code: def __init__(self, rss_state, ego_dynamics_on_route, world_model):
      self.rss_state = rss_state
      self.distance = -1
      self.is_dangerous = ad.rss.state.isDangerous(rss_state)
      if (
          rss_state.situationType
          == ad.rss.situation.SituationType.Unstructured
      ):
          self.actor_calculation_mode = ad.rss.map.RssMode.Unstructured
      else:
          self.actor_calculation_mode = ad.rss.map.RssMode.Structured
  
      # calculate distance to other vehicle
      object_state = None
      for scene in world_model.scenes:
          if scene.object.objectId == rss_state.objectId:
              object_state = scene.object.state
              break
  
      if object_state:
          self.distance = math.sqrt(
              (
                  float(ego_dynamics_on_route.ego_center.x)
                  - float(object_state.centerPoint.x)
              )
              ** 2
              + (
                  float(ego_dynamics_on_route.ego_center.y)
                  - float(object_state.centerPoint.y)
              )
              ** 2
          )
  
      self.longitudinal_margin = float(
          rss_state.longitudinalState.rssStateInformation.currentDistance
          - rss_state.longitudinalState.rssStateInformation.safeDistance
      )
      self.margin = max(0, self.longitudinal_margin)
      self.lateral_margin = None
      if (
          rss_state.lateralStateLeft.rssStateInformation.evaluator
          != "None"
      ):
          self.lateral_margin = (
              rss_state.lateralStateLeft.rssStateInformation.currentDistance
              - rss_state.lateralStateLeft.rssStateInformation.safeDistance
          )
      if (
          rss_state.lateralStateRight.rssStateInformation.evaluator
          != "None"
      ):
          lateral_margin_right = (
              rss_state.lateralStateRight.rssStateInformation.currentDistance
              - rss_state.lateralStateRight.rssStateInformation.safeDistance
          )
          if (
              self.lateral_margin == None
              or self.lateral_margin > lateral_margin_right
          ):
              self.lateral_margin = lateral_margin_right
      if self.lateral_margin != None and self.lateral_margin > 0:
          self.margin += self.lateral_margin
  
imports: import glob
  import os
  import sys
  import inspect
  import carla
  from carla import ad
  import math
  from rss_visualization import RssDebugVisualizer
label_desc: Use image node_id 1 to create a new RssStateInfo object from inherited base classes: object with example: obj = RssStateInfo(rss_state, ego_dynamics_on_route, world_model)