def test_line_calc(data,expdata): line = pyodrx.Line(data[0]) x,y,h,l = line.get_end_data(data[1],data[2],data[3]) assert pytest.approx(x,0.000001) == expdata[0] assert pytest.approx(y,0.000001) == expdata[1] assert pytest.approx(h,0.000001) == expdata[2] assert pytest.approx(l,0.000001) == data[0]
def test_manual_geometry(data, expdata): planview = pyodrx.PlanView() planview.add_fixed_geometry(pyodrx.Line(data[0]), data[1], data[2], data[3]) x, y, h = planview.get_end_point() assert pytest.approx(x, 0.000001) == expdata[0] assert pytest.approx(y, 0.000001) == expdata[1] assert pytest.approx(h, 0.000001) == expdata[2] x, y, h = planview.get_start_point() assert pytest.approx(x, 0.000001) == data[1] assert pytest.approx(y, 0.000001) == data[2] assert pytest.approx(h, 0.000001) == data[3]
def test_inverted_Line(data): line = pyodrx.Line(data[0]) end_x,end_y,end_h,end_l = line.get_end_data(data[1],data[2],data[3]) end_h += np.pi start_x,start_y,start_h,start_l = line.get_start_data(end_x,end_y,end_h) start_h -= np.pi assert pytest.approx(start_x, 0.000001) == data[1] assert pytest.approx(start_y, 0.000001) == data[2] assert pytest.approx(start_h, 0.1) == data[3]
def road(self, **kwargs): road = xodr.create_road([ xodr.Spiral(0.0000000001, kwargs['road_curvature'], 100), xodr.Arc(kwargs['road_curvature'], 50), xodr.Spiral(kwargs['road_curvature'], 0.0000000001, 100), xodr.Line(100) ], id=0, left_lanes=2, right_lanes=2) odr = xodr.OpenDrive('myroad') odr.add_road(road) odr.adjust_roads_and_lanes() return odr
def test_simple_road(): line1 = pyodrx.Line(100) planview = pyodrx.PlanView() planview.add_geometry(line1) rm = pyodrx.RoadMark(pyodrx.RoadMarkType.solid, 0.2, rule=pyodrx.MarkRule.no_passing) lane1 = pyodrx.Lane(a=2) lane1.add_roadmark(rm) lanesec = pyodrx.LaneSection(0, lane1) lanes = pyodrx.Lanes() lanes.add_lanesection(lanesec) road = pyodrx.Road(1, planview, lanes) prettyprint(road.get_element())
def test_link_road(): line1 = pyodrx.Line(100) planview = pyodrx.PlanView() planview.add_geometry(line1) rm = pyodrx.RoadMark(pyodrx.RoadMarkType.solid, 0.2, rule=pyodrx.MarkRule.no_passing) lane1 = pyodrx.Lane(a=2) lane1.add_roadmark(rm) lanesec = pyodrx.LaneSection(0, lane1) lanes = pyodrx.Lanes() lanes.add_lanesection(lanesec) road = pyodrx.Road(1, planview, lanes) road.add_predecessor(pyodrx.ElementType.road, '1', pyodrx.ContactPoint.start) prettyprint(road.get_element())
from scenariogeneration import xodr, prettyprint import numpy as np import os odr = xodr.OpenDrive('myroad') #---------------- Road 1 planview = xodr.PlanView(0,0,0) # create some geometries and add to the planview planview.add_geometry(xodr.Line(100)) # create a solid roadmark rm = xodr.RoadMark(xodr.RoadMarkType.solid, 0.2) # create centerlane centerlane_1 = xodr.Lane(a=2) centerlane_1.add_roadmark(rm) lanesec_1 = xodr.LaneSection(0,centerlane_1) # add a driving lane lane2_1 = xodr.Lane(a=3.1) lane2_1.add_roadmark(rm) lanesec_1.add_left_lane(lane2_1) lane3_1 = xodr.Lane(a=3.1) lane3_1.add_roadmark(rm) lanesec_1.add_right_lane(lane3_1) ## finalize the road
def test_line(): line = pyodrx.Line(1) p = line.get_element() prettyprint(p)
