Module examples.xodr.full_junction_with_LaneDef

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

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Copyright (c) 2022 The scenariogeneration Authors.

Example how to create a more customized a junction with different widths of lanes, using generators and LaneDef with different lane widths

Some features used

  • CommonJunctionCreator

  • LaneDef

  • create_road

Classes

class Scenario
Expand source code 
class Scenario(ScenarioGenerator):
    def __init__(self):
        super().__init__()

    def road(self, **kwargs):
        # create 4 roads going into a junction with different lanewidths
        road1 = xodr.create_road(
            xodr.Line(100),
            1,
            xodr.LaneDef(0, 100, 2, 2, None, [3, 1]),
            xodr.LaneDef(0, 100, 2, 2, None, [4, 1]),
        )
        road2 = xodr.create_road(
            xodr.Line(100), 2, 0, [xodr.LaneDef(0, 100, 2, 2, None, [2, 2])]
        )
        road3 = xodr.create_road(
            xodr.Line(100), 3, [xodr.LaneDef(0, 100, 2, 2, None, [4, 4])], 0
        )
        road4 = xodr.create_road(
            xodr.Line(100),
            4,
            [xodr.LaneDef(0, 100, 2, 2, None, [3, 3])],
            [xodr.LaneDef(0, 100, 2, 2, None, [4, 4])],
        )

        # create the connection in the junction
        jc = xodr.CommonJunctionCreator(100, "my junc")
        jc.add_incoming_road_cartesian_geometry(
            road1, 0, -20, -np.pi / 2 * 3, "successor"
        )
        jc.add_incoming_road_cartesian_geometry(
            road4, 5, 30, -np.pi / 2 - 0.1, "successor"
        )
        jc.add_incoming_road_cartesian_geometry(
            road3, -20, 0, 0, "predecessor"
        )
        jc.add_incoming_road_cartesian_geometry(
            road2, 20, 0, np.pi, "predecessor"
        )

        jc.add_connection(1, 2)
        jc.add_connection(3, 1)
        jc.add_connection(1, 4, [-1, 1], [1, -1])
        jc.add_connection(2, 3)
        jc.add_connection(4, 2)
        jc.add_connection(4, 3)

        # create the open drive and add the roads
        odr = xodr.OpenDrive("my test road")
        odr.add_road(road1)
        odr.add_road(road2)
        odr.add_road(road3)
        odr.add_road(road4)
        odr.add_junction_creator(jc)

        # adjust 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