Module examples.xodr.simple_road_with_objects

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.

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

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.

    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
"""

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
        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


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
        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

Ancestors

Inherited members