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_manual_geometry(data, expdata):
planview = pyodrx.PlanView()
planview.add_fixed_geometry(pyodrx.Line(data[0]), data[1], data[2],
data[3])
x, y, h = planview.get_end_point()
assert pytest.approx(x, 0.000001) == expdata[0]
assert pytest.approx(y, 0.000001) == expdata[1]
assert pytest.approx(h, 0.000001) == expdata[2]
x, y, h = planview.get_start_point()
assert pytest.approx(x, 0.000001) == data[1]
assert pytest.approx(y, 0.000001) == data[2]
assert pytest.approx(h, 0.000001) == data[3]
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]
def road(self, **kwargs):
road = xodr.create_road([
xodr.Spiral(0.0000000001, kwargs['road_curvature'], 100),
xodr.Arc(kwargs['road_curvature'], 50),
xodr.Spiral(kwargs['road_curvature'], 0.0000000001, 100),
xodr.Line(100)
],
id=0,
left_lanes=2,
right_lanes=2)
odr = xodr.OpenDrive('myroad')
odr.add_road(road)
odr.adjust_roads_and_lanes()
return odr
def test_simple_road():
line1 = pyodrx.Line(100)
planview = pyodrx.PlanView()
planview.add_geometry(line1)
rm = pyodrx.RoadMark(pyodrx.RoadMarkType.solid,
0.2,
rule=pyodrx.MarkRule.no_passing)
lane1 = pyodrx.Lane(a=2)
lane1.add_roadmark(rm)
lanesec = pyodrx.LaneSection(0, lane1)
lanes = pyodrx.Lanes()
lanes.add_lanesection(lanesec)
road = pyodrx.Road(1, planview, lanes)
prettyprint(road.get_element())
def test_link_road():
line1 = pyodrx.Line(100)
planview = pyodrx.PlanView()
planview.add_geometry(line1)
rm = pyodrx.RoadMark(pyodrx.RoadMarkType.solid,
0.2,
rule=pyodrx.MarkRule.no_passing)
lane1 = pyodrx.Lane(a=2)
lane1.add_roadmark(rm)
lanesec = pyodrx.LaneSection(0, lane1)
lanes = pyodrx.Lanes()
lanes.add_lanesection(lanesec)
road = pyodrx.Road(1, planview, lanes)
road.add_predecessor(pyodrx.ElementType.road, '1',
pyodrx.ContactPoint.start)
prettyprint(road.get_element())
from scenariogeneration import xodr, prettyprint
import numpy as np
import os
odr = xodr.OpenDrive('myroad')
#---------------- Road 1
planview = xodr.PlanView(0,0,0)
# create some geometries and add to the planview
planview.add_geometry(xodr.Line(100))
# create a solid roadmark
rm = xodr.RoadMark(xodr.RoadMarkType.solid, 0.2)
# create centerlane
centerlane_1 = xodr.Lane(a=2)
centerlane_1.add_roadmark(rm)
lanesec_1 = xodr.LaneSection(0,centerlane_1)
# add a driving lane
lane2_1 = xodr.Lane(a=3.1)
lane2_1.add_roadmark(rm)
lanesec_1.add_left_lane(lane2_1)
lane3_1 = xodr.Lane(a=3.1)
lane3_1.add_roadmark(rm)
lanesec_1.add_right_lane(lane3_1)
## finalize the road
def test_line():
line = pyodrx.Line(1)
p = line.get_element()
prettyprint(p)
def test_geometry():
geom = pyodrx.geometry._Geometry(1,2,3,4,pyodrx.Line(1))
p = geom.get_element()
prettyprint(p)
xodr.Arc(0.005, 50)
],
id=0,
left_lanes=3,
right_lanes=4))
# intermittent road
roads.append(
xodr.create_road(
[xodr.Spiral(0.0001, 0.003, 65),
xodr.Spiral(0.003, 0.00001, 50)],
id=1,
left_lanes=3,
right_lanes=3))
#exit road
roads.append(xodr.create_road(xodr.Line(50), id=2, left_lanes=0,
right_lanes=1))
# junctions for exit
roads.append(
xodr.create_road(xodr.Spiral(0.005, 0.0001, 50),
id=3,
left_lanes=3,
right_lanes=3,
road_type=1)) # continue
roads.append(
xodr.create_road(xodr.Spiral(0.005, -0.02, 100),
id=4,
left_lanes=0,
right_lanes=1,
road_type=1)) # exit
from scenariogeneration import xodr, prettyprint import numpy as np import os ## EXAMPLE 1 ## Multiple geometries in one only road. ##1. Create the planview planview = xodr.PlanView() ##2. Create some geometries and add them to the planview line1 = xodr.Line(100) arc1 = xodr.Arc(0.05, angle=np.pi / 2) line2 = xodr.Line(100) cloth1 = xodr.Spiral(0.05, -0.1, 30) line3 = xodr.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 = xodr.RoadMark(xodr.RoadMarkType.solid, 0.2) ##4. Create centerlane centerlane = xodr.Lane(a=2) centerlane.add_roadmark(rm) ##5. Create lane section form the centerlane
from scenariogeneration import xodr import os # create some simple roads roads= [] # create the planview and the geometry planview = xodr.PlanView() planview.add_geometry(xodr.Line(200)) # create two different roadmarkings rm_solid = xodr.RoadMark(xodr.RoadMarkType.solid,0.2) rm_dashed = xodr.RoadMark(xodr.RoadMarkType.broken,0.2) # create a centerlane (same centerlane can be used since no linking is needed for this) centerlane = xodr.Lane(a=2) centerlane.add_roadmark(rm_solid) # create first lanesection with two lanes lanesec1 = xodr.LaneSection(0,centerlane) lane0 = xodr.Lane(a=3) lane0.add_roadmark(rm_dashed) lane1 = xodr.Lane(a=3) lane1.add_roadmark(rm_solid) lanesec1.add_right_lane(lane0) lanesec1.add_right_lane(lane1) # create the second lanesection with a third lane emerging
