def createCurveByLength(self,
roadId,
length,
isJunction=False,
curvature=StandardCurvature.Medium.value):
junction = self.getJunctionSelection(isJunction)
n_lanes = 1
lane_offset = 3
pv = ExtendedPlanview()
arc = pyodrx.Arc(curvature, length=length)
pv.add_geometry(arc)
# create lanes
lsec = pyodrx.LaneSection(0, pyodrx.standard_lane())
for _ in range(1, n_lanes + 1, 1):
lsec.add_right_lane(pyodrx.standard_lane(lane_offset))
lsec.add_left_lane(pyodrx.standard_lane(lane_offset))
laneSections = extensions.LaneSections()
laneSections.add_lanesection(lsec)
# create road
road = ExtendedRoad(roadId, pv, laneSections, road_type=junction)
road.curveType = StandardCurveTypes.S
return road
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 createParamPoly3(self,
roadId,
isJunction=False,
au=0,
bu=20,
cu=20,
du=10,
av=0,
bv=2,
cv=20,
dv=10,
prange='normalized',
length=None):
junction = self.getJunctionSelection(isJunction)
n_lanes = 1
lane_offset = 3
pv = ExtendedPlanview()
poly = pyodrx.ParamPoly3(au, bu, cu, du, av, bv, cv, dv, prange,
length)
pv.add_geometry(poly)
# create lanes
lsec = pyodrx.LaneSection(0, pyodrx.standard_lane())
for _ in range(1, n_lanes + 1, 1):
lsec.add_right_lane(pyodrx.standard_lane(lane_offset))
lsec.add_left_lane(pyodrx.standard_lane(lane_offset))
laneSections = extensions.LaneSections()
laneSections.add_lanesection(lsec)
# create road
road = ExtendedRoad(roadId, pv, laneSections, road_type=junction)
road.curveType = StandardCurveTypes.S
return road
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)
lanesec1.add_right_lane(lane3)
# create the second lanesection with one lane merging
lanesec2 = pyodrx.LaneSection(70, centerlane)
# 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
lanesections = []
for i in range(numberofroads):
lsec = pyodrx.LaneSection(0,lanecenters[i])
lsec.add_right_lane(rightlanes[i])
lsec.add_left_lane(leftlanes[i])
lanesections.append(lsec)
## create lanes
lanes = []
for l in lanesections:
lanes1 = pyodrx.Lanes()
lanes1.add_lanesection(l)
lanes.append(lanes1)
# finally create the roads
roads = []
roadtypes = [-1,1,-1,1,-1,1,-1]
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) ## finalize the road lanes = pyodrx.Lanes()
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
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)
road = pyodrx.Road(1, planview, lanes_1)
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)
lanesec.add_right_lane(lane5)
def test_lanes():
centerlane = pyodrx.Lane()
ls = pyodrx.LaneSection(0, centerlane)
lanes = pyodrx.Lanes()
lanes.add_lanesection(ls)
pyodrx.prettyprint(lanes.get_element())
def createS(self,
connectionRoadId,
angleBetweenEndpoints,
isJunction=False,
curvature=StandardCurvature.Medium.value):
"""Here the angleBetweenEndpoints are used for the first road and S mid point, and S mid point and Second road
Args:
connectionRoadId ([type]): [description]
angleBetweenEndpoints ([type]): used for the first road and S mid point, and S mid point and Second road. Use negative angles for interesting Ss
isJunction (bool, optional): [description]. Defaults to False.
curvature ([type], optional): [description]. Defaults to StandardCurvature.Medium.value.
Returns:
[type]: [description]
"""
junction = self.getJunctionSelection(isJunction)
totalRotation = np.pi - angleBetweenEndpoints
# most of the angleBetweenEndpoints should be assigned to the Arc
arcAngle = totalRotation * 0.9
clothAngle = (totalRotation * 0.1) / 2 # curve more.
arc_curv = curvature
arc_angle = arcAngle
cloth_angle = clothAngle
r_id = connectionRoadId
cloth_start = self.STD_START_CLOTH
n_lanes = 1
lane_offset = 3
pv = ExtendedPlanview()
# adjust sign if angle is negative
if cloth_angle < 0 and arc_curv > 0:
cloth_angle = -cloth_angle
arc_curv = -arc_curv
cloth_start = -cloth_start
arc_angle = -arc_angle
# we are changing the second half of the S to have different arc angle and curvature.
multiplier = np.random.choice(9) / 10
arc_angle2 = arc_angle - arc_angle * multiplier
arc_curv2 = -(arc_curv + arc_curv * multiplier
) # the angle needs to be opposite for the second half.
# create geometries
spiral1 = extensions.ExtendedSpiral(cloth_start,
arc_curv,
angle=cloth_angle)
arc = pyodrx.Arc(arc_curv, angle=arc_angle)
arc2 = pyodrx.Arc(arc_curv2, angle=-arc_angle2)
spiral2 = extensions.ExtendedSpiral(-arc_curv,
cloth_start,
angle=-cloth_angle)
pv.add_geometry(spiral1)
pv.add_geometry(arc)
pv.add_geometry(arc2)
pv.add_geometry(spiral2)
# create lanes
lsec = pyodrx.LaneSection(0, pyodrx.standard_lane())
for _ in range(1, n_lanes + 1, 1):
lsec.add_right_lane(pyodrx.standard_lane(lane_offset))
lsec.add_left_lane(pyodrx.standard_lane(lane_offset))
laneSections = extensions.LaneSections()
laneSections.add_lanesection(lsec)
# create road
road = ExtendedRoad(r_id, pv, laneSections, road_type=junction)
road.curveType = StandardCurveTypes.S
return road
planview.add_geometry(pyodrx.Line(500))
# 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 two 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_solid)
lanesec1.add_right_lane(lane1)
lanesec1.add_right_lane(lane2)
# create the second lanesection with one lane merging
lanesec2 = pyodrx.LaneSection(250, centerlane)
lane3 = pyodrx.Lane(a=3)
lane3.add_roadmark(rm_dashed)
lane4 = pyodrx.Lane(a=3, b=-0.1)
