def test_find_overlaps_configurable_scenario_generation(self):
shape = Polygon2d([0, 0, 0], [Point2d(-1,0),
Point2d(-1,1),
Point2d(1,1),
Point2d(1,0)])
agent_states1 = [[0, 1, 0, 0, 0], [0, 4, 0, 0, 0], [0, 8, 0, 0, 0]] # agents along x axis
agent_geometries1 = [shape, shape, shape]
agent_states2 = [[0, 4, -10, 0, 0], [0, 4, 0, 0, 0], [0, 4, 20, 0, 0]] # agents along y axis at x= 4
agent_geometries2 = [shape, shape, shape]
agent_states3 = [[0, 20, -20, 0, 0], [0, 1, 0, 0, 0], [0, 4, 20, 0, 0]] # some agents two colliding with other configs
agent_geometries3 = [shape, shape, shape]
collected_sources_sinks_agent_states_geometries = [(agent_states1, agent_geometries1),
(agent_states2, agent_geometries2),
(agent_states3, agent_geometries3)]
overlaps = ConfigurableScenarioGeneration.find_overlaps_in_sources_sinks_agents(
collected_sources_sinks_agent_states_geometries)
self.assertTrue("0-1" in overlaps)
collisions_01 = overlaps["0-1"]
self.assertEqual(len(collisions_01), 1)
# check source sink configs
self.assertEqual(collisions_01[0][0][0], 0)
self.assertEqual(collisions_01[0][1][0], 1)
#check agent positions in list
self.assertEqual(collisions_01[0][0][1], 1)
self.assertEqual(collisions_01[0][1][1], 1)
self.assertTrue("0-2" in overlaps)
collisions_02 = overlaps["0-2"]
self.assertEqual(len(collisions_02), 1)
# check source sink configs
self.assertEqual(collisions_02[0][0][0], 0)
self.assertEqual(collisions_02[0][1][0], 2)
#check agent positions in list
self.assertEqual(collisions_02[0][0][1], 0)
self.assertEqual(collisions_02[0][1][1], 1)
collisions_03 = overlaps["1-2"]
self.assertEqual(len(collisions_03), 1)
# check source sink configs
self.assertEqual(collisions_03[0][0][0], 1)
self.assertEqual(collisions_03[0][1][0], 2)
#check agent positions in list
self.assertEqual(collisions_03[0][0][1], 2)
self.assertEqual(collisions_03[0][1][1], 2)
def test_find_overlaps_configurable_scenario_generation(self):
shape = Polygon2d(
[0, 0, 0],
[Point2d(-1, 0),
Point2d(-1, 1),
Point2d(1, 1),
Point2d(1, 0)])
agent_states1 = [[0, 1, 0, 0, 0], [0, 4, 0, 0, 0],
[0, 8, 0, 0, 0]] # agents along x axis
agent_geometries1 = [shape, shape, shape]
agent_states2 = [[0, 4, -10, 0, 0], [0, 4, 0, 0, 0],
[0, 4, 20, 0, 0]] # agents along y axis at x= 4
agent_geometries2 = [shape, shape, shape]
# some agents two colliding with other configs
agent_states3 = [[0, 20, -20, 0, 0], [0, 1, 0, 0, 0], [0, 4, 20, 0, 0]]
agent_geometries3 = [shape, shape, shape]
collected_sources_sinks_agent_states_geometries = [
(agent_states1, agent_geometries1),
(agent_states2, agent_geometries2),
(agent_states3, agent_geometries3)
]
overlaps = ConfigurableScenarioGeneration.find_overlaps_in_sources_sinks_agents(
collected_sources_sinks_agent_states_geometries)
self.assertTrue("0-1" in overlaps)
collisions_01 = overlaps["0-1"]
self.assertEqual(len(collisions_01), 1)
# check source sink configs
self.assertEqual(collisions_01[0][0][0], 0)
self.assertEqual(collisions_01[0][1][0], 1)
# check agent positions in list
self.assertEqual(collisions_01[0][0][1], 1)
self.assertEqual(collisions_01[0][1][1], 1)
self.assertTrue("0-2" in overlaps)
collisions_02 = overlaps["0-2"]
self.assertEqual(len(collisions_02), 1)
# check source sink configs
self.assertEqual(collisions_02[0][0][0], 0)
self.assertEqual(collisions_02[0][1][0], 2)
# check agent positions in list
self.assertEqual(collisions_02[0][0][1], 0)
self.assertEqual(collisions_02[0][1][1], 1)
collisions_03 = overlaps["1-2"]
self.assertEqual(len(collisions_03), 1)
# check source sink configs
self.assertEqual(collisions_03[0][0][0], 1)
self.assertEqual(collisions_03[0][1][0], 2)
# check agent positions in list
self.assertEqual(collisions_03[0][0][1], 2)
self.assertEqual(collisions_03[0][1][1], 2)
def test_dataset_scenario_generation(self):
params = ParameterServer()
map_filename = "modules/runtime/tests/data/DR_DEU_Merging_MT_v01_shifted.xodr"
track_filename = "modules/runtime/tests/data/interaction_dataset_dummy_track.csv"
params["Scenario"]["Generation"][
"InteractionDatasetScenarioGenerationFull"][
"MapFilename"] = map_filename
params["Scenario"]["Generation"][
"InteractionDatasetScenarioGenerationFull"][
"TrackFilename"] = track_filename
scenario_generation = InteractionDatasetScenarioGenerationFull(
params=params, num_scenarios=2)