solve import conflict

scenarionet/converter/utils.py

@@ -0,0 +1,52 @@
+import math
+
+import numpy as np
+
+
+def nuplan_to_metadrive_vector(vector, nuplan_center=(0, 0)):
+    "All vec in nuplan should be centered in (0,0) to avoid numerical explosion"
+    vector = np.array(vector)
+    # if len(vector.shape) == 1:
+    #     vector[1] *= -1
+    # else:
+    #     vector[:, 1] *= -1
+    vector -= np.asarray(nuplan_center)
+    return vector
+
+
+def compute_angular_velocity(initial_heading, final_heading, dt):
+    """
+    Calculate the angular velocity between two headings given in radians.
+
+    Parameters:
+    initial_heading (float): The initial heading in radians.
+    final_heading (float): The final heading in radians.
+    dt (float): The time interval between the two headings in seconds.
+
+    Returns:
+    float: The angular velocity in radians per second.
+    """
+
+    # Calculate the difference in headings
+    delta_heading = final_heading - initial_heading
+
+    # Adjust the delta_heading to be in the range (-π, π]
+    delta_heading = (delta_heading + math.pi) % (2 * math.pi) - math.pi
+
+    # Compute the angular velocity
+    angular_vel = delta_heading / dt
+
+    return angular_vel
+
+
+def dict_recursive_remove_array(d):
+    if isinstance(d, np.ndarray):
+        return d.tolist()
+    if isinstance(d, dict):
+        for k in d.keys():
+            d[k] = dict_recursive_remove_array(d[k])
+    return d
+
+def mph_to_kmh(speed_in_mph: float):
+    speed_in_kmh = speed_in_mph * 1.609344
+    return speed_in_kmh