Module examples.generator.generate_from_main

scenariogeneration https://github.com/pyoscx/scenariogeneration

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Copyright (c) 2022 The scenariogeneration Authors.

example of creating OpenSCENARIO and OpenDRIVE file, with the parameters defined outside the class structure

Example usage: when a itterative procedure is defined and the parameters to the Scenario will change

Will generate 9 scenarios

Classes

class Scenario
Expand source code 
class Scenario(ScenarioGenerator):
    def __init__(self):
        ScenarioGenerator.__init__(self)
        self.naming = "numerical"

    def road(self, **kwargs):
        road = xodr.create_road(
            [
                xodr.Spiral(0.0000000001, kwargs["road_curvature"], 100),
                xodr.Arc(kwargs["road_curvature"], 50),
                xodr.Spiral(kwargs["road_curvature"], 0.0000000001, 100),
                xodr.Line(100),
            ],
            id=0,
            left_lanes=2,
            right_lanes=2,
        )
        odr = xodr.OpenDrive("myroad")
        odr.add_road(road)
        odr.adjust_roads_and_lanes()
        return odr

    def scenario(self, **kwargs):
        road = xosc.RoadNetwork(self.road_file)
        egoname = "Ego"
        entities = xosc.Entities()
        entities.add_scenario_object(
            egoname, xosc.CatalogReference("VehicleCatalog", "car_white")
        )

        catalog = xosc.Catalog()
        catalog.add_catalog("VehicleCatalog", "../xosc/Catalogs/Vehicles")

        init = xosc.Init()

        init.add_init_action(
            egoname, xosc.TeleportAction(xosc.LanePosition(50, 0, -2, 0))
        )
        init.add_init_action(
            egoname,
            xosc.AbsoluteSpeedAction(
                kwargs["speed"],
                xosc.TransitionDynamics(
                    xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1
                ),
            ),
        )

        event = xosc.Event("my event", xosc.Priority.overwrite)
        event.add_action(
            "lane change",
            xosc.AbsoluteLaneChangeAction(
                -1,
                xosc.TransitionDynamics(
                    xosc.DynamicsShapes.sinusoidal,
                    xosc.DynamicsDimension.time,
                    4,
                ),
            ),
        )
        event.add_trigger(
            xosc.ValueTrigger(
                "start_trigger ",
                0,
                xosc.ConditionEdge.none,
                xosc.SimulationTimeCondition(4, xosc.Rule.greaterThan),
            )
        )

        man = xosc.Maneuver("maneuver")
        man.add_event(event)

        sb = xosc.StoryBoard(
            init,
            stoptrigger=xosc.ValueTrigger(
                "start_trigger ",
                0,
                xosc.ConditionEdge.none,
                xosc.SimulationTimeCondition(13, xosc.Rule.greaterThan),
                "stop",
            ),
        )
        sb.add_maneuver(man, egoname)
        sce = xosc.Scenario(
            "my scenario",
            "Mandolin",
            xosc.ParameterDeclarations(),
            entities,
            sb,
            road,
            catalog,
        )

        return sce

ScenarioTemplate is a class that should be inherited by a Scenario class in order to generate xodr and xosc files based on the submodules xodr and xosc

Two main uses, in your generation class define self.parameters as either as: - a dict of lists, where the lists are the values you want to sweep over, all permutations of these sets will be generated - a list of dicts, where the dicts are identical and each element in the list is one scenario

Attributes

road_file : str
name of the roadfile
parameters : dict[list], list[dicts]
parameter sets to be used
naming : str
two options "numerical" or "parameter"
generate_all_roads : bool
will only generate unique roads
number_of_parallel_writings : int
parallelize the writing of the xml files, default: 1
basename : str
basename of the scenariofiles, default: name of file
encoding : str
encoding of the outputs, default: utf-8

Ancestors

Inherited members