Initial commit

.gitignore

+## Core latex/pdflatex auxiliary files:
+*.aux
+*.lof
+*.log
+*.lot
+*.fls
+*.out
+*.toc
+*.fmt
+*.fot
+*.cb
+*.cb2
+
+## Intermediate documents:
+*.dvi
+*-converted-to.*
+# these rules might exclude image files for figures etc.
+*.ps
+# *.eps
+# *.pdf
+
+## Generated if empty string is given at "Please type another file name for output:"
+.pdf
+
+## Bibliography auxiliary files (bibtex/biblatex/biber):
+*.bbl
+*.bcf
+*.blg
+*-blx.aux
+*-blx.bib
+*.brf
+*.run.xml
+
+## Build tool auxiliary files:
+*.fdb_latexmk
+*.synctex
+*.synctex(busy)
+*.synctex.gz
+*.synctex.gz(busy)
+*.pdfsync
+
+## Auxiliary and intermediate files from other packages:
+# algorithms
+*.alg
+*.loa
+
+# achemso
+acs-*.bib
+
+# amsthm
+*.thm
+
+# beamer
+*.nav
+*.snm
+*.vrb
+
+# cprotect
+*.cpt
+
+# fixme
+*.lox
+
+# feynmf/feynmp
+*.mf
+*.mp
+*.t[1-9]
+*.t[1-9][0-9]
+*.tfm
+*.[1-9]
+*.[1-9][0-9]
+
+#(r)(e)ledmac/(r)(e)ledpar
+*.end
+*.?end
+*.[1-9]
+*.[1-9][0-9]
+*.[1-9][0-9][0-9]
+*.[1-9]R
+*.[1-9][0-9]R
+*.[1-9][0-9][0-9]R
+*.eledsec[1-9]
+*.eledsec[1-9]R
+*.eledsec[1-9][0-9]
+*.eledsec[1-9][0-9]R
+*.eledsec[1-9][0-9][0-9]
+*.eledsec[1-9][0-9][0-9]R
+
+# glossaries
+*.acn
+*.acr
+*.glg
+*.glo
+*.gls
+*.glsdefs
+
+# gnuplottex
+*-gnuplottex-*
+
+# gregoriotex
+*.gaux
+*.gtex
+
+# hyperref
+*.brf
+
+# knitr
+*-concordance.tex
+# TODO Comment the next line if you want to keep your tikz graphics files
+*.tikz
+*-tikzDictionary
+
+# listings
+*.lol
+
+# makeidx
+*.idx
+*.ilg
+*.ind
+*.ist
+
+# minitoc
+*.maf
+*.mlf
+*.mlt
+*.mtc
+*.mtc[0-9]
+*.mtc[1-9][0-9]
+
+# minted
+_minted*
+*.pyg
+
+# morewrites
+*.mw
+
+# mylatexformat
+*.fmt
+
+# nomencl
+*.nlo
+
+# sagetex
+*.sagetex.sage
+*.sagetex.py
+*.sagetex.scmd
+
+# scrwfile
+*.wrt
+
+# sympy
+*.sout
+*.sympy
+sympy-plots-for-*.tex/
+
+# pdfcomment
+*.upa
+*.upb
+
+# pythontex
+*.pytxcode
+pythontex-files-*/
+
+# thmtools
+*.loe
+
+# TikZ & PGF
+*.dpth
+*.md5
+*.auxlock
+
+# todonotes
+*.tdo
+
+# easy-todo
+*.lod
+
+# xindy
+*.xdy
+
+# xypic precompiled matrices
+*.xyc
+
+# endfloat
+*.ttt
+*.fff
+
+# Latexian
+TSWLatexianTemp*
+
+## Editors:
+# WinEdt
+*.bak
+*.sav
+
+# Texpad
+.texpadtmp
+
+# Kile
+*.backup
+
+# KBibTeX
+*~[0-9]*
+
+# windows folder shortcuts
+*.lnk
+
+# auto folder when using emacs and auctex
+/auto/*
+
+# python
+*__pycache__/
+*.cache
+*pytest_cache/
+*.egg-info
+
+# pytest
+.coverage

