Splines

Description

The spline actor can be used to create both curves and straight lines. Line color can be set for the entire line, and line width can be set on a per-control point basis. Splines are created by first spawning a spline actor and then adding control points. Depending on the configuration used when spawned, you can get variations on the curve shape or straight lines.

See the Splines Tutorial to get a better understanding of using splines in Quanser Interactive Labs.

Library

class qvl.spline_line.QLabsSplineLine(qlabs, verbose=False)[source]

Constants

QLabsSplineLine.ID_SPLINE_LINE = 180: Class ID

QLabsSplineLine.LINEAR = 0: See configurations

QLabsSplineLine.CURVE = 1: See configurations

QLabsSplineLine.CONSTANT = 2: See configurations

QLabsSplineLine.CLAMPED_CURVE = 3: See configurations

Member Variables

QLabsSplineLine.actorNumber = None: The current actor number of this class to be addressed. This will be set by spawn methods and cleared by destroy methods. It will not be modified by the destroy all actors. This can be manually altered at any time to use one object to address multiple actors.

Methods

QLabsSplineLine.set_points(color, pointList, alignEndPointTangents=False, waitForConfirmation=True)[source]

After spawning the origin of the spline actor, this method is used to create the individual points. At least 2 points must be specified to make a line.

Parameters

color (float array[3]) – Red, Green, Blue components of the RGB color on a 0.0 to 1.0 scale.
pointList (float 2D array[4][n]) – A 2D array with each row containing [x,y,z,width] elements. Width is in m.
alignEndPointTangents (boolean) – (Optional) Sets the tangent of the first and last point to be the same.
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

status - True if successful, False otherwise

Return type

boolean

QLabsSplineLine.circle_from_center(radius, lineWidth=0.1, color=[1, 0, 0], numSplinePoints=8, waitForConfirmation=True)[source]

After spawning the origin of the spline actor, this method is used to create a circle. Configuration 1 is recommended when spawning the line.

Parameters

radius (float) – Radius in m
lineWidth (float) – Line width in m
color (float array[3]) – Red, Green, Blue components of the RGB color on a 0.0 to 1.0 scale.
numSplinePoints (integer) – The number of points distributed around the circle. Splines will automatically round the edges, but more points will be needed for larger circles to achieve an accurate circle.
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

status - True if successful, False otherwise

Return type

boolean

QLabsSplineLine.arc_from_center(radius, startAngle=0, endAngle=math.pi / 2, lineWidth=1, color=[1, 0, 0], numSplinePoints=8, waitForConfirmation=True)[source]

After spawning the origin of the spline actor, this method is used to create an arc. Configuration 1 is recommended when spawning the line.

Parameters

radius (float) – Radius in m
startAngle (float) – Angle relative to the spawn orientation in radians
endAngle (float) – Angle relative to the spawn orientation in radians
lineWidth (float) – Line width in m
color (float array[3]) – Red, Green, Blue components of the RGB color on a 0.0 to 1.0 scale.
numSplinePoints (integer) – The number of points distributed around the circle. Splines will automatically round the edges, but more points will be needed for larger circles to achieve an accurate circle.
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

status - True if successful, False otherwise

Return type

boolean

QLabsSplineLine.arc_from_center_degrees(radius, startAngle=0, endAngle=90, lineWidth=1, color=[1, 0, 0], numSplinePoints=4, waitForConfirmation=True)[source]

After spawning the origin of the spline actor, this method is used to create an arc. Configuration 1 is recommended when spawning the line.

Parameters

radius (float) – Radius in m
startAngle (float) – Angle relative to the spawn orientation in degrees
endAngle (float) – Angle relative to the spawn orientation in degrees
lineWidth (float) – Line width in m
color (float array[3]) – Red, Green, Blue components of the RGB color on a 0.0 to 1.0 scale.
numSplinePoints (integer) – The number of points distributed around the circle. Splines will automatically round the edges, but more points will be needed for larger circles to achieve an accurate circle.
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

status - True if successful, False otherwise

Return type

boolean

QLabsSplineLine.rounded_rectangle_from_center(cornerRadius, xWidth, yLength, lineWidth=0.1, color=[1, 0, 0], waitForConfirmation=True)[source]

After spawning the origin of the spline actor, this method is used to create a rounded rectangle. Configuration 1 is recommended when spawning the line.

