Module examples.xodr.road_split

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 create a simple road split through a junction

Some features used

  • create_road

  • add_successor/add_predecessor with lane_offset

  • create_junction

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 create a simple road split through a junction

    Some features used

    - create_road

    - add_successor/add_predecessor with lane_offset

    - create_junction

"""
from scenariogeneration import xodr, prettyprint, ScenarioGenerator
import os


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

    def road(self, **kwargs):
        # create some simple roads
        roads = []
        roads.append(
            xodr.create_road(xodr.Line(100), id=0, left_lanes=0, right_lanes=2)
        )
        roads.append(
            xodr.create_road(xodr.Line(100), id=1, left_lanes=0, right_lanes=1)
        )
        roads.append(
            xodr.create_road(xodr.Line(100), id=2, left_lanes=0, right_lanes=1)
        )
        roads.append(
            xodr.create_road(
                xodr.Spiral(0.001, 0.02, 30),
                id=3,
                left_lanes=0,
                right_lanes=1,
                road_type=1,
            )
        )
        roads.append(
            xodr.create_road(
                xodr.Spiral(-0.001, -0.02, 30),
                id=4,
                left_lanes=0,
                right_lanes=1,
                road_type=1,
            )
        )

        # add predecessors and succesors to the non junction roads
        roads[0].add_successor(xodr.ElementType.junction, 1)
        roads[1].add_predecessor(xodr.ElementType.junction, 1)
        roads[2].add_predecessor(xodr.ElementType.junction, 1)

        # add connections to the first junction road
        roads[3].add_predecessor(xodr.ElementType.road, 0, xodr.ContactPoint.end)
        roads[3].add_successor(xodr.ElementType.road, 1, xodr.ContactPoint.start)

        # add connections to the second junction road, together with an offset
        roads[4].add_predecessor(
            xodr.ElementType.road, 0, xodr.ContactPoint.end, lane_offset=-1
        )
        roads[4].add_successor(xodr.ElementType.road, 2, xodr.ContactPoint.start)

        # create the junction struct
        junction = xodr.create_junction(roads[3:], 1, roads[0:3])

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

        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):
        # create some simple roads
        roads = []
        roads.append(
            xodr.create_road(xodr.Line(100), id=0, left_lanes=0, right_lanes=2)
        )
        roads.append(
            xodr.create_road(xodr.Line(100), id=1, left_lanes=0, right_lanes=1)
        )
        roads.append(
            xodr.create_road(xodr.Line(100), id=2, left_lanes=0, right_lanes=1)
        )
        roads.append(
            xodr.create_road(
                xodr.Spiral(0.001, 0.02, 30),
                id=3,
                left_lanes=0,
                right_lanes=1,
                road_type=1,
            )
        )
        roads.append(
            xodr.create_road(
                xodr.Spiral(-0.001, -0.02, 30),
                id=4,
                left_lanes=0,
                right_lanes=1,
                road_type=1,
            )
        )

        # add predecessors and succesors to the non junction roads
        roads[0].add_successor(xodr.ElementType.junction, 1)
        roads[1].add_predecessor(xodr.ElementType.junction, 1)
        roads[2].add_predecessor(xodr.ElementType.junction, 1)

        # add connections to the first junction road
        roads[3].add_predecessor(xodr.ElementType.road, 0, xodr.ContactPoint.end)
        roads[3].add_successor(xodr.ElementType.road, 1, xodr.ContactPoint.start)

        # add connections to the second junction road, together with an offset
        roads[4].add_predecessor(
            xodr.ElementType.road, 0, xodr.ContactPoint.end, lane_offset=-1
        )
        roads[4].add_successor(xodr.ElementType.road, 2, xodr.ContactPoint.start)

        # create the junction struct
        junction = xodr.create_junction(roads[3:], 1, roads[0:3])

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

        return odr

Ancestors

Inherited members