README.md

+# Efficient Online Planning Using Maneuver Automata
+
+The software is written in Python 3.7 and tested on Linux and macOS.
+
+## Before you start
+We recommand to use Anaconda to manage your environment so that even if you mess up something, you can always restart safely.
+(https://conda.io/docs/user-guide/tasks/manage-environments.html)
+
+To create a new environment:
+```sh
+  $ conda create -n commonroad-py37 python=3.7
+```
+Always activate your env before you do anything related:
+```sh
+  $ source activate commonroad-py37
+```
+Make your Jupyter Notebook aware of this new env:
+```sh
+  $ conda install ipykernel
+  $ conda install ipython-autotime
+  $ conda install ipywidgets
+  $ conda install sphinx
+  $ python -m ipykernel install --user --name commonroad-py37 --display-name "Python (commonroad-py37)"
+```
+
+If you need superuser rights for the last step try:
+```sh
+  $ sudo /<root path to>/anaconda3/envs/commonroad-py37/bin/python -m ipykernel install --user --name commonroad-py37 --display-name "Python (commonroad-py37)"
+```
+
+
+Later in the Jupyter Notebook, you should select this kernel so that everything runs in this particular environment.
+
+
+## How to install
+This software has three main dependencies to install.
+
+### 1. CommonRoad
+Go to folder /primitive_planner/commonRoad_root/tools/commonroad_io/Python and install the commonroad environment:
+```sh
+  $ conda install networkx
+  $ python setup.py install
+```
+
+
+### 2. CommonRoad-Collision-Checker
+Go to folder /primitive_planner/commonRoad_root/tools/commonroad-collision-checker/ and follow the Readme file.
+
+### 3. Boundary
+Go to folder /primitive_planner/commonRoad_root/tools/ and follow the Readme file. Alternatively, you can also use the second method suggested in the troubleshoot.
+
+## How to use
+
+Go to /primitive_planner/motionAutomata/notebooks and start Jupyter:
+```sh
+  $ jupyter notebook
+```
+
+If you are using Anaconda environments like we suggested, remember to switch to the kernel of the Jupyter Notebook: click kernel -> change kernel -> Python(commonroad-py37).
+
+In case that the jupyter widget is not working (section: Visualize planned trajectory):
+```sh
+  $ jupyter nbextension install --py widgetsnbextension --user
+  $ jupyter nbextension enable widgetsnbextension --user --py
+```
+
+## Implement your own search algorithm
+
+Go to /primitive-planner/motionAutomata/Automata and open MotionPlanner.py. Insert the search algorithm of your choice in the function:
+
+```python
+  def search_alg(self, startSuccessor, maxTreeDepth, status)
+```
+
+There are already 2 search algorithms (A star and Greedy-best-first search) implemented as examples for you. Please check the first cell of the notebook to see how to use them. 
+
+
+
+## Troubleshoot:
+
+**1**
+If you get errors when executing "python setup.py install", try the following equivalent command:
+```
+  $ sudo /<root path to>/anaconda3/envs/commonroad-py37/bin/python setup.py install
+```
+
+**2**
+If there are errors related to not finding the boundary library (e.g. can not find module construction) when using the jupyter notebook, try to manually move all the contents of boundary folder (not simply copy the whole folder but to copy all files directly under this folder) into /path/to/your/anaconda/envs/lib/python3.7/site-packages.
+
+The path typically looks like this: /home/USER-NAME/anaconda3/envs/commonroad-py37/lib/python3.7/site-packages

commonRoad_root/.gitignore

+## Core latex/pdflatex auxiliary files:
+*.aux
+*.lof
+*.log
+*.lot
+*.fls
+*.out
+*.toc
+*.fmt
+*.fot
+*.cb
+*.cb2
+
+## Intermediate documents:
+*.dvi
+*-converted-to.*
+# these rules might exclude image files for figures etc.
+*.ps
+# *.eps
+# *.pdf
+
+## Generated if empty string is given at "Please type another file name for output:"
+.pdf
+
+## Bibliography auxiliary files (bibtex/biblatex/biber):
+*.bbl
+*.bcf
+*.blg
+*-blx.aux
+*-blx.bib
+*.brf
+*.run.xml
+
+## Build tool auxiliary files:
+*.fdb_latexmk
+*.synctex
+*.synctex(busy)
+*.synctex.gz
+*.synctex.gz(busy)
+*.pdfsync
+
+## Auxiliary and intermediate files from other packages:
+# algorithms
+*.alg
+*.loa
+
+# achemso
+acs-*.bib
+
+# amsthm
+*.thm
+
+# beamer
+*.nav
+*.snm
+*.vrb
+
+# cprotect
+*.cpt
+
+# fixme
+*.lox
+
+# feynmf/feynmp
+*.mf
+*.mp
+*.t[1-9]
+*.t[1-9][0-9]
+*.tfm
+*.[1-9]
+*.[1-9][0-9]
+
+#(r)(e)ledmac/(r)(e)ledpar
+*.end
+*.?end
+*.[1-9]
+*.[1-9][0-9]
+*.[1-9][0-9][0-9]
+*.[1-9]R
+*.[1-9][0-9]R
+*.[1-9][0-9][0-9]R
+*.eledsec[1-9]
+*.eledsec[1-9]R
+*.eledsec[1-9][0-9]
+*.eledsec[1-9][0-9]R
+*.eledsec[1-9][0-9][0-9]
+*.eledsec[1-9][0-9][0-9]R
+
+# glossaries
+*.acn
+*.acr
+*.glg
+*.glo
+*.gls
+*.glsdefs
+
+# gnuplottex
+*-gnuplottex-*
+
+# gregoriotex
+*.gaux
+*.gtex
+
+# hyperref
+*.brf
+
+# knitr
+*-concordance.tex
+# TODO Comment the next line if you want to keep your tikz graphics files
+*.tikz
+*-tikzDictionary
+
+# listings
+*.lol
+
+# makeidx
+*.idx
+*.ilg
+*.ind
+*.ist
+
+# minitoc
+*.maf
+*.mlf
+*.mlt
+*.mtc
+*.mtc[0-9]
+*.mtc[1-9][0-9]
+
+# minted
+_minted*
+*.pyg
+
+# morewrites
+*.mw
+
+# mylatexformat
+*.fmt
+
+# nomencl
+*.nlo
+
+# sagetex
+*.sagetex.sage
+*.sagetex.py
+*.sagetex.scmd
+
+# scrwfile
+*.wrt
+
+# sympy
+*.sout
+*.sympy
+sympy-plots-for-*.tex/
+
+# pdfcomment
+*.upa
+*.upb
+
+# pythontex
+*.pytxcode
+pythontex-files-*/
+
+# thmtools
+*.loe
+
+# TikZ & PGF
+*.dpth
+*.md5
+*.auxlock
+
+# todonotes
+*.tdo
+
+# easy-todo
+*.lod
+
+# xindy
+*.xdy
+
+# xypic precompiled matrices
+*.xyc
+
+# endfloat
+*.ttt
+*.fff
+
+# Latexian
+TSWLatexianTemp*
+
+## Editors:
+# WinEdt
+*.bak
+*.sav
+
+# Texpad
+.texpadtmp
+
+# Kile
+*.backup
+
+# KBibTeX
+*~[0-9]*
+
+# build files doc
+tools/commonroad_io/Python/commonroad/doc/build/*
+
+# windows folder shortcuts
+*.lnk
+
+# auto folder when using emacs and auctex 
+/auto/*
+
+# python
+*__pycache__/
+*.cache
+*pytest_cache/
+*.egg-info
+
+# pytest
+.coverage