Parameters

cornerRadius (float) – Corner radius in m
xWidth (float) – Dimension in m of the rectangle in the local x axis
yLength (float) – Dimension in m of the rectangle in the local y axis
lineWidth (float) – Line width in m
color (float array[3]) – Red, Green, Blue components of the RGB color on a 0.0 to 1.0 scale.
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

status - True if successful, False otherwise

Return type

boolean

Parent Class (actor.py) Methods

QLabsSplineLine.__init__(qlabs, verbose=False)[source]

Constructor Method

Parameters

qlabs (object) – A QuanserInteractiveLabs object
verbose (boolean) – (Optional) Print error information to the console.

QLabsSplineLine.spawn(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor with the next available actor number within this class.

Parameters

location (float array[3]) – (Optional) An array of floats for x, y and z coordinates
rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians
scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.
configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred. Note that if this is False, the returned actor number will be invalid.

Returns

status - 0 if successful, 1 class not available, 3 unknown error, -1 communications error.
actorNumber - An actor number to use for future references.

Return type

int32, int32

QLabsSplineLine.spawn_degrees(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor with the next available actor number within this class.

Parameters

location (float array[3]) – (Optional) An array of floats for x, y and z coordinates
rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in degrees
scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.
configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred. Note that if this is False, the returned actor number will be invalid.

Returns

status - 0 if successful, 1 class not available, 3 unknown error, -1 communications error.
actorNumber - An actor number to use for future references.

Return type

int32, int32

QLabsSplineLine.spawn_id(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor.

Parameters

actorNumber (uint32) – User defined unique identifier for the class actor in QLabs
location (float array[3]) – (Optional) An array of floats for x, y and z coordinates
rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians
scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.
configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 unknown error, -1 communications error

Return type

int32

QLabsSplineLine.spawn_id_degrees(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, waitForConfirmation=True)

Spawns a new actor.

Parameters

actorNumber (uint32) – User defined unique identifier for the class actor in QLabs
location (float array[3]) – (Optional) An array of floats for x, y and z coordinates
rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians
scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.
configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 unknown error, -1 communications error

Return type

int32

QLabsSplineLine.spawn_id_and_parent_with_relative_transform(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Spawns a new actor relative to an existing actor and creates a kinematic relationship.

Parameters

actorNumber (uint32) – User defined unique identifier for the class actor in QLabs
location (float array[3]) – (Optional) An array of floats for x, y and z coordinates
rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians
scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.
configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.
parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier
parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs
parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 cannot find the parent actor, 4 unknown error, -1 communications error

Return type

int32

QLabsSplineLine.spawn_id_and_parent_with_relative_transform_degrees(actorNumber, location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], configuration=0, parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Spawns a new actor relative to an existing actor and creates a kinematic relationship.

Parameters

actorNumber (uint32) – User defined unique identifier for the class actor in QLabs
location (float array[3]) – (Optional) An array of floats for x, y and z coordinates
rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in degrees
scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.
configuration (uint32) – (Optional) Spawn configuration. See class library for configuration options.
parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier
parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs
parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

status - 0 if successful, 1 class not available, 2 actor number not available or already in use, 3 cannot find the parent actor, 4 unknown error, -1 communications error

Return type

int32

QLabsSplineLine.destroy()

Find and destroy a specific actor. This is a blocking operation.

Returns

numActorsDestroyed - The number of actors destroyed. -1 if failed.

Return type

int32

QLabsSplineLine.destroy_all_actors_of_class()

Find and destroy all actors of this class. This is a blocking operation.

