def test_createMShapeRightLanes(self):
roads = []
roads.append(pyodrx.create_straight_road(0, 10))
roads.append(
self.roadBuilder.createMShape(
1,
1,
-np.pi / 1.5,
10,
laneSides=junctions.LaneSides.RIGHT,
direction=CircularDirection.COUNTERCLOCK_WISE))
roads.append(pyodrx.create_straight_road(2, 10))
roads[0].add_successor(pyodrx.ElementType.junction, 1)
roads[1].add_predecessor(pyodrx.ElementType.road, 0,
pyodrx.ContactPoint.end)
# roads[1].add_predecessor(pyodrx.ElementType.road,0,pyodrx.ContactPoint.start)
roads[1].add_successor(pyodrx.ElementType.road, 2,
pyodrx.ContactPoint.start)
roads[2].add_predecessor(pyodrx.ElementType.junction, 1)
junction = self.junctionBuilder.createJunctionForASeriesOfRoads(roads)
odrName = "test_connectionRoad"
odr = extensions.createOdr(odrName, roads, [junction])
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
def test_createMShape(self):
roads = []
roads.append(pyodrx.create_straight_road(0, 10))
roads.append(self.roadBuilder.createMShape(1, 1, np.pi / 1.5, 10))
roads.append(pyodrx.create_straight_road(2, 10))
roads[0].add_successor(pyodrx.ElementType.junction, 1)
roads[1].add_predecessor(pyodrx.ElementType.road, 0,
pyodrx.ContactPoint.end)
# roads[1].add_predecessor(pyodrx.ElementType.road,0,pyodrx.ContactPoint.start)
roads[1].add_successor(pyodrx.ElementType.road, 2,
pyodrx.ContactPoint.start)
roads[2].add_predecessor(pyodrx.ElementType.junction, 1)
junction = self.junctionBuilder.createJunctionForASeriesOfRoads(roads)
odrName = "test_connectionRoad"
odr = extensions.createOdr(odrName, roads, [junction])
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/m-shape.xodr"
odr.write_xml(xmlPath)
extensions.saveRoadImageFromFile(xmlPath, self.esminiPath)
def test_buildSimpleRoundAboutAndCheckInternalConnection(self):
numRoads = 3
odr = self.junctionBuilder.buildSimpleRoundAbout(
odrId=0, numRoads=numRoads, radius=10, cp1=pyodrx.ContactPoint.end)
xmlPath = f"output/test-SimpleRoundAbout-{numRoads}.xodr"
odr.write_xml(xmlPath)
extensions.printRoadPositions(odr)
extensions.saveRoadImageFromFile(xmlPath, self.esminiPath)
extensions.view_road(odr, os.path.join('..', self.esminiPath))
# what's the problem with internal connections?
internalConnection = odr.roads['12'].shallowCopy()
internalConnection.clearRoadLinks()
odr = extensions.createOdr("12 only", [internalConnection], [])
xmlPath = f"output/test-SimpleRoundAbout-{numRoads}-road-12.xodr"
odr.write_xml(xmlPath)
extensions.printRoadPositions(odr)
extensions.saveRoadImageFromFile(xmlPath, self.esminiPath)
extensions.view_road(odr, os.path.join('..', self.esminiPath))
def test_getCurvatureForAngleAndLength(self):
numberofLanes = 10
laneOffset = 3
# angle = 120
# curve, angle = AngleCurvatureMap.getCurvatureForNonOverlappingRoads(angle, numberofLanes, laneOffset)
angle = np.pi * 1.2
length = 20
# curve, angle = AngleCurvatureMap.getCurvatureForNonOverlappingRoads(angle, numberofLanes, laneOffset)
maxCurve = AngleCurvatureMap.getMaxCurvatureAgainstMaxRoadWidth(
angle, numberofLanes * laneOffset)
curve = AngleCurvatureMap.getCurvatureForAngleAndLength(angle, length)
print(f"max curve {maxCurve}, current curve {curve}")
roads = []
roads.append(
pyodrx.create_straight_road(0,
50,
n_lanes=numberofLanes,
lane_offset=laneOffset))
roads.append(
self.roadBuilder.
