Module examples.xodr.road_link_unequal_number_of_lanes

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 for linking two roads with an unequal number of lanes.

Note: This is possible and valid according to the OpenDRIVE standard. It is sometimes necessary to use this approach but it might often be prefered to begin a new lane section to change the number of lanes instead.

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 for linking two roads with an unequal number of lanes.

    Note: This is possible and valid according to the OpenDRIVE standard. It is
    sometimes necessary to use this approach but it might often be prefered to begin
    a new lane section to change the number of lanes instead.
"""

from scenariogeneration import xodr, prettyprint, ScenarioGenerator
import os


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

    def road(self, **kwargs):
        # Create roads
        length_road = 100.0
        road_first = xodr.create_road([xodr.Line(length_road)], 1, 2, 3)
        road_first.planview.adjust_geometries()

        road_second = xodr.create_road([xodr.Line(length_road)], 2, 2, 4)
        road_second.planview.set_start_point(100, 0, 0)
        road_second.planview.adjust_geometries()
        # Make a new lane open up/branch out
        new_lane_width = 3.0
        road_second.lanes.lanesections[0].rightlanes[2].a = 0.0
        road_second.lanes.lanesections[0].rightlanes[2].b = 0.0
        road_second.lanes.lanesections[0].rightlanes[2].c = (
            3.0 / length_road**2 * new_lane_width
        )
        road_second.lanes.lanesections[0].rightlanes[2].d = (
            -2.0 / length_road**3 * new_lane_width
        )

        ## Create the OpenDrive class (Master class)
        odr = xodr.OpenDrive("myroads")

        ## Finally add roads to Opendrive
        odr.add_road(road_first)
        odr.add_road(road_second)

        # Link roads
        road_first.add_successor(xodr.ElementType.road, 2, xodr.ContactPoint.start)
        road_second.add_predecessor(xodr.ElementType.road, 1, xodr.ContactPoint.end)

        # Link lanes but do not link the newly beginning lane
        link_lane_ids_first = [2, 1, -1, -2, -3]
        link_lane_ids_second = [2, 1, -1, -2, -4]
        xodr.create_lane_links_from_ids(
            road_first, road_second, link_lane_ids_first, link_lane_ids_second
        )

        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

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 roads
        length_road = 100.0
        road_first = xodr.create_road([xodr.Line(length_road)], 1, 2, 3)
        road_first.planview.adjust_geometries()

        road_second = xodr.create_road([xodr.Line(length_road)], 2, 2, 4)
        road_second.planview.set_start_point(100, 0, 0)
        road_second.planview.adjust_geometries()
        # Make a new lane open up/branch out
        new_lane_width = 3.0
        road_second.lanes.lanesections[0].rightlanes[2].a = 0.0
        road_second.lanes.lanesections[0].rightlanes[2].b = 0.0
        road_second.lanes.lanesections[0].rightlanes[2].c = (
            3.0 / length_road**2 * new_lane_width
        )
        road_second.lanes.lanesections[0].rightlanes[2].d = (
            -2.0 / length_road**3 * new_lane_width
        )

        ## Create the OpenDrive class (Master class)
        odr = xodr.OpenDrive("myroads")

        ## Finally add roads to Opendrive
        odr.add_road(road_first)
        odr.add_road(road_second)

        # Link roads
        road_first.add_successor(xodr.ElementType.road, 2, xodr.ContactPoint.start)
        road_second.add_predecessor(xodr.ElementType.road, 1, xodr.ContactPoint.end)

        # Link lanes but do not link the newly beginning lane
        link_lane_ids_first = [2, 1, -1, -2, -3]
        link_lane_ids_second = [2, 1, -1, -2, -4]
        xodr.create_lane_links_from_ids(
            road_first, road_second, link_lane_ids_first, link_lane_ids_second
        )

        return odr

Ancestors

Inherited members