def test_interface(self):
"""
Main test part
"""
self.assertTrue(admap.init("test_files/TPK.adm.txt"))
# map loaded
lanes = admap.getLanes()
self.assertEqual(len(lanes), 141)
# map matching
mapMatching = admap.AdMapMatching()
geoPoint = admap.GeoPoint()
geoPoint.longitude = admap.Longitude(8.4401803)
geoPoint.latitude = admap.Latitude(49.0191987)
geoPoint.altitude = admap.Altitude(0.)
mapMatchingResults = mapMatching.getMapMatchedPositions(
geoPoint, physics.Distance(0.01), physics.Probability(0.05))
self.assertEqual(len(mapMatchingResults), 1)
# route planning
routingStart = mapMatchingResults[0].lanePoint.paraPoint
routingEnd = admap.ParaPoint()
routingEnd.laneId = routingStart.laneId
routingEnd.parametricOffset = physics.ParametricValue(0.0)
routeResult = admap.planRoute(admap.createRoutingPoint(routingStart),
admap.createRoutingPoint(routingEnd))
routeLength = admap.calcLength(routeResult.roadSegments[0])
self.assertEqual(int(float(routeLength)), 4)
admap.cleanup()
def _initialize_ego_vehicle(self):
# laneId: offset 240151:0.55
self._initialize_object(admap.Longitude(8.00125444865324766),
admap.Latitude(48.99758627528235877),
math.pi / 2, self.egoPosition,
self.egoMapMatchedBoundingBox)
self.egoSpeed = physics.Speed(5.)
# laneId: offset 120149:0.16
positionEndGeo = admap.createGeoPoint(
admap.Longitude(8.00188527300496979),
admap.Latitude(48.99821051747871792), admap.Altitude(0.))
self.egoRoute = admap.planRoute(
self.egoMapMatchedBoundingBox.referencePointPositions[
admap.ObjectReferencePoints.Center][0].lanePoint.paraPoint,
positionEndGeo)
def test_interface(self):
"""
Main test part
"""
self.assertTrue(admap.init("resources/Town01.txt"))
print("== Map Loaded ==")
self._initialize_ego_vehicle()
self.world_model = rssmap.initializeWorldModel(
1, self._get_ego_vehicle_dynamics())
print("== Initial world model ==")
print(self.world_model)
otherVehicleId = 20
otherVehicleSpeed = physics.Speed(10.)
otherVehiclePosition = admap.ENUObjectPosition()
otherVehicleMapMatchedBoundingBox = admap.MapMatchedObjectBoundingBox()
# laneId: offset 120149:0.16 around the intersection in front same direction on ego route
self._initialize_object(admap.Longitude(8.00188527300496979),
admap.Latitude(48.99821051747871792), 0,
otherVehiclePosition,
otherVehicleMapMatchedBoundingBox)
self.assertTrue(
rssmap.appendScenes(
self.egoVehicleId, self.egoMapMatchedBoundingBox,
self.egoSpeed, self.egoRoute, otherVehicleId,
rss.ObjectType.OtherVehicle, otherVehicleMapMatchedBoundingBox,
otherVehicleSpeed, self._get_object_vehicle_dynamics(),
rssmap.RestrictSpeedLimitMode.IncreasedSpeedLimit10,
admap.LandmarkIdSet(), self.world_model))
self.assertTrue(
rssmap.finalizeWorldModel(self._get_ego_vehicle_dynamics(),
self.world_model))
print("== Final world model ==")
print(self.world_model)
rss_response_resolving = rss.RssResponseResolving()
rss_situation_checking = rss.RssSituationChecking()
rss_sitation_extraction = rss.RssSituationExtraction()
rss_situation_snapshot = rss.SituationSnapshot()
self.assertTrue(
rss_sitation_extraction.extractSituations(self.world_model,
rss_situation_snapshot))
print("== Situation Snaphost ==")
print(rss_situation_snapshot)
rss_state_snapshot = rss.RssStateSnapshot()
self.assertTrue(
rss_situation_checking.checkSituations(rss_situation_snapshot,
rss_state_snapshot))
rss_proper_response = rss.ProperResponse()
self.assertTrue(
rss_response_resolving.provideProperResponse(
rss_state_snapshot, rss_proper_response))
acceleration_restriction = rss.AccelerationRestriction()
self.assertTrue(
rss.transformProperResponse(self.world_model, rss_proper_response,
acceleration_restriction))
print("== Acceleration Restrictions ==")
print(acceleration_restriction)
longitudinal_distance = rss_situation_snapshot.situations[
0].relativePosition.longitudinalDistance
self.assertTrue(rss_proper_response.isSafe)
self.assertEqual(longitudinal_distance, physics.Distance(104.413))
self.world_model.timeIndex += 1