Module scenariogeneration.xodr.signals_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.

"""
  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.

"""
import xml.etree.ElementTree as ET
from ..helpers import enum2str
from ..xosc.utils import get_bool_string
from .enumerations import ObjectType, TunnelType, Orientation, Dynamic
from .exceptions import GeneralIssueInputArguments
from .utils import XodrBase


class _SignalObjectBase(XodrBase):
    """creates a common basis for Signal and Object shall not be instantiated directly

    Attributes
    ----------
        s (float): s-coordinate of Signal / Object

        t (float): t-coordinate of Signal / Object

        id (string): id of Signal / Object

        Type (ObjectType or string): type of the Signal (typically string) / Object (typically enum ObjectType)

        subtype (string): subtype for further specification of Signal / Object

        dynamic (Dynamic): specifies if Signal / Object is static (road sign) or dynamic (traffic light)

        name (string): name for identification of Signal / Object

        zOffset (float): vertical offset of Signal / Object with respect to centerline

        orientation (Orientation): orientation of Signal / Object with respect to road

        pitch (float): pitch angle (rad) of Signal / Object relative to the inertial system (xy-plane)

        roll (float): roll angle (rad) of Signal / Object after applying pitch, relative to the inertial system (x’’y’’-plane)

        width (float): width of the Signal / Object

        height (float): height of Signal / Object

        _usedIDs ({[str]}): dictionary with list of used IDs, keys are class names of child class (Object, Signal).
        Shared among all instances of Signal/Object to auto-generate unique IDs.

        _IDCounter ({int}): dictionary with counter for auto-generation of IDs, keys are class names of child class (Object, Signal).
        Shared among all instances of Signal/Object to auto-generate unique IDs.


    Methods
    -------
        get_common_attributes()
            Returns a dictionary of all attributes of FileHeader

        _update_id()
            Ensures that an ID is assigned if none was provided and that provided IDs are unique
            Should be called when adding an Object or Signal to the road
    """

    _usedIDs = {}
    _IDCounter = {}

    def __init__(
        self,
        s,
        t,
        id,
        Type,
        subtype,
        dynamic,
        name,
        zOffset,
        orientation,
        pitch,
        roll,
        width,
        height,
    ):
        """initalizes common attributes for Signal and Object

        Parameters
        ----------
            s (float): s-coordinate of Signal / Object

            t (float): t-coordinate of Signal / Object

            id (string): id of Signal / Object

            Type (ObjectType or string): type of the Signal (typically string) / Object (typically enum ObjectType)

            subtype (string): subtype for further specification of Signal / Object

            dynamic (Dynamic): specifies if Signal / Object is static (road sign) or dynamic (traffic light)

            name (string): name for identification of Signal / Object

            zOffset (float): vertical offset of Signal / Object with respect to centerline

            orientation (Orientation): orientation of Signal / Object with respect to road

            pitch (float): pitch angle (rad) of Signal / Object relative to the inertial system (xy-plane)

            roll (float): roll angle (rad) of Signal / Object after applying pitch, relative to the inertial system (x’’y’’-plane)

            width (float): width of the Signal / Object

            height (float): height of Signal / Object

        """
        super().__init__()
        self.s = s
        self.t = t
        self.height = height
        self.Type = Type
        self.dynamic = dynamic
        self.name = name
        self.zOffset = zOffset
        self.subtype = subtype
        self.orientation = orientation
        self.pitch = pitch
        self.roll = roll
        self.width = width
        self.id = id

    def __eq__(self, other):
        if isinstance(other, _SignalObjectBase) and super().__eq__(other):
            if self.get_common_attributes() == other.get_common_attributes():
                return True
        return False

    def _update_id(self):
        # ensure unique IDs
        try:
            if str(self.id) in self._usedIDs[self.__class__.__name__]:
                print(
                    "Warning: id",
                    self.id,
                    "has already been used for another",
                    self.__class__.__name__,
                    "...auto-generating unique id.",
                )

        except KeyError:
            self._usedIDs[self.__class__.__name__] = []
            self._IDCounter[self.__class__.__name__] = 0

        if self.id == None or (str(self.id) in self._usedIDs[self.__class__.__name__]):
            while (
                str(self._IDCounter[self.__class__.__name__])
                in self._usedIDs[self.__class__.__name__]
            ):
                self._IDCounter[self.__class__.__name__] += 1
            self.id = str(self._IDCounter[self.__class__.__name__])

        self._usedIDs[self.__class__.__name__].append(str(self.id))

    def get_common_attributes(self):
        """returns common attributes of Signal and Object as a dict"""
        retdict = {}
        retdict["id"] = str(self.id)
        retdict["s"] = str(self.s)
        retdict["t"] = str(self.t)
        retdict["subtype"] = str(self.subtype)
        retdict["dynamic"] = enum2str(self.dynamic)
        retdict["zOffset"] = str(self.zOffset)
        if self.pitch is not None:
            retdict["pitch"] = str(self.pitch)
        if self.roll is not None:
            retdict["roll"] = str(self.roll)
        if self.width is not None:
            retdict["width"] = str(self.width)
        if self.height is not None:
            retdict["height"] = str(self.height)
        if self.name is not None:
            retdict["name"] = str(self.name)
        if isinstance(self.Type, ObjectType):
            retdict["type"] = enum2str(self.Type)
        else:
            retdict["type"] = str(self.Type)
        if self.orientation == Orientation.positive:
            retdict["orientation"] = "+"
        elif self.orientation == Orientation.negative:
            retdict["orientation"] = "-"
        else:
            retdict["orientation"] = enum2str(self.orientation)

        return retdict


class Signal(_SignalObjectBase):
    """Signal defines the signal element in Opendrive

    Attributes
    ----------
        s (float): s-coordinate of Signal (init in base class)

        t (float): t-coordinate of Signal (init in base class)

        country (str): country code according to ISO 3166-1 (alpha-2 with two letters for OpenDRIVE 1.6, alpha-3 with three letters for OpenDRIVE 1.4)

        countryRevision (str): defines the year of the applied traffic rules and may be necessary to ensure unique sign interpretation together with country, type and subtype (optional)

        Type (SignalType or str): type of Signal (str) (init in base class)

        subtype (string): subtype for further specification of Signal (init in base class)

        id (string): id of Signal (init in base class)

        name (string): name for identification of Signal (init in base class)

        dynamic (Dynamic): specifies if Signal is static or dynamic (init in base class)

        value (float): value for further specification of the signal

        unit (str): unit, needs to be provided when value is given

        zOffset (float): vertical offset of Signal with respect to centerline (init in base class)

        orientation (Orientation): orientation of Signal with respect to road (init in base class)

        hOffset (float): heading offset of the signal relative to orientation

        pitch (float): pitch angle (rad) of Signal relative to the inertial system (xy-plane) (init in base class)

        roll (float): roll angle (rad) of Signal after applying pitch, relative to the inertial system (x’’y’’-plane) (init in base class)

        width (float): width of the Signal (init in base class)

        height (float): height of Signal (init in base class)

        validity (Validity): explicit validity information for a signal (optional)

    Methods
    -------
        get_element()
            Returns the full ElementTree of the class

        get_attributes()
            Returns a dictionary of all attributes of the class

        add_validity(fromLane, toLane)
            Adds a new validity between fromLane to toLane

    """

    def __init__(
        self,
        s,
        t,
        country,
        Type,
        subtype="-1",
        countryRevision=None,
        id=None,
        name=None,
        dynamic=Dynamic.no,
        value=None,
        unit=None,
        zOffset=1.5,
        orientation=Orientation.positive,
        hOffset=0,
        pitch=0,
        roll=0,
        height=None,
        width=None,
    ):
        """initalizes the Signal

        Parameters
        ----------
            s (float): s-coordinate of Signal (init in base class)

            t (float): t-coordinate of Signal (init in base class)

            country (str): country code according to ISO 3166-1 (alpha-2 with two letters for OpenDRIVE 1.6, alpha-3 with three letters for OpenDRIVE 1.4)

            countryRevision (str): defines the year of the applied traffic rules and may be necessary to ensure unique sign interpretation together with country, type and subtype (optional)

            Type (SignalType or str): type of Signal (str) (init in base class)

            subtype (string): subtype for further specification of Signal (init in base class)
                Default: "-1"
            id (string): id of Signal (init in base class)
                Default: None
            name (string): name for identification of Signal (init in base class)
                Default: None
            dynamic (Dynamic): specifies if Signal is static or dynamic (init in base class)
                Default: Dynamic.no
            value (float): value for further specification of the signal
                Default: None
            unit (str): unit, needs to be provided when value is given
                Default: None
            zOffset (float): vertical offset of Signal with respect to centerline (init in base class)
                Default: 0
            orientation (Orientation): orientation of Signal with respect to road (init in base class)
                Default: Orientation.none
            hOffset (float): heading offset of the signal relative to orientation
                Default: 0
            pitch (float): pitch angle (rad) of Signal relative to the inertial system (xy-plane) (init in base class)
                Default: 0
            roll (float): roll angle (rad) of Signal after applying pitch, relative to the inertial system (x’’y’’-plane) (init in base class)
                Default: 0
            width (float): width of the Signal (init in base class)
                Default: None
            height (float): height of Signal (init in base class)
                Default: None

        """

        # get attributes that are common with signals
        super().__init__(
            s,
            t,
            id,
            Type,
            subtype,
            dynamic,
            name,
            zOffset,
            orientation,
            pitch,
            roll,
            width,
            height,
        )
        self.s = s
        self.t = t
        self.dynamic = dynamic
        self.orientation = orientation
        self.zOffset = zOffset
        self.country = country
        self.countryRevision = countryRevision
        self.type = Type
        self.subtype = subtype
        self.value = value
        self.unit = unit
        self.hOffset = hOffset
        self.validity = None

    def __eq__(self, other):
        if isinstance(other, Signal) and super().__eq__(other):
            if self.get_attributes() == other.get_attributes():
                return True
        return False

    def get_attributes(self):
        retdict = super().get_common_attributes()
        retdict["country"] = str(self.country).upper()
        retdict["type"] = str(self.type)
        retdict["subtype"] = str(self.subtype)
        if self.countryRevision is not None:
            retdict["countryRevision"] = str(self.countryRevision)
        if self.hOffset is not None:
            retdict["hOffset"] = str(self.hOffset)
        # TODO check if value is supplied --> unit is mandatory in that case
        if self.value is not None:
            retdict["value"] = str(self.value)
            retdict["unit"] = str(self.unit)
        return retdict

    def add_validity(self, fromLane, toLane):
        if self.validity:
            raise ValueError("only one validity is allowed")
        self.validity = Validity(fromLane, toLane)
        return self

    def get_element(self):
        element = ET.Element("signal", attrib=self.get_attributes())
        self._add_additional_data_to_element(element)
        if self.validity:
            element.append(self.validity.get_element())
        return element


class Validity(XodrBase):
    """Validity is the explicit validity information for a signal

    Attributes
    ----------
        fromLane (int): minimum id of the lanes for which the object is valid

        toLane (int): maximum id of the lanes for which the object is valid

    Methods
    -------
        get_element()
            Returns the full ElementTree of the class

        get_attributes()
            Returns a dictionary of all attributes of the class

    """

    def __init__(self, fromLane, toLane):
        """initalize the Validity

        Parameters
        ----------
            fromLane (int): minimum id of the lanes for which the object is valid

            toLane (int): maximum id of the lanes for which the object is valid

        """
        super().__init__()
        self.fromLane = fromLane
        self.toLane = toLane

    def __eq__(self, other):
        if isinstance(other, Validity) and super().__eq__(other):
            if self.fromLane == other.fromLane and self.toLane == other.toLane:
                return True
        return False

    def get_attributes(self):
        """returns the attributes of Validity as a dict"""
        retdict = {}
        retdict["fromLane"] = str(self.fromLane)
        retdict["toLane"] = str(self.toLane)
        return retdict

    def get_element(self):
        """returns the elementTree of Validity"""
        element = ET.Element("validity", attrib=self.get_attributes())
        self._add_additional_data_to_element(element)
        return element


class Dependency(XodrBase):
    """
    Dependency defines the dependency element in Opendrive. It is placed within the signal element.
    Parameters
        ----------
            id (str): id of the controlled signal
            type (str): type of dependency

        Attributes
        ----------
            id (str): id of the controlled signal
            type (str): type of dependency

        Methods
        -------
            get_element()
                Returns the full ElementTree of the class

            get_attributes()
                Returns a dictionary of all attributes of the class
    """

    def __init__(self, id, type):
        super().__init__()
        self.id = id
        self.type = type

    def __eq__(self, other):
        if isinstance(other, Dependency) and super().__eq__(other):
            if self.get_attributes() == other.get_attributes():
                return True
        return False

    def get_attributes(self):
        retdict = {"id": str(self.id), "type": str(self.type)}
        return retdict

    def get_element(self):
        element = ET.Element("dependency", attrib=self.get_attributes())
        self._add_additional_data_to_element(element)
        return element


class SignalReference(XodrBase):
    """Signal defines the signal element in Opendrive

    Attributes
    ----------
        s (float): s-coordinate of Signal (init in base class)

        t (float): t-coordinate of Signal (init in base class)

        id (string): id of Signal (init in base class)

        orientation (Orientation): orientation of Signal with respect to road (init in base class)

        validity (Validity): explicit validity information for a signal (optional)

        _usedIDs ({[str]}): dictionary with list of used IDs, keys are class name SignalReference.
        Shared to auto-generate unique IDs.

