scenic.formats.opendrive.xodr_parser

Parser for OpenDRIVE (.xodr) files.

Summary of Module Members

Functions

buffer_union
makeCurve	Create a reference-line curve from an OpenDRIVE geometry element.
separate
warn

Classes

Clothoid	An Euler spiral with curvature varying linearly between CURV0 and CURV1.
Cubic	A curve defined by the cubic polynomial a + bu + cu^2 + du^3.
Curve	Geometric elements which compose road reference lines.
Junction
Lane
LaneSection
Line	A line segment between (x0, y0) and (x1, y1).
ParamCubic	A curve defined by the parametric equations u = a_u + b_up + c_up^2 + d_up^3, v = a_v + b_vp + c_vp^2 + d_up^3, with p in [0, p_range].
Poly3	Cubic polynomial.
Road
RoadLink	Indicates Roads a and b, with ids id_a and id_b respectively, are connected.
RoadMap
Signal	Traffic lights, stop signs, etc.
SignalReference

Exceptions

OpenDriveWarning

Member Details

class Poly3(a, b, c, d)

Cubic polynomial.

class Curve(x0, y0, hdg, length)

Geometric elements which compose road reference lines. See the OpenDRIVE Format Specification for coordinate system details.

to_points(num, extra_points=[])

Sample NUM evenly-spaced points from curve.

Points are tuples of (x, y, s) with (x, y) absolute coordinates and s the arc length along the curve. Additional points at s values in extra_points are included if they are contained in the curve (unless they are extremely close to one of the equally-spaced points).

abstract point_at(s)

Get an (x, y, s) point along the curve at the given s coordinate.

rel_to_abs(point)

Convert from relative coordinates of curve to absolute coordinates. I.e. rotate counterclockwise by self.hdg and translate by (x0, x1).

class Cubic(x0, y0, hdg, length, a, b, c, d)

Bases: Curve

A curve defined by the cubic polynomial a + bu + cu^2 + du^3. The curve starts at (X0, Y0) in direction HDG, with length LENGTH.

class ParamCubic(x0, y0, hdg, length, au, bu, cu, du, av, bv, cv, dv, p_range=1)

Bases: Curve

A curve defined by the parametric equations u = a_u + b_up + c_up^2 + d_up^3, v = a_v + b_vp + c_vp^2 + d_up^3, with p in [0, p_range]. The curve starts at (X0, Y0) in direction HDG, with length LENGTH.

class Clothoid(x0, y0, hdg, length, curv0, curv1)

Bases: Curve

An Euler spiral with curvature varying linearly between CURV0 and CURV1. The spiral starts at (X0, Y0) in direction HDG, with length LENGTH.

class Line(x0, y0, hdg, length)

Bases: Curve

A line segment between (x0, y0) and (x1, y1).

makeCurve(x0, y0, hdg, length, curve_elem)

Create a reference-line curve from an OpenDRIVE geometry element.

The given length is the effective length Scenic should use, which may differ from the length declared in the map if the planView is inconsistent.

class RoadLink(id_a, id_b, contact_a, contact_b)

Indicates Roads a and b, with ids id_a and id_b respectively, are connected.

class Signal(id_, country, type_, subtype, orientation, validity=None)

Traffic lights, stop signs, etc.