def test_road(self):
newXodrRoad = XodrRoad()
newXodrRoad.id = 1
newXodrRoad.name = "Autobahn A9"
newPlanView = PlanView()
newPlanView.AddLine(Point2d(0, 0), 1.57079632679, 10)
newXodrRoad.plan_view = newPlanView
line = newXodrRoad.plan_view.GetReferenceLine().ToArray()
# Spiral
p = Point2d(line[-1][0], line[-1][1])
newXodrRoad.plan_view.AddSpiral(p, 1.57079632679, 50.0, 0.0, 0.3, 0.4)
line = newXodrRoad.plan_view.GetReferenceLine().ToArray()
def test_world(self):
# create agent
params = ParameterServer()
behavior = BehaviorConstantAcceleration(params)
execution = ExecutionModelInterpolate(params)
dynamic = SingleTrackModel(params)
shape = Polygon2d([1.25, 1, 0], [
Point2d(0, 0),
Point2d(0, 2),
Point2d(4, 2),
Point2d(4, 0),
Point2d(0, 0)
])
init_state = np.array([0, 0, 0, 0, 5])
agent = Agent(init_state, behavior, dynamic, execution, shape,
params.AddChild("agent"))
road_map = OpenDriveMap()
newXodrRoad = XodrRoad()
newXodrRoad.id = 1
newXodrRoad.name = "Autobahn A9"
newPlanView = PlanView()
newPlanView.AddLine(Point2d(0, 0), 1.57079632679, 10)
newXodrRoad.plan_view = newPlanView
line = newXodrRoad.plan_view.GetReferenceLine().ToArray()
p = Point2d(line[-1][0], line[-1][1])
newXodrRoad.plan_view.AddSpiral(p, 1.57079632679, 50.0, 0.0, 0.3, 0.4)
line = newXodrRoad.plan_view.GetReferenceLine()
lane_section = XodrLaneSection(0)
lane = XodrLane()
lane.line = line
lane_section.AddLane(lane)
newXodrRoad.AddLaneSection(lane_section)
road_map.AddRoad(newXodrRoad)
r = Roadgraph()
map_interface = MapInterface()
map_interface.SetOpenDriveMap(road_map)
map_interface.SetRoadgraph(r)
world = World(params)
world.AddAgent(agent)
def test_line(self):
pv = PlanView()
# Line
pv.AddLine(Point2d(0, 0), 1.57079632679, 10)
line = pv.GetReferenceLine().ToArray()
# Spiral
p = Point2d(line[-1][0], line[-1][1])
pv.AddSpiral(p, 1.57079632679, 50.0, 0.0, 0.3, 0.4)
line = pv.GetReferenceLine().ToArray()
offset = XodrLaneOffset(1.5, 0, 0, 0)
lane_width = XodrLaneWidth(0.0, 59.9, offset)
lane = XodrLane.CreateLaneFromLaneWidth(-1,
pv.GetReferenceLine(), lane_width, 0.5)
print(lane)
lane = XodrLane.CreateLaneFromLaneWidth(
1, pv.GetReferenceLine(), lane_width, 0.5)
print(lane)