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chore: add tests for RelativeDistanceCondition with shortest routing …
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…algorithm
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@HansRobo
HansRobo committed Apr 1, 2024
1 parent 4aaa85d commit c16b566
Showing 1 changed file with 161 additions and 30 deletions.
191 changes: 161 additions & 30 deletions ...io_test_runner/scenario/ByEntityCondition.EntityCondition.DistanceCondition.Shortest.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -17,9 +17,17 @@ OpenSCENARIO:
Entities:
ScenarioObject:
- name: ego
CatalogReference:
CatalogReference: &SAMPLE_VEHICLE
catalogName: sample_vehicle
entryName: sample_vehicle
- name: car_1
CatalogReference: *SAMPLE_VEHICLE
- name: car_2
CatalogReference: *SAMPLE_VEHICLE
- name: car_3
CatalogReference: *SAMPLE_VEHICLE
- name: car_4
CatalogReference: *SAMPLE_VEHICLE
Storyboard:
Init:
Actions:
Expand All @@ -38,7 +46,7 @@ OpenSCENARIO:
h: 0
p: 0
r: 0
- LongitudinalAction:
- LongitudinalAction: &SPEED_ACTION_ZERO
SpeedAction:
SpeedActionDynamics:
dynamicsDimension: time
Expand All @@ -47,6 +55,43 @@ OpenSCENARIO:
SpeedActionTarget:
AbsoluteTargetSpeed:
value: 0
- entityRef: car_1
PrivateAction:
- TeleportAction:
Position: &POSITION_1
LanePosition:
roadId: ""
laneId: 34468
s: 10
offset: 0
Orientation: &DEFAULT_ORIENTATION
type: relative
h: 0
p: 0
r: 0
- LongitudinalAction: *SPEED_ACTION_ZERO
- entityRef: car_2
PrivateAction:
- TeleportAction:
Position: &POSITION_2
LanePosition:
roadId: ""
laneId: 34462
s: 40
offset: 0
Orientation: *DEFAULT_ORIENTATION
- LongitudinalAction: *SPEED_ACTION_ZERO
- entityRef: car_3
PrivateAction:
- TeleportAction:
Position: &POSITION_3
LanePosition:
roadId: ""
laneId: 34462
s: 5
offset: 0
Orientation: *DEFAULT_ORIENTATION
- LongitudinalAction: *SPEED_ACTION_ZERO
Story:
- name: story
Act:
Expand Down Expand Up @@ -88,7 +133,7 @@ OpenSCENARIO:
StartTrigger:
ConditionGroup:
- Condition:
- name: "lateral, freespace=false, shortest"
- name: "DistanceCondition(lateral, freespace=false, shortest)"
delay: 0
conditionEdge: none
ByEntityCondition:
Expand All @@ -104,19 +149,27 @@ OpenSCENARIO:
routingAlgorithm: shortest
rule: notEqualTo
value: 56.8808259861762621767
Position: &POSITION_1
LanePosition:
roadId: ""
laneId: 34468
s: 10
offset: 0
Orientation: &DEFAULT_ORIENTATION
type: relative
h: 0
p: 0
r: 0
Position: *POSITION_1
- Condition:
- name: "RelativeDistanceCondition(lateral, freespace=false, shortest)"
delay: 0
conditionEdge: none
ByEntityCondition:
TriggeringEntities:
triggeringEntitiesRule: all
EntityRef:
- entityRef: car_1
EntityCondition:
RelativeDistanceCondition:
coordinateSystem: lane
entityRef: ego
freespace: false
relativeDistanceType: longitudinal
routingAlgorithm: shortest
rule: notEqualTo
value: 56.8808259861762621767
- Condition:
- name: "lateral, freespace=false, shortest to adjacent lane"
- name: "DistanceCondition(lateral, freespace=false, shortest to adjacent lane)"
delay: 0
conditionEdge: none
ByEntityCondition:
Expand All @@ -132,15 +185,27 @@ OpenSCENARIO:
routingAlgorithm: shortest
rule: notEqualTo
value: 28.90481959183431825977095
Position: &POSITION_2
LanePosition:
roadId: ""
laneId: 34462
s: 40
offset: 0
