simulation.utils.road.sections package¶

Definition of the road.sections module.

Collect classes and functions which should be included in the road.sections module.

If these imports are rearranged cyclic imports may occur. To prevent this: isort:skip_file

Submodules:

Summary¶

__all__ Classes:

`BlockedArea`	Road section representing a blocked area.
`CubicBezier`	Cubic bezier curve, defined by three control points.
`Intersection`	Road section representing an intersection.
`LeftCircularArc`	Part of a circle with a positive curvature.
`ParkingArea`	Part of the road with parking lots and a start line.
`ParkingLot`	Outline of a parking lot (right/left side) and all parking spots contained within.
`ParkingObstacle`	ParkingObstacle(transform: simulation.utils.geometry.transform.Transform = None, normalize_x: bool = False, center: simulation.utils.geometry.point.Point = Point(0.2, -0.2, 0.0), width: float = 0.15, depth: float = 0.15, angle: float = 0, height: float = 0.2)
`ParkingSpot`	Parking spot with a type and optionally an obstacle placed on top.
`QuadBezier`	Quadratic bezier curve, defined by two control points.
`RightCircularArc`	Part of a circle with a negative curvature.
`RoadSection`	Base class of all road sections.
`StaticObstacle`	StaticObstacle(transform: simulation.utils.geometry.transform.Transform = None, normalize_x: bool = True, center: simulation.utils.geometry.point.Point = Point(0.4, -0.2, 0.0), width: float = 0.2, depth: float = 0.2, angle: float = 0, height: float = 0.2)
`StraightRoad`	Straight section of the road.
`SurfaceMarkingPoly`	SurfaceMarkingPoly(kind: Tuple[int, str] = None, transform: simulation.utils.geometry.transform.Transform = None, normalize_x: bool = True, frame: simulation.utils.geometry.polygon.Polygon = Polygon([Point(0.3, -0.4, 0.0), Point(0.5, -0.4, 0.0), Point(0.5, 0.0, 0.0), Point(0.3, 0.0, 0.0), Point(0.3, -0.4, 0.0)]))
`SurfaceMarkingRect`	SurfaceMarkingRect(kind: Tuple[int, str] = None, transform: simulation.utils.geometry.transform.Transform = None, normalize_x: bool = True, center: simulation.utils.geometry.point.Point = Point(0.4, -0.2, 0.0), width: float = 0.2, depth: float = 0.2, angle: float = 0)
`TrafficIsland`	Road section representing an traffic island.
`TrafficSign`	TrafficSign(transform: simulation.utils.geometry.transform.Transform = None, normalize_x: bool = True, center: simulation.utils.geometry.point.Point = Point(0.4, -0.2, 0.0), width: float = 0.2, depth: float = 0.2, angle: float = 0, kind: simulation.utils.road.sections.traffic_sign.SignTuple = None)
`ZebraCrossing`	Road section representing a zebra crossing.

Reference¶

class QuadBezier(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>, p1: Optional[Union[simulation.utils.geometry.point.Point, Sequence[float]]] = None, p2: Optional[Union[simulation.utils.geometry.point.Point, Sequence[float]]] = None)[source]¶

Bases: simulation.utils.road.sections.bezier_curve.BezierCurve

Quadratic bezier curve, defined by two control points.

Parameters

p1 (Union[Point, Sequence[float]]) – Control point 1. Y-Value has to be zero in order to match the gradient of the last section at the start.
p2 (Union[Point, Sequence[float]]) – Control point 2.

TYPE = 3¶

property middle_line¶

Middle line of the road section.

Type: Line

class CubicBezier(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>, p1: Optional[Union[simulation.utils.geometry.point.Point, Sequence[float]]] = None, p2: Optional[Union[simulation.utils.geometry.point.Point, Sequence[float]]] = None, p3: Optional[Union[simulation.utils.geometry.point.Point, Sequence[float]]] = None)[source]¶

Bases: simulation.utils.road.sections.bezier_curve.BezierCurve

Cubic bezier curve, defined by three control points.

