Module examples.xodr.highway_example_with_merge_and_split
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 a highway with exits and entries, that has their own entry and exit lanes
Shows how to patch created roads together with successor/predecessor, together with the lane_offset option
Some features used:
-
create_road
-
LaneDef (not a real OpenDrive definition but a helper for the xodr module)
-
add_successor/add_predecessor with and without the lane_offset option
-
create_junction
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 a highway with exits and entries, that has their own entry and exit lanes
Shows how to patch created roads together with successor/predecessor, together with the lane_offset option
Some features used:
- create_road
- LaneDef (not a real OpenDrive definition but a helper for the xodr module)
- add_successor/add_predecessor with and without the lane_offset option
- create_junction
"""
from scenariogeneration import xodr, prettyprint, ScenarioGenerator
import os
class Scenario(ScenarioGenerator):
def __init__(self):
super().__init__()
def road(self, **kwargs):
# create some simple roads
roads = []
# start road
roads.append(
xodr.create_road(
[
xodr.Spiral(-0.004, 0.00001, 100),
xodr.Spiral(0.00001, 0.005, 50),
xodr.Arc(0.005, 50),
],
id=0,
left_lanes=2,
right_lanes=[xodr.LaneDef(50, 175, 3, 4, -4)],
)
)
# intermittent road
roads.append(
xodr.create_road(
[xodr.Spiral(0.0001, 0.003, 65), xodr.Spiral(0.003, 0.00001, 50)],
id=1,
left_lanes=[xodr.LaneDef(10, 100, 2, 3, 3)],
right_lanes=3,
)
)
# exit road
roads.append(xodr.create_road(xodr.Line(50), id=2, left_lanes=0, right_lanes=1))
# junctions for exit
roads.append(
xodr.create_road(
xodr.Spiral(0.005, 0.0001, 50),
id=3,
left_lanes=2,
right_lanes=3,
road_type=1,
)
) # continue
roads.append(
xodr.create_road(
xodr.Spiral(0.005, -0.02, 100),
id=4,
left_lanes=0,
right_lanes=1,
road_type=1,
)
) # exit
# final road
roads.append(
xodr.create_road(
[xodr.Spiral(-0.00001, -0.003, 45), xodr.Arc(-0.003, 60)],
id=5,
left_lanes=2,
right_lanes=3,
)
)
# entry junction
roads.append(
xodr.create_road(
[xodr.Line(30)], id=6, left_lanes=2, right_lanes=3, road_type=2
)
) # continue
roads.append(
xodr.create_road(
[xodr.Spiral(0.004, 0.000001, 50)],
id=7,
left_lanes=1,
right_lanes=0,
road_type=2,
)
) # entry
# entry road
roads.append(
xodr.create_road(xodr.Arc(0.004, 60), id=8, left_lanes=1, right_lanes=0)
)
# add predecessors and succesors to the non junction roads
roads[0].add_successor(xodr.ElementType.junction, 1)
roads[1].add_predecessor(xodr.ElementType.junction, 1)
roads[1].add_successor(xodr.ElementType.junction, 2)
roads[2].add_predecessor(xodr.ElementType.junction, 1)
# add connections to the first junction road
roads[3].add_predecessor(xodr.ElementType.road, 0, xodr.ContactPoint.end)
roads[3].add_successor(xodr.ElementType.road, 1, xodr.ContactPoint.start)
# add connections to the second junction road, the exit
roads[4].add_predecessor(
xodr.ElementType.road, 0, xodr.ContactPoint.end, lane_offset=-3
)
roads[4].add_successor(xodr.ElementType.road, 2, xodr.ContactPoint.start)
# add connections to the final road
roads[5].add_predecessor(xodr.ElementType.junction, 2)
# add connections to the junctionroad that continues
roads[6].add_predecessor(xodr.ElementType.road, 1, xodr.ContactPoint.end)
roads[6].add_successor(xodr.ElementType.road, 5, xodr.ContactPoint.start)
# add connections to the entry junction road
roads[7].add_predecessor(
xodr.ElementType.road, 1, xodr.ContactPoint.end, lane_offset=2
