def test_ParamPoly(self):
tangentX = np.array([9.389829642616592, -7.596531772501544])
tangentY = np.array([0.0, 5.5192033616035365])
t = np.array([0, 1])
x = np.array([0, 17.8605173461395])
y = np.array([0, -5.803233839653106])
hermiteX = CubicHermiteSpline(t, x, tangentX)
hermiteY = CubicHermiteSpline(t, y, tangentY)
xCoeffs = hermiteX.c.flatten()
yCoeffs = hermiteY.c.flatten()
# scipy coefficient and open drive coefficents have opposite order.
myRoad = self.roadBuilder.curveBuilder.createParamPoly3(
0,
isJunction=False,
au=xCoeffs[3],
bu=xCoeffs[2],
cu=xCoeffs[1],
du=xCoeffs[0],
av=yCoeffs[3],
bv=yCoeffs[2],
cv=yCoeffs[1],
dv=yCoeffs[0])
odr = pyodrx.OpenDrive("test")
odr.add_road(myRoad)
odr.adjust_roads_and_lanes()
extensions.printRoadPositions(odr)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
def test_getIncidentPoints(self):
maxNumberOfRoadsPerJunction = 4
path = self.configuration.get("harvested_straight_roads")
intersection = self.builder.createWithRandomLaneConfigurations(
path,
0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=2,
minLanePerSide=0,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_FIRST,
getAsOdr=False)
odr = intersection.odr
xmlPath = f"output/test_getIncidentPoints-split-first-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
incidentPoints = intersection.getIncidentPoints()
translatedPoints = intersection.getIncidentPointsTranslatedToCenter()
print(f"width and height: {intersection.getWH()}")
print(incidentPoints)
print(translatedPoints)
extensions.printRoadPositions(odr)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("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_drawLikeAPainter2LWihtoutInternalConnections(self):
maxNumberOfRoadsPerJunction = 5
odr = self.builder.drawLikeAPainter2L(
odrId=0,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
internalConnections=False)
extensions.printRoadPositions(odr)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_drawLikeAPainter2LWihtoutInternalConnections.xodr"
odr.write_xml(xmlPath)
def test_buildSimpleRoundAbout(self):
numRoads = 6
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))
def test_ThreeWayJunctionWithAngle(self):
angleBetweenRoads = np.pi / 4
odr = self.builder.ThreeWayJunctionWithAngle(
odrId=1,
angleBetweenRoads=angleBetweenRoads,
maxLanePerSide=4,
minLanePerSide=2,
cp1=pyodrx.ContactPoint.end)
extensions.printRoadPositions(odr)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
# extensions.view_road_odrviewer(odr, os.path.join('..',self.configuration.get("esminipath")))
xmlPath = f"output/test_ThreeWayJunctionWithAngle.xodr"
odr.write_xml(xmlPath)
def test_getLanePosition(self):
roads = []
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(0,
length=10,
junction=-1,
n_lanes_left=2,
n_lanes_right=2))
roads.append(
self.straightRoadBuilder.createWithRightTurnLanesOnLeft(
1,
length=10,
n_lanes=2,
junction=1,
isLeftTurnLane=True,
isRightTurnLane=True,
numberOfRightTurnLanesOnLeft=2,
mergeLaneOnTheOppositeSideForInternalTurn=False))
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(2,
length=10,
junction=-1,
n_lanes_left=5,
n_lanes_right=3))
self.roadLinker.linkConsecutiveRoadsWithNoBranches(roads)
roads[1].updatePredecessorOffset(-2)
odrName = "test_getBorderDistanceOfLane"
odr = extensions.createOdrByPredecessor(odrName, roads, [])
extensions.printRoadPositions(odr)
print(roads[0].getLanePosition(0, pyodrx.ContactPoint.end))
print(roads[0].getLanePosition(1, pyodrx.ContactPoint.end))
print(roads[0].getLanePosition(2, pyodrx.ContactPoint.end))
positionLeftMost = roads[0].getLanePosition(2, pyodrx.ContactPoint.end)
assert positionLeftMost[0] == 10.0
assert positionLeftMost[1] == 6.0
assert positionLeftMost[2] == 0
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
def test_RotateOpenDrive(self):
angleBetweenRoads = np.pi / 4
odr = self.threeWayJunctionBuilder.ThreeWayJunctionWithAngle(
odrId=1,
angleBetweenRoads=angleBetweenRoads,
maxLanePerSide=4,
minLanePerSide=2,
cp1=pyodrx.ContactPoint.end)
# extensions.view_road(odr, os.path.join('..', self.configuration.get("esminipath")))
# extensions.printRoadPositions(odr)
RotatedODR = extensions.rotateOpenDrive(odr=odr,
startX=0.0,
startY=0.0,
heading=np.pi)
extensions.printRoadPositions(RotatedODR)
extensions.view_road(
RotatedODR, os.path.join('..',
self.configuration.get("esminipath")))
def test_7WayJunctionsEQA(self):
maxNumberOfRoadsPerJunction = 7
maxLanePerSide = 2
minLanePerSide = 0
for sl in range(5):
path = self.configuration.get("harvested_straight_roads")
intersection = self.builder.createWithRandomLaneConfigurations(
path,
sl,
maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction,
