lane8.add_roadmark(rm_solid) lanesec3.add_right_lane(lane7) lanesec3.add_right_lane(lane8) # create the lane links lanelinker = pyodrx.LaneLinker() lanelinker.add_link(predlane=lane1, succlane=lane4) lanelinker.add_link(predlane=lane2, succlane=lane5) lanelinker.add_link(predlane=lane3, succlane=lane6) lanelinker.add_link(predlane=lane5, succlane=lane7) lanelinker.add_link(predlane=lane6, succlane=lane8) # create the lanes with the correct links lanes = pyodrx.Lanes() lanes.add_lanesection(lanesec1, lanelinker) lanes.add_lanesection(lanesec2, lanelinker) lanes.add_lanesection(lanesec3, lanelinker) # create the road roads.append(pyodrx.Road(2, planview, lanes)) # create junction roads roads.append( pyodrx.create_road(pyodrx.Spiral(0.001, 0.02, 30), id=3, left_lanes=0, right_lanes=2, road_type=1)) roads.append(
left = pyodrx.Lane(a=3) left.add_roadmark(rm) leftlanes.append(left) # create lanesections lanesections = [] for i in range(numberofroads): lsec = pyodrx.LaneSection(0,lanecenters[i]) lsec.add_right_lane(rightlanes[i]) lsec.add_left_lane(leftlanes[i]) lanesections.append(lsec) ## create lanes lanes = [] for l in lanesections: lanes1 = pyodrx.Lanes() lanes1.add_lanesection(l) lanes.append(lanes1) # finally create the roads roads = [] roadtypes = [-1,1,-1,1,-1,1,-1] for i in range(numberofroads): roads.append(pyodrx.Road(i,planviews[i],lanes[i],road_type=roadtypes[i])) 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)
# create centerlane centerlane_1 = pyodrx.Lane(a=2) centerlane_1.add_roadmark(rm) lanesec_1 = pyodrx.LaneSection(0, centerlane_1) # add a driving lane lane2_1 = pyodrx.Lane(a=3.1) lane2_1.add_roadmark(rm) lanesec_1.add_left_lane(lane2_1) lane3_1 = pyodrx.Lane(a=3.1) lane3_1.add_roadmark(rm) lanesec_1.add_right_lane(lane3_1) ## finalize the road lanes_1 = pyodrx.Lanes() lanes_1.add_lanesection(lanesec_1) road = pyodrx.Road(1, planview, lanes_1) odr.add_road(road) #---------------- Road 2 planview2 = pyodrx.PlanView(x_start=0, y_start=10, h_start=np.pi / 2) # planview2 = pyodrx.PlanView() # create some geometries and add to the planview planview2.add_geometry(pyodrx.Line(200)) # create a solid roadmark
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
def test_lanes(): centerlane = pyodrx.Lane() ls = pyodrx.LaneSection(0, centerlane) lanes = pyodrx.Lanes() lanes.add_lanesection(ls) pyodrx.prettyprint(lanes.get_element())