Parameters

p1 (Union[Point, Sequence[float]]) – Control point 1.
p2 (Union[Point, Sequence[float]]) – Control point 2.
p3 (Union[Point, Sequence[float]]) – Control point 3.

TYPE = 4¶

p3: Union[simulation.utils.geometry.point.Point, Sequence[float]] = None¶: Control point 3.

property middle_line¶

Middle line of the road section.

Type: 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¶

class Intersection(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>, angle: float = 1.5707963267948966, closing: Optional[str] = None, turn: str = 0, rule: str = 0, size: float = 1.8)[source]¶

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

Road section representing an intersection.

Parameters

angle (float) – Angle [radian] between crossing roads.
closing (int) – Optionally close one direction to create a T-intersection.
turn (int) – Direction in which the road continues.
rule (int) – Priority-rule at intersection.
size (float) – Length of the crossing roads.

TYPE = 7¶

STRAIGHT = 0¶: Possible value for turn. Drive straight through the intersection.

LEFT = 1¶: Possible value for turn. Turn left at the intersection.

RIGHT = 2¶: Possible value for turn. Turn right at the intersection.

EQUAL = 0¶: Possible value for rule. Rechts vor links.

YIELD = 1¶: Possible value for rule. Car must yield.

STOP = 2¶: Possible value for rule. Car must stop.

PRIORITY_YIELD = 3¶

Possible value for rule. Car will have the right of way.

Intersecting road must yield.

PRIORITY_STOP = 4¶

Possible value for rule. Car will have the right of way.

Intersecting road must stop.

angle: float = 1.5707963267948966¶: Angle between intersecting roads [radian].

closing: str = None¶: Closed direction (T-intersection).

turn: str = 0¶: Direction in which road continues.

rule: str = 0¶: Priority rule at intersection.

size: float = 1.8¶: Size of intersection (from one side to the other).

property sin¶

property cos¶

property y¶

property x¶

property z¶

property u¶

property v¶

property w¶

property ll¶

property ls¶

property rl¶

property rs¶

cp_sign_south(sign_dist)[source]¶

cp_surface_south()[source]¶

cp_sign_west(sign_dist)[source]¶

cp_surface_west()[source]¶

cp_sign_north(sign_dist)[source]¶

cp_sign_east(sign_dist)[source]¶

cp_surface_east()[source]¶

get_points()[source]¶

property middle_line_south¶

property left_line_south¶

property right_line_south¶

property middle_line_east¶

property left_line_east¶

property right_line_east¶

property middle_line_north¶

property left_line_north¶

property right_line_north¶

property middle_line_west¶

property left_line_west¶

property right_line_west¶

property ls_circle¶

property ll_circle¶

property rs_circle¶

property rl_circle¶

property middle_line¶

Middle line of the intersection.

Type: Line

property lines¶

All road lines with their marking type.

Type: List[MarkedLine]

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

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

Returns: A tuple consisting of the first point on the middle line together with the direction facing away from the road section as a pose and the curvature at the beginning of the middle 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.

get_bounding_box() → simulation.utils.geometry.polygon.Polygon [source]¶

Get a polygon around the road section.

Bounding box is an approximate representation of all points within a given distance of this geometric object.

_get_intersection_traffic_signs() → List[simulation.utils.road.sections.traffic_sign.TrafficSign][source]¶

_get_intersection_surface_markings() → List[simulation.utils.road.sections.surface_marking.SurfaceMarkingRect][source]¶

class StaticObstacle(transform: simulation.utils.geometry.transform.Transform = None, normalize_x: bool = True, center: simulation.utils.geometry.point.Point = Point(0.4, - 0.2, 0.0), width: float = 0.2, depth: float = 0.2, angle: float = 0, height: float = 0.2)[source]¶

Bases: simulation.utils.road.sections.road_element.RoadElementRect

id_ = 1¶

desc = 'StaticObstacle'¶

height: float = 0.2¶: Height of the obstacle.

class ParkingObstacle(transform: simulation.utils.geometry.transform.Transform = None, normalize_x: bool = False, center: simulation.utils.geometry.point.Point = Point(0.2, - 0.2, 0.0), width: float = 0.15, depth: float = 0.15, angle: float = 0, height: float = 0.2)[source]¶

Bases: simulation.utils.road.sections.obstacle._ParkingObstacle

id_ = 2¶

desc = 'ParkingObstacle'¶

width: float = 0.15¶: Width of the obstacle.

depth: float = 0.15¶: Width of the obstacle.

normalize_x: bool = False¶

property center¶

Center of the element in global coordinates.

