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())
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 lanes_1 = xodr.Lanes() lanes_1.add_lanesection(lanesec_1) road = xodr.Road(1,planview,lanes_1) odr.add_road(road) #---------------- Road 2 planview2 = xodr.PlanView(x_start = 0, y_start = 10,h_start=np.pi/2) # planview2 = xodr.PlanView() # create some geometries and add to the planview planview2.add_geometry(xodr.Line(200)) # create a solid roadmark rm = xodr.RoadMark(xodr.RoadMarkType.solid, 0.2)
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
##6. Create left and right lanes
lane2 = xodr.Lane(a=3)
lane2.add_roadmark(rm)
lane3 = xodr.Lane(a=3)
lane3.add_roadmark(rm)
##7. Add lanes to lane section
lanesec.add_left_lane(lane2)
lanesec.add_right_lane(lane3)
##8. Add lane section to Lanes
lanes = xodr.Lanes()
lanes.add_lanesection(lanesec)
##9. Create Road from Planview and Lanes
road = xodr.Road(1, planview, lanes)
##10. Create the OpenDrive class (Master class)
odr = xodr.OpenDrive('myroad')
##11. Finally add roads to Opendrive
odr.add_road(road)
##12. Adjust initial positions of the roads looking at succ-pred logic
odr.adjust_roads_and_lanes()
##13. Print the .xodr file
prettyprint(odr.get_element())
# write the OpenDRIVE file as xodr using current script name
odr.write_xml(os.path.basename(__file__).replace('.py', '.xodr'))
# create the lane links lanelinker = xodr.LaneLinker() lanelinker.add_link(predlane=lane0,succlane=lane2) lanelinker.add_link(predlane=lane1,succlane=lane3) lanelinker.add_link(predlane=lane2,succlane=lane5) lanelinker.add_link(predlane=lane3,succlane=lane6) lanelinker.add_link(predlane=lane4,succlane=lane7) # create the lanes with the correct links lanes = xodr.Lanes() lanes.add_lanesection(lanesec1,lanelinker) lanes.add_lanesection(lanesec2,lanelinker) lanes.add_lanesection(lanesec3,lanelinker) # create the road roads.append(xodr.Road(0,planview,lanes)) # create the other roads roads.append(xodr.create_road(xodr.Line(100),id =1,left_lanes=0,right_lanes=2)) roads.append(xodr.create_road(xodr.Line(100),id =2,left_lanes=0,right_lanes=1)) # create the junction roads roads.append(xodr.create_road(xodr.Spiral(0.001,0.02,30),id =3,left_lanes=0,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 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)
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()
lsec.add_right_lane(rightlanes[i])
lsec.add_left_lane(leftlanes[i])
lanesections.append(lsec)
## create lanes
lanes = []
for l in lanesections:
lanes1 = xodr.Lanes()
lanes1.add_lanesection(l)
lanes.append(lanes1)
# finally create the roads
roads = []
roadtypes = [-1, 1, -1, 1, -1, 1, -1]
for i in range(numberofroads):
roads.append(xodr.Road(i, planviews[i], lanes[i], road_type=roadtypes[i]))
roads[0].add_successor(xodr.ElementType.junction, 1)
roads[1].add_predecessor(xodr.ElementType.road, 0, xodr.ContactPoint.end)
roads[1].add_successor(xodr.ElementType.road, 2, xodr.ContactPoint.start)
roads[2].add_predecessor(xodr.ElementType.junction, 1)
roads[3].add_predecessor(xodr.ElementType.road, 0, xodr.ContactPoint.end)
roads[3].add_successor(xodr.ElementType.road, 4, xodr.ContactPoint.start)
roads[4].add_predecessor(xodr.ElementType.junction, 1)
roads[5].add_predecessor(xodr.ElementType.road, 0, xodr.ContactPoint.end)
roads[5].add_successor(xodr.ElementType.road, 6, xodr.ContactPoint.start)
