def test_straight_road(self):
TF = Transform([1, 1], math.pi / 2)
LENGTH = 4
MIDDLE_LINE = Line([[1, 1], [1, 5]])
sr = StraightRoad(length=LENGTH, transform=TF)
self.assertEqual(sr.__class__.TYPE, road_section_type.STRAIGHT_ROAD)
self.assertEqual(sr.middle_line, MIDDLE_LINE)
StraightRoad,
)
def env_as_bool(name, default: bool):
e = os.environ.get(name)
if e is None:
return default
return e == "True" or e == "1"
PARKING_LOT_RIGHT = env_as_bool("PARKING_LOT_RIGHT", True)
PARKING_LOT_LEFT = env_as_bool("PARKING_LOT_LEFT", True)
road = Road()
road.append(StraightRoad(length=2))
right_lots = ([
ParkingLot(
start=1,
spots=[
ParkingSpot(width=0.3,
kind=ParkingSpot.OCCUPIED,
obstacle=ParkingObstacle()),
ParkingSpot(width=0.4, kind=ParkingSpot.BLOCKED),
ParkingSpot(width=1),
ParkingSpot(width=0.3,
kind=ParkingSpot.OCCUPIED,
obstacle=ParkingObstacle()),
],
)
BlockedArea,
Intersection,
LeftCircularArc,
ParkingArea,
ParkingLot,
ParkingObstacle,
ParkingSpot,
RightCircularArc,
StaticObstacle,
StraightRoad,
TrafficIsland,
ZebraCrossing,
)
road = Road()
road.append(StraightRoad(length=1))
ROAD_WIDTH = 0.4
def get_random_parking() -> ParkingArea:
"""Create a randomized parking area."""
def get_spot(side=0):
width = (0.5 + random.random()) * (0.2 + ROAD_WIDTH * side)
obs_width = (random.random() / 2 + 0.5) * width
return ParkingSpot(
width=width,
kind=random.choice([ParkingSpot.FREE, ParkingSpot.BLOCKED]),
obstacle=random.choice([
ParkingObstacle(
width=obs_width,
from simulation.utils.road.road import Road
from simulation.utils.road.sections import (
Intersection,
LeftCircularArc,
ParkingArea,
ParkingLot,
ParkingObstacle,
ParkingSpot,
RightCircularArc,
StraightRoad,
)
road = Road()
road.append(ParkingArea(length=0.06, start_line=True))
road.append(StraightRoad(length=0.62))
road.append(
ParkingArea(
length=2.9,
right_lots=[
ParkingLot(
depth=0.32,
spots=[
ParkingSpot(width=1.15),
ParkingSpot(
width=0.25, kind=ParkingSpot.OCCUPIED, obstacle=ParkingObstacle()
),
ParkingSpot(width=0.045),
ParkingSpot(width=0.56, kind=ParkingSpot.BLOCKED),
ParkingSpot(width=0.32),
],
import math
import os
from simulation.utils.road.road import Road
from simulation.utils.road.sections import Intersection, StraightRoad
speed_limit = int(os.environ.get("SPEED_LIMIT", 30))
road = Road()
road.append(StraightRoad(length=4))
road.append(Intersection(turn=Intersection.RIGHT, angle=math.radians(90)))
s = StraightRoad(length=4)
s.add_speed_limit(0, speed=speed_limit)
road.append(s)
from simulation.utils.road.road import Road # Definition of the road class
from simulation.utils.road.sections import (
BlockedArea,
Intersection,
LeftCircularArc,
ParkingArea,
ParkingLot,
ParkingObstacle,
ParkingSpot,
StraightRoad,
TrafficIsland,
ZebraCrossing,
)
# - Beginning sphinx straight_road -
straight_road = StraightRoad(length=2)
# - Ending sphinx straight_road -
# - Beginning sphinx straight_road_obs -
straight_road_obs = StraightRoad(length=2)
straight_road_obs.add_obstacle(arc_length=1, y_offset=0, width=0.2, length=0.1)
# - Ending sphinx straight_road_obs -
# - Beginning sphinx parking_area -
parking_area = ParkingArea(
length=4,
start_line=True,
left_lots=[
ParkingLot(spots=[
ParkingSpot(kind=ParkingSpot.OCCUPIED, obstacle=ParkingObstacle()),
ParkingSpot(kind=ParkingSpot.BLOCKED),
from simulation.utils.road.sections import RightCircularArc, StraightRoad, TrafficSign
SIZE = int(os.environ.get("SIZE", 1))
EDGES = int(os.environ.get("EDGES", 9))
signs_dict = TrafficSign.__dict__
signs = SIZE * [signs_dict[s] for s in signs_dict if not s.startswith("__")]
random.shuffle(signs)
signs_list = np.array_split(signs, EDGES)
straight_length = len(signs_list[0])
y = 0.5
road = Road()
for s, signs in enumerate(signs_list):
straight = StraightRoad(length=straight_length)
for i, sign in enumerate(signs):
y *= -1
straight.traffic_signs.append(
TrafficSign(
kind=sign,
arc_length=i,
angle=0,
normalize_x=False,
y=y,
))
road.append(straight)
if s != len(signs_list) - 1:
road.append(
RightCircularArc(radius=2.81, angle=math.radians(360 / EDGES)))
import os
from simulation.utils.road.road import Road
from simulation.utils.road.sections import StraightRoad
speed_limit = int(os.environ.get("SPEED_LIMIT", 30))
road = Road()
s = StraightRoad(length=8)
s.add_speed_limit(4, speed_limit)
road.append(s)
import math
from simulation.utils.road.road import Road # Definition of the road class
from simulation.utils.road.sections import (
LeftCircularArc,
RightCircularArc,
