{"id":26575748,"url":"https://github.com/commonroad/commonroad-clcs","last_synced_at":"2025-09-02T04:40:00.790Z","repository":{"id":277727401,"uuid":"932277658","full_name":"CommonRoad/commonroad-clcs","owner":"CommonRoad","description":"Toolbox to construct Curvilinear Coordinate Systems (aka Frenet frames)","archived":false,"fork":false,"pushed_at":"2025-08-12T15:04:43.000Z","size":3419,"stargazers_count":6,"open_issues_count":1,"forks_count":3,"subscribers_count":2,"default_branch":"main","last_synced_at":"2025-08-12T17:08:00.759Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/CommonRoad.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE.txt","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2025-02-13T16:52:16.000Z","updated_at":"2025-07-29T13:39:52.000Z","dependencies_parsed_at":"2025-02-15T18:21:20.949Z","dependency_job_id":"8cab52d6-60c0-4300-8e5f-98e1a8160bff","html_url":"https://github.com/CommonRoad/commonroad-clcs","commit_stats":null,"previous_names":["commonroad/commonroad-clcs"],"tags_count":3,"template":false,"template_full_name":null,"purl":"pkg:github/CommonRoad/commonroad-clcs","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CommonRoad%2Fcommonroad-clcs","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CommonRoad%2Fcommonroad-clcs/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CommonRoad%2Fcommonroad-clcs/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CommonRoad%2Fcommonroad-clcs/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/CommonRoad","download_url":"https://codeload.github.com/CommonRoad/commonroad-clcs/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CommonRoad%2Fcommonroad-clcs/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":273233245,"owners_count":25068725,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-09-02T02:00:09.530Z","response_time":77,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-03-23T02:30:05.382Z","updated_at":"2025-09-02T04:40:00.768Z","avatar_url":"https://github.com/CommonRoad.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# CommonRoad Curvilinear Coordinate System (CLCS)\n\nCurvilinear coordinate frames (also Frenet frames) are a widely used representation in motion planning for automated\nvehicles. Curvilinear frames are aligned with a reference path and Cartesian points (x, y) are described by \ncoordinates (s, d), where s is the arc length and d the lateral deviation to the reference path.\nThe coordinate transformation is performed via a projection on the reference path for which different methods can be \nused [1] [2].\n\n\u003cimg src=\"docs/assets/animation.gif\" alt=\"clcs\" width=\"500\"/\u003e\n\nThis project software for constructing and using curvilinear coordinate frames for reference paths given as polylines.\nWe offer:\n* C++ backend for efficient coordinate transformations\n* Python frontend for usage with CommonRoad scenarios\n* various utility methods for processing reference path (e.g., smoothing, curvature reduction, resampling etc ...)\n\n## :wrench: Installation\nWe provide two installation options for CommonRoad-CLCS: \nInstallation as a Python package (recommended) or building from source.\n\n1. **Python Package**: Install the python package via `pip` in your Conda environment:\n    ```bash\n    pip install commonroad-clcs\n    ```\n2. **Build from source**: To build the project from source and install it in your Conda environment, \n   please refer to the [README_FOR_DEVS](./README_FOR_DEVS.md).\n   This option is only recommended for advanced users who would like to use or modify the C++ backend directly.\n\n\n\n## :link: System Requirements\nThe software is written in Python 3.10 and C++17, and was tested on Ubuntu 20.04 and 22.04.\nIt should be compatible with later versions.\nFor building the code, the following minimum versions are required:\n* **GCC and G++**: version 10 or above\n* **CMake**: version 3.28 or above.\n* **Pip**: version 24.2 or above\n\nWe recommend using [Anaconda](https://www.anaconda.com/) as a package manager for Python.\n\n\n## :rocket: Getting Started\nTo get started, please see the minimal example in `./tutorials/clcs_minimal_example.py`.\n\nFor more details, please refer to the Jupyter notebook tutorials provided in `./tutorials/`. \n\n\n## :books: Documentation\nA documentation including APIs is available on our website at:\nhttps://cps.pages.gitlab.lrz.de/commonroad/commonroad-clcs/.\n\nTo build the documentation locally, please install the optional `docs` listed in [pyproject.toml](pyproject.toml) first.\nThe documentation can then be built using mkdocs via:\n```bash\nmkdocs build\n```\nYou can browse the doc by launching `./docs/site/index.html`\n\n## :busts_in_silhouette: Authors\n**Contributors** (alphabetic order by last name): Peter Kocsis, Edmond Irani Liu,\nStefanie Manzinger, Tobias Markus, Evald Nexhipi, Vitaliy Rusinov, Daniel Tar, Gerald Würsching\n\n## :speech_balloon: References\nIf you use our software for research, please cite:\n```\n@inproceedings{wursching2024robust,\n    author={W{\\\"u}rsching, Gerald and Althoff, Matthias},\n    title={Robust and Efficient Curvilinear Coordinate Transformation with Guaranteed Map Coverage for Motion Planning},\n    booktitle={Proc. of the  IEEE Intelligent Vehicles Symposium},\n    year={2024}\n}\n```\n\n#### Additional references:\n[1] [Héry, Elwan, Stefano Masi, Philippe Xu, and Philippe Bonnifait. \"Map-based curvilinear coordinates for autonomous vehicles.\" ITSC, 2017](https://ieeexplore.ieee.org/document/8317775)\n\n[2] [Bender, Philipp, Julius Ziegler, and Christoph Stiller. \"Lanelets: Efficient map representation for autonomous driving.\" IV, 2014](https://ieeexplore.ieee.org/document/6856487)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcommonroad%2Fcommonroad-clcs","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fcommonroad%2Fcommonroad-clcs","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcommonroad%2Fcommonroad-clcs/lists"}