static PointSampleGlobal ConstructPointSampleFromOpenDriveCoordinates(Vector2 position, float heading)
{
var poseUnity = OpenDriveMapElementFactory.FromOpenDriveGlobalToUnity(
math.radians(heading), position.x, position.y);
return(new PointSampleGlobal(poseUnity));
}
// Because all of these tests were written assuming open drive coordinates, but our geometry is in
// Unity coordinates, rather than re-write all the test cases, we just convert from OpenDRIVE to Unity here
static Geometry ConstructGeometryFromOpenDriveCoordinates(
GeometryKind geometryKind, float headingDegrees, float length, float sAbsolute, float x, float z,
ArcData arcData = default, SpiralData spiralData = default,
Poly3Data poly3Data = default, ParamPoly3Data paramPoly3Data = default)
{
var pose = OpenDriveMapElementFactory.FromOpenDriveGlobalToUnity(math.radians(headingDegrees), x, z);
return(ConstructGeometry(geometryKind, pose, length, sAbsolute,
arcData, spiralData, poly3Data, paramPoly3Data));
}
public void TestFromOpenDriveToUnity(float headingIn, float xIn, float yIn, RigidTransform poseExpected)
{
var poseActual = OpenDriveMapElementFactory.FromOpenDriveGlobalToUnity(headingIn, xIn, yIn);
var posDelta = poseActual.pos - poseExpected.pos;
var magnitudePosDelta = math.sqrt(math.dot(posDelta, posDelta));
Assert.IsTrue(Mathf.Approximately(0.0f, magnitudePosDelta));
var rotationProduct = math.dot(poseExpected.rot, poseActual.rot);
Assert.IsTrue(Mathf.Approximately(1f, math.abs(rotationProduct)));
}
// Because all of these tests were written assuming open drive coordinates, but our geometry is in
// Unity coordinates, rather than re-write all the test cases, we just convert from OpenDRIVE to Unity here
static Geometry ConstructGeometryFromOpenDriveCoordinates(
float headingDegrees, float length, float sAbsolute, float x, float z,
GeometryKind geometryKind, ArcData arcData = default, SpiralData spiralData = default,
Poly3Data poly3Data = default, ParamPoly3Data paramPoly3Data = default)
{
var pose = OpenDriveMapElementFactory.FromOpenDriveGlobalToUnity(math.radians(headingDegrees), x, z);
return(new Geometry()
{
length = length,
sRoad = sAbsolute,
startPose = pose,
geometryKind = geometryKind,
arcData = arcData,
spiralData = spiralData,
poly3Data = poly3Data,
paramPoly3Data = paramPoly3Data
});
}
private RoadNetworkDescription LoadTestFile(string name)
{
// XXX: How do we remove the need to construct an importer here? We need to be able to serialize a
// RoadNetworkDescription object without keeping the accompanying xodr file
var testFilePath = "";
foreach (var assetPath in AssetDatabase.GetAllAssetPaths())
{
if (assetPath.Contains("Test") && assetPath.Contains("XodrFiles") &&
assetPath.Contains(name))
{
testFilePath = assetPath;
break;
}
}
Assert.AreNotEqual("", testFilePath, $"Failed to find {name} test file.");
var factory = new OpenDriveMapElementFactory();
Assert.IsTrue(factory.TryCreateRoadNetworkDescription(XDocument.Load(testFilePath), out var roadNetwork),
$"Failed to create test road network from {testFilePath}");
return(roadNetwork);
}
public void SetUp()
{
_factory = new OpenDriveMapElementFactory();
}