def draw_ground(cls,
lane: AbstractLane,
surface: WorldSurface,
color: Tuple[float],
width: float,
draw_surface: pygame.Surface = None) -> None:
draw_surface = draw_surface or surface
stripes_count = int(2 * (surface.get_height() + surface.get_width()) /
(cls.STRIPE_SPACING * surface.scaling))
s_origin, _ = lane.local_coordinates(surface.origin)
s0 = (int(s_origin) // cls.STRIPE_SPACING -
stripes_count // 2) * cls.STRIPE_SPACING
dots = []
for side in range(2):
longis = np.clip(
s0 + np.arange(stripes_count) * cls.STRIPE_SPACING, 0,
lane.length)
lats = [2 * (side - 0.5) * width for _ in longis]
new_dots = [
surface.vec2pix(lane.position(longi, lat))
for longi, lat in zip(longis, lats)
]
new_dots = reversed(new_dots) if side else new_dots
dots.extend(new_dots)
pygame.draw.polygon(draw_surface, color, dots, 0)
def lane_distance_to(self, vehicle: "Vehicle", lane: AbstractLane = None) -> float:
"""
Compute the signed distance to another vehicle along a lane.
:param vehicle: the other vehicle
:param lane: a lane
:return: the distance to the other vehicle [m]
"""
if not vehicle:
return np.nan
if not lane:
lane = self.lane
return lane.local_coordinates(vehicle.position)[0] - lane.local_coordinates(self.position)[0]
def draw_stripes(cls, lane: AbstractLane, surface: WorldSurface,
starts: List[float], ends: List[float], lats: List[float]) -> None:
"""
Draw a set of stripes along a lane.
:param lane: the lane
:param surface: the surface to draw on
:param starts: a list of starting longitudinal positions for each stripe [m]
:param ends: a list of ending longitudinal positions for each stripe [m]
:param lats: a list of lateral positions for each stripe [m]
"""
starts = np.clip(starts, 0, lane.length)
ends = np.clip(ends, 0, lane.length)
for k, _ in enumerate(starts):
if abs(starts[k] - ends[k]) > 0.5 * cls.STRIPE_LENGTH:
pygame.draw.line(surface, surface.WHITE,
(surface.vec2pix(lane.position(starts[k], lats[k]))),
(surface.vec2pix(lane.position(ends[k], lats[k]))),
max(surface.pix(cls.STRIPE_WIDTH), 1))
def continuous_line(cls, lane: AbstractLane, surface: WorldSurface, stripes_count: int, longitudinal: float,
side: int) -> None:
"""
Draw a continuous line on one side of a lane, on a surface.
:param lane: the lane
:param surface: the pygame surface
:param stripes_count: the number of stripes that would be drawn if the line was striped
:param longitudinal: the longitudinal position of the start of the line [m]
:param side: which side of the road to draw [0:left, 1:right]
"""
starts = [longitudinal + 0 * cls.STRIPE_SPACING]
ends = [longitudinal + stripes_count * cls.STRIPE_SPACING + cls.STRIPE_LENGTH]
lats = [(side - 0.5) * lane.width_at(s) for s in starts]
cls.draw_stripes(lane, surface, starts, ends, lats)
def continuous_curve(cls, lane: AbstractLane, surface: WorldSurface, stripes_count: int,
longitudinal: float, side: int) -> None:
"""
Draw a striped line on one side of a lane, on a surface.
:param lane: the lane
:param surface: the pygame surface
:param stripes_count: the number of stripes to draw
:param longitudinal: the longitudinal position of the first stripe [m]
:param side: which side of the road to draw [0:left, 1:right]
"""
starts = longitudinal + np.arange(stripes_count) * cls.STRIPE_SPACING
ends = longitudinal + np.arange(stripes_count) * cls.STRIPE_SPACING + cls.STRIPE_SPACING
lats = [(side - 0.5) * lane.width_at(s) for s in starts]
cls.draw_stripes(lane, surface, starts, ends, lats)
def interval_absolute_to_local(position_i: Interval, lane: AbstractLane) -> Tuple[np.ndarray, np.ndarray]:
"""
Converts an interval in absolute x,y coordinates to an interval in local (longiturinal, lateral) coordinates
:param position_i: the position interval [x_min, x_max]
:param lane: the lane giving the local frame
:return: the corresponding local interval
"""
position_corners = np.array([[position_i[0, 0], position_i[0, 1]],
[position_i[0, 0], position_i[1, 1]],
[position_i[1, 0], position_i[0, 1]],
[position_i[1, 0], position_i[1, 1]]])
corners_local = np.array([lane.local_coordinates(c) for c in position_corners])
longitudinal_i = np.array([min(corners_local[:, 0]), max(corners_local[:, 0])])
lateral_i = np.array([min(corners_local[:, 1]), max(corners_local[:, 1])])
return longitudinal_i, lateral_i
def interval_local_to_absolute(longitudinal_i: Interval, lateral_i: Interval, lane: AbstractLane) -> Interval:
"""
Converts an interval in local (longiturinal, lateral) coordinates to an interval in absolute x,y coordinates
:param longitudinal_i: the longitudinal interval [L_min, L_max]
:param lateral_i: the lateral interval [l_min, l_max]
:param lane: the lane giving the local frame
:return: the corresponding absolute interval
"""
corners_local = [[longitudinal_i[0], lateral_i[0]],
[longitudinal_i[0], lateral_i[1]],
[longitudinal_i[1], lateral_i[0]],
[longitudinal_i[1], lateral_i[1]]]
corners_absolute = np.array([lane.position(*c) for c in corners_local])
position_i = np.array([np.amin(corners_absolute, axis=0), np.amax(corners_absolute, axis=0)])
return position_i
def display(cls, lane: AbstractLane, surface: WorldSurface) -> None:
"""
Display a lane on a surface.
:param lane: the lane to be displayed
:param surface: the pygame surface
"""
stripes_count = int(2 * (surface.get_height() + surface.get_width()) / (cls.STRIPE_SPACING * surface.scaling))
s_origin, _ = lane.local_coordinates(surface.origin)
s0 = (int(s_origin) // cls.STRIPE_SPACING - stripes_count // 2) * cls.STRIPE_SPACING
for side in range(2):
if lane.line_types[side] == LineType.STRIPED:
cls.striped_line(lane, surface, stripes_count, s0, side)
elif lane.line_types[side] == LineType.CONTINUOUS:
cls.continuous_curve(lane, surface, stripes_count, s0, side)
elif lane.line_types[side] == LineType.CONTINUOUS_LINE:
cls.continuous_line(lane, surface, stripes_count, s0, side)