https://github.com/commonroad/commonroad-clcs
Toolbox to construct Curvilinear Coordinate Systems (aka Frenet frames)
https://github.com/commonroad/commonroad-clcs
Last synced: 10 months ago
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Toolbox to construct Curvilinear Coordinate Systems (aka Frenet frames)
- Host: GitHub
- URL: https://github.com/commonroad/commonroad-clcs
- Owner: CommonRoad
- License: bsd-3-clause
- Created: 2025-02-13T16:52:16.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2025-08-12T15:04:43.000Z (10 months ago)
- Last Synced: 2025-08-12T17:08:00.759Z (10 months ago)
- Language: C++
- Size: 3.26 MB
- Stars: 6
- Watchers: 2
- Forks: 3
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE.txt
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README
# CommonRoad Curvilinear Coordinate System (CLCS)
Curvilinear coordinate frames (also Frenet frames) are a widely used representation in motion planning for automated
vehicles. Curvilinear frames are aligned with a reference path and Cartesian points (x, y) are described by
coordinates (s, d), where s is the arc length and d the lateral deviation to the reference path.
The coordinate transformation is performed via a projection on the reference path for which different methods can be
used [1] [2].
This project software for constructing and using curvilinear coordinate frames for reference paths given as polylines.
We offer:
* C++ backend for efficient coordinate transformations
* Python frontend for usage with CommonRoad scenarios
* various utility methods for processing reference path (e.g., smoothing, curvature reduction, resampling etc ...)
## :wrench: Installation
We provide two installation options for CommonRoad-CLCS:
Installation as a Python package (recommended) or building from source.
1. **Python Package**: Install the python package via `pip` in your Conda environment:
```bash
pip install commonroad-clcs
```
2. **Build from source**: To build the project from source and install it in your Conda environment,
please refer to the [README_FOR_DEVS](./README_FOR_DEVS.md).
This option is only recommended for advanced users who would like to use or modify the C++ backend directly.
## :link: System Requirements
The software is written in Python 3.10 and C++17, and was tested on Ubuntu 20.04 and 22.04.
It should be compatible with later versions.
For building the code, the following minimum versions are required:
* **GCC and G++**: version 10 or above
* **CMake**: version 3.28 or above.
* **Pip**: version 24.2 or above
We recommend using [Anaconda](https://www.anaconda.com/) as a package manager for Python.
## :rocket: Getting Started
To get started, please see the minimal example in `./tutorials/clcs_minimal_example.py`.
For more details, please refer to the Jupyter notebook tutorials provided in `./tutorials/`.
## :books: Documentation
A documentation including APIs is available on our website at:
https://cps.pages.gitlab.lrz.de/commonroad/commonroad-clcs/.
To build the documentation locally, please install the optional `docs` listed in [pyproject.toml](pyproject.toml) first.
The documentation can then be built using mkdocs via:
```bash
mkdocs build
```
You can browse the doc by launching `./docs/site/index.html`
## :busts_in_silhouette: Authors
**Contributors** (alphabetic order by last name): Peter Kocsis, Edmond Irani Liu,
Stefanie Manzinger, Tobias Markus, Evald Nexhipi, Vitaliy Rusinov, Daniel Tar, Gerald Würsching
## :speech_balloon: References
If you use our software for research, please cite:
```
@inproceedings{wursching2024robust,
author={W{\"u}rsching, Gerald and Althoff, Matthias},
title={Robust and Efficient Curvilinear Coordinate Transformation with Guaranteed Map Coverage for Motion Planning},
booktitle={Proc. of the IEEE Intelligent Vehicles Symposium},
year={2024}
}
```
#### Additional references:
[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)
[2] [Bender, Philipp, Julius Ziegler, and Christoph Stiller. "Lanelets: Efficient map representation for autonomous driving." IV, 2014](https://ieeexplore.ieee.org/document/6856487)