def test_geometry(): geom = pyodrx.geometry._Geometry(1,2,3,4,pyodrx.Line(1)) p = geom.get_element() prettyprint(p)
xodr.Arc(0.005, 50) ], id=0, left_lanes=3, right_lanes=4)) # intermittent road roads.append( xodr.create_road( [xodr.Spiral(0.0001, 0.003, 65), xodr.Spiral(0.003, 0.00001, 50)], id=1, left_lanes=3, right_lanes=3)) #exit road roads.append(xodr.create_road(xodr.Line(50), id=2, left_lanes=0, right_lanes=1)) # junctions for exit roads.append( xodr.create_road(xodr.Spiral(0.005, 0.0001, 50), id=3, left_lanes=3, right_lanes=3, road_type=1)) # continue roads.append( xodr.create_road(xodr.Spiral(0.005, -0.02, 100), id=4, left_lanes=0, right_lanes=1, road_type=1)) # exit
from scenariogeneration import xodr, prettyprint import numpy as np import os ## EXAMPLE 1 ## Multiple geometries in one only road. ##1. Create the planview planview = xodr.PlanView() ##2. Create some geometries and add them to the planview line1 = xodr.Line(100) arc1 = xodr.Arc(0.05, angle=np.pi / 2) line2 = xodr.Line(100) cloth1 = xodr.Spiral(0.05, -0.1, 30) line3 = xodr.Line(100) planview.add_geometry(line1) planview.add_geometry(arc1) planview.add_geometry(line2) planview.add_geometry(cloth1) planview.add_geometry(line3) ##3. Create a solid roadmark rm = xodr.RoadMark(xodr.RoadMarkType.solid, 0.2) ##4. Create centerlane centerlane = xodr.Lane(a=2) centerlane.add_roadmark(rm) ##5. Create lane section form the centerlane
from scenariogeneration import xodr import os # create some simple roads roads= [] # create the planview and the geometry planview = xodr.PlanView() planview.add_geometry(xodr.Line(200)) # create two different roadmarkings rm_solid = xodr.RoadMark(xodr.RoadMarkType.solid,0.2) rm_dashed = xodr.RoadMark(xodr.RoadMarkType.broken,0.2) # create a centerlane (same centerlane can be used since no linking is needed for this) centerlane = xodr.Lane(a=2) centerlane.add_roadmark(rm_solid) # create first lanesection with two lanes lanesec1 = xodr.LaneSection(0,centerlane) lane0 = xodr.Lane(a=3) lane0.add_roadmark(rm_dashed) lane1 = xodr.Lane(a=3) lane1.add_roadmark(rm_solid) lanesec1.add_right_lane(lane0) lanesec1.add_right_lane(lane1) # create the second lanesection with a third lane emerging
import os from scenariogeneration import xodr, xosc, esmini, prettyprint, ScenarioGenerator planview = xodr.PlanView() # add two geometries based on exact position planview.add_fixed_geometry(xodr.Line(100), 0, 0, 0) planview.add_fixed_geometry(xodr.Arc(0.01, length=100), 100, 0, 0) # create simple lanes lanes = xodr.Lanes() lanesection1 = xodr.LaneSection(0, xodr.standard_lane()) lanesection1.add_left_lane(xodr.standard_lane(rm=xodr.STD_ROADMARK_SOLID)) lanesection1.add_right_lane(xodr.standard_lane(rm=xodr.STD_ROADMARK_SOLID)) lanes.add_lanesection(lanesection1) road1 = xodr.Road(0, planview, lanes) # create a simple second road for connection road2 = xodr.create_road(xodr.Line(100), 1) # connect the roads with successor/predecessor road1.add_successor(xodr.ElementType.road, 1, xodr.ContactPoint.start) road2.add_predecessor(xodr.ElementType.road, 0, xodr.ContactPoint.end) odr = xodr.OpenDrive('my_road') odr.add_road(road1) odr.add_road(road2) # will adjust the second road and the lanes and lane links correctly odr.adjust_roads_and_lanes()
