l5kit.geometry.angle module

l5kit.geometry.angle.angle_between_vectors(v1: numpy.ndarray, v2: numpy.ndarray) → float

angle_between_vectors returns the angle in radians between two vectors.

Parameters

• v1 (np.ndarray) – Vector 1 of shape (N)

• v2 (np.ndarray) – Vector 2 of same shape as v1

Returns

angle in radians

Return type

float

l5kit.geometry.angle.angular_distance(angle_a: Union[float, numpy.ndarray], angle_b: Union[float, numpy.ndarray]) → Union[float, numpy.ndarray]

A function that takes two arrays of angles in radian and compute the angular distance, wrap the angular distance such that they are always in the [-pi, pi) range.

Parameters

• angle_a (np.ndarray, float) – first array of angles in radians

• angle_b (np.ndarray, float) – second array of angles in radians

Returns

angular distance in radians between two arrays of angles

l5kit.geometry.angle.compute_yaw_around_north_from_direction(direction_vector: numpy.ndarray) → float

compute_yaw_from_direction computes the yaw as angle between a 2D input direction vector and the y-axis direction vector (0, 1).

Args:

direction_vector (np.ndarray): Vector of shape (2,)

Returns:

float: angle to (0,1) vector in radians