class CurveRoadBuilder:
def __init__(self, country=CountryCodes.US):
self.STD_ROADMARK = pyodrx.RoadMark(pyodrx.RoadMarkType.solid,
0.2,
rule=pyodrx.MarkRule.no_passing)
self.STD_START_CLOTH = 1 / 1000000000
self.country = country
self.laneBuilder = LaneBuilder()
pass
def getJunctionSelection(self, isJunction):
if isJunction:
return 1
return -1
def createPVForArcWithCloths(self,
arcCurvature,
arcAngle,
clothAngle,
clothCurvatureStart=None,
clothCurvatureEnd=None):
"""[summary]
Args:
arcCurvature ([type]): [description]
arcAngle ([type]): [description]
clothAngle ([type]): [description]
clothCurvatureStart ([type], optional): [description]. Defaults to None.
clothCurvatureEnd ([type], optional): [description]. Defaults to None.
Returns:
[type]: [description]
"""
if clothCurvatureStart is None:
clothCurvatureStart = self.STD_START_CLOTH
if clothCurvatureEnd is None:
clothCurvatureEnd = self.STD_START_CLOTH
pv = extensions.ExtendedPlanview()
spiral1 = extensions.ExtendedSpiral(clothCurvatureStart,
arcCurvature,
angle=clothAngle)
arc = pyodrx.Arc(arcCurvature, angle=arcAngle)
spiral2 = extensions.ExtendedSpiral(arcCurvature,
clothCurvatureEnd,
angle=clothAngle)
pv.add_geometry(spiral1)
pv.add_geometry(arc)
pv.add_geometry(spiral2)
return pv
def create(self,
roadId,
angleBetweenEndpoints,
isJunction=False,
curvature=StandardCurvature.Medium.value,
curveType=StandardCurveTypes.Simple,
n_lanes=1,
lane_offset=3,
laneSides=LaneSides.BOTH,
isLeftTurnLane=False,
isRightTurnLane=False,
isLeftMergeLane=False,
isRightMergeLane=False):
"""[summary]
Args:
angleBetweenEndpoints (radian): (0, 180) range in radian
curvature (float): (-inf, +inf)
Raises:
Exception: [description]
Returns:
[type]: [description]
"""
if angleBetweenEndpoints < 0:
angleBetweenEndpoints *= -1
curvature *= -1
if curveType is StandardCurveTypes.Simple:
return self.createSimple(roadId,
angleBetweenEndpoints,
isJunction,
curvature,
isLeftTurnLane=isLeftTurnLane,
isRightTurnLane=isRightTurnLane,
isLeftMergeLane=isLeftMergeLane,
isRightMergeLane=isRightMergeLane)
elif curveType is StandardCurveTypes.LongArc:
return self.createSimpleCurveWithLongArc(roadId,
angleBetweenEndpoints,
isJunction, curvature)
elif curveType is StandardCurveTypes.S:
return self.createS(roadId, angleBetweenEndpoints, isJunction,
curvature)
else:
error = f"Unkown curveType {curveType} or not supported for random creation"
raise Exception(error)
def createSimple(self,
roadId,
angleBetweenEndpoints,
isJunction=False,
curvature=StandardCurvature.Medium.value,
n_lanes=1,
lane_offset=3,
laneSides=LaneSides.BOTH,
isLeftTurnLane=False,
isRightTurnLane=False,
isLeftMergeLane=False,
isRightMergeLane=False):
junction = extensions.getJunctionSelection(isJunction)
totalRotation = np.pi - angleBetweenEndpoints
arcAngle = np.pi / 10000000
clothAngle = totalRotation / 2
return self.createCurveGeoAndLanes(roadId, isJunction, curvature,
arcAngle, clothAngle, n_lanes,
lane_offset, laneSides,
isLeftTurnLane, isRightTurnLane,
isLeftMergeLane, isRightMergeLane)
def createCurveGeoAndLanes(self,
roadId,
isJunction,
curvature,
arcAngle,
clothAngle,
n_lanes,
lane_offset,
laneSides=LaneSides.BOTH,
isLeftTurnLane=False,
isRightTurnLane=False,
isLeftMergeLane=False,
isRightMergeLane=False):
junction = extensions.getJunctionSelection(isJunction)
pv = self.createPVForArcWithCloths(curvature, arcAngle, clothAngle)
length = pv.getTotalLength()
laneSections = self.laneBuilder.getStandardLanes(
n_lanes,
lane_offset,
laneSides,
roadLength=length,
isLeftTurnLane=isLeftTurnLane,
isRightTurnLane=isRightTurnLane,
isLeftMergeLane=isLeftMergeLane,
isRightMergeLane=isRightMergeLane)
road = ExtendedRoad(roadId,
pv,
laneSections,
road_type=junction,
curveType=StandardCurveTypes.LongArc)
return road
def createSimpleCurveWithLongArc(self,
roadId,
angleBetweenEndpoints,
isJunction=False,
curvature=StandardCurvature.Medium.value,
n_lanes=1,
lane_offset=3,
laneSides=LaneSides.BOTH,
isLeftTurnLane=False,
isRightTurnLane=False,
isLeftMergeLane=False,
isRightMergeLane=False):
junction = extensions.getJunctionSelection(isJunction)
totalRotation = np.pi - angleBetweenEndpoints
# most of the angleBetweenEndpoints should be assigned to the Arc
arcAngle = totalRotation * 0.9 # main curve
clothAngle = (totalRotation * 0.1) / 2 # curve more.
