Module examples.xodr.junction_trippel_twoway

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.

This example shows how to make a very simple junction from "scratch" without using any generators.

NOTE: This is more of a reference example and should not be considered a "user example" more of a "developer example".

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.

  This example shows how to make a very simple junction from "scratch" without using any generators.

    NOTE: This is more of a reference example and should not be considered a "user example" more of a "developer example".


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


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

    def road(self, **kwargs):
        rm = xodr.RoadMark(xodr.RoadMarkType.solid, 0.2)

        # create geometries

        geoms = []
        geoms.append(xodr.Line(100))
        geoms.append(xodr.Spiral(0.001, 0.019, 30))
        geoms.append(xodr.Line(100))
        geoms.append(xodr.Spiral(-0.001, -0.1, 30))
        geoms.append(xodr.Line(100))
        geoms.append(xodr.Line(20))
        geoms.append(xodr.Line(100))
        numberofroads = len(geoms)

        # create planviews
        planviews = []
        for g in geoms:
            pv = xodr.PlanView()
            pv.add_geometry(g)
            planviews.append(pv)

        # create centerlanes
        lanecenters = []
        for i in range(numberofroads):
            lc = xodr.Lane(a=3)
            lc.add_roadmark(rm)
            lanecenters.append(lc)

        # create lanes
        rightlanes = []
        leftlanes = []
        for i in range(numberofroads):
            right = xodr.Lane(a=3)
            right.add_roadmark(rm)
            rightlanes.append(right)
            left = xodr.Lane(a=3)
            left.add_roadmark(rm)
            leftlanes.append(left)

        # create lanesections
        lanesections = []
        for i in range(numberofroads):
            lsec = xodr.LaneSection(0, lanecenters[i])
            lsec.add_right_lane(rightlanes[i])
            lsec.add_left_lane(leftlanes[i])
            lanesections.append(lsec)

        ## create lanes
        lanes = []
        for l in lanesections:
            lanes1 = xodr.Lanes()
            lanes1.add_lanesection(l)
            lanes.append(lanes1)

        # finally create the roads
        roads = []
        roadtypes = [-1, 1, -1, 1, -1, 1, -1]
        for i in range(numberofroads):
            roads.append(xodr.Road(i, planviews[i], lanes[i], road_type=roadtypes[i]))

        roads[0].add_successor(xodr.ElementType.junction, 1)

        roads[1].add_predecessor(xodr.ElementType.road, 0, xodr.ContactPoint.end)
        roads[1].add_successor(xodr.ElementType.road, 2, xodr.ContactPoint.start)

        roads[2].add_predecessor(xodr.ElementType.junction, 1)

        roads[3].add_predecessor(xodr.ElementType.road, 0, xodr.ContactPoint.end)
        roads[3].add_successor(xodr.ElementType.road, 4, xodr.ContactPoint.start)

        roads[4].add_predecessor(xodr.ElementType.junction, 1)

        roads[5].add_predecessor(xodr.ElementType.road, 0, xodr.ContactPoint.end)
        roads[5].add_successor(xodr.ElementType.road, 6, xodr.ContactPoint.start)

        roads[6].add_predecessor(xodr.ElementType.junction, 1)

        # create the opendrive
        odr = xodr.OpenDrive("myroad")
        for r in roads:
            odr.add_road(r)

        # create junction
        junction = xodr.Junction("test", 1)
        con1 = xodr.Connection(0, 1, xodr.ContactPoint.start)
        con1.add_lanelink(-1, -1)
        con2 = xodr.Connection(0, 3, xodr.ContactPoint.start)
        con2.add_lanelink(-1, -1)
        con3 = xodr.Connection(0, 5, xodr.ContactPoint.start)
        con3.add_lanelink(-1, -1)

        con4 = xodr.Connection(2, 1, xodr.ContactPoint.end)
        con4.add_lanelink(1, 1)
        con5 = xodr.Connection(4, 3, xodr.ContactPoint.end)
        con5.add_lanelink(1, 1)
        con6 = xodr.Connection(6, 5, xodr.ContactPoint.end)
        con6.add_lanelink(1, 1)

        junction.add_connection(con1)
        junction.add_connection(con2)
        junction.add_connection(con3)
        junction.add_connection(con4)
        junction.add_connection(con5)
        junction.add_connection(con6)

