{"id":19973207,"url":"https://github.com/commonroad/commonroad-drivability-checker","last_synced_at":"2025-10-06T23:04:37.057Z","repository":{"id":223888770,"uuid":"759710688","full_name":"CommonRoad/commonroad-drivability-checker","owner":"CommonRoad","description":null,"archived":false,"fork":false,"pushed_at":"2025-06-17T09:14:17.000Z","size":104425,"stargazers_count":4,"open_issues_count":2,"forks_count":3,"subscribers_count":1,"default_branch":"master","last_synced_at":"2025-10-06T23:03:13.529Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Jupyter Notebook","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,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2024-02-19T07:31:24.000Z","updated_at":"2025-07-08T11:31:59.000Z","dependencies_parsed_at":"2024-10-25T17:52:56.497Z","dependency_job_id":"77a93f6e-0872-43ec-97de-9c0444d798a7","html_url":"https://github.com/CommonRoad/commonroad-drivability-checker","commit_stats":null,"previous_names":["commonroad/commonroad-drivability-checker"],"tags_count":10,"template":false,"template_full_name":null,"purl":"pkg:github/CommonRoad/commonroad-drivability-checker","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CommonRoad%2Fcommonroad-drivability-checker","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CommonRoad%2Fcommonroad-drivability-checker/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CommonRoad%2Fcommonroad-drivability-checker/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CommonRoad%2Fcommonroad-drivability-checker/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/CommonRoad","download_url":"https://codeload.github.com/CommonRoad/commonroad-drivability-checker/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CommonRoad%2Fcommonroad-drivability-checker/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":278692948,"owners_count":26029408,"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":"2025-10-06T02:00:05.630Z","response_time":65,"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":"2024-11-13T03:10:38.660Z","updated_at":"2025-10-06T23:04:37.052Z","avatar_url":"https://github.com/CommonRoad.png","language":"Jupyter Notebook","funding_links":[],"categories":[],"sub_categories":[],"readme":"CommonRoad Drivability Checker\n------------------------------\n\n#### :warning: Deprecation Notice\n\u003e :warning: Starting from version 2025.1 the curvilinear coordinate system has been moved to a\n\u003e standalone package (commonroad-clcs). \n\u003e \n\u003e To continue using it and the commonroad_dc.geometry submodule either install the standalone package\n\u003e (`pip install commonroad-clcs`) and update your imports **OR** use commonroad-drivability-checker == 2024.1. \n\nCollision avoidance, kinematic feasibility, and road-compliance must be\nvalidated to ensure the drivability of planned motions for autonomous\nvehicles. The CommonRoad Drivability Checker toolbox unifies these checks\nin order to simplify the development and validation of motion planning\nalgorithms. It is compatible with the CommonRoad benchmark suite, which\nadditionally facilitates and drastically reduces the effort of the development\nof motion planning algorithms.\n\nPlease post questions, bug reports, etc. related to our tools or website in our [forum](https://github.com/CommonRoad/commonroad-drivability-checker/discussions).\n\n\nInstallation\n------------\n\nWe provide two installation options: Installation as a Python package or building from source.\n\n1. **Python Package**: Install the python package via `pip` in your Conda environment:\n\n\t```bash\n\tpip install commonroad-drivability-checker\n\t```\n\t**Note for MacOS M1 users**: You need to use the 64-bit Anaconda Installer (graphical or command-line) in order to install the MacOS PyPi package.\n\n2. **Build from source**: To build the drivability checker from source, please refer to the installation description in the \n[documentation](https://cps.pages.gitlab.lrz.de/commonroad-drivability-checker/).\n\n\nSystem Requirements\n-------------------\nThe software is written in Python 3.10 and C++17 and tested on MacOS and Linux (Ubuntu 18.04, 20.04 and 22.04). \n\nThe usage of the **[Anaconda](http://www.anaconda.com/download/#download9) Python distribution** is strongly recommended. \n\nFor building the code from source, the following minimum versions are required:\n  * **GCC and G++**: version 10 or above\n  * **CMake**: version 3.20 or above.