Lane¶

class py123d.datatypes.Lane[source]¶

Class representing a lane in a map.

Public Data Attributes:

`layer`	The `MapLayer` of the map object.
`lane_type`	The type of the lane, according to `LaneType`.
`lane_group_id`	ID of the lane group this lane belongs to, or None if not assigned.
`lane_group`	The `LaneGroup` this lane belongs to.
`left_boundary`	The left boundary of the lane, either `Polyline2D` or `Polyline3D`.
`left_boundary_2d`	The left boundary of the lane as `Polyline2D`.
`left_boundary_3d`	The left boundary of the lane as `Polyline3D` (zero-padded if necessary).
`right_boundary`	The right boundary of the lane, either `Polyline2D` or `Polyline3D`.
`right_boundary_2d`	The right boundary of the lane as `Polyline2D`.
`right_boundary_3d`	The right boundary of the lane as `Polyline3D` (zero-padded if necessary).
`centerline`	The centerline of the lane, either `Polyline2D` or `Polyline3D`.
`centerline_2d`	The centerline of the lane as `Polyline2D`.
`centerline_3d`	The centerline of the lane as `Polyline3D` (zero-padded if necessary).
`left_lane_id`	ID of the left neighboring lane.
`left_lane`	The left neighboring `Lane`, if available.
`right_lane_id`	ID of the right neighboring lane.
`right_lane`	The right neighboring `Lane`, if available.
`predecessor_ids`	List of IDs of the predecessor lanes.
`predecessors`	List of predecessor `Lane` instances.
`successor_ids`	List of IDs of the successor lanes.
`successors`	List of successor `Lane` instances.
`speed_limit_mps`	The speed limit of the lane in meters per second.
`trimesh_mesh`	The trimesh mesh representation of the lane.

`outline`	The outline of the surface as either `Polyline2D` or `Polyline3D`.
`outline_2d`	The outline of the surface as `Polyline2D`.
`outline_3d`	The outline of the surface as `Polyline3D` (zero-padded to 3D if necessary).
`shapely_polygon`	The shapely polygon of the surface.
`trimesh_mesh`	The trimesh mesh representation of the surface.

Inherited from BaseMapObject

`object_id`	The unique identifier of the map object (unique within a map layer).
`layer`	The `MapLayer` of the map object.

property lane_type: LaneType¶: The type of the lane, according to LaneType.

property lane_group_id: str | int | None¶: ID of the lane group this lane belongs to, or None if not assigned.

property lane_group: LaneGroup | None¶: The LaneGroup this lane belongs to.

property left_boundary: Polyline2D | Polyline3D¶: The left boundary of the lane, either Polyline2D or Polyline3D.

property left_boundary_2d: Polyline2D¶: The left boundary of the lane as Polyline2D.

property left_boundary_3d: Polyline3D¶: The left boundary of the lane as Polyline3D (zero-padded if necessary).

property right_boundary: Polyline2D | Polyline3D¶: The right boundary of the lane, either Polyline2D or Polyline3D.

property right_boundary_2d: Polyline2D¶: The right boundary of the lane as Polyline2D.

property right_boundary_3d: Polyline3D¶: The right boundary of the lane as Polyline3D (zero-padded if necessary).

property centerline: Polyline2D | Polyline3D¶: The centerline of the lane, either Polyline2D or Polyline3D.

property centerline_2d: Polyline2D¶: The centerline of the lane as Polyline2D.

property centerline_3d: Polyline3D¶: The centerline of the lane as Polyline3D (zero-padded if necessary).

property left_lane_id: str | int | None¶: ID of the left neighboring lane.

property left_lane: Lane | None¶: The left neighboring Lane, if available.

property right_lane_id: str | int | None¶: ID of the right neighboring lane.

property right_lane: Lane | None¶: The right neighboring Lane, if available.

property predecessor_ids: List[str | int]¶: List of IDs of the predecessor lanes.

property successor_ids: List[str | int]¶: List of IDs of the successor lanes.

property speed_limit_mps: float | None¶: The speed limit of the lane in meters per second.

property trimesh_mesh: Trimesh¶: The trimesh mesh representation of the lane.

property object_id: str | int¶: The unique identifier of the map object (unique within a map layer).

property outline: Polyline2D | Polyline3D¶: The outline of the surface as either Polyline2D or Polyline3D.

property outline_2d: Polyline2D¶: The outline of the surface as Polyline2D.

property outline_3d: Polyline3D¶: The outline of the surface as Polyline3D (zero-padded to 3D if necessary).

class py123d.datatypes.LaneType[source]¶

Enum for different lane types.

Notes

The lane types follow the Waymo specification [1].

References

SURFACE_STREET = 2¶: Surface street lane type, i.e. regular lanes for vehicles.