cr_read — DRIVE `commonroad` op

• Data kinds: any → table

• Call: import fullseye as fs; fs.ledger.cr_read(source) -> 'dict' (to call the implementation directly, import drivecommonroad; drivecommonroad.cr_read(source) -> 'dict'; from the registry, opsdrive.get("cr_read"))

Usage

Reads CommonRoad 2020a XML (a string or a path).

> The detailed description below is the original text — the summary and the headings are translated.

返り値: {"kind": "commonroad_scene", "id", "dt", "version", "lanelets": {id: {"center" (n,2), "left", "right", "polygon", "successors", "predecessors", "adj_left", "adj_right", "speed_limit_mps" | None, "stop_line" (2,2) | None, "traffic_sign_ids", "traffic_light_ids", "length"}}, "obstacles": [{"id", "type", "static", "shape", "states" (T,5) [time_step, x, y, orientation, velocity]}], "planning_problems": [{"id", "initial": {time_step, x, y, orientation, velocity}, "goal": [{"time_step": (lo, hi), "position_lanelets" | None, "position_polygon" (k,2) | None, "velocity": (lo, hi) | None, "orientation": (lo, hi) | None}]}], "traffic_signs": {id: {"element_ids", "additional", "position"}}, "traffic_lights": {id: {"position", "cycle": [(color, duration)], "time_offset", "active", "direction"}}}。

中心線は左右境界の平均(頂点数が揃っていることを要求)。標識 274 の additional_value[0] は m/s → float。

Raises ValueError: 壊れた XML、ルートが commonRoad でない、commonRoadVersion ≠ 2020a、必須要素の欠落、矩形以外の障害物。

References (sample data, literature)

• Sample-data catalog (download URLs / licences) — 2-D uses skimage.data (BSD/public domain) plus synthetic images; 3-D lists download URLs for real data sources (Stanford, PDS, …).

• Operator provenance and references — the sources of the research/methods this op family came from.

• The canonical algorithm (author, year) and its uses are named in the family usage guide above.

Runnable examples (verified samples that actually call this op)

• poc_driving_commonroad — py -3.11 examples/poc_driving_commonroad.py

Ops the type connects to (they accept `table` as input)

course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same

Same category (`commonroad`)

cr_synthetic · cr_route · ks_step · cr_drive · cr_drive_sweep · cr_feasible · cr_collision · cr_solution_xml

*Provenance: drivecommonroad.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

cr_read — DRIVE commonroad op