Module scenariogeneration.xosc.entities

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 .utils import (
    Controller,
    Dimensions,
    Center,
    BoundingBox,
    Properties,
    Parameter,
    convert_float,
    _BaseCatalog,
)
from .utils import (
    EntityRef,
    DynamicsConstraints,
    CatalogFile,
    CatalogReference,
    ParameterDeclarations,
    convert_enum,
)
from .exceptions import OpenSCENARIOVersionError
from .enumerations import (
    VehicleCategory,
    PedestrianCategory,
    MiscObjectCategory,
    ObjectType,
    VersionBase,
    Role,
)


# TODO: Add functionality for lists in add_entity_byref & add_entity_bytype
class Entities(VersionBase):
    """The Entities class creates the entities part of OpenScenario

    Attributes
    ----------
        scenario_objects (list of ScenarioObject): ScenarioObject type entities in the scenario

        entities (list of Entity): Entity type of entities in the scenario


    Methods
    -------
        parse(element)
            parses a ElementTree created by the class and returns an instance of the class

        add_scenario_object(entityobject,controller)
            adds a ScenarioObject to the scenario

        add_entity_bytype(name,entity_type)
            adds an Entity by the type of entity

        add_entity_byref(name,reference)
            adds an Entity by a reference name

        get_element()
            Returns the full ElementTree of the class


    """

    def __init__(self):
        """initalizes the Entities class"""
        self.scenario_objects = []
        self.entities = []

    def __eq__(self, other):
        if isinstance(other, Entities):
            if (
                self.scenario_objects == other.scenario_objects
                and self.entities == other.entities
            ):
                return True
        return False

    @staticmethod
    def parse(element):
        """Parses the xml element of Entities

        Parameters
        ----------
            element (xml.etree.ElementTree.Element): A entities element (same as generated by the class itself)

        Returns
        -------
            entities (Entities): a Entities object

        """
        ent_ret = Entities()
        scenario_objects = []
        entity_selections = []
        if element.find("ScenarioObject") != None:
            for object in element.findall("ScenarioObject"):
                scenario_objects.append(ScenarioObject.parse(object))
        if element.find("EntitySelection") != None:
            for entity in element.findall("EntitySelection"):
                entity_selections.append(Entity.parse(entity))

        ent_ret.entities = entity_selections
        ent_ret.scenario_objects = scenario_objects
        return ent_ret

    def add_scenario_object(self, name, entityobject, controller=None):
        """adds a ScenarioObject to the scenario

        Parameters
        ----------
            name (str): name of the scenario object

            entityobject (CatalogReference, Vehicle, Pedestrian, MiscObject, or ExternalObjectReference (V1.1)): object description

            controller (CatalogReference, Controller, or list of CatalogReference/Controller): controller for the object
                Default (None)

        """

        self.scenario_objects.append(ScenarioObject(name, entityobject, controller))
        return self

    def add_entity_bytype(self, name, object_type):
        """adds an Entity to the scenario

        Parameters
        ----------
            name (str): name of the entity

            object_type (ObjectType or list of ObjectType): type of entity

        """
        self.entities.append(Entity(name, object_type=object_type))
        return self

    def add_entity_byref(self, name, entity):
        """adds an Entity to the scenario

        Parameters
        ----------
            name (str): name of the entity

            entity (str): type of entity

        """

        self.entities.append(Entity(name, entityref=entity))
        return self

    def get_element(self):
        """returns the elementTree of the Entities"""
        element = ET.Element("Entities")
        for i in self.scenario_objects:
            element.append(i.get_element())

        for i in self.entities:
            element.append(i.get_element())

        return element


class ScenarioObject(VersionBase):
    """The ScenarioObject creates a scenario object of OpenScenario

    Parameters
    ----------
        name (str): name of the object

        entityobject (CatalogReference, Vehicle, Pedestrian, MiscObject, or ExternalObjectReference): object description

        controller (CatalogReference, Controller, or list of CatalogReference/Controller): controller for the object

    Attributes
    ----------
        name (str): name of the object

        entityobject (CatalogReference, Vehicle, Pedestrian, MiscObject, or ExternalObjectReference): object description

        controller (list of CatalogReference/Controller): controller for the object

    Methods
    -------
        parse(element)
            parses a ElementTree created by the class and returns an instance of the class

        get_element()
            Returns the full ElementTree of the class

        get_attributes()
            returns the attributes of the class
    """

    def __init__(self, name, entityobject, controller=None):
        """initalizes the ScenarioObject

        Parameters
        ----------
            name (str): name of the object

            entityobject (CatalogReference, Vehicle, Pedestrian, MiscObject, or ExternalObjectReference): object description

            controller (CatalogReference, Controller, or list of CatalogReference/Controller): controller for the object (multiple controllers are valid since OSC V1.2)
                Default: None

        """
        self.name = name
        if not (
            isinstance(entityobject, CatalogReference)
            or isinstance(entityobject, Vehicle)
            or isinstance(entityobject, Pedestrian)
            or isinstance(entityobject, MiscObject)
            or (
                not self.isVersion(minor=0)
                and isinstance(entityobject, ExternalObjectReference)
            )
        ):
            raise TypeError(
                "entityobject is not of type CatalogReference, Vehicle, Pedestrian, MiscObject, nor ExternalObjectReference (or to old version of openscenario)"
            )

        if controller is not None:
            if not isinstance(controller, list):
                self.controller = [controller]
            else:
                self.controller = controller

            for cnt in self.controller:
                if cnt is not None and not (
                    isinstance(cnt, CatalogReference) or isinstance(cnt, Controller)
                ):
                    raise TypeError(
                        "controller input is not of type CatalogReference or Controller"
                    )
        else:
            self.controller = controller
        self.entityobject = entityobject

    def __eq__(self, other):
        if isinstance(other, ScenarioObject):
            if (
                self.get_attributes() == other.get_attributes()
                and self.controller == other.controller
                and self.entityobject == other.entityobject
            ):
                return True
        return False

    @staticmethod
    def parse(element):
        """Parses the xml element of ScenarioObject

        Parameters
        ----------
            element (xml.etree.ElementTree.Element): A scenarioobject element (same as generated by the class itself)

        Returns
        -------
            scenarioobject (ScenarioObject): a ScenarioObject object

        """
        name = element.attrib["name"]
        if element.find("CatalogReference") != None:
            entityobject = CatalogReference.parse(element.find("CatalogReference"))
        elif element.find("Vehicle") != None:
            entityobject = Vehicle.parse(element.find("Vehicle"))
        elif element.find("Pedestrian") != None:
            entityobject = Pedestrian.parse(element.find("Pedestrian"))
        elif element.find("MiscObject") != None:
            entityobject = MiscObject.parse(element.find("MiscObject"))
        elif element.find("ExternalObjectReference") != None:
            entityobject = ExternalObjectReference.parse(
                element.find("ExternalObjectReference")
            )

        controller = None
        if element.find("ObjectController") != None:
            controller = []
            for object_controller_element in element.findall("ObjectController"):
                if object_controller_element.find("Controller") != None:
                    controller.append(
                        Controller.parse(object_controller_element.find("Controller"))
                    )
                elif object_controller_element.find("CatalogReference") != None:
                    controller.append(
                        CatalogReference.parse(
                            object_controller_element.find("CatalogReference")
                        )
                    )

        return ScenarioObject(name, entityobject, controller)

    def get_attributes(self):
        """returns the attributes of the Entity as a dict"""
        return {"name": self.name}

    def get_element(self):
        """returns the elementTree of the Entity"""
        element = ET.Element("ScenarioObject", attrib=self.get_attributes())

        element.append(self.entityobject.get_element())
        if self.controller:
            if self.version_minor < 2 and len(self.controller) > 1:
                raise OpenSCENARIOVersionError(
                    "multiple controllers were added in OSC V1.2"
                )

            for cnt in self.controller:
                objcont = ET.SubElement(element, "ObjectController")
                objcont.append(cnt.get_element())

        return element


class Entity(VersionBase):
    """The Entity class creates an Entity of OpenScenario
    Can either use a object_type or entityref (not both)

    Parameters
    ----------
        name (str): name of the Entity

        optionals:
            object_type (ObjectType or list of ObjectType): the object_type to be used

            entityref (str): reference to an entity

    Attributes
    ----------
        name (str): name of the Entity

        object_type (ObjectType): the object_type to be used

        entityref (str): reference to an entity

    Methods
    -------
        parse(element)
            parses a ElementTree created by the class and returns an instance of the class

        get_element()
            Returns the full ElementTree of the class

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

    """

    def __init__(self, name, object_type=None, entityref=None):
        """Initalizes the Entity

        Parameters
        ----------
            name (str): name of the Entity

            optionals (only use one):
                object_type (ObjectType): the object_type to be used

                entityref (str): reference to an entity

        """
        self.name = name
        self.object_type = []
        self.entity = []
        if (object_type != None) and (entityref != None):
            raise KeyError("only one of objecttype or entityref are alowed")
        if (object_type == None) and (entityref == None):
            raise KeyError("either objecttype or entityref is requiered")
        if entityref:
            if isinstance(entityref, list):
                self.entity = [EntityRef(x) for x in entityref]
            else:
                self.entity.append(EntityRef(entityref))
            self.object_type = None
        else:
            if isinstance(object_type, list):
                self.object_type = [convert_enum(x, ObjectType) for x in object_type]
            else:
                self.object_type.append(convert_enum(object_type, ObjectType))
            self.entity = None

    def __eq__(self, other):
        if isinstance(other, Entity):
            if (
                self.get_attributes() == other.get_attributes()
                and self.object_type == other.object_type
                and self.entity == other.entity
            ):
                return True
        return False

    @staticmethod
    def parse(element):
        """Parses the xml element of Entity

        Parameters
        ----------
            element (xml.etree.ElementTree.Element): A entity element (same as generated by the class itself)

        Returns
        -------
            entity (Entity): a Entity object

        """
        name = element.attrib["name"]
        bytypes = []
        entity_refs = []

        members_element = element.find("Members")
        if members_element.find("ByType") != None:
            types = members_element.findall("ByType")
            for type in types:
                bytypes.append(convert_enum(type.attrib["objectType"], ObjectType))
            entity_refs = None
        elif members_element.find("EntityRef") != None:
            entities = members_element.findall("EntityRef")
            for entity in entities:
                entity_refs.append(entity.attrib["entityRef"])
            bytypes = None

        return Entity(name, object_type=bytypes, entityref=entity_refs)

    def get_attributes(self):
        """returns the attributes of the Entity as a dict"""
        return {"name": self.name}

    def get_element(self):
        """returns the elementTree of the Entity"""
        element = ET.Element("EntitySelection", attrib=self.get_attributes())
        members = ET.SubElement(element, "Members")
        if self.entity:
            for entity in self.entity:
                members.append(entity.get_element())
        if self.object_type:
            for object_type in self.object_type:
                ET.SubElement(
                    members, "ByType", attrib={"objectType": object_type.get_name()}
                )
        return element


class Pedestrian(_BaseCatalog):
    """the Pedestrian class creates a pedestrian type entity of openscenario

    Parameters
    ----------
        name (str): name of the type (req for catalog)

        mass (float): mass of the pedestrian

        boundingbox (BoundingBox): the bounding box of the pedestrian

        category (PedestrianCategory): type of of pedestrian

        model (str): definition model of the pedestrian
            Default: None

        role (Role): the role of the Pedestrian (valid from OpenSCENARIO V1.2)
            Default: None

    Attributes
    ----------
        name (str): name of the pedestrian

        model (str): definition model of the pedestrian

        mass (float): mass of the pedestrian

        category (PedestrianCategory): type of pedestrian

        boundingbox (BoundingBox): the bounding box of the pedestrian

        parameters (ParameterDeclaration): Parameter declarations of the pedestrian

        properties (Properties): additional properties of the pedestrian

        role (Role): the role of the Pedestrian

    Methods
    -------
        parse(element)
            parses a ElementTree created by the class and returns an instance of the class itself

        add_parameter(parameter)
            adds a parameter declaration to the pedestrian

        add_property(name, value)
            adds a single property to the pedestrian

        add_property_file(filename)
            adds a property file to the pedestrian

        append_to_catalog(filename)
            adds the vehicle to an existing pedestrian

        dump_to_catalog(filename,name,description,author)
            crates a new catalog with the pedestrian

        get_element()
            Returns the full ElementTree of the class

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

    """

    def __init__(self, name, mass, category, boundingbox, model=None, role=None):
        """initalzie the Pedestrian Class

