goal_polygon = goal_polygon.Translate(Point2d(-191.789, -50.1725))
agent = Agent(
init_state,
behavior_model,
dynamic_model,
execution_model,
agent_2d_shape,
agent_params,
GoalDefinitionPolygon(goal_polygon), # goal_lane_id
map_interface)
world.AddAgent(agent)
# viewer
viewer = MPViewer(params=param_server, use_world_bounds=True)
# World Simulation
sim_step_time = param_server["simulation"]["step_time",
"Step-time in simulation", 0.05]
sim_real_time_factor = param_server["simulation"][
"real_time_factor", "execution in real-time or faster", 100]
for _ in range(0, 10):
viewer.clear()
world.Step(sim_step_time)
viewer.drawWorld(world)
viewer.drawRoadCorridor(agent.road_corridor)
viewer.show(block=False)
time.sleep(sim_step_time / sim_real_time_factor)
param_server.save("examples/params/od8_const_vel_one_agent_written.json")
def test_evaluator_drivable_area(self):
# World Definition
params = ParameterServer()
world = World(params)
# Model Definitions
behavior_model = BehaviorConstantVelocity(params)
execution_model = ExecutionModelInterpolate(params)
dynamic_model = SingleTrackModel(params)
# Map Definition
map_interface = MapInterface()
xodr_map = MakeXodrMapOneRoadTwoLanes()
map_interface.SetOpenDriveMap(xodr_map)
world.SetMap(map_interface)
#open_drive_map = world.map.GetOpenDriveMap()
#agent_2d_shape = CarLimousine()
agent_2d_shape = Polygon2d(
[1.25, 1, 0],
[Point2d(-1, -1),
Point2d(-1, 1),
Point2d(3, 1),
Point2d(3, -1)])
init_state = np.array([0, 3, -1.75, 0, 5])
agent_params = params.AddChild("agent1")
goal_polygon = Polygon2d(
[1, 1, 0],
[Point2d(0, 0),
Point2d(0, 2),
Point2d(2, 2),
Point2d(2, 0)])
goal_polygon = goal_polygon.Translate(Point2d(50, -2))
agent = Agent(
init_state,
behavior_model,
dynamic_model,
execution_model,
agent_2d_shape,
agent_params,
GoalDefinitionPolygon(goal_polygon), # goal_lane_id
map_interface)
world.AddAgent(agent)
evaluator = EvaluatorDrivableArea()
world.AddEvaluator("drivable_area", evaluator)
info = world.Evaluate()
self.assertFalse(info["drivable_area"])
viewer = MPViewer(params=params, use_world_bounds=True)
# Draw map
viewer.drawGoalDefinition(goal_polygon,
color=(1, 0, 0),
alpha=0.5,
facecolor=(1, 0, 0))
viewer.drawWorld(world)
viewer.drawRoadCorridor(agent.road_corridor)
viewer.show(block=False)
# comb_all = comb_all + comb
print("comb_all", comb_all)
for cnt, (start_p, end_p) in enumerate(comb_all):
polygon = Polygon2d([0, 0, 0], [Point2d(-1,-1),Point2d(-1,1),Point2d(1,1), Point2d(1,-1)])
start_polygon = polygon.Translate(start_p)
goal_polygon = polygon.Translate(end_p)
rc = map_interface.GenerateRoadCorridor(start_p, goal_polygon)
if rc:
roads = rc.roads
road_ids = list(roads.keys())
print(road_ids, rc.road_ids)
viewer.drawWorld(world)
viewer.drawRoadCorridor(rc, "blue")
viewer.saveFig(output_dir + "/" + "roadcorridor_" + str(cnt) + ".png")
viewer.show()
viewer.clear()
for idx, lane_corridor in enumerate(rc.lane_corridors):
viewer.drawWorld(world)
viewer.drawLaneCorridor(lane_corridor, "green")
viewer.drawLine2d(lane_corridor.left_boundary, color="red")
viewer.drawLine2d(lane_corridor.right_boundary, color="green")
viewer.drawLine2d(lane_corridor.center_line, color="green")
viewer.drawPolygon2d(start_polygon, color="green", facecolor="green", alpha=1.)
viewer.drawPolygon2d(goal_polygon, color="red", facecolor="red", alpha=1.)
viewer.saveFig(output_dir + "/" + "roadcorridor_" + str(cnt) + "_with_driving_direction_lancecorridor" + str(idx) + ".png")
viewer.show()
viewer.clear()
