initial release

Author: Tim Stahl

.gitignore

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+# Prerequisites
+*.d
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+# Precompiled Headers
+*.gch
+*.pch
+# Compiled Dynamic libraries
+*.dylib
+*.dll
+# Fortran module files
+*.mod
+*.smod
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+# Executables
+*.exe
+*.out
+*.app
+# Simulink code generation folders
+slprj/
+sccprj/
+# Simulink autosave extension
+*.autosave
+# Windows default autosave extension
+*.asv
+# build folder for automated making and testing
+/build/*
+!/build/Readme.md
+
+# PyCharm and CLion ide files
+*.idea/*
+*__pycache__/
+*.pyc
+
+# ROS stuff
+*.bag
+# Pickled Data files
+*.pckl
+
+# logs folder
+/logs/*
+
+# Specific files
+python_igraph-0\.7\.1\.post6-cp37-cp37m-win32\.whl
+testing_tools/zone_id\.csv
+
+vp_qp/logs/
+venv/
+
+# Package build folder
+*build/
+dist/
+graph_ltpl.egg-info/
+
+# Sphinx code apidoc
+docs/source/software_imp/*

README.md

@@ -1 +1,43 @@
-# GraphBasedLocalTrajectoryPlanner
+# Graph-Based Local Trajectory Planner
+
+![Title Picture Local Planner](docs/source/figures/Title.png)
+
+The graph-based local trajectory planner is python-based and comes with open interfaces as well as debug, visualization
+and development tools. The local planner is designed in a way to return an action set (e.g. keep straight, pass left,
+pass right), where each action is the globally cost optimal solution for that task. If any of the action primitives is
+not feasible, it is not returned in the set. That way, one can either select available actions based on a priority list
+(e.g. try to pass if possible) or use an own dedicated behaviour planner.
+
+The planner was used on a real race vehicle during the Roborace Season Alpha and achieved speeds above 200kph.
+A video of the performance at the Monteblanco track can be found [here](https://www.youtube.com/watch?v=-vqQBuTQhQw).
+
+### Disclaimer
+This software is provided *as-is* and has not been subject to a certified safety validation. Autonomous Driving is a
+highly complex and dangerous task. In case you plan to use this software on a vehicle, it is by all means required that
+you assess the overall safety of your project as a whole. By no means is this software a replacement for a valid 
+safety-concept. See the license for more details.
+
+
+### Documentation
+The documentation of the project can be found [here](https://graphbasedlocaltrajectoryplanner.readthedocs.io/).
+
+
+### Contributions
+[1] T. Stahl, A. Wischnewski, J. Betz, and M. Lienkamp,
+“Multilayer Graph-Based Trajectory Planning for Race Vehicles in Dynamic Scenarios,”
+in 2019 IEEE Intelligent Transportation Systems Conference (ITSC), Oct. 2019, pp. 3149–3154.\
+[(view pre-print)](https://arxiv.org/pdf/2005.08664>`)
+
+Contact: [Tim Stahl](mailto:[email protected]).
+
+If you find our work useful in your research, please consider citing: 
+
+```
+   @inproceedings{stahl2019,
+     title = {Multilayer Graph-Based Trajectory Planning for Race Vehicles in Dynamic Scenarios},
+     booktitle = {2019 IEEE Intelligent Transportation Systems Conference (ITSC)},
+     author = {Stahl, Tim and Wischnewski, Alexander and Betz, Johannes and Lienkamp, Markus},
+     year = {2019},
+     pages = {3149--3154}
+   }
+```

docs/requirements.txt

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+sphinx
+sphinx_rtd_theme
+sphinx_automodapi
+sphinxcontrib-apidoc

docs/source/conf.py

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+# Configuration file for the Sphinx documentation builder.
+#
+# This file only contains a selection of the most common options. For a full
+# list see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+import sys
+sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), '../..')))
+sys.path.append(os.path.abspath('./graph_ltpl'))
+
+# -- Project information -----------------------------------------------------
+
+project = 'Graph-Based Local Trajectory Planner'
+copyright = '2020, Tim Stahl'
+author = 'Tim Stahl'
+
+# The full version, including alpha/beta/rc tags
+release = '0.0.1'
+
+
+# -- General configuration ---------------------------------------------------
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    'sphinx.ext.autodoc',
+    'sphinx_automodapi.automodapi',
+    'sphinxcontrib.apidoc'
+]
+
+autoclass_content = 'both'
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = []
+
+# set master document
+master_doc = 'index'
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = 'sphinx_rtd_theme'
+# html_theme = 'classic'
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = []
+
+
+# -- Build code documentation ------------------------------------------------
+apidoc_module_dir = '../../'
+apidoc_output_dir = 'software_imp'
+apidoc_excluded_paths = ['*setup*', '*_example*']
+apidoc_extra_args = ['-H', 'Code Documentation']
+apidoc_separate_modules = True
+
+# EOF

docs/source/figures/Offline_Graph.png

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+.. Agent Simulation documentation master file, created by
+   sphinx-quickstart on Thu May 28 14:28:26 2020.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+Graph-Based Local Trajectory Planner Documentation
+==========================================================================
+
+.. image:: /figures/Title.png
+  :alt: Trajectory Planner Title Image
+
+
+The graph-based local trajectory planner is python-based and comes with open interfaces as well as debug, visualization
+and development tools. The local planner is designed in a way to return an action set (e.g. keep straight, pass left,
+pass right), where each action is the globally cost optimal solution for that task. If any of the action primitives is
+not feasible, it is not returned in the set. That way, one can either select available actions based on a priority list
+(e.g. try to pass if possible) or use an own dedicated behaviour planner.
+
+The planner was used on a real race vehicle during the Roborace Season Alpha and achieved speeds above 200kph.
+A video of the performance at the Monteblanco track can be found `here <https://youtu.be/-vqQBuTQhQw>`_.
+
+.. warning::
+   This software is provided *as-is* and has not been subject to a certified safety validation. Autonomous Driving is a
+   highly complex and dangerous task. In case you plan to use this software on a vehicle, it is by all means required
+   that you assess the overall safety of your project as a whole. By no means is this software a replacement for a valid
+   safety-concept. See the license for more details.
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Contents:
+
+   start/main.rst
+   software/main.rst
+   software_imp/modules.rst
+
+
+Contributions
+=============================================================
+[1] T. Stahl, A. Wischnewski, J. Betz, and M. Lienkamp,
+“Multilayer Graph-Based Trajectory Planning for Race Vehicles in Dynamic Scenarios,”
+in 2019 IEEE Intelligent Transportation Systems Conference (ITSC), Oct. 2019, pp. 3149–3154.
+`(view pre-print) <https://arxiv.org/pdf/2005.08664>`_
+
+If you find our work useful in your research, please consider citing:
+
+.. code-block:: latex
+
+   @inproceedings{stahl2019,
+     title = {Multilayer Graph-Based Trajectory Planning for Race Vehicles in Dynamic Scenarios},
+     booktitle = {2019 IEEE Intelligent Transportation Systems Conference (ITSC)},
+     author = {Stahl, Tim and Wischnewski, Alexander and Betz, Johannes and Lienkamp, Markus},
+     year = {2019},
+     pages = {3149--3154}
+   }
+
+Contact Information
+===================
+
+:Email: `[email protected] <[email protected]>`_