import os
from scenariogeneration import xodr, xosc, esmini, prettyprint, ScenarioGenerator
planview = xodr.PlanView()
# add two geometries based on exact position
planview.add_fixed_geometry(xodr.Line(100), 0, 0, 0)
planview.add_fixed_geometry(xodr.Arc(0.01, length=100), 100, 0, 0)
# create simple lanes
lanes = xodr.Lanes()
lanesection1 = xodr.LaneSection(0, xodr.standard_lane())
lanesection1.add_left_lane(xodr.standard_lane(rm=xodr.STD_ROADMARK_SOLID))
lanesection1.add_right_lane(xodr.standard_lane(rm=xodr.STD_ROADMARK_SOLID))
lanes.add_lanesection(lanesection1)
road1 = xodr.Road(0, planview, lanes)
# create a simple second road for connection
road2 = xodr.create_road(xodr.Line(100), 1)
# connect the roads with successor/predecessor
road1.add_successor(xodr.ElementType.road, 1, xodr.ContactPoint.start)
road2.add_predecessor(xodr.ElementType.road, 0, xodr.ContactPoint.end)
odr = xodr.OpenDrive('my_road')
odr.add_road(road1)
odr.add_road(road2)
# will adjust the second road and the lanes and lane links correctly
odr.adjust_roads_and_lanes()
from scenariogeneration import xodr
import os
# create some roads
roads = []
roads.append(
xodr.create_road(xodr.Line(100), id=0, left_lanes=1, right_lanes=2))
roads.append(
xodr.create_road(xodr.Line(100), id=1, left_lanes=0, right_lanes=1))
roads.append(
xodr.create_road(xodr.Line(100), id=2, left_lanes=1, right_lanes=3))
roads.append(
xodr.create_road(xodr.Spiral(0.001, 0.02, 30),
id=3,
left_lanes=1,
right_lanes=2,
road_type=1))
roads.append(
xodr.create_road(xodr.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(xodr.ElementType.junction, 1)
roads[1].add_successor(xodr.ElementType.junction, 1)
roads[2].add_predecessor(xodr.ElementType.junction, 1)
# add connections to the first connecting road
from scenariogeneration import xodr
import numpy as np
import os
rm = xodr.RoadMark(xodr.RoadMarkType.solid, 0.2)
# create geometries
geoms = []
geoms.append(xodr.Line(100))
geoms.append(xodr.Spiral(0.001, 0.019, 30))
geoms.append(xodr.Line(100))
geoms.append(xodr.Spiral(-0.001, -0.1, 30))
geoms.append(xodr.Line(100))
geoms.append(xodr.Line(20))
geoms.append(xodr.Line(100))
numberofroads = len(geoms)
# create planviews
planviews = []
for g in geoms:
pv = xodr.PlanView()
pv.add_geometry(g)
planviews.append(pv)
# create centerlanes
lanecenters = []
for i in range(numberofroads):
lc = xodr.Lane(a=3)
lc.add_roadmark(rm)
lanecenters.append(lc)
from scenariogeneration import xodr import os # create the planview and the geometry planview = xodr.PlanView() planview.add_geometry(xodr.Line(500)) # create two different roadmarkings rm_solid = xodr.RoadMark(xodr.RoadMarkType.solid, 0.2) rm_dashed = xodr.RoadMark(xodr.RoadMarkType.broken, 0.2) # create a centerlane (same centerlane can be used since no linking is needed for this) centerlane = xodr.Lane(a=2) centerlane.add_roadmark(rm_solid) # create the first lanesection with two lanes lanesec1 = xodr.LaneSection(0, centerlane) lane1 = xodr.Lane(a=3) lane1.add_roadmark(rm_dashed) lane2 = xodr.Lane(a=3) lane2.add_roadmark(rm_solid) lanesec1.add_right_lane(lane1) lanesec1.add_right_lane(lane2) # create the second lanesection with one lane merging lanesec2 = xodr.LaneSection(250, centerlane) lane3 = xodr.Lane(a=3) lane3.add_roadmark(rm_dashed)
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
from scenariogeneration import xodr
import os
# create some simple roads
roads= []
roads.append(xodr.create_road(xodr.Line(100),id =0,left_lanes=0,right_lanes=2))
roads.append(xodr.create_road(xodr.Line(100),id =1,left_lanes=0,right_lanes=1))
roads.append(xodr.create_road(xodr.Line(100),id =2,left_lanes=0,right_lanes=1))
roads.append(xodr.create_road(xodr.Spiral(0.001,0.02,30),id =3,left_lanes=0,right_lanes=1,road_type=1))
roads.append(xodr.create_road(xodr.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(xodr.ElementType.junction,1)
roads[1].add_predecessor(xodr.ElementType.junction,1)
roads[2].add_predecessor(xodr.ElementType.junction,1)
# add connections to the first junction road
roads[3].add_predecessor(xodr.ElementType.road,0,xodr.ContactPoint.end)
roads[3].add_successor(xodr.ElementType.road,1,xodr.ContactPoint.start)
# add connections to the second junction road, together with an offset
roads[4].add_predecessor(xodr.ElementType.road,0,xodr.ContactPoint.end,lane_offset=-1)
roads[4].add_successor(xodr.ElementType.road,2,xodr.ContactPoint.start)
# create the junction struct
junction = xodr.create_junction(roads[3:],1,roads[0:3])
# create the opendrive
odr = xodr.OpenDrive('myroad')
for r in roads:
odr.add_road(r)
