commonroad op• データ種: any → table
• 呼び出し: import fullseye as fs; fs.ledger.cr_read(source) -> 'dict' (実装を直接呼ぶなら import drivecommonroad; drivecommonroad.cr_read(source) -> 'dict'、台帳から引くなら opsdrive.get("cr_read"))
CommonRoad 2020a XML(文字列 or パス)を読む。
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。
• サンプルデータ カタログ(DL URL / ライセンス) — 2-D は skimage.data(BSD/public)+ 合成、3-D は実データ源(Stanford/PDS 等)の DL URL。
• 演算子の来歴・参考文献 — この op 族の元になった研究/手法の出典。
• アルゴリズムの正典(著者・年)と用途は上記ファミリ使い方ガイドに記載。
• poc_driving_commonroad — py -3.11 examples/poc_driving_commonroad.py
table を入力に取れる)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
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. この per-op ノートは tools/opdocs.py md が自動生成(手編集しない)。*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.