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Commit 5f06ad19 authored by Markus Koschi's avatar Markus Koschi

added Release 2017a

parent 9299ee52
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<?xml version="1.0" encoding="UTF-8" ?>
<!--
XSD for CommonRoad benchmark scenarios
commonRoadVersion="2017a" date="2018-03-23"
author="Markus Koschi"
website="commonroad.in.tum.de"
-->
<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema">
<!-- %%%%%%%%%%%%%%% auxiliary xsd elements %%%%%%%%%%%%%%% -->
<!-- distance in meter (positive floats) -->
<xs:simpleType name="distance">
<xs:restriction base="xs:float">
<xs:minExclusive value="0.0" />
</xs:restriction>
</xs:simpleType>
<!-- value: either exact or interval -->
<xs:complexType name="floatInterval">
<xs:choice>
<xs:element name="exact" type="xs:float" />
<xs:sequence>
<xs:element name="intervalStart" type="xs:float" />
<xs:element name="intervalEnd" type="xs:float" />
</xs:sequence>
</xs:choice>
</xs:complexType>
<!-- %%%%%%%%%%%%%%% auxiliary CommonRoad elements %%%%%%%%%%%%%%% -->
<xs:complexType name="point">
<xs:sequence>
<xs:element name="x" type="xs:float" />
<xs:element name="y" type="xs:float" />
</xs:sequence>
</xs:complexType>
<xs:complexType name="rectangle">
<xs:sequence>
<xs:element name="length" type="distance" />
<xs:element name="width" type="distance" />
<xs:element name="orientation" type="xs:float" minOccurs="0" />
<xs:element name="center" type="point" minOccurs="0" />
</xs:sequence>
</xs:complexType>
<xs:complexType name="circle">
<xs:sequence>
<xs:element name="radius" type="distance" />
<xs:element name="center" type="point" minOccurs="0" />
</xs:sequence>
</xs:complexType>
<xs:complexType name="polygon">
<xs:sequence>
<xs:element name="point" type="point"
minOccurs="3" maxOccurs="unbounded" />
</xs:sequence>
</xs:complexType>
<xs:complexType name="shape">
<xs:choice maxOccurs="unbounded">
<xs:element name="rectangle" type="rectangle" />
<xs:element name="circle" type="circle" />
<xs:element name="polygon" type="polygon" />
</xs:choice>
</xs:complexType>
<xs:complexType name="position">
<xs:choice>
<xs:element name="point" type="point" />
<xs:element name="rectangle" type="rectangle" maxOccurs="unbounded" />
<xs:element name="circle" type="circle" maxOccurs="unbounded" />
<xs:element name="polygon" type="polygon" maxOccurs="unbounded" />
<xs:element name="lanelet" type="laneletRef" maxOccurs="unbounded" />
</xs:choice>
</xs:complexType>
<xs:complexType name="state">
<xs:sequence>
<xs:element name="position" type="position" />
<xs:element name="orientation" type="floatInterval" />
<xs:element name="time" type="floatInterval" />
<xs:element name="velocity" type="floatInterval" minOccurs="0" />
<xs:element name="acceleration" type="floatInterval" minOccurs="0" />
</xs:sequence>
</xs:complexType>
<xs:complexType name="initialState">
<xs:all>
<xs:element name="position" type="position" />
<xs:element name="velocity" type="floatInterval" />
<xs:element name="orientation" type="floatInterval" />
<xs:element name="yawRate" type="floatInterval" />
<xs:element name="slipAngle" type="floatInterval" />
<xs:element name="time" type="floatInterval" />
</xs:all>
</xs:complexType>
<xs:complexType name="occupancy">
<xs:sequence>
<xs:element name="shape" type="shape" />
<xs:element name="time" type="floatInterval" />
</xs:sequence>
</xs:complexType>
<!-- %%%%%%%%%%%%%%% main CommonRoad elements %%%%%%%%%%%%%%% -->
<!-- lanelet -->
<xs:simpleType name="lineMarking">
<xs:restriction base="xs:string">
<xs:enumeration value="dashed" />
<xs:enumeration value="solid" />
</xs:restriction>
</xs:simpleType>
<xs:complexType name="bound">
<xs:sequence>
<xs:element name="point" type="point"
minOccurs="2" maxOccurs="unbounded" />
<xs:element name="lineMarking" type="lineMarking"
