Module examples.xodr.direct_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 exits using DirectJunctionCreator

Some features used:

  • create_road

  • add_successor/add_predecessor with and without the lane_offset option, and the direct_junction input

  • DirectJunctionCreator

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 exits using DirectJunctionCreator

    Some features used:

    - create_road

    - add_successor/add_predecessor with and without the lane_offset option, and the direct_junction input

    - DirectJunctionCreator
"""

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 4 roads, and add the successor/predecessor junction
        start_road = xodr.create_road(
            [xodr.Line(200)], id=1, left_lanes=2, right_lanes=3
        )
        start_road.add_successor(xodr.ElementType.junction, junction_id)

        continuation_road = xodr.create_road(
            [xodr.Line(200)], id=2, left_lanes=3, right_lanes=2
        )
        continuation_road.add_predecessor(xodr.ElementType.junction, junction_id)

        exit_road_right = xodr.create_road(
            xodr.Spiral(-0.00001, -0.001, 100), id=10, left_lanes=0, right_lanes=1
        )
        exit_road_right.add_predecessor(xodr.ElementType.junction, junction_id)

        exit_road_left = xodr.create_road(
            xodr.Spiral(0.01, 0.0001, 150), id=20, left_lanes=1, right_lanes=0
        )
        exit_road_left.add_successor(xodr.ElementType.junction, junction_id)

        # create direct junction connection to all common lanes between the main roads
        junction_creator.add_connection(
            incoming_road=start_road, linked_road=continuation_road
        )

        # create the connection to the exit roads with only the specific lanes
        junction_creator.add_connection(
            incoming_road=start_road,
            linked_road=exit_road_right,
            incoming_lane_ids=-3,
            linked_lane_ids=-1,
        )
        junction_creator.add_connection(
            incoming_road=exit_road_left,
            linked_road=continuation_road,
            incoming_lane_ids=1,
            linked_lane_ids=3,
        )

        # create the opendrive
        odr = xodr.OpenDrive("my_road")

        # add the roads
        odr.add_road(start_road)
        odr.add_road(continuation_road)
        odr.add_road(exit_road_right)
        odr.add_road(exit_road_left)

        # 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 4 roads, and add the successor/predecessor junction
        start_road = xodr.create_road(
            [xodr.Line(200)], id=1, left_lanes=2, right_lanes=3
        )
        start_road.add_successor(xodr.ElementType.junction, junction_id)

        continuation_road = xodr.create_road(
            [xodr.Line(200)], id=2, left_lanes=3, right_lanes=2
        )
        continuation_road.add_predecessor(xodr.ElementType.junction, junction_id)

        exit_road_right = xodr.create_road(
            xodr.Spiral(-0.00001, -0.001, 100), id=10, left_lanes=0, right_lanes=1
        )
        exit_road_right.add_predecessor(xodr.ElementType.junction, junction_id)

        exit_road_left = xodr.create_road(
            xodr.Spiral(0.01, 0.0001, 150), id=20, left_lanes=1, right_lanes=0
        )
        exit_road_left.add_successor(xodr.ElementType.junction, junction_id)

        # create direct junction connection to all common lanes between the main roads
        junction_creator.add_connection(
            incoming_road=start_road, linked_road=continuation_road
        )

        # create the connection to the exit roads with only the specific lanes
        junction_creator.add_connection(
            incoming_road=start_road,
            linked_road=exit_road_right,
            incoming_lane_ids=-3,
            linked_lane_ids=-1,
        )
        junction_creator.add_connection(
            incoming_road=exit_road_left,
            linked_road=continuation_road,
            incoming_lane_ids=1,
            linked_lane_ids=3,
        )

        # create the opendrive
        odr = xodr.OpenDrive("my_road")

        # add the roads
        odr.add_road(start_road)
        odr.add_road(continuation_road)
        odr.add_road(exit_road_right)
        odr.add_road(exit_road_left)

        # add the junction creator
        odr.add_junction_creator(junction_creator)

        # adjust the roads and lanes
        odr.adjust_roads_and_lanes()

        return odr

Ancestors

Inherited members