def test_route(): route = OSC.Route('myroute') route.add_waypoint(OSC.WorldPosition(0, 0, 0, 0, 0, 0), OSC.RouteStrategy.shortest) route.add_waypoint(OSC.WorldPosition(1, 1, 0, 0, 0, 0), OSC.RouteStrategy.shortest) prettyprint(route.get_element())
def test_nurbs(): cp1 = OSC.ControlPoint(OSC.WorldPosition(), 1, 0.1) cp2 = OSC.ControlPoint(OSC.WorldPosition(), 2, 0.2) cp3 = OSC.ControlPoint(OSC.WorldPosition(), 3, 0.3) nurb = OSC.Nurbs(2) nurb.add_control_point(cp1) nurb.add_control_point(cp2) nurb.add_control_point(cp3) nurb.add_knots([5, 4, 3, 2, 1]) prettyprint(nurb.get_element())
def test_route_position(): route = OSC.Route('myroute') route.add_waypoint(OSC.WorldPosition(), OSC.RouteStrategy.shortest) route.add_waypoint(OSC.WorldPosition(1, 1, 1), OSC.RouteStrategy.shortest) routepos = OSC.RoutePositionOfCurrentEntity(route, 'Ego') prettyprint(routepos.get_element()) routepos = OSC.RoutePositionInRoadCoordinates(route, 1, 3) prettyprint(routepos.get_element()) routepos = OSC.RoutePositionInLaneCoordinates(route, 1, 'a', 2) prettyprint(routepos.get_element())
def osc_fixture(): parameters = xosc.ParameterDeclarations() parameters.add_parameter(xosc.Parameter('param1',xosc.ParameterType.string,'hej')) parameters.add_parameter(xosc.Parameter('param2',xosc.ParameterType.integer,1)) parameters.add_parameter(xosc.Parameter('param3',xosc.ParameterType.boolean,True)) catalog = xosc.Catalog() catalog.add_catalog('VehicleCatalog','Catalogs/VehicleCatalogs') catalog.add_catalog('ControllerCatalog','Catalogs/ControllerCatalogs') roadfile = 'Databases/SampleDatabase.xodr' road = xosc.RoadNetwork(roadfile) bb = xosc.BoundingBox(2,5,1.5,1.5,0,0.2) fa = xosc.Axle(2,2,2,1,1) ba = xosc.Axle(1,1,2,1,1) veh = xosc.Vehicle('mycar',xosc.VehicleCategory.car,bb,fa,ba,150,10,10) entities = xosc.Entities() entities.add_scenario_object('Ego',veh) init = xosc.Init() egospeed = xosc.AbsoluteSpeedAction(10,xosc.TransitionDynamics(xosc.DynamicsShapes.step,xosc.DynamicsDimension.distance,3)) init.add_init_action('Ego',egospeed) init.add_init_action('Ego',xosc.TeleportAction(xosc.WorldPosition(1,2,3,0,0,0))) sb = xosc.StoryBoard(init) return xosc.Scenario('myscenario','Mandolin',parameters,entities=entities,storyboard = sb,roadnetwork=road,catalog=catalog)
def test_init(): init = OSC.Init() TD = OSC.TransitionDynamics(OSC.DynamicsShapes.step, OSC.DynamicsDimension.rate, 1) egospeed = OSC.AbsoluteSpeedAction(10, TD) init.add_init_action('Ego', egospeed) init.add_init_action( 'Ego', OSC.TeleportAction(OSC.WorldPosition(1, 2, 3, 0, 0, 0))) init.add_init_action('Target_1', egospeed) init.add_init_action( 'Target_1', OSC.TeleportAction(OSC.WorldPosition(1, 5, 3, 0, 0, 0))) init.add_init_action('Target_2', egospeed) init.add_init_action( 'Target_2', OSC.TeleportAction(OSC.WorldPosition(10, 2, 3, 0, 0, 0))) prettyprint(init.get_element())
def test_trafficsourceaction(): prop = OSC.Properties() prop.add_file('mycontrollerfile.xml') controller = OSC.Controller('mycontroller',prop) traffic = OSC.TrafficDefinition('my traffic') traffic.add_controller(controller,0.5) traffic.add_controller(OSC.CatalogReference('ControllerCatalog','my controller'),0.5) traffic.add_vehicle(OSC.VehicleCategory.car,0.9) traffic.add_vehicle(OSC.VehicleCategory.bicycle,0.1) source_action = OSC.TrafficSourceAction(10,10,OSC.WorldPosition(),traffic,100) prettyprint(source_action.get_element()) source_action = OSC.TrafficSourceAction(10,10,OSC.WorldPosition(),traffic) prettyprint(source_action.get_element())
