def test_arc():
arc = pyodrx.Arc(1, length=1)
p = arc.get_element()
pyodrx.prettyprint(p)
arc = pyodrx.Arc(1, angle=1)
p = arc.get_element()
pyodrx.prettyprint(p)
def createCurveByLength(self,
roadId,
length,
isJunction=False,
curvature=StandardCurvature.Medium.value):
junction = self.getJunctionSelection(isJunction)
n_lanes = 1
lane_offset = 3
pv = ExtendedPlanview()
arc = pyodrx.Arc(curvature, length=length)
pv.add_geometry(arc)
# create lanes
lsec = pyodrx.LaneSection(0, pyodrx.standard_lane())
for _ in range(1, n_lanes + 1, 1):
lsec.add_right_lane(pyodrx.standard_lane(lane_offset))
lsec.add_left_lane(pyodrx.standard_lane(lane_offset))
laneSections = extensions.LaneSections()
laneSections.add_lanesection(lsec)
# create road
road = ExtendedRoad(roadId, pv, laneSections, road_type=junction)
road.curveType = StandardCurveTypes.S
return road
def test_arc_calc_angle(data, expdata):
arc = pyodrx.Arc(data[4], angle=data[0])
x, y, h, l = arc.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) == expdata[3]
def test_inverted_Arc(data):
arc = pyodrx.Arc(data[0], angle=data[1])
end_x, end_y, end_h, end_l = arc.get_end_data(data[2], data[3], data[4])
end_h += np.pi
start_x, start_y, start_h, start_l = arc.get_start_data(
end_x, end_y, end_h)
start_h -= np.pi
assert pytest.approx(start_x, 0.000001) == data[2]
assert pytest.approx(start_y, 0.000001) == data[3]
assert pytest.approx(start_h, 0.00001) == data[4]
def createPVForArcWithCloths(self,
arcCurvature,
arcAngle,
clothAngle,
clothCurvatureStart=None,
clothCurvatureEnd=None):
"""[summary]
Args:
arcCurvature ([type]): [description]
arcAngle ([type]): [description]
clothAngle ([type]): [description]
clothCurvatureStart ([type], optional): [description]. Defaults to None.
clothCurvatureEnd ([type], optional): [description]. Defaults to None.
Returns:
[type]: [description]
"""
if clothCurvatureStart is None:
clothCurvatureStart = self.STD_START_CLOTH
if clothCurvatureEnd is None:
clothCurvatureEnd = self.STD_START_CLOTH
pv = extensions.ExtendedPlanview()
spiral1 = extensions.ExtendedSpiral(clothCurvatureStart,
arcCurvature,
angle=clothAngle)
arc = pyodrx.Arc(arcCurvature, angle=arcAngle)
spiral2 = extensions.ExtendedSpiral(arcCurvature,
clothCurvatureEnd,
angle=clothAngle)
pv.add_geometry(spiral1)
pv.add_geometry(arc)
pv.add_geometry(spiral2)
return pv
def createCurveByLength(self,
roadId,
length,
isJunction=False,
curvature=StandardCurvature.Medium.value,
n_lanes=1,
lane_offset=3,
laneSides=LaneSides.BOTH,
isLeftTurnLane=False,
isRightTurnLane=False,
isLeftMergeLane=False,
isRightMergeLane=False):
junction = self.getJunctionSelection(isJunction)
pv = ExtendedPlanview()
arc = pyodrx.Arc(curvature, length=length)
pv.add_geometry(arc)
length = pv.getTotalLength()
laneSections = self.laneBuilder.getStandardLanes(
n_lanes,
lane_offset,
laneSides,
roadLength=length,
isLeftTurnLane=isLeftTurnLane,
isRightTurnLane=isRightTurnLane,
isLeftMergeLane=isLeftMergeLane,
isRightMergeLane=isRightMergeLane)
road = ExtendedRoad(roadId,
pv,
laneSections,
road_type=junction,
curveType=StandardCurveTypes.LongArc)
return road
