Module examples.xodr.junction_trippel_twoway
scenariogeneration https://github.com/pyoscx/scenariogeneration
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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".
Classes
class Scenario
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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
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