def _getUnstructuedSettings(self):
unstructuredSettings = rss.UnstructuredSettings()
unstructuredSettings.pedestrianTurningRadius = physics.Distance(2.0)
unstructuredSettings.driveAwayMaxAngle = physics.Angle(2.4)
unstructuredSettings.vehicleYawRateChange = physics.AngularAcceleration(
0.3)
unstructuredSettings.vehicleMinRadius = physics.Distance(3.5)
unstructuredSettings.vehicleTrajectoryCalculationStep = physics.Duration(
0.2)
return unstructuredSettings
def _get_ego_vehicle_dynamics(self):
egoRssDynamics = rss.RssDynamics()
egoRssDynamics.responseTime = physics.Duration(0.2)
egoRssDynamics.alphaLat.accelMax = physics.Acceleration(0.1)
egoRssDynamics.alphaLat.brakeMin = physics.Acceleration(-0.1)
egoRssDynamics.alphaLon.accelMax = physics.Acceleration(0.1)
egoRssDynamics.alphaLon.brakeMax = physics.Acceleration(-8.)
egoRssDynamics.alphaLon.brakeMinCorrect = physics.Acceleration(-4.)
egoRssDynamics.alphaLon.brakeMin = physics.Acceleration(-4.)
egoRssDynamics.lateralFluctuationMargin = physics.Distance(0.)
return egoRssDynamics
def _get_object_vehicle_dynamics(self):
objectRssDynamics = rss.RssDynamics()
objectRssDynamics.responseTime = physics.Duration(0.5)
objectRssDynamics.alphaLat.accelMax = physics.Acceleration(1.)
objectRssDynamics.alphaLat.brakeMin = physics.Acceleration(-1.)
objectRssDynamics.alphaLon.accelMax = physics.Acceleration(4.)
objectRssDynamics.alphaLon.brakeMax = physics.Acceleration(-8.)
objectRssDynamics.alphaLon.brakeMinCorrect = physics.Acceleration(-4.)
objectRssDynamics.alphaLon.brakeMin = physics.Acceleration(-4.)
objectRssDynamics.lateralFluctuationMargin = physics.Distance(0.)
return objectRssDynamics
def _get_ego_vehicle_dynamics(self):
egoRssDynamics = rss.RssDynamics()
egoRssDynamics.responseTime = physics.Duration(0.2)
egoRssDynamics.maxSpeedOnAcceleration = physics.Speed(0.)
egoRssDynamics.alphaLat.accelMax = physics.Acceleration(0.1)
egoRssDynamics.alphaLat.brakeMin = physics.Acceleration(-0.1)
egoRssDynamics.alphaLon.accelMax = physics.Acceleration(0.1)
egoRssDynamics.alphaLon.brakeMax = physics.Acceleration(-8.)
egoRssDynamics.alphaLon.brakeMinCorrect = physics.Acceleration(-4.)
egoRssDynamics.alphaLon.brakeMin = physics.Acceleration(-4.)
egoRssDynamics.lateralFluctuationMargin = physics.Distance(0.)
egoRssDynamics.unstructuredSettings = self._getUnstructuedSettings()
return egoRssDynamics
def test_interface(self):
"""
Main test part
"""
speed_a = physics.Speed(10.)
speed_b = physics.Speed(20.)
speed_c = speed_a + speed_b
self.assertEqual(speed_c, 30.)
t = physics.Duration(2.)
a = physics.Acceleration(10.)
speed_c = t * a
self.assertEqual(speed_c, 20.)
t = speed_c / a
self.assertEqual(t, 2.)
def _prepare_world_model(self):
"""
Setup RSS world model
"""
occupied_region = rss.OccupiedRegion()
occupied_region.segmentId = 0
occupied_region.latRange.minimum = physics.ParametricValue(0)
occupied_region.latRange.maximum = physics.ParametricValue(2.0 / self.road_width)
occupied_region.lonRange.minimum = physics.ParametricValue(0.)
