def createConnectionFor2Roads(self,
nextRoadId,
road1,
road2,
junction,
cp1,
cp2,
n_lanes=1,
lane_offset=3,
laneSides=LaneSides.BOTH):
"""Does not modify predecessor or successor of the given roads.
Args:
junction: the junction object to add links.
Returns:
[type]: connection road with first road as the predecessor and second road as the successor
"""
newConnectionId = nextRoadId
newConnectionRoad = self.roadBuilder.getConnectionRoadBetween(
newConnectionId,
road1,
road2,
cp1,
cp2,
isJunction=True,
n_lanes=n_lanes,
lane_offset=lane_offset,
laneSides=laneSides)
RoadLinker.createExtendedPredSuc(predRoad=road1,
predCp=cp1,
sucRoad=newConnectionRoad,
sucCP=pyodrx.ContactPoint.start)
RoadLinker.createExtendedPredSuc(predRoad=newConnectionRoad,
predCp=pyodrx.ContactPoint.end,
sucRoad=road2,
sucCP=cp2)
if junction is not None:
if laneSides == LaneSides.LEFT or laneSides == LaneSides.BOTH:
connectionL = pyodrx.Connection(road2.id, newConnectionId,
pyodrx.ContactPoint.end)
connectionL.add_lanelink(-1, -1)
junction.add_connection(connectionL)
else:
connectionL = pyodrx.Connection(road1.id, newConnectionId,
pyodrx.ContactPoint.start)
connectionL.add_lanelink(1, 1)
junction.add_connection(connectionL)
return newConnectionRoad
def test_connection():
con = pyodrx.Connection(1,2,pyodrx.ContactPoint.start,5)
con.add_lanelink(1,-1)
con.add_lanelink(2,-2)
pyodrx.prettyprint(con.get_element())
def test_cubicParams(self):
roads = []
roads.append(pyodrx.create_straight_road(0, 10))
roads.append(self.roadBuilder.createParamPoly3(1, isJunction=True))
roads.append(pyodrx.create_straight_road(2, 1))
roads[0].add_successor(pyodrx.ElementType.junction, 1)
roads[1].add_predecessor(pyodrx.ElementType.road, 0,
pyodrx.ContactPoint.end)
roads[1].add_successor(pyodrx.ElementType.road, 2,
pyodrx.ContactPoint.start)
roads[2].add_predecessor(pyodrx.ElementType.junction, 1)
con1 = pyodrx.Connection(0, 1, pyodrx.ContactPoint.start)
con1.add_lanelink(-1, -1)
junction = pyodrx.Junction('test', 1)
junction.add_connection(con1)
odr = pyodrx.OpenDrive('test')
for r in roads:
odr.add_road(r)
odr.add_junction(junction)
odr.adjust_roads_and_lanes()
extensions.view_road(odr,
os.path.join('..', 'F:\\myProjects\\av\\esmini'))
def createLastConnectionForLastAndFirstRoad(self,
nextRoadId,
roads,
junction,
cp1=pyodrx.ContactPoint.end,
cp2=pyodrx.ContactPoint.start):
lastConnectionId = nextRoadId
lastConnection = self.roadBuilder.getConnectionRoadBetween(
lastConnectionId, roads[-1], roads[0], cp2, cp1)
RoadLinker.createExtendedPredSuc(predRoad=roads[-1],
predCp=cp2,
sucRoad=lastConnection,
sucCP=pyodrx.ContactPoint.start)
RoadLinker.createExtendedPredSuc(predRoad=lastConnection,
predCp=pyodrx.ContactPoint.end,
sucRoad=roads[0],
sucCP=cp1)
connectionL = pyodrx.Connection(roads[-1].id, lastConnectionId,
pyodrx.ContactPoint.start)
connectionL.add_lanelink(-1, -1)
junction.add_connection(connectionL)
# roads.append(lastConnection) # dangerous. do not add the road
return lastConnection
def test_junction():
con1 = pyodrx.Connection(1,2,pyodrx.ContactPoint.start)
con1.add_lanelink(1,-1)
con1.add_lanelink(2,-2)
con2 = pyodrx.Connection(2,1,pyodrx.ContactPoint.start)
con2.add_lanelink(1,-1)
con2.add_lanelink(2,-2)
con2.add_lanelink(3,-3)
junciton = pyodrx.Junction('',1)
junciton.add_connection(con1)
junciton.add_connection(con2)
pyodrx.prettyprint(junciton.get_element())
def createJunctionFor2Connections(self, roadFirstPred, connectionRoadFirst,
roadFirstSuc, connectionRoadSecond):
