Use Yaw From .osm When Specified

[mchlswyr]

Changes

• The yaw tags for vehicles and pedestrians, specified in the scenario .osm files, are now used
• This is the starting yaw for the vehicle or pedestrian

ScenarioSetup

• The yaw tag is checked for in ScenarioSetup.py when loading vehicles and pedestrians
• If the yaw isn't specified, then 90 degrees is used
• This is because when yaw isn't specified in JOSM, the vehicle points right (0 degrees points right in JOSM and 90 degrees points right in GSS)
• The yaw is adjusted in ScenarioSetup.py to be a GSS angle in the range [-180.0, 180.0)

Vehicle, Pedestrian, and Actor Classes

• Each type of vehicle and pedestrian takes a separate yaw argument in their constructor
• The yaw argument is then passed along to the superclass's constructor and eventually makes its way to the Actor constructor, where self.state.yaw is set

Test Scenarios

• Each vehicle's yaw tag was set for all the vehicles in scenarios/test_scenarios

Testing

• Make sure both types of scenarios work:

  bash scripts/run_scenarios.bash

• When running scenarios/test_scenarios/gs_intersection_greenlight.osm, note the yaw value in the table for vehicle 1 (-115 degrees)
• Once the vehicle drives, the yaw will be updated to values around -115 degrees
• Note: the arrow at the start (in the cartesian plot) points up (0 degrees); this is because the vehicles x and y velocity are used to set the direction of the arrow, and they are 0 at the start

[mantkiew]

So, how did you get the initial values for yaw? Just run the scenario and use the yaw computed from the points of trajectory?