Returns

numActorsDestroyed - The number of actors destroyed. -1 if failed.

Return type

int32

QLabsSplineLine.ping()

Checks if the actor is still present in the environment. Note that if you did not spawn the actor with one of the spawn functions, you may need to manually set the actorNumber member variable.

Returns

status - True if successful, False otherwise

Return type

boolean

QLabsSplineLine.get_world_transform()

Get the location, rotation, and scale in world coordinates of the actor.

Returns

status - True if successful, False otherwise
location
rotation
scale

Return type

boolean, float array[3], float array[3], float array[3]

QLabsSplineLine.get_world_transform_degrees()

Get the location, rotation, and scale in world coordinates of the actor.

Returns

status - True if successful, False otherwise
location
rotation
scale

Return type

boolean, float array[3], float array[3], float array[3]

QLabsSplineLine.parent_with_relative_transform(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship.

Parameters

location (float array[3]) – (Optional) An array of floats for x, y and z coordinates
rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in radians
scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.
parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier
parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs
parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsSplineLine.parent_with_relative_transform_degrees(location=[0, 0, 0], rotation=[0, 0, 0], scale=[1, 1, 1], parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship.

Parameters

location (float array[3]) – (Optional) An array of floats for x, y and z coordinates
rotation (float array[3]) – (Optional) An array of floats for the roll, pitch, and yaw in degrees
scale (float array[3]) – (Optional) An array of floats for the scale in the x, y, and z directions. Scale values of 0.0 should not be used.
parentClassID (uint32) – (Optional) See the ID variables in the respective library classes for the class identifier
parentActorNumber (uint32) – (Optional) User defined unique identifier for the class actor in QLabs
parentComponent (uint32) – (Optional) 0 for the origin of the parent actor, see the parent class for additional reference frame options
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsSplineLine.parent_with_current_world_transform(parentClassID=0, parentActorNumber=0, parentComponent=0, waitForConfirmation=True)

Parents one existing actor to another to create a kinematic relationship while preserving the current world transform of the child actor.

Parameters

parentClassID (uint32) – See the ID variables in the respective library classes for the class identifier
parentActorNumber (uint32) – User defined unique identifier for the class actor in QLabs
parentComponent (uint32) – 0 for the origin of the parent actor, see the parent class for additional reference frame options
waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

status - 0 if successful, 1 cannot find this actor, 2 cannot find the parent actor, 3 unknown error, -1 communications error

Return type

int32

QLabsSplineLine.parent_break(waitForConfirmation=True)

Breaks any relationship with a parent actor (if it exists) and preserves the current world transform

Parameters

waitForConfirmation (boolean) – (Optional) Make this operation blocking until confirmation of the spawn has occurred.

Returns

status - 0 if successful, 1 cannot find this actor, -1 communications error

Return type

int32

Configurations

Configurations 0 to 3 are shown from top to bottom in the above image using the same set of control points.

Configuration	Mode	Description
0	Linear	The tangent of the curve at each control point is set to match the tangent of the start of each line segment.
1	Curve	The tangent of the curve at each control point is an average of the two adjacent line segments and matched to the start and end tangents.
2	Constant	Straight line segments
3	Clamped Curve	As angles become more acute, the curve will transition from a smooth change to a sharp point.

Connection Points

There are no connection points for this actor class.

Splines Tutorial

Python Tutorial

Raw to download this tutorial: Splines Tutorial (.py).

"""
Splines Tutorial
---------------

.. note::

    Make sure you have Quanser Interactive Labs open before running this
    example.  This example is designed to run ONLY in the Plane environment.

