Module examples.xodr.adjustable_planview

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

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Copyright (c) 2023 The scenariogeneration Authors.

Example how to utilze AdjustablePlanview to make a loop with to difficult geometries to manually calculate

Some features used:

  • AdjustablePlanview

  • CommonJunctionCreator

Classes

class Scenario
Expand source code 
class Scenario(ScenarioGenerator):
    def __init__(self):
        super().__init__()

    def road(self, **kwargs):
        ## create 3 roads
        road1 = xodr.create_road(
            [xodr.Line(30), xodr.Spiral(-0.00001, -0.035, 200)], 1, 2, 2
        )
        road2 = xodr.create_road(xodr.Line(100), 2, 2, 2)
        road3 = xodr.create_road(xodr.Line(100), 3, 2, 2)

        ## make a common junction

        jc = xodr.CommonJunctionCreator(100, "my junc")

        jc.add_incoming_road_cartesian_geometry(road1, 0, 0, 0, "successor")
        jc.add_incoming_road_cartesian_geometry(
            road2, 30, 0, -3.14, "predecessor"
        )
        jc.add_incoming_road_cartesian_geometry(
            road3, 15, 15, -3.14 / 2, "successor"
        )

        jc.add_connection(1, 2)
        jc.add_connection(3, 2)
        jc.add_connection(3, 1)

        ## make a forth road to connect two of the roads connected to the junction
        # since road1 has a Spiral as one geometry, it is very hard to determine the geometry of road4
        # instead use AdjustablePlanview as geometry!
        road4 = xodr.create_road(xodr.AdjustablePlanview(100), 4, 2, 2)

        # add predecessors and successors to the roads
        road4.add_predecessor(xodr.ElementType.road, 2, xodr.ContactPoint.end)
        road4.add_successor(xodr.ElementType.road, 1, xodr.ContactPoint.start)

        road2.add_successor(xodr.ElementType.road, 4, xodr.ContactPoint.start)
        road1.add_predecessor(xodr.ElementType.road, 4, xodr.ContactPoint.end)

        ## add roads to OpenDrive
        odr = xodr.OpenDrive("my road")
        odr.add_road(road1)
        odr.add_road(road2)
        odr.add_road(road3)
        odr.add_road(road4)
        odr.add_junction_creator(jc)

        ## Adjust initial positions of the roads looking at succ-pred logic
        odr.adjust_roads_and_lanes()

        return odr

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