Orientation: *DEFAULT_ORIENTATION
Position: *POSITION_2
- Condition:
- name: "lateral, freespace=false, shortest to adjacent lane (backward position)"
- name: "RelativeDistanceCondition(lateral, freespace=false, shortest to adjacent lane)"
delay: 0
conditionEdge: none
ByEntityCondition:
TriggeringEntities:
triggeringEntitiesRule: all
EntityRef:
- entityRef: car_2
EntityCondition:
RelativeDistanceCondition:
coordinateSystem: lane
entityRef: ego
freespace: false
relativeDistanceType: longitudinal
routingAlgorithm: shortest
rule: notEqualTo
value: 28.90481959183431825977095
- Condition:
- name: "DistanceCondition(lateral, freespace=false, shortest to adjacent lane (backward position))"
delay: 0
conditionEdge: none
ByEntityCondition:
Expand All @@ -156,13 +221,25 @@ OpenSCENARIO:
routingAlgorithm: shortest
rule: notEqualTo
value: 6.0951804081656817402290471363812
Position:
LanePosition:
roadId: ""
laneId: 34462
s: 5
offset: 0
Orientation: *DEFAULT_ORIENTATION
Position: *POSITION_3
- Condition:
- name: "RelativeDistanceCondition(lateral, freespace=false, shortest to adjacent lane (backward position))"
delay: 0
conditionEdge: none
ByEntityCondition:
TriggeringEntities:
triggeringEntitiesRule: all
EntityRef:
- entityRef: car_3
EntityCondition:
RelativeDistanceCondition:
coordinateSystem: lane
entityRef: ego
freespace: false
relativeDistanceType: longitudinal
routingAlgorithm: shortest
rule: notEqualTo
value: 6.0951804081656817402290471363812
- Condition:
- name: "lateral, freespace=true, shortest"
delay: 0
Expand All @@ -181,6 +258,24 @@ OpenSCENARIO:
rule: notEqualTo
value: 53.140825986176260187221487285569
Position: *POSITION_1
- Condition:
- name: "lateral, freespace=true, shortest"
delay: 0
conditionEdge: none
ByEntityCondition:
TriggeringEntities:
triggeringEntitiesRule: all
EntityRef:
- entityRef: car_1
EntityCondition:
RelativeDistanceCondition:
coordinateSystem: lane
entityRef: ego
freespace: true
relativeDistanceType: longitudinal
routingAlgorithm: shortest
rule: notEqualTo
value: 52.1108259861762661557
- Condition:
- name: "lateral, freespace=false, shortest"
delay: 0
Expand All @@ -199,6 +294,24 @@ OpenSCENARIO:
rule: notEqualTo
value: 3.021089007161695
Position: *POSITION_1
- Condition:
- name: "lateral, freespace=false, shortest"
delay: 0
conditionEdge: none
ByEntityCondition:
TriggeringEntities:
triggeringEntitiesRule: all
EntityRef:
- entityRef: car_1
EntityCondition:
RelativeDistanceCondition:
coordinateSystem: lane
entityRef: ego
freespace: false
relativeDistanceType: lateral
routingAlgorithm: shortest
rule: notEqualTo
value: 3.021089007161695
- Condition:
- name: "lateral, freespace=true, shortest"
delay: 0
Expand All @@ -217,6 +330,24 @@ OpenSCENARIO:
rule: notEqualTo
value: 2.106089007161695114689337060
Position: *POSITION_1
- Condition:
- name: "lateral, freespace=true, shortest"
delay: 0
conditionEdge: none
ByEntityCondition:
TriggeringEntities:
triggeringEntitiesRule: all
EntityRef:
- entityRef: car_1
EntityCondition:
RelativeDistanceCondition:
coordinateSystem: lane
entityRef: ego
freespace: true
relativeDistanceType: lateral
routingAlgorithm: shortest
rule: notEqualTo
value: 1.191089007161695079162200
StartTrigger:
ConditionGroup:
- Condition:
Expand Down

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