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test_data.py
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"""
传感器返回的锥桶位置坐标数据，用于测试路径规划相关算法的性能
格式为二维矩阵，每行定义为 [锥桶序号, 锥桶颜色, x坐标, y坐标]
序号以1000起始，与相对位置无必然联系，原始数据严格按序号排列；
颜色：2-左侧红锥桶、11-右侧蓝锥筒、13-起终点黄锥桶；
坐标为车辆坐标系，单位[m]，感知范围：[-1:12,-5:5]；
"""
test_data = [
[
(1028, 2, 0.5198568803717668, 1.7300003443652543),
(1029, 2, 5.519694100421943, 1.7300003966270006),
(1030, 2, 10.519531320472119, 1.7300004488887468),
(1130, 11, 5.519694136169957, -1.6899996033730011),
(1131, 11, 10.519531356220131, -1.6899995511112549),
(1220, 11, 0.5198569161197811, -1.6899996556347474),
],
[
(1254, 2, 0.14480948141390498, 1.7696306144045828),
(1099, 2, 2.859179404712742, 1.6902837846199898),
(1100, 2, 5.13707964163392, 1.6772258140972323),
(1255, 2, 7.548079919962241, 2.015571285288534),
(1000, 2, 9.982251589267294, 2.9575417114300855),
(1202, 11, 1.5204094887822874, -1.7240529152462962),
(1201, 11, 3.9004688742748463, -1.8896346817309273),
(1256, 11, 6.3608022224497285, -1.798202653166403),
(1200, 11, 9.20788044510444, -1.1349940933080962),
],
[
(1016, 2, 0.42012055083200484, 1.4933996216668495),
(1017, 2, 6.614956638639475, 1.4948017112610235),
(1018, 2, 9.12002792664868, 0.5622689881383982),
(1116, 11, 0.033277292651222146, -1.9078431229527557),
(1117, 11, 3.0745261014930523, -1.9362112484171177),
(1118, 11, 6.227546018943245, -1.9672660125246542),
(1119, 11, 7.630275187077222, -3.164074573539731),
(1120, 11, 6.911739586705433, -4.582773449769418),
(1218, 2, 3.521777145176589, 1.5959929362822562),
],
[
(1039, 2, 1.5719844863476329, 1.3452631698408124),
(1040, 2, 5.471146464329374, 2.2192398404864857),
(1041, 2, 7.173426120730759, 3.4437985033604983),
(1140, 11, 1.1395663052627842, -2.123744520660087),
(1141, 11, 7.5684376804787785, -0.5507184153002762),
(1142, 11, 4.873666455657334, -1.6759774141645938),
(1143, 11, 9.772187208726246, 1.1532440075683486),
(1144, 11, 11.408631466763312, 3.2716514715137155),
(1226, 2, 3.6069463444451566, 1.5374350350016928),
],
[
(1017, 2, 3.343387449437274, 1.8235284646302428),
(1018, 2, 5.867827908680232, 0.944779519389953),
(1019, 2, 7.6091855208348225, -1.1205953728195666),
(1020, 2, 7.913549020138137, -3.727770636814051),
(1117, 11, -0.12286178543346227, -1.6824113908721865),
(1118, 11, 3.030101167823757, -1.6460322572791233),
(1119, 11, 4.45810309689678, -2.812570004534515),
(1218, 2, 0.2487513787190473, 1.8585494303263963),
],
[
(1030, 2, 3.855235818424428, 1.5423620453234432),
(1031, 2, 6.802416903909067, 1.2431585793293864),
(1032, 2, 9.921365356765948, -0.8978363970224887),
(1131, 11, 3.821364242935853, -1.8774702190389383),
(1132, 11, 5.928685611478859, -2.1583548416046026),
(1133, 11, 7.22941059989056, -3.1012834285527457),
(1134, 11, 7.904025568779316, -4.6580411465623595),
],
[
(1069, 2, -0.36148326173253903, 2.099907018625206),
(1070, 2, 4.902509208637504, -0.651616784190163),
(1071, 2, 8.842008859635454, -3.1141444436037977),
(1175, 11, 0.8268523619948722, -1.6719702850548483),
(1176, 11, 2.3372658876536523, -2.9338145602949948),
(1177, 11, 4.0995415583234465, -4.682552519030701),
(1235, 2, 2.29508948290152, 1.5338493798590191),
(1236, 2, 6.582265949758745, -2.213832288143355),
],
[
(1082, 2, 1.3614711631559742, 2.39482984502546),
(1248, 2, -0.8395530615027752, 1.6630565968354079),
(1249, 2, 3.0967314349510704, 3.4233587307924735),
(1192, 11, 1.6401075472967785, -1.294134965057924),
(1193, 11, 4.583666256806346, 0.13466233340862432),
(1194, 11, 6.620033092621611, 1.9643371709554591),
(1195, 11, 8.316246507153558, 4.464829130300567),
],
[
(1003, 2, 1.6244383786482377, 2.2361230815193496),
(1004, 2, 4.495378060668235, 1.0500770214530075),
(1005, 2, 6.232240263376512, -0.7618030548189494),
(1006, 2, 7.997610825008419, -3.6511742703273162),
(1104, 11, 1.5556034392533136, -1.3533839078037486),
(1105, 11, 3.4682040002815637, -2.9006585772683775),
(1258, 11, -0.30406979303716725, -1.3680626465900734),
],
[
