def test_spiral_to_zero_curv(data, expdata):
cloth = pyodrx.Spiral(data[0], data[1], data[2])
x, y, h, l = cloth.get_end_data(data[3], data[4], data[5])
assert pytest.approx(x, 0.000001) == expdata[0]
assert pytest.approx(y, 0.000001) == expdata[1]
assert pytest.approx(h, 0.000001) == expdata[2]
assert pytest.approx(l, 0.000001) == data[2]
def test_inverted_Spiral(data):
cloth = pyodrx.Spiral(data[0], data[1], data[2])
end_x, end_y, end_h, end_l = cloth.get_end_data(data[3], data[4], data[5])
end_h += np.pi
start_x, start_y, start_h, start_l = cloth.get_start_data(
end_x, end_y, end_h)
start_h -= np.pi
assert pytest.approx(start_x, 0.000001) == data[3]
assert pytest.approx(start_y, 0.000001) == data[4]
assert pytest.approx(start_h, 0.000001) == data[5]
lanelinker.add_link(predlane=lane5, succlane=lane7)
lanelinker.add_link(predlane=lane6, succlane=lane8)
# create the lanes with the correct links
lanes = pyodrx.Lanes()
lanes.add_lanesection(lanesec1, lanelinker)
lanes.add_lanesection(lanesec2, lanelinker)
lanes.add_lanesection(lanesec3, lanelinker)
# create the road
roads.append(pyodrx.Road(2, planview, lanes))
# create junction roads
roads.append(
pyodrx.create_road(pyodrx.Spiral(0.001, 0.02, 30),
id=3,
left_lanes=0,
right_lanes=2,
road_type=1))
roads.append(
pyodrx.create_road(pyodrx.Spiral(-0.001, -0.02, 30),
id=4,
left_lanes=0,
right_lanes=1,
road_type=1))
# add some connections to non junction roads
roads[0].add_successor(pyodrx.ElementType.junction, 1)
roads[1].add_successor(pyodrx.ElementType.junction, 1)
roads[2].add_predecessor(pyodrx.ElementType.junction, 1)
# exec(open("./fixCWD.py").read())
sys.path.append(os.path.abspath('../pyodrx'))
import pyodrx
import numpy as np
import extensions
rm = pyodrx.RoadMark(pyodrx.RoadMarkType.solid,0.2,rule=pyodrx.MarkRule.no_passing)
# create geometries
geoms = []
geoms.append(pyodrx.Line(100))
geoms.append(pyodrx.Spiral(0.001,0.019,30))
geoms.append(pyodrx.Line(100))
geoms.append(pyodrx.Spiral(-0.001,-0.1,30))
geoms.append(pyodrx.Line(100))
geoms.append(pyodrx.Line(20))
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)
import pyodrx import os # create some simple roads roads= [] # start road roads.append(pyodrx.create_road([pyodrx.Spiral(-0.004,0.00001,100), pyodrx.Spiral(0.00001,0.005,50), pyodrx.Arc(0.005,50)],id =0,left_lanes=3,right_lanes=4)) # intermittent road roads.append(pyodrx.create_road([pyodrx.Spiral(0.0001,0.003,65), pyodrx.Spiral(0.003,0.00001,50) ],id =1,left_lanes=3,right_lanes=3)) #exit road roads.append(pyodrx.create_road(pyodrx.Line(50),id =2,left_lanes=0,right_lanes=1)) # junctions for exit roads.append(pyodrx.create_road(pyodrx.Spiral(0.005,0.0001,50),id =3,left_lanes=3,right_lanes=3,road_type=1)) # continue roads.append(pyodrx.create_road(pyodrx.Spiral(0.005,-0.02,100),id =4,left_lanes=0,right_lanes=1,road_type=1)) # exit # final road roads.append(pyodrx.create_road([pyodrx.Spiral(-0.00001,-0.003,45),pyodrx.Arc(-0.003,60)],id =5,left_lanes=2,right_lanes=3)) # entry junction roads.append(pyodrx.create_road([pyodrx.Line(30) ],id =6,left_lanes=2,right_lanes=3,road_type=2)) # continue roads.append(pyodrx.create_road([pyodrx.Spiral(0.004,0.000001,50) ],id =7,left_lanes=1,right_lanes=0,road_type=2)) # entry # entry road roads.append(pyodrx.create_road(pyodrx.Arc(0.004,60),id =8,left_lanes=1,right_lanes=0)) # add predecessors and succesors to the non junction roads roads[0].add_successor(pyodrx.ElementType.junction,1) roads[1].add_predecessor(pyodrx.ElementType.junction,1)
