def cloneRoadWithGeoLanesAndType(self, road, newId):
"""These items are referenced from the original road
planview, lanes
These items are not referenced (needs to be rebuilt)
name, rule, links, successors, predecessors, adjusted
Args:
road ([type]): [description]
newId ([type]): [description]
"""
newRoad = pyodrx.Road(newId, road.planview, road.lanes, road.road_type)
return newRoad
lanelinker = pyodrx.LaneLinker()
lanelinker.add_link(predlane=lane1, succlane=lane4)
lanelinker.add_link(predlane=lane2, succlane=lane5)
lanelinker.add_link(predlane=lane3, succlane=lane6)
lanelinker.add_link(predlane=lane5, succlane=lane7)
lanelinker.add_link(predlane=lane6, succlane=lane8)
# create the lanes with the correct links
lanes = pyodrx.Lanes()
lanes.add_lanesection(lanesec1, lanelinker)
lanes.add_lanesection(lanesec2, lanelinker)
lanes.add_lanesection(lanesec3, lanelinker)
# create the road
roads.append(pyodrx.Road(2, planview, lanes))
# create junction roads
roads.append(
pyodrx.create_road(pyodrx.Spiral(0.001, 0.02, 30),
id=3,
left_lanes=0,
right_lanes=2,
road_type=1))
roads.append(
pyodrx.create_road(pyodrx.Spiral(-0.001, -0.02, 30),
id=4,
left_lanes=0,
right_lanes=1,
road_type=1))
lsec.add_left_lane(leftlanes[i])
lanesections.append(lsec)
## create lanes
lanes = []
for l in lanesections:
lanes1 = pyodrx.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(pyodrx.Road(i,planviews[i],lanes[i],road_type=roadtypes[i]))
roads[0].add_successor(pyodrx.ElementType.junction,1)
roads[1].add_predecessor(pyodrx.ElementType.road,0,pyodrx.ContactPoint.end)
roads[1].add_successor(pyodrx.ElementType.road,2,pyodrx.ContactPoint.start)
roads[2].add_predecessor(pyodrx.ElementType.junction,1)
roads[3].add_predecessor(pyodrx.ElementType.road,0,pyodrx.ContactPoint.end)
roads[3].add_successor(pyodrx.ElementType.road,4,pyodrx.ContactPoint.start)
roads[4].add_predecessor(pyodrx.ElementType.junction,1)
roads[5].add_predecessor(pyodrx.ElementType.road,0,pyodrx.ContactPoint.end)
roads[5].add_successor(pyodrx.ElementType.road,6,pyodrx.ContactPoint.start)
# add a driving lane
lane2 = pyodrx.Lane(a=3)
lane2.add_roadmark(rm)
lanesec.add_left_lane(lane2)
lane3 = pyodrx.Lane(a=3)
lane3.add_roadmark(rm)
lanesec.add_right_lane(lane3)
## finalize the road
lanes = pyodrx.Lanes()
lanes.add_lanesection(lanesec)
road = pyodrx.Road(1,planview,lanes)
odr = pyodrx.OpenDrive('myroad')
odr.add_road(road)
odr.adjust_roads_and_lanes()
pyodrx.prettyprint(odr.get_element())
pyodrx.run_road(odr,os.path.join('..','pyoscx','esmini'))
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
lanesec_1 = pyodrx.LaneSection(0, centerlane_1) # add a driving lane lane2_1 = pyodrx.Lane(a=3.1) lane2_1.add_roadmark(rm) lanesec_1.add_left_lane(lane2_1) lane3_1 = pyodrx.Lane(a=3.1) lane3_1.add_roadmark(rm) lanesec_1.add_right_lane(lane3_1) ## finalize the road lanes_1 = pyodrx.Lanes() lanes_1.add_lanesection(lanesec_1) road = pyodrx.Road(1, planview, lanes_1) odr.add_road(road) #---------------- Road 2 planview2 = pyodrx.PlanView(x_start=0, y_start=10, h_start=np.pi / 2) # planview2 = pyodrx.PlanView() # create some geometries and add to the planview planview2.add_geometry(pyodrx.Line(200)) # create a solid roadmark rm = pyodrx.RoadMark(pyodrx.RoadMarkType.solid, 0.2) # create centerlane
lane2 = pyodrx.Lane(a=4)
lane2.add_roadmark(rm)
lane3 = pyodrx.Lane(a=3)
lane3.add_roadmark(rm)
lane4 = pyodrx.Lane(a=3)
lane4.add_roadmark(rm)
lane5 = pyodrx.Lane(a=3)
lane5.add_roadmark(rm)
lanesec.add_left_lane(lane2)
lanesec.add_left_lane(lane3)
lanesec.add_right_lane(lane4)
lanesec.add_right_lane(lane5)
laneSections = LaneSections()
laneSections.add_lanesection(lanesec)
road = pyodrx.Road(1, planview, laneSections)
odr = pyodrx.OpenDrive('myroad')
odr.add_road(road)
odr.adjust_roads_and_lanes()
extensions.view_road(
odr,
os.path.join('..', 'C:\\Users\\ishaa\\Downloads\\roadGen\\esmini-master'))
extensions.simulate_road(
odr,
os.path.join('..', 'C:\\Users\\ishaa\\Downloads\\roadGen\\esmini-master'))