Module costs¶
evaluation¶
This module implements cost functions of the Commonroad Benchmark. More details can be found here in the cost function documentation https://gitlab.lrz.de/tum-cps/commonroad-cost-functions/-/blob/master/costFunctions_commonRoad.pdf.
- class PartialCostFunction(value)[source]¶
See https://gitlab.lrz.de/tum-cps/commonroad-cost-functions/-/blob/master/costFunctions_commonRoad.pdf for more details.
A: Acceleration, J: Jerk, Jlat: Lateral Jerk, Jlon: Longitudinal Jerk, SA: Steering Angle, SR: Steering Rate, Y: Yaw Rate, LC: Lane Center Offset, V: Velocity Offset, Vlon: Longitudinal Velocity Offset, O: Orientation Offset, D: Distance to Obstacles, L: Path Length, T: Time, ID: Inverse Duration,
- A = 'A'¶
- J = 'J'¶
- Jlat = 'Jlat'¶
- Jlon = 'Jlon'¶
- SA = 'SA'¶
- SR = 'SR'¶
- Y = 'Y'¶
- LC = 'LC'¶
- V = 'V'¶
- Vlon = 'Vlon'¶
- O = 'O'¶
- D = 'D'¶
- L = 'L'¶
- T = 'T'¶
- ID = 'ID'¶
- class CostFunctionEvaluator(cost_function_id: commonroad.common.solution.CostFunction, vehicle_type: commonroad.common.solution.VehicleType)[source]¶
-
- property required_properties¶
- evaluate_pp_solution(cr_scenario: commonroad.scenario.scenario.Scenario, cr_pproblem: commonroad.planning.planning_problem.PlanningProblem, trajectory: commonroad.scenario.trajectory.Trajectory, draw_lanelet_path=False, debug_plot=False)[source]¶
Computes costs of one solution for cr_pproblem.
- Parameters
cr_scenario – scenario
cr_pproblem – planning problem that is solved by trajectory
trajectory – solution trajectory
draw_lanelet_path – optionally visualize the detected lanelet path with respect to whose some parameters for the cost computation are determined (only useful for development).
debug_plot – show plot in case a trajectory cannot be transformed to curvilinear coordinates.
- Returns
result of evaluation
- evaluate_solution(scenario: commonroad.scenario.scenario.Scenario, cr_pproblems: commonroad.planning.planning_problem.PlanningProblemSet, solution: commonroad.common.solution.Solution) commonroad_dc.costs.evaluation.SolutionResult [source]¶
Computes costs for all solutions of a planning problem set.
- Parameters
scenario – scenario that was solved
cr_pproblems – planning problem set that was solved
solution – Solution object that contains trajectories
- Returns
SolutionResult object that contains partial and total costs
- class PlanningProblemCostResult(cost_function_id: commonroad.common.solution.CostFunction, solution_id: int)[source]¶
- property total_costs: float¶
- add_partial_costs(pcf: commonroad_dc.costs.evaluation.PartialCostFunction, cost: float, weight)[source]¶
- class SolutionResult(benchmark_id: str, pp_results: List[commonroad_dc.costs.evaluation.PlanningProblemCostResult] = ())[source]¶
- add_results(pp_result: commonroad_dc.costs.evaluation.PlanningProblemCostResult)[source]¶