Type: Point

class TrafficSign(transform: simulation.utils.geometry.transform.Transform = None, normalize_x: bool = True, center: simulation.utils.geometry.point.Point = Point(0.4, - 0.2, 0.0), width: float = 0.2, depth: float = 0.2, angle: float = 0, kind: simulation.utils.road.sections.traffic_sign.SignTuple = None)[source]¶

Bases: simulation.utils.road.sections.road_element.RoadElementRect

ZONE_10_START = SignTuple(mesh='speed_limit_zone_10_start_sign', id_=101, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

ZONE_20_START = SignTuple(mesh='speed_limit_zone_20_start_sign', id_=102, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

ZONE_30_START = SignTuple(mesh='speed_limit_zone_30_start_sign', id_=103, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

ZONE_40_START = SignTuple(mesh='speed_limit_zone_40_start_sign', id_=104, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

ZONE_50_START = SignTuple(mesh='speed_limit_zone_50_start_sign', id_=105, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

ZONE_60_START = SignTuple(mesh='speed_limit_zone_60_start_sign', id_=106, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

ZONE_70_START = SignTuple(mesh='speed_limit_zone_70_start_sign', id_=107, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

ZONE_80_START = SignTuple(mesh='speed_limit_zone_80_start_sign', id_=108, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

ZONE_90_START = SignTuple(mesh='speed_limit_zone_90_start_sign', id_=109, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

ZONE_10_END = SignTuple(mesh='speed_limit_zone_10_end_sign', id_=110, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

ZONE_20_END = SignTuple(mesh='speed_limit_zone_20_end_sign', id_=111, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

ZONE_30_END = SignTuple(mesh='speed_limit_zone_30_end_sign', id_=112, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

ZONE_40_END = SignTuple(mesh='speed_limit_zone_40_end_sign', id_=113, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

ZONE_50_END = SignTuple(mesh='speed_limit_zone_50_end_sign', id_=114, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

ZONE_60_END = SignTuple(mesh='speed_limit_zone_60_end_sign', id_=115, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

ZONE_70_END = SignTuple(mesh='speed_limit_zone_70_end_sign', id_=116, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

ZONE_80_END = SignTuple(mesh='speed_limit_zone_80_end_sign', id_=117, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

ZONE_90_END = SignTuple(mesh='speed_limit_zone_90_end_sign', id_=118, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

RAMP_START = SignTuple(mesh='uphill_grade_sign', id_=119, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

RAMP_END = SignTuple(mesh='downhill_grade_sign', id_=120, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

PRIORITY = SignTuple(mesh='priority_sign', id_=121, collision_box_size=(0.015, 0.1, 0.275), collision_box_position=(0, 0, 0.1375))¶

YIELD = SignTuple(mesh='yield_sign', id_=122, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

STOP = SignTuple(mesh='stop_sign', id_=123, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

ONCOMING_TRAFFIC = SignTuple(mesh='oncoming_traffic_sign', id_=124, collision_box_size=(0.015, 0.1, 0.275), collision_box_position=(0, 0, 0.1375))¶

NO_OVERTAKING_START = SignTuple(mesh='no_overtaking_start_sign', id_=125, collision_box_size=(0.015, 0.1, 0.275), collision_box_position=(0, 0, 0.1375))¶

NO_OVERTAKING_END = SignTuple(mesh='no_overtaking_end_sign', id_=126, collision_box_size=(0.015, 0.1, 0.275), collision_box_position=(0, 0, 0.1375))¶