return self.createCurveGeoAndLanes(roadId, isJunction, curvature,
arcAngle, clothAngle, n_lanes,
lane_offset, laneSides,
isLeftTurnLane, isRightTurnLane,
isLeftMergeLane, isRightMergeLane)
def createS(self,
roadId,
angleBetweenEndpoints,
isJunction=False,
curvature=StandardCurvature.Medium.value,
n_lanes=1,
lane_offset=3,
laneSides=LaneSides.BOTH,
isLeftTurnLane=False,
isRightTurnLane=False,
isLeftMergeLane=False,
isRightMergeLane=False):
"""Here the angleBetweenEndpoints are used for the first road and S mid point, and S mid point and Second road
Args:
roadId ([type]): [description]
angleBetweenEndpoints ([type]): used for the first road and S mid point, and S mid point and Second road. Use negative angles for interesting Ss
isJunction (bool, optional): [description]. Defaults to False.
curvature ([type], optional): [description]. Defaults to StandardCurvature.Medium.value.
Returns:
[type]: [description]
"""
junction = extensions.getJunctionSelection(isJunction)
totalRotation = np.pi - angleBetweenEndpoints
# most of the angleBetweenEndpoints should be assigned to the Arc
arcAngle = totalRotation * 0.9
clothAngle = (totalRotation * 0.1) / 2 # curve more.
arc_curv = curvature
arc_angle = arcAngle
cloth_angle = clothAngle
cloth_start = self.STD_START_CLOTH
pv = ExtendedPlanview()
# adjust sign if angle is negative
if cloth_angle < 0 and arc_curv > 0:
cloth_angle = -cloth_angle
arc_curv = -arc_curv
cloth_start = -cloth_start
arc_angle = -arc_angle
# we are changing the second half of the S to have different arc angle and curvature.
multiplier = np.random.choice(9) / 10
arc_angle2 = arc_angle - arc_angle * multiplier
arc_curv2 = -(arc_curv + arc_curv * multiplier
) # the angle needs to be opposite for the second half.
# create geometries
spiral1 = extensions.ExtendedSpiral(cloth_start,
arc_curv,
angle=cloth_angle)
arc = pyodrx.Arc(arc_curv, angle=arc_angle)
arc2 = pyodrx.Arc(arc_curv2, angle=-arc_angle2)
spiral2 = extensions.ExtendedSpiral(-arc_curv,
cloth_start,
angle=-cloth_angle)
pv.add_geometry(spiral1)
pv.add_geometry(arc)
pv.add_geometry(arc2)
pv.add_geometry(spiral2)
length = pv.getTotalLength()
laneSections = self.laneBuilder.getStandardLanes(
n_lanes,
lane_offset,
laneSides,
roadLength=length,
isLeftTurnLane=isLeftTurnLane,
isRightTurnLane=isRightTurnLane,
isLeftMergeLane=isLeftMergeLane,
isRightMergeLane=isRightMergeLane)
road = ExtendedRoad(roadId,
pv,
laneSections,
road_type=junction,
curveType=StandardCurveTypes.S)
return road
def createCurveByLength(self,
roadId,
length,
isJunction=False,
curvature=StandardCurvature.Medium.value,
n_lanes=1,
lane_offset=3,
laneSides=LaneSides.BOTH,
isLeftTurnLane=False,
isRightTurnLane=False,
isLeftMergeLane=False,
isRightMergeLane=False):
junction = self.getJunctionSelection(isJunction)
pv = ExtendedPlanview()
arc = pyodrx.Arc(curvature, length=length)
pv.add_geometry(arc)
length = pv.getTotalLength()
laneSections = self.laneBuilder.getStandardLanes(
n_lanes,
lane_offset,
laneSides,
roadLength=length,
isLeftTurnLane=isLeftTurnLane,
isRightTurnLane=isRightTurnLane,
isLeftMergeLane=isLeftMergeLane,
isRightMergeLane=isRightMergeLane)
