code: def visualize_ego_dynamics(self, ego_dynamics_on_route):
      color = carla.Color(0, 0, 255)
  
      sin_heading = math.sin(float(ego_dynamics_on_route.route_heading))
      cos_heading = math.cos(float(ego_dynamics_on_route.route_heading))
  
      heading_location_start = self._player.get_location()
      heading_location_start.x -= cos_heading * 10.0
      heading_location_start.y += sin_heading * 10.0
      heading_location_start.z += 0.5
      heading_location_end = self._player.get_location()
      heading_location_end.x += cos_heading * 10.0
      heading_location_end.y -= sin_heading * 10.0
      heading_location_end.z += 0.5
  
      self._world.debug.draw_arrow(
          heading_location_start,
          heading_location_end,
          0.1,
          0.1,
          color,
          0.02,
          False,
      )
  
      sin_center = math.sin(
          float(ego_dynamics_on_route.route_heading) + math.pi / 2.0
      )
      cos_center = math.cos(
          float(ego_dynamics_on_route.route_heading) + math.pi / 2.0
      )
      center_location_start = self._player.get_location()
      center_location_start.x -= cos_center * 2.0
      center_location_start.y += sin_center * 2.0
      center_location_start.z += 0.5
      center_location_end = self._player.get_location()
      center_location_end.x += cos_center * 2.0
      center_location_end.y -= sin_center * 2.0
      center_location_end.z += 0.5
  
      self._world.debug.draw_line(
          center_location_start,
          center_location_end,
          0.1,
          color,
          0.02,
          False,
      )
  
imports: import glob
  import os
  import sys
  from enum import Enum
  import math
  import numpy
  import pygame
  import weakref
  import carla
  from carla import ad
label_desc: Use image node_id 7 for calling the RssDebugVisualizer obj's underlying member method code with example usage: obj.visualize_ego_dynamics(ego_dynamics_on_route) without return types