createSimpleCurveWithLongArcWithLaneNumberandOffset(
1,
angle,
False,
curvature=curve,
_n_lanes=numberofLanes,
_lane_offset=laneOffset))
roads.append(
pyodrx.create_straight_road(2,
50,
n_lanes=numberofLanes,
lane_offset=laneOffset))
roads[0].add_successor(pyodrx.ElementType.road, 1,
pyodrx.ContactPoint.start)
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.road, 1,
pyodrx.ContactPoint.end)
odrName = "curve_test"
odr = extensions.createOdr(odrName, roads, [])
extensions.view_road(odr, self.esminiPath)
def test_getConnectionRoadBetween(self):
# test scenario for connection road
roads = []
roads.append(pyodrx.create_straight_road(0, 10))
roads.append(
self.roadBuilder.curveBuilder.createSimple(1,
np.pi / 4,
True,
curvature=0.2))
roads.append(pyodrx.create_straight_road(2, 10))
roads.append(
self.roadBuilder.curveBuilder.createSimple(3,
np.pi / 3,
True,
curvature=0.2))
roads.append(pyodrx.create_straight_road(4, 10))
roads.append(
self.roadBuilder.curveBuilder.createSimple(5,
np.pi / 2,
True,
curvature=0.2))
roads.append(pyodrx.create_straight_road(6, 10))
roads[0].add_successor(pyodrx.ElementType.junction, 1)
# roads[1].add_predecessor(pyodrx.ElementType.road,0,pyodrx.ContactPoint.end)
roads[1].add_predecessor(pyodrx.ElementType.road, 0,
pyodrx.ContactPoint.start)
roads[1].add_successor(pyodrx.ElementType.road, 2,
pyodrx.ContactPoint.start)
roads[2].add_predecessor(pyodrx.ElementType.junction, 1)
roads[2].add_successor(pyodrx.ElementType.junction, 3)
roads[3].add_predecessor(pyodrx.ElementType.road, 2,
pyodrx.ContactPoint.start)
roads[3].add_successor(pyodrx.ElementType.road, 4,
pyodrx.ContactPoint.start)
roads[4].add_predecessor(pyodrx.ElementType.junction, 3)
roads[4].add_successor(pyodrx.ElementType.junction, 5)
roads[5].add_predecessor(pyodrx.ElementType.road, 4,
pyodrx.ContactPoint.start)
roads[5].add_successor(pyodrx.ElementType.road, 6,
pyodrx.ContactPoint.start)
roads[6].add_predecessor(pyodrx.ElementType.junction, 5)
junction = self.junctionBuilder.createJunctionForASeriesOfRoads(roads)
odrName = "test_connectionRoad"
odr = extensions.createOdr(odrName, roads, [junction])
lastConnection = self.harvester.junctionBuilder.createLastConnectionForLastAndFirstRoad(
7, roads, junction, cp1=pyodrx.ContactPoint.start)
roads.append(lastConnection)
odr.add_road(lastConnection)
# randConnection = self.harvester.junctionBuilder.createConnectionFor2Roads(8, roads[0], roads[4], junction, cp1=pyodrx.ContactPoint.start)
# roads.append(randConnection)
# odr.add_road(randConnection)
# randConnection2 = self.harvester.junctionBuilder.createConnectionFor2Roads(9, roads[2], roads[6], junction, cp1=pyodrx.ContactPoint.start)
# roads.append(randConnection2)
# odr.add_road(randConnection2)
# odr.reset()
# odr.add_road(lastConnection)
# odr.adjust_roads_and_lanes()
odr.resetAndReadjust()
# pyodrx.prettyprint(odr.get_element())
odr.write_xml(f"output/test_connectionRoad.xodr")
# extensions.printRoadPositions(odr)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
pass
def test_AdjustStartPointsForAnyRoadCombinations(self):
# test scenario for connection road
roads = []
roads.append(pyodrx.create_straight_road(0, 10))
roads.append(
self.roadBuilder.curveBuilder.createSimpleCurveWithLongArc(
1, np.pi / 4, False, curvature=0.2))
roads.append(pyodrx.create_straight_road(2, 10))
roads.append(
self.roadBuilder.curveBuilder.createSimpleCurveWithLongArc(
3, np.pi / 3, True, curvature=0.2))
roads.append(pyodrx.create_straight_road(4, 10))
roads.append(
self.roadBuilder.curveBuilder.createSimpleCurveWithLongArc(
5, np.pi / 2, True, curvature=0.2))
roads.append(pyodrx.create_straight_road(6, 10))
roads[0].add_successor(pyodrx.ElementType.road, 1,
pyodrx.ContactPoint.start)
# roads[1].add_predecessor(pyodrx.ElementType.road,0,pyodrx.ContactPoint.end)
roads[1].add_predecessor(pyodrx.ElementType.road, 0,
pyodrx.ContactPoint.start)
roads[1].add_successor(pyodrx.ElementType.road, 2,
pyodrx.ContactPoint.start)
roads[2].add_predecessor(pyodrx.ElementType.road, 1,
pyodrx.ContactPoint.end)
roads[2].add_successor(pyodrx.ElementType.junction, 3)
roads[3].add_predecessor(pyodrx.ElementType.road, 2,
pyodrx.ContactPoint.start)
roads[3].add_successor(pyodrx.ElementType.road, 4,
pyodrx.ContactPoint.start)
roads[4].add_predecessor(pyodrx.ElementType.junction, 3)
roads[4].add_successor(pyodrx.ElementType.junction, 5)
roads[5].add_predecessor(pyodrx.ElementType.road, 4,
pyodrx.ContactPoint.start)
roads[5].add_successor(pyodrx.ElementType.road, 6,
pyodrx.ContactPoint.start)
roads[6].add_predecessor(pyodrx.ElementType.junction, 5)
junction = self.junctionBuilder.createJunctionForASeriesOfRoads(roads)
odrName = "test_connectionRoad"
odr = extensions.createOdr(odrName, roads, [junction])
lastConnection = self.harvester.junctionBuilder.createLastConnectionForLastAndFirstRoad(
7, roads, junction, cp1=pyodrx.ContactPoint.start)
roads.append(lastConnection)
odr.add_road(lastConnection)
# randConnection = self.harvester.junctionBuilder.createConnectionFor2Roads(8, roads[0], roads[4], junction, cp1=pyodrx.ContactPoint.start)
# roads.append(randConnection)
# odr.add_road(randConnection)
# randConnection2 = self.harvester.junctionBuilder.createConnectionFor2Roads(9, roads[2], roads[6], junction, cp1=pyodrx.ContactPoint.start)
# roads.append(randConnection2)
# odr.add_road(randConnection2)
odr.resetAndReadjust()
extensions.printRoadPositions(odr)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
pass
def createOdr(self, name, roads, junctions):
return extensions.createOdr(name, roads, junctions)