def createPVForLine(self, length):
line1 = pyodrx.Line(length)
# create planviews
pv = extensions.ExtendedPlanview()
pv.add_geometry(line1)
return pv
def test_line_calc(data, expdata):
line = pyodrx.Line(data[0])
x, y, h, l = line.get_end_data(data[1], data[2], data[3])
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[0]
def test_inverted_Line(data):
line = pyodrx.Line(data[0])
end_x, end_y, end_h, end_l = line.get_end_data(data[1], data[2], data[3])
end_h += np.pi
start_x, start_y, start_h, start_l = line.get_start_data(
end_x, end_y, end_h)
start_h -= np.pi
assert pytest.approx(start_x, 0.000001) == data[1]
assert pytest.approx(start_y, 0.000001) == data[2]
assert pytest.approx(start_h, 0.1) == data[3]
import pyodrx
import os
# create some roads
roads = []
# create two simple roads to merge
roads.append(
pyodrx.create_road(pyodrx.Line(100), id=0, left_lanes=0, right_lanes=2))
roads.append(
pyodrx.create_road(pyodrx.Line(100), id=1, left_lanes=0, right_lanes=1))
# manually create the final road
# create the planview and the geometry
planview = pyodrx.PlanView()
planview.add_geometry(pyodrx.Line(200))
# create two different roadmarkings
rm_solid = pyodrx.RoadMark(pyodrx.RoadMarkType.solid,
0.2,
rule=pyodrx.MarkRule.no_passing)
rm_dashed = pyodrx.RoadMark(pyodrx.RoadMarkType.broken,
0.2,
rule=pyodrx.MarkRule.no_passing)
# create a centerlane (same centerlane can be used since no linking is needed for this)
centerlane = pyodrx.Lane(a=2)
centerlane.add_roadmark(rm_solid)
print( f"current working dir: {os.getcwd()}")
# 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 numpy as np import os planview = pyodrx.PlanView() # create some geometries and add to the planview line1 = pyodrx.Line(100) planview.add_geometry(line1) arc1 = pyodrx.Arc(0.05,angle=np.pi/2) planview.add_geometry(arc1) line2 = pyodrx.Line(100) planview.add_geometry(line2) arc2 = pyodrx.Arc(-0.05,angle=np.pi/2) planview.add_geometry(arc2) # create a solid roadmark rm = pyodrx.RoadMark(pyodrx.RoadMarkType.solid,0.2,rule=pyodrx.MarkRule.no_passing) # create centerlane centerlane = pyodrx.Lane(a=2)
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
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)
import pyodrx
import numpy as np
import os
odr = pyodrx.OpenDrive('myroad')
#---------------- Road 1
planview = pyodrx.PlanView(0, 0, 0)
# create some geometries and add to the planview
planview.add_geometry(pyodrx.Line(100))
# create a solid roadmark
rm = pyodrx.RoadMark(pyodrx.RoadMarkType.solid, 0.2)
# create centerlane
centerlane_1 = pyodrx.Lane(a=2)
centerlane_1.add_roadmark(rm)
lanesec_1 = pyodrx.LaneSection(0, centerlane_1)
# add a driving lane
lane2_1 = pyodrx.Lane(a=3.1)
lane2_1.add_roadmark(rm)
lanesec_1.add_left_lane(lane2_1)
lane3_1 = pyodrx.Lane(a=3.1)
lane3_1.add_roadmark(rm)
lanesec_1.add_right_lane(lane3_1)
## finalize the road
lanes_1 = pyodrx.Lanes()
import pyodrx
import os
# create some roads
roads = []
roads.append(
pyodrx.create_road(pyodrx.Line(100), id=0, left_lanes=1, right_lanes=2))
roads.append(
pyodrx.create_road(pyodrx.Line(100), id=1, left_lanes=0, right_lanes=1))
roads.append(
pyodrx.create_road(pyodrx.Line(100), id=2, left_lanes=1, right_lanes=3))
roads.append(
pyodrx.create_road(pyodrx.Spiral(0.001, 0.02, 30),
id=3,
left_lanes=1,
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
import pyodrx
import os
# create some simple roads
roads= []
roads.append(pyodrx.create_road(pyodrx.Line(100),id =0,left_lanes=0,right_lanes=2))
roads.append(pyodrx.create_road(pyodrx.Line(100),id =1,left_lanes=0,right_lanes=1))
roads.append(pyodrx.create_road(pyodrx.Line(100),id =2,left_lanes=0,right_lanes=1))
roads.append(pyodrx.create_road(pyodrx.Spiral(0.001,0.02,30),id =3,left_lanes=0,right_lanes=1,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 predecessors and succesors to the non junction roads
roads[0].add_successor(pyodrx.ElementType.junction,1)
roads[1].add_predecessor(pyodrx.ElementType.junction,1)
roads[2].add_predecessor(pyodrx.ElementType.junction,1)
# add connections to the first junction road
roads[3].add_predecessor(pyodrx.ElementType.road,0,pyodrx.ContactPoint.end)
roads[3].add_successor(pyodrx.ElementType.road,1,pyodrx.ContactPoint.start)
# add connections to the second junction road, together with an offset
roads[4].add_predecessor(pyodrx.ElementType.road,0,pyodrx.ContactPoint.end,lane_offset=-1)
roads[4].add_successor(pyodrx.ElementType.road,2,pyodrx.ContactPoint.start)
# create the junction struct
junction = pyodrx.create_junction(roads[3:],1,roads[0:3])
# create the opendrive
odr = pyodrx.OpenDrive('myroad')
for r in roads:
odr.add_road(r)
import pyodrx
import os
# create the planview and the geometry
planview = pyodrx.PlanView()
planview.add_geometry(pyodrx.Line(500))
# create two different roadmarkings
rm_solid = pyodrx.RoadMark(pyodrx.RoadMarkType.solid,
0.2,
rule=pyodrx.MarkRule.no_passing)
rm_dashed = pyodrx.RoadMark(pyodrx.RoadMarkType.broken,
0.2,
rule=pyodrx.MarkRule.no_passing)
# create a centerlane (same centerlane can be used since no linking is needed for this)
centerlane = pyodrx.Lane(a=2)
centerlane.add_roadmark(rm_solid)
# create the first lanesection with two lanes
lanesec1 = pyodrx.LaneSection(0, centerlane)
lane1 = pyodrx.Lane(a=3)
lane1.add_roadmark(rm_dashed)
lane2 = pyodrx.Lane(a=3)
lane2.add_roadmark(rm_solid)
lanesec1.add_right_lane(lane1)
lanesec1.add_right_lane(lane2)
def test_line():
line = pyodrx.Line(1)
p = line.get_element()
pyodrx.prettyprint(p)
def test_geometry():
geom = pyodrx.geometry._Geometry(1, 2, 3, 4, pyodrx.Line(1))
p = geom.get_element()
pyodrx.prettyprint(p)
],
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