TURN_RIGHT = SignTuple(mesh='turn_right_sign', id_=127, collision_box_size=(0.015, 0.1, 0.275), collision_box_position=(0, 0, 0.1375))¶

TURN_LEFT = SignTuple(mesh='turn_left_sign', id_=128, collision_box_size=(0.015, 0.1, 0.275), collision_box_position=(0, 0, 0.1375))¶

PASS_RIGHT = SignTuple(mesh='pass_right_sign', id_=129, collision_box_size=(0.015, 0.1, 0.125), collision_box_position=(0, 0, 0.0625))¶

PASS_LEFT = SignTuple(mesh='pass_left_sign', id_=130, collision_box_size=(0.015, 0.1, 0.125), collision_box_position=(0, 0, 0.0625))¶

SHARP_TURN_RIGHT_SMALL = SignTuple(mesh='sharp_turn_right_small_sign', id_=131, collision_box_size=(0.015, 0.1, 0.125), collision_box_position=(0, 0, 0.0625))¶

SHARP_TURN_RIGHT = SignTuple(mesh='sharp_turn_right_sign', id_=132, collision_box_size=(0.015, 0.3, 0.125), collision_box_position=(0, 0, 0.0625))¶

SHARP_TURN_LEFT_SMALL = SignTuple(mesh='sharp_turn_left_small_sign', id_=133, collision_box_size=(0.015, 0.1, 0.125), collision_box_position=(0, 0, 0.0625))¶

SHARP_TURN_LEFT = SignTuple(mesh='sharp_turn_left_sign', id_=134, collision_box_size=(0.015, 0.3, 0.125), collision_box_position=(0, 0, 0.0625))¶

ZEBRA_CROSSING = SignTuple(mesh='zebra_crossing_sign', id_=135, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

PARKING = SignTuple(mesh='parking_sign', id_=136, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

EXPRESSWAY_START = SignTuple(mesh='expressway_start_sign', id_=137, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

EXPRESSWAY_END = SignTuple(mesh='expressway_end_sign', id_=138, collision_box_size=(0.015, 0.15, 0.3), collision_box_position=(0, 0, 0.15))¶

kind: simulation.utils.road.sections.traffic_sign.SignTuple = None¶

class SurfaceMarkingPoly(kind: Tuple[int, str] = None, transform: simulation.utils.geometry.transform.Transform = None, normalize_x: bool = True, frame: simulation.utils.geometry.polygon.Polygon = Polygon([Point(0.3, - 0.4, 0.0), Point(0.5, - 0.4, 0.0), Point(0.5, 0.0, 0.0), Point(0.3, 0.0, 0.0), Point(0.3, - 0.4, 0.0)]))[source]¶: Bases: simulation.utils.road.sections.road_element.RoadElementPoly, simulation.utils.road.sections.surface_marking.SurfaceMarking

class SurfaceMarkingRect(kind: Tuple[int, str] = None, transform: simulation.utils.geometry.transform.Transform = None, normalize_x: bool = True, center: simulation.utils.geometry.point.Point = Point(0.4, - 0.2, 0.0), width: float = 0.2, depth: float = 0.2, angle: float = 0)[source]¶: Bases: simulation.utils.road.sections.road_element.RoadElementRect, simulation.utils.road.sections.surface_marking.SurfaceMarking

class ParkingArea(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>, length: float = 1, start_line: bool = False, start_line_length: float = 0.06, left_lots: List[simulation.utils.road.sections.parking_area.ParkingLot] = <factory>, right_lots: List[simulation.utils.road.sections.parking_area.ParkingLot] = <factory>)[source]¶

Bases: simulation.utils.road.sections.parking_area._ParkingArea

Part of the road with parking lots and a start line.

Parameters

left_lots (List[ParkingLot]) – Parking lots on the left side.
right_lots (List[ParkingLot]) – Parking lots on the right side.
start_line (bool) – Indicate whether the parking area starts with a start line.
start_line_length (float) – Manually set the length of the start line.

property surface_markings¶

All surface markings within this section of the road.

