def get_adjacent_lanelets():
leftmost_bound = tuple_list_to_ls([(0, 2), (1, 2), (2, 2)])
mid_bound = tuple_list_to_ls([(0, 1), (1, 1), (2, 2)])
rightmost_bound = tuple_list_to_ls([(0, 0), (1, 0), (2, 1)])
left_lanelet = Lanelet(getId(), leftmost_bound, mid_bound)
right_lanelet = Lanelet(getId(), mid_bound, rightmost_bound)
return left_lanelet, right_lanelet
def get_sample_lanelet_map():
mymap = LaneletMap()
x_left = 2
x_right = 0
ls_left = LineString3d(
getId(), [Point3d(getId(), x_left, i, 0) for i in range(0, 3)])
ls_right = LineString3d(
getId(), [Point3d(getId(), x_right, i, 0) for i in range(0, 3)])
llet = Lanelet(getId(), ls_left, ls_right)
mymap.add(llet)
return mymap
def part2regulatory_elements():
# regulatory elements profit from pythons type system
lanelet = get_a_lanelet()
light = get_linestring_at_y(3)
regelem = TrafficLight(getId(), AttributeMap(), [light])
lanelet.addRegulatoryElement(regelem)
assert regelem in lanelet.regulatoryElements
lights = [regelem for regelem in lanelet.regulatoryElements if isinstance(regelem, TrafficLight)]
assert regelem in lights
assert light in lights[0].trafficLights
def get_following_lanelets():
left_points = [Point3d(getId(), x, y) for x, y in [(0, 1), (1, 1), (2, 2)]]
right_points = [
Point3d(getId(), x, y) for x, y in [(0, 0), (1, 0), (2, 1)]
]
lanelet_1_left_bound = LineString3d(getId(), left_points[:2])
lanelet_1_right_bound = LineString3d(getId(), right_points[:2])
lanelet_1 = Lanelet(getId(), lanelet_1_left_bound, lanelet_1_right_bound)
lanelet_2_left_bound = LineString3d(getId(), left_points[1:])
lanelet_2_right_bound = LineString3d(getId(), right_points[1:])
lanelet_2 = Lanelet(getId(), lanelet_2_left_bound, lanelet_2_right_bound)
return lanelet_1, lanelet_2
def part1primitives():
# Primitives work very similar to c++, except that the data can be accessed as properties instead of functions
p = Point3d(getId(), 0, 0, 0)
assert p.x == 0
p.id = getId()
p.attributes["key"] = "value"
assert "key" in p.attributes
assert p.attributes["key"] == "value"
# the 2d/3d mechanics work too
p2d = lanelet2.geometry.to2D(p)
# all (common) geometry calculations are available as well:
p2 = Point3d(getId(), 1, 0, 0)
assert lanelet2.geometry.distance(p, p2) == 1
assert lanelet2.geometry.distance(p2d, Point2d(getId(), 1, 0, 1)) == 1
# linestrings work conceptually similar to a list (but they only accept points, of course)
ls = LineString3d(getId(), [p, p2])
assert ls[0] == p
assert ls[-1] == p2
assert p in ls
for pt in ls:
assert pt.y == 0
ls_inv = ls.invert()
assert ls_inv[0] == p2
ls.append(Point3d(getId(), 2, 0, 0))
del ls[2]
def part1primitives():
# Primitives work very similar to c++, except that the data can be accessed as properties instead of functions
### when enter 'getId()', new Id is asserted (1000 ~).
### At first, there is no attribute in a primitive. And we can assert new attributes with 'p.attributes["key"] = "value"'.
p = Point3d(getId(), 0, 0, 0)
assert p.x == 0
p.id = getId()
p.attributes["key"] = "value"
assert "key" in p.attributes
assert p.attributes["key"] == "value"
# the 2d/3d mechanics work too
### And, when you do like below, p2d and p have the same 'id'.
p2d = lanelet2.geometry.to2D(p)
# all (common) geometry calculations are available as well:
p2 = Point3d(getId(), 1, 0, 0)
