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Interface

commonroad_control.planning_converter.planning_converter_interface

PlanningConverterInterface

Bases: ABC

Source code in commonroad_control/planning_converter/planning_converter_interface.py 
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class PlanningConverterInterface(ABC):
    def __init__(
        self,
        kb_factory: Union[KBSIDTFactory, Any],
        db_factory: Union[DBSIDTFactory, Any],
        vehicle_params: Union[BMW3seriesParams, Any],
        *args,
        **kwargs,
    ) -> None:
        """
        Interface for the planner converter. The converter converts planner states to and from controller states.
        :param kb_factory: factory for kinematic single track states and inputs
        :param db_factory: factory for dynamic single track states and inputs
        :param vehicle_params: vehicle parameters
        """
        self._kb_factory: Union[KBSIDTFactory, DBSIDTFactory, Any] = kb_factory
        self._db_factory: Union[DBSIDTFactory, DBSIDTFactory, Any] = db_factory
        self._vehicle_params: Union[BMW3seriesParams, Any] = vehicle_params

    @property
    def kb_factory(self) -> Union[KBSIDTFactory, DBSIDTFactory, Any]:
        """
        :return: planner state factory
        """
        return self._kb_factory

    @property
    def db_factory(self) -> Union[DBSIDTFactory, DBSIDTFactory, Any]:
        """
        :return: controller state factory
        """
        return self._db_factory

    @property
    def vehicle_params(self) -> Union[BMW3seriesParams, Any]:
        """
        :return: vehicle parameters
        """
        return self._vehicle_params

    @abstractmethod
    def trajectory_p2c_kb(self, planner_traj: Any, mode: TrajectoryMode, t_0: float, dt: float) -> KBTrajectory:
        """
        Generate Kinematic bicycle state or input trajectory from planner
        :param planner_traj: planner trajectory
        :param mode: state or input mode
        :param t_0: initial time
        :param dt: time step size
        :return: KBTrajectory
        """
        pass

    # kb
    @abstractmethod
    def trajectory_c2p_kb(self, kb_traj: KBTrajectory, mode: TrajectoryMode) -> Any:
        """
        Generate planner trajectory from kinematic bicycle trajectory
        :param kb_traj: Kinematic bicycle trajectory
        :param mode: state or input mode
        :return: planner trajectory
        """
        pass

    @abstractmethod
    def sample_p2c_kb(
        self,
        planner_state: Any,
        mode: TrajectoryMode,
    ) -> Union[KBState, KBInput]:
        """
        Convert planner state or input to kinematic bicycle state or input
        :param planner_state: planner state or input
        :param mode: state or input mode
        :return: Kinematic bicycle state or input
        """
        pass

    @abstractmethod
    def sample_c2p_kb(self, kb_state: KBState, mode: TrajectoryMode, time_step: int) -> Any:
        """
        Converts kinematic bicycle state or input to planner state or input time step
        :param kb_state: kinematic bicycle state
        :param mode: state or input mode
        :param time_step: time step
        :return: planner state or input
        """
        pass

    # db
    @abstractmethod
    def trajectory_p2c_db(self, planner_traj: Any, mode: TrajectoryMode) -> DBTrajectory:
        """
        Generate dynamic bicycle trajectory from planner trajectory
        :param planner_traj: planner trajectory
        :param mode: state or input mode
        :return: Dynamic bicycle trajectory
        """
        pass

    @abstractmethod
    def trajectory_c2p_db(self, db_traj: DBTrajectory, mode: TrajectoryMode) -> Any:
        """
        Convert planner state or input to dynamic state or input
        :param db_traj: Dynamic bicycle trajectory
        :param mode: state or input mode
        :return: Planner trajectory
        """
        pass

    @abstractmethod
    def sample_p2c_db(self, planner_state: Any, mode: TrajectoryMode) -> Union[DBState, DBInput]:
        """
        Convert planner state or input to dynamic bicycle state or input
        :param planner_state: planner state or input
        :param mode: state or input mode
        :return: DBState or DBInput
        """
        pass

