l5kit.kinematic.ackerman_perturbation module

class l5kit.kinematic.ackerman_perturbation.AckermanPerturbation(random_offset_generator: l5kit.random.random_generator.RandomGenerator, perturb_prob: float, min_displacement: float = 0)

Bases: l5kit.kinematic.perturbation.Perturbation

perturb(history_frames: numpy.ndarray, future_frames: numpy.ndarray) → Tuple[numpy.ndarray, numpy.ndarray]

Parameters

• history_frames (np.ndarray) – array of past frames

• future_frames (np.ndarray) – array of future frames

• kwargs – optional extra arguments for the specific perturber

Returns

array of past frames with perturbation applied future_frames (np.ndarray): array of future frames with perturbation applied

Return type

history_frames (np.ndarray)