Tutorials

The following code examples are available as Jupyter Notebooks in tutorials/. To execute the tutorials, run following commands in your terminal:

1. Open your console in the root folder of the CommonOcean Drivability Checker.

2. Activate your environment with

$ conda activate co38
$ cd tutorials/
$ jupyter notebook name_of_notebook

Note that you have to replace

• co38 with the name of your Anaconda environment.

• name_of_notebook, e.g., with 01_python_wrapper.ipynb.

• Tutorial 01: Python Wrapper
  • 1. Creating Basic Geometric Shapes
  • 2: Performing Collision Checks Between Basic Shapes
  • 3: Creating Groups of Shapes
  • 4: Time-variant Obstacles
  • 5: Creating a Collision Checker
  • 5: Intersection Between Segments and Obstacles
• Tutorial 02: CommonOcean-io Interface
  • 1. Converting CommonOcean Objects to Collision Objects
  • 2. Creating a Collision Checker from the Scenario
  • 3. Minkowski Sum
  • 4. Extra: Checking if your object has the right depth
• Tutorial 03: Waters compliance checking
  • 1. Load the scenario
  • 2. Build the waters boundary
    • 2.1. Waters Boundary Collision Check
    • 2.1.1. Delaunay Triangulation
    • 2.1.2. Axis-Aligned Triangles (Horizontal)
    • 2.1.3. Axis-Aligned Triangles (Vertical)
    • 2.1.4. Oriented Rectangles
  • 2.2. Occupancy Inclusion
    • 2.2.1. Lane Polygons
    • 2.2.2. Polygons with Holes (Grid)
    • 2.2.3. Polygons with Holes
    • 2.2.4. Analogy for the Shallows of the Scenario
  • 2.3. Shallow overlapping
  • 3. Check if the trajectory is within the water
    • 3.1. Select part of the trajectory for compliance checks
    • Approach 1: Road boundary collision checks
      • Triangulation
      • Oriented Rectangles
    • Approach 2: Occupancy Inclusion
      • Polygons with holes (grid)
  • 4. Minkowski sum for road boundary
• Tutorial 04: Feasibility Checking Using CommonOcean Vessel Models
  • 1 Necessary imports
  • 2 Functionalities of the Feasibility Checker
    • 2.1 Forward simulation of inputs
    • 2.2 Checking the feasibility of state transitions
    • 2.3 Checking the feasibility of trajectories
• Tutorial 05: Collision Checks With Dynamic Obstacles
  • 1. Necessary imports
  • 2. Collision checks
  • 2.1. Check if trajectory is within the road (static collision checking)
  • 2.2. Dynamic collision checking
• Tutorial 06: CommonOcean Curvilinear Coordinatesystem
  • 1. Preparation
  • 2. Load CommonRoad scenario
  • 3. Create a reference path for the coordinate system
  • 4. Create the curvilinear coordinate system
  • 5. Project position onto curvilinear frame
• Tutorial 07: Evaluate solution using cost functions