Module Planning

Planning Problem

PlanningProblem class

class commonocean.planning.planning_problem.PlanningProblem(planning_problem_id: int, initial_state: CustomState, goal_region: GoalRegion, waypoints: Optional[List[GoalRegion]] = None, max_lateral_deviation: Optional[float] = None)

generate_reference_points_from_waypoint()

returns the centers of the waypoint goals as list

property goal: GoalRegion

Region that has to be reached

goal_reached(trajectory: Trajectory) → Tuple[bool, int]

Checks if the goal region defined in the planning problem is reached by any state of a given trajectory

Parameters:

trajectory – trajectory to test

Returns:

Tuple: (True, index of first state in trajectory.state_list that reaches goal) if one state reaches the goal. (False, -1) if no state reaches the goal.

property initial_state: CustomState

Initial state of the ego vehicle

property max_lateral_deviation: float

waypoints of a planning problem

property planning_problem_id: int

Id of the planning problem

translate_rotate(translation: ndarray, angle: float)

translate and rotates the planning problem with given translation and angle around the origin (0, 0)

Parameters:

• translation – translation vector [x_off, y_off] in x- and y-direction

• angle – rotation angle in radian (counter-clockwise)

property waypoints: List[GoalRegion]

waypoints of a planning problem

PlanningProblemSet class

class commonocean.planning.planning_problem.PlanningProblemSet(planning_problem_list: Union[None, List[PlanningProblem]] = None)

add_planning_problem(planning_problem: PlanningProblem)

Adds the given planning problem to self.planning_problem_list

Parameters:

planning_problem – Planning problem to add

find_planning_problem_by_id(planning_problem_id: int) → PlanningProblem

Searches in planning_problem_dict for a planning problem with the given id. Returns the planning problem or raises error, if id cannot be found.

Parameters:

planning_problem_id – id to find

Returns:

Planning problem with id planning_problem_id, Raises key error, if id not in the dict.

property planning_problem_dict: Dict[int, PlanningProblem]

Dict that contains all PlanningProblems that are added. Keys: Ids of planning problems

translate_rotate(translation: ndarray, angle: float)

translate and rotates the planning problem set with given translation and angle around the origin (0, 0)

Parameters:

• translation – translation vector [x_off, y_off] in x- and y-direction

• angle – rotation angle in radian (counter-clockwise)

Goal Region

GoalRegion class

class commonocean.planning.goal.GoalRegion(state_list: List[GeneralState], waters_of_goal_position: Union[None, Dict[int, List[int]]] = None)

is_reached(state: GeneralState) → bool

Checks if a given state is inside the goal region.

Parameters:

state – state with exact values

Returns:

True, if state fulfills all requirements of the goal region. False if at least one requirement of the goal region is not fulfilled.

property state_list: List[GeneralState]

List that contains all goal states

translate_rotate(translation: ndarray, angle: float)

translate and rotates the goal region with given translation and angle around the origin (0, 0)

Parameters:

• translation – translation vector [x_off, y_off] in x- and y-direction

• angle – rotation angle in radian (counter-clockwise)

property waters_of_goal_position: Union[None, Dict[int, List[int]]]

Dict that contains the index of the state in the state_list to which the waters belong. None, if goal position is not a water