Tutorial 07: Evaluate solution using cost functions

With our implementation of the cost functions from the CommonRoad benchmark, solutions of scenarios can be assessed locally before submitting them. More details about the cost functions can be found here.

import os
from commonroad.common.file_reader import CommonRoadFileReader
from commonroad.common.solution import CommonRoadSolutionReader
from commonroad_dc.costs.evaluation import CostFunctionEvaluator

path = os.path.abspath("")

The solution object can either be read from a Commonroad solution xml file (this tutorial shows how to create one), or can be created on the fly from a Trajectory. In this example we use an xml file:

solution = CommonRoadSolutionReader.open(os.path.join(path, "example_solution_tutorial_cost_functions.xml"))
scenario, planning_problem_set = CommonRoadFileReader(os.path.join(path, "DEU_Guetersloh-36_1_T-1.xml")).open()

ce = CostFunctionEvaluator.init_from_solution(solution)
cost_result = ce.evaluate_solution(scenario, planning_problem_set, solution)

print(cost_result)

Total costs for benchmark KS2:SM1:DEU_Guetersloh-36_1_T-1:2020a:
1402.0266741781913
Partial costs for solution of planning problem 1:
A:      1386.666666666668
SA:     2.6351885203703707
SR:     11.153123703703699
L:      0.31943261087593494
V:      0.0
O:      1.2522626765733225

/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 1 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 2 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 3 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 4 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 5 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 6 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 7 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 8 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 9 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 10 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 11 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 12 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 13 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 14 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 15 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 16 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 17 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 18 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 19 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 20 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 21 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 22 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 23 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 24 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 25 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 26 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 27 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 28 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 29 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 30 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 31 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 32 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 33 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 34 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 35 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step 36 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))
/home/gerald/anaconda3/envs/commonroad1/lib/python3.7/site-packages/commonroad/common/reader/file_reader_xml.py:1344: UserWarning: State at time step Interval
start: 33
end: 33
 cannot be matched!
  warnings.warn("State at time step {} cannot be matched!".format(read_time(xml_node.find('time'))))