def test_storyboard_story_input(): init = OSC.Init() TD = OSC.TransitionDynamics(OSC.DynamicsShapes.step, OSC.DynamicsDimension.rate, 1) egospeed = OSC.AbsoluteSpeedAction(10, TD) init.add_init_action('Ego', egospeed) init.add_init_action( 'Ego', OSC.TeleportAction(OSC.WorldPosition(1, 2, 3, 0, 0, 0))) init.add_init_action('Target_1', egospeed) init.add_init_action( 'Target_1', OSC.TeleportAction(OSC.WorldPosition(1, 5, 3, 0, 0, 0))) init.add_init_action('Target_2', egospeed) init.add_init_action( 'Target_2', OSC.TeleportAction(OSC.WorldPosition(10, 2, 3, 0, 0, 0))) prettyprint(init.get_element()) event = OSC.Event('myfirstevent', OSC.Priority.overwrite) event.add_trigger(trigger) event.add_action('newspeed', speedaction) man = OSC.Maneuver('my maneuver') man.add_event(event) prettyprint(man.get_element()) mangr = OSC.ManeuverGroup('mangroup') mangr.add_actor('Ego') mangr.add_maneuver(man) prettyprint(mangr.get_element()) act = OSC.Act('my act', trigger) act.add_maneuver_group(mangr) prettyprint(act.get_element()) story = OSC.Story('mystory') story.add_act(act) prettyprint(story.get_element()) sb = OSC.StoryBoard(init) sb.add_story(story) prettyprint(sb.get_element())
def test_aqcuire_position_route(): ara = OSC.AcquirePositionAction(OSC.WorldPosition(1,1,0,0,0,0)) prettyprint(ara.get_element())
def test_assign_route(): route = OSC.Route('myroute') route.add_waypoint(OSC.WorldPosition(0,0,0,0,0,0),OSC.RouteStrategy.shortest) route.add_waypoint(OSC.WorldPosition(1,1,0,0,0,0),OSC.RouteStrategy.shortest) OSC.AssignRouteAction(route)
def test_teleport(): teleport = OSC.TeleportAction(OSC.WorldPosition()) prettyprint(teleport.get_element())
def test_addEntity(): prettyprint(OSC.AddEntityAction('my new thingy',OSC.WorldPosition()).get_element())
def test_rel_sync_action(): asa = OSC.RelativeSynchronizeAction('Ego',OSC.WorldPosition(0,0,0,0,0,0),OSC.WorldPosition(10,0,0,0,0,0),20,'delta') prettyprint(asa.get_element())
def test_abs_sync_action(): asa = OSC.AbsoluteSynchronizeAction('Ego',OSC.WorldPosition(0,0,0,0,0,0),OSC.WorldPosition(10,0,0,0,0,0),20) prettyprint(asa.get_element())
def test_waypoint(): wp = OSC.Waypoint(OSC.WorldPosition(), OSC.RouteStrategy.shortest) prettyprint(wp.get_element())
def test_distancecondition(): cond = OSC.DistanceCondition(1,OSC.Rule.lessThan,OSC.WorldPosition(),True,False) prettyprint(cond.get_element())
def test_timetocollisioncondition(): cond = OSC.TimeToCollisionCondition(value=20,alongroute=True,rule=OSC.Rule.equalTo,entity='Ego') prettyprint(cond.get_element()) cond = OSC.TimeToCollisionCondition(value=20,alongroute=True,rule=OSC.Rule.equalTo,position=OSC.WorldPosition()) prettyprint(cond.get_element())
def test_worldposition_noinput(): pos = OSC.WorldPosition() pos.get_attributes() p = pos.get_element() prettyprint(p)
def test_worldposition_input(): pos = OSC.WorldPosition(x=1, y=2, z=1.123) pos.get_attributes() p = pos.get_element() prettyprint(p)
