semvec/pypi-packages huggingface dataset:
commonocean-vessel-models 1.0.0
Implementation of vessels models with varying abstraction levels.
Keywords: autonomous automated vessels motion planning

# 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},
}
```