minOccurs="0" />
</xs:sequence>
</xs:complexType>
<xs:complexType name="laneletRef">
<xs:attribute name="ref" type="xs:integer" use="required" />
</xs:complexType>
<xs:simpleType name="drivingDir">
<xs:restriction base="xs:string">
<xs:enumeration value="same" />
<xs:enumeration value="opposite" />
</xs:restriction>
</xs:simpleType>
<xs:complexType name="laneletAdjacentRef">
<xs:attribute name="ref" type="xs:integer" use="required" />
<xs:attribute name="drivingDir" type="drivingDir"
use="required" />
</xs:complexType>
<xs:complexType name="lanelet">
<xs:sequence>
<xs:element name="leftBound" type="bound" />
<xs:element name="rightBound" type="bound" />
<xs:element name="predecessor" type="laneletRef"
minOccurs="0" maxOccurs="unbounded" />
<xs:element name="successor" type="laneletRef"
minOccurs="0" maxOccurs="unbounded" />
<xs:element name="adjacentLeft" type="laneletAdjacentRef"
minOccurs="0" />
<xs:element name="adjacentRight" type="laneletAdjacentRef"
minOccurs="0" />
<xs:element name="speedLimit" type="xs:float"
minOccurs="0" />
</xs:sequence>
<xs:attribute name="id" type="xs:integer" use="required" />
</xs:complexType>
<!-- obstacle -->
<xs:simpleType name="obstacleRole">
<xs:restriction base="xs:string">
<xs:enumeration value="static" />
<xs:enumeration value="dynamic" />
</xs:restriction>
</xs:simpleType>
<xs:simpleType name="obstacleType">
<xs:restriction base="xs:string">
<xs:enumeration value="unknown" />
<!-- static -->
<xs:enumeration value="parkedVehicle" />
<xs:enumeration value="constructionZone" />
<xs:enumeration value="roadBoundary" />
<!-- dynamic -->
<xs:enumeration value="car" />
<xs:enumeration value="truck" />
<xs:enumeration value="bus" />
<xs:enumeration value="bicycle" />
<xs:enumeration value="pedestrian" />
<xs:enumeration value="priorityVehicle" />
</xs:restriction>
</xs:simpleType>
<xs:complexType name="obstacle">
<xs:sequence>
<xs:element name="role" type="obstacleRole" />
<xs:element name="type" type="obstacleType" />
<xs:element name="shape" type="shape"
minOccurs="0" />
<xs:choice minOccurs="0">
<xs:element name="trajectory">
<xs:complexType>
<xs:sequence>
<xs:element name="state" type="state"
maxOccurs="unbounded" />
</xs:sequence>
</xs:complexType>
</xs:element>
<xs:element name="occupancySet">
<xs:complexType>
<xs:sequence>
<xs:element name="occupancy" type="occupancy"
maxOccurs="unbounded" />
</xs:sequence>
</xs:complexType>
</xs:element>
</xs:choice>
</xs:sequence>
<xs:attribute name="id" type="xs:integer" use="required" />
</xs:complexType>
<!-- planning problem -->
<xs:complexType name="planningProblem">
<xs:sequence>
<xs:element name="initialState" type="initialState" />
<xs:element name="goalRegion">
<xs:complexType>
<xs:sequence>
<xs:element name="state" type="state"
maxOccurs="unbounded" />
</xs:sequence>
</xs:complexType>
</xs:element>
</xs:sequence>
<xs:attribute name="id" type="xs:integer" use="required" />
</xs:complexType>
<!-- %%%%%%%%%%%%%%% root CommonRoad element %%%%%%%%%%%%%%% -->
<xs:element name="commonRoad">
<xs:complexType>
<xs:sequence>
<xs:element name="lanelet" type="lanelet"
minOccurs="1" maxOccurs="unbounded" />
<xs:element name="obstacle" type="obstacle"
minOccurs="0" maxOccurs="unbounded" />
<xs:element name="planningProblem" type="planningProblem"
minOccurs="1" maxOccurs="unbounded" />
</xs:sequence>
<xs:attribute name="commonRoadVersion" use="required">
<xs:simpleType>
<xs:restriction base="xs:string">
<xs:enumeration value="2017a" />
</xs:restriction>
</xs:simpleType>
</xs:attribute>
<xs:attribute name="benchmarkID" type="xs:string"
use="required" />
<xs:attribute name="date" type="xs:date"
use="required" />
<xs:attribute name="timeStepSize" type="xs:float"
use="required" />
</xs:complexType>
<xs:key name="id">
<xs:selector xpath="./*" />
<xs:field xpath="@id" />