road = ExtendedRoad(roadId,
pv,
laneSections,
road_type=junction,
curveType=StandardCurveTypes.LongArc)
return road
def createParamPoly3(self,
roadId,
isJunction=False,
au=0,
bu=20,
cu=20,
du=10,
av=0,
bv=2,
cv=20,
dv=10,
prange='normalized',
length=None,
n_lanes=1,
lane_offset=3,
laneSides=LaneSides.BOTH,
isLeftTurnLane=False,
isRightTurnLane=False,
isLeftMergeLane=False,
isRightMergeLane=False):
junction = self.getJunctionSelection(isJunction)
pv = ExtendedPlanview()
poly = pyodrx.ParamPoly3(au, bu, cu, du, av, bv, cv, dv, prange,
length)
# poly = extensions.IntertialParamPoly(au,bu,cu,du,av,bv,cv,dv,prange,length)
pv.add_geometry(poly)
length = pv.getTotalLength()
laneSections = self.laneBuilder.getStandardLanes(
n_lanes,
lane_offset,
laneSides,
roadLength=length,
isLeftTurnLane=isLeftTurnLane,
isRightTurnLane=isRightTurnLane,
isLeftMergeLane=isLeftMergeLane,
isRightMergeLane=isRightMergeLane)
# create lanes
road = ExtendedRoad(roadId,
pv,
laneSections,
road_type=junction,
curveType=StandardCurveTypes.Poly)
return road
class test_LaneBuilder(unittest.TestCase):
def setUp(self):
self.configuration = Configuration()
self.laneBuilder = LaneBuilder()
def test_widths(self):
roadLength = 10
#1 simple Lanes
lanes = self.laneBuilder.getStandardLanes(1, 3)
for laneSec in lanes.lanesections:
widths = laneSec.widths(roadLength)
assert widths[0] == 6
assert widths[1] == 6
#1 turn lanes
lanes = self.laneBuilder.getStandardLanes(1,
3,
roadLength=roadLength,
isLeftTurnLane=True,
isRightTurnLane=True)
widths = lanes.lanesections[0].widths(roadLength, LaneOffset(s=0),
LaneOffset(s=1))
print(widths)
assert widths[0] == 6
assert widths[1] == 6
widths = lanes.lanesections[1].widths(roadLength, LaneOffset(s=1),
LaneOffset(s=roadLength - 1))
print(widths)
assert widths[0] == 6
assert widths[1] == 12
widths = lanes.lanesections[2].widths(roadLength,
LaneOffset(s=roadLength - 1))
print(widths)
assert widths[0] == 12
assert widths[1] == 12
#2 merge lanes
lanes = self.laneBuilder.getStandardLanes(1,
3,
roadLength=roadLength,
isLeftMergeLane=True,
isRightMergeLane=True)
widths = lanes.lanesections[0].widths(roadLength, LaneOffset(s=0),
LaneOffset(s=1))
print(widths)
assert widths[0] == 12
assert widths[1] == 12
widths = lanes.lanesections[1].widths(roadLength, LaneOffset(s=1),
LaneOffset(s=roadLength - 1))
print(widths)
assert widths[0] == 12
assert widths[1] == 6
widths = lanes.lanesections[2].widths(roadLength,
LaneOffset(s=roadLength - 1))
print(widths)
assert widths[0] == 6
assert widths[1] == 6
#2 internal lanes
lanes = self.laneBuilder.getStandardLanesWithInternalTurns(
1, 3, roadLength=roadLength, numberOfLeftTurnLanesOnRight=2)
widths = lanes.lanesections[0].widths(roadLength, LaneOffset(s=0),
LaneOffset(s=1))
print(widths)
assert widths[0] == 12
assert widths[1] == 12
widths = lanes.lanesections[1].widths(roadLength, LaneOffset(s=1),
LaneOffset(s=roadLength - 1))
print(widths)
assert widths[0] == 12
assert widths[1] == 12
widths = lanes.lanesections[2].widths(roadLength,
LaneOffset(s=roadLength - 1))
print(widths)
assert widths[0] == 12
assert widths[1] == 12