Python Bindings pycrcc¶

`Point` class¶

class Point¶

__getstate__(self: commonroad_dc.pycrcc.CollisionObject) → tuple¶

__init__(self: commonroad_dc.pycrcc.Point, x: float, y: float) → None¶

__setstate__(self: commonroad_dc.pycrcc.Point, arg0: tuple) → None¶

center(self: commonroad_dc.pycrcc.Point) → numpy.ndarray¶

collide(self: commonroad_dc.pycrcc.Point, arg0: commonroad_dc.pycrcc.CollisionObject) → bool¶

`RectAABB` class¶

class RectAABB¶

__getstate__(self: commonroad_dc.pycrcc.CollisionObject) → tuple¶

__init__(self: commonroad_dc.pycrcc.RectAABB, width/2: float, height/2: float, center x: float, center y: float) → None¶

__setstate__(self: commonroad_dc.pycrcc.RectAABB, arg0: tuple) → None¶

__str__(self: commonroad_dc.pycrcc.RectAABB) → str¶

collide(self: commonroad_dc.pycrcc.RectAABB, arg0: commonroad_dc.pycrcc.CollisionObject) → bool¶

draw(self: commonroad_dc.pycrcc.RectAABB, renderer: object, draw_params: object = None, callstack: object = ()) → None¶

max_x(self: commonroad_dc.pycrcc.RectAABB) → float¶

max_y(self: commonroad_dc.pycrcc.RectAABB) → float¶

min_x(self: commonroad_dc.pycrcc.RectAABB) → float¶

min_y(self: commonroad_dc.pycrcc.RectAABB) → float¶

set_all(self: commonroad_dc.pycrcc.RectAABB, arg0: float, arg1: float, arg2: float, arg3: float) → None¶

`RectOBB` class¶

class RectOBB¶

__getstate__(self: commonroad_dc.pycrcc.CollisionObject) → tuple¶

__init__(self: commonroad_dc.pycrcc.RectOBB, width/2: float, height/2: float, orientation: float, center x: float, center y: float) → None¶

__setstate__(self: commonroad_dc.pycrcc.RectOBB, arg0: tuple) → None¶

__str__(self: commonroad_dc.pycrcc.RectOBB) → str¶

center(self: commonroad_dc.pycrcc.RectOBB) → numpy.ndarray¶

collide(self: commonroad_dc.pycrcc.RectOBB, arg0: commonroad_dc.pycrcc.CollisionObject) → bool¶

draw(self: commonroad_dc.pycrcc.RectOBB, renderer: object, draw_params: object = None, callstack: object = ()) → None¶

local_x_axis(self: commonroad_dc.pycrcc.RectOBB) → numpy.ndarray¶

local_y_axis(self: commonroad_dc.pycrcc.RectOBB) → numpy.ndarray¶

merge(self: commonroad_dc.pycrcc.RectOBB, arg0: commonroad_dc.pycrcc.RectOBB) → commonroad_dc.pycrcc.RectOBB¶

orientation(self: commonroad_dc.pycrcc.RectOBB) → float¶: OBB orientation

r_x(self: commonroad_dc.pycrcc.RectOBB) → float¶: Positive halfwidth extent of OBB along local x-axis

r_y(self: commonroad_dc.pycrcc.RectOBB) → float¶: Positive halfwidth extent of OBB along local y-axis

set_center(self: commonroad_dc.pycrcc.RectOBB, arg0: float, arg1: float) → None¶

`Triangle` class¶

class Triangle¶

__getstate__(self: commonroad_dc.pycrcc.CollisionObject) → tuple¶

__init__(self: commonroad_dc.pycrcc.Triangle, x1: float, y1: float, x2: float, y2: float, x3: float, y3: float) → None¶

__setstate__(self: commonroad_dc.pycrcc.Triangle, arg0: tuple) → None¶

__str__(self: commonroad_dc.pycrcc.Triangle) → str¶

collide(self: commonroad_dc.pycrcc.Triangle, arg0: commonroad_dc.pycrcc.CollisionObject) → bool¶

draw(self: commonroad_dc.pycrcc.Triangle, renderer: object, draw_params: object = None, callstack: object = ()) → None¶

