Module examples.xodr.full_junction

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.

An example, using the generators, showing how to create different symetric junctions, the numintersections can be changed to create different junctions

In this example we can create a junction given

Some features used:

  • create_road

  • 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.

    An example, using the generators, showing how to create different symetric junctions,
    the numintersections can be changed to create different junctions

    In this example we can create a junction given

    Some features used:

    - create_road

    - CommonJunctionCreator

"""

import numpy as np
import os
from scenariogeneration import xodr, prettyprint, ScenarioGenerator


class Scenario(ScenarioGenerator):
    def __init__(self):
        super().__init__()

    def road(self, **kwargs):
        roads = []
        numintersections = 3
        nlanes = 1

        # setup junction creator
        junction_creator = xodr.CommonJunctionCreator(100, "my junction")

        # create some roads
        for i in range(numintersections):
            roads.append(
                xodr.create_road(
                    [xodr.Line(100)],
                    i,
                    center_road_mark=xodr.STD_ROADMARK_BROKEN,
                    left_lanes=nlanes,
                    right_lanes=nlanes,
                )
            )

            # add road to junciton
            junction_creator.add_incoming_road_circular_geometry(
                roads[i], 20, i * 2 * np.pi / numintersections, "successor"
            )

            # add connection to all previous roads
            for j in range(i):
                junction_creator.add_connection(j, i)

        odr = xodr.OpenDrive("myroad")

        for r in roads:
            odr.add_road(r)
        odr.add_junction_creator(junction_creator)

        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):
        roads = []
        numintersections = 3
        nlanes = 1

        # setup junction creator
        junction_creator = xodr.CommonJunctionCreator(100, "my junction")

        # create some roads
        for i in range(numintersections):
            roads.append(
                xodr.create_road(
                    [xodr.Line(100)],
                    i,
                    center_road_mark=xodr.STD_ROADMARK_BROKEN,
                    left_lanes=nlanes,
                    right_lanes=nlanes,
                )
            )

            # add road to junciton
            junction_creator.add_incoming_road_circular_geometry(
                roads[i], 20, i * 2 * np.pi / numintersections, "successor"
            )

            # add connection to all previous roads
            for j in range(i):
                junction_creator.add_connection(j, i)

        odr = xodr.OpenDrive("myroad")

        for r in roads:
            odr.add_road(r)
        odr.add_junction_creator(junction_creator)

        odr.adjust_roads_and_lanes()

        return odr

Ancestors

Inherited members