def make_two_lane_road():
return create_dragway(road_id=RoadGeometryId("two_lanes"),
num_lanes=2,
length=10.,
lane_width=4.,
shoulder_width=0.,
maximum_height=1.,
linear_tolerance=1e-6,
angular_tolerance=1e-6)
def test_dragway(self):
kNumLanes = 2
kLength = 100.
kLaneWidth = 4.
kShoulderWidth = 1.
kHeight = 5.
kTol = 1e-6
# Instantiate a two-lane straight road.
rg_id = RoadGeometryId("two_lane_road")
rg = create_dragway(rg_id, kNumLanes, kLength, kLaneWidth,
kShoulderWidth, kHeight, kTol, kTol)
segment = rg.junction(0).segment(0)
lane_0 = segment.lane(0)
lane_1 = segment.lane(1)
# Alternate constructor.
create_dragway(road_id=rg_id,
num_lanes=kNumLanes,
length=kLength,
lane_width=kLaneWidth,
shoulder_width=kShoulderWidth,
maximum_height=kHeight,
linear_tolerance=kTol,
angular_tolerance=kTol)
# Test the Lane <-> Geo space coordinate conversion.
lane_pos = LanePosition(0., 0., 0.)
geo_pos_result = lane_0.ToGeoPosition(lane_pos)
geo_pos_expected = GeoPosition(0., -kLaneWidth / 2., 0.)
self.assertTrue(
np.allclose(geo_pos_result.xyz(), geo_pos_expected.xyz()))
geo_pos = GeoPosition(1., kLaneWidth / 2., 3.)
nearest_pos = GeoPosition(0., 0., 0.)
distance = 0.
lane_pos_result = \
lane_1.ToLanePosition(geo_pos, nearest_pos, distance)
lane_pos_expected = LanePosition(1., 0., 3.)
self.assertTrue(
np.allclose(lane_pos_result.srh(), lane_pos_expected.srh()))
self.assertTrue(np.allclose(nearest_pos.xyz(), geo_pos.xyz()))
self.assertTrue(distance == 0.)
def make_test_dragway(lane_width, length):
kNumLanes = 2
kShoulderWidth = 1.
kHeight = 5.
kTol = 1e-6
rg_id = RoadGeometryId("two_lane_road")
return create_dragway(
road_id=rg_id, num_lanes=kNumLanes, length=length,
lane_width=lane_width, shoulder_width=kShoulderWidth,
maximum_height=kHeight, linear_tolerance=kTol,
angular_tolerance=kTol)
def make_two_lane_road():
return create_dragway(
road_id=RoadGeometryId("two_lanes"), num_lanes=2, length=10.,
lane_width=4., shoulder_width=0., maximum_height=1.,
linear_tolerance=1e-6, angular_tolerance=1e-6)