vertices(self: commonroad_dc.pycrcc.Triangle) → list¶

`Circle` class¶

class Circle¶

__getstate__(self: commonroad_dc.pycrcc.CollisionObject) → tuple¶

__init__(self: commonroad_dc.pycrcc.Circle, radius: float, center x: float, center y: float) → None¶

__setstate__(self: commonroad_dc.pycrcc.Circle, arg0: tuple) → None¶

center(self: commonroad_dc.pycrcc.Circle) → numpy.ndarray¶

collide(self: commonroad_dc.pycrcc.Circle, arg0: commonroad_dc.pycrcc.CollisionObject) → bool¶

draw(self: commonroad_dc.pycrcc.Circle, renderer: object, draw_params: object = None, callstack: object = ()) → None¶

r(self: commonroad_dc.pycrcc.Circle) → float¶: radius of the circle

x(self: commonroad_dc.pycrcc.Circle) → float¶: x-coordinate of center

y(self: commonroad_dc.pycrcc.Circle) → float¶: y-coordinate of center

`Polygon` class¶

class Polygon¶

__getstate__(self: commonroad_dc.pycrcc.CollisionObject) → tuple¶

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self: commonroad_dc.pycrcc.Polygon, outer_boundary: List[List[float[2]]], holes: List[List[List[float[2]]]], triangle mesh: list) -> None
__init__(self: commonroad_dc.pycrcc.Polygon, arg0: List[List[float[2]]], arg1: List[List[List[float[2]]]]) -> None
__init__(self: commonroad_dc.pycrcc.Polygon, arg0: List[List[float[2]]], arg1: List[List[List[float[2]]]], arg2: int, arg3: float) -> None

__setstate__(self: commonroad_dc.pycrcc.Polygon, arg0: tuple) → None¶

__str__(self: commonroad_dc.pycrcc.Polygon) → str¶

collide(self: commonroad_dc.pycrcc.Polygon, arg0: commonroad_dc.pycrcc.CollisionObject) → bool¶

draw(self: commonroad_dc.pycrcc.Polygon, renderer: object, draw_params: object = None, callstack: object = ()) → None¶

hole_vertices(self: commonroad_dc.pycrcc.Polygon) → list¶

triangle_mesh(self: commonroad_dc.pycrcc.Polygon) → list¶

vertices(self: commonroad_dc.pycrcc.Polygon) → list¶

`TimeVariantCollisionObject` class¶

class TimeVariantCollisionObject¶

__getstate__(self: commonroad_dc.pycrcc.CollisionObject) → tuple¶

__init__(self: commonroad_dc.pycrcc.TimeVariantCollisionObject, time_start_idx: int) → None¶

__setstate__(self: commonroad_dc.pycrcc.TimeVariantCollisionObject, arg0: tuple) → None¶

append_obstacle(self: commonroad_dc.pycrcc.TimeVariantCollisionObject, arg0: commonroad_dc.pycrcc.CollisionObject) → None¶

collide(self: commonroad_dc.pycrcc.TimeVariantCollisionObject, arg0: commonroad_dc.pycrcc.CollisionObject) → bool¶

draw(self: commonroad_dc.pycrcc.TimeVariantCollisionObject, renderer: object, draw_params: object = None, callstack: object = ()) → None¶

obstacle_at_time(self: commonroad_dc.pycrcc.TimeVariantCollisionObject, arg0: int) → commonroad_dc.pycrcc.CollisionObject¶

time_end_idx(self: commonroad_dc.pycrcc.TimeVariantCollisionObject) → int¶

time_start_idx(self: commonroad_dc.pycrcc.TimeVariantCollisionObject) → int¶

`ShapeGroup` class¶

class ShapeGroup¶

__getstate__(self: commonroad_dc.pycrcc.CollisionObject) → tuple¶

__init__(self: commonroad_dc.pycrcc.ShapeGroup) → None¶

__setstate__(self: commonroad_dc.pycrcc.ShapeGroup, arg0: tuple) → None¶

add_shape(self: commonroad_dc.pycrcc.ShapeGroup, arg0: commonroad_dc.pycrcc.Shape) → None¶