commonRoad_root/tools/commonroad-collision-checker/.gitignore

+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+*.a
+.cproject
+.project
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# Sphinx documentation
+doctrees
+
+# Jupyter Notebook
+.ipynb_checkpoints
+

commonRoad_root/tools/commonroad-collision-checker/CMakeLists.txt

+project(crcc)
+cmake_minimum_required(VERSION 3.0)
+
+option(ADD_TESTS "unit tests" OFF)
+
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../)
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../)
+set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")
+
+message(STATUS " ${EIGEN3_INCLUDE_DIR}")
+
+find_package(Eigen3 3.0.5 QUIET CONFIG)
+
+# If Eigen3Config.cmake is not found, use the FindEigen3.cmake module
+if(NOT Eigen3_FOUND)
+  find_package(Eigen3 3.0.5 QUIET MODULE)
+  set(Eigen3_FOUND ON)
+endif()
+
+if(Eigen3_FOUND)
+  set(COM_HAVE_EIGEN TRUE)
+else()
+  message(SEND_ERROR "EIGEN3 (>= 3.0.5) is required by the CollisionChecker")
+  set(COM_HAVE_EIGEN FALSE)
+endif()
+
+if(ADD_TESTS)
+  add_subdirectory(cpp/tests)
+endif()
+
+if(ADD_PYTHON_BINDINGS)
+    set(PYTHON_INCLUDE_DIR ${PATH_TO_PYTHON_ENVIRONMENT}/include/python${PYTHON_VERSION}m)
+    set(PYTHON_LIBRARY ${PATH_TO_PYTHON_ENVIRONMENT}/lib/libpython${PYTHON_VERSION}m.so)
+    set(PYTHON_EXECUTABLE ${PATH_TO_PYTHON_ENVIRONMENT}/bin/python${PYTHON_VERSION}m)
+    add_subdirectory(third_party/pybind11)
+    add_subdirectory(python_binding)
+endif()
+
+add_subdirectory(cpp)
+
+

commonRoad_root/tools/commonroad-collision-checker/CMakeModules/FindCCD.cmake

+include(FindPackageHandleStandardArgs)
+find_package(PkgConfig)
+if(PKGCONFIG_FOUND)
+    pkg_check_modules(CCD ccd>=2.0)
+    if(CCD_LIBRARIES AND NOT CCD_INCLUDE_DIRS)
+        set(CCD_INCLUDE_DIRS "/usr/include")
+    endif()
+else()
+    # vcpkg installs cmake config files for libccd
+    find_package(CCD CONFIG)
+endif()
+find_package_handle_standard_args(CCD DEFAULT_MSG CCD_LIBRARIES CCD_INCLUDE_DIRS)

commonRoad_root/tools/commonroad-collision-checker/CMakeModules/FindEigen3.cmake

+# - Try to find Eigen3 lib
+#
+# This module supports requiring a minimum version, e.g. you can do
+#   find_package(Eigen3 3.1.2)
+# to require version 3.1.2 or newer of Eigen3.
+#
+# Once done this will define
+#
+#  EIGEN3_FOUND - system has eigen lib with correct version
+#  EIGEN3_INCLUDE_DIR - the eigen include directory
+#  EIGEN3_VERSION - eigen version
+#
+# This module reads hints about search locations from 
+# the following enviroment variables:
+#
+# EIGEN3_ROOT
+# EIGEN3_ROOT_DIR
+
+# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
+# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
+# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
+
+if(NOT Eigen3_FIND_VERSION)
+  if(NOT Eigen3_FIND_VERSION_MAJOR)
+    set(Eigen3_FIND_VERSION_MAJOR 2)