Module examples.xosc.speed_profile
An example showing how to create a trajector based on polyline Also shows how to create a vehicle from start
Some features used:
- SpeedProfileAction
Expand source code
"""
An example showing how to create a trajector based on polyline
Also shows how to create a vehicle from start
Some features used:
- SpeedProfileAction
"""
import os
from scenariogeneration import xosc, prettyprint, ScenarioGenerator
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/e6mini.xodr", scenegraph="../models/e6mini.osgb"
)
### create parameters
paramdec = xosc.ParameterDeclarations()
## create entities
egoname = "Ego"
targetname = "Target"
entities = xosc.Entities()
entities.add_scenario_object(
egoname, xosc.CatalogReference("VehicleCatalog", "car_white")
)
entities.add_scenario_object(
targetname, xosc.CatalogReference("VehicleCatalog", "car_red")
)
### create init
init = xosc.Init()
step_time = xosc.TransitionDynamics(
xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 0
)
egospeed = xosc.AbsoluteSpeedAction(20, step_time)
egostart = xosc.TeleportAction(xosc.LanePosition(25, 0, -3, 0))
targetspeed = xosc.AbsoluteSpeedAction(30, step_time)
targetstart = xosc.TeleportAction(xosc.LanePosition(15, 0, -2, 0))
init.add_init_action(egoname, egospeed)
init.add_init_action(egoname, egostart)
init.add_init_action(targetname, targetspeed)
init.add_init_action(targetname, targetstart)
### create an event
ego_event = xosc.Event("ego_speed_change", xosc.Priority.overwrite)
ego_event.add_trigger(
xosc.ValueTrigger(
"sim_time_trigger",
0,
xosc.ConditionEdge.none,
xosc.SimulationTimeCondition(1, xosc.Rule.greaterThan),
)
)
ego_speed_change = xosc.SpeedProfileAction(
[20, 30, 25, 40], xosc.FollowingMode.follow, [0, 5, 10, 20]
)
ego_event.add_action("ego_speed_change", ego_speed_change)
ego_man = xosc.Maneuver("ego_speed").add_event(ego_event)
## create the storyboard
sb = xosc.StoryBoard(
init,
xosc.ValueTrigger(
"sim_time_trigger",
0,
xosc.ConditionEdge.none,
xosc.SimulationTimeCondition(30, xosc.Rule.greaterThan),
"stop",
),
)
sb.add_maneuver(ego_man, actors=egoname)
## create the scenario
sce = xosc.Scenario(
"speed_profile_example",
"Mandolin",
paramdec,
entities=entities,
storyboard=sb,
roadnetwork=road,
catalog=catalog,
osc_minor_version=self.open_scenario_version,
)
return sce
if __name__ == "__main__":
sce = Scenario()
# Print the resulting xml
prettyprint(sce.scenario().get_element())
# write the OpenSCENARIO 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__() 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/e6mini.xodr", scenegraph="../models/e6mini.osgb" ) ### create parameters paramdec = xosc.ParameterDeclarations() ## create entities egoname = "Ego" targetname = "Target" entities = xosc.Entities() entities.add_scenario_object( egoname, xosc.CatalogReference("VehicleCatalog", "car_white") ) entities.add_scenario_object( targetname, xosc.CatalogReference("VehicleCatalog", "car_red") ) ### create init init = xosc.Init() step_time = xosc.TransitionDynamics( xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 0 ) egospeed = xosc.AbsoluteSpeedAction(20, step_time) egostart = xosc.TeleportAction(xosc.LanePosition(25, 0, -3, 0)) targetspeed = xosc.AbsoluteSpeedAction(30, step_time) targetstart = xosc.TeleportAction(xosc.LanePosition(15, 0, -2, 0)) init.add_init_action(egoname, egospeed) init.add_init_action(egoname, egostart) init.add_init_action(targetname, targetspeed) init.add_init_action(targetname, targetstart) ### create an event ego_event = xosc.Event("ego_speed_change", xosc.Priority.overwrite) ego_event.add_trigger( xosc.ValueTrigger( "sim_time_trigger", 0, xosc.ConditionEdge.none, xosc.SimulationTimeCondition(1, xosc.Rule.greaterThan), ) ) ego_speed_change = xosc.SpeedProfileAction( [20, 30, 25, 40], xosc.FollowingMode.follow, [0, 5, 10, 20] ) ego_event.add_action("ego_speed_change", ego_speed_change) ego_man = xosc.Maneuver("ego_speed").add_event(ego_event) ## create the storyboard sb = xosc.StoryBoard( init, xosc.ValueTrigger( "sim_time_trigger", 0, xosc.ConditionEdge.none, xosc.SimulationTimeCondition(30, xosc.Rule.greaterThan), "stop", ), ) sb.add_maneuver(ego_man, actors=egoname) ## create the scenario sce = xosc.Scenario( "speed_profile_example", "Mandolin", paramdec, entities=entities, storyboard=sb, roadnetwork=road, catalog=catalog, osc_minor_version=self.open_scenario_version, ) return sceAncestors
Inherited members