lanelinker.add_link(predlane=lane5,succlane=lane7) lanelinker.add_link(predlane=lane6,succlane=lane8) # create the lanes with the correct links lanes = pyodrx.Lanes() lanes.add_lanesection(lanesec1,lanelinker) lanes.add_lanesection(lanesec2,lanelinker) lanes.add_lanesection(lanesec3,lanelinker) # create the road roads.append(pyodrx.Road(2,planview,lanes)) # create junction roads roads.append(pyodrx.create_road(pyodrx.Spiral(0.001,0.02,30),id =3,left_lanes=0,right_lanes=2,road_type=1)) roads.append(pyodrx.create_road(pyodrx.Spiral(-0.001,-0.02,30),id =4,left_lanes=0,right_lanes=1,road_type=1)) # add some connections to non junction roads roads[0].add_successor(pyodrx.ElementType.junction,1) roads[1].add_successor(pyodrx.ElementType.junction,1) roads[2].add_predecessor(pyodrx.ElementType.junction,1) # add connections to the first connecting road roads[3].add_predecessor(pyodrx.ElementType.road,0,pyodrx.ContactPoint.end) roads[3].add_successor(pyodrx.ElementType.road,2,pyodrx.ContactPoint.start) # add connections to the second connecting road with an offset roads[4].add_predecessor(pyodrx.ElementType.road,1,pyodrx.ContactPoint.end) roads[4].add_successor(pyodrx.ElementType.road,2,pyodrx.ContactPoint.start,lane_offset=-2)
import pyodrx import numpy as np import os ## EXAMPLE 1 ## Multiple geometries in one only road. ##1. Create the planview planview = pyodrx.PlanView() ##2. Create some geometries and add them to the planview line1 = pyodrx.Line(100) arc1 = pyodrx.Arc(0.05,angle=np.pi/2) line2 = pyodrx.Line(100) cloth1 = pyodrx.Spiral(0.05,-0.1,30) line3 = pyodrx.Line(100) planview.add_geometry(line1) planview.add_geometry(arc1) planview.add_geometry(line2) planview.add_geometry(cloth1) planview.add_geometry(line3) ##3. Create a solid roadmark rm = pyodrx.RoadMark(pyodrx.RoadMarkType.solid,0.2) ##4. Create centerlane centerlane = pyodrx.Lane(a=2) centerlane.add_roadmark(rm)
import pyodrx
import numpy as np
import os
line1 = pyodrx.Line(100)
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)
def test_spiral_inputs():
cloth = pyodrx.Spiral(0.0, 0.05, 10.0)
assert cloth.curvstart == 0
assert cloth.curvend == 0.05
assert cloth.length == 10
def test_spiral():
spiral = pyodrx.Spiral(0, 1, 10)
p = spiral.get_element()
pyodrx.prettyprint(p)
import pyodrx
import os
# create some simple roads
roads = []
# start road
roads.append(
pyodrx.create_road([
pyodrx.Spiral(-0.004, 0.00001, 100),
pyodrx.Spiral(0.00001, 0.005, 50),
pyodrx.Arc(0.005, 50)
],
id=0,
left_lanes=3,
right_lanes=4))
# intermittent road
roads.append(
pyodrx.create_road(
[pyodrx.Spiral(0.0001, 0.003, 65),
pyodrx.Spiral(0.003, 0.00001, 50)],
id=1,
left_lanes=3,
right_lanes=3))
#exit road
roads.append(
pyodrx.create_road(pyodrx.Line(50), id=2, left_lanes=0, right_lanes=1))
# junctions for exit
roads.append(
pyodrx.create_road(pyodrx.Spiral(0.005, 0.0001, 50),
id=3,