"""

# imports to important libraries
import math
import time

from qvl.qlabs import QuanserInteractiveLabs
from qvl.system import QLabsSystem
from qvl.spline_line import QLabsSplineLine
from qvl.free_camera import QLabsFreeCamera


# Clears the screen in Windows

def main():

    print("\n\n------------------------------ Communications --------------------------------\n")

    # Creates a server connection with Quanser Interactive Labs and manages
    # the communications
    qlabs = QuanserInteractiveLabs()

    # Ensure that QLabs is running on your local machine
    print("Connecting to QLabs...")
    if (not qlabs.open("localhost")):
        print("Unable to connect to QLabs")
        return    

    print("Connected")

    # Use hSystem to set the tutorial title in the upper left of the qlabs window 
    hSystem = QLabsSystem(qlabs)
    hSystem.set_title_string('Splines Tutorial')

    # Create top view camera and go to that view
    camera = QLabsFreeCamera(qlabs)
    camera.spawn([5.971, 11.781, 30.704], [0, 1.569, 1.57] )
    camera.possess()

    height = 0
    width = 1
    color = [0,0,0]

    # create splines to create virtual roads of 1m of thickness
    # Using the same initialization of QLabsSplineLine because the 
    # actors will not have to be referenced again. So overwriting them 
    # once they are spawned is not a problem. 

    #  In functions (not spawn) that do not have a height value, height needs
    # to be specified in the spawn function as a Z translation
    splineRoads = QLabsSplineLine(qlabs)
    splineRoads.spawn(location=[10,10,height], scale=[1,1,1], configuration=1)
    splineRoads.rounded_rectangle_from_center(cornerRadius=.5,xWidth=20, yLength=20, lineWidth=width, color=color)

    splineRoads.spawn(location=[0,0,0], scale=[1,1,1], configuration=1)
    splineRoads.set_points(color=color, pointList=[[0,13.8,height,width],[6,16.8,height,width], [11,12,height,width], [15.5, 14.5, height,width], [20, 11, height,width]], alignEndPointTangents=False)

    splineRoads.spawn(location=[14,4.5,height], scale=[1,1,1], configuration=1)
    splineRoads.circle_from_center(radius=3, lineWidth=width, color=color, numSplinePoints=8)

    splineRoads.spawn(location=[0,0,0], scale=[1,1,1], configuration=1)
    splineRoads.set_points(color=color, pointList=[[13.7,13.1,height,width],[14.8,11.8,height,width],[15.5,7.15,height,width]], alignEndPointTangents=False)

    splineRoads.spawn(location=[0,0,0], scale=[1,1,1], configuration=1)
    splineRoads.set_points(color=color, pointList=[[10.987, 4.199,height,width],[9.399, 6.559, height,width],[3.002, 4.034,height,width],[1.112, 3.004, height,width],[-0.045, 4.465, height,width]], alignEndPointTangents=False)
    
    splineRoads.spawn(location=[0,0,0], scale=[1,1,1], configuration=1)
    splineRoads.set_points(color=color, pointList=[[3, 20,height,width],[3, 4, height,width]], alignEndPointTangents=False)

    splineRoads.spawn(location=[0,0,0], scale=[1,1,1], configuration=1)
    splineRoads.set_points(color=color, pointList=[[8.7, 14.2, height,width],[8.7,0,height,width]], alignEndPointTangents=False)

    splineRoads.spawn(location=[20,20,height], scale=[1,1,1], configuration=1)
    splineRoads.arc_from_center(radius=5, startAngle= math.pi, endAngle= 3*math.pi/2, lineWidth=width, color=color)


    # create same splines with color and .1 m of thickness to simulate lines in the road
    # the next lines are a copy of the above one under a different name to differentiate
    # both sets of lines. Height needs to be higher than the road since overlays will 
    # reproduce weirdly in QLabs. 
    height = .02
    width = .1
    color = [1,1,0]

    splineLines = QLabsSplineLine(qlabs)
    splineLines.spawn(location=[10,10,height], scale=[1,1,1], configuration=1)
    splineLines.rounded_rectangle_from_center(cornerRadius=.5,xWidth=20, yLength=20, lineWidth=width, color=color)

