Module examples.xodr.road_with_changing_lane_width

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 more customized road with different widths

Some features used

  • create_road with lane_width_end
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 more customized road with different widths

    Some features used

    - create_road with lane_width_end

"""
from scenariogeneration import xodr, prettyprint, ScenarioGenerator

import os


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

    def road(self, **kwargs):
        # create a normal road

        road = xodr.create_road(
            xodr.Line(200),
            id=0,
            left_lanes=3,
            right_lanes=5,
            lane_width=3,
            lane_width_end=9,
        )

        # create the opendrive
        odr = xodr.OpenDrive("myroad")

        odr.add_road(road)
        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):
        # create a normal road

        road = xodr.create_road(
            xodr.Line(200),
            id=0,
            left_lanes=3,
            right_lanes=5,
            lane_width=3,
            lane_width_end=9,
        )

        # create the opendrive
        odr = xodr.OpenDrive("myroad")

        odr.add_road(road)
        odr.adjust_roads_and_lanes()

        return odr

Ancestors

Inherited members