Type: List[SurfaceMarking]

get_bounding_box() → simulation.utils.geometry.polygon.Polygon [source]¶

Get a polygon around the road section.

Bounding box is an approximate representation of all points within a given distance of this geometric object.

property left_lots¶

Parking lots on the left side.

Type: List[ParkingLot]

property right_lots¶

Parking lots on the right side.

Type: List[ParkingLot]

property parking_obstacles¶

All obstacles on parking spots.

Type: List[ParkingObstacle]

property obstacles¶

All obstacles within this section of the road.

Type: List[StaticObstacle]

property lines¶

All borderlines with their marking type.

Type: List[MarkedLine]

property traffic_signs¶

All traffic signs within this section of the road.

Type: List[TrafficSign]

class ParkingLot(start: float = 0, spots: List[simulation.utils.road.sections.parking_area.ParkingSpot] = <factory>, _side: str = 'right', opening_angle: float = 1.0471975511965976, depth: Optional[float] = None, transform: Optional[simulation.utils.geometry.transform.Transform] = None)[source]¶

Bases: simulation.utils.road.sections.parking_area._ParkingLot

Outline of a parking lot (right/left side) and all parking spots contained within.

Parameters

start (float) – Beginning relative to the start of the section.
opening_angle (float) – Opening angle of the outside border of the parking lot.
depth (float) – Depth of the parking spots within the parking lot.
spots (List[ParkingSpot]) – Parking spots within the lot.

property length¶

Sum of the widths of all parking spots.

Type: float

property _side_sign¶

property border¶

Outside border of the parking lot.

Type: Line

property spots¶

All spots in the parking lot.

Type: List[ParkingSpot]

property obstacles¶

All obstacles on spots.

Type: List[ParkingObstacle]

property lines¶

All border lines with solid marking type.

Type: List[MarkedLine]

class ParkingSpot(width: float = 0.35, kind: str = 0, obstacle: Optional[simulation.utils.road.sections.obstacle.ParkingObstacle] = None, transform: Optional[simulation.utils.geometry.transform.Transform] = None)[source]¶

Bases: simulation.utils.road.sections.parking_area._ParkingSpot

Parking spot with a type and optionally an obstacle placed on top.

Parameters

width (float) – Width of the spot.
kind (int) – Type of the spot.
obstacle (ParkingObstacle) – Obstacle within the spot.

property frame¶

Frame of the parking spot in global coordinates.

Type: Polygon

property lines¶

Borderlines for spot if spot is on the left.

Marking type is always solid.

Type: List[MarkedLine]

property obstacle¶

Obstacle that is on the spot (if any).

Type: ParkingObstacle

class StraightRoad(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>, length: float = 1)[source]¶

Bases: simulation.utils.road.sections.straight_road._StraightRoad

Straight section of the road.

Parameters: length (float) – Length [m] of the section.

Example

>>> from simulation.utils.road.sections import StraightRoad
>>> from simulation.utils.road.road import Road
>>> road = Road()
>>> road.append(StraightRoad(length=2))
>>> road
Road(_name=None, _seed=None, use_seed=True, sections=[StraightRoad(id=0, transform=Transform(translation=Vector(0.0, 0.0, 0.0),rotation=Quaternion(1.0, 0.0, 0.0, 0.0)), is_start=False, left_line_marking='solid', middle_line_marking='dashed', right_line_marking='solid', obstacles=[], traffic_signs=[], surface_markings=[], length=2)], length=2.0)

property middle_line¶

Middle line of the road section.

Type: Line

class ZebraCrossing(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>, length: float = 0.45)[source]¶

Bases: simulation.utils.road.sections.straight_road.StraightRoad

Road section representing a zebra crossing.

Parameters: length (float) – length of the crossing and thus the section.

TYPE = 6¶

length: float = 0.45¶

property frame¶

Frame for the zebra crossing surface marking.

Type: Polygon

property traffic_signs¶

All traffic signs within this section of the road.

