def test_Crossing8Course(self): xodr_parser = XodrParser( "modules/runtime/tests/data/Crossing8Course.xodr") params = ParameterServer() world = World(params) map_interface = MapInterface() map_interface.SetOpenDriveMap(xodr_parser.map) world.SetMap(map_interface) start_point = Point2d(0, -11) lanes_near_start = map_interface.find_nearest_lanes(start_point, 1) assert (len(lanes_near_start) == 1) goal_point = Point2d(-191.789, -50.1725) lanes_near_goal = map_interface.find_nearest_lanes(goal_point, 1) assert (len(lanes_near_goal) == 1) time.sleep( 2 ) # if this is not here, the second unit test is not executed (maybe parsing takes too long?)
def test_two_roads_one_lane(self): params = ParameterServer() world = World(params) xodr_map = MakeXodrMapOneRoadTwoLanes() map_interface = MapInterface() map_interface.SetOpenDriveMap(xodr_map) world.SetMap(map_interface) start_point = Point2d(0, -11) lanes_near_start = map_interface.find_nearest_lanes(start_point, 1) assert(len(lanes_near_start) == 1) goal_point = Point2d(-191.789, -50.1725) lanes_near_goal = map_interface.find_nearest_lanes(goal_point, 1) assert(len(lanes_near_goal) == 1) viewer = MPViewer(params=params, use_world_bounds=True) viewer.drawWorld(world) time.sleep(2) # if this is not here, the second unit test is not executed (maybe parsing takes too long?)