        Parameters
        ----------
            name (str): name of the type (req for catalog)

            mass (float): mass of the pedestrian

            category (PedestrianCategory): type of of pedestrian

            boundingbox (BoundingBox): the bounding box of the pedestrian

            model (str): definition model of the pedestrian
                Default: None

            role (Role): the role of the Vehicle
                Default: None
        """
        super().__init__()
        self.name = name
        self.model = model
        self.mass = convert_float(mass)

        self.category = convert_enum(category, PedestrianCategory)
        if not isinstance(boundingbox, BoundingBox):
            raise TypeError("boundingbox input is not of type BoundingBox")

        self.boundingbox = boundingbox
        self.properties = Properties()
        self.role = convert_enum(role, Role, True)

    def __eq__(self, other):
        if isinstance(other, Pedestrian):
            if (
                self.get_attributes() == other.get_attributes()
                and self.boundingbox == other.boundingbox
                and self.properties == other.properties
                and self.parameters == other.parameters
                and self.role == other.role
            ):
                return True
        return False

    @staticmethod
    def parse(element):
        """Parses the xml element of Pedestrian

        Parameters
        ----------
            element (xml.etree.ElementTree.Element): A pedestrian element (same as generated by the class itself)

        Returns
        -------
            pedestrian (Pedestrian): a Pedestrian object

        """
        name = element.attrib["name"]
        mass = convert_float(element.attrib["mass"])
        model = None
        if "model3d" in element.attrib:
            model = element.attrib["model3d"]
        elif "model" in element.attrib:
            model = element.attrib["model"]
        category = convert_enum(
            element.attrib["pedestrianCategory"], PedestrianCategory
        )
        if element.find("ParameterDeclarations") != None:
            parameters = ParameterDeclarations.parse(
                element.find("ParameterDeclarations")
            )
        else:
            parameters = ParameterDeclarations()
        boundingbox = BoundingBox.parse(element.find("BoundingBox"))
        properties = Properties.parse(element.find("Properties"))
        role = None
        if "role" in element.attrib:
            role = convert_enum(element.attrib["role"], Role)
        pedestrian = Pedestrian(name, mass, category, boundingbox, model, role)
        pedestrian.parameters = parameters
        pedestrian.properties = properties

        return pedestrian

    def add_property(self, name, value):
        """adds a single property to the pedestrian

        Parameters
        ----------
            name (str): name of the property

            value (str): value of the property

        """
        self.properties.add_property(name, value)
        return self

    def add_property_file(self, filename):
        """adds a property file to the pedestrian

        Parameters
        ----------
            filename (str): filename of a property file

        """
        self.properties.add_file(filename)
        return self

    def get_attributes(self):
        """returns the attributes as a dict of the pedestrian"""
        retdict = {}
        retdict["name"] = str(self.name)
        retdict["pedestrianCategory"] = self.category.get_name()

        if self.isVersion(minor=0) and self.model is None:
            raise OpenSCENARIOVersionError("model is required for OSC 1.0")

        if self.model is not None:
            if self.isVersion(minor=0):
                retdict["model"] = self.model
            else:
                retdict["model3d"] = self.model
        retdict["mass"] = str(self.mass)
        if self.role:
            if self.isVersionEqLess(minor=1):
                raise OpenSCENARIOVersionError(
                    "role for Pedestrian was added in OSC V1.2"
                )
            retdict["role"] = self.role.get_name()
        return retdict

    def get_element(self):
        """returns the elementTree of the pedestrian"""
        element = ET.Element("Pedestrian", attrib=self.get_attributes())
        self.add_parameters_to_element(element)
        element.append(self.boundingbox.get_element())
        element.append(self.properties.get_element())

        return element


class MiscObject(_BaseCatalog):
    """the MiscObject Class creates a MiscObject for openscenario

    Parameters
    ----------
        name (str): name of the MiscObject

        mass (float): mass of the object

        category (MiscObjectCategory): the category of the misc object

        boundingbox (BoundingBox): the bounding box of the MiscObject

        model3d (str): path to model file (valid from V1.1)
            Default: None

    Attributes
    ----------
        name (str): name of the object

        mass (float): mass of the object

        misc_type (MiscObjectCategory): type of misc object

        boundingbox (BoundingBox): the bounding box of the MiscObject

        parameters (ParameterDeclaration): Parameter declarations of the MiscObject

        properties (Properties): additional properties of the MiscObject

        model3d (str): path to model file (valid from V1.1)
            Default: None

    Methods
    -------
        add_parameter(parameter)
            adds a parameter declaration to the MiscObject

        add_property(name, value)
            adds a single property to the MiscObject

        add_property_file(filename)
            adds a property file to the MiscObject

        append_to_catalog(filename)
            adds the MiscObject to an existing catalog

        dump_to_catalog(filename,name,description,author)
            crates a new catalog with the MiscObject

        get_element()
            Returns the full ElementTree of the class

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

        parse(element)
            parses a ElementTree created by the class and returns an instance of the class

    """

    def __init__(self, name, mass, category, boundingbox, model3d=None):
        """initalzie the MiscObject Class

        Parameters
        ----------
            name (str): name of the MiscObject

            mass (float): mass of the object

            category (MiscObjectCategory): the category of the misc object

            boundingbox (BoundingBox): the bounding box of the MiscObject

            model3d (str): path to model file (valid from V1.1)
                Default: None
        """
        super().__init__()
        self.name = name
        self.mass = convert_float(mass)
        self.category = convert_enum(category, MiscObjectCategory)
        if not isinstance(boundingbox, BoundingBox):
            raise TypeError("boundingbox input is not of type BoundingBox")
        self.boundingbox = boundingbox
        self.properties = Properties()
        self.model3d = model3d

    def __eq__(self, other):
        if isinstance(other, MiscObject):
            if (
                self.get_attributes() == other.get_attributes()
                and self.boundingbox == other.boundingbox
                and self.properties == other.properties
                and self.parameters == other.parameters
            ):
                return True
        return False

    @staticmethod
    def parse(element):
        """Parses the xml element to MiscObject

        Parameters
        ----------
            element (xml.etree.ElementTree.Element): A MiscObject element (same as generated by the class itself)

        Returns
        ------
            object (MiscObject): a MiscObject object

        """
        model3d = None
        if "model3d" in element.attrib:
            model3d = element.attrib["model3d"]
        mass = convert_float(element.attrib["mass"])
        name = element.attrib["name"]
        properties = Properties.parse(element.find("Properties"))
        boundingbox = BoundingBox.parse(element.find("BoundingBox"))
        category = convert_enum(
            element.attrib["miscObjectCategory"], MiscObjectCategory
        )

        if element.find("ParameterDeclarations") != None:
            parameters = ParameterDeclarations.parse(
                element.find("ParameterDeclarations")
            )
        else:
            parameters = ParameterDeclarations()

        object = MiscObject(name, mass, category, boundingbox, model3d)
        object.parameters = parameters
        object.properties = properties
        return object

    def add_property(self, name, value):
        """adds a single property to the MiscObject

        Parameters
        ----------
            name (str): name of the property

            value (str): value of the property

        """
        self.properties.add_property(name, value)
        return self

    def add_property_file(self, filename):
        """adds a property file to the MiscObject

        Parameters
        ----------
            filename (str): filename of a property file

        """
        self.properties.add_file(filename)
        return self

    def get_attributes(self):
        """returns the attributes as a dict of the MiscObject"""
        retdict = {}
        retdict["name"] = str(self.name)
        retdict["miscObjectCategory"] = self.category.get_name()
        retdict["mass"] = str(self.mass)
        if not self.isVersion(minor=0) and self.model3d:
            retdict["model3d"] = self.model3d
        return retdict

    def get_element(self):
        """returns the elementTree of the MiscObject"""
        element = ET.Element("MiscObject", attrib=self.get_attributes())
        self.add_parameters_to_element(element)
        element.append(self.boundingbox.get_element())
        element.append(self.properties.get_element())

        return element


class Vehicle(_BaseCatalog):
    """the Vehicle Class creates a Vehicle for openscenario

    Parameters
    ----------
        name (str): name of the vehicle

        vehicle_type (VehicleCategory): type of vehicle

        boundingbox (BoundingBox): the bounding box of the vehicle

        frontaxle (Axle): the front axle properties of the vehicle

        rearaxle (Axle): the back axle properties of the vehicle

        max_speed (float): the maximum speed of the vehicle

        max_acceleration (float): the maximum acceleration of the vehicle

        max_deceleration (float): the maximum deceleration of the vehicle

        mass (float): the mass of the vehicle (valid from OpenSCENARIO V1.1)
            Default: None

        model3d (str): path to model file (valid from V1.1)
            Default: None

        max_acceleration_rate (float): the maximum acceleration rate (jerk) of the vehicle (valid from OpenSCENARIO V1.2)
            Default: None

        max_deceleration_rate (float): the maximum acceleration rate (jerk) of the vehicle (valid from OpenSCENARIO V1.2)
            Default: None

        role (Role): the role of the Vehicle (valid from OpenSCENARIO V1.2)
            Default: None

    Attributes
    ----------
        name (str): name of the vehicle

        vehicle_type (VehicleCategory): type of vehicle

        boundingbox (BoundingBox): the bounding box of the vehicle

        axles (Axles): an Axles object

        dynamics (DynamicsConstraints): the allowed dynamics of the vehicle

        parameters (ParameterDeclaration): Parameter declarations of the vehicle

        properties (Properties): additional properties of the vehicle

        mass (float): the mass of the vehicle

        model3d (str): path to model file (valid from V1.1)

        role (Role): the role of the Vehicle

    Methods
    -------
        parse(element)
            parses a ElementTree created by the class and returns an instance of the class itself

        add_axle(axle)
            adds an additional axle to the vehicle

        add_parameter(parameter)
            adds a parameter declaration to the vehicle

        add_property(name, value)
            adds a single property to the vehicle

        add_property_file(filename)
            adds a property file to the vehicle

        append_to_catalog(filename)
            adds the vehicle to an existing catalog

        dump_to_catalog(filename,name,description,author)
            crates a new catalog with the vehicle

        get_element()
            Returns the full ElementTree of the class

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

    """

    def __init__(
        self,
        name,
        vehicle_type,
        boundingbox,
        frontaxle,
        rearaxle,
        max_speed,
        max_acceleration,
        max_deceleration,
        mass=None,
        model3d=None,
        max_acceleration_rate=None,
        max_deceleration_rate=None,
        role=None,
    ):
        """initalzie the Vehicle Class

        Parameters
        ----------
            name (str): name of the vehicle

            vehicle_type (VehicleCategory): type of vehicle

            boundingbox (BoundingBox): the bounding box of the vehicle

            frontaxle (Axle): the front axle properties of the vehicle

            rearaxle (Axle): the back axle properties of the vehicle

            max_speed (float): the maximum speed of the vehicle

            max_acceleration (float): the maximum acceleration of the vehicle

            max_deceleration (float): the maximum deceleration of the vehicle

            mass (float): the mass of the vehicle (valid from OpenSCENARIO V1.1)
                Default: None

            model3d (str): path to model file (valid from V1.1)
                Default: None

            max_acceleration_rate (float): the maximum acceleration rate (jerk) of the vehicle (valid from OpenSCENARIO V1.2)
                Default: None

            max_deceleration_rate (float): the maximum acceleration rate (jerk) of the vehicle (valid from OpenSCENARIO V1.2)
                Default: None

            role (Role): the role of the Vehicle
                Default: None
        """
        super().__init__()
        self.name = name
        if not isinstance(boundingbox, BoundingBox):
            raise TypeError("boundingbox input is not of type BoundingBox")

        self.vehicle_type = convert_enum(vehicle_type, VehicleCategory)
        self.boundingbox = boundingbox

        self.axles = Axles(frontaxle, rearaxle)
        self.dynamics = DynamicsConstraints(
            max_acceleration,
            max_deceleration,
            max_speed,
            max_acceleration_rate,
            max_deceleration_rate,
        )
        self.properties = Properties()
        self.mass = convert_float(mass)
        self.model3d = model3d
        self.role = convert_enum(role, Role, True)

    def __eq__(self, other):
        if isinstance(other, Vehicle):
            if (
                self.get_attributes() == other.get_attributes()
                and self.boundingbox == other.boundingbox
                and self.properties == other.properties
                and self.axles == other.axles
                and self.dynamics == other.dynamics
                and self.parameters == other.parameters
                and self.mass == other.mass
                and self.role == other.role
            ):
                return True
        return False

    @staticmethod
    def parse(element):
        """Parses the xml element of Vehicle

        Parameters
        ----------
            element (xml.etree.ElementTree.Element): A vehicle element (same as generated by the class itself)