        _IDCounter ({int}): dictionary with counter for auto-generation of IDs, keys are class name SignalReference.
        Shared to auto-generate unique IDs.

    Methods
    -------
        get_element()
            Returns the full ElementTree of the class

        get_attributes()
            Returns a dictionary of all attributes of the class

        add_validity(fromLane, toLane)
            Adds a new validity between fromLane to toLane

        get_common_attributes()
            Returns a dictionary of all attributes of FileHeader

        _update_id()
            Ensures that an ID is assigned if none was provided and that provided IDs are unique
            Should be called when adding an Object or Signal to the road

    """

    _usedIDs = {}
    _IDCounter = {}

    def __init__(
        self,
        s,
        t,
        id=None,
        orientation=Orientation.positive,
    ):
        """initalizes the Signal

        Parameters
        ----------
            s (float): s-coordinate of SignalReference

            t (float): t-coordinate of SignalReference

            id (string): id of SignalReference
                Default: None

            orientation (Orientation): orientation of SignalReference with respect to road
                Default: Orientation.none

        """

        # get attributes that are common with signals
        super().__init__()
        self.s = s
        self.t = t
        self.orientation = orientation
        self.validity = None
        self.id = id

    def __eq__(self, other):
        if isinstance(other, SignalReference) and super().__eq__(other):
            if self.get_attributes() == other.get_attributes():
                return True
        return False

    def _update_id(self):
        # ensure unique IDs
        try:
            if str(self.id) in self._usedIDs[self.__class__.__name__]:
                print(
                    "Warning: id",
                    self.id,
                    "has already been used for another",
                    self.__class__.__name__,
                    "...auto-generating unique id.",
                )

        except KeyError:
            self._usedIDs[self.__class__.__name__] = []
            self._IDCounter[self.__class__.__name__] = 0

        if self.id == None or (str(self.id) in self._usedIDs[self.__class__.__name__]):
            while (
                str(self._IDCounter[self.__class__.__name__])
                in self._usedIDs[self.__class__.__name__]
            ):
                self._IDCounter[self.__class__.__name__] += 1
            self.id = str(self._IDCounter[self.__class__.__name__])

        self._usedIDs[self.__class__.__name__].append(str(self.id))

    def get_attributes(self):
        """returns attributes of SignalReference as a dict"""
        retdict = {}
        retdict["id"] = str(self.id)
        retdict["s"] = str(self.s)
        retdict["t"] = str(self.t)
        if self.orientation == Orientation.positive:
            retdict["orientation"] = "+"
        elif self.orientation == Orientation.negative:
            retdict["orientation"] = "-"
        else:
            retdict["orientation"] = enum2str(self.orientation)

        return retdict

    def add_validity(self, fromLane, toLane):
        if self.validity:
            raise ValueError("only one validity is allowed")
        self.validity = Validity(fromLane, toLane)
        return self

    def get_element(self):
        element = ET.Element("signalReference", attrib=self.get_attributes())
        self._add_additional_data_to_element(element)
        if self.validity:
            element.append(self.validity.get_element())
        return element


class Object(_SignalObjectBase):
    """creates an Object

    Parameters
    ----------
        _SignalObjectBase: base class with common attributes of Signal / Object

    Attributes
    ----------
        s (float): s-coordinate of Object (init in base class)

        t (float): t-coordinate of Object (init in base class)

        type (ObjectType or string): type of Object (typically enum ObjectType) (init in base class)

        subtype (string): subtype for further specification of Object (init in base class)

        id (string): id of Object (init in base class)

        name (string): name for identification of Object (init in base class)

        dynamic (Dynamic): specifies if Object is static or dynamic (init in base class)

        zOffset (float): vertical offset of Object with respect to centerline (init in base class)

        orientation (Orientation): orientation of Object with respect to road (init in base class)

        hdg (float): heading angle (rad) of the Object relative to road direction

        pitch (float): pitch angle (rad) of Object relative to the inertial system (xy-plane) (init in base class)

        roll (float): roll angle (rad) of Object after applying pitch, relative to the inertial system (x’’y’’-plane) (init in base class)

        width (float): width of the Object (init in base class)

        length (float): width of the Object (shall not be used with radius)

        height (float): height of Object (init in base class)

        radius (float): radius of the Object (shall not be used with width/length)

        validLength (float): validLength

        _repeats ([dict]): list of dictionary containing attributes for optional subelement for repeating Objects to be filled by repeat method

        validity (Validity): explicit validity information for a signal (optional)

        outlines (list of Outline): list of outlines for the object
    Methods
    -------
        repeat()
            adds a dictionary to _repeats[] list to create a subelement for repeating the Object

        add_outline(outline)
            adds a outline of the object

        get_element()
            Returns the full ElementTree of the class

        get_attributes()
            Returns a dictionary of all attributes of FileHeader

    """

    def __init__(
        self,
        s,
        t,
        Type=ObjectType.none,
        subtype=None,
        id=None,
        name=None,
        dynamic=Dynamic.no,
        zOffset=0,
        orientation=Orientation.none,
        hdg=0,
        pitch=0,
        roll=0,
        width=None,
        length=None,
        height=None,
        radius=None,
        validLength=None,
    ):
        """initalizes the Object

        Parameters
        ----------
            s (float): s-coordinate of Object (init in base class)

            t (float): t-coordinate of Object (init in base class)

            Type (ObjectType or string): type of Object (typically enum ObjectType) (init in base class)
                Default: ObjectType.none
            subtype (string): subtype for further specification of Object (init in base class)
                Default: None
            id (string): id of Object (init in base class)
                Default: None
            name (string): name for identification of Object (init in base class)
                Default: None
            dynamic (Dynamic): specifies if Object is static or dynamic (init in base class)
                Default: Dynamic.no
            zOffset (float): vertical offset of Object with respect to centerline (init in base class)
                Default: 0
            orientation (Orientation): orientation of Object with respect to road (init in base class)
                Default: Orientation.none
            hdg (float): heading angle (rad) of the Object relative to road direction
                Default: 0
            pitch (float): pitch angle (rad) of Object relative to the inertial system (xy-plane) (init in base class)
                Default: 0
            roll (float): roll angle (rad) of Object after applying pitch, relative to the inertial system (x’’y’’-plane) (init in base class)
                Default: 0
            width (float): width of the Object (init in base class)
                Default: None
            length (float): length of the Object (shall not be used with radius)
                Default: None
            height (float): height of Object (init in base class)
                Default: None
            radius (float): radius of the Object (shall not be used with width/length)
                Default: None
            validLength (float): validity of object along s-coordinate
                Default: None

        """
        # get attributes that are common with signals
        super().__init__(
            s,
            t,
            id,
            Type,
            subtype,
            dynamic,
            name,
            zOffset,
            orientation,
            pitch,
            roll,
            width,
            height,
        )

        # attributes that differ from signals
        self.validLength = validLength
        self.length = length
        self.hdg = hdg
        self.radius = radius

        # list for repeat entries
        self._repeats = []
        self.outlines = []
        self.validity = None
        self.parking_space = None

        # check if width/length combination or radius was provided and ensure working defaults
        if radius is not None and (width is not None or length is not None):
            print(
                "Object with id",
                self.id,
                "was provided with radius, width and/or length. Provide either radius or width and length. Using radius as fallback.",
            )
            self.width = None
            self.length = None
        elif width is not None and length is None:
            print(
                "Object with id",
                self.id,
                "was provided with width, but length is missing. Using 0 as fallback.",
            )
            self.length = 0
        elif length is not None and width is None:
            print(
                "Object with id",
                self.id,
                "was provided with length, but width is missing. Using 0 as fallback.",
            )
            self.width = 0
        else:
            pass

    def __eq__(self, other):
        if isinstance(other, Object) and super().__eq__(other):
            if (
                self.get_attributes() == other.get_attributes()
                and self._repeats == other._repeats
                and self.outlines == other.outlines
            ):
                return True
        return False

    def repeat(
        self,
        repeatLength,
        repeatDistance,
        sStart=None,
        tStart=None,
        tEnd=None,
        heightStart=None,
        heightEnd=None,
        zOffsetStart=None,
        zOffsetEnd=None,
        widthStart=None,
        widthEnd=None,
        lengthStart=None,
        lengthEnd=None,
        radiusStart=None,
        radiusEnd=None,
    ):
        self._repeats.append({})

        self._repeats[-1]["length"] = str(repeatLength)
        self._repeats[-1]["distance"] = str(repeatDistance)

        def infoFallback(id, attributeName):
            pass
            # print ("Info: Using data of parent object with id",id,"as attribute",attributeName,"was not specified for repeat entry.")

