def test_lane(): lane = pyodrx.Lane() lane._set_lane_id(1) pyodrx.prettyprint(lane.get_element()) lane = pyodrx.Lane(pyodrx.LaneType.driving, 1, 1, 1, 1, 2) lane._set_lane_id(1) pyodrx.prettyprint(lane.get_element())
def test_lanesection(): centerlane = pyodrx.Lane() ls = pyodrx.LaneSection(0, centerlane) pyodrx.prettyprint(ls.get_element()) right_lane = pyodrx.Lane() ls.add_right_lane(right_lane) pyodrx.prettyprint(ls.get_element()) left_lane = pyodrx.Lane(a=2) ls.add_left_lane(left_lane) pyodrx.prettyprint(ls.get_element())
def test_lanelinker(): lane = pyodrx.Lane(a=3) lane._set_lane_id(1) lane.add_link('successor','2') pyodrx.prettyprint(lane.get_element())
# manually create the final road # create the planview and the geometry planview = pyodrx.PlanView() planview.add_geometry(pyodrx.Line(200)) # create two different roadmarkings rm_solid = pyodrx.RoadMark(pyodrx.RoadMarkType.solid, 0.2, rule=pyodrx.MarkRule.no_passing) rm_dashed = pyodrx.RoadMark(pyodrx.RoadMarkType.broken, 0.2, rule=pyodrx.MarkRule.no_passing) # create a centerlane (same centerlane can be used since no linking is needed for this) centerlane = pyodrx.Lane(a=2) centerlane.add_roadmark(rm_solid) # create the first lanesection with three lanes lanesec1 = pyodrx.LaneSection(0, centerlane) lane1 = pyodrx.Lane(a=3) lane1.add_roadmark(rm_dashed) lane2 = pyodrx.Lane(a=3) lane2.add_roadmark(rm_dashed) lane3 = pyodrx.Lane(a=3) lane3.add_roadmark(rm_solid) lanesec1.add_right_lane(lane1) lanesec1.add_right_lane(lane2)
geoms.append(pyodrx.Line(100)) numberofroads = len(geoms) # create planviews planviews = [] for g in geoms: pv = pyodrx.PlanView() pv.add_geometry(g) planviews.append(pv) # create centerlanes lanecenters = [] for i in range(numberofroads): lc = pyodrx.Lane(a=3) lc.add_roadmark(rm) lanecenters.append(lc) # create lanes rightlanes = [] leftlanes = [] for i in range(numberofroads): right = pyodrx.Lane(a=3) right.add_roadmark(rm) rightlanes.append(right) left = pyodrx.Lane(a=3) left.add_roadmark(rm) leftlanes.append(left) # create lanesections
planview.add_geometry(arc1) line2 = pyodrx.Line(100) planview.add_geometry(line2) arc2 = pyodrx.Arc(-0.05,angle=np.pi/2) planview.add_geometry(arc2) # create a solid roadmark rm = pyodrx.RoadMark(pyodrx.RoadMarkType.solid,0.2,rule=pyodrx.MarkRule.no_passing) # create centerlane centerlane = pyodrx.Lane(a=2) centerlane.add_roadmark(rm) lanesec = pyodrx.LaneSection(0,centerlane) # add a driving lane lane2 = pyodrx.Lane(a=3) lane2.add_roadmark(rm) lanesec.add_left_lane(lane2) lane3 = pyodrx.Lane(a=3) lane3.add_roadmark(rm) lanesec.add_right_lane(lane3)
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
import numpy as np import os odr = pyodrx.OpenDrive('myroad') #---------------- Road 1 planview = pyodrx.PlanView(0, 0, 0) # create some geometries and add to the planview planview.add_geometry(pyodrx.Line(100)) # create a solid roadmark rm = pyodrx.RoadMark(pyodrx.RoadMarkType.solid, 0.2) # create centerlane centerlane_1 = pyodrx.Lane(a=2) centerlane_1.add_roadmark(rm) lanesec_1 = pyodrx.LaneSection(0, centerlane_1) # add a driving lane lane2_1 = pyodrx.Lane(a=3.1) lane2_1.add_roadmark(rm) lanesec_1.add_left_lane(lane2_1) lane3_1 = pyodrx.Lane(a=3.1) lane3_1.add_roadmark(rm) lanesec_1.add_right_lane(lane3_1) ## finalize the road lanes_1 = pyodrx.Lanes() lanes_1.add_lanesection(lanesec_1)
arc1 = pyodrx.Arc(0.05, angle=np.pi / 2) line2 = pyodrx.Line(100) arc2 = pyodrx.Arc(-0.05, angle=3 * np.pi / 4) cloth = pyodrx.Spiral(0.001, 0.009, 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) lane2 = pyodrx.Lane(a=4) lane2.add_roadmark(rm) lane3 = pyodrx.Lane(a=3) lane3.add_roadmark(rm) lane4 = pyodrx.Lane(a=3) lane4.add_roadmark(rm) lane5 = pyodrx.Lane(a=3) lane5.add_roadmark(rm) lanesec.add_left_lane(lane2) lanesec.add_left_lane(lane3) lanesec.add_right_lane(lane4)
def test_lanes(): centerlane = pyodrx.Lane() ls = pyodrx.LaneSection(0, centerlane) lanes = pyodrx.Lanes() lanes.add_lanesection(ls) pyodrx.prettyprint(lanes.get_element())
roads = [] # create the planview and the geometry planview = pyodrx.PlanView() planview.add_geometry(pyodrx.Line(200)) # create two different roadmarkings rm_solid = pyodrx.RoadMark(pyodrx.RoadMarkType.solid, 0.2, rule=pyodrx.MarkRule.no_passing) rm_dashed = pyodrx.RoadMark(pyodrx.RoadMarkType.broken, 0.2, rule=pyodrx.MarkRule.no_passing) # create a centerlane (same centerlane can be used since no linking is needed for this) centerlane = pyodrx.Lane(a=2) centerlane.add_roadmark(rm_solid) # create first lanesection with two lanes lanesec1 = pyodrx.LaneSection(0, centerlane) lane0 = pyodrx.Lane(a=3) lane0.add_roadmark(rm_dashed) lane1 = pyodrx.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 = pyodrx.LaneSection(100, centerlane) lane2 = pyodrx.Lane(a=3)