This repository includes the commonocean_io python package for representing benchmarks for marine motion planning. In addition, we provide two tutorials to exemplify the usage. For an extensive scenario documentation, consider reading the documentation for the XML format. ​ The structure of the repository is: ​

.
├── documentation                   # Documentation of scenario specification
└── commonocean                     # Source files
    ├── common                      # Folders which represent the package structure
    ├── ...                         # ...
    └── doc                         # ´Read the Docs´ documentation for the commonocean-io package

​

Installation instructions

​ Create a new Anaconda environment for Python 3.8 (here called co38). ​ Run in your Terminal window:

conda create −n co38 python=3.8

Activate your environment

conda activate co38

Install the package by simply using pip and, if you want to use the jupyter notebook, also install jupyter

pip install commonocean-io
pip install jupyter

Now everything is installed and you can start jupyter notebook to run the tutorials

$ jupyter notebook

Changelog

Compared to version 2022.2, the following features have been added or changed:

Added

• New obstacle type "Waters Boundary" due to requirement in CommonOcean DC

Fixed

• Creation of static obstacles for traffic signs such that no dublicate obstacles are created

Changed

• Restructured State class so that it is now based on the commonroad-io state class and definition of State classes for different vessel dynamics.
• Removed duplicate classes and functions from commonroad-io to reduce maintance effort
• The packages is no longer compatible with Python 3.7
• Updated documentation

Contibutors and Reference

​ We thank all the contibutors 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},
}