StaticObstacle,
StraightRoad,
)
road = Road()
road.append(StraightRoad(length=4))
road.append(
LeftCircularArc(radius=3,
angle=math.radians(60),
obstacles=[StaticObstacle()]))
road.append(StraightRoad(length=2, obstacles=[StaticObstacle()]))
road.append(
RightCircularArc(radius=2,
angle=math.radians(60),
obstacles=[StaticObstacle()]))
road.append(StraightRoad(length=2))
"""The default road when launching this simulation.""" from simulation.utils.road.road import Road # Definition of the road class from simulation.utils.road.sections import StraightRoad, ZebraCrossing road = Road() road.append(StraightRoad(length=3)) road.append(ZebraCrossing(length=0.4)) road.append(StraightRoad(length=3)) road.append(ZebraCrossing(length=0.45)) road.append(StraightRoad(length=1))
import math
from simulation.utils.road.road import Road # Definition of the road class
from simulation.utils.road.sections import (
Intersection,
LeftCircularArc,
ParkingArea,
ParkingLot,
ParkingObstacle,
ParkingSpot,
RightCircularArc,
StraightRoad,
)
road = Road()
road.append(StraightRoad())
parking_area = ParkingArea(
length=3.5,
start_line=True,
left_lots=[
ParkingLot(
start=0.5,
depth=0.5,
spots=[
ParkingSpot(kind=ParkingSpot.BLOCKED),
ParkingSpot(),
ParkingSpot(kind=ParkingSpot.OCCUPIED,
obstacle=ParkingObstacle()),
],
),
],
"""Convert a rule env variable to an Intersection attribute.
This allows to specify "equal, yield, stop, priority_yield, priority_stop" as rule
options through environment variables.
"""
rule = os.environ.get(env, "equal")
return getattr(Intersection, rule.upper())
# Read environment variables:
first_turn = direction_str_to_int("FIRST_TURN")
second_turn = direction_str_to_int("SECOND_TURN")
first_rule = rule_str_to_int("FIRST_RULE")
second_rule = rule_str_to_int("SECOND_RULE")
first_angle = math.radians(float(os.environ.get("FIRST_ANGLE", 90)))
second_angle = math.radians(float(os.environ.get("SECOND_ANGLE", 90)))
distance = float(os.environ.get("INTERSECTION_DISTANCE", 1))
"""Definition of the actual road.
Just a straight beginning and then two intersections with a short straight in between.
"""
road = Road()
road.append(StraightRoad(length=2))
road.append(Intersection(turn=first_turn, angle=first_angle, rule=first_rule))
road.append(StraightRoad(length=distance))
road.append(Intersection(turn=second_turn, angle=second_angle, rule=second_rule))
road.append(StraightRoad(length=2))
from simulation.utils.road.road import Road # Definition of the road class
from simulation.utils.road.sections import (
Intersection,
LeftCircularArc,
ParkingArea,
ParkingLot,
ParkingObstacle,
ParkingSpot,
StaticObstacle,
StraightRoad,
ZebraCrossing,
)
from simulation.utils.road.sections.road_section import RoadSection
road = Road()
road.append(StraightRoad(length=1))
# Create a parking area with different kinds of parking spots
road.append(
ParkingArea(
length=4,
start_line=True,
left_lots=[
ParkingLot(
start=1,
spots=[ParkingSpot(),
ParkingSpot(kind=ParkingSpot.BLOCKED)])
],
right_lots=[
ParkingLot(
start=0.2,
from simulation.utils.road.road import Road # Definition of the road class
from simulation.utils.road.sections import (
CubicBezier,
CustomSection,
Intersection,
RightCircularArc,
StraightRoad,
)
road = Road()
custom_part_one: CustomSection = CustomSection.from_yaml(
os.path.join(os.path.dirname(__file__), "./cc20_scans/training_part1.yaml")
)
road.append(custom_part_one)
road.append(StraightRoad(length=0.1))
road.append(RightCircularArc(radius=3, angle=math.radians(17)))
road.append(StraightRoad(length=0.08))
road.append(
CubicBezier(
p1=Point(0.1, 0),
p2=Point(0.9, -0.05),
p3=Point(1.0, -0.05),
left_line_marking=StraightRoad.MISSING_LINE_MARKING,
right_line_marking=StraightRoad.MISSING_LINE_MARKING,
middle_line_marking=StraightRoad.MISSING_LINE_MARKING,
)
)
road.append(
CustomSection.from_yaml(
os.path.join(os.path.dirname(__file__), "./cc20_scans/training_loop.yaml")
import os
import random
from simulation.utils.road.road import Road
from simulation.utils.road.sections import StraightRoad, TrafficSign
from simulation.utils.road.sections.traffic_sign import get_all_signs
SIZE = int(os.environ.get("SIZE", 1))
signs = SIZE * get_all_signs()
random.shuffle(signs)
y = 0.5
road = Road()
straight = StraightRoad(length=len(signs))
for i, sign in enumerate(signs):
y *= -1
straight.traffic_signs.append(
TrafficSign(kind=sign,
arc_length=i,
angle=0,
normalize_x=False,
y=y,
visible=True))
road.append(straight)