        # ensuring that all attributes that are required according to OpenDRIVE 1.6 are filled - for convenience the ones of the parent object are used
        # if not provided specifically
        if sStart == None:
            self._repeats[-1]["s"] = str(self.s)
            infoFallback(self.id, "s")
        else:
            self._repeats[-1]["s"] = str(sStart)
        if tStart == None:
            self._repeats[-1]["tStart"] = str(self.t)
            infoFallback(self.id, "tStart")
        else:
            self._repeats[-1]["tStart"] = str(tStart)
        if tEnd == None:
            self._repeats[-1]["tEnd"] = str(self.t)
            infoFallback(self.id, "tEnd")
        else:
            self._repeats[-1]["tEnd"] = str(tEnd)
        if heightStart == None and self.height != None:
            self._repeats[-1]["heightStart"] = str(self.height)
            infoFallback(self.id, "heightStart")
        else:
            self._repeats[-1]["heightStart"] = str(heightStart)
        if heightEnd == None and self.height != None:
            self._repeats[-1]["heightEnd"] = str(self.height)
            infoFallback(self.id, "heightEnd")
        else:
            self._repeats[-1]["heightEnd"] = str(heightEnd)
        if zOffsetStart == None:
            self._repeats[-1]["zOffsetStart"] = str(self.zOffset)
            infoFallback(self.id, "zOffsetStart")
        else:
            self._repeats[-1]["zOffsetStart"] = str(zOffsetStart)
        if zOffsetEnd == None:
            self._repeats[-1]["zOffsetEnd"] = str(self.zOffset)
            infoFallback(self.id, "zOffsetEnd")
        else:
            self._repeats[-1]["zOffsetEnd"] = str(zOffsetEnd)

        # attributes below are optional according to OpenDRIVE 1.6 - no further checks as these values overrule the ones of parent object
        # and fallbacks might be implemented differently by different simulators
        if widthStart is not None:
            self._repeats[-1]["widthStart"] = str(widthStart)
        if widthEnd is not None:
            self._repeats[-1]["widthEnd"] = str(widthEnd)
        if lengthStart is not None:
            self._repeats[-1]["lengthStart"] = str(lengthStart)
        if lengthEnd is not None:
            self._repeats[-1]["lengthEnd"] = str(lengthEnd)
        if radiusStart is not None:
            self._repeats[-1]["radiusStart"] = str(radiusStart)
        if radiusEnd is not None:
            self._repeats[-1]["radiusEnd"] = str(radiusEnd)

    def add_validity(self, fromLane, toLane):
        """adds a validity to the object

        Parameters
        ----------
            fromLane (int): the from lane

            toLane (int): the to lane
        """
        if self.validity:
            raise ValueError("only one validity is allowed")
        self.validity = Validity(fromLane, toLane)
        return self

    def add_outline(self, outline):
        """adds an outline to the object

        Parameters
        ----------
            outline (Outline): the outline to be added
        """
        self.outlines.append(outline)

    def add_parking_space(self, parking_space):
        """adds an parking space to the object

        Parameters
        ----------
            parking_space (ParkingSpace): the outline to be added
        """
        self.parking_space = parking_space

    def get_attributes(self):
        """returns the attributes of the Object as a dict"""
        retdict = super().get_common_attributes()
        if self.validLength is not None:
            retdict["validLength"] = str(self.validLength)
        retdict["hdg"] = str(self.hdg)

        if self.radius is not None:
            retdict["radius"] = str(self.radius)
        elif self.length is not None and self.width is not None:
            retdict["length"] = str(self.length)
            retdict["width"] = str(self.width)

        return retdict

    def get_element(self):
        """returns the elementTree of the WorldPostion"""
        element = ET.Element("object", attrib=self.get_attributes())
        self._add_additional_data_to_element(element)
        for _repeat in self._repeats:
            ET.SubElement(element, "repeat", attrib=_repeat)
        if self.validity:
            element.append(self.validity.get_element())
        if self.parking_space:
            element.append(self.parking_space.get_element())
        if self.outlines:
            outlines_element = ET.SubElement(element, "outlines")
            for outline in self.outlines:
                outlines_element.append(outline.get_element())
        return element


class Tunnel(XodrBase):
    """A tunnel road object (t_road_objects_tunnel).

    Attributes
    ----------
        s (float): s-coordinate of tunnel

        length (float): length of tunnel

        id (string): id of tunnel

        name (string): name of the tunnel

        tunnel_type (TunnelType): type of tunnel

        daylight (float): value between 0.0 and 1.0 (application specific)

        lighting (float): value between 0.0 and 1.0 (application specific)

    Methods
    -------
        get_element()
            Returns the full ElementTree of the class

        get_attributes()
            Returns a dictionary of all xml attributes

    """

    def __init__(
        self,
        s: float,
        length: float,
        id: str,
        name: str,
        tunnel_type: TunnelType = TunnelType.standard,
        daylight: float = 0.5,
        lighting: float = 0.5,
    ):
        """Initialize a tunnel

        Parameters
        ----------
            s (float): s-coordinate of tunnel

            length (float): length of tunnel

            id (string): id of tunnel

            name (string): name of the tunnel

            tunnel_type (TunnelType): type of tunnel
                Default: TunnelType
            daylight (float): value between 0.0 and 1.0 (application specific)
                Default: 0.5
            lighting (float): value between 0.0 and 1.0 (application specific)
                Default: 0.5
        """
        super().__init__()
        self.s = s
        self.length = length
        self.id = id
        self.name = name
        self.tunnel_type = tunnel_type
        self.daylight = daylight
        self.lighting = lighting

    def __eq__(self, other):
        if isinstance(other, Tunnel) and super().__eq__(other):
            if self.get_attributes() == other.get_attributes():
                return True
        return False

    def get_attributes(self):
        """Return a dictionary of all xml attributes"""
        retdict = {}
        retdict["s"] = str(self.s)
        retdict["length"] = str(self.length)
        retdict["id"] = str(self.id)
        retdict["name"] = str(self.name)
        retdict["type"] = enum2str(self.tunnel_type)
        retdict["daylight"] = str(self.daylight)
        retdict["lighting"] = str(self.lighting)
        return retdict

    def get_element(self):
        """Return the elementTree of the Tunnel"""
        element = ET.Element("tunnel", attrib=self.get_attributes())
        return element


class CornerLocal(XodrBase):
    """CornerLocal is one way to describe outline in for objects

    Parameters
    ----------
        u (float): local u-coordinate

        v (float): local v-coordinate

        z (float): local z-coordinate

        height (float): height of the object at this corner

        id (int): id of the point (optional)

    Attributes
    ----------
        u (float): local u-coordinate

        v (float): local v-coordinate

        z (float): local z-coordinate

        height (float): height of the object at this corner

        id (int): id of the point (optional)

    Methods
    -------
        get_element()
            Returns the full ElementTree of the class

        get_attributes()
            Returns a dictionary of all attributes of the class

    """

    def __init__(self, u, v, z, height, id=None):
        """initalize the cornerLocal

        Parameters
        ----------
            u (float): local u-coordinate

            v (float): local v-coordinate

            z (float): local z-coordinate

            height (float): height of the object at this corner

            id (int): id of the point (optional)

        """
        super().__init__()
        self.u = u
        self.v = v
        self.z = z
        self.height = height
        self.id = id

    def __eq__(self, other):
        if isinstance(other, CornerLocal) and super().__eq__(other):
            if self.get_attributes() == other.get_attributes():
                return True
        return False

    def get_attributes(self):
        """returns the attributes of cornerLocal as a dict"""
        retdict = {}
        retdict["u"] = str(self.u)
        retdict["v"] = str(self.v)
        retdict["z"] = str(self.z)
        retdict["height"] = str(self.height)
        if self.id is not None:
            retdict["id"] = str(self.id)
        return retdict

    def get_element(self):
        """returns the elementTree of cornerLocal"""
        element = ET.Element("cornerLocal", attrib=self.get_attributes())
        self._add_additional_data_to_element(element)
        return element


class CornerRoad(XodrBase):
    """CornerRoad is one way to describe outline in for objects

    Parameters
    ----------
        s (float): s-coordinate of the corner

        t (float): t-coordinate of the corner

        dz (float): z-coordinate relative to the road

        height (float): height of the object at this corner

        id (int): id of the point (optional)

    Attributes
    ----------
        s (float): s-coordinate of the corner

        t (float): t-coordinate of the corner

        dz (float): z-coordinate relative to the road

        height (float): height of the object at this corner

        id (int): id of the point (optional)
    Methods
    -------
        get_element()
            Returns the full ElementTree of the class

        get_attributes()
            Returns a dictionary of all attributes of the class

    """

    def __init__(self, s, t, dz, height, id=None):
        """initalize the CornerRoad

        Parameters
        ----------
            s (float): s-coordinate of the corner

            t (float): t-coordinate of the corner

            dz (float): z-coordinate relative to the road

            height (float): height of the object at this corner

            id (int): id of the point (optional)

        """
        super().__init__()
        self.s = s
        self.t = t
        self.dz = dz
        self.height = height
        self.id = id

    def __eq__(self, other):
        if isinstance(other, CornerRoad) and super().__eq__(other):
            if self.get_attributes() == other.get_attributes():
                return True
        return False

    def get_attributes(self):
        """returns the attributes of cornerRoad as a dict"""
        retdict = {}
        retdict["s"] = str(self.s)
        retdict["t"] = str(self.t)
        retdict["dz"] = str(self.dz)
        retdict["height"] = str(self.height)
        if self.id is not None:
            retdict["id"] = str(self.id)
        return retdict

    def get_element(self):
        """returns the elementTree of cornerRoad"""
        element = ET.Element("cornerRoad", attrib=self.get_attributes())
        self._add_additional_data_to_element(element)
        return element


class Outline(XodrBase):
    """Outline is used to wrap corners for an object in OpenDRIVE

    Parameters
    ----------
        closed (bool): if the outline is closed (optional)

        fill_type (FillType): filling of the object (optional)

        lane_type (LaneType): type of the outline (optional)

        outer (bool): defines if the outline is the outer outline (optional)

        id (int): id of the point (optional)

    Attributes
    ----------
        closed (bool): if the outline is closed (optional)

        fill_type (FillType): filling of the object (optional)

        lane_type (LaneType): type of the outline (optional)

        outer (bool): defines if the outline is the outer outline (optional)

        id (int): id of the point (optional)

        corners (list of cornerRoad/cornerLocal): corners of the outline
    Methods
    -------
        get_element()
            Returns the full ElementTree of the class

        get_attributes()
            Returns a dictionary of all attributes of the class

    """

    def __init__(
        self, closed=None, fill_type=None, lane_type=None, outer=None, id=None
    ):
        """initalize the Outline

        Parameters
        ----------
            closed (bool): if the outline is closed (optional)

            fill_type (FillType): filling of the object (optional)

            lane_type (LaneType): type of the outline (optional)

            outer (bool): defines if the outline is the outer outline (optional)

            id (int): id of the point (optional)

        """
        super().__init__()
        self.closed = closed
        self.fill_type = fill_type
        self.lane_type = lane_type
        self.outer = outer
        self.id = id
        self.corners = []
        self._corner_type = None

    def __eq__(self, other):
        if isinstance(other, Outline) and super().__eq__(other):
            if (
                self.get_attributes() == other.get_attributes()
                and self.corners == other.corners
            ):
                return True
        return False

    def add_corner(self, corner):
        """add_corner adds a corner to the outline

        Note: only the same typ of corners can be added

        Parameters
        ----------
            corner (CornerRoad, CornerLocal)
        """
        if not (isinstance(corner, CornerLocal) or isinstance(corner, CornerRoad)):
            raise TypeError("Not a valid corner.")
        if len(self.corners) == 0:
            if isinstance(corner, CornerLocal):
                self._corner_type = "local"
            else:
                self._corner_type = "road"
        if (isinstance(corner, CornerLocal) and self._corner_type == "local") or (
            isinstance(corner, CornerRoad) and self._corner_type == "road"
        ):
            self.corners.append(corner)
        else:
            raise GeneralIssueInputArguments("Mix of cornertypes not allowed. ")

    def get_attributes(self):
        """returns the attributes of Outline as a dict"""
        retdict = {}
        if self.closed is not None:
            retdict["closed"] = get_bool_string(self.closed)
        if self.outer is not None:
            retdict["outer"] = get_bool_string(self.outer)
        if self.fill_type is not None:
            retdict["fillType"] = enum2str(self.fill_type)
        if self.lane_type is not None:
            retdict["laneType"] = enum2str(self.lane_type)
        if self.id is not None:
            retdict["id"] = str(self.id)
        return retdict

    def get_element(self):
        """returns the elementTree of Outline"""
        element = ET.Element("outline", attrib=self.get_attributes())
        self._add_additional_data_to_element(element)
        for corner in self.corners:
            element.append(corner.get_element())

        return element


class ParkingSpace(XodrBase):
    """ParkingSpace is used to define access and restrictions for objects in OpenDRIVE

    Parameters
    ----------
        access (Access): type of access of the parking space (optional)

        restrictions (string): restrictions of the parking space (optional)


    Attributes
    ----------
        access (Access): type of access of the parking space (optional)

        restrictions (string): restrictions of the parking space (optional)

    Methods
    -------
        get_element()
            Returns the full ElementTree of the class

        get_attributes()
            Returns a dictionary of all attributes of the class

    """

    def __init__(self, access=None, restrictions=None):
        """initalize the ParkingSpace

