def test_object_roadside():
road = pyodrx.create_straight_road(0)
odr = pyodrx.OpenDrive('myroad')
odr.add_road(road)
odr.adjust_roads_and_lanes()
object1 = pyodrx.Object(s=0,
t=0,
dynamic=pyodrx.Dynamic.no,
orientation=pyodrx.Orientation.positive,
zOffset=0.00,
height=1.0,
Type=pyodrx.ObjectType.pole)
road.add_object_roadside(object1, 50, tOffset=0.85)
prettyprint(road.get_element())
def road(self, **kwargs):
road = xodr.create_road([
xodr.Spiral(0.0000000001, kwargs['road_curvature'], 100),
xodr.Arc(kwargs['road_curvature'], 50),
xodr.Spiral(kwargs['road_curvature'], 0.0000000001, 100),
xodr.Line(100)
],
id=0,
left_lanes=2,
right_lanes=2)
odr = xodr.OpenDrive('myroad')
odr.add_road(road)
odr.adjust_roads_and_lanes()
return odr
def test_create_straight_road(data):
road = pyodrx.generators.create_straight_road(data[0],
length=data[1],
junction=data[2],
n_lanes=data[3],
lane_offset=data[4])
odr = pyodrx.OpenDrive('myroad')
odr.add_road(road)
odr.adjust_roads_and_lanes()
redict = road.get_attributes()
assert int(redict['id']) == data[0]
assert int(redict['length']) == data[1]
assert int(redict['junction']) == data[2]
assert len(road.lanes.lanesections[0].leftlanes) == data[3]
assert len(road.lanes.lanesections[0].rightlanes) == data[3]
assert road.lanes.lanesections[0].leftlanes[0].a == data[4]
assert road.lanes.lanesections[0].leftlanes[0].b == 0
assert road.lanes.lanesections[0].leftlanes[0].c == 0
assert road.lanes.lanesections[0].leftlanes[0].d == 0
roads = []
numintersections = 4 # 3 or 4
angles = []
for i in range(numintersections):
roads.append(xodr.create_straight_road(i))
# use this instead to change the number of lanes in the crossing
#roads.append(xodr.generators.create_straight_road(i, length=100, junction=-1, n_lanes=2, lane_offset=3))
angles.append(i * 2 * np.pi / numintersections)
# use this for a T-crossing instead
# angles = [0,np.pi/2, 3*np.pi/2]
print(roads)
junc = xodr.create_junction_roads(roads, angles, 8)
odr = xodr.OpenDrive('myroad')
junction = xodr.create_junction(junc, 1, roads)
odr.add_junction(junction)
for r in roads:
odr.add_road(r)
for j in junc:
odr.add_road(j)
odr.adjust_roads_and_lanes()
# write the OpenDRIVE file as xodr using current script name
odr.write_xml(os.path.basename(__file__).replace('.py', '.xodr'))
# uncomment the following lines to display the road using esmini
#from scenariogeneration import esmini
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
