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 createCurveGeoAndLanes(self,
roadId,
isJunction,
curvature,
arcAngle,
clothAngle,
n_lanes,
lane_offset,
laneSides=LaneSides.BOTH,
isLeftTurnLane=False,
isRightTurnLane=False,
isLeftMergeLane=False,
isRightMergeLane=False):
junction = extensions.getJunctionSelection(isJunction)
pv = self.createPVForArcWithCloths(curvature, arcAngle, clothAngle)
length = pv.getTotalLength()
laneSections = self.laneBuilder.getStandardLanes(
n_lanes,
lane_offset,
laneSides,
roadLength=length,
isLeftTurnLane=isLeftTurnLane,
isRightTurnLane=isRightTurnLane,
isLeftMergeLane=isLeftMergeLane,
isRightMergeLane=isRightMergeLane)
road = ExtendedRoad(roadId,
pv,
laneSections,
road_type=junction,
curveType=StandardCurveTypes.LongArc)
return road
def createWithRightTurnLanesOnLeft(
self,
roadId,
length=100,
junction=-1,
n_lanes=1,
lane_offset=3,
laneSides=LaneSides.BOTH,
isLeftTurnLane=False,
isRightTurnLane=False,
isLeftMergeLane=False,
isRightMergeLane=False,
numberOfRightTurnLanesOnLeft=1,
mergeLaneOnTheOppositeSideForInternalTurn=True):
# create geometry
pv = self.createPVForLine(length)
laneSections = self.laneBuilder.getStandardLanesWithInternalTurns(
n_lanes,
lane_offset,
laneSides,
roadLength=length,
isLeftTurnLane=isLeftTurnLane,
isRightTurnLane=isRightTurnLane,
isLeftMergeLane=isLeftMergeLane,
isRightMergeLane=isRightMergeLane,
numberOfRightTurnLanesOnLeft=numberOfRightTurnLanesOnLeft,
mergeLaneOnTheOppositeSideForInternalTurn=
mergeLaneOnTheOppositeSideForInternalTurn)
road = ExtendedRoad(roadId, pv, laneSections, road_type=junction)
return road
def createWithLeftTurnLanesOnRight(
self,
roadId,
length=100,
junction=-1,
n_lanes=1,
lane_offset=3,
laneSides=LaneSides.BOTH,
isLeftTurnLane=False,
isRightTurnLane=False,
isLeftMergeLane=False,
isRightMergeLane=False,
numberOfLeftTurnLanesOnRight=1,
mergeLaneOnTheOppositeSideForInternalTurn=True):
"""Will create numberOfLeftTurnLanesOnRight left turn lanes on the right side of the center line. Equal number of mergelanes will be created on the left side of the center lane, too.
Args:
roadId ([type]): [description]
length (int, optional): [description]. Defaults to 100.
junction (int, optional): [description]. Defaults to -1.
n_lanes (int, optional): [description]. Defaults to 1.
lane_offset (int, optional): [description]. Defaults to 3.
laneSides ([type], optional): [description]. Defaults to LaneSides.BOTH.
isLeftTurnLane (bool, optional): [description]. Defaults to False.
isRightTurnLane (bool, optional): [description]. Defaults to False.
isLeftMergeLane (bool, optional): [description]. Defaults to False.
isRightMergeLane (bool, optional): [description]. Defaults to False.
numberOfLeftTurnLanesOnRight (int, optional): [description]. Defaults to 1.