        Parameters
        ----------
            access (Access): type of access of the parking space (optional)

            restrictions (string): restrictions of the parking space (optional)


        """
        super().__init__()
        self.access = access
        self.restrictions = restrictions

    def __eq__(self, other):
        if isinstance(other, Outline) and super().__eq__(other):
            if self.get_attributes() == other.get_attributes():
                return True
        return False

    def get_attributes(self):
        """returns the attributes of ParkingSpace as a dict"""
        retdict = {}
        if self.access is not None:
            retdict["access"] = enum2str(self.access)
        if self.restrictions is not None:
            retdict["restrictions"] = self.restrictions

        return retdict

    def get_element(self):
        """returns the elementTree of ParkingSpace"""
        element = ET.Element("parkingSpace", attrib=self.get_attributes())
        self._add_additional_data_to_element(element)

        return element

Classes

class CornerLocal (u, v, z, height, id=None)

CornerLocal is one way to describe outline in for objects

Parameters

u (float): local u-coordinate

v (float): local v-coordinate

z (float): local z-coordinate

height (float): height of the object at this corner

id (int): id of the point (optional)

Attributes

u (float): local u-coordinate

v (float): local v-coordinate

z (float): local z-coordinate

height (float): height of the object at this corner

id (int): id of the point (optional)

Methods

get_element()
    Returns the full ElementTree of the class

get_attributes()
    Returns a dictionary of all attributes of the class

initalize the cornerLocal

Parameters

u (float): local u-coordinate

v (float): local v-coordinate

z (float): local z-coordinate

height (float): height of the object at this corner

id (int): id of the point (optional)

Expand source code

class CornerLocal(XodrBase):
    """CornerLocal is one way to describe outline in for objects

    Parameters
    ----------
        u (float): local u-coordinate

        v (float): local v-coordinate

        z (float): local z-coordinate

        height (float): height of the object at this corner

        id (int): id of the point (optional)

    Attributes
    ----------
        u (float): local u-coordinate

        v (float): local v-coordinate

        z (float): local z-coordinate

        height (float): height of the object at this corner

        id (int): id of the point (optional)

    Methods
    -------
        get_element()
            Returns the full ElementTree of the class

        get_attributes()
            Returns a dictionary of all attributes of the class

    """

    def __init__(self, u, v, z, height, id=None):
        """initalize the cornerLocal

        Parameters
        ----------
            u (float): local u-coordinate

            v (float): local v-coordinate

            z (float): local z-coordinate

            height (float): height of the object at this corner

            id (int): id of the point (optional)

        """
        super().__init__()
        self.u = u
        self.v = v
        self.z = z
        self.height = height
        self.id = id

    def __eq__(self, other):
        if isinstance(other, CornerLocal) and super().__eq__(other):
            if self.get_attributes() == other.get_attributes():
                return True
        return False

    def get_attributes(self):
        """returns the attributes of cornerLocal as a dict"""
        retdict = {}
        retdict["u"] = str(self.u)
        retdict["v"] = str(self.v)
        retdict["z"] = str(self.z)
        retdict["height"] = str(self.height)
        if self.id is not None:
            retdict["id"] = str(self.id)
        return retdict

    def get_element(self):
        """returns the elementTree of cornerLocal"""
        element = ET.Element("cornerLocal", attrib=self.get_attributes())
        self._add_additional_data_to_element(element)
        return element

Ancestors

• XodrBase

Methods

def get_attributes(self)

returns the attributes of cornerLocal as a dict

Expand source code

def get_attributes(self):
    """returns the attributes of cornerLocal as a dict"""
    retdict = {}
    retdict["u"] = str(self.u)
    retdict["v"] = str(self.v)
    retdict["z"] = str(self.z)
    retdict["height"] = str(self.height)
    if self.id is not None:
        retdict["id"] = str(self.id)
    return retdict

def get_element(self)

returns the elementTree of cornerLocal

Expand source code

def get_element(self):
    """returns the elementTree of cornerLocal"""
    element = ET.Element("cornerLocal", attrib=self.get_attributes())
    self._add_additional_data_to_element(element)
    return element

Inherited members

• XodrBase:
  • add_dataquality
  • add_userdata

class CornerRoad (s, t, dz, height, id=None)

CornerRoad is one way to describe outline in for objects

Parameters

s (float): s-coordinate of the corner

t (float): t-coordinate of the corner

dz (float): z-coordinate relative to the road

height (float): height of the object at this corner

id (int): id of the point (optional)

Attributes

s (float): s-coordinate of the corner

t (float): t-coordinate of the corner

dz (float): z-coordinate relative to the road

height (float): height of the object at this corner

id (int): id of the point (optional)

Methods

get_element()
    Returns the full ElementTree of the class

get_attributes()
    Returns a dictionary of all attributes of the class

initalize the CornerRoad

Parameters

s (float): s-coordinate of the corner

t (float): t-coordinate of the corner

dz (float): z-coordinate relative to the road

height (float): height of the object at this corner

id (int): id of the point (optional)

Expand source code

class CornerRoad(XodrBase):
    """CornerRoad is one way to describe outline in for objects

    Parameters
    ----------
        s (float): s-coordinate of the corner

        t (float): t-coordinate of the corner

        dz (float): z-coordinate relative to the road

        height (float): height of the object at this corner

        id (int): id of the point (optional)

    Attributes
    ----------
        s (float): s-coordinate of the corner

        t (float): t-coordinate of the corner

        dz (float): z-coordinate relative to the road

        height (float): height of the object at this corner

        id (int): id of the point (optional)
    Methods
    -------
        get_element()
            Returns the full ElementTree of the class

        get_attributes()
            Returns a dictionary of all attributes of the class

    """

    def __init__(self, s, t, dz, height, id=None):
        """initalize the CornerRoad

        Parameters
        ----------
            s (float): s-coordinate of the corner

            t (float): t-coordinate of the corner

            dz (float): z-coordinate relative to the road

            height (float): height of the object at this corner

            id (int): id of the point (optional)

        """
        super().__init__()
        self.s = s
        self.t = t
        self.dz = dz
        self.height = height
        self.id = id

    def __eq__(self, other):
        if isinstance(other, CornerRoad) and super().__eq__(other):
            if self.get_attributes() == other.get_attributes():
                return True
        return False

    def get_attributes(self):
        """returns the attributes of cornerRoad as a dict"""
        retdict = {}
        retdict["s"] = str(self.s)
        retdict["t"] = str(self.t)
        retdict["dz"] = str(self.dz)
        retdict["height"] = str(self.height)
        if self.id is not None:
            retdict["id"] = str(self.id)
        return retdict

    def get_element(self):
        """returns the elementTree of cornerRoad"""
        element = ET.Element("cornerRoad", attrib=self.get_attributes())
        self._add_additional_data_to_element(element)
        return element

Ancestors

• XodrBase

Methods

def get_attributes(self)

returns the attributes of cornerRoad as a dict

Expand source code

def get_attributes(self):
    """returns the attributes of cornerRoad as a dict"""
    retdict = {}
    retdict["s"] = str(self.s)
    retdict["t"] = str(self.t)
    retdict["dz"] = str(self.dz)
    retdict["height"] = str(self.height)
    if self.id is not None:
        retdict["id"] = str(self.id)
    return retdict

def get_element(self)

returns the elementTree of cornerRoad

Expand source code

def get_element(self):
    """returns the elementTree of cornerRoad"""
    element = ET.Element("cornerRoad", attrib=self.get_attributes())
    self._add_additional_data_to_element(element)
    return element

Inherited members

• XodrBase:
  • add_dataquality
  • add_userdata

class Dependency (id, type)

Dependency defines the dependency element in Opendrive. It is placed within the signal element. Parameters ---------- id (str): id of the controlled signal type (str): type of dependency

Attributes
----------
    id (str): id of the controlled signal
    type (str): type of dependency

Methods
-------
    get_element()
        Returns the full ElementTree of the class

    get_attributes()
        Returns a dictionary of all attributes of the class

initalize the UserData

Expand source code

class Dependency(XodrBase):
    """
    Dependency defines the dependency element in Opendrive. It is placed within the signal element.
    Parameters
        ----------
            id (str): id of the controlled signal
            type (str): type of dependency

        Attributes
        ----------
            id (str): id of the controlled signal
            type (str): type of dependency

        Methods
        -------
            get_element()
                Returns the full ElementTree of the class

            get_attributes()
                Returns a dictionary of all attributes of the class
    """

    def __init__(self, id, type):
        super().__init__()
        self.id = id
        self.type = type

    def __eq__(self, other):
        if isinstance(other, Dependency) and super().__eq__(other):
            if self.get_attributes() == other.get_attributes():
                return True
        return False

    def get_attributes(self):
        retdict = {"id": str(self.id), "type": str(self.type)}
        return retdict

    def get_element(self):
        element = ET.Element("dependency", attrib=self.get_attributes())
        self._add_additional_data_to_element(element)
        return element

Ancestors

• XodrBase

Methods

def get_attributes(self)

Expand source code

def get_attributes(self):
    retdict = {"id": str(self.id), "type": str(self.type)}
    return retdict

def get_element(self)

Expand source code

def get_element(self):
    element = ET.Element("dependency", attrib=self.get_attributes())
    self._add_additional_data_to_element(element)
    return element

Inherited members

• XodrBase:
  • add_dataquality
  • add_userdata

class Object (s, t, Type=ObjectType.none, subtype=None, id=None, name=None, dynamic=Dynamic.no, zOffset=0, orientation=Orientation.none, hdg=0, pitch=0, roll=0, width=None, length=None, height=None, radius=None, validLength=None)

creates an Object

Parameters

_SignalObjectBase: base class with common attributes of Signal / Object

Attributes

s (float): s-coordinate of Object (init in base class)

t (float): t-coordinate of Object (init in base class)

type (ObjectType or string): type of Object (typically enum ObjectType) (init in base class)

subtype (string): subtype for further specification of Object (init in base class)

id (string): id of Object (init in base class)

name (string): name for identification of Object (init in base class)

dynamic (Dynamic): specifies if Object is static or dynamic (init in base class)

zOffset (float): vertical offset of Object with respect to centerline (init in base class)

orientation (Orientation): orientation of Object with respect to road (init in base class)

hdg (float): heading angle (rad) of the Object relative to road direction

pitch (float): pitch angle (rad) of Object relative to the inertial system (xy-plane) (init in base class)

roll (float): roll angle (rad) of Object after applying pitch, relative to the inertial system (x’’y’’-plane) (init in base class)

width (float): width of the Object (init in base class)

length (float): width of the Object (shall not be used with radius)

height (float): height of Object (init in base class)

radius (float): radius of the Object (shall not be used with width/length)

validLength (float): validLength

_repeats ([dict]): list of dictionary containing attributes for optional subelement for repeating Objects to be filled by repeat method

validity (Validity): explicit validity information for a signal (optional)

outlines (list of Outline): list of outlines for the object

Methods

repeat()
    adds a dictionary to _repeats[] list to create a subelement for repeating the Object

add_outline(outline)
    adds a outline of the object

get_element()
    Returns the full ElementTree of the class

get_attributes()
    Returns a dictionary of all attributes of FileHeader

initalizes the Object

Parameters

s (float): s-coordinate of Object (init in base class)

t (float): t-coordinate of Object (init in base class)

