def test_world(self):
road_graph = Roadgraph()
lane1 = XodrLane()
lane2 = XodrLane()
road_id = 0
# add vertices and connect edges
u = road_graph.AddLane(road_id, lane1)
v = road_graph.AddLane(road_id, lane2)
road_graph.AddInnerNeighbor(u, v)
road_graph.AddOuterNeighbor(u, v)
vertices = road_graph.GetVertices()
for vertex_descr in vertices:
vertex = road_graph.GetVertex(vertex_descr)
print(vertex.lane_id)
GetEdges = road_graph.GetEdges()
for edge_descr in GetEdges:
edge = road_graph.GetEdge(edge_descr)
print(edge.edge_type)
def test_world(self):
# create agent
params = ParameterServer()
behavior = BehaviorConstantAcceleration(params)
execution = ExecutionModelInterpolate(params)
dynamic = SingleTrackModel(params)
shape = Polygon2d([1.25, 1, 0], [
Point2d(0, 0),
Point2d(0, 2),
Point2d(4, 2),
Point2d(4, 0),
Point2d(0, 0)
])
init_state = np.array([0, 0, 0, 0, 5])
agent = Agent(init_state, behavior, dynamic, execution, shape,
params.AddChild("agent"))
road_map = OpenDriveMap()
newXodrRoad = XodrRoad()
newXodrRoad.id = 1
newXodrRoad.name = "Autobahn A9"
newPlanView = PlanView()
newPlanView.AddLine(Point2d(0, 0), 1.57079632679, 10)
newXodrRoad.plan_view = newPlanView
line = newXodrRoad.plan_view.GetReferenceLine().ToArray()
p = Point2d(line[-1][0], line[-1][1])
newXodrRoad.plan_view.AddSpiral(p, 1.57079632679, 50.0, 0.0, 0.3, 0.4)
line = newXodrRoad.plan_view.GetReferenceLine()
lane_section = XodrLaneSection(0)
lane = XodrLane()
lane.line = line
lane_section.AddLane(lane)
newXodrRoad.AddLaneSection(lane_section)
road_map.AddRoad(newXodrRoad)
r = Roadgraph()
map_interface = MapInterface()
map_interface.SetOpenDriveMap(road_map)
map_interface.SetRoadgraph(r)
world = World(params)
world.AddAgent(agent)