import pyodrx import numpy as np import os planview = pyodrx.PlanView() # create some geometries and add to the planview line1 = pyodrx.Line(100) planview.add_geometry(line1) arc1 = pyodrx.Arc(0.05,angle=np.pi/2) planview.add_geometry(arc1) line2 = pyodrx.Line(100) planview.add_geometry(line2) arc2 = pyodrx.Arc(-0.05,angle=np.pi/2) planview.add_geometry(arc2) # create a solid roadmark rm = pyodrx.RoadMark(pyodrx.RoadMarkType.solid,0.2,rule=pyodrx.MarkRule.no_passing) # create centerlane centerlane = pyodrx.Lane(a=2)
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
import pyodrx import os # create some simple roads roads= [] # start road roads.append(pyodrx.create_road([pyodrx.Spiral(-0.004,0.00001,100), pyodrx.Spiral(0.00001,0.005,50), pyodrx.Arc(0.005,50)],id =0,left_lanes=3,right_lanes=4)) # intermittent road roads.append(pyodrx.create_road([pyodrx.Spiral(0.0001,0.003,65), pyodrx.Spiral(0.003,0.00001,50) ],id =1,left_lanes=3,right_lanes=3)) #exit road roads.append(pyodrx.create_road(pyodrx.Line(50),id =2,left_lanes=0,right_lanes=1)) # junctions for exit roads.append(pyodrx.create_road(pyodrx.Spiral(0.005,0.0001,50),id =3,left_lanes=3,right_lanes=3,road_type=1)) # continue roads.append(pyodrx.create_road(pyodrx.Spiral(0.005,-0.02,100),id =4,left_lanes=0,right_lanes=1,road_type=1)) # exit # final road roads.append(pyodrx.create_road([pyodrx.Spiral(-0.00001,-0.003,45),pyodrx.Arc(-0.003,60)],id =5,left_lanes=2,right_lanes=3)) # entry junction roads.append(pyodrx.create_road([pyodrx.Line(30) ],id =6,left_lanes=2,right_lanes=3,road_type=2)) # continue roads.append(pyodrx.create_road([pyodrx.Spiral(0.004,0.000001,50) ],id =7,left_lanes=1,right_lanes=0,road_type=2)) # entry # entry road roads.append(pyodrx.create_road(pyodrx.Arc(0.004,60),id =8,left_lanes=1,right_lanes=0)) # add predecessors and succesors to the non junction roads roads[0].add_successor(pyodrx.ElementType.junction,1) roads[1].add_predecessor(pyodrx.ElementType.junction,1)
def createS(self,
roadId,
angleBetweenEndpoints,
isJunction=False,
curvature=StandardCurvature.Medium.value,
n_lanes=1,
lane_offset=3,
laneSides=LaneSides.BOTH,
isLeftTurnLane=False,
isRightTurnLane=False,
isLeftMergeLane=False,
isRightMergeLane=False):
"""Here the angleBetweenEndpoints are used for the first road and S mid point, and S mid point and Second road
Args:
roadId ([type]): [description]
angleBetweenEndpoints ([type]): used for the first road and S mid point, and S mid point and Second road. Use negative angles for interesting Ss
isJunction (bool, optional): [description]. Defaults to False.
curvature ([type], optional): [description]. Defaults to StandardCurvature.Medium.value.
Returns:
[type]: [description]
"""
junction = extensions.getJunctionSelection(isJunction)
totalRotation = np.pi - angleBetweenEndpoints
# most of the angleBetweenEndpoints should be assigned to the Arc
arcAngle = totalRotation * 0.9
clothAngle = (totalRotation * 0.1) / 2 # curve more.
arc_curv = curvature
arc_angle = arcAngle
cloth_angle = clothAngle
cloth_start = self.STD_START_CLOTH
pv = ExtendedPlanview()
# adjust sign if angle is negative
if cloth_angle < 0 and arc_curv > 0:
cloth_angle = -cloth_angle
arc_curv = -arc_curv
cloth_start = -cloth_start
arc_angle = -arc_angle
# we are changing the second half of the S to have different arc angle and curvature.
multiplier = np.random.choice(9) / 10
arc_angle2 = arc_angle - arc_angle * multiplier
arc_curv2 = -(arc_curv + arc_curv * multiplier
) # the angle needs to be opposite for the second half.