        Returns
        -------
            vehicle (Vehicle): a Vehicle object

        """
        name = element.attrib["name"]
        mass = None
        if "mass" in element.attrib:
            mass = convert_float(element.attrib["mass"])
        vehicle_type = convert_enum(element.attrib["vehicleCategory"], VehicleCategory)
        model3d = None
        if "model3d" in element.attrib:
            model3d = element.attrib["model3d"]
        # if element.find('ParameterDeclarations'):
        if element.find("ParameterDeclarations") != None:
            parameters = ParameterDeclarations.parse(
                element.find("ParameterDeclarations")
            )
        else:
            parameters = ParameterDeclarations()
        boundingbox = BoundingBox.parse(element.find("BoundingBox"))
        properties = Properties.parse(element.find("Properties"))

        performance = DynamicsConstraints.parse(element.find("Performance"))
        max_speed = performance.max_speed
        max_acc = performance.max_acceleration
        max_dec = performance.max_deceleration
        max_acc_rate = performance.max_acceleration_rate
        max_dec_rate = performance.max_deceleration_rate

        axles_element = element.find("Axles")
        frontaxle = Axle.parse(axles_element.find("FrontAxle"))
        rearaxle = Axle.parse(axles_element.find("RearAxle"))

        role = None
        if "role" in element.attrib:
            role = convert_enum(element.attrib["role"], Role)
        vehicle = Vehicle(
            name,
            vehicle_type,
            boundingbox,
            frontaxle,
            rearaxle,
            max_speed,
            max_acc,
            max_dec,
            mass,
            model3d,
            max_acc_rate,
            max_dec_rate,
            role,
        )
        vehicle.properties = properties
        vehicle.parameters = parameters

        additional_axles = axles_element.findall("AdditionalAxle")
        if additional_axles != None:
            for axle in additional_axles:
                vehicle.axles.add_axle(Axle.parse(axle))

        return vehicle

    def add_axle(self, axle):
        """adds an additional axle to the vehicle

        Parameters
        ----------
            axle (Axle): an additional Axle

        """

        self.axles.add_axle(axle)
        return self

    def add_property(self, name, value):
        """adds a single property to the vehicle

        Parameters
        ----------
            name (str): name of the property

            value (str): value of the property

        """
        self.properties.add_property(name, value)
        return self

    def add_property_file(self, filename):
        """adds a property file to the vehicle

        Parameters
        ----------
            filename (str): filename of a property file

        """
        self.properties.add_file(filename)
        return self

    def get_attributes(self):
        """returns the attributes as a dict of the Vehicle"""
        retdict = {}
        retdict["name"] = str(self.name)
        retdict["vehicleCategory"] = self.vehicle_type.get_name()
        if self.mass:
            if self.isVersion(minor=0):
                raise OpenSCENARIOVersionError(
                    "Mass of a vehcile was introduced in OSC 1.1"
                )
            retdict["mass"] = str(self.mass)
        if self.model3d:
            if self.isVersion(minor=0):
                raise OpenSCENARIOVersionError(
                    "model3d of a vehcile was introduced in OSC 1.1"
                )
            retdict["model3d"] = self.model3d
        if self.role:
            if self.isVersionEqLess(minor=1):
                raise OpenSCENARIOVersionError(
                    "the role of a vehcile was introduced in OSC 1.1"
                )
            retdict["role"] = self.role.get_name()

        return retdict

    def get_element(self):
        """returns the elementTree of the Vehicle"""
        element = ET.Element("Vehicle", attrib=self.get_attributes())
        self.add_parameters_to_element(element)
        element.append(self.boundingbox.get_element())
        element.append(self.dynamics.get_element("Performance"))
        element.append(self.axles.get_element())
        element.append(self.properties.get_element())

        return element


class Axle(VersionBase):
    """the Axle describes the axle properties of a vehicle

    Parameters
    ----------
        maxsteer (float): max steering angle

        wheeldia (float): diameter of wheel

        track_width (float): distance between wheelcenter

        xpos (float): x position of axle relative to car reference

        zpos (float): z position of axle relative to car reference

    Attributes
    ----------
        maxsteer (float): max steering angle

        wheeldia (float): diameter of wheel

        track_width (float): distance between wheelcenter

        xpos (float): x position of axle relative to car reference

        zpos (float): z position of axle relative to car reference

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

        get_attributes()
            Returns the attributes of the class

        parse(element)
            parses a ElementTree created by the class and returns an instance of the class


    """

    def __init__(self, maxsteer, wheeldia, track_width, xpos, zpos):
        """initalzie the Axle

        Parameters
        ----------
            maxsteer (float): max steering angle

            wheeldia (float): diameter of wheel

            track_width (float): distance between wheelcenter

            xpos (float): x position of axle relative to car reference

            zpos (float): z position of axle relative to car reference
        """
        self.maxsteer = convert_float(maxsteer)
        self.wheeldia = convert_float(wheeldia)
        self.track_width = convert_float(track_width)
        self.xpos = convert_float(xpos)
        self.zpos = convert_float(zpos)

    @staticmethod
    def parse(element):
        """Parses the xml element of Axle

        Parameters
        ----------
            element (xml.etree.ElementTree.Element): A axle element (same as generated by the class itself

        Returns
        -------
            axle (Axle): a Axle object

        """
        maxsteer = convert_float(element.attrib["maxSteering"])
        wheeldia = convert_float(element.attrib["wheelDiameter"])
        track_width = convert_float(element.attrib["trackWidth"])
        xpos = convert_float(element.attrib["positionX"])
        zpos = convert_float(element.attrib["positionZ"])
        return Axle(maxsteer, wheeldia, track_width, xpos, zpos)

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

    def get_attributes(self):
        """returns the attributes of the Axle as a dict"""
        return {
            "maxSteering": str(self.maxsteer),
            "wheelDiameter": str(self.wheeldia),
            "trackWidth": str(self.track_width),
            "positionX": str(self.xpos),
            "positionZ": str(self.zpos),
        }

    def get_element(self, elementname="AdditionalAxle"):
        """returns the elementTree of the Axle"""
        return ET.Element(elementname, attrib=self.get_attributes())


class Axles(VersionBase):
    """the Axles combines the different Axles to one Element

    Parameters
    ----------
        frontaxle (Axle): Axle properties of the front axle

        rearaxle (Axle): Axle properties of the rear axle

    Attributes
    ----------
        frontaxle (Axle): Axle properties of the front axle

        rearaxle (Axle): Axle properties of the rear axle

        additionals (Axle): additional axles if requiered


    Methods
    -------
        add_axle(Axle)
            adds an additional axle to the Axles

        get_element()
            Returns the full ElementTree of the class

        parse(element)
            parses a ElementTree created by the class and returns an instance of the class


    """

    def __init__(self, frontaxle, rearaxle):
        """initalzie the Axle

        Parameters
        ----------
            frontaxle (Axle): Axle properties of the front axle

            rearaxle (Axle): Axle properties of the rear axle

        """
        if not isinstance(frontaxle, Axle):
            raise TypeError("frontaxle input is not of type Axle")
        if not isinstance(rearaxle, Axle):
            raise TypeError("rearaxle input is not of type Axle")
        self.frontaxle = frontaxle
        self.rearaxle = rearaxle
        self.additionals = []

    def __eq__(self, other):
        if isinstance(other, Axles):
            if (
                self.frontaxle == other.frontaxle
                and self.rearaxle == other.rearaxle
                and self.additionals == other.additionals
            ):
                return True
        return False

    @staticmethod
    def parse(element):
        """Parses the xml element of Axles

        Parameters
        ----------
            element (xml.etree.ElementTree.Element): A axles element (same as generated by the class itself

        Returns
        -------
            axles (Axles): axles object

        """
        frontaxle = Axle.parse(element.find("FrontAxle"))
        rearaxle = Axle.parse(element.find("RearAxle"))
        axles = Axles(frontaxle, rearaxle)
        additionals = element.findall("AdditionalAxle")
        for additional in additionals:
            axle = Axle.parse(additional)
            axles.add_axle(axle)
        return axles

    def add_axle(self, axle):
        """adds an additional axle to the Axles

        Parameters
        ----------
            frontaxle (Axle): Axle properties of the front axle

        """
        if not isinstance(axle, Axle):
            raise TypeError("axle input is not of type Axle")
        self.additionals.append(axle)
        return self

    def get_element(self):
        """returns the elementTree of the Axle"""
        element = ET.Element("Axles")
        element.append(self.frontaxle.get_element(elementname="FrontAxle"))
        element.append(self.rearaxle.get_element(elementname="RearAxle"))
        for ax in self.additionals:
            element.append(ax.get_element())

        return element


class ExternalObjectReference(VersionBase):
    """the ExternalObjectReference describes the EntityObject ExternalObjectReference (valid from V1.1)

    Parameters
    ----------
        name (str): identifier of the external object

    Attributes
    ----------
        name (str): identifier of the external object

    Methods
    -------
        parse(element)
            parses a ElementTree created by the class and returns an instance of the class

        get_element()
            Returns the full ElementTree of the class

        get_attributes()
            Returns the attributes of the class


    """

    def __init__(self, name):
        """initalzie the ExternalObjectReference

        Parameters
        ----------
            name (str): identifier of the external object
        """
        self.name = name

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

    @staticmethod
    def parse(element):
        """Parses the xml element of ExternalObjectReference

        Parameters
        ----------
            element (xml.etree.ElementTree.Element): A ExternalObjectReference element (same as generated by the class itself)

        Returns
        -------
            reference (ExternalObjectReference): a ExternalObjectReference object

        """
        name = element.attrib["name"]
        return ExternalObjectReference(name)

    def get_attributes(self):
        """returns the attributes of the Axle as a dict"""
        return {"name": self.name}

    def get_element(self):
        """returns the elementTree of the Axle"""
        if self.isVersion(minor=0):
            raise OpenSCENARIOVersionError(
                "ExternalObjectReference was introduced in OSC 1.1"
            )
        return ET.Element("ExternalObjectReference", attrib=self.get_attributes())

Classes

class Axle (maxsteer, wheeldia, track_width, xpos, zpos)

the Axle describes the axle properties of a vehicle

Parameters

maxsteer (float): max steering angle

wheeldia (float): diameter of wheel

track_width (float): distance between wheelcenter

xpos (float): x position of axle relative to car reference

zpos (float): z position of axle relative to car reference

Attributes

maxsteer (float): max steering angle

wheeldia (float): diameter of wheel

track_width (float): distance between wheelcenter

xpos (float): x position of axle relative to car reference

zpos (float): z position of axle relative to car reference

Methods

get_element()
    Returns the full ElementTree of the class

get_attributes()
    Returns the attributes of the class

parse(element)
    parses a ElementTree created by the class and returns an instance of the class

initalzie the Axle

Parameters

maxsteer (float): max steering angle

wheeldia (float): diameter of wheel

track_width (float): distance between wheelcenter

xpos (float): x position of axle relative to car reference

zpos (float): z position of axle relative to car reference

Expand source code

class Axle(VersionBase):
    """the Axle describes the axle properties of a vehicle

    Parameters
    ----------
        maxsteer (float): max steering angle

        wheeldia (float): diameter of wheel

        track_width (float): distance between wheelcenter

        xpos (float): x position of axle relative to car reference

        zpos (float): z position of axle relative to car reference

    Attributes
    ----------
        maxsteer (float): max steering angle

        wheeldia (float): diameter of wheel

        track_width (float): distance between wheelcenter

        xpos (float): x position of axle relative to car reference

        zpos (float): z position of axle relative to car reference

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

        get_attributes()
            Returns the attributes of the class

        parse(element)
            parses a ElementTree created by the class and returns an instance of the class


    """

    def __init__(self, maxsteer, wheeldia, track_width, xpos, zpos):
        """initalzie the Axle

        Parameters
        ----------
            maxsteer (float): max steering angle

            wheeldia (float): diameter of wheel

            track_width (float): distance between wheelcenter

            xpos (float): x position of axle relative to car reference

            zpos (float): z position of axle relative to car reference
        """
        self.maxsteer = convert_float(maxsteer)
        self.wheeldia = convert_float(wheeldia)
        self.track_width = convert_float(track_width)
        self.xpos = convert_float(xpos)
        self.zpos = convert_float(zpos)

    @staticmethod
    def parse(element):
        """Parses the xml element of Axle

        Parameters
        ----------
            element (xml.etree.ElementTree.Element): A axle element (same as generated by the class itself

        Returns
        -------
            axle (Axle): a Axle object

        """
        maxsteer = convert_float(element.attrib["maxSteering"])
        wheeldia = convert_float(element.attrib["wheelDiameter"])
        track_width = convert_float(element.attrib["trackWidth"])
        xpos = convert_float(element.attrib["positionX"])
        zpos = convert_float(element.attrib["positionZ"])
        return Axle(maxsteer, wheeldia, track_width, xpos, zpos)

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

    def get_attributes(self):
        """returns the attributes of the Axle as a dict"""
        return {
            "maxSteering": str(self.maxsteer),
            "wheelDiameter": str(self.wheeldia),
            "trackWidth": str(self.track_width),
            "positionX": str(self.xpos),
            "positionZ": str(self.zpos),
        }

    def get_element(self, elementname="AdditionalAxle"):
        """returns the elementTree of the Axle"""
        return ET.Element(elementname, attrib=self.get_attributes())

Ancestors

• VersionBase

Static methods

def parse(element)

