Module examples.xodr.highway_exit_with_lane_types
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 simple highway with exits and entries
Shows how to patch created roads together with successor/predecessor, together with the lane_offset option
Some features used:
-
create_road
-
add_successor/add_predecessor with and without the lane_offset option
-
LaneDef
-
LaneType
-
DirectJunctionCreator
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 simple highway with exits and entries
Shows how to patch created roads together with successor/predecessor, together with the lane_offset option
Some features used:
- create_road
- add_successor/add_predecessor with and without the lane_offset option
- LaneDef
- LaneType
- DirectJunctionCreator
"""
from scenariogeneration import xodr, prettyprint, ScenarioGenerator
import os
class Scenario(ScenarioGenerator):
def __init__(self):
super().__init__()
def road(self, **kwargs):
# create a road with an exit lane (three lane sections will be created)
first_road = xodr.create_road(
xodr.Spiral(0.001, 0, 300),
1,
left_lanes=2,
right_lanes=[xodr.LaneDef(100, 200, 2, 3, -3)],
)
# add the type of lane to the exit and offramp
first_road.lanes.lanesections[1].rightlanes[2].lane_type = xodr.LaneType.exit
first_road.lanes.lanesections[2].rightlanes[2].lane_type = xodr.LaneType.exit
continuation_road = xodr.create_road(
xodr.Spiral(0.00001, 0.001, 200), 2, left_lanes=2, right_lanes=2
)
exit_road = xodr.create_road(
[
xodr.Spiral(0, -0.01, length=50),
xodr.Arc(-0.01, length=30),
xodr.Spiral(-0.01, 0, length=50),
],
3,
0,
1,
)
exit_road.lanes.lanesections[0].rightlanes[0].lane_type = xodr.LaneType.offRamp
# add successors and predecessors as a direct junction
first_road.add_successor(xodr.ElementType.junction, 100)
continuation_road.add_predecessor(xodr.ElementType.junction, 100)
exit_road.add_predecessor(xodr.ElementType.junction, 100)
# create the junction struct
direct_junction = xodr.DirectJunctionCreator(100, "my exit")
direct_junction.add_connection(first_road, continuation_road)
direct_junction.add_connection(first_road, exit_road, -3, -1)
# create the opendrive
odr = xodr.OpenDrive("myroad")
odr.add_road(first_road)
odr.add_road(continuation_road)
odr.add_road(exit_road)
# adjust the roads and lanes properly
odr.adjust_roads_and_lanes()
odr.add_junction_creator(direct_junction)
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 a road with an exit lane (three lane sections will be created) first_road = xodr.create_road( xodr.Spiral(0.001, 0, 300), 1, left_lanes=2, right_lanes=[xodr.LaneDef(100, 200, 2, 3, -3)], ) # add the type of lane to the exit and offramp first_road.lanes.lanesections[1].rightlanes[2].lane_type = xodr.LaneType.exit first_road.lanes.lanesections[2].rightlanes[2].lane_type = xodr.LaneType.exit continuation_road = xodr.create_road( xodr.Spiral(0.00001, 0.001, 200), 2, left_lanes=2, right_lanes=2 ) exit_road = xodr.create_road( [ xodr.Spiral(0, -0.01, length=50), xodr.Arc(-0.01, length=30), xodr.Spiral(-0.01, 0, length=50), ], 3, 0, 1, ) exit_road.lanes.lanesections[0].rightlanes[0].lane_type = xodr.LaneType.offRamp # add successors and predecessors as a direct junction first_road.add_successor(xodr.ElementType.junction, 100) continuation_road.add_predecessor(xodr.ElementType.junction, 100) exit_road.add_predecessor(xodr.ElementType.junction, 100) # create the junction struct direct_junction = xodr.DirectJunctionCreator(100, "my exit") direct_junction.add_connection(first_road, continuation_road) direct_junction.add_connection(first_road, exit_road, -3, -1) # create the opendrive odr = xodr.OpenDrive("myroad") odr.add_road(first_road) odr.add_road(continuation_road) odr.add_road(exit_road) # adjust the roads and lanes properly odr.adjust_roads_and_lanes() odr.add_junction_creator(direct_junction) return odrAncestors
Inherited members