)
roads[7].add_successor(xodr.ElementType.road, 8, xodr.ContactPoint.start)
# add connection to the entry road
roads[8].add_predecessor(xodr.ElementType.junction, 2)
# create the junction struct
exit_junction = xodr.create_junction(roads[3:5], 1, roads[0:3])
entry_junction = xodr.create_junction(
roads[6:8], 2, [roads[x] for x in [1, 5, 8]]
)
# create the opendrive
odr = xodr.OpenDrive("myroad")
for r in roads:
odr.add_road(r)
odr.add_junction(exit_junction)
odr.add_junction(entry_junction)
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 some simple roads roads = [] # start road roads.append( xodr.create_road( [ xodr.Spiral(-0.004, 0.00001, 100), xodr.Spiral(0.00001, 0.005, 50), xodr.Arc(0.005, 50), ], id=0, left_lanes=2, right_lanes=[xodr.LaneDef(50, 175, 3, 4, -4)], ) ) # intermittent road roads.append( xodr.create_road( [xodr.Spiral(0.0001, 0.003, 65), xodr.Spiral(0.003, 0.00001, 50)], id=1, left_lanes=[xodr.LaneDef(10, 100, 2, 3, 3)], right_lanes=3, ) ) # exit road roads.append(xodr.create_road(xodr.Line(50), id=2, left_lanes=0, right_lanes=1)) # junctions for exit roads.append( xodr.create_road( xodr.Spiral(0.005, 0.0001, 50), id=3, left_lanes=2, right_lanes=3, road_type=1, ) ) # continue roads.append( xodr.create_road( xodr.Spiral(0.005, -0.02, 100), id=4, left_lanes=0, right_lanes=1, road_type=1, ) ) # exit # final road roads.append( xodr.create_road( [xodr.Spiral(-0.00001, -0.003, 45), xodr.Arc(-0.003, 60)], id=5, left_lanes=2, right_lanes=3, ) ) # entry junction roads.append( xodr.create_road( [xodr.Line(30)], id=6, left_lanes=2, right_lanes=3, road_type=2 ) ) # continue roads.append( xodr.create_road( [xodr.Spiral(0.004, 0.000001, 50)], id=7, left_lanes=1, right_lanes=0, road_type=2, ) ) # entry # entry road roads.append( xodr.create_road(xodr.Arc(0.004, 60), id=8, left_lanes=1, right_lanes=0) ) # add predecessors and succesors to the non junction roads roads[0].add_successor(xodr.ElementType.junction, 1) roads[1].add_predecessor(xodr.ElementType.junction, 1) roads[1].add_successor(xodr.ElementType.junction, 2) roads[2].add_predecessor(xodr.ElementType.junction, 1) # add connections to the first junction road roads[3].add_predecessor(xodr.ElementType.road, 0, xodr.ContactPoint.end) roads[3].add_successor(xodr.ElementType.road, 1, xodr.ContactPoint.start) # add connections to the second junction road, the exit roads[4].add_predecessor( xodr.ElementType.road, 0, xodr.ContactPoint.end, lane_offset=-3 ) roads[4].add_successor(xodr.ElementType.road, 2, xodr.ContactPoint.start) # add connections to the final road roads[5].add_predecessor(xodr.ElementType.junction, 2) # add connections to the junctionroad that continues roads[6].add_predecessor(xodr.ElementType.road, 1, xodr.ContactPoint.end) roads[6].add_successor(xodr.ElementType.road, 5, xodr.ContactPoint.start) # add connections to the entry junction road roads[7].add_predecessor( xodr.ElementType.road, 1, xodr.ContactPoint.end, lane_offset=2 ) roads[7].add_successor(xodr.ElementType.road, 8, xodr.ContactPoint.start) # add connection to the entry road roads[8].add_predecessor(xodr.ElementType.junction, 2) # create the junction struct exit_junction = xodr.create_junction(roads[3:5], 1, roads[0:3]) entry_junction = xodr.create_junction( roads[6:8], 2, [roads[x] for x in [1, 5, 8]] ) # create the opendrive odr = xodr.OpenDrive("myroad") for r in roads: odr.add_road(r) odr.add_junction(exit_junction) odr.add_junction(entry_junction) odr.adjust_roads_and_lanes() return odrAncestors
Inherited members