Merge pull request #1 from HeyGF/HeyGF-Dev

Improve the readability

car_dreamer/carla_stop_sign_env.py

@@ -71,7 +71,7 @@ def calculate_traffic_light_violation_penalty(self):
             return 0.0
 
     def violate_traffic_light(self):
-        if self.is_near_sepecific_stop_sign(self._config.traffic_locations):
+        if self.is_within_stop_sign_proximity(self._config.traffic_locations):
             self._stop_time += 1
             self._entered = 1
         elif self._entered == 1:  # Mark the leaving
@@ -80,23 +80,24 @@ def violate_traffic_light(self):
         if self._entered == 2 and self._stop_time < self._config.stopping_time:
             return True
         return False
+
+    def is_within_stop_sign_proximity(self, sign_location):
 
-    def is_near_sepecific_stop_sign(self, sign_location):
         """
         Check if the ego vehicle is near the stop sign.
         """
         ego_location = np.array([*get_vehicle_pos(self.ego), 0.1])
         distance = np.linalg.norm(ego_location - sign_location)
 
-        return distance <= self._config.stop_sign_near_threshold
+        return distance <= self._config.stop_sign_proximity_threshold
 
     def _is_ego_near_stop_sign(self, stop_sign: carla.Actor) -> bool:
         """Check if the ego vehicle is within the proximity threshold of the stop sign."""
         ego_location = self.ego.get_location()
         stop_sign_location = stop_sign.get_location()
         distance = ego_location.distance(stop_sign_location)
-        return distance < self._config.stop_sign_near_threshold
-
+        return distance < self._config.stop_sign_proximity_threshold
+    
     def handle_stop_sign(self):
         stop_signs = self._world._get_world().get_actors().filter("traffic.stop")
         for stop_sign in stop_signs:

car_dreamer/toolkit/observer/handlers/renderer/birdeye_renderer.py

@@ -268,13 +268,6 @@ def _render_stop_signs(self, **env_state):
 
             self._render_stop_sign(self._surface, stop_sign, color)
 
-    # def _is_ego_near_stop_sign(self, stop_sign: carla.Actor) -> bool:
-    #     """Check if the ego vehicle is within the proximity threshold of the stop sign."""
-    #     ego_location = self._ego.get_location()
-    #     stop_sign_location = stop_sign.get_location()
-    #     distance = ego_location.distance(stop_sign_location)
-    #     return distance < self._stop_sign_near_threshold
-
     def _render_stop_sign(self, surface, stop_sign: carla.Actor, color: Color):
         """Render a stop sign on the surface."""
         world_pos = stop_sign.get_location()