Module examples.xodr.clothoid_generation

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

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Copyright (c) 2023 The scenariogeneration Authors.

Example how to utilze pyclothoids to create a road to match two points

Some features used:

  • create_road

  • pyclothoids* (external package)

Classes

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

    def road(self, **kwargs):
        start_x = 0  # x coordinate at the beginning of the curvature
        start_y = 0  # y coordinate at the beginning of the curvature
        start_h = 0  # heading at the beginning of the curvature

        end_x = 150  # x coordinate at the end of the curvature
        end_y = 20  # y coordinate at the end of the curvature
        end_h = 0  # heading at the end of the curvature

        clothoids = pcloth.SolveG2(
            start_x,
            start_y,
            start_h,
            xodr.STD_START_CLOTH,
            end_x,
            end_y,
            end_h,
            xodr.STD_START_CLOTH,
        )
        # create spirals from each responce
        roadgeoms = [
            xodr.Spiral(x.KappaStart, x.KappaEnd, length=x.length)
            for x in clothoids
        ]

        # create the road
        road = xodr.create_road(roadgeoms, id=0, left_lanes=2, right_lanes=2)

        ## Create the OpenDrive class (Master class)
        odr = xodr.OpenDrive("myroad")

        ## Finally add roads to Opendrive
        odr.add_road(road)

        ## 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