</xs:key>
<xs:keyref name="idref" refer="id">
<xs:selector xpath=".//*" />
<xs:field xpath="@ref" />
</xs:keyref>
</xs:element>
</xs:schema>
\ No newline at end of file
<?xml version='1.0' encoding='utf-8'?>
<commonRoad commonRoadVersion='2017a' benchmarkID='minimalWorkingExample' date='2017-08-25' timeStepSize='0.1'>
<!-- (1) Road Network -->
<lanelet id='10'>
<leftBound>
<point>
<x>-15.0</x>
<y>2.0</y>
</point>
<point>
<x>0.0</x>
<y>2.0</y>
</point>
<lineMarking>dashed</lineMarking>
</leftBound>
<rightBound>
<point>
<x>-15.0</x>
<y>-2.0</y>
</point>
<point>
<x>0.0</x>
<y>-2.0</y>
</point>
<lineMarking>solid</lineMarking>
</rightBound>
<successor ref='11'/>
<adjacentLeft ref='12' drivingDir='opposite'/>
<speedLimit>16.67</speedLimit>
</lanelet>
<lanelet id='11'>
<leftBound>
<point>
<x>0.0</x>
<y>2.0</y>
</point>
<point>
<x>15.0</x>
<y>2.0</y>
</point>
<lineMarking>dashed</lineMarking>
</leftBound>
<rightBound>
<point>
<x>0.0</x>
<y>-2.0</y>
</point>
<point>
<x>15.0</x>
<y>-2.0</y>
</point>
<lineMarking>solid</lineMarking>
</rightBound>
<predecessor ref='10'/>
<adjacentLeft ref='13' drivingDir='opposite'/>
<speedLimit>16.67</speedLimit>
</lanelet>
<lanelet id='12'>
<leftBound>
<point>
<x>15.0</x>
<y>2.0</y>
</point>
<point>
<x>0.0</x>
<y>2.0</y>
</point>
<lineMarking>dashed</lineMarking>
</leftBound>
<rightBound>
<point>
<x>15.0</x>
<y>6.0</y>
</point>
<point>
<x>0.0</x>
<y>6.0</y>
</point>
<lineMarking>solid</lineMarking>
</rightBound>
<successor ref='13'/>
<adjacentLeft ref='11' drivingDir='opposite'/>
</lanelet>
<lanelet id='13'>
<leftBound>
<point>
<x>0.0</x>
<y>2.0</y>
</point>
<point>
<x>-15.0</x>
<y>2.0</y>
</point>
<lineMarking>dashed</lineMarking>
</leftBound>
<rightBound>
<point>
<x>0.0</x>
<y>6.0</y>
</point>
<point>
<x>-15.0</x>
<y>6.0</y>
</point>
<lineMarking>solid</lineMarking>
</rightBound>
<predecessor ref='12'/>
<adjacentLeft ref='10' drivingDir='opposite'/>
</lanelet>
<!-- (2) Traffic -->
<!-- (2.1) Static Obstacle -->
<obstacle id='57'>
<role>static</role>
<type>parkedVehicle</type>
<shape>
<rectangle>
<length>4.2</length>
<width>1.9</width>
<orientation>3.142</orientation>
<center>
<x>1.0</x>
<y>5.0</y>
</center>
</rectangle>
</shape>
</obstacle>
<!-- (2.2) Dynamic Obstacle with known behavior -->
<obstacle id='58'>
<role>dynamic</role>
<type>car</type>
<shape>
<rectangle>
<length>4.2</length>
<width>1.9</width>
</rectangle>
</shape>
<trajectory>
<state>
<position>
<point>
<x>-10.0</x>
<y>0.0</y>
</point>
</position>
<orientation>
<exact>0.0</exact>
</orientation>
<time>
<exact>0.0</exact>
</time>
<velocity>
<exact>15.0</exact>
</velocity>
<acceleration>
<exact>0.0</exact>
</acceleration>
</state>
<state>
<position>
<point>
<x>-8.5</x>
<y>0.0</y>
</point>
</position>
<orientation>
<exact>0.0</exact>
</orientation>
<time>
<exact>0.1</exact>
</time>
<velocity>
<exact>15.0</exact>
</velocity>
<acceleration>
<exact>0.0</exact>
</acceleration>
</state>
</trajectory>
</obstacle>
<!-- (3) Planning Problem -->
<planningProblem id='100'>
<initialState>
<position>
<point>
<x>10.0</x>
<y>4.0</y>
</point>
</position>
<velocity>
<exact>15.0</exact>
</velocity>
<orientation>
<exact>3.142</exact>
</orientation>
<yawRate>
<exact>0.0</exact>
</yawRate>
<slipAngle>
<exact>0.001</exact>
</slipAngle>
<time>
<exact>0.0</exact>
</time>
</initialState>
<goalRegion>
<state>
<position>
<rectangle>
<length>3</length>
<width>2</width>
<orientation>3.142</orientation>
<center>
<x>-10.0</x>
<y>4.0</y>
</center>
</rectangle>
</position>
<orientation>
<intervalStart>1.50</intervalStart>
<intervalEnd>1.65</intervalEnd>
</orientation>
<time>
<intervalStart>0.0</intervalStart>
<intervalEnd>10.0</intervalEnd>
</time>
</state>
</goalRegion>
</planningProblem>
</commonRoad>
\ No newline at end of file
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