Module examples.xosc.route_in_crossing
scenariogeneration https://github.com/pyoscx/scenariogeneration
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Copyright (c) 2022 The scenariogeneration Authors.
Simple example showing how to pick a route in a junction
Some features used:
-
Route
-
AssignRouteAction
-
LanePosition
Classes
class Scenario
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Expand source code
class Scenario(ScenarioGenerator): def __init__(self): super().__init__() self.open_scenario_version = 2 def scenario(self, **kwargs): ### create catalogs catalog = xosc.Catalog() catalog.add_catalog("VehicleCatalog", "../xosc/Catalogs/Vehicles") ### create road road = xosc.RoadNetwork( roadfile="../xodr/fabriksgatan.xodr", scenegraph="../models/fabriksgatan.osgb", ) ### create parameters paramdec = xosc.ParameterDeclarations() ## create entities egoname = "Ego" targetname = "Target" entities = xosc.Entities() entities.add_scenario_object( egoname, xosc.CatalogReference("VehicleCatalog", "car_red") ) ### create init init = xosc.Init() init.add_init_action( egoname, xosc.TeleportAction(xosc.LanePosition(50, 0, 1, 0)) ) init.add_init_action( egoname, xosc.AbsoluteSpeedAction( 10, xosc.TransitionDynamics( xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1 ), ), ) # create a router ego_route = xosc.Route("ego_route") ego_route.add_waypoint( xosc.LanePosition(30, 0, 1, 0), xosc.RouteStrategy.fastest ) ego_route.add_waypoint( xosc.LanePosition(10, 0, -1, 1), xosc.RouteStrategy.fastest ) # create action ego_action = xosc.AssignRouteAction(ego_route) ego_event = xosc.Event("ego_event", xosc.Priority.overwrite) ego_event.add_action("ego_route", ego_action) ego_event.add_trigger( xosc.ValueTrigger( "target_start", 0, xosc.ConditionEdge.none, xosc.SimulationTimeCondition(1, xosc.Rule.greaterThan), ) ) ## create the storyboard ego_man = xosc.Maneuver("ego_man") ego_man.add_event(ego_event) sb = xosc.StoryBoard( init, xosc.ValueTrigger( "stop_simulation", 0, xosc.ConditionEdge.rising, xosc.SimulationTimeCondition(10, xosc.Rule.greaterThan), "stop", ), ) sb.add_maneuver(ego_man, egoname) ## create the scenario sce = xosc.Scenario( "adaptspeed_example", "User", paramdec, entities=entities, storyboard=sb, roadnetwork=road, catalog=catalog, osc_minor_version=self.open_scenario_version, ) return sce
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