    splineLines.spawn(location=[0,0,0], scale=[1,1,1], configuration=1)
    splineLines.set_points(color=color, pointList=[[0,13.8,height,width],[6,16.8,height,width], [11,12,height,width], [15.5, 14.5, height,width], [20, 11, height,width]], alignEndPointTangents=False)

    splineLines.spawn(location=[14,4.5,height], scale=[1,1,1], configuration=1)
    splineLines.circle_from_center(radius=3, lineWidth=width, color=color, numSplinePoints=8)

    splineLines.spawn(location=[0,0,0], scale=[1,1,1], configuration=1)
    splineLines.set_points(color=color, pointList=[[13.7,13.1,height,width],[14.8,11.8,height,width],[15.5,7.15,height,width]], alignEndPointTangents=False)

    splineLines.spawn(location=[0,0,0], scale=[1,1,1], configuration=1)
    splineLines.set_points(color=color, pointList=[[10.987, 4.199,height,width],[9.399, 6.559, height,width],[3.002, 4.034,height,width],[1.112, 3.004, height,width],[-0.045, 4.465, height,width]], alignEndPointTangents=False)
    
    splineLines.spawn(location=[0,0,0], scale=[1,1,1], configuration=1)
    splineLines.set_points(color=color, pointList=[[3, 20,height,width],[3, 4, height,width]], alignEndPointTangents=False)

    splineLines.spawn(location=[0,0,0], scale=[1,1,1], configuration=1)
    splineLines.set_points(color=color, pointList=[[8.7, 14.2, height,width],[8.7,0,height,width]], alignEndPointTangents=False)

    splineLines.spawn(location=[20,20,height], scale=[1,1,1], configuration=1)
    splineLines.arc_from_center(radius=5, startAngle= math.pi, endAngle= 3*math.pi/2, lineWidth=width, color=color)
    
    
    qlabs.close()
    print('Done!')
# -- -- -- -- -- -- -- -- -- -- -- -- --

if __name__ == "__main__":
    main()

Matlab Tutorial

Raw to download this tutorial: Splines tutorial (.m).

% Splines Tutorial
% -------------------------
% 
% .. note::
% 
%     Make sure you have Quanser Interactive Labs open before running this
%     example.  This example is designed to be run ONLY in the Plane environment. 

close all;
clear all;
clc;

% --------------------------------------------------------------
% Setting MATLAB Path for the libraries
% Always keep at the start, it will make sure it finds the correct references
newPathEntry = fullfile(getenv('QAL_DIR'), '0_libraries', 'matlab', 'qvl');
pathCell = regexp(path, pathsep, 'split');
if ispc  % Windows is not case-sensitive
  onPath = any(strcmpi(newPathEntry, pathCell));
else
  onPath = any(strcmp(newPathEntry, pathCell));
end

if onPath == 0
    path(path, newPathEntry)
    savepath
end
% --------------------------------------------------------------

fprintf('\n\n------------------------------ Communications --------------------------------\n\n');

qlabs =  QuanserInteractiveLabs();
connection_established = qlabs.open('localhost');

if connection_established == false
    disp("Failed to open connection.")
    return
end

disp('Connected');

num_destroyed = qlabs.destroy_all_spawned_actors();

fprintf('%d actors destroyed', num_destroyed, '');

% Use hSystem to set the tutorial title on the qlabs display screen
hSystem = QLabsSystem(qlabs);
hSystem.set_title_string('Splines Tutorial');


% Initialize an instance of a camera 
camera = QLabsFreeCamera(qlabs);

% Set the spawn of the camera in a specific location 
camera.spawn([5.971, 11.781, 30.704], [0, 1.569, 1.57], 0, 1);

% Spawn the camera
camera.possess();

height = 0;
width = 1;
color = [0,0,0];

% create splines to create virtual roads of 1m of thickness
% Using the same initialization of QLabsSplineLine because the 
% actors will not have to be referenced again. So overwriting them 
% once they are spawned is not a problem. 

