Metadata-Version: 2.4
Name: colav-unsafe-set
Version: 0.0.4
Summary: A Python library for generating unsafe sets utilising the Indices of Interest.
Project-URL: Documentation, https://github.com/RyanMcKeeQUB/colav-unsafe-set/blob/main/README.md
Project-URL: Issues, https://github.com/RyanMcKeeQUB/colav-unsafe-set/issues
Project-URL: Source, https://github.com/RyanMcKeeQUB/colav-unsafe-set
Author-email: Ryan McKee <r.mckee@qub.ac.uk>
License: MIT License
        
        Copyright (c) 2025 COLAV LAB
        
        Permission is hereby granted, free of charge, to any person obtaining a copy
        of this software and associated documentation files (the "Software"), to deal
        in the Software without restriction, including without limitation the rights
        to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
        copies of the Software, and to permit persons to whom the Software is
        furnished to do so, subject to the following conditions:
        
        The above copyright notice and this permission notice shall be included in all
        copies or substantial portions of the Software.
        
        THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
        IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
        FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
        AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
        LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
        OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
        SOFTWARE.
License-File: LICENSE
Classifier: Development Status :: 4 - Beta
Classifier: Programming Language :: Python
Classifier: Programming Language :: Python :: 3.8
Classifier: Programming Language :: Python :: 3.9
Classifier: Programming Language :: Python :: 3.10
Classifier: Programming Language :: Python :: 3.11
Classifier: Programming Language :: Python :: 3.12
Classifier: Programming Language :: Python :: Implementation :: CPython
Classifier: Programming Language :: Python :: Implementation :: PyPy
Requires-Dist: hatch
Requires-Dist: lark
Requires-Dist: matplotlib
Requires-Dist: pandas
Requires-Dist: protobuf<=3.20.1
Requires-Dist: pyyaml
Requires-Dist: scipy
Description-Content-Type: text/markdown

# colav-unsafe-set

[![PyPI - Version](https://img.shields.io/pypi/v/colav-unsafe-set.svg)](https://pypi.org/project/colav-unsafe-set)
[![PyPI - Python Version](https://img.shields.io/pypi/pyversions/colav-unsafe-set.svg)](https://pypi.org/project/colav-unsafe-set)
<!--[![PyPI - Protobuf Version]()]-->
This package contains implementation of the custom risk assesment method for motion planners called unsafe set as defined in paper [geometric motion planning in dynamic environments](). 
The following is the high level equation which this package implements.

![image](./docs/unsafe_set_calculation.png)

Show image of geometric unsafe set: 
![image](./docs/unsafe_set_diagram.png)

-----

## Table of Contents

- [Installation](#installation)
- [Structure](#structure)
- [Usage](#usage)
- [License](#license)

## Installation

```bash
pip install colav-unsafe-set
```

risk assessment collision metrics summary

| Case                  | v_rel_norm_sq | p_rel == [0, 0] | tcpa > 0 | DCPA                         | TCPA                      |
|-----------------------|---------------|-----------------|----------|------------------------------|---------------------------|
| 1.1 Identical position | < 1e-6        | ✅              | –        | NaN                          | inf                       |
| 1.2 Stationary, offset | < 1e-6        | ❌              | –        | ‖p_rel‖                     | ‖p_rel‖ / ‖v1‖ (or inf)  |
| 2.1 Future CPA         | ≥ 1e-6        | –               | ✅       | ‖p_rel + tcpa * v_rel‖       | computed tcpa             |
| 2.2 CPA in past        | ≥ 1e-6        | –               | ❌       | NaN                          | NaN                       |


## Structure

## Usage
When pkg is installed, Using it is simple imports are as follows. 

```python
```


## License

`colav-unsafe-set` is distributed under the terms of the [MIT](https://github.com/RyanMcKeeQUB/colav-unsafe-set/tree/main/LICENSE) license.
