simulation.utils.road package¶

Subpackages¶

Submodules¶

simulation.utils.road.config module¶

Classes:

Config()

Bases: object

Attributes:

`road_width`
`TURN_SF_MARK_WIDTH`
`TURN_SF_MARK_LENGTH`
`ROAD_MARKING_DISTANCE`
`PRIORITY_SIGN_DISTANCE_INTERVALL`
`TURN_SIGN_DISTANCE_INTERVALL`
`SURFACE_MARKING_DISTANCE_INTERVALL`
`SIGN_ROAD_PADDING_INTERVALL`

Methods:

`get_prio_sign_dist`([rand])
`get_turn_sign_dist`([rand])
`get_surface_mark_dist`([rand])
`get_sign_road_padding`([rand])

road_width = 0.4¶

TURN_SF_MARK_WIDTH = 0.072¶

TURN_SF_MARK_LENGTH = 0.5¶

ROAD_MARKING_DISTANCE = 0.2¶

PRIORITY_SIGN_DISTANCE_INTERVALL = (0.3, 0.5)¶

TURN_SIGN_DISTANCE_INTERVALL = (0.15, 0.25)¶

SURFACE_MARKING_DISTANCE_INTERVALL = (0.05, 0.25)¶

SIGN_ROAD_PADDING_INTERVALL = (0.075, 0.125)¶

static get_prio_sign_dist(rand=0.5)[source]¶

static get_turn_sign_dist(rand=0.5)[source]¶

static get_surface_mark_dist(rand=0.5)[source]¶

static get_sign_road_padding(rand=0.5)[source]¶

simulation.utils.road.road module¶

Road class used to define roads as a python class.

A simulated road can be defined through an object of type Road. It contains all sections of that road as a list.

Classes:

Road(use_seed, sections, length)

Container object for roads.

Functions:

`_get_module`(name)
`load`(road_name[, seed])	Load road object from file.

class Road(use_seed: bool = True, sections: List[simulation.utils.road.sections.road_section.RoadSection] = <factory>, length: float = 0)[source]¶

Bases: object

Container object for roads.

A road consists of multiple road sections that are concatenated. The sections attribute contains these sections in the correct order.

Attributes:

`_name`	Name of the road.
`_seed`	Seed used when generating the road.
`use_seed`	Use a default seed if none is provided.
`sections`	All sections of the road.
`length`	Length of road.

Methods:

`append`(section)	Append a road section.
`close_loop`([p_curvature])	Append a road section that connects the last section to the beginning.

_name: str = None¶

Name of the road.

The name attribute is determined by the name of the file. It is filled in when the road is generated.

_seed: str = None¶

Seed used when generating the road.

Determined when generating the road.

use_seed: bool = True¶

Use a default seed if none is provided.

By default the use_seed attribute is true and a seed is set before creating the road. If use_seed is set to False, the seed is invalidated and there will be different random values every time the road is created.

sections: List[simulation.utils.road.sections.road_section.RoadSection]¶: All sections of the road.

length: float = 0¶: Length of road.

append(section: simulation.utils.road.sections.road_section.RoadSection)[source]¶

Append a road section. Determine id of the section.

Parameters: section – New road section.

close_loop(p_curvature: float = 2)[source]¶

Append a road section that connects the last section to the beginning.

The road’s beginning and it’s end are connected using a cubic bezier curve.

Parameters: p_curvature – Scale the curvature of the resulting loop.

_get_module(name: str)[source]¶

load(road_name: str, seed: str = 'KITCAR') → simulation.utils.road.road.Road [source]¶

Load road object from file.

Parameters

road_name – Name of the file containing the road definition.
seed – Predetermine random values.

Module contents¶

Definition of the road module package.

The road module package contains a number of modules and subpackages that are used to create and render roads as Gazebo worlds.