visualize_xodr Namespace Reference

Variables
string	xodr_file_path = "xodr_map.xodr"
	tree = ET.parse(xodr_file_path)
	root = tree.getroot()
	fig
	ax
	figsize
	road_name = road.get("name", "")
	x = float(geometry.get("x"))
	y = float(geometry.get("y"))
	hdg = float(geometry.get("hdg"))
	length = float(geometry.get("length"))
	dx = length * np.cos(hdg)
	dy = length * np.sin(hdg)
	head_width
	length_includes_head
	fontsize

Detailed Description

Purpose:
This script parses an OpenDRIVE (.xodr) map file and visualizes the basic road geometries using matplotlib.

Key Features:

- Loads and parses an .xodr file using xml.etree.ElementTree.
- Extracts position, heading, and length for each road geometry segment.
- Plots each road segment as an arrow on a 2D plane.
- Optionally overlays road names on the visualization for identification.

Use Case:
Quick inspection and debugging of road layouts from .xodr files in a readable 2D plot.

Variable Documentation

ax

visualize_xodr.ax

Definition at line 31 of file visualize_xodr.py.

dx

visualize_xodr.dx = length * np.cos(hdg)

Definition at line 43 of file visualize_xodr.py.

Referenced by approximate_intersection::LookupGrid< PointT >.LookupGrid(), lci_strategic_plugin::LCIStrategicPlugin.boundary_accel_cruise_maxspeed_decel(), lci_strategic_plugin::LCIStrategicPlugin.boundary_accel_nocruise_maxspeed_decel(), lci_strategic_plugin::LCIStrategicPlugin.boundary_accel_nocruise_notmaxspeed_decel(), lci_strategic_plugin::LCIStrategicPlugin.boundary_accel_or_decel_complete_upper(), lci_strategic_plugin::LCIStrategicPlugin.boundary_accel_or_decel_incomplete_upper(), lci_strategic_plugin::LCIStrategicPlugin.boundary_decel_cruise_minspeed(), lci_strategic_plugin::LCIStrategicPlugin.boundary_decel_cruise_minspeed_accel(), lci_strategic_plugin::LCIStrategicPlugin.boundary_decel_cruise_minspeed_decel(), lci_strategic_plugin::LCIStrategicPlugin.boundary_decel_incomplete_lower(), lci_strategic_plugin::LCIStrategicPlugin.boundary_decel_nocruise_minspeed_accel_complete(), lci_strategic_plugin::LCIStrategicPlugin.boundary_decel_nocruise_minspeed_accel_incomplete(), lci_strategic_plugin::LCIStrategicPlugin.boundary_decel_nocruise_notminspeed_accel(), trajectory_visualizer::TrajectoryVisualizer.callbackPlanTrajectory(), stop_and_wait_plugin::StopandWait.compose_trajectory_from_centerline(), mobilitypath_visualizer::anonymous_namespace{mobilitypath_visualizer.cpp}.compute_2d_distance(), carma_wm_ctrl::WMBroadcaster.createLinearInterpolatingLinestring(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin.filter_points_ahead(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin.findLaneWidth(), lci_strategic_plugin::LCIStrategicPlugin.get_boundary_traj_params(), yield_plugin::YieldPlugin.get_predicted_velocity_at_time(), yield_plugin::YieldPlugin.get_relative_downtracks(), platooning_control::PlatooningControlPlugin.get_trajectory_speed(), lci_strategic_plugin::LCIStrategicPlugin.get_ts_case(), mobilitypath_visualizer::MobilityPathVisualizer.matchTrajectoryTimestamps(), yield_plugin::YieldPlugin.max_trajectory_speed(), basic_autonomy::waypoint_generation.optimize_speed(), carma_wm::geometry.point_to_point_yaw(), lci_strategic_plugin::LCIStrategicPlugin.ts_case1(), lci_strategic_plugin::LCIStrategicPlugin.ts_case2(), lci_strategic_plugin::LCIStrategicPlugin.ts_case3(), lci_strategic_plugin::LCIStrategicPlugin.ts_case4(), lci_strategic_plugin::LCIStrategicPlugin.ts_case5(), lci_strategic_plugin::LCIStrategicPlugin.ts_case6(), lci_strategic_plugin::LCIStrategicPlugin.ts_case7(), lci_strategic_plugin::LCIStrategicPlugin.ts_case8(), and yield_plugin::YieldPlugin.update_traj_for_cooperative_behavior().

dy

visualize_xodr.dy = length * np.sin(hdg)

Definition at line 44 of file visualize_xodr.py.

Referenced by approximate_intersection::LookupGrid< PointT >.LookupGrid(), trajectory_visualizer::TrajectoryVisualizer.callbackPlanTrajectory(), mobilitypath_visualizer::anonymous_namespace{mobilitypath_visualizer.cpp}.compute_2d_distance(), carma_wm_ctrl::WMBroadcaster.createLinearInterpolatingLinestring(), approaching_emergency_vehicle_plugin::ApproachingEmergencyVehiclePlugin.filter_points_ahead(), platooning_strategic_ihp::PlatooningStrategicIHPPlugin.findLaneWidth(), yield_plugin::YieldPlugin.get_predicted_velocity_at_time(), yield_plugin::YieldPlugin.get_relative_downtracks(), platooning_control::PlatooningControlPlugin.get_trajectory_speed(), mobilitypath_visualizer::MobilityPathVisualizer.matchTrajectoryTimestamps(), yield_plugin::YieldPlugin.max_trajectory_speed(), carma_wm::geometry.point_to_point_yaw(), and yield_plugin::YieldPlugin.update_traj_for_cooperative_behavior().

fig

visualize_xodr.fig

Definition at line 31 of file visualize_xodr.py.

figsize

visualize_xodr.figsize

Definition at line 31 of file visualize_xodr.py.

fontsize

visualize_xodr.fontsize

Definition at line 49 of file visualize_xodr.py.

hdg

visualize_xodr.hdg = float(geometry.get("hdg"))

Definition at line 40 of file visualize_xodr.py.

head_width

visualize_xodr.head_width

Definition at line 46 of file visualize_xodr.py.

length

visualize_xodr.length = float(geometry.get("length"))

Definition at line 41 of file visualize_xodr.py.

Referenced by carma_wm::test.buildGuidanceTestMap().

length_includes_head

visualize_xodr.length_includes_head

Definition at line 46 of file visualize_xodr.py.

road_name

visualize_xodr.road_name = road.get("name", "")

Definition at line 35 of file visualize_xodr.py.

root

visualize_xodr.root = tree.getroot()

Definition at line 29 of file visualize_xodr.py.

tree

visualize_xodr.tree = ET.parse(xodr_file_path)

Definition at line 28 of file visualize_xodr.py.

x

visualize_xodr.x = float(geometry.get("x"))

Definition at line 38 of file visualize_xodr.py.

xodr_file_path

string visualize_xodr.xodr_file_path = "xodr_map.xodr"

Definition at line 27 of file visualize_xodr.py.

y

visualize_xodr.y = float(geometry.get("y"))

Definition at line 39 of file visualize_xodr.py.