def test_lanes(): centerlane = pyodrx.Lane() ls = pyodrx.LaneSection(0,centerlane) lanes = pyodrx.Lanes() lanes.add_lanesection(ls) lo = pyodrx.LaneOffset(0,1,2,3,4) lanes.add_laneoffset(lo) prettyprint(lanes.get_element())
def test_simple_road(): line1 = pyodrx.Line(100) planview = pyodrx.PlanView() planview.add_geometry(line1) rm = pyodrx.RoadMark(pyodrx.RoadMarkType.solid, 0.2, rule=pyodrx.MarkRule.no_passing) lane1 = pyodrx.Lane(a=2) lane1.add_roadmark(rm) lanesec = pyodrx.LaneSection(0, lane1) lanes = pyodrx.Lanes() lanes.add_lanesection(lanesec) road = pyodrx.Road(1, planview, lanes) prettyprint(road.get_element())
def test_link_road(): line1 = pyodrx.Line(100) planview = pyodrx.PlanView() planview.add_geometry(line1) rm = pyodrx.RoadMark(pyodrx.RoadMarkType.solid, 0.2, rule=pyodrx.MarkRule.no_passing) lane1 = pyodrx.Lane(a=2) lane1.add_roadmark(rm) lanesec = pyodrx.LaneSection(0, lane1) lanes = pyodrx.Lanes() lanes.add_lanesection(lanesec) road = pyodrx.Road(1, planview, lanes) road.add_predecessor(pyodrx.ElementType.road, '1', pyodrx.ContactPoint.start) prettyprint(road.get_element())
# create centerlane centerlane_1 = xodr.Lane(a=2) centerlane_1.add_roadmark(rm) lanesec_1 = xodr.LaneSection(0,centerlane_1) # add a driving lane lane2_1 = xodr.Lane(a=3.1) lane2_1.add_roadmark(rm) lanesec_1.add_left_lane(lane2_1) lane3_1 = xodr.Lane(a=3.1) lane3_1.add_roadmark(rm) lanesec_1.add_right_lane(lane3_1) ## finalize the road lanes_1 = xodr.Lanes() lanes_1.add_lanesection(lanesec_1) road = xodr.Road(1,planview,lanes_1) odr.add_road(road) #---------------- Road 2 planview2 = xodr.PlanView(x_start = 0, y_start = 10,h_start=np.pi/2) # planview2 = xodr.PlanView() # create some geometries and add to the planview planview2.add_geometry(xodr.Line(200))
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
##5. Create lane section form the centerlane lanesec = xodr.LaneSection(0, centerlane) ##6. Create left and right lanes lane2 = xodr.Lane(a=3) lane2.add_roadmark(rm) lane3 = xodr.Lane(a=3) lane3.add_roadmark(rm) ##7. Add lanes to lane section lanesec.add_left_lane(lane2) lanesec.add_right_lane(lane3) ##8. Add lane section to Lanes lanes = xodr.Lanes() lanes.add_lanesection(lanesec) ##9. Create Road from Planview and Lanes road = xodr.Road(1, planview, lanes) ##10. Create the OpenDrive class (Master class) odr = xodr.OpenDrive('myroad') ##11. Finally add roads to Opendrive odr.add_road(road) ##12. Adjust initial positions of the roads looking at succ-pred logic odr.adjust_roads_and_lanes() ##13. Print the .xodr file
def test_lanes(): centerlane = pyodrx.Lane() ls = pyodrx.LaneSection(0, centerlane) lanes = pyodrx.Lanes() lanes.add_lanesection(ls) prettyprint(lanes.get_element())
left = xodr.Lane(a=3) left.add_roadmark(rm) leftlanes.append(left) # create lanesections lanesections = [] for i in range(numberofroads): lsec = xodr.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 = xodr.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(xodr.Road(i, planviews[i], lanes[i], road_type=roadtypes[i])) roads[0].add_successor(xodr.ElementType.junction, 1) roads[1].add_predecessor(xodr.ElementType.road, 0, xodr.ContactPoint.end) roads[1].add_successor(xodr.ElementType.road, 2, xodr.ContactPoint.start) roads[2].add_predecessor(xodr.ElementType.junction, 1)