commonocean-io

The CommonOcean Input-Output package provides methods for reading, writing, and visualizing CommonOcean scenarios and planning problems. It can also be used as a framework for implementing motion planning algorithms to solve CommonOcean benchmarks and is the basis for other tools in the CommonOcean framework. Learn more about the scenario specification here.

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Documentation

The full documentation of the API can be found here.

For getting started, we recommend our tutorials.

Requirements

The required dependencies for running commonocean-io are:

• commonocean-vessel-models==1.0.0
• commonroad-io==2023.1
• matplotlib~=3.5.0
• numpy~=1.22.4
• imageio~=2.9.0
• setuptools>=42.0.1
• lxml>=4.2.2
• iso3166>=1.0.1
• pytest>=7.1.1

Installation

​ Create a new Anaconda environment for Python 3.8 (here called co38):

conda create -n co38 python=3.8
conda activate co38

Install the package using pip and, if you want to use the jupyter notebook, install jupyter as well:

pip install commonocean-io
pip install jupyter

Start jupyter notebook to run the tutorials:

jupyter notebook

Changelog

Compared to version 2023.1, the following features have been added or changed:

Added

• New rendering functionality with MPRenderer

Fixed

• Consistent writing and reading or vessel states
• Formatting errors in XML blueprint file

Changed

• Improved State classes so that more specific state classes are used. Introduction of InputState classes.
• Updated dependencies
• Updated documentation and tutorials

Contibutors

​ We thank all contributors for their help in developing this project (see contributors.txt).

Citation

​ If you use our code for research, please consider citing our paper:

@inproceedings{Krasowski2022a,
	author = {Krasowski, Hanna and Althoff, Matthias},
	title = {CommonOcean: Composable Benchmarks for Motion Planning on Oceans},
	booktitle = {Proc. of the IEEE International Conference on Intelligent Transportation Systems},
	year = {2022},
}