Returns:
[type]: [description]
"""
# create geometry
pv = self.createPVForLine(length)
laneSections = self.laneBuilder.getStandardLanesWithInternalTurns(
n_lanes,
lane_offset,
laneSides,
roadLength=length,
isLeftTurnLane=isLeftTurnLane,
isRightTurnLane=isRightTurnLane,
isLeftMergeLane=isLeftMergeLane,
isRightMergeLane=isRightMergeLane,
numberOfLeftTurnLanesOnRight=numberOfLeftTurnLanesOnRight,
mergeLaneOnTheOppositeSideForInternalTurn=
mergeLaneOnTheOppositeSideForInternalTurn)
road = ExtendedRoad(roadId, pv, laneSections, road_type=junction)
return road
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,
n_lanes=1,
lane_offset=3,
laneSides=LaneSides.BOTH,
isLeftTurnLane=False,
isRightTurnLane=False,
isLeftMergeLane=False,
isRightMergeLane=False):
junction = self.getJunctionSelection(isJunction)
pv = ExtendedPlanview()
poly = pyodrx.ParamPoly3(au, bu, cu, du, av, bv, cv, dv, prange,
length)
# poly = extensions.IntertialParamPoly(au,bu,cu,du,av,bv,cv,dv,prange,length)
pv.add_geometry(poly)
length = pv.getTotalLength()
laneSections = self.laneBuilder.getStandardLanes(
n_lanes,
lane_offset,
laneSides,
roadLength=length,
isLeftTurnLane=isLeftTurnLane,
isRightTurnLane=isRightTurnLane,
isLeftMergeLane=isLeftMergeLane,
isRightMergeLane=isRightMergeLane)
# create lanes
road = ExtendedRoad(roadId,
pv,
laneSections,
road_type=junction,
curveType=StandardCurveTypes.Poly)
return road
def create(self,
roadId,
n_lanes_left=1,
n_lanes_right=1,
length=20,
junction=-1,
lane_offset=3,
laneSides=LaneSides.BOTH,
numLeftTurnsOnLeft=0,
numRightTurnsOnRight=0,
numLeftMergeOnLeft=0,
numRightMergeOnRight=0,
numberOfLeftTurnLanesOnRight=0,
numberOfRightTurnLanesOnLeft=0,
mergeLaneOnTheOppositeSideForInternalTurn=True,
force3Section=False):
# create geometry
pv = self.createPVForLine(length)
# laneSections = self.laneBuilder.getStandardLanes(n_lanes, lane_offset, laneSides,
# roadLength=length,
# isLeftTurnLane=isLeftTurnLane, isRightTurnLane=isRightTurnLane,
# isLeftMergeLane=isLeftMergeLane, isRightMergeLane=isRightMergeLane)
singleSide = False
if laneSides != LaneSides.BOTH:
singleSide = True
laneSections = self.laneBuilder.getLanes(
n_lanes_left,
n_lanes_right,
lane_offset=lane_offset,
singleSide=singleSide,
roadLength=length,
numLeftTurnsOnLeft=numLeftTurnsOnLeft,
numRightTurnsOnRight=numRightTurnsOnRight,
numLeftMergeOnLeft=numLeftMergeOnLeft,
numRightMergeOnRight=numRightMergeOnRight,
numberOfLeftTurnLanesOnRight=numberOfLeftTurnLanesOnRight,
numberOfRightTurnLanesOnLeft=numberOfRightTurnLanesOnLeft,
mergeLaneOnTheOppositeSideForInternalTurn=
mergeLaneOnTheOppositeSideForInternalTurn,
force3Section=force3Section)
road = ExtendedRoad(roadId, pv, laneSections, road_type=junction)
return road
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
def createCurveByLength(self,
roadId,
length,
isJunction=False,
curvature=StandardCurvature.Medium.value,
n_lanes=1,
lane_offset=3,
laneSides=LaneSides.BOTH,
isLeftTurnLane=False,
isRightTurnLane=False,
isLeftMergeLane=False,
isRightMergeLane=False):
junction = self.getJunctionSelection(isJunction)
pv = ExtendedPlanview()
arc = pyodrx.Arc(curvature, length=length)
pv.add_geometry(arc)
length = pv.getTotalLength()
laneSections = self.laneBuilder.getStandardLanes(
n_lanes,
lane_offset,
laneSides,
roadLength=length,
isLeftTurnLane=isLeftTurnLane,
isRightTurnLane=isRightTurnLane,
isLeftMergeLane=isLeftMergeLane,
isRightMergeLane=isRightMergeLane)
road = ExtendedRoad(roadId,
pv,
laneSections,
road_type=junction,
curveType=StandardCurveTypes.LongArc)
return road
def createS(self,
roadId,
angleBetweenEndpoints,
isJunction=False,
curvature=StandardCurvature.Medium.value,
n_lanes=1,
lane_offset=3,
laneSides=LaneSides.BOTH,
isLeftTurnLane=False,
isRightTurnLane=False,
isLeftMergeLane=False,
isRightMergeLane=False):
"""Here the angleBetweenEndpoints are used for the first road and S mid point, and S mid point and Second road
Args:
roadId ([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 = extensions.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
cloth_start = self.STD_START_CLOTH
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)
length = pv.getTotalLength()
laneSections = self.laneBuilder.getStandardLanes(
n_lanes,
lane_offset,
laneSides,
roadLength=length,
isLeftTurnLane=isLeftTurnLane,
isRightTurnLane=isRightTurnLane,
isLeftMergeLane=isLeftMergeLane,
isRightMergeLane=isRightMergeLane)
road = ExtendedRoad(roadId,
pv,
laneSections,
road_type=junction,
curveType=StandardCurveTypes.S)
return road
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