Type (ObjectType or string): type of Object (typically enum ObjectType) (init in base class)
    Default: ObjectType.none
subtype (string): subtype for further specification of Object (init in base class)
    Default: None
id (string): id of Object (init in base class)
    Default: None
name (string): name for identification of Object (init in base class)
    Default: None
dynamic (Dynamic): specifies if Object is static or dynamic (init in base class)
    Default: Dynamic.no
zOffset (float): vertical offset of Object with respect to centerline (init in base class)
    Default: 0
orientation (Orientation): orientation of Object with respect to road (init in base class)
    Default: Orientation.none
hdg (float): heading angle (rad) of the Object relative to road direction
    Default: 0
pitch (float): pitch angle (rad) of Object relative to the inertial system (xy-plane) (init in base class)
    Default: 0
roll (float): roll angle (rad) of Object after applying pitch, relative to the inertial system (x’’y’’-plane) (init in base class)
    Default: 0
width (float): width of the Object (init in base class)
    Default: None
length (float): length of the Object (shall not be used with radius)
    Default: None
height (float): height of Object (init in base class)
    Default: None
radius (float): radius of the Object (shall not be used with width/length)
    Default: None
validLength (float): validity of object along s-coordinate
    Default: None

Expand source code

class Object(_SignalObjectBase):
    """creates an Object

    Parameters
    ----------
        _SignalObjectBase: base class with common attributes of Signal / Object

    Attributes
    ----------
        s (float): s-coordinate of Object (init in base class)

        t (float): t-coordinate of Object (init in base class)

        type (ObjectType or string): type of Object (typically enum ObjectType) (init in base class)

        subtype (string): subtype for further specification of Object (init in base class)

        id (string): id of Object (init in base class)

        name (string): name for identification of Object (init in base class)

        dynamic (Dynamic): specifies if Object is static or dynamic (init in base class)

        zOffset (float): vertical offset of Object with respect to centerline (init in base class)

        orientation (Orientation): orientation of Object with respect to road (init in base class)

        hdg (float): heading angle (rad) of the Object relative to road direction

        pitch (float): pitch angle (rad) of Object relative to the inertial system (xy-plane) (init in base class)

        roll (float): roll angle (rad) of Object after applying pitch, relative to the inertial system (x’’y’’-plane) (init in base class)

        width (float): width of the Object (init in base class)

        length (float): width of the Object (shall not be used with radius)

        height (float): height of Object (init in base class)

        radius (float): radius of the Object (shall not be used with width/length)

        validLength (float): validLength

        _repeats ([dict]): list of dictionary containing attributes for optional subelement for repeating Objects to be filled by repeat method

        validity (Validity): explicit validity information for a signal (optional)

        outlines (list of Outline): list of outlines for the object
    Methods
    -------
        repeat()
            adds a dictionary to _repeats[] list to create a subelement for repeating the Object

        add_outline(outline)
            adds a outline of the object

        get_element()
            Returns the full ElementTree of the class

        get_attributes()
            Returns a dictionary of all attributes of FileHeader

    """

    def __init__(
        self,
        s,
        t,
        Type=ObjectType.none,
        subtype=None,
        id=None,
        name=None,
        dynamic=Dynamic.no,
        zOffset=0,
        orientation=Orientation.none,
        hdg=0,
        pitch=0,
        roll=0,
        width=None,
        length=None,
        height=None,
        radius=None,
        validLength=None,
    ):
        """initalizes the Object

        Parameters
        ----------
            s (float): s-coordinate of Object (init in base class)

            t (float): t-coordinate of Object (init in base class)

            Type (ObjectType or string): type of Object (typically enum ObjectType) (init in base class)
                Default: ObjectType.none
            subtype (string): subtype for further specification of Object (init in base class)
                Default: None
            id (string): id of Object (init in base class)
                Default: None
            name (string): name for identification of Object (init in base class)
                Default: None
            dynamic (Dynamic): specifies if Object is static or dynamic (init in base class)
                Default: Dynamic.no
            zOffset (float): vertical offset of Object with respect to centerline (init in base class)
                Default: 0
            orientation (Orientation): orientation of Object with respect to road (init in base class)
                Default: Orientation.none
            hdg (float): heading angle (rad) of the Object relative to road direction
                Default: 0
            pitch (float): pitch angle (rad) of Object relative to the inertial system (xy-plane) (init in base class)
                Default: 0
            roll (float): roll angle (rad) of Object after applying pitch, relative to the inertial system (x’’y’’-plane) (init in base class)
                Default: 0
            width (float): width of the Object (init in base class)
                Default: None
            length (float): length of the Object (shall not be used with radius)
                Default: None
            height (float): height of Object (init in base class)
                Default: None
            radius (float): radius of the Object (shall not be used with width/length)
                Default: None
            validLength (float): validity of object along s-coordinate
                Default: None

        """
        # get attributes that are common with signals
        super().__init__(
            s,
            t,
            id,
            Type,
            subtype,
            dynamic,
            name,
            zOffset,
            orientation,
            pitch,
            roll,
            width,
            height,
        )

        # attributes that differ from signals
        self.validLength = validLength
        self.length = length
        self.hdg = hdg
        self.radius = radius

        # list for repeat entries
        self._repeats = []
        self.outlines = []
        self.validity = None
        self.parking_space = None

        # check if width/length combination or radius was provided and ensure working defaults
        if radius is not None and (width is not None or length is not None):
            print(
                "Object with id",
                self.id,
                "was provided with radius, width and/or length. Provide either radius or width and length. Using radius as fallback.",
            )
            self.width = None
            self.length = None
        elif width is not None and length is None:
            print(
                "Object with id",
                self.id,
                "was provided with width, but length is missing. Using 0 as fallback.",
            )
            self.length = 0
        elif length is not None and width is None:
            print(
                "Object with id",
                self.id,
                "was provided with length, but width is missing. Using 0 as fallback.",
            )
            self.width = 0
        else:
            pass

    def __eq__(self, other):
        if isinstance(other, Object) and super().__eq__(other):
            if (
                self.get_attributes() == other.get_attributes()
                and self._repeats == other._repeats
                and self.outlines == other.outlines
            ):
                return True
        return False

    def repeat(
        self,
        repeatLength,
        repeatDistance,
        sStart=None,
        tStart=None,
        tEnd=None,
        heightStart=None,
        heightEnd=None,
        zOffsetStart=None,
        zOffsetEnd=None,
        widthStart=None,
        widthEnd=None,
        lengthStart=None,
        lengthEnd=None,
        radiusStart=None,
        radiusEnd=None,
    ):
        self._repeats.append({})

        self._repeats[-1]["length"] = str(repeatLength)
        self._repeats[-1]["distance"] = str(repeatDistance)

        def infoFallback(id, attributeName):
            pass
            # print ("Info: Using data of parent object with id",id,"as attribute",attributeName,"was not specified for repeat entry.")

        # ensuring that all attributes that are required according to OpenDRIVE 1.6 are filled - for convenience the ones of the parent object are used
        # if not provided specifically
        if sStart == None:
            self._repeats[-1]["s"] = str(self.s)
            infoFallback(self.id, "s")
        else:
            self._repeats[-1]["s"] = str(sStart)
        if tStart == None:
            self._repeats[-1]["tStart"] = str(self.t)
            infoFallback(self.id, "tStart")
        else:
            self._repeats[-1]["tStart"] = str(tStart)
        if tEnd == None:
            self._repeats[-1]["tEnd"] = str(self.t)
            infoFallback(self.id, "tEnd")
        else:
            self._repeats[-1]["tEnd"] = str(tEnd)
        if heightStart == None and self.height != None:
            self._repeats[-1]["heightStart"] = str(self.height)
            infoFallback(self.id, "heightStart")
        else:
            self._repeats[-1]["heightStart"] = str(heightStart)
        if heightEnd == None and self.height != None:
            self._repeats[-1]["heightEnd"] = str(self.height)
            infoFallback(self.id, "heightEnd")
        else:
            self._repeats[-1]["heightEnd"] = str(heightEnd)
        if zOffsetStart == None:
            self._repeats[-1]["zOffsetStart"] = str(self.zOffset)
            infoFallback(self.id, "zOffsetStart")
        else:
            self._repeats[-1]["zOffsetStart"] = str(zOffsetStart)
        if zOffsetEnd == None:
            self._repeats[-1]["zOffsetEnd"] = str(self.zOffset)
            infoFallback(self.id, "zOffsetEnd")
        else:
            self._repeats[-1]["zOffsetEnd"] = str(zOffsetEnd)

        # attributes below are optional according to OpenDRIVE 1.6 - no further checks as these values overrule the ones of parent object
        # and fallbacks might be implemented differently by different simulators
        if widthStart is not None:
            self._repeats[-1]["widthStart"] = str(widthStart)
        if widthEnd is not None:
            self._repeats[-1]["widthEnd"] = str(widthEnd)
        if lengthStart is not None:
            self._repeats[-1]["lengthStart"] = str(lengthStart)
        if lengthEnd is not None:
            self._repeats[-1]["lengthEnd"] = str(lengthEnd)
        if radiusStart is not None:
            self._repeats[-1]["radiusStart"] = str(radiusStart)
        if radiusEnd is not None:
            self._repeats[-1]["radiusEnd"] = str(radiusEnd)

    def add_validity(self, fromLane, toLane):
        """adds a validity to the object

        Parameters
        ----------
            fromLane (int): the from lane

            toLane (int): the to lane
        """
        if self.validity:
            raise ValueError("only one validity is allowed")
        self.validity = Validity(fromLane, toLane)
        return self

    def add_outline(self, outline):
        """adds an outline to the object

        Parameters
        ----------
            outline (Outline): the outline to be added
        """
        self.outlines.append(outline)

    def add_parking_space(self, parking_space):
        """adds an parking space to the object

        Parameters
        ----------
            parking_space (ParkingSpace): the outline to be added
        """
        self.parking_space = parking_space

    def get_attributes(self):
        """returns the attributes of the Object as a dict"""
        retdict = super().get_common_attributes()
        if self.validLength is not None:
            retdict["validLength"] = str(self.validLength)
        retdict["hdg"] = str(self.hdg)

        if self.radius is not None:
            retdict["radius"] = str(self.radius)
        elif self.length is not None and self.width is not None:
            retdict["length"] = str(self.length)
            retdict["width"] = str(self.width)

        return retdict

    def get_element(self):
        """returns the elementTree of the WorldPostion"""
        element = ET.Element("object", attrib=self.get_attributes())
        self._add_additional_data_to_element(element)
        for _repeat in self._repeats:
            ET.SubElement(element, "repeat", attrib=_repeat)
        if self.validity:
            element.append(self.validity.get_element())
        if self.parking_space:
            element.append(self.parking_space.get_element())
        if self.outlines:
            outlines_element = ET.SubElement(element, "outlines")
            for outline in self.outlines:
                outlines_element.append(outline.get_element())
        return element

Ancestors

• scenariogeneration.xodr.signals_objects._SignalObjectBase
• XodrBase

Methods

def add_outline(self, outline)

adds an outline to the object

Parameters

outline (Outline): the outline to be added

Expand source code

def add_outline(self, outline):
    """adds an outline to the object

    Parameters
    ----------
        outline (Outline): the outline to be added
    """
    self.outlines.append(outline)

def add_parking_space(self, parking_space)

adds an parking space to the object

Parameters

parking_space (ParkingSpace): the outline to be added

Expand source code

def add_parking_space(self, parking_space):
    """adds an parking space to the object

