Module examples.xodr.common_junction_creator

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

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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

Classes

class Scenario
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 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