def test_Crossing8Course(self):
xodr_parser = XodrParser(
"modules/runtime/tests/data/Crossing8Course.xodr")
params = ParameterServer()
world = World(params)
map_interface = MapInterface()
map_interface.SetOpenDriveMap(xodr_parser.map)
world.SetMap(map_interface)
start_point = Point2d(0, -11)
lanes_near_start = map_interface.find_nearest_lanes(start_point, 1)
assert (len(lanes_near_start) == 1)
goal_point = Point2d(-191.789, -50.1725)
lanes_near_goal = map_interface.find_nearest_lanes(goal_point, 1)
assert (len(lanes_near_goal) == 1)
time.sleep(
2
) # if this is not here, the second unit test is not executed (maybe parsing takes too long?)
def test_two_roads_one_lane(self):
params = ParameterServer()
world = World(params)
xodr_map = MakeXodrMapOneRoadTwoLanes()
map_interface = MapInterface()
map_interface.SetOpenDriveMap(xodr_map)
world.SetMap(map_interface)
start_point = Point2d(0, -11)
lanes_near_start = map_interface.find_nearest_lanes(start_point, 1)
assert(len(lanes_near_start) == 1)
goal_point = Point2d(-191.789, -50.1725)
lanes_near_goal = map_interface.find_nearest_lanes(goal_point, 1)
assert(len(lanes_near_goal) == 1)
viewer = MPViewer(params=params, use_world_bounds=True)
viewer.drawWorld(world)
time.sleep(2) # if this is not here, the second unit test is not executed (maybe parsing takes too long?)