# TODO experiment with connecting more lanes for a single connection road.
con1 = pyodrx.Connection(roadFirstPred.id, connectionRoadFirst.id,
pyodrx.ContactPoint.start)
con1.add_lanelink(-1, -1)
con2 = pyodrx.Connection(roadFirstSuc.id, connectionRoadSecond.id,
pyodrx.ContactPoint.start)
con2.add_lanelink(-1, -1)
junction = pyodrx.Junction('junc', 1)
junction.add_connection(con1)
junction.add_connection(con1)
return junction
def connect2LaneRoads(self, incomingRoadId, connectionRoadId,):
"""Assumes no center lane offset.
Args:
incomingRoadId ([type]): [description]
connectionRoadId ([type]): [description]
"""
connection = pyodrx.Connection(incomingRoadId, connectionRoadId, pyodrx.ContactPoint.start)
connection.add_lanelink(-1,-1)
return connection
def createJunctionForASeriesOfRoads(self, roads, id=0):
"""[summary]
Args:
roads ([type]): even indices are roads, odd indices are connection roads of the junction
Returns:
[type]: [description]
"""
# TODO it does not support all lanes.
# ID is wrong
junction = pyodrx.Junction("spiderJunction", id)
connectionId = 1
while (connectionId < len(roads)):
print(f"connecting roads {connectionId-1} {connectionId}")
connectionL = pyodrx.Connection(connectionId - 1, connectionId,
pyodrx.ContactPoint.start)
connectionL.add_lanelink(-1, -1)
# if (connectionId + 1) < len(roads):
# connectionR = pyodrx.Connection(connectionId+1, connectionId, pyodrx.ContactPoint.end)
# else:
# connectionR = pyodrx.Connection(0, connectionId, pyodrx.ContactPoint.end)
# connectionR.add_lanelink(1,1)
junction.add_connection(connectionL)
# junction.add_connection(connectionR)
connectionId += 2
return junction
roads[4].add_predecessor(pyodrx.ElementType.junction,1)
roads[5].add_predecessor(pyodrx.ElementType.road,0,pyodrx.ContactPoint.end)
roads[5].add_successor(pyodrx.ElementType.road,6,pyodrx.ContactPoint.start)
roads[6].add_predecessor(pyodrx.ElementType.junction,1)
# create the opendrive
odr = pyodrx.OpenDrive('myroad')
for r in roads:
odr.add_road(r)
# create junction
junction = pyodrx.Junction('test',1)
con1 = pyodrx.Connection(0,1,pyodrx.ContactPoint.start)
con1.add_lanelink(-1,-1)
con2 = pyodrx.Connection(0,3,pyodrx.ContactPoint.start)
con2.add_lanelink(-1,-1)
con3 = pyodrx.Connection(0,5,pyodrx.ContactPoint.start)
con3.add_lanelink(-1,-1)
con4 = pyodrx.Connection(2,1,pyodrx.ContactPoint.end)
con4.add_lanelink(1,1)
con5 = pyodrx.Connection(4,3,pyodrx.ContactPoint.end)
con5.add_lanelink(1,1)
con6 = pyodrx.Connection(6,5,pyodrx.ContactPoint.end)
con6.add_lanelink(1,1)
junction.add_connection(con1)
junction.add_connection(con2)
