Module examples.xodr.simple_road_with_objects

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

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Copyright (c) 2022 The scenariogeneration Authors.

Fundamental example how to build up a road from scratch, but also with objects.

This example should be seen as a developer example how roads are built up from the very basic classes in OpenDRIVE create_road will take care of this and much more, so a user is recommended to use that generator instead.

Some features used:

  • Object

  • create_road

  • (Object).repeat

Classes

class Scenario
Expand source code 
class Scenario(ScenarioGenerator):
    def __init__(self):
        super().__init__()

    def road(self, **kwargs):
        # create a road
        road = xodr.create_road([xodr.Line(1000)], 0, 2, 2)

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

        ## Finally add roads to Opendrive
        odr.add_road(road)

        # Adjust initial positions of the roads looking at succ-pred logic
        odr.adjust_roads_and_lanes()

        # After adjustment, repeating objects on side of the road can be added automatically
        guardrail = xodr.Object(
            0,
            0,
            height=0.3,
            zOffset=0.4,
            Type=xodr.ObjectType.barrier,
            name="guardRail",
        )
        road.add_object_roadside(guardrail, 0, 0, tOffset=0.8)

        delineator = xodr.Object(
            0,
            0,
            height=1,
            zOffset=0,
            Type=xodr.ObjectType.pole,
            name="delineator",
        )
        road.add_object_roadside(delineator, 50, sOffset=25, tOffset=0.85)

        ## Add some other objects at specific positions
        # single emergency callbox
        emergencyCallbox = xodr.Object(
            30, -6, Type=xodr.ObjectType.pole, name="emergencyCallBox"
        )
        road.add_object(emergencyCallbox)

        # repeating jersey barrier
        jerseyBarrier = xodr.Object(
            0,
            0,
            height=0.75,
            zOffset=0,
            Type=xodr.ObjectType.barrier,
            name="jerseyBarrier",
        )
        jerseyBarrier.repeat(repeatLength=25, repeatDistance=0, sStart=240)
        road.add_object(jerseyBarrier)

        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