Module examples.xodr.manual_add_of_geometries

scenariogeneration https://github.com/pyoscx/scenariogeneration

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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

Classes

class Scenario
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

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