System Requirements

The software is written in Python 3.6/3.7 and tested on MacOs and Linux. The usage of the Anaconda Python distribution is strongly recommended. The requirements are a C++11 compiler and CMake. The requirements for the Python wrapper are C++11 compiler, CMake, and min. Python 3.6 with development headers. The following minimum versions of CMake and pip are required:

• CMake: version 3.10 or above

• Pip: version 21.3 or above

If you are a Mac user, we additionally recommend you to use Homebrew, allowing you to install required dependencies such as Eigen.

Essential Third Party Libraries and Packages

The CommonRoad Drivability Checker depends on following third party libraries and Python packages:

Third-party libraries

• Box2D

• FCL – The Flexible Collision Library

• libccd

• Eigen3

• Boost

• pybind11

• OpenMP (for the geometry submodule)

• Pandoc (for the documentation)

• Doxygen (for the documentation)

Python packages (see also requirements file)

• commonroad-io (>=2020.2)

• commonroad-vehicle-models (>=1.0.0)

• numpy (>=1.19)

• Shapely (>=1.6.4)

• matplotlib (>=3.2.2)

• Jupyter (>=1.0.0, for the tutorials)

• Triangle (>=20200424)

• scipy (>=1.4.1)

• pandoc (>=1.0.2)

• sphinx_rtd_theme (>=0.4.3)

• sphinx (>=3.0.3)

• nbsphinx_link (>=1.3.0)

• nbsphinx (>=0.6.1)

• breathe (>=4.18.0)

• polygon3 (>=3.0.8)

Optional Third Party Libraries

One can optionally modify our C++ library to use a plugin for fast triangulation of polygons which uses the CGAL library:

• CGAL

For serialization, we use the s11n libary:

• s11n