%global _empty_manifest_terminate_build 0 Name: python-commonroad-vehicle-models Version: 3.0.2 Release: 1 Summary: Implementation of vehicle models with varying abstraction levels ranging from kinematic single track model to a multi-body model. License: BSD URL: https://commonroad.in.tum.de/ Source0: https://mirrors.nju.edu.cn/pypi/web/packages/bf/e1/bc6dbacfc1af64c73e0610a7b71a47510c7d77d0d1eba88737c423fa84e1/commonroad-vehicle-models-3.0.2.tar.gz BuildArch: noarch Requires: python3-omegaconf %description # Python Vehicle Models of CommonRoad This package contains all vehicle models of the [CommonRoad benchmarks](https://commonroad.in.tum.de/). We provide implementations of the vehicle dynamics, routines to convert initial states, and vehicle parameters. ## Documentation For a detailed explanation of the vehicle models, please have a look at the [documentation](https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/blob/master/vehicleModels_commonRoad.pdf). ## Installation To use vehicle models and parameters, run ``` pip install commonroad-vehicle-models ``` ## Code examples For an extended simulation example demonstrating the advantages of more complicated models, we refer to our [gitlab repository](https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/-/tree/master/PYTHON/scripts). A simple simulation example for using the single-track model in combination with an odeint solver would be ```python3 from scipy.integrate import odeint import numpy from vehiclemodels.init_ks import init_ks from vehiclemodels.parameters_vehicle1 import parameters_vehicle1 from vehiclemodels.vehicle_dynamics_ks import vehicle_dynamics_ks def func_KS(x, t, u, p): f = vehicle_dynamics_ks(x, u, p) return f tStart = 0 # start time tFinal = 1 # start time # load vehicle parameters p = parameters_vehicle1() # initial state for simulation delta0 = 0 vel0 = 15 Psi0 = 0 sy0 = 0 initialState = [0, sy0, delta0, vel0, Psi0] x0_KS = init_ks(initialState) t = numpy.arange(0, tFinal, 0.01) u = [0, 5] x = odeint(func_KS, x0_KS, t, args=(u, p)) ``` ## Contribute If you want to contribute new vehicle models, you can create a merge request in our [repository](https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/), or contact via our [forum](https://commonroad.in.tum.de/forum/). ## Changelog Compared to version 2.0.0 the following features were added/changed: * linearized kinematic single-track model added as an additional vehicle model * vehicle parameters are stored in YAML-files * parameter configuration of vehicles are generated from YAML-files using [OmegaConf](https://omegaconf.readthedocs.io/en/2.2_branch/) (backwards compatible) ## Referencing If you use CommonRoad for your research, please cite [our paper](http://mediatum.ub.tum.de/doc/1379638/776321.pdf): ``` @inproceedings{Althoff2017a, author = {Althoff, Matthias and Koschi, Markus and Manzinger, Stefanie}, title = {CommonRoad: Composable benchmarks for motion planning on roads}, booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium}, year = {2017}, } ``` %package -n python3-commonroad-vehicle-models Summary: Implementation of vehicle models with varying abstraction levels ranging from kinematic single track model to a multi-body model. Provides: python-commonroad-vehicle-models BuildRequires: python3-devel BuildRequires: python3-setuptools BuildRequires: python3-pip %description -n python3-commonroad-vehicle-models # Python Vehicle Models of CommonRoad This package contains all vehicle models of the [CommonRoad benchmarks](https://commonroad.in.tum.de/). We provide implementations of the vehicle dynamics, routines to convert initial states, and vehicle parameters. ## Documentation For a detailed explanation of the vehicle models, please have a look at the [documentation](https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/blob/master/vehicleModels_commonRoad.pdf). ## Installation To use vehicle models and parameters, run ``` pip install commonroad-vehicle-models ``` ## Code examples For an extended simulation example demonstrating the advantages of more complicated models, we refer to our [gitlab repository](https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/-/tree/master/PYTHON/scripts). A simple simulation example for using the single-track model in combination with an odeint solver would be ```python3 from scipy.integrate import odeint import numpy from vehiclemodels.init_ks import init_ks from vehiclemodels.parameters_vehicle1 import parameters_vehicle1 from vehiclemodels.vehicle_dynamics_ks import vehicle_dynamics_ks def func_KS(x, t, u, p): f = vehicle_dynamics_ks(x, u, p) return f tStart = 0 # start time tFinal = 1 # start time # load vehicle parameters p = parameters_vehicle1() # initial state for simulation delta0 = 0 vel0 = 15 Psi0 = 0 sy0 = 0 initialState = [0, sy0, delta0, vel0, Psi0] x0_KS = init_ks(initialState) t = numpy.arange(0, tFinal, 