Module examples.xosc.trajectory_example
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.
An example showing how to create a trajector based on polyline Also shows how to create a vehicle from start
Some features used:
-
RelativeLanePosition
-
Polyline
-
Trajectory
-
TimeHeadwayCondition
-
FollowTrajectoryAction
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.
An example showing how to create a trajector based on polyline
Also shows how to create a vehicle from start
Some features used:
- RelativeLanePosition
- Polyline
- Trajectory
- TimeHeadwayCondition
- FollowTrajectoryAction
"""
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()
paramdec.add_parameter(
xosc.Parameter("$HostVehicle", xosc.ParameterType.string, "car_white")
)
paramdec.add_parameter(
xosc.Parameter("$TargetVehicle", xosc.ParameterType.string, "car_red")
)
bb = xosc.BoundingBox(2, 5, 1.8, 2.0, 0, 0.9)
fa = xosc.Axle(0.523598775598, 0.8, 1.68, 2.98, 0.4)
ba = xosc.Axle(0.523598775598, 0.8, 1.68, 0, 0.4)
white_veh = xosc.Vehicle(
"car_white", xosc.VehicleCategory.car, bb, fa, ba, 69, 10, 10
)
white_veh.add_property_file("../models/car_white.osgb")
white_veh.add_property("model_id", "0")
bb = xosc.BoundingBox(1.8, 4.5, 1.5, 1.3, 0, 0.8)
fa = xosc.Axle(0.523598775598, 0.8, 1.68, 2.98, 0.4)
ba = xosc.Axle(0.523598775598, 0.8, 1.68, 0, 0.4)
red_veh = xosc.Vehicle(
"car_red", xosc.VehicleCategory.car, bb, fa, ba, 69, 10, 10
)
red_veh.add_property_file("../models/car_red.osgb")
red_veh.add_property("model_id", "2")
## create entities
egoname = "Ego"
targetname = "Target"
entities = xosc.Entities()
entities.add_scenario_object(egoname, white_veh)
entities.add_scenario_object(targetname, red_veh)
### create init
init = xosc.Init()
step_time = xosc.TransitionDynamics(
xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1
)
egospeed = xosc.AbsoluteSpeedAction(30, step_time)
egostart = xosc.TeleportAction(xosc.LanePosition(25, 0, -3, 0))
targetspeed = xosc.AbsoluteSpeedAction(40, 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
trigcond = xosc.TimeHeadwayCondition(targetname, 0.4, xosc.Rule.greaterThan)
trigger = xosc.EntityTrigger(
"mytesttrigger", 0.2, xosc.ConditionEdge.rising, trigcond, egoname
)
event = xosc.Event("myfirstevent", xosc.Priority.overwrite)
event.add_trigger(trigger)
positionlist = []
positionlist.append(xosc.RelativeLanePosition(0, targetname, 0, ds=0))
positionlist.append(xosc.RelativeLanePosition(0, targetname, 0.5, ds=20))
positionlist.append(xosc.RelativeLanePosition(0, targetname, -0.5, ds=40))
positionlist.append(xosc.RelativeLanePosition(0, targetname, -1, ds=60))
polyline = xosc.Polyline([0, 0.5, 1, 1.5], positionlist)
traj = xosc.Trajectory("my_trajectory", False)
traj.add_shape(polyline)
trajact = xosc.FollowTrajectoryAction(
traj, xosc.FollowingMode.position, xosc.ReferenceContext.relative, 1, 0
)
event.add_action("newspeed", trajact)
## create the act
man = xosc.Maneuver("my_maneuver")
man.add_event(event)
mangr = xosc.ManeuverGroup("mangroup")
mangr.add_actor("$owner")
mangr.add_maneuver(man)
starttrigger = xosc.ValueTrigger(
"starttrigger",
0,
xosc.ConditionEdge.rising,
xosc.SimulationTimeCondition(0, xosc.Rule.greaterThan),
)
act = xosc.Act("my_act", starttrigger)
act.add_maneuver_group(mangr)
## create the story
storyparam = xosc.ParameterDeclarations()
storyparam.add_parameter(
xosc.Parameter("$owner", xosc.ParameterType.string, targetname)
