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CommonRoad Route Planner

The CommonRoad route planner plans high-level routes and their respective reference paths on the lanelet network of a CommonRoad scenarios. The routes and reference paths can be used motion planners (e.g. Commonroad ReactivePlanner), especially when planning in Frenet-Frame.

general_picture
Installation:
pip install commonroad-route-planner

A minimal code example: 

# commonrad
from commonroad.common.file_reader import CommonRoadFileReader

# Own Code base
import commonroad_route_planner.fast_api.fast_api as fast_api

def main(path_to_xml: str, save_imgs: bool = False, save_path: str = ""):
    # Load the CommonRoad Scenario Object
    scenario, planning_problem_set = CommonRoadFileReader(
        f"{path_to_xml}"
    ).open()

    # retrieve the first planning problem in the problem set
    planning_problem = list(planning_problem_set.planning_problem_dict.values())[0]


    # get reference path
    reference_path = fast_api.generate_reference_path_from_lanelet_network_and_planning_problem(
               lanelet_network=scenario.lanelet_network,
               planning_problem=planning_problem
     )



if __name__ == "__main__":
    path_to_xml: str = "absolute/path/to/cr/xml.xml"
    save_path: str = "absolute/path/to/saving/dir"
    main(save_imgs=True, path_to_xml=path_to_xml)

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