(1018, 2, -0.10327455696259846, 2.121826124938412),
(1019, 2, 2.25874565672506, 0.8107365994690188),
(1021, 2, 3.383840634611671, -3.99595237941175),
(1020, 2, 3.4703873866817023, -1.5177656204758398),
(1119, 11, -0.08463894666596705, -1.8912341131430028),
(1120, 11, -0.21782110014428646, -3.475930459048841),
],
[
(1014, 2, 0.7150756031350525, 1.5625977103500328),
(1015, 2, 2.7404605669236592, 2.8730995950395704),
(1016, 2, 4.936308731615277, 4.508474200727712),
(1114, 11, 1.8318083973593622, -1.68563375315944),
(1115, 11, 4.3809453180425155, -0.16421989506332668),
(1116, 11, 6.619351606113854, 1.5276242213616196),
(1117, 11, 9.098338331843745, 3.28961852068921),
(1122, 11, 8.881594246235908, -1.7232769136185775),
(1259, 11, -0.9488109833904796, -2.4074753164458884),
],
[
(1012, 2, -0.8576028235585439, 1.577359811133982),
(1013, 2, 1.24015368581702, 2.4630333494540584),
(1113, 11, 1.6975405773835923, -1.364772419878486),
(1114, 11, 5.4924067318938885, 2.0126512584850627),
(1123, 11, 10.394647655296563, 1.0283068516200227),
(1124, 11, 9.439751061381783, -3.879663414332267),
(1259, 11, 3.5954666334519683, -0.1447819836991685),
],
# [
# (1038, 2, 1.4108042597457042, 1.7743796750218634),
# (1039, 2, 4.971689118521692, 1.6907256011075877),
# (1040, 2, 8.84837819987129, 2.659529453434246),
# (1041, 2, 10.52028884381998, 3.9252366584190015),
# (1139, 11, 1.2020327661415302, -1.7031646041644342),
# (1140, 11, 4.6239966253000535, -1.7877955958345062),
# (1141, 11, 11.012595359495268, -0.058459325316497335),
# (1142, 11, 8.346066744654475, -1.2490998414625407),
# (1226, 2, 7.001359361464683, 1.932466010035617),
# ],
# [
# (1039, 2, 2.348804880371027, 1.7869402606255744),
# (1040, 2, 6.193305547205714, 2.8764876470282075),
# # (1041, 2, 7.824822232581027, 4.193853661055201),
# (1140, 11, 2.1100496021182025, -1.7007517616276973),
# (1141, 11, 8.441451139600414, 0.22749916228635936),
# (1142, 11, 5.8134556316835555, -1.0459368245235776),
# (1143, 11, 10.546990107321779, 2.051425016294885),
# (1226, 2, 4.369923855416798, 2.092026686073652),
# ],
# [
# (1077, 2, 2.1706222067413314, 1.642849160694925),
# (1078, 2, 7.041147280416473, 3.8517593922180877),
# (1185, 11, 2.50982739558705, -1.7841376659199133),
# (1186, 11, 7.531344434391471, -0.09068975418433634),
# (1187, 11, 9.429703319024918, 1.338972163508752),
# (1241, 2, -0.10834121929478607, 1.5794009956527184),
# (1242, 11, -0.18249107423163857, -1.9087217892977257),
# (1243, 2, 4.235519328637718, 2.123161336819051),
# (1244, 11, 5.251705770826409, -1.2095048847575405),
# (1245, 2, 5.861603153533731, 2.886215244832027),
# ],
# [
# (1038, 2, 1.423079842977017, 1.7593361276928536),
# (1039, 2, 4.984944835776931, 1.7634296476457458),
# (1040, 2, 8.836590964689249, 2.827441507222289),
# (1139, 11, 1.3000408243233927, -1.7222958388841827),
# (1140, 11, 4.7230510444345075, -1.722601251521696),
# (1142, 11, 8.4307208258648, -1.092375987752217),
# (1226, 2, 7.00804383979026, 2.0550975083847565),
# ],
# [
# (1017, 2, 3.9372580636061483, 1.6639379332519466),
# (1018, 2, 6.430249595206017, 0.6995766622472099),
# (1019, 2, 8.100131162789506, -1.4240041253517999),
# # (1020, 2, 8.315371035020126, -4.04004537020066),
# (1117, 11, 0.35341784733174775, -1.7217064104271242),
# (1118, 11, 3.505786533618373, -1.7929150041949014),
# (1119, 11, 4.893159575729504, -3.007491429480535),
# # (1120, 11, 4.156613933609854, -4.416924091044431),
# (1218, 2, 0.8456181945522163, 1.8045151816841152),
# ],
# [
# (1015, 2, 0.9580219229873854, 1.5034681459028105),
# (1016, 2, 3.671936643823763, 1.8652224139522784),
# (1218, 2, 6.739184164219195, 2.3372305663180746),
# (1017, 2, 9.822334569208715, 2.6058988600704405),
# (1115, 11, 0.9152019289846853, -1.9482946431185315),
# (1116, 11, 3.69375819085667, -1.5578790652519086),
# (1117, 11, 6.716658407084179, -1.223105441960686),
# (1118, 11, 9.85085159001001, -0.8776606262211146),
# # (1121, 11, 8.901992793389207, -4.1386522942111),
# ],
]