Module Planning

Planning Problem

PlanningProblem class

class commonroad.planning.planning_problem.PlanningProblem(planning_problem_id, initial_state, goal_region)[source]
draw(renderer, draw_params=None)[source]

Draw the object

Parameters:
Returns:

None

property goal: GoalRegion

Region that has to be reached

goal_reached(trajectory)[source]

Checks if the goal region defined in the planning problem is reached by any state of a given trajectory

Parameters:

trajectory (Trajectory) – trajectory to test

Return type:

Tuple[bool, int]

Returns:

Tuple: (True, index of first state in trajectory.state_list that reaches goal) if one state reaches the goal. (False, -1) if no state reaches the goal.

property initial_state: InitialState

Initial state of the ego vehicle

property planning_problem_id: int

Id of the planning problem

translate_rotate(translation, angle)[source]

translate and rotates the planning problem with given translation and angle around the origin (0, 0)

Parameters:

  • translation (ndarray) – translation vector [x_off, y_off] in x- and y-direction

  • angle (float) – rotation angle in radian (counter-clockwise)

PlanningProblemSet class

class commonroad.planning.planning_problem.PlanningProblemSet(planning_problem_list=None)[source]
add_planning_problem(planning_problem)[source]

Adds the given planning problem to self.planning_problem_list

Parameters:

planning_problem (PlanningProblem) – Planning problem to add

draw(renderer, draw_params=None)[source]

Draw the object

Parameters:
Returns:

None

find_planning_problem_by_id(planning_problem_id)[source]

Searches in planning_problem_dict for a planning problem with the given id. Returns the planning problem or raises error, if id cannot be found.

Parameters:

planning_problem_id (int) – id to find

Return type:

PlanningProblem

Returns:

Planning problem with id planning_problem_id, Raises key error, if id not in the dict.

property planning_problem_dict: Dict[int, PlanningProblem]

Dict that contains all PlanningProblems that are added. Keys: Ids of planning problems

translate_rotate(translation, angle)[source]

translate and rotates the planning problem set with given translation and angle around the origin (0, 0)

Parameters:

  • translation (ndarray) – translation vector [x_off, y_off] in x- and y-direction

  • angle (float) – rotation angle in radian (counter-clockwise)

Goal Region

GoalRegion class

class commonroad.planning.goal.GoalRegion(state_list, lanelets_of_goal_position=None)[source]
draw(renderer, draw_params=None)[source]

Draw the object

Parameters:

  • renderer (IRenderer) – Renderer to use for drawing

  • draw_params (Union[OccupancyParams, MPDrawParams, None]) – optional parameters for plotting, overriding the parameters of the renderer

Returns:

None

is_reached(state)[source]

Checks if a given state is inside the goal region.

Parameters:

state (Union[State, InitialState, PMState, KSState, KSTState, STState, STDState, MBState, InputState, PMInputState, LateralState, LongitudinalState, CustomState, ExtendedPMState]) – state with exact values

Return type:

bool

Returns:

True, if state fulfills all requirements of the goal region. False if at least one requirement of the goal region is not fulfilled.

property lanelets_of_goal_position: None | Dict[int, List[int]]

Dict that contains the index of the state in the state_list to which the lanelets belong. None, if goal position is not a lanelet

property state_list: List[State | InitialState | PMState | KSState | KSTState | STState | STDState | MBState | InputState | PMInputState | LateralState | LongitudinalState | CustomState | ExtendedPMState]

List that contains all goal states

translate_rotate(translation, angle)[source]

translate and rotates the goal region with given translation and angle around the origin (0, 0)

Parameters:

  • translation (ndarray) – translation vector [x_off, y_off] in x- and y-direction

  • angle (float) – rotation angle in radian (counter-clockwise)

Trajectory Planner Interface

TrajectoryPlannerInterface class

class commonroad.planning.planner_interface.TrajectoryPlannerInterface[source]

Base class for trajectory planner.

plan(sc, pp, ref_path=None)[source]

Interface method for planning.

Parameters:

  • sc (Scenario) – CommonRoad scenario.

  • pp (PlanningProblem) – CommonRoad planning problem.

  • ref_path (Optional[ndarray]) – Reference path which the trajectory planner should follow.

Return type:

Trajectory

Returns:

CommonRoad trajectory.