├── .github └── workflows │ └── ci.yaml ├── .gitignore ├── .gitlab-ci.yml ├── .readthedocs.yaml ├── CODEOWNERS ├── Dockerfile ├── LICENSE ├── README.md ├── docs ├── Makefile ├── _static │ └── .gitkeep ├── _templates │ └── .gitkeep ├── conf.py ├── graphics │ ├── .gitkeep │ ├── bivariate_normal.png │ ├── p3iv.gif │ ├── univariate_normal_sequence.png │ └── visibility.gif ├── index.rst ├── make.bat ├── requirements.txt └── sections │ ├── .gitkeep │ ├── faq.md │ ├── installation.md │ ├── misc.md │ ├── overview.md │ ├── usage.md │ └── utility.md ├── p3iv ├── .gitignore ├── .gitlab-ci.yml ├── CMakeLists.txt ├── CODEOWNERS ├── clean.sh ├── configurations │ ├── settings.yaml │ └── test_cases.yaml ├── package.xml └── scripts │ └── main.py ├── p3iv_core ├── .gitignore ├── .gitlab-ci.yml ├── CMakeLists.txt ├── CODEOWNERS ├── package.xml └── src │ └── p3iv_core │ ├── __init__.py │ ├── bindings │ ├── __init__.py │ ├── custom_simulation │ │ ├── __init__.py │ │ └── data_converter.py │ ├── dataset.py │ └── interaction_dataset │ │ ├── __init__.py │ │ ├── data_converter.py │ │ ├── external │ │ ├── __init__.py │ │ ├── dataset_reader.py │ │ ├── dataset_types.py │ │ └── dict_utils.py │ │ └── track_reader.py │ ├── configurations │ ├── __init__.py │ └── utils.py │ └── run.py ├── p3iv_modules ├── .gitignore ├── .gitlab-ci.yml ├── CMakeLists.txt ├── CODEOWNERS ├── package.xml ├── src │ └── p3iv_modules │ │ ├── __init__.py │ │ ├── action │ │ ├── __init__.py │ │ └── act.py │ │ ├── decision │ │ ├── __init__.py │ │ └── basic.py │ │ ├── execute.py │ │ ├── interfaces │ │ ├── __init__.py │ │ ├── action.py │ │ ├── decision_making.py │ │ ├── perception.py │ │ ├── planning.py │ │ ├── prediction.py │ │ └── understanding.py │ │ ├── modules.py │ │ ├── perception │ │ ├── __init__.py │ │ ├── deprecated │ │ │ ├── __init__.py │ │ │ ├── geometry_utils.py │ │ │ └── main.py │ │ ├── limited.py │ │ └── perfect.py │ │ ├── planner │ │ ├── __init__.py │ │ ├── constant_velocity.py │ │ └── utils.py │ │ ├── prediction │ │ ├── __init__.py │ │ └── pseudo.py │ │ └── understanding │ │ ├── __init__.py │ │ └── basic.py └── test │ ├── .gitkeep │ └── test_routing.py ├── p3iv_types ├── .gitignore ├── .gitlab-ci.yml ├── CMakeLists.txt ├── CODEOWNERS ├── include │ └── p3iv_types │ │ ├── driving_corridor.hpp │ │ ├── internal │ │ └── point2d.hpp │ │ ├── motion_state.hpp │ │ ├── route_option.hpp │ │ ├── scene_model.hpp │ │ ├── scene_object.hpp │ │ ├── tracked_object.hpp │ │ ├── traffic_rules.hpp │ │ └── visibility_information.hpp ├── package.xml ├── python_api │ ├── py_motion_state.cpp │ ├── py_motion_state.hpp │ └── pybind_utils.hpp ├── src │ ├── p3iv_types │ │ ├── __init__.py │ │ ├── decision_base.py │ │ ├── environment_model.py │ │ ├── ground_truth.py │ │ ├── maneuvers.py │ │ ├── motion.py │ │ ├── precedence.py │ │ ├── scene_model.py │ │ ├── scene_object.py │ │ ├── situation_model.py │ │ ├── situation_object.py │ │ ├── timestamp.py │ │ ├── tracked_object.py │ │ └── vehicle.py │ ├── route_option.cpp │ ├── scene_model.cpp │ ├── scene_object.cpp │ ├── traffic_rules.cpp │ └── visibility_information.cpp └── test │ ├── test_environment_model.py │ ├── test_motion_state.cpp │ ├── test_motion_state.py │ ├── test_motionplan.py │ ├── test_py_motion_state.py │ ├── test_route_option.cpp │ ├── test_scene_model.cpp │ ├── test_scene_object.cpp │ ├── test_tracked_object.cpp │ ├── test_traffic_rules.cpp │ └── test_visibility_information.cpp ├── p3iv_utils ├── .gitignore ├── .gitlab-ci.yml ├── CMakeLists.txt ├── CODEOWNERS ├── README.md ├── include │ └── p3iv_utils │ │ ├── .gitignore │ │ ├── finite_differences.hpp │ │ ├── interpolation.hpp │ │ ├── kinematic_bicycle_model.hpp │ │ └── kinematics.hpp ├── package.xml ├── res │ └── maps │ │ ├── __init__.py │ │ └── lanelet2 │ │ ├── DR_DEU_Merging_MT.osm │ │ ├── DR_DEU_Roundabout_OF.osm │ │ ├── DR_USA_Roundabout_EP.osm │ │ ├── LICENSE │ │ ├── SanFrancisco-Downtown-Sample-Lanelet2.osm │ │ └── __init__.py ├── src │ └── p3iv_utils │ │ ├── __init__.py │ │ ├── consoleprint.py │ │ ├── coordinate_transformation.py │ │ ├── driver_models.py │ │ ├── extrema_functions.py │ │ ├── finite_differences.py │ │ ├── helper_functions.py │ │ ├── integrate_acceleration.py │ │ ├── lanelet_map_reader.py │ │ ├── ofstream.py │ │ ├── planner_debugger.py │ │ ├── polygon_operations.py │ │ ├── vehicle_models.py │ │ └── vehicle_rectangle.py └── test │ ├── .gitigonore │ ├── finite_differences.cpp │ ├── interpolation.cpp │ ├── kinematics.cpp │ ├── test_coordinate_transformation.py │ ├── test_finite_differences.py │ ├── test_utils.py │ └── test_vehicle_corners.py ├── p3iv_utils_polyline ├── CMakeLists.txt ├── CODEOWNERS ├── README.md ├── doc │ └── img │ │ ├── InterpolatedPolyline.png │ │ ├── line_Interpolated_signed_distance.png │ │ └── tangents.png ├── include │ └── p3iv_utils_polyline │ │ ├── interpolated_line_segment.hpp │ │ └── interpolated_polyline.hpp ├── package.xml ├── python_api │ ├── py_interpolated_polyline.cpp │ └── py_interpolated_polyline.hpp ├── src │ ├── .gitignore │ └── p3iv_utils_polyline │ │ ├── __init__.py │ │ ├── coordinate_transformation.py │ │ ├── interpolated_polyline.py │ │ ├── interpolated_polyline_segment.py │ │ └── visualization │ │ ├── __init__.py │ │ ├── plot_distance_contours.py │ │ ├── plot_interpolated_tangents.py │ │ └── utils.py └── test │ ├── test_coordinate_transformation.py │ ├── test_interpolated_polyline.cpp │ ├── test_line.py │ └── test_rectangle.py ├── p3iv_utils_polyvision ├── CMakeLists.txt ├── CODEOWNERS ├── README.md ├── include │ └── p3iv_utils_polyvision │ │ ├── cgal_utils.hpp │ │ ├── check_inside.hpp │ │ ├── internal │ │ ├── .gitignore │ │ └── cgal_debug_utils.hpp │ │ ├── polyvision_cgal.hpp │ │ └── visible_area.hpp ├── package.xml ├── python_api │ ├── pypolyvision.cpp │ └── pypolyvision.hpp ├── res │ ├── Polyvision Demo1.png │ └── notes.txt ├── scripts │ ├── __init__.py │ └── tests_animation.py ├── src │ ├── .gitignore │ ├── cgal_utils.cpp │ ├── p3iv_utils_polyvision │ │ ├── __init__.py │ │ ├── fov_wedge.py │ │ └── visualisation.py │ └── visible_area.cpp └── test │ ├── cgal_check_inside.cpp │ ├── cgal_convex_hull.cpp │ ├── cgal_distance.cpp │ └── cgal_polygon.cpp ├── p3iv_utils_probability ├── .gitignore ├── .gitlab-ci.yml ├── CMakeLists.txt ├── CODEOWNERS ├── README.md ├── include │ └── p3iv_utils_probability │ │ ├── bivariate_distribution.hpp │ │ ├── internal │ │ ├── approximations.hpp │ │ └── normal.hpp │ │ ├── sequence_distribution.hpp │ │ ├── truncated_distribution.hpp │ │ └── univariate_distribution.hpp ├── package.xml ├── res │ ├── approximation_test │ │ └── univariate_normal_approximation.py │ ├── util_probability.png │ └── util_probability.svg ├── src │ ├── .gitignore │ └── p3iv_utils_probability │ │ ├── __init__.py │ │ ├── distributions │ │ ├── __init__.py │ │ ├── base │ │ │ ├── __init__.py │ │ │ ├── mixture.py │ │ │ ├── normal.py │ │ │ ├── probability_distribution.py │ │ │ └── sequence.py │ │ ├── bivariate_distribution.py │ │ ├── mixture_distribution.py │ │ ├── sequence_distribution.py │ │ ├── truncated_distribution.py │ │ └── univariate_distribution.py │ │ └── visualization │ │ ├── __init__.py │ │ ├── plot_distribution.py │ │ └── plot_truncated_gaussian_distribution.py └── test │ ├── test_approximations.cpp │ ├── test_bivariate_distribution.cpp │ ├── test_check_covaraince_vals.py │ ├── test_covariance_check.py │ ├── test_distribution_sequence.cpp │ ├── test_distribution_sequence.py │ ├── test_normal.cpp │ ├── test_normal_distribution.cpp │ ├── test_normal_distribution.py │ ├── test_normal_mixture.py │ ├── test_plot.py │ ├── test_truncated_normal.cpp │ ├── test_truncated_normal.py │ ├── test_type_check.py │ └── test_util.py ├── p3iv_visualization ├── .gitignore ├── .gitlab-ci.yml ├── CMakeLists.txt ├── CODEOWNERS ├── README.md ├── package.xml ├── src │ └── p3iv_visualization │ │ ├── __init__.py │ │ ├── animations │ │ ├── __init__.py │ │ ├── animate_multi.py │ │ ├── animate_single.py │ │ ├── animation_frame.py │ │ └── animator.py │ │ ├── cartesian │ │ ├── __init__.py │ │ ├── car_image.py │ │ ├── plot_cartesian.py │ │ ├── plot_vehicle.py │ │ └── uncertainty_ellipse.py │ │ ├── lanelet2 │ │ ├── __init__.py │ │ ├── map_imagery.py │ │ ├── plot_lanelets.py │ │ └── plot_map.py │ │ ├── motion │ │ ├── __init__.py │ │ ├── plot_array2d.py │ │ └── plot_motion_components.py │ │ ├── res │ │ ├── DR_DEU_Roundabout_OF.osm │ │ ├── DR_DEU_Roundabout_OF.png │ │ ├── __init__.py │ │ └── car.png │ │ ├── road │ │ ├── __init__.py │ │ └── plot_roadmap.py │ │ └── spatiotemporal │ │ ├── __init__.py │ │ ├── plot_velocity_position.py │ │ └── utils │ │ ├── __init__.py │ │ ├── plot_ego_motion.py │ │ ├── plot_other_vehicles.py │ │ ├── plot_utils.py │ │ └── spatiotemporalPlotUtils.py └── test │ ├── test_car_image.py │ ├── test_motion.py │ ├── test_plot_cartesian.py │ ├── test_plot_lanelet2.py │ ├── test_plot_uncertainty_ellipse.py │ └── test_plot_vehicle.py └── requirements.txt /.github/workflows/ci.yaml: 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