added raceline opt track saving

f1tenth_gym/envs/track/raceline.py

@@ -198,3 +198,20 @@ def render_waypoints(self, e: EnvRenderer) -> None:
             self.waypoint_render = e.render_closed_lines(points, color=(0, 128, 0), size=1)
         else:
             self.waypoint_render.updateItems(points)
+
+
+    def save_to_file(self, filepath: pathlib.Path, delimiter: str = ",") -> None:
+        """
+        Save the raceline parameters to a CSV file.
+
+        Parameters
+        ----------
+        filepath : pathlib.Path
+            Path to the output file.
+        delimiter : str, optional
+            Delimiter to use in the CSV file, by default ","
+        """
+
+        data = np.column_stack((self.ss, self.xs, self.ys, self.yaws, self.ks, self.vxs, self.axs))
+        header = "s_m,x_m,y_m,psi_rad,kappa_radpm,vx_mps,ax_mps2"
+        np.savetxt(filepath, data, delimiter=delimiter, header=header, comments="")