commonroad op• Data kinds: table → table
• Call: import fullseye as fs; fs.ledger.cr_route(scene, lanelet_from, lanelet_to=None, *, goal=None, step: 'float' = 0.5) -> 'dict' (to call the implementation directly, import drivecommonroad; drivecommonroad.cr_route(scene, lanelet_from, lanelet_to=None, *, goal=None, step: 'float' = 0.5) -> 'dict'; from the registry, opsdrive.get("cr_route"))
Produces a sequence of lanelets by BFS over successors (fewest hops), chains their centerlines and resamples every step m.
> The detailed description below is the original text — the summary and the headings are translated.
lanelet_to が None なら goal["position_lanelets"] を終点にする(どちらも無ければ ValueError)。返り値 {"lanelets", "polyline" (K,2), "cum" (K,), "length", "speed_limit_mps" (経路上の最小 | None), "lanelet_s" (各 lanelet が始まる弧長), "lanelet_len", "polygons" [多角形]}。length = 継いだ中心線の折線長(継ぎ目で重なる頂点は 1 つに潰す)。
Raises ValueError: 未知の lanelet、到達不能、終点が無い。
• 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.
• poc_driving_commonroad — py -3.11 examples/poc_driving_commonroad.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
commonroad)cr_synthetic · cr_read · 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).*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.