collide(self: commonroad_dc.pycrcc.ShapeGroup, arg0: commonroad_dc.pycrcc.CollisionObject) → bool¶

draw(self: commonroad_dc.pycrcc.ShapeGroup, renderer: object, draw_params: object = None, callstack: object = ()) → None¶

overlap(self: commonroad_dc.pycrcc.ShapeGroup, arg0: commonroad_dc.pycrcc.ShapeGroup) → list¶

overlap_map(self: commonroad_dc.pycrcc.ShapeGroup, arg0: commonroad_dc.pycrcc.ShapeGroup) → dict¶

size(self: commonroad_dc.pycrcc.ShapeGroup) → int¶

unpack(self: commonroad_dc.pycrcc.ShapeGroup) → list¶

window_query(self: commonroad_dc.pycrcc.ShapeGroup, arg0: commonroad_dc.pycrcc.RectAABB) → commonroad_dc.pycrcc.ShapeGroup¶

`CollisionChecker` class¶

class CollisionChecker¶

__getstate__(self: commonroad_dc.pycrcc.CollisionChecker) → tuple¶

__init__(self: commonroad_dc.pycrcc.CollisionChecker) → None¶

__setstate__(self: commonroad_dc.pycrcc.CollisionChecker, arg0: tuple) → None¶

__str__(self: commonroad_dc.pycrcc.CollisionChecker) → str¶

add_collision_object(self: commonroad_dc.pycrcc.CollisionChecker, arg0: commonroad_dc.pycrcc.CollisionObject) → None¶

any_collides(self: commonroad_dc.pycrcc.CollisionChecker, arg0: list) → bool¶

clone(self: commonroad_dc.pycrcc.CollisionChecker) → commonroad_dc.pycrcc.CollisionChecker¶

collide(self: commonroad_dc.pycrcc.CollisionChecker, arg0: commonroad_dc.pycrcc.CollisionObject) → bool¶

draw(self: commonroad_dc.pycrcc.CollisionChecker, renderer: object, draw_params: object = None, callstack: object = ()) → None¶

find_all_colliding_objects(self: commonroad_dc.pycrcc.CollisionChecker, arg0: commonroad_dc.pycrcc.CollisionObject) → list¶

number_of_obstacles(self: commonroad_dc.pycrcc.CollisionChecker) → int¶

obstacles(self: commonroad_dc.pycrcc.CollisionChecker) → list¶

raytrace(self: commonroad_dc.pycrcc.CollisionChecker, arg0: float, arg1: float, arg2: float, arg3: float, arg4: bool) → list¶

time_slice(self: commonroad_dc.pycrcc.CollisionChecker, arg0: int) → commonroad_dc.pycrcc.CollisionChecker¶

window_query(self: commonroad_dc.pycrcc.CollisionChecker, arg0: commonroad_dc.pycrcc.RectAABB) → commonroad_dc.pycrcc.CollisionChecker¶

`OBBTrajectoryBatch` class¶

class OBBTrajectoryBatch¶

__init__(self: commonroad_dc.pycrcc.OBBTrajectoryBatch, arg0: numpy.ndarray[numpy.float64[m, n], flags.c_contiguous], arg1: numpy.ndarray[numpy.int32[m, 1]], arg2: float, arg3: float) → None¶: See 05_collision_checks_dynamic_obstacles.ipynb for an initialization example.

preprocess_(self: commonroad_dc.pycrcc.OBBTrajectoryBatch) → int¶: Preprocesses each trajectory using OBB sum hull (for continuous collision detection). The occupancies of the OBB boxes for two subsequent states are overapproximated with a tightly fitting OBB box. It is an in-place operation.

to_tvobstacle(self: commonroad_dc.pycrcc.OBBTrajectoryBatch) → list¶: Returns a list of TimeVariantCollisionObjects corresponding to the OBB trajectory batch.

Python Bindings pycrcc¶

Point class¶

RectAABB class¶

RectOBB class¶

Triangle class¶

Circle class¶

Polygon class¶

TimeVariantCollisionObject class¶

ShapeGroup class¶

CollisionChecker class¶

OBBTrajectoryBatch class¶