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 ¶
- 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.