def test_roadmark():
mark = pyodrx.RoadMark(pyodrx.RoadMarkType.solid, 0.2)
pyodrx.prettyprint(mark.get_element())
mark = pyodrx.RoadMark(pyodrx.RoadMarkType.solid, 0.2, 1, 1, 1,
pyodrx.MarkRule.no_passing,
pyodrx.RoadMarkColor.standard)
pyodrx.prettyprint(mark.get_element())
def __init__(self, country=CountryCodes.US):
self.STD_ROADMARK = pyodrx.RoadMark(pyodrx.RoadMarkType.solid,
0.2,
rule=pyodrx.MarkRule.no_passing)
self.STD_START_CLOTH = 1 / 1000000000
self.country = country
self.laneBuilder = LaneBuilder()
pass
def __init__(self, country=CountryCodes.US):
self.STD_ROADMARK = pyodrx.RoadMark(pyodrx.RoadMarkType.solid,
0.2,
rule=pyodrx.MarkRule.no_passing)
self.STD_START_CLOTH = 1 / 1000000000
self.country = country
self.laneBuilder = LaneBuilder()
self.configuration = Configuration()
self.name = 'StraightRoadBuilder'
pass
# 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)
# create the first lanesection with three lanes
lanesec1 = pyodrx.LaneSection(0, centerlane)
lane1 = pyodrx.Lane(a=3)
lane1.add_roadmark(rm_dashed)
lane2 = pyodrx.Lane(a=3)
import os, sys
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)
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
# 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) rm_dashed = pyodrx.RoadMark(pyodrx.RoadMarkType.broken,0.2) # 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 three 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_dashed) lane3 = pyodrx.Lane(a=3)
import pyodrx
import junctions
import extensions
import math
from junctions.LaneSides import LaneSides
from extensions.LaneOffset import LaneOffset
from junctions.TurnTypes import TurnTypes
from extensions.ExtendedLane import ExtendedLane
from junctions.LaneConfiguration import LaneConfigurationStrategies, LaneConfiguration
from extensions.ExtendedRoad import ExtendedRoad
from junctions.RoadLinker import RoadLinker
from library.Configuration import Configuration
STD_ROADMARK = pyodrx.RoadMark(pyodrx.RoadMarkType.solid, 0.2, rule=pyodrx.MarkRule.no_passing)
class LaneBuilder:
def __init__(self):
self.config = Configuration()
self.defaultLaneWidth = self.config.get("default_lane_width")
self.name = 'LaneBuilder'
def getStandardLanes(self, n_lanes, lane_offset, laneSides=LaneSides.BOTH,
roadLength = None,
isLeftTurnLane=False,
isRightTurnLane=False,
isLeftMergeLane=False,
isRightMergeLane=False):
"""[summary] Don't allow both merge lanes and turn lanes in a road. Better split to two roads
##2. Create some geometries and add them to the planview line1 = pyodrx.Line(100) arc1 = pyodrx.Arc(0.05,angle=np.pi/2) line2 = pyodrx.Line(100) cloth1 = pyodrx.Spiral(0.05,-0.1,30) line3 = pyodrx.Line(100) planview.add_geometry(line1) planview.add_geometry(arc1) planview.add_geometry(line2) planview.add_geometry(cloth1) planview.add_geometry(line3) ##3. Create a solid roadmark rm = pyodrx.RoadMark(pyodrx.RoadMarkType.solid,0.2) ##4. Create centerlane centerlane = pyodrx.Lane(a=2) centerlane.add_roadmark(rm) ##5. Create lane section form the centerlane lanesec = pyodrx.LaneSection(0,centerlane) ##6. Create left and right lanes lane2 = pyodrx.Lane(a=3) lane2.add_roadmark(rm) lane3 = pyodrx.Lane(a=3) lane3.add_roadmark(rm) ##7. Add lanes to lane section
def __init__(self):
self.STD_ROADMARK = pyodrx.RoadMark(pyodrx.RoadMarkType.solid,
0.2,
rule=pyodrx.MarkRule.no_passing)
self.STD_START_CLOTH = 1 / 1000000000
pass