%  In functions (not spawn) that do not have a height value, height needs
% to be specified in the spawn function as a Z translation
splineRoads = QLabsSplineLine(qlabs);
splineRoads.spawn([10,10,height], [0,0,0], [1,1,1], 1);
splineRoads.rounded_rectangle_from_center(.5, 20, 20, width, color);

splineRoads.spawn( [0,0,0], [0,0,0],  [1,1,1],   1);
splineRoads.set_points(color, [[0,13.8,height,width];[6,16.8,height,width]; [11,12,height,width]; [15.5, 14.5, height,width]; [20, 11, height,width]], false);

splineRoads.spawn( [14,4.5,height], [0,0,0], [1,1,1],1);
splineRoads.circle_from_center(3, width, color, 8);

splineRoads.spawn( [0,0,0], [0,0,0], [1,1,1], 1);
splineRoads.set_points(color,  [[13.7,13.1,height,width];[14.8,11.8,height,width];[15.5,7.15,height,width]], false);

splineRoads.spawn( [0,0,0], [0,0,0], [1,1,1], 1);
splineRoads.set_points(color,  [[10.987, 4.199,height,width];[9.399, 6.559, height,width];[3.002, 4.034,height,width];[1.112, 3.004, height,width];[-0.045, 4.465, height,width]], false);

splineRoads.spawn( [0,0,0],[0,0,0], [1,1,1], 1);
splineRoads.set_points(color,  [[3, 20,height,width];[3, 4, height,width]], false);

splineRoads.spawn( [0,0,0], [0,0,0], [1,1,1], 1);
splineRoads.set_points(color,  [[8.7, 14.2, height,width];[8.7,0,height,width]], false);

splineRoads.spawn( [20,20,height], [0,0,0], [1,1,1], 1);
splineRoads.arc_from_center(5, pi, 3*pi/2, width, color);

pause(1);

% create same splines with color and .1 m of thickness to simulate lines in the road
% the next lines are a copy of the above one under a different name to differentiate
% both sets of lines. Height needs to be higher than the road since overlays will 
% reproduce weirdly in QLabs. 
height = .02;
width = .1;
color = [1,1,0];

splineLines = QLabsSplineLine(qlabs);
splineLines.spawn([10,10,height], [0,0,0], [1,1,1], 1);
splineLines.rounded_rectangle_from_center(.5, 20, 20, width, color);

splineLines.spawn( [0,0,0], [0,0,0],  [1,1,1],   1);
splineLines.set_points(color, [[0,13.8,height,width];[6,16.8,height,width]; [11,12,height,width]; [15.5, 14.5, height,width]; [20, 11, height,width]], false);

splineLines.spawn( [14,4.5,height], [0,0,0], [1,1,1],1);
splineLines.circle_from_center(3, width, color, 8);

splineLines.spawn( [0,0,0], [0,0,0], [1,1,1], 1);
splineLines.set_points(color,  [[13.7,13.1,height,width];[14.8,11.8,height,width];[15.5,7.15,height,width]], false);

splineLines.spawn( [0,0,0], [0,0,0], [1,1,1], 1);
splineLines.set_points(color,  [[10.987, 4.199,height,width];[9.399, 6.559, height,width];[3.002, 4.034,height,width];[1.112, 3.004, height,width];[-0.045, 4.465, height,width]], false);

splineLines.spawn( [0,0,0],[0,0,0], [1,1,1], 1);
splineLines.set_points(color,  [[3, 20,height,width];[3, 4, height,width]], false);

splineLines.spawn( [0,0,0], [0,0,0], [1,1,1], 1);
splineLines.set_points(color,  [[8.7, 14.2, height,width];[8.7,0,height,width]], false);

splineLines.spawn( [20,20,height], [0,0,0], [1,1,1], 1);
splineLines.arc_from_center(5, pi, 3*pi/2, width, color);

% Closing qlabs
qlabs.close();
disp('Done!');