Module examples.generator.generate_with_fixed_parameter_sets
scenariogeneration https://github.com/pyoscx/scenariogeneration
This Source Code Form is subject to the terms of the Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with this file, You can obtain one at https://mozilla.org/MPL/2.0/.
Copyright (c) 2022 The scenariogeneration Authors.
Example of creating OpenSCENARIO and OpenDRIVE files with a fixed set of dictionaries that will generate the scenarios and roads
Example usage: when very precise permutations of a scenario is wanted
Will generate 2 different scenarios and roads.
Expand source code
"""
scenariogeneration
https://github.com/pyoscx/scenariogeneration
This Source Code Form is subject to the terms of the Mozilla Public
License, v. 2.0. If a copy of the MPL was not distributed with this
file, You can obtain one at https://mozilla.org/MPL/2.0/.
Copyright (c) 2022 The scenariogeneration Authors.
Example of creating OpenSCENARIO and OpenDRIVE files with a fixed set of dictionaries that will generate the scenarios and roads
Example usage: when very precise permutations of a scenario is wanted
Will generate 2 different scenarios and roads.
"""
from scenariogeneration import xodr
from scenariogeneration import xosc, prettyprint
from scenariogeneration import ScenarioGenerator
class Scenario(ScenarioGenerator):
def __init__(self):
ScenarioGenerator.__init__(self)
self.parameters = []
d1 = {}
d1["road_curvature"] = 0.001
d1["speed"] = 10
d2 = {}
d2["road_curvature"] = 0.002
d2["speed"] = 20
self.parameters.append(d1)
self.parameters.append(d2)
self.naming = "parameter"
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
if __name__ == "__main__":
s = Scenario()
s.print_permutations()
s.generate("my_scenarios")Classes
class Scenario-
ScenarioTemplate is a class that should be inherited by a Scenario class in order to generate xodr and xosc files based on pyoscx and pyodrx
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 of lists, or list of 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 (no parallelization) basename (str): basename of the scenariofiles, Default: name of file encoding (str): encoding of the outputs Default:Expand source code
class Scenario(ScenarioGenerator): def __init__(self): ScenarioGenerator.__init__(self) self.parameters = [] d1 = {} d1["road_curvature"] = 0.001 d1["speed"] = 10 d2 = {} d2["road_curvature"] = 0.002 d2["speed"] = 20 self.parameters.append(d1) self.parameters.append(d2) self.naming = "parameter" 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 sceAncestors
Inherited members