Skip to main content

Implementation of vessels models with varying abstraction levels.

Project description

Python Vessel Models of CommonOcean

​ This package contains all vessel models of the CommonOcean benchmarks. The code is based on the CommonRoad vehicle models repository. ​ We provide implementations of the vessel dynamics and vessel parameters. ​

Documentation

​ For a detailed explanation of the vehicle models, please have a look at the documentation. ​

Installation

​ To use vehicle models and parameters, run

pip install commonocean-vessel-models

Code examples

​ For an extended simulation example, we refer to our gitlab repository. A simple simulation example for using the point-mass model in combination with an odeint solver would be ​

from scipy.integrate import odeint
import numpy

from vesselmodels.parameters_vessel_1 import parameters_vessel_1
from vesselmodels.vessel_dynamics_pm import vessel_dynamics_pm

def func_PM(x, t, u, p):
    f = vessel_dynamics_pm(x, u, p)
    return f

tStart = 0  # start time
tFinal = 1  # start time

# load vehicle parameters
p = parameters_vessel_1()

# initial state for simulation
x0_PM = [0, 0, 10.0, 0.0]

t = numpy.arange(0, tFinal, 0.01)
u = [1.4, 0]
x = odeint(func_PM, x0_PM, t, args=(u, p))

Contribute

​ If you want to contribute new vessel models, you can create a merge request in our repository, or contact us via mail. ​

Contibutors and Reference

​ We thank all the contributors for helping develop this project (see contributors.txt). ​ If you use our converter 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},
}

Project details


Download files

Download the file for your platform. If you're not sure which to choose, learn more about installing packages.

Source Distribution

commonocean-vessel-models-1.0.0.tar.gz (8.2 kB view details)

Uploaded Source

Built Distribution

commonocean_vessel_models-1.0.0-py3-none-any.whl (14.3 kB view details)

Uploaded Python 3

File details

Details for the file commonocean-vessel-models-1.0.0.tar.gz.

File metadata

File hashes

Hashes for commonocean-vessel-models-1.0.0.tar.gz
Algorithm Hash digest
SHA256 028c300f2051536eeb2fdc7d0edcbf403ba686dca68f83741772be52810d6bd2
MD5 12498dfb8bc033e20d66ba71ef8d42e5
BLAKE2b-256 874651a30b58096e0173552bf413cc342a1f1289b2b7b892812c7fd088592b7b

See more details on using hashes here.

File details

Details for the file commonocean_vessel_models-1.0.0-py3-none-any.whl.

File metadata

File hashes

Hashes for commonocean_vessel_models-1.0.0-py3-none-any.whl
Algorithm Hash digest
SHA256 ed524cc711e1ad2a84d1d5d79507064b52d0c86046e5e838cb8b2c9ff4ee592a
MD5 95c2882347f4d48d1a33a9f77b98de40
BLAKE2b-256 a4787e08be7336c7f138474b7aa08701114511d873dba8e97af676ced886e32a

See more details on using hashes here.

Supported by

AWS AWS Cloud computing and Security Sponsor Datadog Datadog Monitoring Fastly Fastly CDN Google Google Download Analytics Microsoft Microsoft PSF Sponsor Pingdom Pingdom Monitoring Sentry Sentry Error logging StatusPage StatusPage Status page