,1),Point2d(1,1), Point2d(1,-1)])
  +goal_polygon = goal_polygon.Translate(Point2d(30, -2))
  +agent3 = Agent(init_state3,
  + behavior_model3,
  + dynamic_model3,
  + execution_model3,
  + agent_2d_shape3,
  + agent_params3,
  + GoalDefinitionPolygon(goal_polygon),
  + map_interface)
  +world.AddAgent(agent3)
  # viewer
  viewer = MPViewer(params=param_server, use_world_bounds=True)
  