assert lanelet2.geometry.distance(p, p2) == 1
### If you enter like 'lanelet2.geometry.distance(p2d, Point3d(getId(), 1, 0, 1))', there will be an error.
### Because it can't calculate a distance of two points that have different dimensions.
assert lanelet2.geometry.distance(p2d, Point2d(getId(), 1, 0, 1)) == 1
# linestrings work conceptually similar to a list (but they only accept points, of course)
ls = LineString3d(getId(), [p, p2])
assert ls[0] == p
assert ls[-1] == p2
assert p in ls
for pt in ls:
assert pt.y == 0
ls_inv = ls.invert()
assert ls_inv[0] == p2
ls.append(Point3d(getId(), 2, 0, 0))
del ls[2]
def get_a_lanelet():
return Lanelet(getId(), get_linestring_at_y(2), get_linestring_at_y(0))
def get_linestring_at_y(y):
return LineString3d(getId(),
[Point3d(getId(), i, y, 0) for i in range(0, 3)])
def get_linestring_at_x(x):
return LineString3d(getId(),
[Point3d(getId(), x, i, 0) for i in range(0, 3)])
def getRegelem():
return TrafficLight(getId(), AttributeMap(), [getLineString()],
getLineString())
def getLanelet():
return Lanelet(getId(), getLineString(), getLineString(), getAttributes())
def getLineString():
return LineString3d(getId(), [getPoint(), getPoint()], getAttributes())
def getPoint():
return Point3d(getId(), 0, 0, 0, getAttributes())
def get_test_lanelet_straight():
left_bound = tuple_list_to_ls([(0, 1), (1, 1)])
right_bound = tuple_list_to_ls([(0, 0), (1, 0)])
lanelet = Lanelet(getId(), left_bound, right_bound)
return lanelet
def tuple_list_to_ls(tuple_list):
return LineString3d(getId(),
[Point3d(getId(), x, y) for x, y in tuple_list])
def get_test_map():
"""
Map with this Layout:
3 ___
/5 /
2 _______/__/
| 2 | /4|
1 |_____|__/__|
| 1 | 3 |
0 |_____|_____|
0 1 2 3 4
"""
ll_1_right_start = Point3d(getId(), 0, 0)
ll_1_left_start = Point3d(getId(), 0, 1)
ll_1_right_end = Point3d(getId(), 2, 0)
ll_1_left_end = Point3d(getId(), 2, 1)
ll_2_left_start = Point3d(getId(), 0, 2)
ll_2_left_end = Point3d(getId(), 2, 2)
ll_3_right_end = Point3d(getId(), 4, 0)
ll_3_left_end = Point3d(getId(), 4, 1)
ll_4_left_end = Point3d(getId(), 4, 2)
ll_5_left_end = Point3d(getId(), 3, 3)
ll_5_right_end = Point3d(getId(), 4, 3)
ls_attribute_map_dashed = AttributeMap({
'subtype': 'dashed',
'type': 'line_thin'
})
ll_1_right_bound = LineString3d(getId(),
[ll_1_right_start, ll_1_right_end],
ls_attribute_map_dashed)
ll_1_left_bound = LineString3d(getId(), [ll_1_left_start, ll_1_left_end],
ls_attribute_map_dashed)
ll_2_left_bound = LineString3d(getId(), [ll_2_left_start, ll_2_left_end],
ls_attribute_map_dashed)
ll_3_right_bound = LineString3d(getId(), [ll_1_right_end, ll_3_right_end],
ls_attribute_map_dashed)
ll_3_left_bound = LineString3d(getId(), [ll_1_left_end, ll_3_left_end],
ls_attribute_map_dashed)
ll_4_left_bound = LineString3d(getId(), [ll_2_left_end, ll_4_left_end],
ls_attribute_map_dashed)
ll_5_left_bound = LineString3d(getId(), [ll_2_left_end, ll_5_left_end],
ls_attribute_map_dashed)
ll_5_right_bound = LineString3d(getId(), [ll_1_left_end, ll_5_right_end],
ls_attribute_map_dashed)
ll_attribute_map = AttributeMap({
'location': 'urban',
'one_way': 'yes',
'region': 'de',
'subtype': 'road',
'type': 'lanelet'
})
ll_1 = Lanelet(1, ll_1_left_bound, ll_1_right_bound, ll_attribute_map)
ll_2 = Lanelet(2, ll_2_left_bound, ll_1_left_bound, ll_attribute_map)
ll_3 = Lanelet(3, ll_3_left_bound, ll_3_right_bound, ll_attribute_map)
ll_4 = Lanelet(4, ll_4_left_bound, ll_3_left_bound, ll_attribute_map)
ll_5 = Lanelet(5, ll_5_left_bound, ll_5_right_bound, ll_attribute_map)
lanelet_map = LaneletMap()
lanelet_map.add(ll_1)
lanelet_map.add(ll_2)
lanelet_map.add(ll_3)
lanelet_map.add(ll_4)
lanelet_map.add(ll_5)
return lanelet_map
