parameters: (self, vehicle, args_lateral, args_longitudinal, offset=0, max_throttle=0.75, max_brake=0.3,
                   max_steering=0.8)
docstring: Constructor method.
  
          :param vehicle: actor to apply to local planner logic onto
          :param args_lateral: dictionary of arguments to set the lateral PID controller
          using the following semantics:
              K_P -- Proportional term
              K_D -- Differential term
              K_I -- Integral term
          :param args_longitudinal: dictionary of arguments to set the longitudinal
          PID controller using the following semantics:
              K_P -- Proportional term
              K_D -- Differential term
              K_I -- Integral term
          :param offset: If different than zero, the vehicle will drive displaced from the center line.
          Positive values imply a right offset while negative ones mean a left one. Numbers high enough
          to cause the vehicle to drive through other lanes might break the controller.
docstring_summary: Constructor method.
docstring_tokens: Constructor method .
function: def __init__(self, vehicle, args_lateral, args_longitudinal, offset=0, max_throttle=0.75, max_brake=0.3,
                   max_steering=0.8):
          """
          Constructor method.
  
          :param vehicle: actor to apply to local planner logic onto
          :param args_lateral: dictionary of arguments to set the lateral PID controller
          using the following semantics:
              K_P -- Proportional term
              K_D -- Differential term
              K_I -- Integral term
          :param args_longitudinal: dictionary of arguments to set the longitudinal
          PID controller using the following semantics:
              K_P -- Proportional term
              K_D -- Differential term
              K_I -- Integral term
          :param offset: If different than zero, the vehicle will drive displaced from the center line.
          Positive values imply a right offset while negative ones mean a left one. Numbers high enough
          to cause the vehicle to drive through other lanes might break the controller.
          """
  
          self.max_brake = max_brake
          self.max_throt = max_throttle
          self.max_steer = max_steering
  
          self._vehicle = vehicle
          self._world = self._vehicle.get_world()
          self.past_steering = self._vehicle.get_control().steer
          self._lon_controller = PIDLongitudinalController(self._vehicle, **args_longitudinal)
          self._lat_controller = PIDLateralController(self._vehicle, offset, **args_lateral)
function_tokens: def __init__ ( self , vehicle , args_lateral , args_longitudinal , offset = 0 , max_throttle = 0.75 , max_brake = 0.3 , max_steering = 0.8 ) : self . max_brake = max_brake self . max_throt = max_throttle self . max_steer = max_steering self . _vehicle = vehicle self . _world = self . _vehicle . get_world ( ) self . past_steering = self . _vehicle . get_control ( ) . steer self . _lon_controller = PIDLongitudinalController ( self . _vehicle , * * args_longitudinal ) self . _lat_controller = PIDLateralController ( self . _vehicle , offset , * * args_lateral )