def test_api(self):
# Test the containers' constructors and accessors.
srh = [4., 5., 6.]
lane_pos = LanePosition(srh[0], srh[1], srh[2])
self.assertTrue(len(lane_pos.srh()) == 3)
self.assertTrue(np.allclose(lane_pos.srh(), srh))
lane_pos_alt = LanePosition(s=4., r=5., h=6.)
self.assertTrue(np.allclose(lane_pos_alt.srh(), srh))
xyz = [1., 2., 3.]
geo_pos = GeoPosition(xyz[0], xyz[1], xyz[2])
self.assertTrue(len(geo_pos.xyz()) == 3)
self.assertTrue(np.allclose(geo_pos.xyz(), xyz))
geo_pos_alt = GeoPosition(x=1., y=2., z=3.)
self.assertTrue(np.allclose(geo_pos_alt.xyz(), xyz))
RoadPosition()
rg = make_test_dragway(lane_width=4., length=100.)
self.assertEqual(rg.num_junctions(), 1)
junction = rg.junction(0)
self.assertEqual(junction.num_segments(), 1)
segment = junction.segment(0)
self.assertEqual(segment.num_lanes(), 2)
lane_0 = segment.lane(0)
lane_1 = segment.lane(1)
road_pos = RoadPosition(lane=lane_0, pos=lane_pos)
self.assertEqual(road_pos.lane.id().string(), lane_0.id().string())
self.assertTrue(np.allclose(road_pos.pos.srh(), lane_pos.srh()))
road_pos.lane = lane_1
self.assertEqual(road_pos.lane.id().string(), lane_1.id().string())
new_srh = [42., 43., 44.]
road_pos.pos = LanePosition(s=new_srh[0], r=new_srh[1], h=new_srh[2])
self.assertTrue(np.allclose(road_pos.pos.srh(), new_srh))
lane_orientation = lane_0.GetOrientation(lane_pos)
self.assertTrue(
np.allclose(
lane_orientation.rpy().ToQuaternion().wxyz(),
lane_orientation.quat().wxyz(),
))
# Check that the getters are read-only.
with self.assertRaises(ValueError):
lane_pos.srh()[0] = 0.
with self.assertRaises(ValueError):
geo_pos.xyz()[0] = 0.
# Test RoadGeometryId accessors.
string = "foo"
rg_id = RoadGeometryId(string)
self.assertEqual(rg_id.string(), string)
def test_api(self):
# Test the containers' constructors and accessors.
srh = [4., 5., 6.]
lane_pos = LanePosition(srh[0], srh[1], srh[2])
self.assertTrue(len(lane_pos.srh()) == 3)
self.assertTrue(np.allclose(lane_pos.srh(), srh))
lane_pos_alt = LanePosition(s=4., r=5., h=6.)
self.assertTrue(np.allclose(lane_pos_alt.srh(), srh))
xyz = [1., 2., 3.]
geo_pos = GeoPosition(xyz[0], xyz[1], xyz[2])
self.assertTrue(len(geo_pos.xyz()) == 3)
self.assertTrue(np.allclose(geo_pos.xyz(), xyz))
geo_pos_alt = GeoPosition(x=1., y=2., z=3.)
self.assertTrue(np.allclose(geo_pos_alt.xyz(), xyz))
RoadPosition()
rg = make_test_dragway(lane_width=4., length=100.)
self.assertEqual(rg.num_junctions(), 1)
junction = rg.junction(0)
self.assertEqual(junction.num_segments(), 1)
segment = junction.segment(0)
self.assertEqual(segment.num_lanes(), 2)
lane_0 = segment.lane(0)
lane_1 = segment.lane(1)
road_pos = RoadPosition(lane=lane_0, pos=lane_pos)
self.assertEqual(road_pos.lane.id().string(), lane_0.id().string())
self.assertTrue(np.allclose(road_pos.pos.srh(), lane_pos.srh()))
road_pos.lane = lane_1
self.assertEqual(road_pos.lane.id().string(), lane_1.id().string())
new_srh = [42., 43., 44.]
road_pos.pos = LanePosition(s=new_srh[0], r=new_srh[1], h=new_srh[2])
self.assertTrue(np.allclose(road_pos.pos.srh(), new_srh))
lane_orientation = lane_0.GetOrientation(lane_pos)
self.assertTrue(np.allclose(
lane_orientation.rpy().ToQuaternion().wxyz(),
lane_orientation.quat().wxyz(),
))
# Check that the getters are read-only.
with self.assertRaises(ValueError):
lane_pos.srh()[0] = 0.
with self.assertRaises(ValueError):
geo_pos.xyz()[0] = 0.