Type: List[TrafficSign]

class RoadSection(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>)[source]¶

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

Base class of all road sections.

TYPE = None¶: Type of the road section.

prev_length: float = 0¶: Length of Road up to this section.

property middle_line¶

Middle line of the road section.

Type: Line

property left_line¶

Left line of the road section.

Type: Line

property right_line¶

Right line of the road section.

Type: Line

property lines¶

All road lines with their marking type.

Type: List[MarkedLine]

property obstacles¶

All obstacles within this section of the road.

Type: List[StaticObstacle]

property traffic_signs¶

All traffic signs within this section of the road.

Type: List[TrafficSign]

property surface_markings¶

All surface markings within this section of the road.

Type: List[SurfaceMarking]

get_bounding_box() → simulation.utils.geometry.polygon.Polygon [source]¶

Get a polygon around the road section.

Bounding box is an approximate representation of all points within a given distance of this geometric object.

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

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

Returns: A tuple consisting of the first point on the middle line together with the direction facing away from the road section as a pose and the curvature at the beginning of the middle 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 BlockedArea(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>, length: float = 1, width: float = 0.2, _opening_angle: float = 1.0471975511965976)[source]¶

Bases: simulation.utils.road.sections.straight_road.StraightRoad

Road section representing a blocked area.

Parameters: width (float) – width of the blocked area, starting from the right line.

TYPE = 8¶

width: float = 0.2¶

_opening_angle: float = 1.0471975511965976¶

property frame¶

Frame of the blocked area surface marking.

It has the shape of a symmetrical trapezoid.

Type: Polygon

property _poly¶

property traffic_signs¶

All traffic signs within this section of the road.

Type: List[TrafficSign]

class TrafficIsland(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>, island_width: float = 0.3, zebra_length: float = 0.45, curve_area_length: float = 0.8, curvature: float = 0.4, zebra_marking_type: int = 1, _sign_distance: float = 0.3)[source]¶

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

Road section representing an traffic island.

Parameters

island_width (float) – width of the island in the middle
zebra_length (float) – length of zebra section on the island
curve_area_length (float) – length of curve area section
curvature (float) – amount of curvature ranging from 0 to 1
zebra_marking_type (int) – marking on the middle of the island

TYPE = 9¶

LINES = 0¶: Possible value for zebra_marking_type. Show lines on the island.

ZEBRA = 1¶: Possible value for zebra_marking_type. Show zebra crossing on the island.

island_width: float = 0.3¶: Width of island in the middle.

zebra_length: float = 0.45¶: Length of the zebra crossing area.

curve_area_length: float = 0.8¶: Length of the bezier curve area at start and end of island.

curvature: float = 0.4¶: Define where along the curve area the control points are located.

zebra_marking_type: int = 1¶: Type of zebra marking type. Can be LINES or ZEBRA.

_sign_distance: float = 0.3¶: Distance of the directions signs from the mid island part.

property length¶: Length of the entire section.

property middle_start¶

property middle_r_zebra_start¶

property middle_r_zebra_end¶

property middle_end¶

property right_zebra_start¶

property right_zebra_end¶

property left_zebra_start¶

property left_zebra_end¶

property middle_l_zebra_start¶

property middle_l_zebra_end¶

property bezier_points_mid_r_start¶

property bezier_points_mid_r_end¶

property bezier_points_mid_l_start¶

property bezier_points_mid_l_end¶

property middle_line_r¶

Middle line on the right side of the traffic island.

Type: Line

property middle_line_l¶

Middle line on the left side of the traffic island.

Type: Line

property middle_line¶

Middle line of the road section. Here it is the left middle line.

Type: Line

property right_line¶

Right line of the road section.

Type: Line

property left_line¶

Left line of the road section.

Type: Line

property lines¶

All road lines with their marking type.

Type: List[MarkedLine]

property traffic_signs¶

All traffic signs within this section of the road.

Type: List[TrafficSign]

property surface_markings¶

All surface markings within this section of the road.

Type: List[SurfaceMarking]