from scenariogeneration import xodr import os # create some roads roads = [] roads.append( xodr.create_road(xodr.Line(100), id=0, left_lanes=1, right_lanes=2)) roads.append( xodr.create_road(xodr.Line(100), id=1, left_lanes=0, right_lanes=1)) roads.append( xodr.create_road(xodr.Line(100), id=2, left_lanes=1, right_lanes=3)) roads.append( xodr.create_road(xodr.Spiral(0.001, 0.02, 30), id=3, left_lanes=1, right_lanes=2, road_type=1)) roads.append( xodr.create_road(xodr.Spiral(-0.001, -0.02, 30), id=4, left_lanes=0, right_lanes=1, road_type=1)) # add some connections to non junction roads roads[0].add_successor(xodr.ElementType.junction, 1) roads[1].add_successor(xodr.ElementType.junction, 1) roads[2].add_predecessor(xodr.ElementType.junction, 1) # add connections to the first connecting road
from scenariogeneration import xodr import numpy as np import os rm = xodr.RoadMark(xodr.RoadMarkType.solid, 0.2) # create geometries geoms = [] geoms.append(xodr.Line(100)) geoms.append(xodr.Spiral(0.001, 0.019, 30)) geoms.append(xodr.Line(100)) geoms.append(xodr.Spiral(-0.001, -0.1, 30)) geoms.append(xodr.Line(100)) geoms.append(xodr.Line(20)) geoms.append(xodr.Line(100)) numberofroads = len(geoms) # create planviews planviews = [] for g in geoms: pv = xodr.PlanView() pv.add_geometry(g) planviews.append(pv) # create centerlanes lanecenters = [] for i in range(numberofroads): lc = xodr.Lane(a=3) lc.add_roadmark(rm) lanecenters.append(lc)
from scenariogeneration import xodr import os # create the planview and the geometry planview = xodr.PlanView() planview.add_geometry(xodr.Line(500)) # create two different roadmarkings rm_solid = xodr.RoadMark(xodr.RoadMarkType.solid, 0.2) rm_dashed = xodr.RoadMark(xodr.RoadMarkType.broken, 0.2) # create a centerlane (same centerlane can be used since no linking is needed for this) centerlane = xodr.Lane(a=2) centerlane.add_roadmark(rm_solid) # create the first lanesection with two lanes lanesec1 = xodr.LaneSection(0, centerlane) lane1 = xodr.Lane(a=3) lane1.add_roadmark(rm_dashed) lane2 = xodr.Lane(a=3) lane2.add_roadmark(rm_solid) lanesec1.add_right_lane(lane1) lanesec1.add_right_lane(lane2) # create the second lanesection with one lane merging lanesec2 = xodr.LaneSection(250, centerlane) lane3 = xodr.Lane(a=3) lane3.add_roadmark(rm_dashed)
def test_create_lane_links_normalroad1(): planview = [] lanec = [] lanel = [] laner = [] lanesec = [] lanes = [] rm = pyodrx.RoadMark(pyodrx.RoadMarkType.solid, 0.2, rule=pyodrx.MarkRule.no_passing) geom = [] geom.append(pyodrx.Line(50)) geom.append(pyodrx.Arc(0.01, angle=np.pi / 2)) geom.append(pyodrx.Line(50)) # create planviews for i in range(len(geom)): planview.append(pyodrx.PlanView()) planview[i].add_geometry(geom[i]) # create centerlanes for i in range(len(geom)): lanec.append(pyodrx.Lane(a=3)) lanel.append(pyodrx.Lane(a=3)) laner.append(pyodrx.Lane(a=3)) #add roadmarks for i in range(len(geom)): lanec[i].add_roadmark(rm) lanel[i].add_roadmark(rm) laner[i].add_roadmark(rm) # create lanesections for i in