Data Structures

CollisionChecker

CollisionChecker class

class commonroad_reach.data_structure.collision_checker.CollisionChecker(config)

Collision checker using C++ backend.

It handles collision checks in both Cartesian and curvilinear coordinate systems.

Parameters

config (Configuration) –

static create_scenario_with_road_boundaries(config)

Returns a scenario with obstacles in the Cartesian coordinate system.

Elements included: lanelet network, obstacles, road boundaries.

Return type

Scenario

Parameters

config (Configuration) –

static create_cartesian_collision_checker_from_scenario(scenario, params)

Return type

CollisionChecker

Parameters

• scenario (Scenario) –

• params (Dict) –

static retrieve_static_obstacles(scenario, lanelet_network, consider_traffic)

Returns the list of static obstacles.

The static obstacles include static road traffic (obtained from scenario object) and road boundaries (obtained from lanelet_network object).

Return type

List[StaticObstacle]

Parameters

• scenario (Scenario) –

• lanelet_network (LaneletNetwork) –

• consider_traffic (bool) –

static obtain_vertices_of_polygons_from_static_obstacles(list_obstacles_static)

Returns the vertices of polygons from a given list of static obstacles.

Parameters

list_obstacles_static (List[StaticObstacle]) –

obtain_vertices_of_polygons_for_dynamic_obstacles(list_obstacles_dynamic, consider_traffic)

Returns the vertices of polygons from a given list of dynamic obstacles.

Parameters

• list_obstacles_dynamic (List[DynamicObstacle]) –

• consider_traffic (bool) –

collides_at_step(step, input_rectangle)

Returns true if the input rectangle collides with obstacles in the scenario at the given step.

Creating a query windows significantly decreases computation time.

Return type

bool

Parameters

• step (int) –

• input_rectangle (ReachPolygon) –

static convert_reach_polygon_to_collision_object(input_rectangle)

Converts a reach polygon object into a collision object of CommonRoad Drivability Checker.

Return type

RectAABB

Parameters

input_rectangle (ReachPolygon) –

Configuration

Configuration class

class commonroad_reach.data_structure.configuration.Configuration(config_omega)

Class holding all relevant configurations.

Parameters

config_omega (Union[ListConfig, DictConfig]) –

update(scenario=None, planning_problem=None, idx_planning_problem=0, state_initial=None, goal_region=None, CLCS=None, list_ids_lanelets=None)

Updates configuration based on the given attributes.

Possible ways of completing the configuration:

1. Empty attributes: loads scenario and planning problem from the xml files, computes route and CLCS

2. Scenario + planning problem (+ initial state): computes route and CLCS

3. Scenario + initial state + goal region: computes route and CLCS

4. Scenario + initial state + CLCS: retrieve reference path from CLCS

Additionally, a list of lanelet IDs (e.g., from a given route) can be passed to restrict the reachable set computation a-priori to a desired set of lanelets.

Parameters

• scenario (Optional[Scenario]) –

• planning_problem (Optional[PlanningProblem]) –

• idx_planning_problem (int) –

• state_initial (Optional[State]) –

• goal_region (Optional[GoalRegion]) –

• CLCS (Optional[CurvilinearCoordinateSystem]) –

• list_ids_lanelets (Optional[List[int]]) –

print_configuration_summary()

Prints a summary of the configuration.

save(path_save, name_file)

Saves configuration to a yaml file.

Parameters

• path_save (str) –

• name_file (str) –

convert_to_cpp_configuration()

Converts to a configuration that is readable by the C++ binding code.

Return type

Configuration

ConfigurationBuilder

ConfigurationBuilder class

class commonroad_reach.data_structure.configuration_builder.ConfigurationBuilder

Class to build a configuration.

path_root: str = None

path_config: str = None

path_config_default: str = None

classmethod build_configuration(name_scenario, path_root=None, dir_config='configurations', dir_config_default='defaults')

Builds configuration from default, scenario-specific, and commandline config files.

Parameters

• name_scenario (str) – name of the considered scenario

• path_root (Optional[str]) – root path of the package

• dir_config (str) – directory storing configurations

• dir_config_default (str) – directory storing default configurations

Return type

Configuration

Returns

built configuration

classmethod set_paths(path_root, dir_config, dir_config_default)

Sets necessary paths of the configuration builder.

Parameters

• path_root (str) – root directory

• dir_config (str) – directory storing configurations

• dir_config_default (str) – directory storing default configurations

classmethod construct_default_configuration()

Constructs default configuration by accumulating yaml files.

Collects all configuration files ending with ‘.yaml’ in the directory storing default configurations.

Return type

Union[ListConfig, DictConfig]

classmethod convert_to_absolute_paths(config_default)

Converts relative paths to absolute paths.

Return type

Union[ListConfig, DictConfig]

Parameters

config_default (Union[ListConfig, DictConfig]) –

classmethod construct_scenario_configuration(name_scenario)

Constructs scenario-specific configuration.

Return type

Union[DictConfig, ListConfig]

Parameters

name_scenario (str) –

RegularGrid

RegularGrid RegularGrid

class commonroad_reach.data_structure.regular_grid.RegularGrid(ll, ur, collision_checker, dx, dy, planning_config, a_lon, a_lat, t_f, grid_shapes)

Class for computing uniformly spatial partitioned grid of obstacles.

