Marker

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Marker#

A simple sensor that updates the position (fields “x” and “y”) of a marker relative to the agent. The orientation of the reference frame can be select between: agent-fixed, world-fixed, or oriented along the agent target direction.

Example#

The video has been recorded in the Sensors notebook with the following configuration

steps: 600
time_step: 0.033
record_pose: true
scenario:
  type: Road
  groups:
    - type: car
      color: orange
      number: 1
      radius: 2
      kinematics:
        type: Bicycle
        max_speed: 30
        max_steeering: 1
        max_backward_speed: 0
        axis: 3.5
      behavior:
        type: Dummy
        environment: Sensing
        path_look_ahead: 25
        path_tau: 0.25
        modulations:
          - type: SlowDown
            enabled: true
      state_estimations:
        - type: Marker
          name: slow_down
          marker_position: [50, -20]

where the marker position reading is used by an ad-hoc modulation to slow down when near the marker.

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