0.01) u = [0, 5] x = odeint(func_KS, x0_KS, t, args=(u, p)) ``` ## Contribute If you want to contribute new vehicle models, you can create a merge request in our [repository](https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/), or contact via our [forum](https://commonroad.in.tum.de/forum/). ## Changelog Compared to version 2.0.0 the following features were added/changed: * linearized kinematic single-track model added as an additional vehicle model * vehicle parameters are stored in YAML-files * parameter configuration of vehicles are generated from YAML-files using [OmegaConf](https://omegaconf.readthedocs.io/en/2.2_branch/) (backwards compatible) ## Referencing If you use CommonRoad for your research, please cite [our paper](http://mediatum.ub.tum.de/doc/1379638/776321.pdf): ``` @inproceedings{Althoff2017a, author = {Althoff, Matthias and Koschi, Markus and Manzinger, Stefanie}, title = {CommonRoad: Composable benchmarks for motion planning on roads}, booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium}, year = {2017}, } ``` %package help Summary: Development documents and examples for commonroad-vehicle-models Provides: python3-commonroad-vehicle-models-doc %description help # Python Vehicle Models of CommonRoad This package contains all vehicle models of the [CommonRoad benchmarks](https://commonroad.in.tum.de/). We provide implementations of the vehicle dynamics, routines to convert initial states, and vehicle parameters. ## Documentation For a detailed explanation of the vehicle models, please have a look at the [documentation](https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/blob/master/vehicleModels_commonRoad.pdf). ## Installation To use vehicle models and parameters, run ``` pip install commonroad-vehicle-models ``` ## Code examples For an extended simulation example demonstrating the advantages of more complicated models, we refer to our [gitlab repository](https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/-/tree/master/PYTHON/scripts). A simple simulation example for using the single-track model in combination with an odeint solver would be ```python3 from scipy.integrate import odeint import numpy from vehiclemodels.init_ks import init_ks from vehiclemodels.parameters_vehicle1 import parameters_vehicle1 from vehiclemodels.vehicle_dynamics_ks import vehicle_dynamics_ks def func_KS(x, t, u, p): f = vehicle_dynamics_ks(x, u, p) return f tStart = 0 # start time tFinal = 1 # start time # load vehicle parameters p = parameters_vehicle1() # initial state for simulation delta0 = 0 vel0 = 15 Psi0 = 0 sy0 = 0 initialState = [0, sy0, delta0, vel0, Psi0] x0_KS = init_ks(initialState) t = numpy.arange(0, tFinal, 0.01) u = [0, 5] x = odeint(func_KS, x0_KS, t, args=(u, p)) ``` ## Contribute If you want to contribute new vehicle models, you can create a merge request in our [repository](https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/), or contact via our [forum](https://commonroad.in.tum.de/forum/). ## Changelog Compared to version 2.0.0 the following features were added/changed: * linearized kinematic single-track model added as an additional vehicle model * vehicle parameters are stored in YAML-files * parameter configuration of vehicles are generated from YAML-files using [OmegaConf](https://omegaconf.readthedocs.io/en/2.2_branch/) (backwards compatible) ## Referencing If you use CommonRoad for your research, please cite [our paper](http://mediatum.ub.tum.de/doc/1379638/776321.pdf): ``` @inproceedings{Althoff2017a, author = {Althoff, Matthias and Koschi, Markus and Manzinger, Stefanie}, title = {CommonRoad: Composable benchmarks for motion planning on roads}, booktitle = {Proc. of the IEEE Intelligent Vehicles Symposium}, year = {2017}, } ``` %prep %autosetup -n commonroad-vehicle-models-3.0.2 %build %py3_build %install %py3_install install -d -m755 %{buildroot}/%{_pkgdocdir} if [ -d doc ]; then cp -arf doc %{buildroot}/%{_pkgdocdir}; fi if [ -d docs ]; then cp -arf docs %{buildroot}/%{_pkgdocdir}; fi if [ -d example ]; then cp -arf example %{buildroot}/%{_pkgdocdir}; fi if [ -d examples ]; then cp -arf examples %{buildroot}/%{_pkgdocdir}; fi pushd %{buildroot} if [ -d usr/lib ]; then find usr/lib -type f -printf "/%h/%f\n" >> filelist.lst fi if [ -d usr/lib64 ]; then find usr/lib64 -type f -printf "/%h/%f\n" >> filelist.lst fi if [ -d usr/bin ]; then find usr/bin -type f -printf "/%h/%f\n" >> filelist.lst fi if [ -d usr/sbin ]; then find usr/sbin -type f -printf "/%h/%f\n" >> filelist.lst fi touch doclist.lst if [ -d usr/share/man ]; then find usr/share/man -type f -printf "/%h/%f.gz\n" >> doclist.lst fi popd mv %{buildroot}/filelist.lst . mv %{buildroot}/doclist.lst . %files -n python3-commonroad-vehicle-models -f filelist.lst %dir %{python3_sitelib}/* %files help -f doclist.lst %{_docdir}/* %changelog * Mon May 29 2023 Python_Bot - 3.0.2-1 - Package Spec generated