Module examples.xodr.two_roads

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 showing how to create two separate roads (that are not linked), hence adjust_roads_and_lanes will not be able to set the geometries without a similar approach.

Some features used:

  • PlanView

Classes

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

    def road(self, **kwargs):
        odr = xodr.OpenDrive("myroad")

        # ---------------- Road 1
        planview = xodr.PlanView(0, 0, 0)

        # create some geometries and add to the planview
        planview.add_geometry(xodr.Line(100))

        # create a solid roadmark
        rm = xodr.RoadMark(xodr.RoadMarkType.solid, 0.2)

        # create centerlane
        centerlane_1 = xodr.Lane(a=2)
        centerlane_1.add_roadmark(rm)
        lanesec_1 = xodr.LaneSection(0, centerlane_1)

        # add a driving lane
        lane2_1 = xodr.Lane(a=3.1)
        lane2_1.add_roadmark(rm)
        lanesec_1.add_left_lane(lane2_1)

        lane3_1 = xodr.Lane(a=3.1)
        lane3_1.add_roadmark(rm)
        lanesec_1.add_right_lane(lane3_1)

        ## finalize the road
        lanes_1 = xodr.Lanes()
        lanes_1.add_lanesection(lanesec_1)

        road = xodr.Road(1, planview, lanes_1)

        odr.add_road(road)

        # ---------------- Road 2

        planview2 = xodr.PlanView(x_start=0, y_start=10, h_start=np.pi / 2)
        # planview2 = xodr.PlanView()

        # create some geometries and add to the planview
        planview2.add_geometry(xodr.Line(200))

        # create a solid roadmark
        rm = xodr.RoadMark(xodr.RoadMarkType.solid, 0.2)

        # create centerlane
        centerlane = xodr.Lane(a=2)
        centerlane.add_roadmark(rm)
        lanesec = xodr.LaneSection(0, centerlane)

        # add a driving lane
        lane2 = xodr.Lane(a=3.1)
        lane2.add_roadmark(rm)
        lanesec.add_left_lane(lane2)

        lane3 = xodr.Lane(a=3.1)
        lane3.add_roadmark(rm)
        lanesec.add_right_lane(lane3)

        ## finalize the road
        lanes = xodr.Lanes()
        lanes.add_lanesection(lanesec)

        road2 = xodr.Road(2, planview2, lanes)

        odr.add_road(road2)

        # ------------------ Finalize
        odr.adjust_roads_and_lanes()

        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