Minimal Example

from commonroad_route_planner.reference_path import ReferencePathThe subsequent code snippet shows the general usage of the CommonRoad Velocity Planner

from commonroad.common.file_reader import CommonRoadFileReader
import commonroad_route_planner.fast_api.fast_api as rfapi
from commonroad_route_planner.reference_path import ReferencePath
from commonroad_velocity_planner.velocity_planner_interface import IVelocityPlanner
from commonroad_velocity_planner.configuration.configuration_builder import ConfigurationBuilder
from commonroad_velocity_planner.velocity_planning_problem import VppBuilder

# cr-io
scenario, planning_problem_set = CommonRoadFileReader("path/to/commonroad/xml").open()
planning_problem = list(planning_problem_set.planning_problem_dict.values())[0]

# reference_path planner
reference_path: ReferencePath = rfapi.generate_reference_path_from_scenario_and_planning_problem(
    scenario=scenario,
    planning_problem=planning_problem
)

# Velocity Planner
global_trajectory = IVelocityPlanner().plan_velocity(
    reference_path=reference_path,
    planner_config=ConfigurationBuilder().get_predefined_configuration(),
    velocity_planning_problem=VppBuilder().build_vpp(
        reference_path=reference_path,
        planning_problem=planning_problem,
        default_goal_velocity=planning_problem.initial_state.velocity
    )
)