Parses the xml element of Axle

Parameters

element (xml.etree.ElementTree.Element): A axle element (same as generated by the class itself

Returns

axle (Axle): a Axle object

Expand source code

@staticmethod
def parse(element):
    """Parses the xml element of Axle

    Parameters
    ----------
        element (xml.etree.ElementTree.Element): A axle element (same as generated by the class itself

    Returns
    -------
        axle (Axle): a Axle object

    """
    maxsteer = convert_float(element.attrib["maxSteering"])
    wheeldia = convert_float(element.attrib["wheelDiameter"])
    track_width = convert_float(element.attrib["trackWidth"])
    xpos = convert_float(element.attrib["positionX"])
    zpos = convert_float(element.attrib["positionZ"])
    return Axle(maxsteer, wheeldia, track_width, xpos, zpos)

Methods

def get_attributes(self)

returns the attributes of the Axle as a dict

Expand source code

def get_attributes(self):
    """returns the attributes of the Axle as a dict"""
    return {
        "maxSteering": str(self.maxsteer),
        "wheelDiameter": str(self.wheeldia),
        "trackWidth": str(self.track_width),
        "positionX": str(self.xpos),
        "positionZ": str(self.zpos),
    }

def get_element(self, elementname='AdditionalAxle')

returns the elementTree of the Axle

Expand source code

def get_element(self, elementname="AdditionalAxle"):
    """returns the elementTree of the Axle"""
    return ET.Element(elementname, attrib=self.get_attributes())

class Axles (frontaxle, rearaxle)

the Axles combines the different Axles to one Element

Parameters

frontaxle (Axle): Axle properties of the front axle

rearaxle (Axle): Axle properties of the rear axle

Attributes

frontaxle (Axle): Axle properties of the front axle

rearaxle (Axle): Axle properties of the rear axle

additionals (Axle): additional axles if requiered

Methods

add_axle(Axle)
    adds an additional axle to the Axles

get_element()
    Returns the full ElementTree of the class

parse(element)
    parses a ElementTree created by the class and returns an instance of the class

initalzie the Axle

Parameters

frontaxle (Axle): Axle properties of the front axle

rearaxle (Axle): Axle properties of the rear axle

Expand source code

class Axles(VersionBase):
    """the Axles combines the different Axles to one Element

    Parameters
    ----------
        frontaxle (Axle): Axle properties of the front axle

        rearaxle (Axle): Axle properties of the rear axle

    Attributes
    ----------
        frontaxle (Axle): Axle properties of the front axle

        rearaxle (Axle): Axle properties of the rear axle

        additionals (Axle): additional axles if requiered


    Methods
    -------
        add_axle(Axle)
            adds an additional axle to the Axles

        get_element()
            Returns the full ElementTree of the class

        parse(element)
            parses a ElementTree created by the class and returns an instance of the class


    """

    def __init__(self, frontaxle, rearaxle):
        """initalzie the Axle

        Parameters
        ----------
            frontaxle (Axle): Axle properties of the front axle

            rearaxle (Axle): Axle properties of the rear axle

        """
        if not isinstance(frontaxle, Axle):
            raise TypeError("frontaxle input is not of type Axle")
        if not isinstance(rearaxle, Axle):
            raise TypeError("rearaxle input is not of type Axle")
        self.frontaxle = frontaxle
        self.rearaxle = rearaxle
        self.additionals = []

    def __eq__(self, other):
        if isinstance(other, Axles):
            if (
                self.frontaxle == other.frontaxle
                and self.rearaxle == other.rearaxle
                and self.additionals == other.additionals
            ):
                return True
        return False

    @staticmethod
    def parse(element):
        """Parses the xml element of Axles

        Parameters
        ----------
            element (xml.etree.ElementTree.Element): A axles element (same as generated by the class itself

        Returns
        -------
            axles (Axles): axles object

        """
        frontaxle = Axle.parse(element.find("FrontAxle"))
        rearaxle = Axle.parse(element.find("RearAxle"))
        axles = Axles(frontaxle, rearaxle)
        additionals = element.findall("AdditionalAxle")
        for additional in additionals:
            axle = Axle.parse(additional)
            axles.add_axle(axle)
        return axles

    def add_axle(self, axle):
        """adds an additional axle to the Axles

        Parameters
        ----------
            frontaxle (Axle): Axle properties of the front axle

        """
        if not isinstance(axle, Axle):
            raise TypeError("axle input is not of type Axle")
        self.additionals.append(axle)
        return self

    def get_element(self):
        """returns the elementTree of the Axle"""
        element = ET.Element("Axles")
        element.append(self.frontaxle.get_element(elementname="FrontAxle"))
        element.append(self.rearaxle.get_element(elementname="RearAxle"))
        for ax in self.additionals:
            element.append(ax.get_element())

        return element

Ancestors

• VersionBase

Static methods

def parse(element)

Parses the xml element of Axles

Parameters

element (xml.etree.ElementTree.Element): A axles element (same as generated by the class itself

Returns

axles (Axles): axles object

Expand source code

@staticmethod
def parse(element):
    """Parses the xml element of Axles

    Parameters
    ----------
        element (xml.etree.ElementTree.Element): A axles element (same as generated by the class itself

    Returns
    -------
        axles (Axles): axles object

    """
    frontaxle = Axle.parse(element.find("FrontAxle"))
    rearaxle = Axle.parse(element.find("RearAxle"))
    axles = Axles(frontaxle, rearaxle)
    additionals = element.findall("AdditionalAxle")
    for additional in additionals:
        axle = Axle.parse(additional)
        axles.add_axle(axle)
    return axles

Methods

def add_axle(self, axle)

adds an additional axle to the Axles

Parameters

frontaxle (Axle): Axle properties of the front axle

Expand source code

def add_axle(self, axle):
    """adds an additional axle to the Axles

    Parameters
    ----------
        frontaxle (Axle): Axle properties of the front axle

    """
    if not isinstance(axle, Axle):
        raise TypeError("axle input is not of type Axle")
    self.additionals.append(axle)
    return self

def get_element(self)

returns the elementTree of the Axle

Expand source code

def get_element(self):
    """returns the elementTree of the Axle"""
    element = ET.Element("Axles")
    element.append(self.frontaxle.get_element(elementname="FrontAxle"))
    element.append(self.rearaxle.get_element(elementname="RearAxle"))
    for ax in self.additionals:
        element.append(ax.get_element())

    return element

class Entities

The Entities class creates the entities part of OpenScenario

Attributes

scenario_objects (list of ScenarioObject): ScenarioObject type entities in the scenario

entities (list of Entity): Entity type of entities in the scenario

Methods

parse(element)
    parses a ElementTree created by the class and returns an instance of the class

add_scenario_object(entityobject,controller)
    adds a ScenarioObject to the scenario

add_entity_bytype(name,entity_type)
    adds an Entity by the type of entity

add_entity_byref(name,reference)
    adds an Entity by a reference name

get_element()
    Returns the full ElementTree of the class

initalizes the Entities class

Expand source code

class Entities(VersionBase):
    """The Entities class creates the entities part of OpenScenario

    Attributes
    ----------
        scenario_objects (list of ScenarioObject): ScenarioObject type entities in the scenario

        entities (list of Entity): Entity type of entities in the scenario


    Methods
    -------
        parse(element)
            parses a ElementTree created by the class and returns an instance of the class

        add_scenario_object(entityobject,controller)
            adds a ScenarioObject to the scenario

        add_entity_bytype(name,entity_type)
            adds an Entity by the type of entity

        add_entity_byref(name,reference)
            adds an Entity by a reference name

        get_element()
            Returns the full ElementTree of the class


    """

    def __init__(self):
        """initalizes the Entities class"""
        self.scenario_objects = []
        self.entities = []

    def __eq__(self, other):
        if isinstance(other, Entities):
            if (
                self.scenario_objects == other.scenario_objects
                and self.entities == other.entities
            ):
                return True
        return False

    @staticmethod
    def parse(element):
        """Parses the xml element of Entities

        Parameters
        ----------
            element (xml.etree.ElementTree.Element): A entities element (same as generated by the class itself)

        Returns
        -------
            entities (Entities): a Entities object

        """
        ent_ret = Entities()
        scenario_objects = []
        entity_selections = []
        if element.find("ScenarioObject") != None:
            for object in element.findall("ScenarioObject"):
                scenario_objects.append(ScenarioObject.parse(object))
        if element.find("EntitySelection") != None:
            for entity in element.findall("EntitySelection"):
                entity_selections.append(Entity.parse(entity))

        ent_ret.entities = entity_selections
        ent_ret.scenario_objects = scenario_objects
        return ent_ret

    def add_scenario_object(self, name, entityobject, controller=None):
        """adds a ScenarioObject to the scenario

        Parameters
        ----------
            name (str): name of the scenario object

            entityobject (CatalogReference, Vehicle, Pedestrian, MiscObject, or ExternalObjectReference (V1.1)): object description

            controller (CatalogReference, Controller, or list of CatalogReference/Controller): controller for the object
                Default (None)

        """

        self.scenario_objects.append(ScenarioObject(name, entityobject, controller))
        return self

    def add_entity_bytype(self, name, object_type):
        """adds an Entity to the scenario

        Parameters
        ----------
            name (str): name of the entity

            object_type (ObjectType or list of ObjectType): type of entity

        """
        self.entities.append(Entity(name, object_type=object_type))
        return self

    def add_entity_byref(self, name, entity):
        """adds an Entity to the scenario

        Parameters
        ----------
            name (str): name of the entity

            entity (str): type of entity

        """

        self.entities.append(Entity(name, entityref=entity))
        return self

    def get_element(self):
        """returns the elementTree of the Entities"""
        element = ET.Element("Entities")
        for i in self.scenario_objects:
            element.append(i.get_element())

        for i in self.entities:
            element.append(i.get_element())

        return element

Ancestors

• VersionBase

Static methods

def parse(element)

Parses the xml element of Entities

Parameters

element (xml.etree.ElementTree.Element): A entities element (same as generated by the class itself)

Returns

entities (Entities): a Entities object

Expand source code

@staticmethod
def parse(element):
    """Parses the xml element of Entities

    Parameters
    ----------
        element (xml.etree.ElementTree.Element): A entities element (same as generated by the class itself)

    Returns
    -------
        entities (Entities): a Entities object

    """
    ent_ret = Entities()
    scenario_objects = []
    entity_selections = []
    if element.find("ScenarioObject") != None:
        for object in element.findall("ScenarioObject"):
            scenario_objects.append(ScenarioObject.parse(object))
    if element.find("EntitySelection") != None:
        for entity in element.findall("EntitySelection"):
            entity_selections.append(Entity.parse(entity))

    ent_ret.entities = entity_selections
    ent_ret.scenario_objects = scenario_objects
    return ent_ret

Methods

def add_entity_byref(self, name, entity)

adds an Entity to the scenario

Parameters

name (str): name of the entity

entity (str): type of entity

Expand source code

def add_entity_byref(self, name, entity):
    """adds an Entity to the scenario

    Parameters
    ----------
        name (str): name of the entity

        entity (str): type of entity

    """

    self.entities.append(Entity(name, entityref=entity))
    return self

def add_entity_bytype(self, name, object_type)

adds an Entity to the scenario

Parameters

name (str): name of the entity

object_type (ObjectType or list of ObjectType): type of entity

Expand source code

def add_entity_bytype(self, name, object_type):
    """adds an Entity to the scenario

    Parameters
    ----------
        name (str): name of the entity

        object_type (ObjectType or list of ObjectType): type of entity

    """
    self.entities.append(Entity(name, object_type=object_type))
    return self

def add_scenario_object(self, name, entityobject, controller=None)

adds a ScenarioObject to the scenario

Parameters

name (str): name of the scenario object

entityobject (CatalogReference, Vehicle, Pedestrian, MiscObject, or ExternalObjectReference (V1.1)): object description

controller (CatalogReference, Controller, or list of CatalogReference/Controller): controller for the object
    Default (None)

Expand source code

def add_scenario_object(self, name, entityobject, controller=None):
    """adds a ScenarioObject to the scenario

    Parameters
    ----------
        name (str): name of the scenario object

        entityobject (CatalogReference, Vehicle, Pedestrian, MiscObject, or ExternalObjectReference (V1.1)): object description

        controller (CatalogReference, Controller, or list of CatalogReference/Controller): controller for the object
            Default (None)

    """

    self.scenario_objects.append(ScenarioObject(name, entityobject, controller))
    return self

def get_element(self)

returns the elementTree of the Entities

Expand source code

def get_element(self):
    """returns the elementTree of the Entities"""
    element = ET.Element("Entities")
    for i in self.scenario_objects:
        element.append(i.get_element())

    for i in self.entities:
        element.append(i.get_element())

    return element

class Entity (name, object_type=None, entityref=None)

The Entity class creates an Entity of OpenScenario Can either use a object_type or entityref (not both)

