Merge branch 'fix-fails-to-open-scenarios-with-predictionless-obstacl…

…es' into 'develop'

fix(gui): fails to open scenario if any of the dynamic obstacles lacks a prediction

See merge request cps/commonroad/commonroad-scenario-designer!444

CHANGELOG.md

@@ -12,6 +12,7 @@
 - cr2sumo: Trajectory conversion assigned non-existent edges to routes
 - osm2cr: Intersection incoming elements did not reference any incoming lanelets
 - Command line interface: Providing no input path
+- Scenario fails to be opened, if any of the dynamic obstacles does not contain a prediction
 
 ## [0.8.2] - 2024-07-22
 

crdesigner/ui/gui/controller/animated_viewer/animated_viewer_controller.py

@@ -1,6 +1,5 @@
 from typing import List, Optional
 
-import numpy as np
 from commonroad.scenario.intersection import Intersection
 from commonroad.scenario.lanelet import Lanelet, LaneletNetwork
 from commonroad.visualization.mp_renderer import MPRenderer
@@ -226,17 +225,29 @@ def _calc_max_timestep(self) -> int:
         if not self.scenario_model.scenario_created():
             return 0
 
-        if (
-            len(self.scenario_model.get_dynamic_obstacles()) > 0
-            and self.scenario_model.get_dynamic_obstacles()[0].prediction is not None
-        ):
-            time_steps = [
-                obstacle.prediction.occupancy_set[-1].time_step
-                for obstacle in self.scenario_model.get_dynamic_obstacles()
-            ]
-            self.max_timestep = np.max(time_steps) if time_steps else 0
-        else:
-            self.max_timestep = 0
+        # The maximum time step is usually given by the final time step in the prediction
+        # of one of the dynamic obstacles
+        max_prediction_final_time_steps = max(
+            [
+                dynamic_obstacle.prediction.final_time_step
+                for dynamic_obstacle in self.scenario_model.get_dynamic_obstacles()
+                if dynamic_obstacle.prediction is not None
+            ],
+            default=0,
+        )
+        # Additionally, consider the initial time step of each obstacle.
+        # This makes sure that obstacles, which only have an initial state, no prediction
+        # and enter the scenario after all other obstacles, are also displayed.
+        max_initial_time_steps = max(
+            [
+                dynamic_obstacle.initial_state.time_step
+                for dynamic_obstacle in self.scenario_model.get_dynamic_obstacles()
+                if dynamic_obstacle.prediction is None
+            ],
+            default=0,
+        )
+
+        self.max_timestep = max(max_prediction_final_time_steps, max_initial_time_steps)
 
         return self.max_timestep