occupied_region.lonRange.maximum = physics.ParametricValue(5.0 / self.road_length)
rss_vehicle_a = self._createObject(0, rss.ObjectType.EgoVehicle, 20., 0., occupied_region)
occupied_region.lonRange.minimum = physics.ParametricValue(100.0 / self.road_length)
occupied_region.lonRange.maximum = physics.ParametricValue((5.0 + 100) / self.road_length)
rss_vehicle_b = self._createObject(1, rss.ObjectType.OtherVehicle, 10., 0., occupied_region)
rss_scene = rss.Scene()
rss_scene.egoVehicle = rss_vehicle_a
rss_scene.object = rss_vehicle_b
rss_scene.situationType = rss.SituationType.SameDirection
road_segment = rss.RoadSegment()
lane_segment = rss.LaneSegment()
lane_segment.id = 0
lane_segment.length.minimum = physics.Distance(self.road_length)
lane_segment.length.maximum = physics.Distance(self.road_length)
lane_segment.width.minimum = physics.Distance(self.road_width)
lane_segment.width.maximum = physics.Distance(self.road_width)
lane_segment.type = rss.LaneSegmentType.Normal
lane_segment.drivingDirection = rss.LaneDrivingDirection.Positive
road_segment.append(lane_segment)
rss_scene.egoVehicleRoad.append(road_segment)
rss_scene.objectRssDynamics.responseTime = physics.Duration(0.5)
rss_scene.objectRssDynamics.maxSpeedOnAcceleration = physics.Speed(0.)
rss_scene.objectRssDynamics.alphaLat.accelMax = physics.Acceleration(1.)
rss_scene.objectRssDynamics.alphaLat.brakeMin = physics.Acceleration(-1.)
rss_scene.objectRssDynamics.alphaLon.accelMax = physics.Acceleration(4.)
rss_scene.objectRssDynamics.alphaLon.brakeMax = physics.Acceleration(-8.)
rss_scene.objectRssDynamics.alphaLon.brakeMinCorrect = physics.Acceleration(-4.)
rss_scene.objectRssDynamics.alphaLon.brakeMin = physics.Acceleration(-4.)
rss_scene.objectRssDynamics.lateralFluctuationMargin = physics.Distance(0.)
rss_scene.objectRssDynamics.unstructuredSettings = self._getUnstructuedSettings()
rss_scene.egoVehicleRssDynamics.responseTime = physics.Duration(0.2)
rss_scene.egoVehicleRssDynamics.maxSpeedOnAcceleration = physics.Speed(0.)
rss_scene.egoVehicleRssDynamics.alphaLat.accelMax = physics.Acceleration(0.1)
rss_scene.egoVehicleRssDynamics.alphaLat.brakeMin = physics.Acceleration(-0.1)
rss_scene.egoVehicleRssDynamics.alphaLon.accelMax = physics.Acceleration(0.1)
rss_scene.egoVehicleRssDynamics.alphaLon.brakeMax = physics.Acceleration(-8.)
rss_scene.egoVehicleRssDynamics.alphaLon.brakeMin = physics.Acceleration(-4.)
rss_scene.egoVehicleRssDynamics.alphaLon.brakeMinCorrect = physics.Acceleration(-4.)
rss_scene.egoVehicleRssDynamics.lateralFluctuationMargin = physics.Distance(0.)
rss_scene.egoVehicleRssDynamics.unstructuredSettings = self._getUnstructuedSettings()
self.world_model = rss.WorldModel()
self.world_model.timeIndex = 1
self.world_model.scenes.append(rss_scene)
self.world_model.defaultEgoVehicleRssDynamics.responseTime = physics.Duration(0.2)
self.world_model.defaultEgoVehicleRssDynamics.maxSpeedOnAcceleration = physics.Speed(0.)
self.world_model.defaultEgoVehicleRssDynamics.alphaLat.accelMax = physics.Acceleration(0.1)
self.world_model.defaultEgoVehicleRssDynamics.alphaLat.brakeMin = physics.Acceleration(-0.1)
self.world_model.defaultEgoVehicleRssDynamics.alphaLon.accelMax = physics.Acceleration(0.1)
self.world_model.defaultEgoVehicleRssDynamics.alphaLon.brakeMax = physics.Acceleration(-8.)
self.world_model.defaultEgoVehicleRssDynamics.alphaLon.brakeMin = physics.Acceleration(-4.)
self.world_model.defaultEgoVehicleRssDynamics.alphaLon.brakeMinCorrect = physics.Acceleration(-4.)
self.world_model.defaultEgoVehicleRssDynamics.lateralFluctuationMargin = physics.Distance(0.)
self.world_model.defaultEgoVehicleRssDynamics.unstructuredSettings = self._getUnstructuedSettings()