srunner/scenariomanager/scenarioatomics/atomic_behaviors.py
def initialise(self):
        """
        Set _start_time and get (actor, controller) pair from Blackboard.

        Generate a waypoint list (route) which representes the lane change. Set
        this waypoint list for the actor controller.

        May throw if actor is not available as key for the ActorsWithController
        dictionary from Blackboard.
        """
        actor_dict = {}

        try:
            check_actors = operator.attrgetter("ActorsWithController")
            actor_dict = check_actors(py_trees.blackboard.Blackboard())
        except AttributeError:
            pass

        if not actor_dict or not self._actor.id in actor_dict:
            raise RuntimeError("Actor not found in ActorsWithController BlackBoard")

        self._start_time = GameTime.get_time()

        # get start position
        position_actor = CarlaDataProvider.get_map().get_waypoint(CarlaDataProvider.get_location(self._actor))

        # calculate plan with scenario_helper function
        self._plan, self._target_lane_id = generate_target_waypoint_list_multilane(
            position_actor, self._direction, self._distance_same_lane,
            self._distance_other_lane, self._distance_lane_change, check=False, lane_changes=self._lane_changes)

        if self._plan:
            for elem in self._plan:
                self._waypoints.append(elem[0].transform)

        actor_dict[self._actor.id].update_waypoints(self._waypoints, start_time=self._start_time)

        super(ChangeActorLateralMotion, self).initialise()

        Set _start_time and get (actor, controller) pair from Blackboard.

        Generate a waypoint list (route) which representes the lane change. Set
        this waypoint list for the actor controller.

        May throw if actor is not available as key for the ActorsWithController
        dictionary from Blackboard.
        
Set _start_time and get (actor, controller) pair from Blackboard.
Generate a waypoint list (route) which representes the lane change. Set
this waypoint list for the actor controller.

May throw if actor is not available as key for the ActorsWithController
dictionary from Blackboard.
Set _start_time and get ( actor controller ) pair from Blackboard . Generate a waypoint list ( route ) which representes the lane change . Set this waypoint list for the actor controller . May throw if actor is not available as key for the ActorsWithController dictionary from Blackboard .
def initialise(self):
        actor_dict = {}
        try:
            check_actors = operator.attrgetter("ActorsWithController")
            actor_dict = check_actors(py_trees.blackboard.Blackboard())
        except AttributeError:
            pass
        if not actor_dict or not self._actor.id in actor_dict:
            raise RuntimeError("Actor not found in ActorsWithController BlackBoard")
        self._start_time = GameTime.get_time()
        position_actor = CarlaDataProvider.get_map().get_waypoint(CarlaDataProvider.get_location(self._actor))
        self._plan, self._target_lane_id = generate_target_waypoint_list_multilane(
            position_actor, self._direction, self._distance_same_lane,
            self._distance_other_lane, self._distance_lane_change, check=False, lane_changes=self._lane_changes)
        if self._plan:
            for elem in self._plan:
                self._waypoints.append(elem[0].transform)
        actor_dict[self._actor.id].update_waypoints(self._waypoints, start_time=self._start_time)
        super(ChangeActorLateralMotion, self).initialise()
def initialise ( self ) : actor_dict = { } try : check_actors = operator . attrgetter ( "ActorsWithController" ) actor_dict = check_actors ( py_trees . blackboard . Blackboard ( ) ) except AttributeError : pass if not actor_dict or not self . _actor . id in actor_dict : raise RuntimeError ( "Actor not found in ActorsWithController BlackBoard" ) self . _start_time = GameTime . get_time ( ) position_actor = CarlaDataProvider . get_map ( ) . get_waypoint ( CarlaDataProvider . get_location ( self . _actor ) ) self . _plan , self . _target_lane_id = generate_target_waypoint_list_multilane ( position_actor , self . _direction , self . _distance_same_lane , self . _distance_other_lane , self . _distance_lane_change , check = False , lane_changes = self . _lane_changes ) if self . _plan : for elem in self . _plan : self . _waypoints . append ( elem [ 0 ] . transform ) actor_dict [ self . _actor . id ] . update_waypoints ( self . _waypoints , start_time = self . _start_time ) super ( ChangeActorLateralMotion , self ) . initialise ( )
Set _start_time and get (actor, controller) pair from Blackboard.
Set _start_time and get ( actor controller ) pair from Blackboard .
"""
        Set _start_time and get (actor, controller) pair from Blackboard.

        Generate a waypoint list (route) which representes the lane change. Set
        this waypoint list for the actor controller.

        May throw if actor is not available as key for the ActorsWithController
        dictionary from Blackboard.
        """ # get start position # calculate plan with scenario_helper function
self