Module examples.xodr.full_junction_with_LaneDef
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 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
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 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
"""
from scenariogeneration import xodr, prettyprint, ScenarioGenerator
import numpy as np
import os
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
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): # 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 odrAncestors
Inherited members