verse.map.lane_segment_3d.CircularLane_3d_v1

class verse.map.lane_segment_3d.CircularLane_3d_v1(id, center: ndarray | Sequence[float], radius: float, norm_vec: ndarray | Sequence[float], start_phase: float, end_phase: float, right_rotate: bool = True, width: float = 4, line_types: List[LineType_3d] = None, forbidden: bool = False, speed_limit: float = 20, priority: int = 0)

Bases: AbstractLane_3d

A lane going in circle arc.

Methods

altitude()	Get the lane altitude (avg z of the start and end point)
distance(position)	Compute the L1 distance [m] from a position to the lane.
distance_with_heading(position, heading[, ...])	Compute a weighted distance in position and heading to the lane.
from_config(config)	Create lane instance from config
heading_at(longitudinal)	Get the lane heading at a given longitudinal lane coordinate.
is_reachable_from(position)	Whether the lane is reachable from a given world position
local_coordinates(position)	Convert a world position to local lane coordinates.
metaclass__	alias of ABCMeta
on_lane(position[, longitudinal, lateral, ...])	Whether a given world position is on the lane.
position(longitudinal, lateral, theta)	Convert local lane coordinates to a world position.
to_config()	Write lane parameters to dict which can be serialized to json
width_at(longitudinal)	Get the lane width at a given longitudinal lane coordinate.

after_end
get_lane_center
get_outer_center
get_sample_points
get_start_end_tang
get_tang

__init__(id, center: ndarray | Sequence[float], radius: float, norm_vec: ndarray | Sequence[float], start_phase: float, end_phase: float, right_rotate: bool = True, width: float = 4, line_types: List[LineType_3d] = None, forbidden: bool = False, speed_limit: float = 20, priority: int = 0) → None

altitude()

Get the lane altitude (avg z of the start and end point)

Returns:

the lane altitude [m]

distance(position: ndarray)

Compute the L1 distance [m] from a position to the lane.

distance_with_heading(position: ndarray, heading: float | None, heading_weight: float = 1.0)

Compute a weighted distance in position and heading to the lane.

classmethod from_config(config: dict)

Create lane instance from config

Parameters:

config – json dict with lane parameters

abstract heading_at(longitudinal: float) → float

Get the lane heading at a given longitudinal lane coordinate.

Parameters:

longitudinal – longitudinal lane coordinate [m]

Returns:

the lane heading [rad]

is_reachable_from(position: ndarray) → bool

Whether the lane is reachable from a given world position

Parameters:

position – the world position [m]

Returns:

is the lane reachable?

local_coordinates(position: ndarray) → Tuple[float, float, float]

Convert a world position to local lane coordinates.

Parameters:

position – a world position [m]

Returns:

the (longitudinal, lateral) lane coordinates [m]

metaclass__

alias of ABCMeta

on_lane(position: ndarray, longitudinal: float = None, lateral: float = None, margin: float = 0) → bool

Whether a given world position is on the lane.

Parameters:

• position – a world position [m]

• longitudinal – (optional) the corresponding longitudinal lane coordinate, if known [m]

• lateral – (optional) the corresponding lateral lane coordinate, if known [m]

• margin – (optional) a supplementary margin around the lane width

Returns:

is the position on the lane?

position(longitudinal: float, lateral: float, theta: float) → ndarray

Convert local lane coordinates to a world position.

Parameters:

• longitudinal – longitudinal lane coordinate [m]

• lateral – lateral lane coordinate [m]

Returns:

the corresponding world position [m]

to_config() → dict

Write lane parameters to dict which can be serialized to json

Returns:

dict of lane parameters

width_at(longitudinal: float) → float

Get the lane width at a given longitudinal lane coordinate.

Parameters:

longitudinal – longitudinal lane coordinate [m]

Returns:

the lane width [m]