https://github.com/commonroad/commonroad-rule-simplification
https://github.com/commonroad/commonroad-rule-simplification
Last synced: 8 months ago
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- Host: GitHub
- URL: https://github.com/commonroad/commonroad-rule-simplification
- Owner: CommonRoad
- Created: 2025-10-16T15:39:25.000Z (8 months ago)
- Default Branch: main
- Last Pushed: 2025-10-16T16:17:02.000Z (8 months ago)
- Last Synced: 2025-10-17T18:59:54.304Z (8 months ago)
- Language: C++
- Size: 856 KB
- Stars: 0
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
## CommonRoad Rule Simplification: Extract Scenario-Specific Knowledge to Simplify Traffic Rules
CommonRoad Rule Simplification is a toolbox for simplifying complex traffic rules for concrete traffic situations in the CommonRoad framework.
The simplification is based on scenario-specific knowledge, which is extracted from the CommonRoad scenario.
By augmenting the traffic rule specifications with this knowledge, we obtain a simplified rule set that is tailored to the concrete traffic situation at hand.
Thus, the simplified rules are more efficient to use in subsequent motion planning tasks.
### System Requirements
The software is written in Python 3.10 and C++-20, and was tested on Ubuntu 22.04.
### Building from Source
> **Note:** If you want to use this package with the PyPI versions of its dependencies, you need to compile it using GCC 10 (which is the compiler we use to create the PyPI wheels).
> Otherwise, nanobind will not be able to detect the Python bindings of the dependencies correctly (see [here](https://nanobind.readthedocs.io/en/latest/faq.html#how-can-i-avoid-conflicts-with-other-projects-using-nanobind)).
> To do so, indicate the path to GCC 10 in the `CXX` environment variable before building the code (e.g. `export CXX=/usr/bin/g++-10`).
> Note that you need to start with a fresh build directory if you change the compiler, as CMake caches the compiler used for the build.
> Alternatively, if you cannot use GCC 10 for some reason, you can install the following packages from source using the compiler of your choice:
> [commonroad-clcs](https://github.com/CommonRoad/commonroad-clcs).
> Make sure to use the correct versions of these packages as specified in the `pyproject.toml` file.
#### Third-Party Dependencies
While most of these dependencies are added automatically during the build process, you can install them manually via
your package manager to speed up the build process.
**Manual installation recommended to speed up the build:**
- [Boost](https://www.boost.org/)
**Manual installation optional:**
- [Eigen3](https://eigen.tuxfamily.org/)
- [spdlog](https://github.com/gabime/spdlog)
**Optional dependencies:**
- [GTest](https://google.github.io/googletest/) (optional: for building unit tests)
The additional Python dependencies are listed in `pyproject.toml`.
#### Building the Code
1. We strongly recommend installing this package in a virtual Python environment using one of the following tools:
- [uv](https://docs.astral.sh/uv/)
- [Anaconda](https://www.anaconda.com/)
- [Miniconda](https://docs.conda.io/en/latest/miniconda.html)
2. Install C++ dependencies:
```bash
sudo apt-get update
sudo apt-get install libboost-all-dev libeigen3-dev libspdlog-dev libgtest-dev libgmock-dev
```
3. Build the C++ extension and install the Python package:
```bash
pip install -v .
```
or, if you are using `uv`:
```bash
uv sync -v
```
This will build the Python bindings (knowledge_extraction_core) required for C++-boosted computations.
> **Note**: The `-v` flag (verbose) prints information about the build progress
**Optional:**
- To build the code in Debug mode, add the flag
- `--config-settings=cmake.build-type="Debug"` if you are using `pip`
- `--config-settings-package cr_rule_simplification:cmake.build-type="Debug"` if you are using `uv`
See [here](https://scikit-build-core.readthedocs.io/en/latest/configuration.html#configuring-cmake-arguments-and-defines)
for further information on configuring CMake arguments via our build system (`scikit-build-core`).
> **Note**: `scikit-build-core` uses `ninja` for building the C++ extension by default.
> Thus, the build is automatically parallelized using all available CPU cores.
> If you want to explicitly configure the number of build jobs, you can do so by passing the
> flag `--config-settings=cmake.define.CMAKE_BUILD_PARALLEL_LEVEL=$BUILD_JOBS` to the `pip` command, where `$BUILD_JOBS`
> is the number of parallel jobs to use.
> For `uv`, use `--config-settings-package cr_rule_simplification:cmake.define.CMAKE_BUILD_PARALLEL_LEVEL=$BUILD_JOBS`.
> See [here](https://scikit-build-core.readthedocs.io/en/latest/faqs.html#multithreaded-builds) for further details.
> **Note**: Building the package in Debug mode (see above) significantly increases the computation time of the C++
> backend. Please make sure you are building in Release mode (default setting) if you require fast computations.
You can also have a look at the [Dockerfile](./ci/docker/ci/Dockerfile) for the CI pipeline to see how to set up a
consistent development environment on Debian/Ubuntu.
### Running the Code
Run the example script `main.py` to compute specification-compliant reachable sets:
```bash
python main.py
```
or, if you are using `uv`:
```bash
uv run main.py
```
### Possible Installation Problems
- Protobuf error like this `CHECK failed: GeneratedDatabase()->Add(encoded_file_descriptor, size)`:
this is caused by the `commonroad_cpp` Python package and the version of the environment model used by our C++ code
trying to register the same type with the same protobuf instance twice. To work around this issue, you can add the
`--config-settings=cmake.define.COMMONROAD_SYSTEM_PROTOBUF=OFF` option to the `pip install` command.
### Documentation
To generate the documentation, first make sure that you have installed the documentation dependencies listed in `pyproject.toml`.
Then, you can generate the documentation by running:
```bash
mkdocs build
```
To view the documentation, you can start a local server by running:
```bash
mkdocs serve
```
### Development
Check out the [README_FOR_DEVS](./readme/README_FOR_DEVS.md) for information on setting up your development environment.