├── .bazelrc ├── .clang-format ├── .github ├── disabled-workflows │ └── manylinux.yml └── workflows │ ├── build_wheels_37.yml │ ├── build_wheels_38.yml │ ├── build_wheels_39.yml │ ├── main.yml │ ├── nightly_ltl.yml │ ├── nightly_rules_mcts.yml │ └── rss.yml ├── .gitignore ├── .vscode ├── .vs_code_bazel_build │ ├── BUILD │ └── vs_code_aspect.bzl ├── c_cpp_properties.json ├── launch.json ├── settings.json └── tasks.json ├── CONTRIBUTING.md ├── LICENSE ├── MANIFEST.in ├── README.md ├── STYLE_GUIDE.md ├── WORKSPACE ├── __init__.py ├── bark ├── BUILD ├── __init__.py ├── benchmark │ ├── BUILD │ ├── __init__.py │ ├── benchmark_analyzer.py │ ├── benchmark_result.py │ ├── benchmark_runner.py │ ├── benchmark_runner_mp.py │ ├── benchmark_runner_mp_config.py │ ├── scenario_dumper.py │ ├── templates │ │ └── template_traj.xml │ └── tests │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── py_benchmark_analyzer_tests.py │ │ ├── py_benchmark_process_tests.py │ │ ├── py_benchmark_result_tests.py │ │ ├── py_benchmark_runner_tests.py │ │ ├── py_scenario_dumper_tests.py │ │ └── test_evaluator.py ├── commons │ ├── BUILD │ ├── base_type.hpp │ ├── commons.hpp │ ├── distribution │ │ ├── BUILD │ │ ├── distribution.hpp │ │ ├── distributions_1d.hpp │ │ └── multivariate_normal.hpp │ ├── math │ │ ├── BUILD │ │ └── vector.hpp │ ├── params │ │ ├── BUILD │ │ ├── params.cpp │ │ ├── params.hpp │ │ ├── params_test.h │ │ ├── setter_params.cpp │ │ └── setter_params.hpp │ ├── tests │ │ ├── BUILD │ │ ├── distribution_tests.cc │ │ ├── frenet_test.cc │ │ ├── math_tests.cc │ │ ├── params_tests.cc │ │ ├── py_commons_tests.py │ │ ├── timer_test.cc │ │ └── util_tests.cc │ ├── timer │ │ ├── BUILD │ │ └── timer.hpp │ ├── transformation │ │ ├── BUILD │ │ ├── frenet.cpp │ │ ├── frenet.hpp │ │ ├── frenet_state.cpp │ │ └── frenet_state.hpp │ └── util │ │ ├── BUILD │ │ ├── operators.hpp │ │ ├── segfault_handler.hpp │ │ └── util.hpp ├── examples │ ├── BUILD │ ├── __init__.py │ ├── barkscape_example.py │ ├── benchmark_database.py │ ├── highway.py │ ├── highway_rss.py │ ├── highway_stochastic_intents.py │ ├── interaction_dataset.py │ ├── intersection.py │ ├── merging.py │ ├── merging_rss.py │ ├── parametric_observer.py │ ├── params │ │ ├── highway_merge_configurable.json │ │ ├── interaction_example.json │ │ ├── interaction_merging_chn.json │ │ ├── interaction_merging_deu.json │ │ ├── interaction_merging_deu_withIDM.json │ │ ├── intersection_configurable.json │ │ ├── intersection_configurable2.json │ │ └── uct_planner.json │ ├── paths.py │ └── scenarios │ │ └── highway_merging_dump.bark_scenarios ├── geometry │ ├── BUILD │ ├── angle.hpp │ ├── commons.hpp │ ├── geometry.hpp │ ├── line.hpp │ ├── model_3d.hpp │ ├── polygon.hpp │ ├── standard_shapes.cpp │ ├── standard_shapes.hpp │ └── tests │ │ ├── BUILD │ │ ├── geometry_test.cc │ │ └── py_geometry_tests.py ├── models │ ├── BUILD │ ├── behavior │ │ ├── BUILD │ │ ├── behavior_model.cpp │ │ ├── behavior_model.hpp │ │ ├── behavior_rss │ │ │ ├── BUILD │ │ │ ├── behavior_rss.cpp │ │ │ └── behavior_rss.hpp │ │ ├── behavior_safety │ │ │ ├── BUILD │ │ │ ├── behavior_safety.cpp │ │ │ └── behavior_safety.hpp │ │ ├── constant_acceleration │ │ │ ├── BUILD │ │ │ ├── constant_acceleration.cpp │ │ │ └── constant_acceleration.hpp │ │ ├── dynamic_model │ │ │ ├── BUILD │ │ │ ├── dynamic_model.cpp │ │ │ └── dynamic_model.hpp │ │ ├── idm │ │ │ ├── BUILD │ │ │ ├── base_idm.cpp │ │ │ ├── base_idm.hpp │ │ │ ├── idm_classic.cpp │ │ │ ├── idm_classic.hpp │ │ │ ├── idm_lane_tracking.cpp │ │ │ ├── idm_lane_tracking.hpp │ │ │ └── stochastic │ │ │ │ ├── BUILD │ │ │ │ ├── idm_stochastic.cpp │ │ │ │ └── idm_stochastic.hpp │ │ ├── motion_primitives │ │ │ ├── BUILD │ │ │ ├── continuous_actions.cpp │ │ │ ├── continuous_actions.hpp │ │ │ ├── macro_actions.cpp │ │ │ ├── macro_actions.hpp │ │ │ ├── motion_primitives.hpp │ │ │ ├── param_config │ │ │ │ ├── BUILD │ │ │ │ └── behav_macro_actions_from_param_server.hpp │ │ │ ├── primitives │ │ │ │ ├── primitive.hpp │ │ │ │ ├── primitive_const_acc_change_to_left.cpp │ │ │ │ ├── primitive_const_acc_change_to_left.hpp │ │ │ │ ├── primitive_const_acc_change_to_right.cpp │ │ │ │ ├── primitive_const_acc_change_to_right.hpp │ │ │ │ ├── primitive_const_acc_stay_lane.cpp │ │ │ │ ├── primitive_const_acc_stay_lane.hpp │ │ │ │ └── primitive_gap_keeping.hpp │ │ │ └── random_macro_actions.hpp │ │ ├── not_started │ │ │ ├── BUILD │ │ │ └── behavior_not_started.hpp │ │ ├── plan │ │ │ └── BUILD │ │ ├── rule_based │ │ │ ├── BUILD │ │ │ ├── intersection_behavior.cpp │ │ │ ├── intersection_behavior.hpp │ │ │ ├── lane_change_behavior.cpp │ │ │ ├── lane_change_behavior.hpp │ │ │ ├── mobil_behavior.cpp │ │ │ └── mobil_behavior.hpp │ │ └── static_trajectory │ │ │ ├── BUILD │ │ │ ├── behavior_static_trajectory.cpp │ │ │ └── behavior_static_trajectory.hpp │ ├── dynamic │ │ ├── BUILD │ │ ├── dynamic_model.hpp │ │ ├── integration.hpp │ │ ├── single_track.hpp │ │ ├── single_track_steering_rate.hpp │ │ └── triple_integrator.hpp │ ├── execution │ │ ├── BUILD │ │ ├── execution_model.hpp │ │ ├── interpolation │ │ │ ├── BUILD │ │ │ ├── interpolate.cpp │ │ │ └── interpolate.hpp │ │ └── mpc │ │ │ ├── BUILD │ │ │ ├── common.hpp │ │ │ ├── cost_functor.hpp │ │ │ ├── mpc.cpp │ │ │ └── mpc.hpp │ ├── observer │ │ ├── BUILD │ │ ├── observer_model.hpp │ │ ├── observer_model_none.hpp │ │ ├── observer_model_parametric.cpp │ │ └── observer_model_parametric.hpp │ └── tests │ │ ├── BUILD │ │ ├── behavior_dynamic_model_test.cc │ │ ├── behavior_idm_classic_test.cc │ │ ├── behavior_mobil_test.cc │ │ ├── behavior_motion_primitive_test.cc │ │ ├── behavior_not_started_test.cc │ │ ├── behavior_rss_test.cc │ │ ├── behavior_static_trajectory_test.cc │ │ ├── dynamic_test.cc │ │ ├── execution_test.cc │ │ ├── observer_model_test.cc │ │ ├── py_behavior_model_test.py │ │ └── py_observer_model_test.py ├── pip_package.py ├── python_wrapper │ ├── BUILD │ ├── common.hpp │ ├── commons │ │ ├── commons.cpp │ │ └── commons.hpp │ ├── geometry │ │ ├── geometry.cpp │ │ └── geometry.hpp │ ├── main.cpp │ ├── models │ │ ├── behavior.cpp │ │ ├── behavior.hpp │ │ ├── dynamic.cpp │ │ ├── dynamic.hpp │ │ ├── execution.cpp │ │ ├── execution.hpp │ │ ├── models.cpp │ │ ├── models.hpp │ │ ├── observer.cpp │ │ ├── observer.hpp │ │ └── plan │ │ │ ├── BUILD │ │ │ ├── plan.cpp │ │ │ └── plan.hpp │ ├── polymorphic_conversion.cpp │ ├── polymorphic_conversion.hpp │ ├── runtime.hpp │ ├── tests │ │ ├── BUILD │ │ ├── logging_tests.hpp │ │ ├── py_glog_init.py │ │ ├── py_pickle_tests.py │ │ └── py_renderer_tests.py │ ├── viewer │ │ ├── viewer.cpp │ │ └── viewer.hpp │ └── world │ │ ├── agent.cpp │ │ ├── agent.hpp │ │ ├── evaluation.cpp │ │ ├── evaluation.hpp │ │ ├── goal_definition.cpp │ │ ├── goal_definition.hpp │ │ ├── ltl.cpp │ │ ├── ltl.hpp │ │ ├── map.cpp │ │ ├── map.hpp │ │ ├── opendrive.cpp │ │ ├── opendrive.hpp │ │ ├── prediction.cpp │ │ ├── prediction.hpp │ │ ├── renderer.cpp │ │ ├── renderer.hpp │ │ ├── world.cpp │ │ └── world.hpp ├── runtime │ ├── BUILD │ ├── __init__.py │ ├── commons │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── commons.py │ │ ├── model_json_conversion.py │ │ ├── parameters.py │ │ └── xodr_parser.py │ ├── runtime.hpp │ ├── runtime.py │ ├── scenario │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── interaction_dataset_processing │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── agent_track_info.py │ │ │ ├── dataset_decomposer.py │ │ │ ├── interaction_dataset_reader.py │ │ │ └── scenario_track_info.py │ │ ├── scenario.py │ │ └── scenario_generation │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── config_readers │ │ │ ├── BUILD │ │ │ ├── __init__.py │ │ │ ├── agent_state_geometry_config_readers.py │ │ │ ├── behavior_model_config_readers.py │ │ │ ├── config_readers_interfaces.py │ │ │ ├── controlled_agents_config_readers.py │ │ │ ├── dynamic_model_config_readers.py │ │ │ ├── execution_model_config_readers.py │ │ │ ├── goal_definition_config_readers.py │ │ │ └── observer_model_config_readers.py │ │ │ ├── config_with_ease.py │ │ │ ├── configurable_scenario_generation.py │ │ │ ├── deterministic.py │ │ │ ├── interaction_dataset_scenario_generation.py │ │ │ ├── interaction_dataset_scenario_generation_full.py │ │ │ ├── scenario_generation.py │ │ │ └── uniform_vehicle_distribution.py │ ├── tests │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── data │ │ │ ├── 4way_intersection.xodr │ │ │ ├── DR_CHN_Merging_ZS_partial_v02.xodr │ │ │ ├── DR_DEU_Merging_MT_v01_centered.xodr │ │ │ ├── DR_DEU_Merging_MT_v01_shifted.xodr │ │ │ ├── city_highway_straight.xodr │ │ │ ├── deterministic_scenario.json │ │ │ ├── highway_merging.json │ │ │ ├── interaction_dataset_CHN_Merging_dummy_track_incomplete.csv │ │ │ ├── interaction_dataset_DEU_Merging_dummy_track.csv │ │ │ ├── interaction_dataset_DEU_Merging_dummy_track_late.csv │ │ │ ├── interaction_dataset_DEU_Merging_dummy_track_outside.csv │ │ │ ├── road_corridor_test.xodr │ │ │ └── threeway_intersection.xodr │ │ ├── py_evaluation_tests.py │ │ ├── py_importer_tests.py │ │ ├── py_interaction_dataset_decomposer_test.py │ │ ├── py_interaction_dataset_reader_test.py │ │ ├── py_param_server_test_helper.hpp │ │ ├── py_param_server_tests.py │ │ ├── py_runtime_tests.py │ │ ├── py_scenario_generation_tests.py │ │ └── test_config_reader_module.py │ └── viewer │ │ ├── BUILD │ │ ├── __init__.py │ │ ├── buffered_mp_viewer.py │ │ ├── buffered_viewer.py │ │ ├── matplotlib_viewer.py │ │ ├── pygame_viewer.py │ │ ├── threaded_viewer.py │ │ ├── video_renderer.py │ │ ├── viewer.hpp │ │ ├── viewer.py │ │ └── viewer_functions.hpp ├── tests.py └── world │ ├── BUILD │ ├── evaluation │ ├── BUILD │ ├── base_evaluator.hpp │ ├── commons.hpp │ ├── evaluator_behavior_expired.hpp │ ├── evaluator_collision_agents.cpp │ ├── evaluator_collision_agents.hpp │ ├── evaluator_collision_ego_agent.cpp │ ├── evaluator_collision_ego_agent.hpp │ ├── evaluator_distance_to_goal.hpp │ ├── evaluator_drivable_area.hpp │ ├── evaluator_gap_distance_front.cpp │ ├── evaluator_gap_distance_front.hpp │ ├── evaluator_goal_reached.hpp │ ├── evaluator_number_of_agents.cpp │ ├── evaluator_number_of_agents.hpp │ ├── evaluator_planning_time.cpp │ ├── evaluator_planning_time.hpp │ ├── evaluator_step_count.hpp │ ├── evaluator_velocity.cpp │ ├── evaluator_velocity.hpp │ ├── ltl │ │ ├── BUILD │ │ ├── evaluator_ltl.cpp │ │ ├── evaluator_ltl.hpp │ │ ├── label │ │ │ ├── BUILD │ │ │ └── label.h │ │ └── label_functions │ │ │ ├── BUILD │ │ │ ├── agent_at_lane_end_label_function.cpp │ │ │ ├── agent_at_lane_end_label_function.hpp │ │ │ ├── agent_beyond_point_label_function.cpp │ │ │ ├── agent_beyond_point_label_function.hpp │ │ │ ├── agent_near_label_function.cpp │ │ │ ├── agent_near_label_function.hpp │ │ │ ├── base_label_function.hpp │ │ │ ├── behind_of_label_function.cpp │ │ │ ├── behind_of_label_function.hpp │ │ │ ├── below_speed_limit_label_function.cpp │ │ │ ├── below_speed_limit_label_function.hpp │ │ │ ├── constant_label_function.hpp │ │ │ ├── dense_traffic_label_function.cpp │ │ │ ├── dense_traffic_label_function.hpp │ │ │ ├── ego_accelerate_label_function.cpp │ │ │ ├── ego_accelerate_label_function.hpp │ │ │ ├── ego_below_speed_limit_label_function.cpp │ │ │ ├── ego_below_speed_limit_label_function.hpp │ │ │ ├── ego_beyond_point_label_function.cpp │ │ │ ├── ego_beyond_point_label_function.hpp │ │ │ ├── ego_leftmost_lane_label_function.cpp │ │ │ ├── ego_leftmost_lane_label_function.hpp │ │ │ ├── ego_rightmost_lane_label_function.cpp │ │ │ ├── ego_rightmost_lane_label_function.hpp │ │ │ ├── front_of_label_function.cpp │ │ │ ├── front_of_label_function.hpp │ │ │ ├── generic_ego_label_function.hpp │ │ │ ├── lane_change_label_function.cpp │ │ │ ├── lane_change_label_function.hpp │ │ │ ├── left_of_label_function.cpp │ │ │ ├── left_of_label_function.hpp │ │ │ ├── multi_agent_label_function.cpp │ │ │ ├── multi_agent_label_function.hpp │ │ │ ├── on_road_label_function.cpp │ │ │ ├── on_road_label_function.hpp │ │ │ ├── preceding_agent_label_function.hpp │ │ │ ├── rel_speed_label_function.cpp │ │ │ ├── rel_speed_label_function.hpp │ │ │ ├── right_of_label_function.cpp │ │ │ ├── right_of_label_function.hpp │ │ │ ├── rightmost_lane_label_function.cpp │ │ │ ├── rightmost_lane_label_function.hpp │ │ │ ├── safe_distance_label_function.cpp │ │ │ ├── safe_distance_label_function.hpp │ │ │ ├── succeeding_agent_label_function.cpp │ │ │ └── succeeding_agent_label_function.hpp │ ├── rss │ │ ├── BUILD │ │ ├── commons.hpp │ │ ├── evaluator_rss.hpp │ │ ├── rss_interface.cpp │ │ ├── rss_interface.hpp │ │ └── safety_polygon.hpp │ └── safe_distances │ │ ├── BUILD │ │ ├── evaluator_dynamic_safe_dist.cpp │ │ ├── evaluator_dynamic_safe_dist.hpp │ │ ├── evaluator_safe_dist_base.hpp │ │ ├── evaluator_safe_dist_drivable_area.cpp │ │ ├── evaluator_safe_dist_drivable_area.hpp │ │ ├── evaluator_static_safe_dist.cpp │ │ └── evaluator_static_safe_dist.hpp │ ├── goal_definition │ ├── BUILD │ ├── goal_definition.hpp │ ├── goal_definition_polygon.cpp │ ├── goal_definition_polygon.hpp │ ├── goal_definition_sequential.cpp │ ├── goal_definition_sequential.hpp │ ├── goal_definition_state_limits.cpp │ ├── goal_definition_state_limits.hpp │ ├── goal_definition_state_limits_frenet.cpp │ └── goal_definition_state_limits_frenet.hpp │ ├── map │ ├── BUILD │ ├── commons.hpp │ ├── lane.cpp │ ├── lane.hpp │ ├── lane_corridor.cpp │ ├── lane_corridor.hpp │ ├── map_interface.cpp │ ├── map_interface.hpp │ ├── road.cpp │ ├── road.hpp │ ├── road_corridor.cpp │ ├── road_corridor.hpp │ ├── roadgraph.cpp │ ├── roadgraph.hpp │ └── roadgraph_impl.hpp │ ├── objects │ ├── agent.cpp │ ├── agent.hpp │ ├── object.cpp │ └── object.hpp │ ├── observed_world.cpp │ ├── observed_world.hpp │ ├── opendrive │ ├── BUILD │ ├── commons.hpp │ ├── helpers.hpp │ ├── junction.hpp │ ├── lane.cpp │ ├── lane.hpp │ ├── lane_section.cpp │ ├── lane_section.hpp │ ├── odrSpiral.cpp │ ├── odrSpiral.hpp │ ├── opendrive.hpp │ ├── plan_view.cpp │ ├── plan_view.hpp │ ├── road.cpp │ └── road.hpp │ ├── prediction │ ├── prediction_settings.cpp │ └── prediction_settings.hpp │ ├── renderer │ ├── BUILD │ ├── primitive.hpp │ └── renderer.hpp │ ├── tests │ ├── BUILD │ ├── dummy_road_corridor.hpp │ ├── evaluation │ │ ├── BUILD │ │ ├── commons_test.cc │ │ ├── label_test.cc │ │ ├── py_dummy_test.py │ │ ├── py_evaluator_ltl_tests.py │ │ ├── py_evaluator_rss_tests.py │ │ └── rss_interface_test.cc │ ├── make_test_world.cpp │ ├── make_test_world.hpp │ ├── make_test_xodr_map.cpp │ ├── make_test_xodr_map.hpp │ ├── map │ │ ├── BUILD │ │ ├── data │ │ │ ├── base_map_lanes_guerickestr_assymetric_48.csv │ │ │ └── base_map_lanes_guerickestr_short_assymetric_48.csv │ │ ├── map_interface_test.cc │ │ ├── opendrive_test.cc │ │ ├── py_map_interface_tests.py │ │ ├── py_opendrive_tests.py │ │ ├── py_road_corridor_tests.py │ │ ├── py_roadgraph_test.py │ │ ├── road_corridor_tests.cc │ │ └── roadgraph_test.cc │ ├── objects │ │ ├── BUILD │ │ ├── agent_test.cc │ │ └── py_agent_tests.py │ ├── observed_world_test.cc │ ├── params │ │ └── macro_actions_test.json │ ├── py_system_tests.py │ ├── py_world_tests.py │ ├── python_behavior_model.py │ └── world_test.cc │ ├── world.cpp │ └── world.hpp ├── bazelisk.py ├── dev_into.sh ├── docs ├── Makefile ├── make.bat ├── source │ ├── about.md │ ├── bark_logo.jpg │ ├── behavior_models.md │ ├── changelog.md │ ├── common.md │ ├── conf.py │ ├── debugging.md │ ├── example.md │ ├── example_map.gif │ ├── gifs │ │ ├── bark_highway.gif │ │ ├── bark_intersection.gif │ │ ├── bark_merging.gif │ │ ├── open_drive8_far.gif │ │ └── open_drive8_near.gif │ ├── guidelines.md │ ├── index.md │ ├── installation.md │ ├── map_interface.md │ ├── models.md │ ├── overview.png │ ├── packaging_guide.md │ ├── profiling.md │ ├── runtime.md │ └── world.md └── tutorials │ ├── 01_Introduction.ipynb │ ├── 02_maps.ipynb │ ├── 03_configurable_scenario_generation.ipynb │ ├── 04_interaction_dataset.ipynb │ ├── 05_benchmarking.ipynb │ ├── BUILD │ ├── config_notebook.py │ ├── notebook_tests.py │ ├── overview.md │ └── run.py ├── install.sh ├── setup.py └── tools ├── BUILD ├── Dockerfile ├── Readme.md ├── ceres ├── BUILD └── ceres.BUILD ├── ci ├── Dockerfile └── pre_build.sh ├── debug ├── BUILD ├── analyze_map.py └── debug_settings.py ├── deps.bzl ├── eigen ├── BUILD └── eigen.BUILD ├── gtest.BUILD ├── installers ├── install_apt_packages.sh ├── install_bazel.sh ├── install_python_venv.sh └── requirements.txt ├── interaction-dataset ├── BUILD └── interaction-dataset.BUILD └── pybind11 ├── BUILD └── pybind.BUILD /.bazelrc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bark-simulator/bark/HEAD/.bazelrc -------------------------------------------------------------------------------- /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/bark-simulator/bark/HEAD/.clang-format 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