def test_lanes():
centerlane = pyodrx.Lane()
ls = pyodrx.LaneSection(0,centerlane)
lanes = pyodrx.Lanes()
lanes.add_lanesection(ls)
lo = pyodrx.LaneOffset(0,1,2,3,4)
lanes.add_laneoffset(lo)
prettyprint(lanes.get_element())
def test_lanesection():
centerlane = pyodrx.Lane()
ls = pyodrx.LaneSection(0,centerlane)
prettyprint(ls.get_element())
right_lane = pyodrx.Lane()
ls.add_right_lane(right_lane)
prettyprint(ls.get_element())
left_lane = pyodrx.Lane(a=2)
ls.add_left_lane(left_lane)
prettyprint(ls.get_element())
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())
odr = xodr.OpenDrive('myroad')
#---------------- Road 1
planview = xodr.PlanView(0,0,0)
# create some geometries and add to the planview
planview.add_geometry(xodr.Line(100))
# create a solid roadmark
rm = xodr.RoadMark(xodr.RoadMarkType.solid, 0.2)
# create centerlane
centerlane_1 = xodr.Lane(a=2)
centerlane_1.add_roadmark(rm)
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)
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
planview.add_geometry(line1) planview.add_geometry(arc1) planview.add_geometry(line2) planview.add_geometry(cloth1) planview.add_geometry(line3) ##3. Create a solid roadmark rm = xodr.RoadMark(xodr.RoadMarkType.solid, 0.2) ##4. Create centerlane centerlane = xodr.Lane(a=2) centerlane.add_roadmark(rm) ##5. Create lane section form the centerlane lanesec = xodr.LaneSection(0, centerlane) ##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)
# create the planview and the geometry planview = xodr.PlanView() planview.add_geometry(xodr.Line(200)) # create two different roadmarkings rm_solid = xodr.RoadMark(xodr.RoadMarkType.solid,0.2) rm_dashed = xodr.RoadMark(xodr.RoadMarkType.broken,0.2) # create a centerlane (same centerlane can be used since no linking is needed for this) centerlane = xodr.Lane(a=2) centerlane.add_roadmark(rm_solid) # create first lanesection with two lanes lanesec1 = xodr.LaneSection(0,centerlane) lane0 = xodr.Lane(a=3) lane0.add_roadmark(rm_dashed) lane1 = xodr.Lane(a=3) lane1.add_roadmark(rm_solid) lanesec1.add_right_lane(lane0) lanesec1.add_right_lane(lane1) # create the second lanesection with a third lane emerging lanesec2 = xodr.LaneSection(100,centerlane) lane2 = xodr.Lane(a=3) lane2.add_roadmark(rm_dashed) lane3 = xodr.Lane(a=3) lane3.add_roadmark(rm_dashed)
import os
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()
def test_lanes():
centerlane = pyodrx.Lane()
ls = pyodrx.LaneSection(0, centerlane)
lanes = pyodrx.Lanes()
lanes.add_lanesection(ls)
prettyprint(lanes.get_element())
# create lanes
rightlanes = []
leftlanes = []
for i in range(numberofroads):
right = xodr.Lane(a=3)
right.add_roadmark(rm)
rightlanes.append(right)
left = xodr.Lane(a=3)
left.add_roadmark(rm)
leftlanes.append(left)
# create lanesections
lanesections = []
for i in range(numberofroads):
lsec = xodr.LaneSection(0, lanecenters[i])
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):
# create the planview and the geometry planview = xodr.PlanView() planview.add_geometry(xodr.Line(500)) # create two different roadmarkings rm_solid = xodr.RoadMark(xodr.RoadMarkType.solid, 0.2) rm_dashed = xodr.RoadMark(xodr.RoadMarkType.broken, 0.2) # create a centerlane (same centerlane can be used since no linking is needed for this) centerlane = xodr.Lane(a=2) centerlane.add_roadmark(rm_solid) # create the first lanesection with two lanes lanesec1 = xodr.LaneSection(0, centerlane) lane1 = xodr.Lane(a=3) lane1.add_roadmark(rm_dashed) lane2 = xodr.Lane(a=3) lane2.add_roadmark(rm_solid) lanesec1.add_right_lane(lane1) lanesec1.add_right_lane(lane2) # create the second lanesection with one lane merging lanesec2 = xodr.LaneSection(250, centerlane) lane3 = xodr.Lane(a=3) lane3.add_roadmark(rm_dashed) lane4 = xodr.Lane(a=3, b=-0.1)
