simulation.utils.road.sections.circular_arc module¶

Left- and RightCircularArc.

Summary¶

Classes:

`LeftCircularArc`	Part of a circle with a positive curvature.
`RightCircularArc`	Part of a circle with a negative curvature.

Reference¶

class _CircularArc(id: int = 0, transform: Optional[simulation.utils.geometry.transform.Transform] = None, is_start: bool = False, left_line_marking: str = 'solid', middle_line_marking: str = 'dashed', right_line_marking: str = 'solid', obstacles: List[simulation.utils.road.sections.obstacle.StaticObstacle] = <factory>, traffic_signs: List[simulation.utils.road.sections.traffic_sign.TrafficSign] = <factory>, surface_markings: List[simulation.utils.road.sections.surface_marking.SurfaceMarking] = <factory>, radius: Optional[float] = None, angle: Optional[float] = None)[source]¶

Bases: simulation.utils.road.sections.road_section.RoadSection

Road section representing a part of a circle.

radius: float = None¶: Radius of the circle.

angle: float = None¶: Define the portion of the circle [radian].

property middle_line¶

Middle line of the road section.

Type: Line

get_ending() → Tuple[simulation.utils.geometry.pose.Pose, float][source]¶

Get the ending of the section as a pose and the curvature.

Returns: A tuple consisting of the last point on the middle line together with the direction facing along the middle line as a pose and the curvature at the ending of the middle line.

class LeftCircularArc(id: int = 0, transform: Optional[simulation.utils.geometry.transform.Transform] = None, is_start: bool = False, left_line_marking: str = 'solid', middle_line_marking: str = 'dashed', right_line_marking: str = 'solid', obstacles: List[simulation.utils.road.sections.obstacle.StaticObstacle] = <factory>, traffic_signs: List[simulation.utils.road.sections.traffic_sign.TrafficSign] = <factory>, surface_markings: List[simulation.utils.road.sections.surface_marking.SurfaceMarking] = <factory>, radius: Optional[float] = None, angle: Optional[float] = None)[source]¶

Bases: simulation.utils.road.sections.circular_arc._CircularArc

Part of a circle with a positive curvature.

Parameters

radius (float) – Radius [m].
angle (float) – Part of the circle [radian].

TYPE = 1¶

class RightCircularArc(id: int = 0, transform: Optional[simulation.utils.geometry.transform.Transform] = None, is_start: bool = False, left_line_marking: str = 'solid', middle_line_marking: str = 'dashed', right_line_marking: str = 'solid', obstacles: List[simulation.utils.road.sections.obstacle.StaticObstacle] = <factory>, traffic_signs: List[simulation.utils.road.sections.traffic_sign.TrafficSign] = <factory>, surface_markings: List[simulation.utils.road.sections.surface_marking.SurfaceMarking] = <factory>, radius: Optional[float] = None, angle: Optional[float] = None)[source]¶

Bases: simulation.utils.road.sections.circular_arc._CircularArc

Part of a circle with a negative curvature.

Parameters

radius (float) – Radius [m].
angle (float) – Part of the circle [radian].

TYPE = 2¶