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, half_width: float, half_height: 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) → 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) → 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) → 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) → 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.

1. __init__(self: commonroad_dc.pycrcc.Polygon, outer_boundary: List[Annotated[List[float], FixedSize(2)]], holes: List[List[Annotated[List[float], FixedSize(2)]]], triangle mesh: list) -> None

2. __init__(self: commonroad_dc.pycrcc.Polygon, arg0: List[Annotated[List[float], FixedSize(2)]], arg1: List[List[Annotated[List[float], FixedSize(2)]]]) -> None

3. __init__(self: commonroad_dc.pycrcc.Polygon, arg0: List[Annotated[List[float], FixedSize(2)]], arg1: List[List[Annotated[List[float], FixedSize(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) → 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) → 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) → 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) → 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.