    @abstractmethod
    def sample_c2p_db(
        self,
        db_state: DBState,
        time_step: int,
        mode: TrajectoryMode,
    ) -> Any:
        """
        Convert dynamic bicycle state or input to planner state or input at time step
        :param db_state: Dynamic bicycle state or input
        :param time_step: time step
        :param mode: state or input mode
        :return: planner state or input
        """
        pass
db_factory property

Returns:

Type Description
Union[DBSIDTFactory, DBSIDTFactory, Any]

controller state factory
kb_factory property

Returns:

Type Description
Union[KBSIDTFactory, DBSIDTFactory, Any]

planner state factory
vehicle_params property

Returns:

Type Description
Union[BMW3seriesParams, Any]

vehicle parameters
__init__(kb_factory, db_factory, vehicle_params, *args, **kwargs)

Interface for the planner converter. The converter converts planner states to and from controller states.

Parameters:

Name Type Description Default
kb_factory Union[KBSIDTFactory, Any]

factory for kinematic single track states and inputs

 required
db_factory Union[DBSIDTFactory, Any]

factory for dynamic single track states and inputs

 required
vehicle_params Union[BMW3seriesParams, Any]

vehicle parameters

 required
Source code in commonroad_control/planning_converter/planning_converter_interface.py 
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def __init__(
    self,
    kb_factory: Union[KBSIDTFactory, Any],
    db_factory: Union[DBSIDTFactory, Any],
    vehicle_params: Union[BMW3seriesParams, Any],
    *args,
    **kwargs,
) -> None:
    """
    Interface for the planner converter. The converter converts planner states to and from controller states.
    :param kb_factory: factory for kinematic single track states and inputs
    :param db_factory: factory for dynamic single track states and inputs
    :param vehicle_params: vehicle parameters
    """
    self._kb_factory: Union[KBSIDTFactory, DBSIDTFactory, Any] = kb_factory
    self._db_factory: Union[DBSIDTFactory, DBSIDTFactory, Any] = db_factory
    self._vehicle_params: Union[BMW3seriesParams, Any] = vehicle_params
sample_c2p_db(db_state, time_step, mode) abstractmethod

Convert dynamic bicycle state or input to planner state or input at time step

Parameters:

Name Type Description Default
db_state DBState

Dynamic bicycle state or input

 required
time_step int

time step

 required
mode TrajectoryMode

state or input mode

 required

Returns:

Type Description
Any

planner state or input
Source code in commonroad_control/planning_converter/planning_converter_interface.py 
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@abstractmethod
def sample_c2p_db(
    self,
    db_state: DBState,
    time_step: int,
    mode: TrajectoryMode,
) -> Any:
    """
    Convert dynamic bicycle state or input to planner state or input at time step
    :param db_state: Dynamic bicycle state or input
    :param time_step: time step
    :param mode: state or input mode
    :return: planner state or input
    """
    pass
sample_c2p_kb(kb_state, mode, time_step) abstractmethod

Converts kinematic bicycle state or input to planner state or input time step

Parameters:

Name Type Description Default
kb_state KBState

kinematic bicycle state

 required
mode TrajectoryMode

state or input mode

 required
time_step int

time step

 required

Returns:

Type Description
Any

planner state or input
Source code in commonroad_control/planning_converter/planning_converter_interface.py 
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@abstractmethod
def sample_c2p_kb(self, kb_state: KBState, mode: TrajectoryMode, time_step: int) -> Any:
    """
    Converts kinematic bicycle state or input to planner state or input time step
    :param kb_state: kinematic bicycle state
    :param mode: state or input mode
    :param time_step: time step
    :return: planner state or input
    """
    pass
sample_p2c_db(planner_state, mode) abstractmethod

Convert planner state or input to dynamic bicycle state or input

Parameters:

Name Type Description Default
planner_state Any

planner state or input

 required
mode TrajectoryMode

state or input mode

 required

Returns:

Type Description
Union[DBState, DBInput]