    Parameters
    ----------
        parking_space (ParkingSpace): the outline to be added
    """
    self.parking_space = parking_space

def add_validity(self, fromLane, toLane)

adds a validity to the object

Parameters

fromLane (int): the from lane

toLane (int): the to lane

Expand source code

def add_validity(self, fromLane, toLane):
    """adds a validity to the object

    Parameters
    ----------
        fromLane (int): the from lane

        toLane (int): the to lane
    """
    if self.validity:
        raise ValueError("only one validity is allowed")
    self.validity = Validity(fromLane, toLane)
    return self

def get_attributes(self)

returns the attributes of the Object as a dict

Expand source code

def get_attributes(self):
    """returns the attributes of the Object as a dict"""
    retdict = super().get_common_attributes()
    if self.validLength is not None:
        retdict["validLength"] = str(self.validLength)
    retdict["hdg"] = str(self.hdg)

    if self.radius is not None:
        retdict["radius"] = str(self.radius)
    elif self.length is not None and self.width is not None:
        retdict["length"] = str(self.length)
        retdict["width"] = str(self.width)

    return retdict

def get_element(self)

returns the elementTree of the WorldPostion

Expand source code

def get_element(self):
    """returns the elementTree of the WorldPostion"""
    element = ET.Element("object", attrib=self.get_attributes())
    self._add_additional_data_to_element(element)
    for _repeat in self._repeats:
        ET.SubElement(element, "repeat", attrib=_repeat)
    if self.validity:
        element.append(self.validity.get_element())
    if self.parking_space:
        element.append(self.parking_space.get_element())
    if self.outlines:
        outlines_element = ET.SubElement(element, "outlines")
        for outline in self.outlines:
            outlines_element.append(outline.get_element())
    return element

def repeat(self, repeatLength, repeatDistance, sStart=None, tStart=None, tEnd=None, heightStart=None, heightEnd=None, zOffsetStart=None, zOffsetEnd=None, widthStart=None, widthEnd=None, lengthStart=None, lengthEnd=None, radiusStart=None, radiusEnd=None)

Expand source code

def repeat(
    self,
    repeatLength,
    repeatDistance,
    sStart=None,
    tStart=None,
    tEnd=None,
    heightStart=None,
    heightEnd=None,
    zOffsetStart=None,
    zOffsetEnd=None,
    widthStart=None,
    widthEnd=None,
    lengthStart=None,
    lengthEnd=None,
    radiusStart=None,
    radiusEnd=None,
):
    self._repeats.append({})

    self._repeats[-1]["length"] = str(repeatLength)
    self._repeats[-1]["distance"] = str(repeatDistance)

    def infoFallback(id, attributeName):
        pass
        # print ("Info: Using data of parent object with id",id,"as attribute",attributeName,"was not specified for repeat entry.")

    # ensuring that all attributes that are required according to OpenDRIVE 1.6 are filled - for convenience the ones of the parent object are used
    # if not provided specifically
    if sStart == None:
        self._repeats[-1]["s"] = str(self.s)
        infoFallback(self.id, "s")
    else:
        self._repeats[-1]["s"] = str(sStart)
    if tStart == None:
        self._repeats[-1]["tStart"] = str(self.t)
        infoFallback(self.id, "tStart")
    else:
        self._repeats[-1]["tStart"] = str(tStart)
    if tEnd == None:
        self._repeats[-1]["tEnd"] = str(self.t)
        infoFallback(self.id, "tEnd")
    else:
        self._repeats[-1]["tEnd"] = str(tEnd)
    if heightStart == None and self.height != None:
        self._repeats[-1]["heightStart"] = str(self.height)
        infoFallback(self.id, "heightStart")
    else:
        self._repeats[-1]["heightStart"] = str(heightStart)
    if heightEnd == None and self.height != None:
        self._repeats[-1]["heightEnd"] = str(self.height)
        infoFallback(self.id, "heightEnd")
    else:
        self._repeats[-1]["heightEnd"] = str(heightEnd)
    if zOffsetStart == None:
        self._repeats[-1]["zOffsetStart"] = str(self.zOffset)
        infoFallback(self.id, "zOffsetStart")
    else:
        self._repeats[-1]["zOffsetStart"] = str(zOffsetStart)
    if zOffsetEnd == None:
        self._repeats[-1]["zOffsetEnd"] = str(self.zOffset)
        infoFallback(self.id, "zOffsetEnd")
    else:
        self._repeats[-1]["zOffsetEnd"] = str(zOffsetEnd)

    # attributes below are optional according to OpenDRIVE 1.6 - no further checks as these values overrule the ones of parent object
    # and fallbacks might be implemented differently by different simulators
    if widthStart is not None:
        self._repeats[-1]["widthStart"] = str(widthStart)
    if widthEnd is not None:
        self._repeats[-1]["widthEnd"] = str(widthEnd)
    if lengthStart is not None:
        self._repeats[-1]["lengthStart"] = str(lengthStart)
    if lengthEnd is not None:
        self._repeats[-1]["lengthEnd"] = str(lengthEnd)
    if radiusStart is not None:
        self._repeats[-1]["radiusStart"] = str(radiusStart)
    if radiusEnd is not None:
        self._repeats[-1]["radiusEnd"] = str(radiusEnd)

Inherited members

• XodrBase:
  • add_dataquality
  • add_userdata

class Outline (closed=None, fill_type=None, lane_type=None, outer=None, id=None)

Outline is used to wrap corners for an object in OpenDRIVE

Parameters

closed (bool): if the outline is closed (optional)

fill_type (FillType): filling of the object (optional)

lane_type (LaneType): type of the outline (optional)

outer (bool): defines if the outline is the outer outline (optional)

id (int): id of the point (optional)

Attributes

closed (bool): if the outline is closed (optional)

fill_type (FillType): filling of the object (optional)

lane_type (LaneType): type of the outline (optional)

outer (bool): defines if the outline is the outer outline (optional)

id (int): id of the point (optional)

corners (list of cornerRoad/cornerLocal): corners of the outline

Methods

get_element()
    Returns the full ElementTree of the class

get_attributes()
    Returns a dictionary of all attributes of the class

initalize the Outline

Parameters

closed (bool): if the outline is closed (optional)

fill_type (FillType): filling of the object (optional)

lane_type (LaneType): type of the outline (optional)

outer (bool): defines if the outline is the outer outline (optional)

id (int): id of the point (optional)

Expand source code

class Outline(XodrBase):
    """Outline is used to wrap corners for an object in OpenDRIVE

    Parameters
    ----------
        closed (bool): if the outline is closed (optional)

        fill_type (FillType): filling of the object (optional)

        lane_type (LaneType): type of the outline (optional)

        outer (bool): defines if the outline is the outer outline (optional)

        id (int): id of the point (optional)

    Attributes
    ----------
        closed (bool): if the outline is closed (optional)

        fill_type (FillType): filling of the object (optional)

        lane_type (LaneType): type of the outline (optional)

        outer (bool): defines if the outline is the outer outline (optional)

        id (int): id of the point (optional)

        corners (list of cornerRoad/cornerLocal): corners of the outline
    Methods
    -------
        get_element()
            Returns the full ElementTree of the class

        get_attributes()
            Returns a dictionary of all attributes of the class

    """

    def __init__(
        self, closed=None, fill_type=None, lane_type=None, outer=None, id=None
    ):
        """initalize the Outline

        Parameters
        ----------
            closed (bool): if the outline is closed (optional)

            fill_type (FillType): filling of the object (optional)

            lane_type (LaneType): type of the outline (optional)

            outer (bool): defines if the outline is the outer outline (optional)

            id (int): id of the point (optional)

        """
        super().__init__()
        self.closed = closed
        self.fill_type = fill_type
        self.lane_type = lane_type
        self.outer = outer
        self.id = id
        self.corners = []
        self._corner_type = None

    def __eq__(self, other):
        if isinstance(other, Outline) and super().__eq__(other):
            if (
                self.get_attributes() == other.get_attributes()
                and self.corners == other.corners
            ):
                return True
        return False

    def add_corner(self, corner):
        """add_corner adds a corner to the outline

        Note: only the same typ of corners can be added

        Parameters
        ----------
            corner (CornerRoad, CornerLocal)
        """
        if not (isinstance(corner, CornerLocal) or isinstance(corner, CornerRoad)):
            raise TypeError("Not a valid corner.")
        if len(self.corners) == 0:
            if isinstance(corner, CornerLocal):
                self._corner_type = "local"
            else:
                self._corner_type = "road"
        if (isinstance(corner, CornerLocal) and self._corner_type == "local") or (
            isinstance(corner, CornerRoad) and self._corner_type == "road"
        ):
            self.corners.append(corner)
        else:
            raise GeneralIssueInputArguments("Mix of cornertypes not allowed. ")

    def get_attributes(self):
        """returns the attributes of Outline as a dict"""
        retdict = {}
        if self.closed is not None:
            retdict["closed"] = get_bool_string(self.closed)
        if self.outer is not None:
            retdict["outer"] = get_bool_string(self.outer)
        if self.fill_type is not None:
            retdict["fillType"] = enum2str(self.fill_type)
        if self.lane_type is not None:
            retdict["laneType"] = enum2str(self.lane_type)
        if self.id is not None:
            retdict["id"] = str(self.id)
        return retdict

    def get_element(self):
        """returns the elementTree of Outline"""
        element = ET.Element("outline", attrib=self.get_attributes())
        self._add_additional_data_to_element(element)
        for corner in self.corners:
            element.append(corner.get_element())

        return element

Ancestors

• XodrBase

Methods

def add_corner(self, corner)

add_corner adds a corner to the outline

Note: only the same typ of corners can be added

Parameters

corner (CornerRoad, CornerLocal)

Expand source code

def add_corner(self, corner):
    """add_corner adds a corner to the outline

    Note: only the same typ of corners can be added

    Parameters
    ----------
        corner (CornerRoad, CornerLocal)
    """
    if not (isinstance(corner, CornerLocal) or isinstance(corner, CornerRoad)):
        raise TypeError("Not a valid corner.")
    if len(self.corners) == 0:
        if isinstance(corner, CornerLocal):
            self._corner_type = "local"
        else:
            self._corner_type = "road"
    if (isinstance(corner, CornerLocal) and self._corner_type == "local") or (
        isinstance(corner, CornerRoad) and self._corner_type == "road"
    ):
        self.corners.append(corner)
    else:
        raise GeneralIssueInputArguments("Mix of cornertypes not allowed. ")

def get_attributes(self)

returns the attributes of Outline as a dict

Expand source code

def get_attributes(self):
    """returns the attributes of Outline as a dict"""
    retdict = {}
    if self.closed is not None:
        retdict["closed"] = get_bool_string(self.closed)
    if self.outer is not None:
        retdict["outer"] = get_bool_string(self.outer)
    if self.fill_type is not None:
        retdict["fillType"] = enum2str(self.fill_type)
    if self.lane_type is not None:
        retdict["laneType"] = enum2str(self.lane_type)
    if self.id is not None:
        retdict["id"] = str(self.id)
    return retdict

def get_element(self)

returns the elementTree of Outline

Expand source code

def get_element(self):
    """returns the elementTree of Outline"""
    element = ET.Element("outline", attrib=self.get_attributes())
    self._add_additional_data_to_element(element)
    for corner in self.corners:
        element.append(corner.get_element())

    return element

Inherited members

• XodrBase:
  • add_dataquality
  • add_userdata

class ParkingSpace (access=None, restrictions=None)

ParkingSpace is used to define access and restrictions for objects in OpenDRIVE

Parameters

access (Access): type of access of the parking space (optional)

restrictions (string): restrictions of the parking space (optional)

Attributes

access (Access): type of access of the parking space (optional)

restrictions (string): restrictions of the parking space (optional)

Methods

get_element()
    Returns the full ElementTree of the class

get_attributes()
    Returns a dictionary of all attributes of the class

initalize the ParkingSpace

Parameters

access (Access): type of access of the parking space (optional)

restrictions (string): restrictions of the parking space (optional)

Expand source code

class ParkingSpace(XodrBase):
    """ParkingSpace is used to define access and restrictions for objects in OpenDRIVE

    Parameters
    ----------
        access (Access): type of access of the parking space (optional)

        restrictions (string): restrictions of the parking space (optional)


    Attributes
    ----------
        access (Access): type of access of the parking space (optional)

        restrictions (string): restrictions of the parking space (optional)

    Methods
    -------
        get_element()
            Returns the full ElementTree of the class

        get_attributes()
            Returns a dictionary of all attributes of the class

    """

    def __init__(self, access=None, restrictions=None):
        """initalize the ParkingSpace

        Parameters
        ----------
            access (Access): type of access of the parking space (optional)

            restrictions (string): restrictions of the parking space (optional)


