Added fix for lane order in backwards LaneGroups.

Author: Eric-Vin

src/scenic/domains/driving/roads.py

@@ -987,7 +987,7 @@ def _currentFormatVersion(cls):
 
         :meta private:
         """
-        return 35
+        return 36
 
     class DigestMismatchError(Exception):
         """Exception raised when loading a cached map not matching the original file."""

src/scenic/formats/opendrive/xodr_parser.py

@@ -1143,7 +1143,7 @@ def getEdges(forward):
                 leftEdge=leftEdge,
                 rightEdge=rightEdge,
                 road=None,
-                lanes=tuple(backwardLanes),
+                lanes=tuple(reversed(backwardLanes)),
                 curb=(backwardShoulder.rightEdge if backwardShoulder else rightEdge),
                 sidewalk=backwardSidewalk,
                 bikeLane=None,

tests/domains/driving/test_network.py

@@ -1,8 +1,11 @@
 from pathlib import Path
+import random
 
 import pytest
+import shapely
 
 from scenic.core.distributions import RejectionException
+from scenic.core.regions import toPolygon
 from scenic.domains.driving.roads import Intersection, Network
 from tests.domains.driving.conftest import mapFolder
 
@@ -257,6 +260,16 @@ def test_sidewalk(network):
         assert network.elementAt(pt) is sw
 
 
+def test_laneGroup_lane_order(network):
+    for _ in range(30):
+        lg = random.choice(network.laneGroups)
+        lane_0_dist = shapely.distance(toPolygon(lg.lanes[0]), toPolygon(lg.curb))
+        lane_distances = [
+            shapely.distance(toPolygon(lane), toPolygon(lg.curb)) for lane in lg.lanes
+        ]
+        assert all(lane_dist >= lane_0_dist - 0.1 for lane_dist in lane_distances)
+
+
 # --- Tests for cached network pickles ---