# Test RoadGeometryId accessors.
string = "foo"
rg_id = RoadGeometryId(string)
self.assertEqual(rg_id.string(), string)
def test_road_odometry(self):
RoadOdometry()
rg = make_two_lane_road()
lane_0 = rg.junction(0).segment(0).lane(0)
lane_1 = rg.junction(0).segment(0).lane(1)
lane_pos = LanePosition(s=1., r=2., h=3.)
road_pos = RoadPosition(lane=lane_0, pos=lane_pos)
w = [5., 7., 9.]
v = [11., 13., 15.]
frame_velocity = FrameVelocity(SpatialVelocity(w=w, v=v))
road_odom = RoadOdometry(
road_position=road_pos, frame_velocity=frame_velocity)
self.assertEqual(road_odom.lane.id().string(), lane_0.id().string())
self.assertTrue(np.allclose(road_odom.pos.srh(), lane_pos.srh()))
self.assertTrue(np.allclose(
frame_velocity.get_velocity().translational(),
road_odom.vel.get_velocity().translational()))
lane_pos_new = LanePosition(s=10., r=20., h=30.)
v_new = [42., 43., 44.]
frame_velocity_new = FrameVelocity(SpatialVelocity(w=w, v=v_new))
road_odom.lane = lane_1
road_odom.pos = lane_pos_new
road_odom.vel = frame_velocity_new
self.assertEqual(road_odom.lane.id().string(), lane_1.id().string())
self.assertTrue(np.allclose(road_odom.pos.srh(), lane_pos_new.srh()))
self.assertTrue(np.allclose(
frame_velocity_new.get_velocity().translational(),
road_odom.vel.get_velocity().translational()))
def test_pose_selector(self):
kScanDistance = 4.
rg = make_two_lane_road()
lane = rg.junction(0).segment(0).lane(0)
pose0 = PoseVector()
pose0.set_translation([1., 0., 0.])
pose1 = PoseVector()
# N.B. Set pose1 3 meters ahead of pose0.
pose1.set_translation([4., 0., 0.])
bundle = PoseBundle(num_poses=2)
bundle.set_pose(0, Isometry3(Quaternion(), pose0.get_translation()))
bundle.set_pose(1, Isometry3(Quaternion(), pose1.get_translation()))
closest_pose = PoseSelector.FindSingleClosestPose(
lane=lane,
ego_pose=pose0,
traffic_poses=bundle,
scan_distance=kScanDistance,
side=AheadOrBehind.kAhead,
path_or_branches=ScanStrategy.kPath)
self.assertEqual(closest_pose.odometry.lane.id().string(),
lane.id().string())
self.assertTrue(closest_pose.distance == 3.)
closest_pair = PoseSelector.FindClosestPair(
lane=lane,
ego_pose=pose0,
traffic_poses=bundle,
scan_distance=kScanDistance,
path_or_branches=ScanStrategy.kPath)
self.assertEqual(
closest_pair[AheadOrBehind.kAhead].odometry.lane.id().string(),
lane.id().string())
self.assertEqual(closest_pair[AheadOrBehind.kAhead].distance, 3.)
self.assertEqual(
closest_pair[AheadOrBehind.kBehind].odometry.lane.id().string(),
lane.id().string())
self.assertEqual(closest_pair[AheadOrBehind.kBehind].distance,
float('inf'))
lane_pos = LanePosition(s=1., r=0., h=0.)
road_pos = RoadPosition(lane=lane, pos=lane_pos)
w = [1., 2., 3.]
v = [-4., -5., -6.]
frame_velocity = FrameVelocity(SpatialVelocity(w=w, v=v))
road_odom = RoadOdometry(road_position=road_pos,
frame_velocity=frame_velocity)
sigma_v = PoseSelector.GetSigmaVelocity(road_odom)
self.assertEqual(sigma_v, v[0])
def test_closest_pose(self):
ClosestPose()
rg = make_two_lane_road()
lane_0 = rg.junction(0).segment(0).lane(0)
lane_1 = rg.junction(0).segment(0).lane(1)
lane_pos = LanePosition(s=1., r=2., h=3.)
road_pos = RoadPosition(lane=lane_0, pos=lane_pos)
w = [5., 7., 9.]
v = [11., 13., 15.]
frame_velocity = FrameVelocity(SpatialVelocity(w=w, v=v))
road_odom = RoadOdometry(
road_position=road_pos, frame_velocity=frame_velocity)
closest_pose = ClosestPose(odom=road_odom, dist=12.7)
self.assertEqual(closest_pose.odometry.lane.id().string(),
lane_0.id().string())
self.assertEqual(closest_pose.distance, 12.7)
closest_pose.odometry.lane = lane_1
closest_pose.distance = 5.9
self.assertEqual(closest_pose.odometry.lane.id().string(),
lane_1.id().string())
self.assertEqual(closest_pose.distance, 5.9)