Module examples.xodr.road_with_lane_adjustment
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 a junction with different widths of lanes, using generators and LaneDef with different lane widths
Some features used
-
CommonJunctionCreator
-
DirectJunctionCreator
-
LaneDef
-
create_road
-
adjust_roadmarks
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 a junction with different widths of lanes,
using generators and LaneDef with different lane widths
Some features used
- CommonJunctionCreator
- DirectJunctionCreator
- LaneDef
- create_road
- adjust_roadmarks
"""
from scenariogeneration import xodr, prettyprint, ScenarioGenerator
import numpy as np
import os
class Scenario(ScenarioGenerator):
def __init__(self):
super().__init__()
def road(self, **kwargs):
# create a road with some strange lane sections
road1 = xodr.create_road(
xodr.Line(195),
1,
[
xodr.LaneDef(
13,
80,
3,
4,
3,
lane_start_widths=[3, 3, 3],
lane_end_widths=[3, 3, 3, 3],
),
xodr.LaneDef(
120,
140,
4,
3,
2,
lane_start_widths=[3, 3, 3, 3],
lane_end_widths=[3, 3, 3],
),
],
[
xodr.LaneDef(
13,
80,
3,
4,
-1,
lane_start_widths=[3, 3, 3],
lane_end_widths=[3, 3, 3, 3],
),
xodr.LaneDef(
120,
140,
4,
3,
-4,
lane_start_widths=[3, 3, 3, 3],
lane_end_widths=[3, 3, 3],
),
],
center_road_mark=xodr.std_roadmark_broken_broken(),
)
# create more roads
road2 = xodr.create_road(
xodr.Line(103),
2,
xodr.LaneDef(40, 80, 3, 3, lane_start_widths=[3, 3, 3]),
3,
center_road_mark=xodr.std_roadmark_broken_broken(),
)
road3 = xodr.create_road(xodr.Spiral(0.00001, 0.01, 100), 3, 3, 0)
road4 = xodr.create_road(xodr.Spiral(-0.0001, -0.01, 100), 4, 0, 3)
road5 = xodr.create_road(
xodr.Line(100),
5,
xodr.LaneDef(40, 80, 3, 3, lane_start_widths=[3, 3, 3]),
3,
center_road_mark=xodr.std_roadmark_broken_broken(),
)
road6 = xodr.create_road(
xodr.Line(100),
6,
xodr.LaneDef(40, 80, 3, 3, lane_start_widths=[3, 3, 3]),
3,
center_road_mark=xodr.std_roadmark_broken_broken(),
)
# connect all roads
road1.add_successor(xodr.ElementType.road, 2, xodr.ContactPoint.start)
road1.add_predecessor(xodr.ElementType.junction, 100)
road2.add_predecessor(xodr.ElementType.road, 1, xodr.ContactPoint.end)
road3.add_predecessor(xodr.ElementType.junction, 100)
road4.add_predecessor(xodr.ElementType.junction, 100)
# create a direct junction
junc = xodr.DirectJunctionCreator(100, "direct_junction")
junc.add_connection(road1, road3)
junc.add_connection(road1, road4)
# create a common junction
junc2 = xodr.CommonJunctionCreator(200, "common junction")
junc2.add_incoming_road_cartesian_geometry(
road2, 0, 0, -3.14 * 3 / 2, "successor"
)
junc2.add_incoming_road_cartesian_geometry(road5, 30, 20, -3.14, "successor")
junc2.add_incoming_road_cartesian_geometry(road6, -30, 20, 0, "predecessor")
junc2.add_connection(2, 5)
junc2.add_connection(2, 6)
# add everything to the OpenDRIVE object
odr = xodr.OpenDrive("my adjusted road")
odr.add_road(road1)
odr.add_road(road2)
odr.add_road(road3)
odr.add_road(road4)
odr.add_road(road5)
odr.add_road(road6)
odr.add_junction_creator(junc)
odr.add_junction_creator(junc2)
# adjust roads and lanes
odr.adjust_roads_and_lanes()
# adjust roadmarks (comment out to see difference)
odr.adjust_roadmarks()
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 road with some strange lane sections road1 = xodr.create_road( xodr.Line(195), 1, [ xodr.LaneDef( 13, 80, 3, 4, 3, lane_start_widths=[3, 3, 3], lane_end_widths=[3, 3, 3, 3], ), xodr.LaneDef( 120, 140, 4, 3, 2, lane_start_widths=[3, 3, 3, 3], lane_end_widths=[3, 3, 3], ), ], [ xodr.LaneDef( 13, 80, 3, 4, -1, lane_start_widths=[3, 3, 3], lane_end_widths=[3, 3, 3, 3], ), xodr.LaneDef( 120, 140, 4, 3, -4, lane_start_widths=[3, 3, 3, 3], lane_end_widths=[3, 3, 3], ), ], center_road_mark=xodr.std_roadmark_broken_broken(), ) # create more roads road2 = xodr.create_road( xodr.Line(103), 2, xodr.LaneDef(40, 80, 3, 3, lane_start_widths=[3, 3, 3]), 3, center_road_mark=xodr.std_roadmark_broken_broken(), ) road3 = xodr.create_road(xodr.Spiral(0.00001, 0.01, 100), 3, 3, 0) road4 = xodr.create_road(xodr.Spiral(-0.0001, -0.01, 100), 4, 0, 3) road5 = xodr.create_road( xodr.Line(100), 5, xodr.LaneDef(40, 80, 3, 3, lane_start_widths=[3, 3, 3]), 3, center_road_mark=xodr.std_roadmark_broken_broken(), ) road6 = xodr.create_road( xodr.Line(100), 6, xodr.LaneDef(40, 80, 3, 3, lane_start_widths=[3, 3, 3]), 3, center_road_mark=xodr.std_roadmark_broken_broken(), ) # connect all roads road1.add_successor(xodr.ElementType.road, 2, xodr.ContactPoint.start) road1.add_predecessor(xodr.ElementType.junction, 100) road2.add_predecessor(xodr.ElementType.road, 1, xodr.ContactPoint.end) road3.add_predecessor(xodr.ElementType.junction, 100) road4.add_predecessor(xodr.ElementType.junction, 100) # create a direct junction junc = xodr.DirectJunctionCreator(100, "direct_junction") junc.add_connection(road1, road3) junc.add_connection(road1, road4) # create a common junction junc2 = xodr.CommonJunctionCreator(200, "common junction") junc2.add_incoming_road_cartesian_geometry( road2, 0, 0, -3.14 * 3 / 2, "successor" ) junc2.add_incoming_road_cartesian_geometry(road5, 30, 20, -3.14, "successor") junc2.add_incoming_road_cartesian_geometry(road6, -30, 20, 0, "predecessor") junc2.add_connection(2, 5) junc2.add_connection(2, 6) # add everything to the OpenDRIVE object odr = xodr.OpenDrive("my adjusted road") odr.add_road(road1) odr.add_road(road2) odr.add_road(road3) odr.add_road(road4) odr.add_road(road5) odr.add_road(road6) odr.add_junction_creator(junc) odr.add_junction_creator(junc2) # adjust roads and lanes odr.adjust_roads_and_lanes() # adjust roadmarks (comment out to see difference) odr.adjust_roadmarks() return odrAncestors
Inherited members