Parameters

name (str): name of the Entity

optionals:
    object_type (ObjectType or list of ObjectType): the object_type to be used

    entityref (str): reference to an entity

Attributes

name (str): name of the Entity

object_type (ObjectType): the object_type to be used

entityref (str): reference to an entity

Methods

parse(element)
    parses a ElementTree created by the class and returns an instance of the class

get_element()
    Returns the full ElementTree of the class

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

Initalizes the Entity

Parameters

name (str): name of the Entity

optionals (only use one):
    object_type (ObjectType): the object_type to be used

    entityref (str): reference to an entity

Expand source code

class Entity(VersionBase):
    """The Entity class creates an Entity of OpenScenario
    Can either use a object_type or entityref (not both)

    Parameters
    ----------
        name (str): name of the Entity

        optionals:
            object_type (ObjectType or list of ObjectType): the object_type to be used

            entityref (str): reference to an entity

    Attributes
    ----------
        name (str): name of the Entity

        object_type (ObjectType): the object_type to be used

        entityref (str): reference to an entity

    Methods
    -------
        parse(element)
            parses a ElementTree created by the class and returns an instance of the class

        get_element()
            Returns the full ElementTree of the class

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

    """

    def __init__(self, name, object_type=None, entityref=None):
        """Initalizes the Entity

        Parameters
        ----------
            name (str): name of the Entity

            optionals (only use one):
                object_type (ObjectType): the object_type to be used

                entityref (str): reference to an entity

        """
        self.name = name
        self.object_type = []
        self.entity = []
        if (object_type != None) and (entityref != None):
            raise KeyError("only one of objecttype or entityref are alowed")
        if (object_type == None) and (entityref == None):
            raise KeyError("either objecttype or entityref is requiered")
        if entityref:
            if isinstance(entityref, list):
                self.entity = [EntityRef(x) for x in entityref]
            else:
                self.entity.append(EntityRef(entityref))
            self.object_type = None
        else:
            if isinstance(object_type, list):
                self.object_type = [convert_enum(x, ObjectType) for x in object_type]
            else:
                self.object_type.append(convert_enum(object_type, ObjectType))
            self.entity = None

    def __eq__(self, other):
        if isinstance(other, Entity):
            if (
                self.get_attributes() == other.get_attributes()
                and self.object_type == other.object_type
                and self.entity == other.entity
            ):
                return True
        return False

    @staticmethod
    def parse(element):
        """Parses the xml element of Entity

        Parameters
        ----------
            element (xml.etree.ElementTree.Element): A entity element (same as generated by the class itself)

        Returns
        -------
            entity (Entity): a Entity object

        """
        name = element.attrib["name"]
        bytypes = []
        entity_refs = []

        members_element = element.find("Members")
        if members_element.find("ByType") != None:
            types = members_element.findall("ByType")
            for type in types:
                bytypes.append(convert_enum(type.attrib["objectType"], ObjectType))
            entity_refs = None
        elif members_element.find("EntityRef") != None:
            entities = members_element.findall("EntityRef")
            for entity in entities:
                entity_refs.append(entity.attrib["entityRef"])
            bytypes = None

        return Entity(name, object_type=bytypes, entityref=entity_refs)

    def get_attributes(self):
        """returns the attributes of the Entity as a dict"""
        return {"name": self.name}

    def get_element(self):
        """returns the elementTree of the Entity"""
        element = ET.Element("EntitySelection", attrib=self.get_attributes())
        members = ET.SubElement(element, "Members")
        if self.entity:
            for entity in self.entity:
                members.append(entity.get_element())
        if self.object_type:
            for object_type in self.object_type:
                ET.SubElement(
                    members, "ByType", attrib={"objectType": object_type.get_name()}
                )
        return element

Ancestors

• VersionBase

Static methods

def parse(element)

Parses the xml element of Entity

Parameters

element (xml.etree.ElementTree.Element): A entity element (same as generated by the class itself)

Returns

entity (Entity): a Entity object

Expand source code

@staticmethod
def parse(element):
    """Parses the xml element of Entity

    Parameters
    ----------
        element (xml.etree.ElementTree.Element): A entity element (same as generated by the class itself)

    Returns
    -------
        entity (Entity): a Entity object

    """
    name = element.attrib["name"]
    bytypes = []
    entity_refs = []

    members_element = element.find("Members")
    if members_element.find("ByType") != None:
        types = members_element.findall("ByType")
        for type in types:
            bytypes.append(convert_enum(type.attrib["objectType"], ObjectType))
        entity_refs = None
    elif members_element.find("EntityRef") != None:
        entities = members_element.findall("EntityRef")
        for entity in entities:
            entity_refs.append(entity.attrib["entityRef"])
        bytypes = None

    return Entity(name, object_type=bytypes, entityref=entity_refs)

Methods

def get_attributes(self)

returns the attributes of the Entity as a dict

Expand source code

def get_attributes(self):
    """returns the attributes of the Entity as a dict"""
    return {"name": self.name}

def get_element(self)

returns the elementTree of the Entity

Expand source code

def get_element(self):
    """returns the elementTree of the Entity"""
    element = ET.Element("EntitySelection", attrib=self.get_attributes())
    members = ET.SubElement(element, "Members")
    if self.entity:
        for entity in self.entity:
            members.append(entity.get_element())
    if self.object_type:
        for object_type in self.object_type:
            ET.SubElement(
                members, "ByType", attrib={"objectType": object_type.get_name()}
            )
    return element

class ExternalObjectReference (name)

the ExternalObjectReference describes the EntityObject ExternalObjectReference (valid from V1.1)

Parameters

name (str): identifier of the external object

Attributes

name (str): identifier of the external object

Methods

parse(element)
    parses a ElementTree created by the class and returns an instance of the class

get_element()
    Returns the full ElementTree of the class

get_attributes()
    Returns the attributes of the class

initalzie the ExternalObjectReference

Parameters

name (str): identifier of the external object

Expand source code

class ExternalObjectReference(VersionBase):
    """the ExternalObjectReference describes the EntityObject ExternalObjectReference (valid from V1.1)

    Parameters
    ----------
        name (str): identifier of the external object

    Attributes
    ----------
        name (str): identifier of the external object

    Methods
    -------
        parse(element)
            parses a ElementTree created by the class and returns an instance of the class

        get_element()
            Returns the full ElementTree of the class

        get_attributes()
            Returns the attributes of the class


    """

    def __init__(self, name):
        """initalzie the ExternalObjectReference

        Parameters
        ----------
            name (str): identifier of the external object
        """
        self.name = name

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

    @staticmethod
    def parse(element):
        """Parses the xml element of ExternalObjectReference

        Parameters
        ----------
            element (xml.etree.ElementTree.Element): A ExternalObjectReference element (same as generated by the class itself)

        Returns
        -------
            reference (ExternalObjectReference): a ExternalObjectReference object

        """
        name = element.attrib["name"]
        return ExternalObjectReference(name)

    def get_attributes(self):
        """returns the attributes of the Axle as a dict"""
        return {"name": self.name}

    def get_element(self):
        """returns the elementTree of the Axle"""
        if self.isVersion(minor=0):
            raise OpenSCENARIOVersionError(
                "ExternalObjectReference was introduced in OSC 1.1"
            )
        return ET.Element("ExternalObjectReference", attrib=self.get_attributes())

Ancestors

• VersionBase

Static methods

def parse(element)

Parses the xml element of ExternalObjectReference

Parameters

element (xml.etree.ElementTree.Element): A ExternalObjectReference element (same as generated by the class itself)

Returns

reference (ExternalObjectReference): a ExternalObjectReference object

Expand source code

@staticmethod
def parse(element):
    """Parses the xml element of ExternalObjectReference

    Parameters
    ----------
        element (xml.etree.ElementTree.Element): A ExternalObjectReference element (same as generated by the class itself)

    Returns
    -------
        reference (ExternalObjectReference): a ExternalObjectReference object

    """
    name = element.attrib["name"]
    return ExternalObjectReference(name)

Methods

def get_attributes(self)

returns the attributes of the Axle as a dict

Expand source code

def get_attributes(self):
    """returns the attributes of the Axle as a dict"""
    return {"name": self.name}

def get_element(self)

returns the elementTree of the Axle

Expand source code

def get_element(self):
    """returns the elementTree of the Axle"""
    if self.isVersion(minor=0):
        raise OpenSCENARIOVersionError(
            "ExternalObjectReference was introduced in OSC 1.1"
        )
    return ET.Element("ExternalObjectReference", attrib=self.get_attributes())

class MiscObject (name, mass, category, boundingbox, model3d=None)

the MiscObject Class creates a MiscObject for openscenario

Parameters

name (str): name of the MiscObject

mass (float): mass of the object

category (MiscObjectCategory): the category of the misc object

boundingbox (BoundingBox): the bounding box of the MiscObject

model3d (str): path to model file (valid from V1.1)
    Default: None

Attributes

name (str): name of the object

mass (float): mass of the object

misc_type (MiscObjectCategory): type of misc object

boundingbox (BoundingBox): the bounding box of the MiscObject

parameters (ParameterDeclaration): Parameter declarations of the MiscObject

properties (Properties): additional properties of the MiscObject

model3d (str): path to model file (valid from V1.1)
    Default: None

Methods

add_parameter(parameter)
    adds a parameter declaration to the MiscObject

add_property(name, value)
    adds a single property to the MiscObject

add_property_file(filename)
    adds a property file to the MiscObject

append_to_catalog(filename)
    adds the MiscObject to an existing catalog

dump_to_catalog(filename,name,description,author)
    crates a new catalog with the MiscObject

get_element()
    Returns the full ElementTree of the class

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

parse(element)
    parses a ElementTree created by the class and returns an instance of the class

initalzie the MiscObject Class

Parameters

name (str): name of the MiscObject

mass (float): mass of the object

category (MiscObjectCategory): the category of the misc object

boundingbox (BoundingBox): the bounding box of the MiscObject

model3d (str): path to model file (valid from V1.1)
    Default: None

Expand source code

class MiscObject(_BaseCatalog):
    """the MiscObject Class creates a MiscObject for openscenario

    Parameters
    ----------
        name (str): name of the MiscObject

        mass (float): mass of the object

        category (MiscObjectCategory): the category of the misc object

        boundingbox (BoundingBox): the bounding box of the MiscObject

        model3d (str): path to model file (valid from V1.1)
            Default: None

    Attributes
    ----------
        name (str): name of the object

        mass (float): mass of the object

        misc_type (MiscObjectCategory): type of misc object

        boundingbox (BoundingBox): the bounding box of the MiscObject

        parameters (ParameterDeclaration): Parameter declarations of the MiscObject

        properties (Properties): additional properties of the MiscObject

        model3d (str): path to model file (valid from V1.1)
            Default: None

    Methods
    -------
        add_parameter(parameter)
            adds a parameter declaration to the MiscObject

        add_property(name, value)
            adds a single property to the MiscObject

        add_property_file(filename)
            adds a property file to the MiscObject

        append_to_catalog(filename)
            adds the MiscObject to an existing catalog

        dump_to_catalog(filename,name,description,author)
            crates a new catalog with the MiscObject

        get_element()
            Returns the full ElementTree of the class

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

        parse(element)
            parses a ElementTree created by the class and returns an instance of the class

    """

    def __init__(self, name, mass, category, boundingbox, model3d=None):
        """initalzie the MiscObject Class

        Parameters
        ----------
            name (str): name of the MiscObject

            mass (float): mass of the object

            category (MiscObjectCategory): the category of the misc object

            boundingbox (BoundingBox): the bounding box of the MiscObject

            model3d (str): path to model file (valid from V1.1)
                Default: None
        """
        super().__init__()
        self.name = name
        self.mass = convert_float(mass)
        self.category = convert_enum(category, MiscObjectCategory)
        if not isinstance(boundingbox, BoundingBox):
            raise TypeError("boundingbox input is not of type BoundingBox")
        self.boundingbox = boundingbox
        self.properties = Properties()
        self.model3d = model3d

    def __eq__(self, other):
        if isinstance(other, MiscObject):
            if (
                self.get_attributes() == other.get_attributes()
                and self.boundingbox == other.boundingbox
                and self.properties == other.properties
                and self.parameters == other.parameters
            ):
                return True
        return False

    @staticmethod
    def parse(element):
        """Parses the xml element to MiscObject

        Parameters
        ----------
            element (xml.etree.ElementTree.Element): A MiscObject element (same as generated by the class itself)

