Comments (1)
DanielDauner
commented on June 3, 2024
Hi, the purpose of the NavSimScenario is currently only to define an interface to execute the PDM-Closed planner as part of running the metric. PDM-Closed doesn't need past ego states; thus, we only inserted a dummy. We will eventually refactor the code section (with low priority).
You can access past ego states in local coordinates in the AgentInput data class, which defines the input for the AbstractAgent. The AgentInput contains a list of EgoStatus objects from past steps, which include the ego pose.
Best, Daniel
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