Module examples.xodr.common_junction_creator
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 how to create a highway entry using CommonJunctionCreator
Some features used:
-
create_road
-
add_successor/add_predecessor with and without the lane_offset option, and the direct_junction input
-
CommonJunctionCreator
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 how to create a highway entry using CommonJunctionCreator
Some features used:
- create_road
- add_successor/add_predecessor with and without the lane_offset option, and the direct_junction input
- CommonJunctionCreator
"""
import os
from scenariogeneration import xodr, prettyprint, ScenarioGenerator
class Scenario(ScenarioGenerator):
def __init__(self):
super().__init__()
def road(self, **kwargs):
# initalize the junction creator
junction_id = 100
junction_creator = xodr.DirectJunctionCreator(
id=junction_id, name="my direct junction"
)
# create 3 roads, and add the successor/predecessor junction
road1 = xodr.create_road(xodr.Line(100), id=1, left_lanes=2, right_lanes=2)
road2 = xodr.create_road(xodr.Line(100), id=2, left_lanes=1, right_lanes=1)
road3 = xodr.create_road(xodr.Line(100), id=3, left_lanes=2, right_lanes=2)
# create direct junction connection to all common lanes between the main roads
junction_creator = xodr.CommonJunctionCreator(id=100, name="my_junction")
junction_creator.add_incoming_road_cartesian_geometry(
road1, x=0, y=0, heading=0, road_connection="successor"
)
junction_creator.add_incoming_road_cartesian_geometry(
road2, x=50, y=50, heading=3.1415 * 3 / 2, road_connection="predecessor"
)
junction_creator.add_incoming_road_cartesian_geometry(
road3, x=100, y=0, heading=-3.1415, road_connection="predecessor"
)
# create the opendrive
odr = xodr.OpenDrive("my_road")
# add the roads
junction_creator.add_connection(road_one_id=1, road_two_id=3)
junction_creator.add_connection(
road_one_id=1, road_two_id=2, lane_one_id=2, lane_two_id=1
)
junction_creator.add_connection(
road_one_id=2, road_two_id=3, lane_one_id=-1, lane_two_id=2
)
odr.add_road(road1)
odr.add_road(road2)
odr.add_road(road3)
# add the junction creator
odr.add_junction_creator(junction_creator)
# adjust the roads and lanes
odr.adjust_roads_and_lanes()
return odr
if __name__ == "__main__":
sce = Scenario()
# Print the resulting xml
prettyprint(sce.road().get_element())
# write the OpenDRIVE file as xosc using current script name
sce.generate(".")
# uncomment the following lines to display the scenario using esmini
# from scenariogeneration import esmini
# esmini(sce,os.path.join('esmini'))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): super().__init__() def road(self, **kwargs): # initalize the junction creator junction_id = 100 junction_creator = xodr.DirectJunctionCreator( id=junction_id, name="my direct junction" ) # create 3 roads, and add the successor/predecessor junction road1 = xodr.create_road(xodr.Line(100), id=1, left_lanes=2, right_lanes=2) road2 = xodr.create_road(xodr.Line(100), id=2, left_lanes=1, right_lanes=1) road3 = xodr.create_road(xodr.Line(100), id=3, left_lanes=2, right_lanes=2) # create direct junction connection to all common lanes between the main roads junction_creator = xodr.CommonJunctionCreator(id=100, name="my_junction") junction_creator.add_incoming_road_cartesian_geometry( road1, x=0, y=0, heading=0, road_connection="successor" ) junction_creator.add_incoming_road_cartesian_geometry( road2, x=50, y=50, heading=3.1415 * 3 / 2, road_connection="predecessor" ) junction_creator.add_incoming_road_cartesian_geometry( road3, x=100, y=0, heading=-3.1415, road_connection="predecessor" ) # create the opendrive odr = xodr.OpenDrive("my_road") # add the roads junction_creator.add_connection(road_one_id=1, road_two_id=3) junction_creator.add_connection( road_one_id=1, road_two_id=2, lane_one_id=2, lane_two_id=1 ) junction_creator.add_connection( road_one_id=2, road_two_id=3, lane_one_id=-1, lane_two_id=2 ) odr.add_road(road1) odr.add_road(road2) odr.add_road(road3) # add the junction creator odr.add_junction_creator(junction_creator) # adjust the roads and lanes odr.adjust_roads_and_lanes() return odrAncestors
Inherited members