)
story = xosc.Story("mystory", storyparam)
story.add_act(act)
## create the storyboard
sb = xosc.StoryBoard(init)
sb.add_story(story)
## create the scenario
sce = xosc.Scenario(
"trajectory_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() paramdec.add_parameter( xosc.Parameter("$HostVehicle", xosc.ParameterType.string, "car_white") ) paramdec.add_parameter( xosc.Parameter("$TargetVehicle", xosc.ParameterType.string, "car_red") ) bb = xosc.BoundingBox(2, 5, 1.8, 2.0, 0, 0.9) fa = xosc.Axle(0.523598775598, 0.8, 1.68, 2.98, 0.4) ba = xosc.Axle(0.523598775598, 0.8, 1.68, 0, 0.4) white_veh = xosc.Vehicle( "car_white", xosc.VehicleCategory.car, bb, fa, ba, 69, 10, 10 ) white_veh.add_property_file("../models/car_white.osgb") white_veh.add_property("model_id", "0") bb = xosc.BoundingBox(1.8, 4.5, 1.5, 1.3, 0, 0.8) fa = xosc.Axle(0.523598775598, 0.8, 1.68, 2.98, 0.4) ba = xosc.Axle(0.523598775598, 0.8, 1.68, 0, 0.4) red_veh = xosc.Vehicle( "car_red", xosc.VehicleCategory.car, bb, fa, ba, 69, 10, 10 ) red_veh.add_property_file("../models/car_red.osgb") red_veh.add_property("model_id", "2") ## create entities egoname = "Ego" targetname = "Target" entities = xosc.Entities() entities.add_scenario_object(egoname, white_veh) entities.add_scenario_object(targetname, red_veh) ### create init init = xosc.Init() step_time = xosc.TransitionDynamics( xosc.DynamicsShapes.step, xosc.DynamicsDimension.time, 1 ) egospeed = xosc.AbsoluteSpeedAction(30, step_time) egostart = xosc.TeleportAction(xosc.LanePosition(25, 0, -3, 0)) targetspeed = xosc.AbsoluteSpeedAction(40, 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 trigcond = xosc.TimeHeadwayCondition(targetname, 0.4, xosc.Rule.greaterThan) trigger = xosc.EntityTrigger( "mytesttrigger", 0.2, xosc.ConditionEdge.rising, trigcond, egoname ) event = xosc.Event("myfirstevent", xosc.Priority.overwrite) event.add_trigger(trigger) positionlist = [] positionlist.append(xosc.RelativeLanePosition(0, targetname, 0, ds=0)) positionlist.append(xosc.RelativeLanePosition(0, targetname, 0.5, ds=20)) positionlist.append(xosc.RelativeLanePosition(0, targetname, -0.5, ds=40)) positionlist.append(xosc.RelativeLanePosition(0, targetname, -1, ds=60)) polyline = xosc.Polyline([0, 0.5, 1, 1.5], positionlist) traj = xosc.Trajectory("my_trajectory", False) traj.add_shape(polyline) trajact = xosc.FollowTrajectoryAction( traj, xosc.FollowingMode.position, xosc.ReferenceContext.relative, 1, 0 ) event.add_action("newspeed", trajact) ## create the act man = xosc.Maneuver("my_maneuver") man.add_event(event) mangr = xosc.ManeuverGroup("mangroup") mangr.add_actor("$owner") mangr.add_maneuver(man) starttrigger = xosc.ValueTrigger( "starttrigger", 0, xosc.ConditionEdge.rising, xosc.SimulationTimeCondition(0, xosc.Rule.greaterThan), ) act = xosc.Act("my_act", starttrigger) act.add_maneuver_group(mangr) ## create the story storyparam = xosc.ParameterDeclarations() storyparam.add_parameter( xosc.Parameter("$owner", xosc.ParameterType.string, targetname) ) story = xosc.Story("mystory", storyparam) story.add_act(act) ## create the storyboard sb = xosc.StoryBoard(init) sb.add_story(story) ## create the scenario sce = xosc.Scenario( "trajectory_example", "Mandolin", paramdec, entities=entities, storyboard=sb, roadnetwork=road, catalog=catalog, osc_minor_version=self.open_scenario_version, ) return sceAncestors
Inherited members