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
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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