Parameters

• ll (Dict[int, ndarray]) –

• ur (Dict[int, ndarray]) –

• collision_checker (CollisionChecker) –

• dx (float) –

• dy (float) –

• planning_config (PlanningConfiguration) –

• a_lon (float) –

• a_lat (float) –

• t_f (float) –

• grid_shapes (Dict[int, Tuple[int, int]]) –

occupancy_grid_at_step(step, translate_reachset)

Get occupancy matrix defined over regular grid with 0 = occupied, 1 = free space.

Parameters

• step (int) – step of evaluation

• translate_reachset (ndarray) – translation of reachable set

Return type

ndarray

Grid class

class commonroad_reach.data_structure.regular_grid.Grid(x_min, x_max, y_min, y_max, size_grid)

Cartesian grid for discretizing reachable sets in the graph-based propagation method.

Parameters

• x_min (float) –

• x_max (float) –

• y_min (float) –

• y_max (float) –

• size_grid (float) –

Cell class

class commonroad_reach.data_structure.regular_grid.Cell(x_min, x_max, y_min, y_max)

Class representing a cell in a grid.

Parameters

• x_min (float) –

• x_max (float) –

• y_min (float) –

• y_max (float) –

cnt_id: int = 0

SegmentTree

CounterSegmentTree class

class commonroad_reach.data_structure.segment_tree.CounterSegmentTree(low, high)

Segment tree to hold nodes (segments) of intervals.

Each leaf in this tree has a counter of times it has been activated.

Parameters

• low (int) –

• high (int) –

activate(low, high)

Activates the root node for the input interval [low, high].

Parameters

• low (int) –

• high (int) –

deactivate(low, high)

Deactivates the root node for the input interval [low, high].

Parameters

• low (int) –

• high (int) –

get_active_nodes()

Returns the list of nodes whose status is ACTIVE.

get_stack_of_active_intervals()

Returns the stack of currently active intervals.

Note

Stack is in the form of [low1, high1, low2, high2, ..]. When pushing into the stack, intervals are merged where applicable (e.g. low2 == high1).

Example:

• [5, 10] => push TreeNode(low = 10, high = 15) => [5 ,15]

print_active_nodes()

get_non_active_intervals(low, high)

Returns the non-active intervals starting from the root node.

Parameters

• low (int) –

• high (int) –

static add_node_interval_to_stack(low, high, stack)

Updates the stack containing the complement intervals.

Note

The intervals are merged.

Example:

1. stack = []

2. called with (5, 10) -> stack = [5, 10]

3. called with (10, 15) -> stack = [5, 15]

4. called with (18, 20) -> stack = [5, 15, 18, 20]

Parameters

• low (int) –

• high (int) –

• stack (List) –

CounterTreeNode class

class commonroad_reach.data_structure.segment_tree.CounterTreeNode(low, high)

Each node represents a segment on the axis.

Each segment is defined with an interval [low, high]. The counter represents the number of times it has been activated. Its potential left and right children have intervals [low, mid] and [mid, high], respectively.

Parameters

• low (int) –

• high (int) –

create_left_child()

create_right_child()

activate()

deactivate()

update_status()

all_children_active()

Return type

bool

all_children_non_active()

Return type

bool

enclosed_by_interval(low, high)

Returns whether the node is fully enclosed by the interval [low, high].

Return type

bool

Parameters

• low (int) –

• high (int) –

ToggleSegmentTree class

class commonroad_reach.data_structure.segment_tree.ToggleSegmentTree(low, high)

Segment tree to hold nodes (segments) of intervals.

The states of leaves in this tree can be toggled.

Parameters

• low (int) –

• high (int) –

toggle(low, high)

toggles the root node.

Parameters

• low (int) –

• high (int) –

get_active_nodes()

Returns the list of nodes whose status is ACTIVE.

get_stack_of_active_intervals()

Returns the stack of currently active intervals.

Note

Stack is in the form of [low1, high1, low2, high2, ..]. When pushing into the stack, intervals are merged where applicable (e.g. low2 == high1).

Example:

• [5, 10] => push TreeNode(low = 10, high = 15) => [5 ,15]

print_active_nodes()

ToggleTreeNode class

class commonroad_reach.data_structure.segment_tree.ToggleTreeNode(low, high, status=TreeNodeStatus.NONACTIVE)

Each node represents a segment on the axis.

Each segment is defined with an interval [low, high]. The node only has a state, which is not based on counters. Its potential left and right children have intervals [low, mid] and [mid, high], respectively.

Parameters

• low (int) –

• high (int) –

create_left_child(status)

create_right_child(status)

toggle()

Toggles the state of the node.

update_status()

all_children_non_active()

Return type

bool

all_children_active()

Return type

bool

enclosed_by_interval(low, high)

Returns whether the node is fully enclosed by the interval [low, high].

Return type

bool

Parameters

• low (int) –

• high (int) –

TreeNodeStatus class

class commonroad_reach.data_structure.segment_tree.TreeNodeStatus(value)

Possible states of nodes representing segments.

• ACTIVE: segment fully activated (entire [low, high])

• PARTIAL: segment partially activated (subset of [low, high])

• NONACTIVE: segment not activated (none within [low, high])

ACTIVE = 1

PARTIAL = 2

NONACTIVE = 3