def test_curved_road(self): params = ParameterServer() world = World(params) xodr_map = MakeXodrMapCurved(50, 0.1) map_interface = MapInterface() map_interface.SetOpenDriveMap(xodr_map) world.SetMap(map_interface) roads = [100] driving_direction = XodrDrivingDirection.forward map_interface.GenerateRoadCorridor(roads, driving_direction) road_corr = map_interface.GetRoadCorridor(roads, driving_direction) viewer = MPViewer(params=params, use_world_bounds=True) viewer.drawWorld(world) viewer.drawRoadCorridor(road_corr) #viewer.show(block=True) # if this is not here, the second unit test is not executed (maybe parsing takes too long?) time.sleep(1)
polygon = Polygon2d( [0, 0, 0], [Point2d(-1, -1), Point2d(-1, 1), Point2d(1, 1), Point2d(1, -1)]) start_polygon = polygon.Translate(start_p) goal_polygon = polygon.Translate(end_p) rc = map_interface.GenerateRoadCorridor(start_p, goal_polygon) if rc: roads = rc.roads road_ids = list(roads.keys()) print(road_ids, rc.road_ids) viewer.drawWorld(world) viewer.drawRoadCorridor(rc, "blue") viewer.saveFig(output_dir + "/" + "roadcorridor_" + str(cnt) + ".png") viewer.show() viewer.clear() for idx, lane_corridor in enumerate(rc.lane_corridors): viewer.drawWorld(world) viewer.drawLaneCorridor(lane_corridor, "green") viewer.drawLine2d(lane_corridor.left_boundary, color="red") viewer.drawLine2d(lane_corridor.right_boundary, color="green") viewer.drawLine2d(lane_corridor.center_line, color="green") viewer.drawPolygon2d(start_polygon, color="green", facecolor="green", alpha=1.) viewer.drawPolygon2d(goal_polygon,