DBState or DBInput
Source code in commonroad_control/planning_converter/planning_converter_interface.py 
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@abstractmethod
def sample_p2c_db(self, planner_state: Any, mode: TrajectoryMode) -> Union[DBState, DBInput]:
    """
    Convert planner state or input to dynamic bicycle state or input
    :param planner_state: planner state or input
    :param mode: state or input mode
    :return: DBState or DBInput
    """
    pass
sample_p2c_kb(planner_state, mode) abstractmethod

Convert planner state or input to kinematic bicycle state or input

Parameters:

Name Type Description Default
planner_state Any

planner state or input

 required
mode TrajectoryMode

state or input mode

 required

Returns:

Type Description
Union[KBState, KBInput]

Kinematic bicycle state or input
Source code in commonroad_control/planning_converter/planning_converter_interface.py 
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@abstractmethod
def sample_p2c_kb(
    self,
    planner_state: Any,
    mode: TrajectoryMode,
) -> Union[KBState, KBInput]:
    """
    Convert planner state or input to kinematic bicycle state or input
    :param planner_state: planner state or input
    :param mode: state or input mode
    :return: Kinematic bicycle state or input
    """
    pass
trajectory_c2p_db(db_traj, mode) abstractmethod

Convert planner state or input to dynamic state or input

Parameters:

Name Type Description Default
db_traj DBTrajectory

Dynamic bicycle trajectory

 required
mode TrajectoryMode

state or input mode

 required

Returns:

Type Description
Any

Planner trajectory
Source code in commonroad_control/planning_converter/planning_converter_interface.py 
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@abstractmethod
def trajectory_c2p_db(self, db_traj: DBTrajectory, mode: TrajectoryMode) -> Any:
    """
    Convert planner state or input to dynamic state or input
    :param db_traj: Dynamic bicycle trajectory
    :param mode: state or input mode
    :return: Planner trajectory
    """
    pass
trajectory_c2p_kb(kb_traj, mode) abstractmethod

Generate planner trajectory from kinematic bicycle trajectory

Parameters:

Name Type Description Default
kb_traj KBTrajectory

Kinematic bicycle trajectory

 required
mode TrajectoryMode

state or input mode

 required

Returns:

Type Description
Any

planner trajectory
Source code in commonroad_control/planning_converter/planning_converter_interface.py 
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@abstractmethod
def trajectory_c2p_kb(self, kb_traj: KBTrajectory, mode: TrajectoryMode) -> Any:
    """
    Generate planner trajectory from kinematic bicycle trajectory
    :param kb_traj: Kinematic bicycle trajectory
    :param mode: state or input mode
    :return: planner trajectory
    """
    pass
trajectory_p2c_db(planner_traj, mode) abstractmethod

Generate dynamic bicycle trajectory from planner trajectory

Parameters:

Name Type Description Default
planner_traj Any

planner trajectory

 required
mode TrajectoryMode

state or input mode

 required

Returns:

Type Description
DBTrajectory

Dynamic bicycle trajectory
Source code in commonroad_control/planning_converter/planning_converter_interface.py 
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@abstractmethod
def trajectory_p2c_db(self, planner_traj: Any, mode: TrajectoryMode) -> DBTrajectory:
    """
    Generate dynamic bicycle trajectory from planner trajectory
    :param planner_traj: planner trajectory
    :param mode: state or input mode
    :return: Dynamic bicycle trajectory
    """
    pass
trajectory_p2c_kb(planner_traj, mode, t_0, dt) abstractmethod

Generate Kinematic bicycle state or input trajectory from planner

Parameters:

Name Type Description Default
planner_traj Any

planner trajectory

 required
mode TrajectoryMode

state or input mode

 required
t_0 float

initial time

 required
dt float

time step size

 required

Returns:

Type Description
KBTrajectory

KBTrajectory
Source code in commonroad_control/planning_converter/planning_converter_interface.py 
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@abstractmethod
def trajectory_p2c_kb(self, planner_traj: Any, mode: TrajectoryMode, t_0: float, dt: float) -> KBTrajectory:
    """
    Generate Kinematic bicycle state or input trajectory from planner
    :param planner_traj: planner trajectory
    :param mode: state or input mode
    :param t_0: initial time
    :param dt: time step size
    :return: KBTrajectory
    """
    pass