maxLanePerSide=maxLanePerSide,
minLanePerSide=minLanePerSide,
internalConnections=True,
cp1=pyodrx.ContactPoint.end,
internalLinkStrategy=LaneConfigurationStrategies.SPLIT_ANY,
equalAngles=True,
getAsOdr=False)
odr = intersection.odr
# xmlPath = f"output/test_createWithRandomLaneConfigurations-split-any-{maxNumberOfRoadsPerJunction}-{sl}.xodr"
xmlPath = f"output/seed-{self.seed}-{maxNumberOfRoadsPerJunction}-way-{sl}.xodr"
odr.write_xml(xmlPath)
extensions.printRoadPositions(odr)
isValid = self.validator.validateIncidentPoints(
intersection, self.builder.minConnectionLength)
# if isValid == False:
# print(f"{sl} is an invalid intersection")
plt = extensions.view_road(
odr,
os.path.join('..', self.configuration.get("esminipath")),
returnPlt=True)
if isValid == False:
plt.title(f"Invalid - {xmlPath}")
else:
plt.title(f"Valid - {xmlPath}")
plt.show()
extensions.saveRoadImageFromFile(
xmlPath, self.configuration.get("esminipath"))
def test_drawLikeAPainter2L(self):
maxNumberOfRoadsPerJunction = 3
odr = self.builder.drawLikeAPainter2L(
odrId=0, maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction)
extensions.printRoadPositions(odr)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_drawLikeAPainter2L-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
maxNumberOfRoadsPerJunction = 4
odr = self.builder.drawLikeAPainter2L(
odrId=0, maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction)
extensions.printRoadPositions(odr)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_drawLikeAPainter2L-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
maxNumberOfRoadsPerJunction = 5
odr = self.builder.drawLikeAPainter2L(
odrId=0, maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction)
extensions.printRoadPositions(odr)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_drawLikeAPainter2L-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
maxNumberOfRoadsPerJunction = 6
odr = self.builder.drawLikeAPainter2L(
odrId=0, maxNumberOfRoadsPerJunction=maxNumberOfRoadsPerJunction)
extensions.printRoadPositions(odr)
extensions.view_road(
odr, os.path.join('..', self.configuration.get("esminipath")))
xmlPath = f"output/test_drawLikeAPainter2L-{maxNumberOfRoadsPerJunction}.xodr"
odr.write_xml(xmlPath)
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 test_drawLikeAPainter2L(self):
odr = self.harvester.drawLikeAPainter2L(3)
extensions.printRoadPositions(odr)
extensions.view_road(odr,
os.path.join('..', 'F:\\myProjects\\av\\esmini'))
def test_createSingleLaneConnectionRoad(self):
roads = []
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(0,
length=10,
junction=-1,
n_lanes_left=2,
n_lanes_right=2))
roads.append(
self.curveRoadBuilder.createSimple(1,
np.pi / 3,
isJunction=True,
n_lanes=2))
roads.append(
self.straightRoadBuilder.createWithDifferentLanes(2,
length=10,
junction=-1,
n_lanes_left=2,
n_lanes_right=2))
RoadLinker.createExtendedPredSuc(predRoad=roads[0],
predCp=pyodrx.ContactPoint.end,
sucRoad=roads[1],
sucCP=pyodrx.ContactPoint.start)
RoadLinker.createExtendedPredSuc(predRoad=roads[1],
predCp=pyodrx.ContactPoint.end,
sucRoad=roads[2],
sucCP=pyodrx.ContactPoint.start)
odrName = "test_createSingleLaneConnectionRoad"
odr = extensions.createOdrByPredecessor(odrName, roads, [])
# extensions.view_road(odr, os.path.join('..', self.configuration.get("esminipath")))
newConnection = self.connectionBuilder.createSingleLaneConnectionRoad(
3, roads[0], roads[2], -2, -2, pyodrx.ContactPoint.end,
pyodrx.ContactPoint.start)
RoadLinker.createExtendedPredSuc(predRoad=roads[0],
predCp=pyodrx.ContactPoint.end,
sucRoad=newConnection,
sucCP=pyodrx.ContactPoint.start)
RoadLinker.createExtendedPredSuc(predRoad=newConnection,
predCp=pyodrx.ContactPoint.end,
sucRoad=roads[2],
sucCP=pyodrx.ContactPoint.start)
newConnection.updatePredecessorOffset(-1)
roads.append(newConnection)
odr.add_road(newConnection)
newConnection = self.connectionBuilder.createSingleLaneConnectionRoad(
4, roads[2], roads[0], 2, 2, pyodrx.ContactPoint.start,
pyodrx.ContactPoint.end)
RoadLinker.createExtendedPredSuc(predRoad=roads[2],
predCp=pyodrx.ContactPoint.start,
sucRoad=newConnection,
sucCP=pyodrx.ContactPoint.start)
RoadLinker.createExtendedPredSuc(predRoad=newConnection,
predCp=pyodrx.ContactPoint.end,
sucRoad=roads[0],
sucCP=pyodrx.ContactPoint.end)
newConnection.updatePredecessorOffset(1)
roads.append(newConnection)
odr.add_road(newConnection)
odr.resetAndReadjust(byPredecessor=True)
extensions.printRoadPositions(odr)
extensions.view_road(odr, os.path.join('..', self.esminipath))
xmlPath = f"output/test_createSingleLaneConnectionRoad.xodr"
odr.write_xml(xmlPath)