colav-unsafe-set
This package contains implementation of the custom risk assesment method for motion planners called unsafe set as defined in paper geometric motion planning in dynamic environments. The following is the high level equation which this package implements.
Show image of geometric unsafe set:
Table of Contents
Installation
pip install colav-unsafe-set
risk assessment collision metrics summary
| Case | v_rel_norm_sq | p_rel == [0, 0] | tcpa > 0 | DCPA | TCPA |
|---|---|---|---|---|---|
| 1.1 Identical position | < 1e-6 | ✅ | – | NaN | inf |
| 1.2 Stationary, offset | < 1e-6 | ❌ | – | ‖p_rel‖ | ‖p_rel‖ / ‖v1‖ (or inf) |
| 2.1 Future CPA | ≥ 1e-6 | – | ✅ | ‖p_rel + tcpa * v_rel‖ | computed tcpa |
| 2.2 CPA in past | ≥ 1e-6 | – | ❌ | NaN | NaN |
Structure
Usage
When pkg is installed, Using it is simple imports are as follows.
License
colav-unsafe-set is distributed under the terms of the MIT license.
1 maintainer
Metadata
1 maintainer
Release files for colav-unsafe-set 0.0.4
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
| File | Size | Uploaded | |
|---|---|---|---|
| colav_unsafe_set-0.0.4.tar.gz | 7.3 kB | Details |
Built distribution (wheel)
| File | Interpreter | ABI | Platform | Reset |
|---|---|---|---|---|
| colav_unsafe_set-0.0.4-py2.py3-none-any.whl | Python 2, Python 3 | none | any | Details |
Total release size: 19.7 kB
Release files / colav_unsafe_set-0.0.4.tar.gz
| Download URL | colav_unsafe_set-0.0.4.tar.gz |
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Release files / colav_unsafe_set-0.0.4-py2.py3-none-any.whl
| Download URL | colav_unsafe_set-0.0.4-py2.py3-none-any.whl |
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| Size | 12.4 kB |
| Tags | Python 2 Python 3 |
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