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dg-commons-0.0.8
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مشاهده بیشترتوضیحات
Common tools and utilities related to Driving Games
| ویژگی | مقدار |
|---|---|
| سیستم عامل | - |
| نام فایل | dg-commons-0.0.8 |
| نام | dg-commons |
| نسخه کتابخانه | 0.0.8 |
| نگهدارنده | [] |
| ایمیل نگهدارنده | [] |
| نویسنده | Alessandro Zanardi |
| ایمیل نویسنده | azanardi@ethz.ch |
| آدرس صفحه اصلی | https://github.com/idsc-frazzoli/dg-commons |
| آدرس اینترنتی | https://pypi.org/project/dg-commons/ |
| مجوز | - |
# dg-commons (Driving Games common tools)
[](https://dl.circleci.com/status-badge/redirect/gh/idsc-frazzoli/dg-commons/tree/master)
[](https://codecov.io/gh/idsc-frazzoli/dg-commons)
[](https://badge.fury.io/py/dg-commons)
[](https://github.com/psf/black)
[](https://github.com/pre-commit/pre-commit)
This package contains common tools that ease the development and quick prototyping of autonomous vehicles with a focus
on multi-agent planning and decision-making.
## Few Highlights
<table>
<tr>
<td>
[Multi-agent simulation](#multi-agent-simulation)
<td>
[Collision resolution](#collision-resolution)
<td>
[Probabilistic sensors](#probabilistic-sensors)
</tr>
</table>
### Simulator
The simulator builds on a clear distinction between the concept of an "agent" and its corresponding physical "model".
An **agent** receives _observations_ and returns _commands_ to the simulator.
A **model** instead represents the physical instance of the agent in the simulation.
The received _commands_ from the agent are used to update its state according to the multi-agent simulation.
### Collision resolution
Collision detection is performed at each step of the physical simulation, typically higher rate than the agents' updates.
The framework provides also a basic **collision resolution** subroutine for the models.
This is based on the _impulse response_ technique among rigid bodies used in game engines.
More references are provided in the corresponding location in the docs.
### Commonroad integration
Most of the scenario tools natively integrate with the [Commonroad project]().
Few scenarios used mainly for testing are available in the `scenarios` folder.
For more scenarios consider cloning the [Commonroad scenarios repository](https://gitlab.lrz.de/tum-cps/commonroad-scenarios/-/tree/2020a_scenarios).
For internal use (private) consider also [dg-scenarios](#todo).
## Installation
The package is distributed on PyPI. You can simply install it via
```shell
pip install dg-commons
```
to install also the developer tools use `pip install dg-commons["all"]`.
## Pre-commit hook (for developers)
Install pre-commit with
```shell
pip install pre-commit
pre-commit install
```
Run pre-commit with
```shell
pre-commit run --all-files
```
## Compatibility
Currently full compatibility is supported only for python 3.9
## Publications
The tools contained in this package have contributed to the following publications:
- [**Posetal Games: Efficiency, Existence, and Refinement of Equilibria in Games with Prioritized Metrics**](https://ieeexplore.ieee.org/document/9650727) - _A. Zanardi*, G. Zardini*, S. Srinivasan, S. Bolognani, A. Censi, F. Dörfler, E. Frazzoli_ - IEEE Robotics and Automation Letters, 2022
- [**Factorization of Dynamic Games over Spatio-Temporal Resources**](https://www.research-collection.ethz.ch/handle/20.500.11850/560629) - _A. Zanardi, S. Bolognani, A. Censi, F. Dörfler, E. Frazzoli_ - Proceedings of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
- [**Task-driven Modular Co-design of Vehicle Control Systems**](https://arxiv.org/abs/2203.16640) - _G. Zardini, Z. Suter, A. Censi, E. Frazzoli_ - Proceedings of the 61th IEEE Conference on Decision and Control (CDC), 2022
## Use and contributions
If you find some of the tools provided in this repository useful, consider citing it in your research via the provided github citation.
If you want to contribute with new functionalities or need help in using the provided tools consider please feel free to open an issue.
زبان مورد نیاز
| مقدار | نام |
|---|---|
| >=3.9, <3.10 | Python |
نحوه نصب
نصب پکیج whl dg-commons-0.0.8:
pip install dg-commons-0.0.8.whl
نصب پکیج tar.gz dg-commons-0.0.8:
pip install dg-commons-0.0.8.tar.gz