        Returns
        ------
            object (MiscObject): a MiscObject object

        """
        model3d = None
        if "model3d" in element.attrib:
            model3d = element.attrib["model3d"]
        mass = convert_float(element.attrib["mass"])
        name = element.attrib["name"]
        properties = Properties.parse(element.find("Properties"))
        boundingbox = BoundingBox.parse(element.find("BoundingBox"))
        category = convert_enum(
            element.attrib["miscObjectCategory"], MiscObjectCategory
        )

        if element.find("ParameterDeclarations") != None:
            parameters = ParameterDeclarations.parse(
                element.find("ParameterDeclarations")
            )
        else:
            parameters = ParameterDeclarations()

        object = MiscObject(name, mass, category, boundingbox, model3d)
        object.parameters = parameters
        object.properties = properties
        return object

    def add_property(self, name, value):
        """adds a single property to the MiscObject

        Parameters
        ----------
            name (str): name of the property

            value (str): value of the property

        """
        self.properties.add_property(name, value)
        return self

    def add_property_file(self, filename):
        """adds a property file to the MiscObject

        Parameters
        ----------
            filename (str): filename of a property file

        """
        self.properties.add_file(filename)
        return self

    def get_attributes(self):
        """returns the attributes as a dict of the MiscObject"""
        retdict = {}
        retdict["name"] = str(self.name)
        retdict["miscObjectCategory"] = self.category.get_name()
        retdict["mass"] = str(self.mass)
        if not self.isVersion(minor=0) and self.model3d:
            retdict["model3d"] = self.model3d
        return retdict

    def get_element(self):
        """returns the elementTree of the MiscObject"""
        element = ET.Element("MiscObject", attrib=self.get_attributes())
        self.add_parameters_to_element(element)
        element.append(self.boundingbox.get_element())
        element.append(self.properties.get_element())

        return element

Ancestors

• scenariogeneration.xosc.utils._BaseCatalog
• VersionBase

Static methods

def parse(element)

Parses the xml element to MiscObject

Parameters

element (xml.etree.ElementTree.Element): A MiscObject element (same as generated by the class itself)

Returns

object (MiscObject): a MiscObject object

Expand source code

@staticmethod
def parse(element):
    """Parses the xml element to MiscObject

    Parameters
    ----------
        element (xml.etree.ElementTree.Element): A MiscObject element (same as generated by the class itself)

    Returns
    ------
        object (MiscObject): a MiscObject object

    """
    model3d = None
    if "model3d" in element.attrib:
        model3d = element.attrib["model3d"]
    mass = convert_float(element.attrib["mass"])
    name = element.attrib["name"]
    properties = Properties.parse(element.find("Properties"))
    boundingbox = BoundingBox.parse(element.find("BoundingBox"))
    category = convert_enum(
        element.attrib["miscObjectCategory"], MiscObjectCategory
    )

    if element.find("ParameterDeclarations") != None:
        parameters = ParameterDeclarations.parse(
            element.find("ParameterDeclarations")
        )
    else:
        parameters = ParameterDeclarations()

    object = MiscObject(name, mass, category, boundingbox, model3d)
    object.parameters = parameters
    object.properties = properties
    return object

Methods

def add_property(self, name, value)

adds a single property to the MiscObject

Parameters

name (str): name of the property

value (str): value of the property

Expand source code

def add_property(self, name, value):
    """adds a single property to the MiscObject

    Parameters
    ----------
        name (str): name of the property

        value (str): value of the property

    """
    self.properties.add_property(name, value)
    return self

def add_property_file(self, filename)

adds a property file to the MiscObject

Parameters

filename (str): filename of a property file

Expand source code

def add_property_file(self, filename):
    """adds a property file to the MiscObject

    Parameters
    ----------
        filename (str): filename of a property file

    """
    self.properties.add_file(filename)
    return self

def get_attributes(self)

returns the attributes as a dict of the MiscObject

Expand source code

def get_attributes(self):
    """returns the attributes as a dict of the MiscObject"""
    retdict = {}
    retdict["name"] = str(self.name)
    retdict["miscObjectCategory"] = self.category.get_name()
    retdict["mass"] = str(self.mass)
    if not self.isVersion(minor=0) and self.model3d:
        retdict["model3d"] = self.model3d
    return retdict

def get_element(self)

returns the elementTree of the MiscObject

Expand source code

def get_element(self):
    """returns the elementTree of the MiscObject"""
    element = ET.Element("MiscObject", attrib=self.get_attributes())
    self.add_parameters_to_element(element)
    element.append(self.boundingbox.get_element())
    element.append(self.properties.get_element())

    return element

class Pedestrian (name, mass, category, boundingbox, model=None, role=None)

the Pedestrian class creates a pedestrian type entity of openscenario

Parameters

name (str): name of the type (req for catalog)

mass (float): mass of the pedestrian

boundingbox (BoundingBox): the bounding box of the pedestrian

category (PedestrianCategory): type of of pedestrian

model (str): definition model of the pedestrian
    Default: None

role (Role): the role of the Pedestrian (valid from OpenSCENARIO V1.2)
    Default: None

Attributes

name (str): name of the pedestrian

model (str): definition model of the pedestrian

mass (float): mass of the pedestrian

category (PedestrianCategory): type of pedestrian

boundingbox (BoundingBox): the bounding box of the pedestrian

parameters (ParameterDeclaration): Parameter declarations of the pedestrian

properties (Properties): additional properties of the pedestrian

role (Role): the role of the Pedestrian

Methods

parse(element)
    parses a ElementTree created by the class and returns an instance of the class itself

add_parameter(parameter)
    adds a parameter declaration to the pedestrian

add_property(name, value)
    adds a single property to the pedestrian

add_property_file(filename)
    adds a property file to the pedestrian

append_to_catalog(filename)
    adds the vehicle to an existing pedestrian

dump_to_catalog(filename,name,description,author)
    crates a new catalog with the pedestrian

get_element()
    Returns the full ElementTree of the class

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

initalzie the Pedestrian Class

Parameters

name (str): name of the type (req for catalog)

mass (float): mass of the pedestrian

category (PedestrianCategory): type of of pedestrian

boundingbox (BoundingBox): the bounding box of the pedestrian

model (str): definition model of the pedestrian
    Default: None

role (Role): the role of the Vehicle
    Default: None

Expand source code

class Pedestrian(_BaseCatalog):
    """the Pedestrian class creates a pedestrian type entity of openscenario

    Parameters
    ----------
        name (str): name of the type (req for catalog)

        mass (float): mass of the pedestrian

        boundingbox (BoundingBox): the bounding box of the pedestrian

        category (PedestrianCategory): type of of pedestrian

        model (str): definition model of the pedestrian
            Default: None

        role (Role): the role of the Pedestrian (valid from OpenSCENARIO V1.2)
            Default: None

    Attributes
    ----------
        name (str): name of the pedestrian

        model (str): definition model of the pedestrian

        mass (float): mass of the pedestrian

        category (PedestrianCategory): type of pedestrian

        boundingbox (BoundingBox): the bounding box of the pedestrian

        parameters (ParameterDeclaration): Parameter declarations of the pedestrian

        properties (Properties): additional properties of the pedestrian

        role (Role): the role of the Pedestrian

    Methods
    -------
        parse(element)
            parses a ElementTree created by the class and returns an instance of the class itself

        add_parameter(parameter)
            adds a parameter declaration to the pedestrian

        add_property(name, value)
            adds a single property to the pedestrian

        add_property_file(filename)
            adds a property file to the pedestrian

        append_to_catalog(filename)
            adds the vehicle to an existing pedestrian

        dump_to_catalog(filename,name,description,author)
            crates a new catalog with the pedestrian

        get_element()
            Returns the full ElementTree of the class

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

    """

    def __init__(self, name, mass, category, boundingbox, model=None, role=None):
        """initalzie the Pedestrian Class

        Parameters
        ----------
            name (str): name of the type (req for catalog)

            mass (float): mass of the pedestrian

            category (PedestrianCategory): type of of pedestrian

            boundingbox (BoundingBox): the bounding box of the pedestrian

            model (str): definition model of the pedestrian
                Default: None

            role (Role): the role of the Vehicle
                Default: None
        """
        super().__init__()
        self.name = name
        self.model = model
        self.mass = convert_float(mass)

        self.category = convert_enum(category, PedestrianCategory)
        if not isinstance(boundingbox, BoundingBox):
            raise TypeError("boundingbox input is not of type BoundingBox")

        self.boundingbox = boundingbox
        self.properties = Properties()
        self.role = convert_enum(role, Role, True)

    def __eq__(self, other):
        if isinstance(other, Pedestrian):
            if (
                self.get_attributes() == other.get_attributes()
                and self.boundingbox == other.boundingbox
                and self.properties == other.properties
                and self.parameters == other.parameters
                and self.role == other.role
            ):
                return True
        return False

    @staticmethod
    def parse(element):
        """Parses the xml element of Pedestrian

        Parameters
        ----------
            element (xml.etree.ElementTree.Element): A pedestrian element (same as generated by the class itself)

        Returns
        -------
            pedestrian (Pedestrian): a Pedestrian object

        """
        name = element.attrib["name"]
        mass = convert_float(element.attrib["mass"])
        model = None
        if "model3d" in element.attrib:
            model = element.attrib["model3d"]
        elif "model" in element.attrib:
            model = element.attrib["model"]
        category = convert_enum(
            element.attrib["pedestrianCategory"], PedestrianCategory
        )
        if element.find("ParameterDeclarations") != None:
            parameters = ParameterDeclarations.parse(
                element.find("ParameterDeclarations")
            )
        else:
            parameters = ParameterDeclarations()
        boundingbox = BoundingBox.parse(element.find("BoundingBox"))
        properties = Properties.parse(element.find("Properties"))
        role = None
        if "role" in element.attrib:
            role = convert_enum(element.attrib["role"], Role)
        pedestrian = Pedestrian(name, mass, category, boundingbox, model, role)
        pedestrian.parameters = parameters
        pedestrian.properties = properties

        return pedestrian

    def add_property(self, name, value):
        """adds a single property to the pedestrian

        Parameters
        ----------
            name (str): name of the property

            value (str): value of the property

        """
        self.properties.add_property(name, value)
        return self

    def add_property_file(self, filename):
        """adds a property file to the pedestrian

        Parameters
        ----------
            filename (str): filename of a property file

        """
        self.properties.add_file(filename)
        return self

    def get_attributes(self):
        """returns the attributes as a dict of the pedestrian"""
        retdict = {}
        retdict["name"] = str(self.name)
        retdict["pedestrianCategory"] = self.category.get_name()

        if self.isVersion(minor=0) and self.model is None:
            raise OpenSCENARIOVersionError("model is required for OSC 1.0")

        if self.model is not None:
            if self.isVersion(minor=0):
                retdict["model"] = self.model
            else:
                retdict["model3d"] = self.model
        retdict["mass"] = str(self.mass)
        if self.role:
            if self.isVersionEqLess(minor=1):
                raise OpenSCENARIOVersionError(
                    "role for Pedestrian was added in OSC V1.2"
                )
            retdict["role"] = self.role.get_name()
        return retdict

    def get_element(self):
        """returns the elementTree of the pedestrian"""
        element = ET.Element("Pedestrian", attrib=self.get_attributes())
        self.add_parameters_to_element(element)
        element.append(self.boundingbox.get_element())
        element.append(self.properties.get_element())

        return element

Ancestors

• scenariogeneration.xosc.utils._BaseCatalog
• VersionBase

Static methods

def parse(element)

Parses the xml element of Pedestrian

Parameters

element (xml.etree.ElementTree.Element): A pedestrian element (same as generated by the class itself)

Returns

pedestrian (Pedestrian): a Pedestrian object

Expand source code

@staticmethod
def parse(element):
    """Parses the xml element of Pedestrian

    Parameters
    ----------
        element (xml.etree.ElementTree.Element): A pedestrian element (same as generated by the class itself)

    Returns
    -------
        pedestrian (Pedestrian): a Pedestrian object

    """
    name = element.attrib["name"]
    mass = convert_float(element.attrib["mass"])
    model = None
    if "model3d" in element.attrib:
        model = element.attrib["model3d"]
    elif "model" in element.attrib:
        model = element.attrib["model"]
    category = convert_enum(
        element.attrib["pedestrianCategory"], PedestrianCategory
    )
    if element.find("ParameterDeclarations") != None:
        parameters = ParameterDeclarations.parse(
            element.find("ParameterDeclarations")
        )
    else:
        parameters = ParameterDeclarations()
    boundingbox = BoundingBox.parse(element.find("BoundingBox"))
    properties = Properties.parse(element.find("Properties"))
    role = None
    if "role" in element.attrib:
        role = convert_enum(element.attrib["role"], Role)
    pedestrian = Pedestrian(name, mass, category, boundingbox, model, role)
    pedestrian.parameters = parameters
    pedestrian.properties = properties

    return pedestrian

Methods

def add_property(self, name, value)

adds a single property to the pedestrian

Parameters

name (str): name of the property

value (str): value of the property

Expand source code

def add_property(self, name, value):
    """adds a single property to the pedestrian

