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
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 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
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