# create geometries
spiral1 = extensions.ExtendedSpiral(cloth_start,
arc_curv,
angle=cloth_angle)
arc = pyodrx.Arc(arc_curv, angle=arc_angle)
arc2 = pyodrx.Arc(arc_curv2, angle=-arc_angle2)
spiral2 = extensions.ExtendedSpiral(-arc_curv,
cloth_start,
angle=-cloth_angle)
pv.add_geometry(spiral1)
pv.add_geometry(arc)
pv.add_geometry(arc2)
pv.add_geometry(spiral2)
length = pv.getTotalLength()
laneSections = self.laneBuilder.getStandardLanes(
n_lanes,
lane_offset,
laneSides,
roadLength=length,
isLeftTurnLane=isLeftTurnLane,
isRightTurnLane=isRightTurnLane,
isLeftMergeLane=isLeftMergeLane,
isRightMergeLane=isRightMergeLane)
road = ExtendedRoad(roadId,
pv,
laneSections,
road_type=junction,
curveType=StandardCurveTypes.S)
return road
def createS(self,
connectionRoadId,
angleBetweenEndpoints,
isJunction=False,
curvature=StandardCurvature.Medium.value):
"""Here the angleBetweenEndpoints are used for the first road and S mid point, and S mid point and Second road
Args:
connectionRoadId ([type]): [description]
angleBetweenEndpoints ([type]): used for the first road and S mid point, and S mid point and Second road. Use negative angles for interesting Ss
isJunction (bool, optional): [description]. Defaults to False.
curvature ([type], optional): [description]. Defaults to StandardCurvature.Medium.value.
Returns:
[type]: [description]
"""
junction = self.getJunctionSelection(isJunction)
totalRotation = np.pi - angleBetweenEndpoints
# most of the angleBetweenEndpoints should be assigned to the Arc
arcAngle = totalRotation * 0.9
clothAngle = (totalRotation * 0.1) / 2 # curve more.
arc_curv = curvature
arc_angle = arcAngle
cloth_angle = clothAngle
r_id = connectionRoadId
cloth_start = self.STD_START_CLOTH
n_lanes = 1
lane_offset = 3
pv = ExtendedPlanview()
# adjust sign if angle is negative
if cloth_angle < 0 and arc_curv > 0:
cloth_angle = -cloth_angle
arc_curv = -arc_curv
cloth_start = -cloth_start
arc_angle = -arc_angle
# we are changing the second half of the S to have different arc angle and curvature.
multiplier = np.random.choice(9) / 10
arc_angle2 = arc_angle - arc_angle * multiplier
arc_curv2 = -(arc_curv + arc_curv * multiplier
) # the angle needs to be opposite for the second half.
# create geometries
spiral1 = extensions.ExtendedSpiral(cloth_start,
arc_curv,
angle=cloth_angle)
arc = pyodrx.Arc(arc_curv, angle=arc_angle)
arc2 = pyodrx.Arc(arc_curv2, angle=-arc_angle2)
spiral2 = extensions.ExtendedSpiral(-arc_curv,
cloth_start,
angle=-cloth_angle)
pv.add_geometry(spiral1)
pv.add_geometry(arc)
pv.add_geometry(arc2)
pv.add_geometry(spiral2)
# create lanes
lsec = pyodrx.LaneSection(0, pyodrx.standard_lane())
for _ in range(1, n_lanes + 1, 1):
lsec.add_right_lane(pyodrx.standard_lane(lane_offset))
lsec.add_left_lane(pyodrx.standard_lane(lane_offset))
laneSections = extensions.LaneSections()
laneSections.add_lanesection(lsec)
# create road
road = ExtendedRoad(r_id, pv, laneSections, road_type=junction)
road.curveType = StandardCurveTypes.S
return road
import pyodrx
import os
# create some simple roads
roads = []
# start road
roads.append(
pyodrx.create_road([
pyodrx.Spiral(-0.004, 0.00001, 100),
pyodrx.Spiral(0.00001, 0.005, 50),
pyodrx.Arc(0.005, 50)
],
id=0,
left_lanes=3,
right_lanes=4))
# intermittent road
roads.append(
pyodrx.create_road(
[pyodrx.Spiral(0.0001, 0.003, 65),
pyodrx.Spiral(0.003, 0.00001, 50)],
id=1,
left_lanes=3,
right_lanes=3))
#exit road
roads.append(
pyodrx.create_road(pyodrx.Line(50), id=2, left_lanes=0, right_lanes=1))
# junctions for exit
roads.append(
pyodrx.create_road(pyodrx.Spiral(0.005, 0.0001, 50),
id=3,
