# Python Vessel Models of CommonOcean
This package contains all vessel models of the [CommonOcean benchmarks](https://commonocean.cps.cit.tum.de/).
The code is based on the [CommonRoad vehicle models repository](https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models).
We provide implementations of the vessel dynamics and vessel parameters.
## Documentation
For a detailed explanation of the vehicle models, please have a look at the [documentation](https://gitlab.lrz.de/tum-cps/commonocean-vessel-models/-/blob/main/documentation/vesselModels_commonOcean.pdf).
## Installation
To use vehicle models and parameters, run
```
pip install commonocean-vessel-models
```
## Code examples
For an extended simulation example, we refer to our [gitlab repository](https://gitlab.lrz.de/tum-cps/commonocean-vessel-models). A simple simulation example for using the point-mass model in combination with an odeint solver would be
```python3
from scipy.integrate import odeint
import numpy
from vesselmodels.parameters_vessel_1 import parameters_vessel_1
from vesselmodels.vessel_dynamics_pm import vessel_dynamics_pm
def func_PM(x, t, u, p):
f = vessel_dynamics_pm(x, u, p)
return f
tStart = 0 # start time
tFinal = 1 # start time
# load vehicle parameters
p = parameters_vessel_1()
# initial state for simulation
x0_PM = [0, 0, 10.0, 0.0]
t = numpy.arange(0, tFinal, 0.01)
u = [1.4, 0]
x = odeint(func_PM, x0_PM, t, args=(u, p))
```
## Contribute
If you want to contribute new vessel models, you can create a merge request in our [repository](https://gitlab.lrz.de/tum-cps/commonocean-vessel-models), or contact us via [mail](mailto:commonocean@lists.lrz.de).
# Contibutors and Reference
We thank all the contributors for helping develop this project (see contributors.txt).
**If you use our converter for research, please consider citing our paper:**
```
@inproceedings{Krasowski2022a,
author = {Krasowski, Hanna and Althoff, Matthias},
title = {CommonOcean: Composable Benchmarks for Motion Planning on Oceans},
booktitle = {Proc. of the IEEE International Conference on Intelligent Transportation Systems},
year = {2022},
}
```
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"description": "# Python Vessel Models of CommonOcean\n\u200b\nThis package contains all vessel models of the [CommonOcean benchmarks](https://commonocean.cps.cit.tum.de/). \nThe code is based on the [CommonRoad vehicle models repository](https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models).\n\u200b\nWe provide implementations of the vessel dynamics and vessel parameters.\n\u200b\n## Documentation\n\u200b\nFor a detailed explanation of the vehicle models, please have a look at the [documentation](https://gitlab.lrz.de/tum-cps/commonocean-vessel-models/-/blob/main/documentation/vesselModels_commonOcean.pdf).\n\u200b\n## Installation\n\u200b\nTo use vehicle models and parameters, run\n```\npip install commonocean-vessel-models\n```\n\u200b\n## Code examples\n\u200b\nFor an extended simulation example, we refer to our [gitlab repository](https://gitlab.lrz.de/tum-cps/commonocean-vessel-models). A simple simulation example for using the point-mass model in combination with an odeint solver would be\n\u200b\n```python3\nfrom scipy.integrate import odeint\nimport numpy\n\u200b\nfrom vesselmodels.parameters_vessel_1 import parameters_vessel_1\nfrom vesselmodels.vessel_dynamics_pm import vessel_dynamics_pm\n\u200b\ndef func_PM(x, t, u, p):\n f = vessel_dynamics_pm(x, u, p)\n return f\n\u200b\ntStart = 0 # start time\ntFinal = 1 # start time\n\u200b\n# load vehicle parameters\np = parameters_vessel_1()\n\u200b\n# initial state for simulation\nx0_PM = [0, 0, 10.0, 0.0]\n\u200b\nt = numpy.arange(0, tFinal, 0.01)\nu = [1.4, 0]\nx = odeint(func_PM, x0_PM, t, args=(u, p))\n\u200b\n```\n\u200b\n## Contribute\n\u200b\nIf you want to contribute new vessel models, you can create a merge request in our [repository](https://gitlab.lrz.de/tum-cps/commonocean-vessel-models), or contact us via [mail](mailto:commonocean@lists.lrz.de).\n\u200b\n# Contibutors and Reference\n\u200b\nWe thank all the contributors for helping develop this project (see contributors.txt).\n\u200b\n**If you use our converter for research, please consider citing our paper:**\n```\n@inproceedings{Krasowski2022a,\n\tauthor = {Krasowski, Hanna and Althoff, Matthias},\n\ttitle = {CommonOcean: Composable Benchmarks for Motion Planning on Oceans},\n\tbooktitle = {Proc. of the IEEE International Conference on Intelligent Transportation Systems},\n\tyear = {2022},\n}\n```\n",
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