        """
        super().__init__()
        self.access = access
        self.restrictions = restrictions

    def __eq__(self, other):
        if isinstance(other, Outline) and super().__eq__(other):
            if self.get_attributes() == other.get_attributes():
                return True
        return False

    def get_attributes(self):
        """returns the attributes of ParkingSpace as a dict"""
        retdict = {}
        if self.access is not None:
            retdict["access"] = enum2str(self.access)
        if self.restrictions is not None:
            retdict["restrictions"] = self.restrictions

        return retdict

    def get_element(self):
        """returns the elementTree of ParkingSpace"""
        element = ET.Element("parkingSpace", attrib=self.get_attributes())
        self._add_additional_data_to_element(element)

        return element

Ancestors

• XodrBase

Methods

def get_attributes(self)

returns the attributes of ParkingSpace as a dict

Expand source code

def get_attributes(self):
    """returns the attributes of ParkingSpace as a dict"""
    retdict = {}
    if self.access is not None:
        retdict["access"] = enum2str(self.access)
    if self.restrictions is not None:
        retdict["restrictions"] = self.restrictions

    return retdict

def get_element(self)

returns the elementTree of ParkingSpace

Expand source code

def get_element(self):
    """returns the elementTree of ParkingSpace"""
    element = ET.Element("parkingSpace", attrib=self.get_attributes())
    self._add_additional_data_to_element(element)

    return element

Inherited members

• XodrBase:
  • add_dataquality
  • add_userdata

class Signal (s, t, country, Type, subtype='-1', countryRevision=None, id=None, name=None, dynamic=Dynamic.no, value=None, unit=None, zOffset=1.5, orientation=Orientation.positive, hOffset=0, pitch=0, roll=0, height=None, width=None)

Signal defines the signal element in Opendrive

Attributes

s (float): s-coordinate of Signal (init in base class)

t (float): t-coordinate of Signal (init in base class)

country (str): country code according to ISO 3166-1 (alpha-2 with two letters for OpenDRIVE 1.6, alpha-3 with three letters for OpenDRIVE 1.4)

countryRevision (str): defines the year of the applied traffic rules and may be necessary to ensure unique sign interpretation together with country, type and subtype (optional)

Type (SignalType or str): type of Signal (str) (init in base class)

subtype (string): subtype for further specification of Signal (init in base class)

id (string): id of Signal (init in base class)

name (string): name for identification of Signal (init in base class)

dynamic (Dynamic): specifies if Signal is static or dynamic (init in base class)

value (float): value for further specification of the signal

unit (str): unit, needs to be provided when value is given

zOffset (float): vertical offset of Signal with respect to centerline (init in base class)

orientation (Orientation): orientation of Signal with respect to road (init in base class)

hOffset (float): heading offset of the signal relative to orientation

pitch (float): pitch angle (rad) of Signal relative to the inertial system (xy-plane) (init in base class)

roll (float): roll angle (rad) of Signal after applying pitch, relative to the inertial system (x’’y’’-plane) (init in base class)

width (float): width of the Signal (init in base class)

height (float): height of Signal (init in base class)

validity (Validity): explicit validity information for a signal (optional)

Methods

get_element()
    Returns the full ElementTree of the class

get_attributes()
    Returns a dictionary of all attributes of the class

add_validity(fromLane, toLane)
    Adds a new validity between fromLane to toLane

initalizes the Signal

Parameters

s (float): s-coordinate of Signal (init in base class)

t (float): t-coordinate of Signal (init in base class)

country (str): country code according to ISO 3166-1 (alpha-2 with two letters for OpenDRIVE 1.6, alpha-3 with three letters for OpenDRIVE 1.4)

countryRevision (str): defines the year of the applied traffic rules and may be necessary to ensure unique sign interpretation together with country, type and subtype (optional)

Type (SignalType or str): type of Signal (str) (init in base class)

subtype (string): subtype for further specification of Signal (init in base class)
    Default: "-1"
id (string): id of Signal (init in base class)
    Default: None
name (string): name for identification of Signal (init in base class)
    Default: None
dynamic (Dynamic): specifies if Signal is static or dynamic (init in base class)
    Default: Dynamic.no
value (float): value for further specification of the signal
    Default: None
unit (str): unit, needs to be provided when value is given
    Default: None
zOffset (float): vertical offset of Signal with respect to centerline (init in base class)
    Default: 0
orientation (Orientation): orientation of Signal with respect to road (init in base class)
    Default: Orientation.none
hOffset (float): heading offset of the signal relative to orientation
    Default: 0
pitch (float): pitch angle (rad) of Signal relative to the inertial system (xy-plane) (init in base class)
    Default: 0
roll (float): roll angle (rad) of Signal after applying pitch, relative to the inertial system (x’’y’’-plane) (init in base class)
    Default: 0
width (float): width of the Signal (init in base class)
    Default: None
height (float): height of Signal (init in base class)
    Default: None

Expand source code

class Signal(_SignalObjectBase):
    """Signal defines the signal element in Opendrive

    Attributes
    ----------
        s (float): s-coordinate of Signal (init in base class)

        t (float): t-coordinate of Signal (init in base class)

        country (str): country code according to ISO 3166-1 (alpha-2 with two letters for OpenDRIVE 1.6, alpha-3 with three letters for OpenDRIVE 1.4)

        countryRevision (str): defines the year of the applied traffic rules and may be necessary to ensure unique sign interpretation together with country, type and subtype (optional)

        Type (SignalType or str): type of Signal (str) (init in base class)

        subtype (string): subtype for further specification of Signal (init in base class)

        id (string): id of Signal (init in base class)

        name (string): name for identification of Signal (init in base class)

        dynamic (Dynamic): specifies if Signal is static or dynamic (init in base class)

        value (float): value for further specification of the signal

        unit (str): unit, needs to be provided when value is given

        zOffset (float): vertical offset of Signal with respect to centerline (init in base class)

        orientation (Orientation): orientation of Signal with respect to road (init in base class)

        hOffset (float): heading offset of the signal relative to orientation

        pitch (float): pitch angle (rad) of Signal relative to the inertial system (xy-plane) (init in base class)

        roll (float): roll angle (rad) of Signal after applying pitch, relative to the inertial system (x’’y’’-plane) (init in base class)

        width (float): width of the Signal (init in base class)

        height (float): height of Signal (init in base class)

        validity (Validity): explicit validity information for a signal (optional)

    Methods
    -------
        get_element()
            Returns the full ElementTree of the class

        get_attributes()
            Returns a dictionary of all attributes of the class

        add_validity(fromLane, toLane)
            Adds a new validity between fromLane to toLane

    """

    def __init__(
        self,
        s,
        t,
        country,
        Type,
        subtype="-1",
        countryRevision=None,
        id=None,
        name=None,
        dynamic=Dynamic.no,
        value=None,
        unit=None,
        zOffset=1.5,
        orientation=Orientation.positive,
        hOffset=0,
        pitch=0,
        roll=0,
        height=None,
        width=None,
    ):
        """initalizes the Signal

        Parameters
        ----------
            s (float): s-coordinate of Signal (init in base class)

            t (float): t-coordinate of Signal (init in base class)

            country (str): country code according to ISO 3166-1 (alpha-2 with two letters for OpenDRIVE 1.6, alpha-3 with three letters for OpenDRIVE 1.4)

            countryRevision (str): defines the year of the applied traffic rules and may be necessary to ensure unique sign interpretation together with country, type and subtype (optional)

            Type (SignalType or str): type of Signal (str) (init in base class)

            subtype (string): subtype for further specification of Signal (init in base class)
                Default: "-1"
            id (string): id of Signal (init in base class)
                Default: None
            name (string): name for identification of Signal (init in base class)
                Default: None
            dynamic (Dynamic): specifies if Signal is static or dynamic (init in base class)
                Default: Dynamic.no
            value (float): value for further specification of the signal
                Default: None
            unit (str): unit, needs to be provided when value is given
                Default: None
            zOffset (float): vertical offset of Signal with respect to centerline (init in base class)
                Default: 0
            orientation (Orientation): orientation of Signal with respect to road (init in base class)
                Default: Orientation.none
            hOffset (float): heading offset of the signal relative to orientation
                Default: 0
            pitch (float): pitch angle (rad) of Signal relative to the inertial system (xy-plane) (init in base class)
                Default: 0
            roll (float): roll angle (rad) of Signal after applying pitch, relative to the inertial system (x’’y’’-plane) (init in base class)
                Default: 0
            width (float): width of the Signal (init in base class)
                Default: None
            height (float): height of Signal (init in base class)
                Default: None

        """

        # get attributes that are common with signals
        super().__init__(
            s,
            t,
            id,
            Type,
            subtype,
            dynamic,
            name,
            zOffset,
            orientation,
            pitch,
            roll,
            width,
            height,
        )
        self.s = s
        self.t = t
        self.dynamic = dynamic
        self.orientation = orientation
        self.zOffset = zOffset
        self.country = country
        self.countryRevision = countryRevision
        self.type = Type
        self.subtype = subtype
        self.value = value
        self.unit = unit
        self.hOffset = hOffset
        self.validity = None

    def __eq__(self, other):
        if isinstance(other, Signal) and super().__eq__(other):
            if self.get_attributes() == other.get_attributes():
                return True
        return False

    def get_attributes(self):
        retdict = super().get_common_attributes()
        retdict["country"] = str(self.country).upper()
        retdict["type"] = str(self.type)
        retdict["subtype"] = str(self.subtype)
        if self.countryRevision is not None:
            retdict["countryRevision"] = str(self.countryRevision)
        if self.hOffset is not None:
            retdict["hOffset"] = str(self.hOffset)
        # TODO check if value is supplied --> unit is mandatory in that case
        if self.value is not None:
            retdict["value"] = str(self.value)
            retdict["unit"] = str(self.unit)
        return retdict

    def add_validity(self, fromLane, toLane):
        if self.validity:
            raise ValueError("only one validity is allowed")
        self.validity = Validity(fromLane, toLane)
        return self

    def get_element(self):
        element = ET.Element("signal", attrib=self.get_attributes())
        self._add_additional_data_to_element(element)
        if self.validity:
            element.append(self.validity.get_element())
        return element

Ancestors

• scenariogeneration.xodr.signals_objects._SignalObjectBase
• XodrBase

Methods

def add_validity(self, fromLane, toLane)

Expand source code

def add_validity(self, fromLane, toLane):
    if self.validity:
        raise ValueError("only one validity is allowed")
    self.validity = Validity(fromLane, toLane)
    return self

def get_attributes(self)

Expand source code

def get_attributes(self):
    retdict = super().get_common_attributes()
    retdict["country"] = str(self.country).upper()
    retdict["type"] = str(self.type)
    retdict["subtype"] = str(self.subtype)
    if self.countryRevision is not None:
        retdict["countryRevision"] = str(self.countryRevision)
    if self.hOffset is not None:
        retdict["hOffset"] = str(self.hOffset)
    # TODO check if value is supplied --> unit is mandatory in that case
    if self.value is not None:
        retdict["value"] = str(self.value)
        retdict["unit"] = str(self.unit)
    return retdict

def get_element(self)

Expand source code

def get_element(self):
    element = ET.Element("signal", attrib=self.get_attributes())
    self._add_additional_data_to_element(element)
    if self.validity:
        element.append(self.validity.get_element())
    return element

Inherited members

• XodrBase:
  • add_dataquality
  • add_userdata

class SignalReference (s, t, id=None, orientation=Orientation.positive)

Signal defines the signal element in Opendrive

Attributes

s (float): s-coordinate of Signal (init in base class)

t (float): t-coordinate of Signal (init in base class)

id (string): id of Signal (init in base class)

orientation (Orientation): orientation of Signal with respect to road (init in base class)

validity (Validity): explicit validity information for a signal (optional)

_usedIDs ({[str]}): dictionary with list of used IDs, keys are class name SignalReference.
Shared to auto-generate unique IDs.

