# paths can be either relative or absolute

# setting
setting:
  # input directory of your intended CommonRoad scenarios
  input_path: ../../scenarios/exercise/
  # output directory of CommonRoad solution files
  output_path: ../../outputs/solutions/
  # overwrite solution file if it already exists
  overwrite: True
  # validate solution with the feasibility checker
  validate_solution: True

  # create gif files for valid solutions
  create_gif: False
  output_path_gif: ../../outputs/gifs

  # choose the number of parallel executions of motion planners
  # the valid range is [1, max number of cpus on your system]
  num_worker_processes: 6

# logging
logging:
  log_to_file: True
  log_file_dir: ../../outputs/logs
  log_file_name: log
  add_timestamp_to_log_file: True

# search parameters for motion planner
# parameters under 'default' is used for all scenarios, except
# the ones with specific scenario ID
# e.g. a parameter section for 'DEU_Hhr-1_1' is added below

default: &default # create an anchor point for default parameters
  # vehicle model, e.g., kinematic single-track model
  vehicle_model: KS
  # vehicle type, e.g, BMW 320i
  vehicle_type: BMW_320i
  # cost function
  cost_function: SM1
  # the planner that is used to solve for solutions.
  # possible values are: bfs, dfs, dls, ucs, gbfs, astar, student, student_example
  planner: astar
  # planning problem index. for cooperative scenarios: 0, 1, 2, ..., otherwise: 0
  planning_problem_idx: 0
  # maximum depth of the search tree
  max_tree_depth: 100
  # timeout time setting for motion planner [s].
  timeout: 30

default_automaton_files:
  FORD_ESCORT: V_0.0_20.0_Vstep_1.0_SA_-0.91_0.91_SAstep_0.23_T_0.5_Model_FORD_ESCORT
  BMW_320i: V_0.0_20.0_Vstep_4.0_SA_-1.066_1.066_SAstep_0.18_T_0.5_Model_BMW_320i
  VW_VANAGON: V_0.0_20.0_Vstep_1.0_SA_-1.023_1.023_SAstep_0.26_T_0.5_Model_VW_VANAGON

# custom settings for specific scenarios
DEU_Hhr-1_1:
  <<: *default # copy parameters from block 'default'
  # parameters can be overwritten here
  vehicle_type: FORD_ESCORT
  max_tree_depth: 400

scenario_loader:
  # scenario load can have the following modes:
  # DEFAULT: loads all scenarios from the specified scenario folder
  # RANDOM: loads randomly selected scenarios from the specified scenario folder
  # SPECIFIC: loads specified scenarios, see below
  inputmode: RANDOM

  # number of scenarios to be randomly selected. this only works for inputmode set to RANDOM
  random_count: 3

  # specific scenarios to be tested. this only works for inputmode set to SPECIFIC
  # if the given list is empty, all scenarios will be loaded
  scenarios_to_run:
    - DEU_Hhr-1_1
  #  - ZAM_ACC-1_2_S-1
  #  - ZAM_ACC-1_3_S-1
  #  - USA_Peach-4_5_T-1
  #  - CHN_Cho-2_10_T-1
  #  - DEU_Gar-1_2_T-1
  #  - DEU_Muc-1_2_T-1

  # the following scenarios will be skipped
  scenarios_to_skip:
    - ZAM_HW-1_1_S-1  # collision checker error
  # Scenarios with 2 goal states:
    - USA_US101-10_2_T-1
    - USA_US101-14_3_T-1
    - USA_US101-14_4_T-1
    - USA_US101-31_1_T-1
    - USA_US101-32_1_T-1

  # Cooperative Scenarios:
    - C-DEU_B471-2_1
    - C-DEU_B471-1_1_T-1
    - C-USA_Lanker-1_1_T-1
    - C-USA_Lanker-1_2_T-1
    - C-USA_Lanker-2_1_T-1
    - C-USA_Lanker-2_2_T-1
    - C-USA_Lanker-2_3_T-1
    - C-USA_Lanker-2_4_T-1
    - C-USA_US101-30_1_T-1
    - C-USA_US101-31_1_T-1
    - C-USA_US101-32_1_T-1
    - C-USA_US101-33_1_T-1