    Parameters
    ----------
        name (str): name of the property

        value (str): value of the property

    """
    self.properties.add_property(name, value)
    return self

def add_property_file(self, filename)

adds a property file to the pedestrian

Parameters

filename (str): filename of a property file

Expand source code

def add_property_file(self, filename):
    """adds a property file to the pedestrian

    Parameters
    ----------
        filename (str): filename of a property file

    """
    self.properties.add_file(filename)
    return self

def get_attributes(self)

returns the attributes as a dict of the pedestrian

Expand source code

def get_attributes(self):
    """returns the attributes as a dict of the pedestrian"""
    retdict = {}
    retdict["name"] = str(self.name)
    retdict["pedestrianCategory"] = self.category.get_name()

    if self.isVersion(minor=0) and self.model is None:
        raise OpenSCENARIOVersionError("model is required for OSC 1.0")

    if self.model is not None:
        if self.isVersion(minor=0):
            retdict["model"] = self.model
        else:
            retdict["model3d"] = self.model
    retdict["mass"] = str(self.mass)
    if self.role:
        if self.isVersionEqLess(minor=1):
            raise OpenSCENARIOVersionError(
                "role for Pedestrian was added in OSC V1.2"
            )
        retdict["role"] = self.role.get_name()
    return retdict

def get_element(self)

returns the elementTree of the pedestrian

Expand source code

def get_element(self):
    """returns the elementTree of the pedestrian"""
    element = ET.Element("Pedestrian", attrib=self.get_attributes())
    self.add_parameters_to_element(element)
    element.append(self.boundingbox.get_element())
    element.append(self.properties.get_element())

    return element

class ScenarioObject (name, entityobject, controller=None)

The ScenarioObject creates a scenario object of OpenScenario

Parameters

name (str): name of the object

entityobject (CatalogReference, Vehicle, Pedestrian, MiscObject, or ExternalObjectReference): object description

controller (CatalogReference, Controller, or list of CatalogReference/Controller): controller for the object

Attributes

name (str): name of the object

entityobject (CatalogReference, Vehicle, Pedestrian, MiscObject, or ExternalObjectReference): object description

controller (list of CatalogReference/Controller): controller for the object

Methods

parse(element)
    parses a ElementTree created by the class and returns an instance of the class

get_element()
    Returns the full ElementTree of the class

get_attributes()
    returns the attributes of the class

initalizes the ScenarioObject

Parameters

name (str): name of the object

entityobject (CatalogReference, Vehicle, Pedestrian, MiscObject, or ExternalObjectReference): object description

controller (CatalogReference, Controller, or list of CatalogReference/Controller): controller for the object (multiple controllers are valid since OSC V1.2)
    Default: None

Expand source code

class ScenarioObject(VersionBase):
    """The ScenarioObject creates a scenario object of OpenScenario

    Parameters
    ----------
        name (str): name of the object

        entityobject (CatalogReference, Vehicle, Pedestrian, MiscObject, or ExternalObjectReference): object description

        controller (CatalogReference, Controller, or list of CatalogReference/Controller): controller for the object

    Attributes
    ----------
        name (str): name of the object

        entityobject (CatalogReference, Vehicle, Pedestrian, MiscObject, or ExternalObjectReference): object description

        controller (list of CatalogReference/Controller): controller for the object

    Methods
    -------
        parse(element)
            parses a ElementTree created by the class and returns an instance of the class

        get_element()
            Returns the full ElementTree of the class

        get_attributes()
            returns the attributes of the class
    """

    def __init__(self, name, entityobject, controller=None):
        """initalizes the ScenarioObject

        Parameters
        ----------
            name (str): name of the object

            entityobject (CatalogReference, Vehicle, Pedestrian, MiscObject, or ExternalObjectReference): object description

            controller (CatalogReference, Controller, or list of CatalogReference/Controller): controller for the object (multiple controllers are valid since OSC V1.2)
                Default: None

        """
        self.name = name
        if not (
            isinstance(entityobject, CatalogReference)
            or isinstance(entityobject, Vehicle)
            or isinstance(entityobject, Pedestrian)
            or isinstance(entityobject, MiscObject)
            or (
                not self.isVersion(minor=0)
                and isinstance(entityobject, ExternalObjectReference)
            )
        ):
            raise TypeError(
                "entityobject is not of type CatalogReference, Vehicle, Pedestrian, MiscObject, nor ExternalObjectReference (or to old version of openscenario)"
            )

        if controller is not None:
            if not isinstance(controller, list):
                self.controller = [controller]
            else:
                self.controller = controller

            for cnt in self.controller:
                if cnt is not None and not (
                    isinstance(cnt, CatalogReference) or isinstance(cnt, Controller)
                ):
                    raise TypeError(
                        "controller input is not of type CatalogReference or Controller"
                    )
        else:
            self.controller = controller
        self.entityobject = entityobject

    def __eq__(self, other):
        if isinstance(other, ScenarioObject):
            if (
                self.get_attributes() == other.get_attributes()
                and self.controller == other.controller
                and self.entityobject == other.entityobject
            ):
                return True
        return False

    @staticmethod
    def parse(element):
        """Parses the xml element of ScenarioObject

        Parameters
        ----------
            element (xml.etree.ElementTree.Element): A scenarioobject element (same as generated by the class itself)

        Returns
        -------
            scenarioobject (ScenarioObject): a ScenarioObject object

        """
        name = element.attrib["name"]
        if element.find("CatalogReference") != None:
            entityobject = CatalogReference.parse(element.find("CatalogReference"))
        elif element.find("Vehicle") != None:
            entityobject = Vehicle.parse(element.find("Vehicle"))
        elif element.find("Pedestrian") != None:
            entityobject = Pedestrian.parse(element.find("Pedestrian"))
        elif element.find("MiscObject") != None:
            entityobject = MiscObject.parse(element.find("MiscObject"))
        elif element.find("ExternalObjectReference") != None:
            entityobject = ExternalObjectReference.parse(
                element.find("ExternalObjectReference")
            )

        controller = None
        if element.find("ObjectController") != None:
            controller = []
            for object_controller_element in element.findall("ObjectController"):
                if object_controller_element.find("Controller") != None:
                    controller.append(
                        Controller.parse(object_controller_element.find("Controller"))
                    )
                elif object_controller_element.find("CatalogReference") != None:
                    controller.append(
                        CatalogReference.parse(
                            object_controller_element.find("CatalogReference")
                        )
                    )

        return ScenarioObject(name, entityobject, controller)

    def get_attributes(self):
        """returns the attributes of the Entity as a dict"""
        return {"name": self.name}

    def get_element(self):
        """returns the elementTree of the Entity"""
        element = ET.Element("ScenarioObject", attrib=self.get_attributes())

        element.append(self.entityobject.get_element())
        if self.controller:
            if self.version_minor < 2 and len(self.controller) > 1:
                raise OpenSCENARIOVersionError(
                    "multiple controllers were added in OSC V1.2"
                )

            for cnt in self.controller:
                objcont = ET.SubElement(element, "ObjectController")
                objcont.append(cnt.get_element())

        return element

Ancestors

• VersionBase

Static methods

def parse(element)

Parses the xml element of ScenarioObject

Parameters

element (xml.etree.ElementTree.Element): A scenarioobject element (same as generated by the class itself)

Returns

scenarioobject (ScenarioObject): a ScenarioObject object

Expand source code

@staticmethod
def parse(element):
    """Parses the xml element of ScenarioObject

    Parameters
    ----------
        element (xml.etree.ElementTree.Element): A scenarioobject element (same as generated by the class itself)

    Returns
    -------
        scenarioobject (ScenarioObject): a ScenarioObject object

    """
    name = element.attrib["name"]
    if element.find("CatalogReference") != None:
        entityobject = CatalogReference.parse(element.find("CatalogReference"))
    elif element.find("Vehicle") != None:
        entityobject = Vehicle.parse(element.find("Vehicle"))
    elif element.find("Pedestrian") != None:
        entityobject = Pedestrian.parse(element.find("Pedestrian"))
    elif element.find("MiscObject") != None:
        entityobject = MiscObject.parse(element.find("MiscObject"))
    elif element.find("ExternalObjectReference") != None:
        entityobject = ExternalObjectReference.parse(
            element.find("ExternalObjectReference")
        )

    controller = None
    if element.find("ObjectController") != None:
        controller = []
        for object_controller_element in element.findall("ObjectController"):
            if object_controller_element.find("Controller") != None:
                controller.append(
                    Controller.parse(object_controller_element.find("Controller"))
                )
            elif object_controller_element.find("CatalogReference") != None:
                controller.append(
                    CatalogReference.parse(
                        object_controller_element.find("CatalogReference")
                    )
                )

    return ScenarioObject(name, entityobject, controller)

Methods

def get_attributes(self)

returns the attributes of the Entity as a dict

Expand source code

def get_attributes(self):
    """returns the attributes of the Entity as a dict"""
    return {"name": self.name}

def get_element(self)

returns the elementTree of the Entity

Expand source code

def get_element(self):
    """returns the elementTree of the Entity"""
    element = ET.Element("ScenarioObject", attrib=self.get_attributes())

    element.append(self.entityobject.get_element())
    if self.controller:
        if self.version_minor < 2 and len(self.controller) > 1:
            raise OpenSCENARIOVersionError(
                "multiple controllers were added in OSC V1.2"
            )

        for cnt in self.controller:
            objcont = ET.SubElement(element, "ObjectController")
            objcont.append(cnt.get_element())

    return element

class Vehicle (name, vehicle_type, boundingbox, frontaxle, rearaxle, max_speed, max_acceleration, max_deceleration, mass=None, model3d=None, max_acceleration_rate=None, max_deceleration_rate=None, role=None)

the Vehicle Class creates a Vehicle for openscenario

Parameters

name (str): name of the vehicle

vehicle_type (VehicleCategory): type of vehicle

boundingbox (BoundingBox): the bounding box of the vehicle

frontaxle (Axle): the front axle properties of the vehicle

rearaxle (Axle): the back axle properties of the vehicle

max_speed (float): the maximum speed of the vehicle

max_acceleration (float): the maximum acceleration of the vehicle

max_deceleration (float): the maximum deceleration of the vehicle

mass (float): the mass of the vehicle (valid from OpenSCENARIO V1.1)
    Default: None

model3d (str): path to model file (valid from V1.1)
    Default: None

max_acceleration_rate (float): the maximum acceleration rate (jerk) of the vehicle (valid from OpenSCENARIO V1.2)
    Default: None

max_deceleration_rate (float): the maximum acceleration rate (jerk) of the vehicle (valid from OpenSCENARIO V1.2)
    Default: None

role (Role): the role of the Vehicle (valid from OpenSCENARIO V1.2)
    Default: None

Attributes

name (str): name of the vehicle

vehicle_type (VehicleCategory): type of vehicle

boundingbox (BoundingBox): the bounding box of the vehicle

axles (Axles): an Axles object

dynamics (DynamicsConstraints): the allowed dynamics of the vehicle

parameters (ParameterDeclaration): Parameter declarations of the vehicle

properties (Properties): additional properties of the vehicle

mass (float): the mass of the vehicle

model3d (str): path to model file (valid from V1.1)

role (Role): the role of the Vehicle

Methods

parse(element)
    parses a ElementTree created by the class and returns an instance of the class itself

add_axle(axle)
    adds an additional axle to the vehicle

add_parameter(parameter)
    adds a parameter declaration to the vehicle

add_property(name, value)
    adds a single property to the vehicle

add_property_file(filename)
    adds a property file to the vehicle

append_to_catalog(filename)
    adds the vehicle to an existing catalog

dump_to_catalog(filename,name,description,author)
    crates a new catalog with the vehicle

get_element()
    Returns the full ElementTree of the class

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

initalzie the Vehicle Class

Parameters

name (str): name of the vehicle

vehicle_type (VehicleCategory): type of vehicle

boundingbox (BoundingBox): the bounding box of the vehicle

frontaxle (Axle): the front axle properties of the vehicle

rearaxle (Axle): the back axle properties of the vehicle

max_speed (float): the maximum speed of the vehicle

max_acceleration (float): the maximum acceleration of the vehicle

max_deceleration (float): the maximum deceleration of the vehicle

mass (float): the mass of the vehicle (valid from OpenSCENARIO V1.1)
    Default: None

model3d (str): path to model file (valid from V1.1)
    Default: None

max_acceleration_rate (float): the maximum acceleration rate (jerk) of the vehicle (valid from OpenSCENARIO V1.2)
    Default: None

max_deceleration_rate (float): the maximum acceleration rate (jerk) of the vehicle (valid from OpenSCENARIO V1.2)
    Default: None

role (Role): the role of the Vehicle
    Default: None

Expand source code

class Vehicle(_BaseCatalog):
    """the Vehicle Class creates a Vehicle for openscenario

