self_driving_V1.1.py 文件源码

def __init__(self, img, batch, usage, ID, p, a=0, v=60, l=4, ):
        pyglet.sprite.Sprite.__init__(self, img=img, batch=batch, usage=usage)
        self.a = a
        self.v = v/3.6  # convert to m/s
        self.p = p
        self.l = l              # length
        self.ID = ID
        self.scale = 0.05
        self.image.anchor_x = self.image.width / 2
        self.image.anchor_y = self.image.height / 2
        self.length = self.image.width
        window.pixel_unit = self.l / self.width
        self.central_radian = window.unit_to_screen(self.p)/window.centre_radius
        dx = window.centre_radius * np.cos(self.central_radian)
        dy = window.centre_radius * np.sin(self.central_radian)
        self.position = window.region_centre + np.array([dx, dy])
        self.rotation = -np.degrees([self.central_radian + np.pi/2])
        self.isCollide = False
        self.reward = 0