range(len(geom)): lanesec.append(pyodrx.LaneSection(0, lanec[i])) lanesec[i].add_right_lane(lanel[i]) lanesec[i].add_left_lane(laner[i]) #create lanes for i in range(len(geom)): lanes.append(pyodrx.Lanes()) lanes[i].add_lanesection(lanesec[i]) #create roads road1 = pyodrx.Road(1, planview[0], lanes[0]) road1.add_successor(pyodrx.ElementType.road, 2, pyodrx.ContactPoint.start) road2 = pyodrx.Road(2, planview[1], lanes[1]) road2.add_predecessor(pyodrx.ElementType.road, 1, pyodrx.ContactPoint.end) road2.add_successor(pyodrx.ElementType.road, 3, pyodrx.ContactPoint.start) road3 = pyodrx.Road(3, planview[2], lanes[2]) road3.add_predecessor(pyodrx.ElementType.road, 2, pyodrx.ContactPoint.end) # create the opendrive and add roads odr = pyodrx.OpenDrive('myroad') odr.add_road(road1) odr.add_road(road2) odr.add_road(road3) odr.adjust_roads_and_lanes() assert road1.lanes.lanesections[0].rightlanes[0].links.get_predecessor_id( ) == None assert int(road1.lanes.lanesections[0].rightlanes[0].links. get_successor_id()) == -1 assert road1.lanes.lanesections[0].leftlanes[0].links.get_predecessor_id( ) == None assert int( road1.lanes.lanesections[0].leftlanes[0].links.get_successor_id()) == 1 assert int(road2.lanes.lanesections[0].rightlanes[0].links. get_predecessor_id()) == -1 assert int(road2.lanes.lanesections[0].rightlanes[0].links. get_successor_id()) == -1 assert int(road2.lanes.lanesections[0].leftlanes[0].links. get_predecessor_id()) == 1 assert int( road2.lanes.lanesections[0].leftlanes[0].links.get_successor_id()) == 1 assert int(road3.lanes.lanesections[0].rightlanes[0].links. get_predecessor_id()) == -1 assert road3.lanes.lanesections[0].rightlanes[0].links.get_successor_id( ) == None assert int(road3.lanes.lanesections[0].leftlanes[0].links. get_predecessor_id()) == 1 assert road3.lanes.lanesections[0].leftlanes[0].links.get_successor_id( ) == None
from scenariogeneration import xodr import os # create some simple roads roads= [] roads.append(xodr.create_road(xodr.Line(100),id =0,left_lanes=0,right_lanes=2)) roads.append(xodr.create_road(xodr.Line(100),id =1,left_lanes=0,right_lanes=1)) roads.append(xodr.create_road(xodr.Line(100),id =2,left_lanes=0,right_lanes=1)) roads.append(xodr.create_road(xodr.Spiral(0.001,0.02,30),id =3,left_lanes=0,right_lanes=1,road_type=1)) roads.append(xodr.create_road(xodr.Spiral(-0.001,-0.02,30),id =4,left_lanes=0,right_lanes=1,road_type=1)) # add predecessors and succesors to the non junction roads roads[0].add_successor(xodr.ElementType.junction,1) roads[1].add_predecessor(xodr.ElementType.junction,1) roads[2].add_predecessor(xodr.ElementType.junction,1) # add connections to the first junction road roads[3].add_predecessor(xodr.ElementType.road,0,xodr.ContactPoint.end) roads[3].add_successor(xodr.ElementType.road,1,xodr.ContactPoint.start) # add connections to the second junction road, together with an offset roads[4].add_predecessor(xodr.ElementType.road,0,xodr.ContactPoint.end,lane_offset=-1) roads[4].add_successor(xodr.ElementType.road,2,xodr.ContactPoint.start) # create the junction struct junction = xodr.create_junction(roads[3:],1,roads[0:3]) # create the opendrive odr = xodr.OpenDrive('myroad') for r in roads: odr.add_road(r)