import pytest from scenariogeneration import xosc as OSC from scenariogeneration import prettyprint TD = OSC.TransitionDynamics(OSC.DynamicsShapes.step, OSC.DynamicsDimension.rate, 1) speedaction = OSC.AbsoluteSpeedAction(50, TD) trigcond = OSC.TimeToCollisionCondition( 10, OSC.Rule.equalTo, position=OSC.WorldPosition(), freespace=False, ) trigger = OSC.EntityTrigger('mytesttrigger', 0.2, OSC.ConditionEdge.rising, trigcond, 'Target_1') def test_event(): event = OSC.Event('myfirstevent', OSC.Priority.overwrite) event.add_trigger(trigger) event.add_action('newspeed', speedaction) def test_maneuver(): event = OSC.Event('myfirstevent', OSC.Priority.overwrite) event.add_trigger(trigger) event.add_action('newspeed', speedaction)
def test_reachpositioncondition(): cond = OSC.ReachPositionCondition(OSC.WorldPosition(),0.01) prettyprint(cond.get_element())
def test_scenario(): catalog = OSC.Catalog() catalog.add_catalog('VehicleCatalog', 'Catalogs/VehicleCatalogs') catalog.add_catalog('ControllerCatalog', 'Catalogs/ControllerCatalogs') roadfile = 'Databases/SampleDatabase.xodr' road = OSC.RoadNetwork(roadfile) trigcond = OSC.TimeToCollisionCondition(10, OSC.Rule.equalTo, True, freespace=False, position=OSC.WorldPosition()) trigger = OSC.EntityTrigger('mytesttrigger', 0.2, OSC.ConditionEdge.rising, trigcond, 'Target_1') event = OSC.Event('myfirstevent', OSC.Priority.overwrite) event.add_trigger(trigger) TD = OSC.TransitionDynamics(OSC.DynamicsShapes.step, OSC.DynamicsDimension.rate, 1) lanechangeaction = OSC.AbsoluteLaneChangeAction(1, TD) prettyprint(lanechangeaction.get_element()) speedaction = OSC.AbsoluteSpeedAction(50, TD) event.add_action('newspeed', speedaction) man = OSC.Maneuver('my maneuver') man.add_event(event) mangr = OSC.ManeuverGroup('mangroup') mangr.add_actor('Ego') mangr.add_maneuver(man) act = OSC.Act('my act', trigger) act.add_maneuver_group(mangr) story = OSC.Story('mystory') story.add_act(act) bb = OSC.BoundingBox(2, 5, 1.5, 1.5, 0, 0.2) fa = OSC.Axle(2, 2, 2, 1, 1) ba = OSC.Axle(1, 1, 2, 1, 1) veh = OSC.Vehicle('mycar', OSC.VehicleCategory.car, bb, fa, ba, 150, 10, 10) entities = OSC.Entities() entities.add_scenario_object('Ego', veh) entities.add_scenario_object('Target_1', veh) init = OSC.Init() egospeed = OSC.AbsoluteSpeedAction(10, TD) init.add_init_action('Ego', egospeed) init.add_init_action( 'Ego', OSC.TeleportAction(OSC.WorldPosition(1, 2, 3, 0, 0, 0))) init.add_init_action('Target_1', egospeed) init.add_init_action( 'Target_1', OSC.TeleportAction(OSC.WorldPosition(1, 5, 3, 0, 0, 0))) sb = OSC.StoryBoard(init) sb.add_story(story) sce = OSC.Scenario('myscenario', 'Mandolin', OSC.ParameterDeclarations(), entities=entities, storyboard=sb, roadnetwork=road, catalog=catalog) prettyprint(sce.get_element())
def test_entitytrigger(): trigcond = OSC.TimeToCollisionCondition(10,OSC.Rule.equalTo,True,freespace=False,position=OSC.WorldPosition()) trigger = OSC.EntityTrigger('mytesttrigger',0.2,OSC.ConditionEdge.rising,trigcond,'Target_1') prettyprint(trigger.get_element())
def test_clothoid(): clot = OSC.Clothoid(1, 0.1, 10, OSC.WorldPosition(), 0, 1) prettyprint(clot.get_element()) clot = OSC.Clothoid(1, 0.1, 10, OSC.WorldPosition()) prettyprint(clot.get_element())