        # odr.create_junction()
        odr.add_junction(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):
        rm = xodr.RoadMark(xodr.RoadMarkType.solid, 0.2)

        # create geometries

        geoms = []
        geoms.append(xodr.Line(100))
        geoms.append(xodr.Spiral(0.001, 0.019, 30))
        geoms.append(xodr.Line(100))
        geoms.append(xodr.Spiral(-0.001, -0.1, 30))
        geoms.append(xodr.Line(100))
        geoms.append(xodr.Line(20))
        geoms.append(xodr.Line(100))
        numberofroads = len(geoms)

        # create planviews
        planviews = []
        for g in geoms:
            pv = xodr.PlanView()
            pv.add_geometry(g)
            planviews.append(pv)

        # create centerlanes
        lanecenters = []
        for i in range(numberofroads):
            lc = xodr.Lane(a=3)
            lc.add_roadmark(rm)
            lanecenters.append(lc)

        # create lanes
        rightlanes = []
        leftlanes = []
        for i in range(numberofroads):
            right = xodr.Lane(a=3)
            right.add_roadmark(rm)
            rightlanes.append(right)
            left = xodr.Lane(a=3)
            left.add_roadmark(rm)
            leftlanes.append(left)

        # create lanesections
        lanesections = []
        for i in range(numberofroads):
            lsec = xodr.LaneSection(0, lanecenters[i])
            lsec.add_right_lane(rightlanes[i])
            lsec.add_left_lane(leftlanes[i])
            lanesections.append(lsec)

        ## create lanes
        lanes = []
        for l in lanesections:
            lanes1 = xodr.Lanes()
            lanes1.add_lanesection(l)
            lanes.append(lanes1)

        # finally create the roads
        roads = []
        roadtypes = [-1, 1, -1, 1, -1, 1, -1]
        for i in range(numberofroads):
            roads.append(xodr.Road(i, planviews[i], lanes[i], road_type=roadtypes[i]))

        roads[0].add_successor(xodr.ElementType.junction, 1)

        roads[1].add_predecessor(xodr.ElementType.road, 0, xodr.ContactPoint.end)
        roads[1].add_successor(xodr.ElementType.road, 2, xodr.ContactPoint.start)

        roads[2].add_predecessor(xodr.ElementType.junction, 1)

        roads[3].add_predecessor(xodr.ElementType.road, 0, xodr.ContactPoint.end)
        roads[3].add_successor(xodr.ElementType.road, 4, xodr.ContactPoint.start)

        roads[4].add_predecessor(xodr.ElementType.junction, 1)

        roads[5].add_predecessor(xodr.ElementType.road, 0, xodr.ContactPoint.end)
        roads[5].add_successor(xodr.ElementType.road, 6, xodr.ContactPoint.start)

        roads[6].add_predecessor(xodr.ElementType.junction, 1)

        # create the opendrive
        odr = xodr.OpenDrive("myroad")
        for r in roads:
            odr.add_road(r)

        # create junction
        junction = xodr.Junction("test", 1)
        con1 = xodr.Connection(0, 1, xodr.ContactPoint.start)
        con1.add_lanelink(-1, -1)
        con2 = xodr.Connection(0, 3, xodr.ContactPoint.start)
        con2.add_lanelink(-1, -1)
        con3 = xodr.Connection(0, 5, xodr.ContactPoint.start)
        con3.add_lanelink(-1, -1)

        con4 = xodr.Connection(2, 1, xodr.ContactPoint.end)
        con4.add_lanelink(1, 1)
        con5 = xodr.Connection(4, 3, xodr.ContactPoint.end)
        con5.add_lanelink(1, 1)
        con6 = xodr.Connection(6, 5, xodr.ContactPoint.end)
        con6.add_lanelink(1, 1)

        junction.add_connection(con1)
        junction.add_connection(con2)
        junction.add_connection(con3)
        junction.add_connection(con4)
        junction.add_connection(con5)
        junction.add_connection(con6)

        # odr.create_junction()
        odr.add_junction(junction)
        odr.adjust_roads_and_lanes()

        return odr

Ancestors

Inherited members