    Parameters
    ----------
        name (str): name of the vehicle

        vehicle_type (VehicleCategory): type of vehicle

        boundingbox (BoundingBox): the bounding box of the vehicle

        frontaxle (Axle): the front axle properties of the vehicle

        rearaxle (Axle): the back axle properties of the vehicle

        max_speed (float): the maximum speed of the vehicle

        max_acceleration (float): the maximum acceleration of the vehicle

        max_deceleration (float): the maximum deceleration of the vehicle

        mass (float): the mass of the vehicle (valid from OpenSCENARIO V1.1)
            Default: None

        model3d (str): path to model file (valid from V1.1)
            Default: None

        max_acceleration_rate (float): the maximum acceleration rate (jerk) of the vehicle (valid from OpenSCENARIO V1.2)
            Default: None

        max_deceleration_rate (float): the maximum acceleration rate (jerk) of the vehicle (valid from OpenSCENARIO V1.2)
            Default: None

        role (Role): the role of the Vehicle (valid from OpenSCENARIO V1.2)
            Default: None

    Attributes
    ----------
        name (str): name of the vehicle

        vehicle_type (VehicleCategory): type of vehicle

        boundingbox (BoundingBox): the bounding box of the vehicle

        axles (Axles): an Axles object

        dynamics (DynamicsConstraints): the allowed dynamics of the vehicle

        parameters (ParameterDeclaration): Parameter declarations of the vehicle

        properties (Properties): additional properties of the vehicle

        mass (float): the mass of the vehicle

        model3d (str): path to model file (valid from V1.1)

        role (Role): the role of the Vehicle

    Methods
    -------
        parse(element)
            parses a ElementTree created by the class and returns an instance of the class itself

        add_axle(axle)
            adds an additional axle to the vehicle

        add_parameter(parameter)
            adds a parameter declaration to the vehicle

        add_property(name, value)
            adds a single property to the vehicle

        add_property_file(filename)
            adds a property file to the vehicle

        append_to_catalog(filename)
            adds the vehicle to an existing catalog

        dump_to_catalog(filename,name,description,author)
            crates a new catalog with the vehicle

        get_element()
            Returns the full ElementTree of the class

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

    """

    def __init__(
        self,
        name,
        vehicle_type,
        boundingbox,
        frontaxle,
        rearaxle,
        max_speed,
        max_acceleration,
        max_deceleration,
        mass=None,
        model3d=None,
        max_acceleration_rate=None,
        max_deceleration_rate=None,
        role=None,
    ):
        """initalzie the Vehicle Class

        Parameters
        ----------
            name (str): name of the vehicle

            vehicle_type (VehicleCategory): type of vehicle

            boundingbox (BoundingBox): the bounding box of the vehicle

            frontaxle (Axle): the front axle properties of the vehicle

            rearaxle (Axle): the back axle properties of the vehicle

            max_speed (float): the maximum speed of the vehicle

            max_acceleration (float): the maximum acceleration of the vehicle

            max_deceleration (float): the maximum deceleration of the vehicle

            mass (float): the mass of the vehicle (valid from OpenSCENARIO V1.1)
                Default: None

            model3d (str): path to model file (valid from V1.1)
                Default: None

            max_acceleration_rate (float): the maximum acceleration rate (jerk) of the vehicle (valid from OpenSCENARIO V1.2)
                Default: None

            max_deceleration_rate (float): the maximum acceleration rate (jerk) of the vehicle (valid from OpenSCENARIO V1.2)
                Default: None

            role (Role): the role of the Vehicle
                Default: None
        """
        super().__init__()
        self.name = name
        if not isinstance(boundingbox, BoundingBox):
            raise TypeError("boundingbox input is not of type BoundingBox")

        self.vehicle_type = convert_enum(vehicle_type, VehicleCategory)
        self.boundingbox = boundingbox

        self.axles = Axles(frontaxle, rearaxle)
        self.dynamics = DynamicsConstraints(
            max_acceleration,
            max_deceleration,
            max_speed,
            max_acceleration_rate,
            max_deceleration_rate,
        )
        self.properties = Properties()
        self.mass = convert_float(mass)
        self.model3d = model3d
        self.role = convert_enum(role, Role, True)

    def __eq__(self, other):
        if isinstance(other, Vehicle):
            if (
                self.get_attributes() == other.get_attributes()
                and self.boundingbox == other.boundingbox
                and self.properties == other.properties
                and self.axles == other.axles
                and self.dynamics == other.dynamics
                and self.parameters == other.parameters
                and self.mass == other.mass
                and self.role == other.role
            ):
                return True
        return False

    @staticmethod
    def parse(element):
        """Parses the xml element of Vehicle

        Parameters
        ----------
            element (xml.etree.ElementTree.Element): A vehicle element (same as generated by the class itself)

        Returns
        -------
            vehicle (Vehicle): a Vehicle object

        """
        name = element.attrib["name"]
        mass = None
        if "mass" in element.attrib:
            mass = convert_float(element.attrib["mass"])
        vehicle_type = convert_enum(element.attrib["vehicleCategory"], VehicleCategory)
        model3d = None
        if "model3d" in element.attrib:
            model3d = element.attrib["model3d"]
        # if element.find('ParameterDeclarations'):
        if element.find("ParameterDeclarations") != None:
            parameters = ParameterDeclarations.parse(
                element.find("ParameterDeclarations")
            )
        else:
            parameters = ParameterDeclarations()
        boundingbox = BoundingBox.parse(element.find("BoundingBox"))
        properties = Properties.parse(element.find("Properties"))

        performance = DynamicsConstraints.parse(element.find("Performance"))
        max_speed = performance.max_speed
        max_acc = performance.max_acceleration
        max_dec = performance.max_deceleration
        max_acc_rate = performance.max_acceleration_rate
        max_dec_rate = performance.max_deceleration_rate

        axles_element = element.find("Axles")
        frontaxle = Axle.parse(axles_element.find("FrontAxle"))
        rearaxle = Axle.parse(axles_element.find("RearAxle"))

        role = None
        if "role" in element.attrib:
            role = convert_enum(element.attrib["role"], Role)
        vehicle = Vehicle(
            name,
            vehicle_type,
            boundingbox,
            frontaxle,
            rearaxle,
            max_speed,
            max_acc,
            max_dec,
            mass,
            model3d,
            max_acc_rate,
            max_dec_rate,
            role,
        )
        vehicle.properties = properties
        vehicle.parameters = parameters

        additional_axles = axles_element.findall("AdditionalAxle")
        if additional_axles != None:
            for axle in additional_axles:
                vehicle.axles.add_axle(Axle.parse(axle))

        return vehicle

    def add_axle(self, axle):
        """adds an additional axle to the vehicle

        Parameters
        ----------
            axle (Axle): an additional Axle

        """

        self.axles.add_axle(axle)
        return self

    def add_property(self, name, value):
        """adds a single property to the vehicle

        Parameters
        ----------
            name (str): name of the property

            value (str): value of the property

        """
        self.properties.add_property(name, value)
        return self

    def add_property_file(self, filename):
        """adds a property file to the vehicle

        Parameters
        ----------
            filename (str): filename of a property file

        """
        self.properties.add_file(filename)
        return self

    def get_attributes(self):
        """returns the attributes as a dict of the Vehicle"""
        retdict = {}
        retdict["name"] = str(self.name)
        retdict["vehicleCategory"] = self.vehicle_type.get_name()
        if self.mass:
            if self.isVersion(minor=0):
                raise OpenSCENARIOVersionError(
                    "Mass of a vehcile was introduced in OSC 1.1"
                )
            retdict["mass"] = str(self.mass)
        if self.model3d:
            if self.isVersion(minor=0):
                raise OpenSCENARIOVersionError(
                    "model3d of a vehcile was introduced in OSC 1.1"
                )
            retdict["model3d"] = self.model3d
        if self.role:
            if self.isVersionEqLess(minor=1):
                raise OpenSCENARIOVersionError(
                    "the role of a vehcile was introduced in OSC 1.1"
                )
            retdict["role"] = self.role.get_name()

        return retdict

    def get_element(self):
        """returns the elementTree of the Vehicle"""
        element = ET.Element("Vehicle", attrib=self.get_attributes())
        self.add_parameters_to_element(element)
        element.append(self.boundingbox.get_element())
        element.append(self.dynamics.get_element("Performance"))
        element.append(self.axles.get_element())
        element.append(self.properties.get_element())

        return element

Ancestors

• scenariogeneration.xosc.utils._BaseCatalog
• VersionBase

Static methods

def parse(element)

Parses the xml element of Vehicle

Parameters

element (xml.etree.ElementTree.Element): A vehicle element (same as generated by the class itself)

Returns

vehicle (Vehicle): a Vehicle object

Expand source code

@staticmethod
def parse(element):
    """Parses the xml element of Vehicle

    Parameters
    ----------
        element (xml.etree.ElementTree.Element): A vehicle element (same as generated by the class itself)

    Returns
    -------
        vehicle (Vehicle): a Vehicle object

    """
    name = element.attrib["name"]
    mass = None
    if "mass" in element.attrib:
        mass = convert_float(element.attrib["mass"])
    vehicle_type = convert_enum(element.attrib["vehicleCategory"], VehicleCategory)
    model3d = None
    if "model3d" in element.attrib:
        model3d = element.attrib["model3d"]
    # if element.find('ParameterDeclarations'):
    if element.find("ParameterDeclarations") != None:
        parameters = ParameterDeclarations.parse(
            element.find("ParameterDeclarations")
        )
    else:
        parameters = ParameterDeclarations()
    boundingbox = BoundingBox.parse(element.find("BoundingBox"))
    properties = Properties.parse(element.find("Properties"))

    performance = DynamicsConstraints.parse(element.find("Performance"))
    max_speed = performance.max_speed
    max_acc = performance.max_acceleration
    max_dec = performance.max_deceleration
    max_acc_rate = performance.max_acceleration_rate
    max_dec_rate = performance.max_deceleration_rate

    axles_element = element.find("Axles")
    frontaxle = Axle.parse(axles_element.find("FrontAxle"))
    rearaxle = Axle.parse(axles_element.find("RearAxle"))

    role = None
    if "role" in element.attrib:
        role = convert_enum(element.attrib["role"], Role)
    vehicle = Vehicle(
        name,
        vehicle_type,
        boundingbox,
        frontaxle,
        rearaxle,
        max_speed,
        max_acc,
        max_dec,
        mass,
        model3d,
        max_acc_rate,
        max_dec_rate,
        role,
    )
    vehicle.properties = properties
    vehicle.parameters = parameters

    additional_axles = axles_element.findall("AdditionalAxle")
    if additional_axles != None:
        for axle in additional_axles:
            vehicle.axles.add_axle(Axle.parse(axle))

    return vehicle

Methods

def add_axle(self, axle)

adds an additional axle to the vehicle

Parameters

axle (Axle): an additional Axle

Expand source code

def add_axle(self, axle):
    """adds an additional axle to the vehicle

    Parameters
    ----------
        axle (Axle): an additional Axle

    """

    self.axles.add_axle(axle)
    return self

def add_property(self, name, value)

adds a single property to the vehicle

Parameters

name (str): name of the property

value (str): value of the property

Expand source code

def add_property(self, name, value):
    """adds a single property to the vehicle

    Parameters
    ----------
        name (str): name of the property

        value (str): value of the property

    """
    self.properties.add_property(name, value)
    return self

def add_property_file(self, filename)

adds a property file to the vehicle

Parameters

filename (str): filename of a property file

Expand source code

def add_property_file(self, filename):
    """adds a property file to the vehicle

    Parameters
    ----------
        filename (str): filename of a property file

    """
    self.properties.add_file(filename)
    return self

def get_attributes(self)

returns the attributes as a dict of the Vehicle

Expand source code

def get_attributes(self):
    """returns the attributes as a dict of the Vehicle"""
    retdict = {}
    retdict["name"] = str(self.name)
    retdict["vehicleCategory"] = self.vehicle_type.get_name()
    if self.mass:
        if self.isVersion(minor=0):
            raise OpenSCENARIOVersionError(
                "Mass of a vehcile was introduced in OSC 1.1"
            )
        retdict["mass"] = str(self.mass)
    if self.model3d:
        if self.isVersion(minor=0):
            raise OpenSCENARIOVersionError(
                "model3d of a vehcile was introduced in OSC 1.1"
            )
        retdict["model3d"] = self.model3d
    if self.role:
        if self.isVersionEqLess(minor=1):
            raise OpenSCENARIOVersionError(
                "the role of a vehcile was introduced in OSC 1.1"
            )
        retdict["role"] = self.role.get_name()

    return retdict

def get_element(self)

returns the elementTree of the Vehicle

Expand source code

def get_element(self):
    """returns the elementTree of the Vehicle"""
    element = ET.Element("Vehicle", attrib=self.get_attributes())
    self.add_parameters_to_element(element)
    element.append(self.boundingbox.get_element())
    element.append(self.dynamics.get_element("Performance"))
    element.append(self.axles.get_element())
    element.append(self.properties.get_element())

    return element