scenic.core.scenarios

Scenario and scene objects.

Summary of Module Members

Classes

Scenario

A compiled Scenic scenario, from which scenes can be sampled.

Scene

A scene generated from a Scenic scenario.

Member Details

class Scene[source]

A scene generated from a Scenic scenario.

To run a dynamic simulation from a scene, create an instance of Simulator for the simulator you want to use, and pass the scene to its simulate method.

Attributes
  • objects (tuple of Object) – All objects in the scene. The ego object is first.

  • egoObject (Object) – The ego object.

  • params (dict) – Dictionary mapping the name of each global parameter to its value.

  • workspace (Workspace) – Workspace for the scenario.

show(zoom=None, block=True)[source]

Render a schematic of the scene for debugging.

class Scenario[source]

A compiled Scenic scenario, from which scenes can be sampled.

generate(maxIterations=2000, verbosity=0, feedback=None)[source]

Sample a Scene from this scenario.

Parameters
  • maxIterations (int) – Maximum number of rejection sampling iterations.

  • verbosity (int) – Verbosity level.

  • feedback (float) – Feedback to pass to external samplers doing active sampling. See scenic.core.external_params.

Returns

A pair with the sampled Scene and the number of iterations used.

Raises

RejectionException – if no valid sample is found in maxIterations iterations.

resetExternalSampler()[source]

Reset the scenario’s external sampler, if any.

If the Python random seed is reset before calling this function, this should cause the sequence of generated scenes to be deterministic.