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metadriverse · Jun 11, 2024 · 87b2506 · 87b2506
1 parent cb18b7c
commit 87b2506
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Showing 3 changed files with 37 additions and 47 deletions.
diff --git a/metadrive/component/lane/extension_lane.py b/metadrive/component/lane/extension_lane.py
@@ -5,35 +5,35 @@
 
 
 class ExtensionDirection(Enum):
-  EXTEND = 0
-  SHRINK = 1
+    EXTEND = 0
+    SHRINK = 1
 
 
 class ExtendingLane(StraightLane):
-  def __init__(self, extension_direction: ExtensionDirection, *args, **kwargs):
-    super(ExtendingLane, self).__init__(*args, **kwargs)
-    self.extension_direction = extension_direction
-
-  def width_at(self, longitudinal: float) -> float:
-    if self.extension_direction == ExtensionDirection.EXTEND:
-      return (longitudinal / self.length) * self.width
-    else:
-      return self.width - (longitudinal / self.length) * self.width
-
-  @property
-  def polygon(self):
-    if self._polygon is not None:
-      return self._polygon
-
-    polygon = []
-    longs = np.arange(0, self.length + self.POLYGON_SAMPLE_RATE, self.POLYGON_SAMPLE_RATE)
-    for longitude in longs:
-      point = self.position(longitude, -self.width / 2)
-      polygon.append([point[0], point[1]])
-    for longitude in longs[::-1]:
-      latitude = self.width_at(longitude) - self.width / 2
-      point = self.position(longitude, latitude)
-      polygon.append([point[0], point[1]])
-    self._polygon = np.asarray(polygon)
-
-    return self._polygon
+    def __init__(self, extension_direction: ExtensionDirection, *args, **kwargs):
+        super(ExtendingLane, self).__init__(*args, **kwargs)
+        self.extension_direction = extension_direction
+
+    def width_at(self, longitudinal: float) -> float:
+        if self.extension_direction == ExtensionDirection.EXTEND:
+            return (longitudinal / self.length) * self.width
+        else:
+            return self.width - (longitudinal / self.length) * self.width
+
+    @property
+    def polygon(self):
+        if self._polygon is not None:
+            return self._polygon
+
+        polygon = []
+        longs = np.arange(0, self.length + self.POLYGON_SAMPLE_RATE, self.POLYGON_SAMPLE_RATE)
+        for longitude in longs:
+            point = self.position(longitude, -self.width / 2)
+            polygon.append([point[0], point[1]])
+        for longitude in longs[::-1]:
+            latitude = self.width_at(longitude) - self.width / 2
+            point = self.position(longitude, latitude)
+            polygon.append([point[0], point[1]])
+        self._polygon = np.asarray(polygon)
+
+        return self._polygon
diff --git a/metadrive/component/pgblock/create_pg_block_utils.py b/metadrive/component/pgblock/create_pg_block_utils.py
@@ -28,7 +28,8 @@ def create_extension(
 ):
     extension_end = start_position + [extension_lane_length, 0.0]
     extension = ExtendingLane(
-        direction, start_position, extension_end, width, [PGLineType.NONE, PGLineType.NONE], forbidden, speed_limit, priority
+        direction, start_position, extension_end, width, [PGLineType.NONE, PGLineType.NONE], forbidden, speed_limit,
+        priority
     )
     return extension
 

diff --git a/metadrive/component/pgblock/ramp.py b/metadrive/component/pgblock/ramp.py
@@ -42,12 +42,7 @@ class InRampOnStraight(Ramp):
 
     def _get_merge_part(self, att_lane: StraightLane, length: float):
         start = att_lane.end
-        merge_part = create_extension(
-            start,
-            length,
-            ExtensionDirection.SHRINK,
-            width=self.lane_width
-        )
+        merge_part = create_extension(start, length, ExtensionDirection.SHRINK, width=self.lane_width)
         return merge_part
 
     def _try_plug_into_previous_block(self) -> bool:
@@ -234,12 +229,7 @@ class OutRampOnStraight(Ramp):
 
     def _get_merge_part(self, att_lane: StraightLane, length: float):
         start = att_lane.position(0, self.lane_width)
-        merge_part = create_extension(
-            start,
-            length,
-            ExtensionDirection.EXTEND,
-            width=self.lane_width
-        )
+        merge_part = create_extension(start, length, ExtensionDirection.EXTEND, width=self.lane_width)
         return merge_part
 
     def _try_plug_into_previous_block(self) -> bool:
@@ -308,14 +298,13 @@ def _try_plug_into_previous_block(self) -> bool:
         self.block_network.add_lane(Decoration.start, Decoration.end, merge_part_lane)
 
         deacc_lane_end = dec_right_lane.position(dec_right_lane.length, self.lane_width)
-        deacc_lane = StraightLane(merge_part_lane.end, deacc_lane_end, self.lane_width, (PGLineType.BROKEN, PGLineType.CONTINUOUS))
+        deacc_lane = StraightLane(
+            merge_part_lane.end, deacc_lane_end, self.lane_width, (PGLineType.BROKEN, PGLineType.CONTINUOUS)
+        )
         self.block_network.add_lane(dec_road.start_node, dec_road.end_node, deacc_lane)
         no_cross = (
             not check_lane_on_road(
-                self._global_network,
-                deacc_lane,
-                0.95,
-                ignore_intersection_checking=self.ignore_intersection_checking
+                self._global_network, deacc_lane, 0.95, ignore_intersection_checking=self.ignore_intersection_checking
             )
         ) and no_cross