def get_polyline(self, interval=2, lateral=0):
        """
        This method will return the center line of this Lane in a discrete vector representation
        """
        ret = []
        for i in np.arange(0, self.length, interval):
            ret.append(self.position(i, lateral))
        ret.append(self.position(self.length, lateral))
        return np.array(ret)

        This method will return the center line of this Lane in a discrete vector representation
        
metadrive/utils/interpolating_line.py