Module examples.xodr.manual_add_of_geometries

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 add geometries with a fixed position, please note that adjust_roads_and_lanes will only take care of the lane linking in this case not any geometrical adjustmensts

This is how a road can be built up if all exact postions of the geometries are already known

Some features used:

  • PlanView

  • (PlanView).add_fixed_geometry

  • RoadMark

  • Lane

  • LaneSection

  • Lanes

  • LaneLinker

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 add geometries with a fixed position, please note that *adjust_roads_and_lanes* will only take care of the lane linking in this case not any geometrical adjustmensts

    This is how a road can be built up if all exact postions of the geometries are already known

    Some features used:

    - PlanView

    - (PlanView).add_fixed_geometry

    - RoadMark

    - Lane

    - LaneSection

    - Lanes

    - LaneLinker
"""

import os
from scenariogeneration import xodr, xosc, esmini, prettyprint, ScenarioGenerator


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

    def road(self, **kwargs):
        planview = xodr.PlanView()

        # add two geometries based on exact position
        planview.add_fixed_geometry(xodr.Line(100), 0, 0, 0)
        planview.add_fixed_geometry(xodr.Arc(0.01, length=100), 100, 0, 0)

        # create simple lanes
        lanes = xodr.Lanes()
        lanesection1 = xodr.LaneSection(0, xodr.standard_lane())
        lanesection1.add_left_lane(xodr.standard_lane(rm=xodr.STD_ROADMARK_SOLID))
        lanesection1.add_right_lane(xodr.standard_lane(rm=xodr.STD_ROADMARK_SOLID))
        lanes.add_lanesection(lanesection1)

        road1 = xodr.Road(0, planview, lanes)

        # create a simple second road for connection
        road2 = xodr.create_road(xodr.Line(100), 1)

        # connect the roads with successor/predecessor
        road1.add_successor(xodr.ElementType.road, 1, xodr.ContactPoint.start)
        road2.add_predecessor(xodr.ElementType.road, 0, xodr.ContactPoint.end)

        odr = xodr.OpenDrive("my_road")
        odr.add_road(road1)
        odr.add_road(road2)

        # will adjust the second road and the lanes and lane links correctly
        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):
        planview = xodr.PlanView()

        # add two geometries based on exact position
        planview.add_fixed_geometry(xodr.Line(100), 0, 0, 0)
        planview.add_fixed_geometry(xodr.Arc(0.01, length=100), 100, 0, 0)

        # create simple lanes
        lanes = xodr.Lanes()
        lanesection1 = xodr.LaneSection(0, xodr.standard_lane())
        lanesection1.add_left_lane(xodr.standard_lane(rm=xodr.STD_ROADMARK_SOLID))
        lanesection1.add_right_lane(xodr.standard_lane(rm=xodr.STD_ROADMARK_SOLID))
        lanes.add_lanesection(lanesection1)

        road1 = xodr.Road(0, planview, lanes)

        # create a simple second road for connection
        road2 = xodr.create_road(xodr.Line(100), 1)

        # connect the roads with successor/predecessor
        road1.add_successor(xodr.ElementType.road, 1, xodr.ContactPoint.start)
        road2.add_predecessor(xodr.ElementType.road, 0, xodr.ContactPoint.end)

        odr = xodr.OpenDrive("my_road")
        odr.add_road(road1)
        odr.add_road(road2)

        # will adjust the second road and the lanes and lane links correctly
        odr.adjust_roads_and_lanes()
        return odr

Ancestors

Inherited members