\n  * **Pip**: version 21.3 or above\n\n**Note for MacOS users (M1 or Intel):** \n- We additionally recommend using the Homebrew package manager, to install required dependencies such as Eigen.\n- The installation has been tested for the **AppleClang (15.0)** and the **GCC (13)** compiler.\n\n\nThird Party Libraries and Packages\n----------------------------------\nThe following third-party dependencies of the C++ code are only required for building the project from source!\n\n**Essential dependencies**:\n\nManual installation required:\n* [OpenMP](https://www.openmp.org/)\n\nAutomatic installation via CMake FetchContent:\n* [Eigen3](https://eigen.tuxfamily.org/dox/)\n* [Boost](https://www.boost.org/)\n* [Box2D](https://github.com/erincatto/box2d)\n* [FCL](https://github.com/flexible-collision-library/fcl)\n* [libccd](https://github.com/danfis/libccd)\n* [gpc](https://github.com/rickbrew/GeneralPolygonClipper)\n\nSource code included:\n* [libs11n](http://www.s11n.net/)\n\n**Optional dependencies**:\n* [pybind11](https://github.com/pybind/pybind11) (optional for building Python bindings directly without using pip)\n* [Triangle](https://www.cs.cmu.edu/~quake/triangle.html) (optional library for triangulation, not built by default)\n* [CGAL](https://github.com/CGAL/cgal) (optional library for triangulation, not built by default)\n* [Pandoc](https://pandoc.org) (optional for building documentation)\n* [Doxygen](http://www.doxygen.nl) (optional for building documentation)\n\n**Note**: Please be aware of the specific licensing conditions when including the optional dependencies Triangle and CGAL.\nSee also `notes.txt` and the licensing information on the respective package websites for more details.\n\nThe Python dependencies are listed in `pyproject.toml`.\n\n\nDocumentation\n-------------\nA full documentation as well as tutorials to get started with the tool can be found on our [toolpage](https://commonroad.in.tum.de/tools/drivability-checker).\n\n\nPublication\n-----------\n#### CommonRoad Drivability Checker: Simplifying the Development and Validation of Motion Planning Algorithms\nChristian Pek, Vitaliy Rusinov, Stefanie Manzinger, Murat Can Üste, and Matthias Althoff\n\nAbstract— Collision avoidance, kinematic feasibility, and road-compliance must be validated to ensure the drivability\nof planned motions for autonomous vehicles. Although these tasks are highly repetitive, computationally efficient\ntoolboxes are still unavailable. The CommonRoad Drivability Checker—an open-source toolbox—unifies these mentioned\nchecks. It is compatible with the CommonRoad benchmark suite, which additionally facilitates the development of motion\nplanners. Our toolbox drastically reduces the effort of developing and validating motion planning algorithms. Numerical\nexperiments show that our toolbox is real-time capable and can be used in real test vehicles.\n\nFulltext is available on [mediaTUM](https://mediatum.ub.tum.de/doc/1546126/).\n\n##### Bibtex:\n```\n@inproceedings{ PekIV20.pdf,\n\tauthor = \"Christian Pek, Vitaliy Rusinov, Stefanie Manzinger, Murat Can Üste, and Matthias Althoff\",\n\ttitle = \"CommonRoad Drivability Checker: Simplifying the Development and Validation of Motion Planning Algorithms\",\n\tpages = \"1-8\",\n\tbooktitle = \"Proc. of the IEEE Intelligent Vehicles Symposium\",\n\tyear = \"2020\",\n\tabstract = \"Collision avoidance, kinematic feasibility, and road-compliance must be validated to ensure the drivability of planned motions for autonomous vehicles. Although these tasks are highly repetitive, computationally efficient toolboxes are still unavailable. The CommonRoad Drivability Checker— an open-source toolbox—unifies these mentioned checks. It is compatible with the CommonRoad benchmark suite, which additionally facilitates the development of motion planners. Our toolbox drastically reduces the effort of developing and validating motion planning algorithms. Numerical experiments show that our toolbox is real-time capable and can be used in real test vehicles.\"\n}\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcommonroad%2Fcommonroad-drivability-checker","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fcommonroad%2Fcommonroad-drivability-checker","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcommonroad%2Fcommonroad-drivability-checker/lists"}