Rename symbol to use singular waypoint

invertedai/api/drive.py

@@ -79,6 +79,7 @@ def drive(
         List of agent attributes. Each agent requires, length: [float]
         width: [float] and rear_axis_offset: [float] all in meters. agent_type: [str],
         currently supports 'car' and 'pedestrian'.
+        waypoint: optional [Point], the target waypoint of the agent.
 
     recurrent_states:
         Recurrent states for all agents, obtained from the previous call to

invertedai/api/initialize.py

@@ -87,6 +87,7 @@ def initialize(
     agent_attributes:
         Static attributes for all agents.
         The pre-defined agents should be specified first, followed by the sampled agents.
+        The optional waypoint passed will be ignored for Initialize.
 
     states_history:
         History of pre-defined agent states - the outer list is over time and the inner over agents,

invertedai/common.py

@@ -165,28 +165,28 @@ class AgentAttributes(BaseModel):
     #: Distance from the agent's center to its rear axis in meters. Determines motion constraints.
     rear_axis_offset: Optional[float] = None
     agent_type: Optional[str] = 'car'  #: Valid types are those in `AgentType`, but we use `str` here for extensibility.
-    waypoints: Optional[Point] = None  #: Target waypoint of the agent. If provided the agent will attempt to reach it.
+    waypoint: Optional[Point] = None  #: Target waypoint of the agent. If provided the agent will attempt to reach it.
 
     @classmethod
     def fromlist(cls, l):
         if len(l) == 5:
-            length, width, rear_axis_offset, agent_type, waypoints = l
-            return cls(length=length, width=width, rear_axis_offset=rear_axis_offset, agent_type=agent_type, waypoints=Point(x=waypoints[0], y=waypoints[1]))
+            length, width, rear_axis_offset, agent_type, waypoint = l
+            return cls(length=length, width=width, rear_axis_offset=rear_axis_offset, agent_type=agent_type, waypoints=Point(x=waypoint[0], y=waypoint[1]))
         if len(l) == 4:
             if type(l[3]) == list:
                 if type(l[2]) == str:
-                    length, width, agent_type, waypoints = l
-                    return cls(length=length, width=width, agent_type=agent_type, waypoints=Point(x=waypoints[0], y=waypoints[1]))
+                    length, width, agent_type, waypoint = l
+                    return cls(length=length, width=width, agent_type=agent_type, waypoints=Point(x=waypoint[0], y=waypoint[1]))
                 else:
-                    length, width, rear_axis_offset, waypoints = l
-                    return cls(length=length, width=width, rear_axis_offset=rear_axis_offset, waypoints=Point(x=waypoints[0], y=waypoints[1]))
+                    length, width, rear_axis_offset, waypoint = l
+                    return cls(length=length, width=width, rear_axis_offset=rear_axis_offset, waypoints=Point(x=waypoint[0], y=waypoint[1]))
             else:
                 length, width, rear_axis_offset, agent_type = l
                 return cls(length=length, width=width, rear_axis_offset=rear_axis_offset, agent_type=agent_type)
         elif len(l) == 3:
             if type(l[2]) == list:
-                length, width, waypoints = l
-                return cls(length=length, width=width, waypoints=Point(x=waypoints[0], y=waypoints[1]))
+                length, width, waypoint = l
+                return cls(length=length, width=width, waypoint=Point(x=waypoint[0], y=waypoint[1]))
             elif type(l[2]) == str:
                 length, width, agent_type = l
                 return cls(length=length, width=width, agent_type=agent_type)
@@ -212,8 +212,8 @@ def tolist(self):
             attr_list.append(self.rear_axis_offset)
         if self.agent_type is not None:
             attr_list.append(self.agent_type)
-        if self.waypoints is not None:
-            attr_list.append([self.waypoints.x, self.waypoints.y])
+        if self.waypoint is not None:
+            attr_list.append([self.waypoint.x, self.waypoint.y])
         return attr_list
 
 

invertedai_cpp/invertedai/data_utils.h

@@ -67,12 +67,7 @@ struct AgentAttributes {
   /**
    *  Target waypoint of the agent. If provided the agent will attempt to reach it.
    */
-  std::optional<Point2d> waypoints;
-
-  void setWaypoints(double x, double y)
-  {
-    waypoints = Point2d{x, y};
-  }
+  std::optional<Point2d> waypoint;
 
   void printFields() const {
     std::cout << "checking fields of current agent..." << std::endl;
@@ -88,8 +83,8 @@ struct AgentAttributes {
     if (agent_type.has_value()) {
       std::cout << "Agent type: " << agent_type.value() << std::endl;
     }
-    if (waypoints.has_value()) {
-      std::cout << "Waypoints: (" << waypoints.value().x << "," << waypoints.value().y << ")"<< std::endl;
+    if (waypoint.has_value()) {
+      std::cout << "Waypoints: (" << waypoint.value().x << "," << waypoint.value().y << ")"<< std::endl;
     }
   }
 
@@ -108,8 +103,8 @@ struct AgentAttributes {
         attr_vector.push_back(agent_type.value());
     }
     std::vector<std::vector<double>> waypoint_vector;
-    if (waypoints.has_value()) {  
-        waypoint_vector.push_back({waypoints.value().x, waypoints.value().y});
+    if (waypoint.has_value()) {  
+        waypoint_vector.push_back({waypoint.value().x, waypoint.value().y});
     }
     json jsonArray = json::array();
     for (const auto &element : attr_vector) {
@@ -137,7 +132,7 @@ struct AgentAttributes {
             rear_axis_offset = element[2];
         }
         else if (element[2].is_array()) {
-            waypoints = {element[2][0], element[2][1]};
+            waypoint = {element[2][0], element[2][1]};
         }
         length = element[0];
         width = element[1];
@@ -148,7 +143,7 @@ struct AgentAttributes {
       width = element[1];
       if (element[3].is_array())
       {
-        waypoints = {element[3][0], element[3][1]};
+        waypoint = {element[3][0], element[3][1]};
         if (element[2].is_string())
         {
           agent_type = element[2];
@@ -191,7 +186,7 @@ struct AgentAttributes {
         if (element[3].is_string()) {
             agent_type = element[3];
         }
-        waypoints = {element[4][0], element[4][1]};
+        waypoint = {element[4][0], element[4][1]};
     }
   }
 };