def test_curved_road(self):
params = ParameterServer()
world = World(params)
xodr_map = MakeXodrMapCurved(50, 0.1)
map_interface = MapInterface()
map_interface.SetOpenDriveMap(xodr_map)
world.SetMap(map_interface)
roads = [100]
driving_direction = XodrDrivingDirection.forward
map_interface.GenerateRoadCorridor(roads, driving_direction)
road_corr = map_interface.GetRoadCorridor(roads, driving_direction)
viewer = MPViewer(params=params, use_world_bounds=True)
viewer.drawWorld(world)
viewer.drawRoadCorridor(road_corr)
#viewer.show(block=True)
# if this is not here, the second unit test is not executed (maybe parsing takes too long?)
time.sleep(1)
polygon = Polygon2d(
[0, 0, 0],
[Point2d(-1, -1),
Point2d(-1, 1),
Point2d(1, 1),
Point2d(1, -1)])
start_polygon = polygon.Translate(start_p)
goal_polygon = polygon.Translate(end_p)
rc = map_interface.GenerateRoadCorridor(start_p, goal_polygon)
if rc:
roads = rc.roads
road_ids = list(roads.keys())
print(road_ids, rc.road_ids)
viewer.drawWorld(world)
viewer.drawRoadCorridor(rc, "blue")
viewer.saveFig(output_dir + "/" + "roadcorridor_" + str(cnt) + ".png")
viewer.show()
viewer.clear()
for idx, lane_corridor in enumerate(rc.lane_corridors):
viewer.drawWorld(world)
viewer.drawLaneCorridor(lane_corridor, "green")
viewer.drawLine2d(lane_corridor.left_boundary, color="red")
viewer.drawLine2d(lane_corridor.right_boundary, color="green")
viewer.drawLine2d(lane_corridor.center_line, color="green")
viewer.drawPolygon2d(start_polygon,
color="green",
facecolor="green",
alpha=1.)
viewer.drawPolygon2d(goal_polygon,