_IDCounter ({int}): dictionary with counter for auto-generation of IDs, keys are class name SignalReference.
Shared to auto-generate unique IDs.

Methods

get_element()
    Returns the full ElementTree of the class

get_attributes()
    Returns a dictionary of all attributes of the class

add_validity(fromLane, toLane)
    Adds a new validity between fromLane to toLane

get_common_attributes()
    Returns a dictionary of all attributes of FileHeader

_update_id()
    Ensures that an ID is assigned if none was provided and that provided IDs are unique
    Should be called when adding an Object or Signal to the road

initalizes the Signal

Parameters

s (float): s-coordinate of SignalReference

t (float): t-coordinate of SignalReference

id (string): id of SignalReference
    Default: None

orientation (Orientation): orientation of SignalReference with respect to road
    Default: Orientation.none

Expand source code

class SignalReference(XodrBase):
    """Signal defines the signal element in Opendrive

    Attributes
    ----------
        s (float): s-coordinate of Signal (init in base class)

        t (float): t-coordinate of Signal (init in base class)

        id (string): id of Signal (init in base class)

        orientation (Orientation): orientation of Signal with respect to road (init in base class)

        validity (Validity): explicit validity information for a signal (optional)

        _usedIDs ({[str]}): dictionary with list of used IDs, keys are class name SignalReference.
        Shared to auto-generate unique IDs.

        _IDCounter ({int}): dictionary with counter for auto-generation of IDs, keys are class name SignalReference.
        Shared to auto-generate unique IDs.

    Methods
    -------
        get_element()
            Returns the full ElementTree of the class

        get_attributes()
            Returns a dictionary of all attributes of the class

        add_validity(fromLane, toLane)
            Adds a new validity between fromLane to toLane

        get_common_attributes()
            Returns a dictionary of all attributes of FileHeader

        _update_id()
            Ensures that an ID is assigned if none was provided and that provided IDs are unique
            Should be called when adding an Object or Signal to the road

    """

    _usedIDs = {}
    _IDCounter = {}

    def __init__(
        self,
        s,
        t,
        id=None,
        orientation=Orientation.positive,
    ):
        """initalizes the Signal

        Parameters
        ----------
            s (float): s-coordinate of SignalReference

            t (float): t-coordinate of SignalReference

            id (string): id of SignalReference
                Default: None

            orientation (Orientation): orientation of SignalReference with respect to road
                Default: Orientation.none

        """

        # get attributes that are common with signals
        super().__init__()
        self.s = s
        self.t = t
        self.orientation = orientation
        self.validity = None
        self.id = id

    def __eq__(self, other):
        if isinstance(other, SignalReference) and super().__eq__(other):
            if self.get_attributes() == other.get_attributes():
                return True
        return False

    def _update_id(self):
        # ensure unique IDs
        try:
            if str(self.id) in self._usedIDs[self.__class__.__name__]:
                print(
                    "Warning: id",
                    self.id,
                    "has already been used for another",
                    self.__class__.__name__,
                    "...auto-generating unique id.",
                )

        except KeyError:
            self._usedIDs[self.__class__.__name__] = []
            self._IDCounter[self.__class__.__name__] = 0

        if self.id == None or (str(self.id) in self._usedIDs[self.__class__.__name__]):
            while (
                str(self._IDCounter[self.__class__.__name__])
                in self._usedIDs[self.__class__.__name__]
            ):
                self._IDCounter[self.__class__.__name__] += 1
            self.id = str(self._IDCounter[self.__class__.__name__])

        self._usedIDs[self.__class__.__name__].append(str(self.id))

    def get_attributes(self):
        """returns attributes of SignalReference as a dict"""
        retdict = {}
        retdict["id"] = str(self.id)
        retdict["s"] = str(self.s)
        retdict["t"] = str(self.t)
        if self.orientation == Orientation.positive:
            retdict["orientation"] = "+"
        elif self.orientation == Orientation.negative:
            retdict["orientation"] = "-"
        else:
            retdict["orientation"] = enum2str(self.orientation)

        return retdict

    def add_validity(self, fromLane, toLane):
        if self.validity:
            raise ValueError("only one validity is allowed")
        self.validity = Validity(fromLane, toLane)
        return self

    def get_element(self):
        element = ET.Element("signalReference", attrib=self.get_attributes())
        self._add_additional_data_to_element(element)
        if self.validity:
            element.append(self.validity.get_element())
        return element

Ancestors

• XodrBase

Methods

def add_validity(self, fromLane, toLane)

Expand source code

def add_validity(self, fromLane, toLane):
    if self.validity:
        raise ValueError("only one validity is allowed")
    self.validity = Validity(fromLane, toLane)
    return self

def get_attributes(self)

returns attributes of SignalReference as a dict

Expand source code

def get_attributes(self):
    """returns attributes of SignalReference as a dict"""
    retdict = {}
    retdict["id"] = str(self.id)
    retdict["s"] = str(self.s)
    retdict["t"] = str(self.t)
    if self.orientation == Orientation.positive:
        retdict["orientation"] = "+"
    elif self.orientation == Orientation.negative:
        retdict["orientation"] = "-"
    else:
        retdict["orientation"] = enum2str(self.orientation)

    return retdict

def get_element(self)

Expand source code

def get_element(self):
    element = ET.Element("signalReference", attrib=self.get_attributes())
    self._add_additional_data_to_element(element)
    if self.validity:
        element.append(self.validity.get_element())
    return element

Inherited members

• XodrBase:
  • add_dataquality
  • add_userdata

class Tunnel (s: float, length: float, id: str, name: str, tunnel_type: TunnelType = TunnelType.standard, daylight: float = 0.5, lighting: float = 0.5)

A tunnel road object (t_road_objects_tunnel).

Attributes

s (float): s-coordinate of tunnel

length (float): length of tunnel

id (string): id of tunnel

name (string): name of the tunnel

tunnel_type (TunnelType): type of tunnel

daylight (float): value between 0.0 and 1.0 (application specific)

lighting (float): value between 0.0 and 1.0 (application specific)

Methods

get_element()
    Returns the full ElementTree of the class

get_attributes()
    Returns a dictionary of all xml attributes

Initialize a tunnel

Parameters

s (float): s-coordinate of tunnel

length (float): length of tunnel

id (string): id of tunnel

name (string): name of the tunnel

tunnel_type (TunnelType): type of tunnel
    Default: TunnelType
daylight (float): value between 0.0 and 1.0 (application specific)
    Default: 0.5
lighting (float): value between 0.0 and 1.0 (application specific)
    Default: 0.5

Expand source code

class Tunnel(XodrBase):
    """A tunnel road object (t_road_objects_tunnel).

    Attributes
    ----------
        s (float): s-coordinate of tunnel

        length (float): length of tunnel

        id (string): id of tunnel

        name (string): name of the tunnel

        tunnel_type (TunnelType): type of tunnel

        daylight (float): value between 0.0 and 1.0 (application specific)

        lighting (float): value between 0.0 and 1.0 (application specific)

    Methods
    -------
        get_element()
            Returns the full ElementTree of the class

        get_attributes()
            Returns a dictionary of all xml attributes

    """

    def __init__(
        self,
        s: float,
        length: float,
        id: str,
        name: str,
        tunnel_type: TunnelType = TunnelType.standard,
        daylight: float = 0.5,
        lighting: float = 0.5,
    ):
        """Initialize a tunnel

        Parameters
        ----------
            s (float): s-coordinate of tunnel

            length (float): length of tunnel

            id (string): id of tunnel

            name (string): name of the tunnel

            tunnel_type (TunnelType): type of tunnel
                Default: TunnelType
            daylight (float): value between 0.0 and 1.0 (application specific)
                Default: 0.5
            lighting (float): value between 0.0 and 1.0 (application specific)
                Default: 0.5
        """
        super().__init__()
        self.s = s
        self.length = length
        self.id = id
        self.name = name
        self.tunnel_type = tunnel_type
        self.daylight = daylight
        self.lighting = lighting

    def __eq__(self, other):
        if isinstance(other, Tunnel) and super().__eq__(other):
            if self.get_attributes() == other.get_attributes():
                return True
        return False

    def get_attributes(self):
        """Return a dictionary of all xml attributes"""
        retdict = {}
        retdict["s"] = str(self.s)
        retdict["length"] = str(self.length)
        retdict["id"] = str(self.id)
        retdict["name"] = str(self.name)
        retdict["type"] = enum2str(self.tunnel_type)
        retdict["daylight"] = str(self.daylight)
        retdict["lighting"] = str(self.lighting)
        return retdict

    def get_element(self):
        """Return the elementTree of the Tunnel"""
        element = ET.Element("tunnel", attrib=self.get_attributes())
        return element

Ancestors

• XodrBase

Methods

def get_attributes(self)

Return a dictionary of all xml attributes

Expand source code

def get_attributes(self):
    """Return a dictionary of all xml attributes"""
    retdict = {}
    retdict["s"] = str(self.s)
    retdict["length"] = str(self.length)
    retdict["id"] = str(self.id)
    retdict["name"] = str(self.name)
    retdict["type"] = enum2str(self.tunnel_type)
    retdict["daylight"] = str(self.daylight)
    retdict["lighting"] = str(self.lighting)
    return retdict

def get_element(self)

Return the elementTree of the Tunnel

Expand source code

def get_element(self):
    """Return the elementTree of the Tunnel"""
    element = ET.Element("tunnel", attrib=self.get_attributes())
    return element

Inherited members

• XodrBase:
  • add_dataquality
  • add_userdata

class Validity (fromLane, toLane)

Validity is the explicit validity information for a signal

Attributes

fromLane (int): minimum id of the lanes for which the object is valid

toLane (int): maximum id of the lanes for which the object is valid

Methods

get_element()
    Returns the full ElementTree of the class

get_attributes()
    Returns a dictionary of all attributes of the class

initalize the Validity

Parameters

fromLane (int): minimum id of the lanes for which the object is valid

toLane (int): maximum id of the lanes for which the object is valid

Expand source code

class Validity(XodrBase):
    """Validity is the explicit validity information for a signal

    Attributes
    ----------
        fromLane (int): minimum id of the lanes for which the object is valid

        toLane (int): maximum id of the lanes for which the object is valid

    Methods
    -------
        get_element()
            Returns the full ElementTree of the class

        get_attributes()
            Returns a dictionary of all attributes of the class

    """

    def __init__(self, fromLane, toLane):
        """initalize the Validity

        Parameters
        ----------
            fromLane (int): minimum id of the lanes for which the object is valid

            toLane (int): maximum id of the lanes for which the object is valid

        """
        super().__init__()
        self.fromLane = fromLane
        self.toLane = toLane

    def __eq__(self, other):
        if isinstance(other, Validity) and super().__eq__(other):
            if self.fromLane == other.fromLane and self.toLane == other.toLane:
                return True
        return False

    def get_attributes(self):
        """returns the attributes of Validity as a dict"""
        retdict = {}
        retdict["fromLane"] = str(self.fromLane)
        retdict["toLane"] = str(self.toLane)
        return retdict

    def get_element(self):
        """returns the elementTree of Validity"""
        element = ET.Element("validity", attrib=self.get_attributes())
        self._add_additional_data_to_element(element)
        return element

Ancestors

• XodrBase

Methods

def get_attributes(self)

returns the attributes of Validity as a dict

Expand source code

def get_attributes(self):
    """returns the attributes of Validity as a dict"""
    retdict = {}
    retdict["fromLane"] = str(self.fromLane)
    retdict["toLane"] = str(self.toLane)
    return retdict

def get_element(self)

returns the elementTree of Validity

Expand source code

def get_element(self):
    """returns the elementTree of Validity"""
    element = ET.Element("validity", attrib=self.get_attributes())
    self._add_additional_data_to_element(element)
    return element

Inherited members

• XodrBase:
  • add_dataquality
  • add_userdata