simulation.utils.road.sections.road_element module

Road elements are simple individual components of the road that have a frame.

Examples are traffic signs, obstacles or surface markings (e.g. turn arrow on the ground.

Summary

Classes:

RoadElement
RoadElementPoly
RoadElementRect	Generic element of the road that has a frame.

Reference

class RoadElement(transform: simulation.utils.geometry.transform.Transform = None, normalize_x: bool = True)

Bases: object

transform: simulation.utils.geometry.transform.Transform = None

Transform to coordinate system in which frame is given.

normalize_x: bool = True

If true, all x-values are substracted by the lowest x-value.

set_transform(line: simulation.utils.geometry.line.Line)

Calculate the correct transform to this element.

Depending on self.normalize_x the positional behavior is different. If self.normalize_x is True, the element is aligned along the provided line.

Example

>>> from simulation.utils.geometry import Line, Point, Transform
>>> from simulation.utils.road.sections.road_element import RoadElementRect
>>> line = Line([Point(0, 0), Point(0, 10)])  # y axis
>>> normalized_el = RoadElementRect(center=Point(1, 1))
... # normalize_x is True by default
>>> normalized_el.set_transform(line)
>>> normalized_el.transform
Transform(translation=Vector(0.0, 1.0, 0.0),rotation=Quaternion(0.7071067811865476, 0.0, 0.0, 0.7071067811865475))
>>> normalized_el._center
Point(1.0, 1.0, 0.0)
>>> normalized_el.center
Point(-1.0, 1.0, 0.0)
>>> unnormalized_el = RoadElementRect(center=Point(1,0), normalize_x=False)
... # normalize_x is True by default
>>> unnormalized_el.set_transform(line)
>>> unnormalized_el.transform
Transform(translation=Vector(0.0, 0.0, 0.0),rotation=Quaternion(0.7071067811865476, 0.0, 0.0, 0.7071067811865475))
>>> normalized_el._center
Point(1.0, 1.0, 0.0)
>>> normalized_el.center
Point(-1.0, 1.0, 0.0)

class _RoadElementPoly(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)]))

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

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)])

Frame of the element in global coordinates.

Type

Polygon

class RoadElementPoly(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)]))

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

property frame

Frame of the element in global coordinates.

Type

Polygon

class _RoadElementRect(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)

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

center: simulation.utils.geometry.point.Point = Point(0.4, -0.2, 0.0)

Center point of the element.

width: float = 0.2

Width of the element.

depth: float = 0.2

Depth of the element.

Component of the size in the direction of the road.

angle: float = 0

Angle [radian] between the middle line and the element (measured at the center).

class RoadElementRect(transform: Optional[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)

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

Generic element of the road that has a frame.

Examples of road elements are obstacles and traffic signs.

property center

Center of the element in global coordinates.

Type

Point

property orientation

Orientation of the element in global coordinates in radians.

Type

float

property frame

Frame of the element in global coordinates.

Type

Polygon