Commonroad-io

Added
- Country-independent traffic sign enum
- Missing country-specific max speed sign IDs
- Automatically generated TrafficSignIDCountries enum for importing in other scripts
- GroundTruthPredictor class to use stored trajectories as prediction
- Function to append a state to a trajectory

Fixed
- Typo: `TrafficSigInterpreter` → `TrafficSignInterpreter`
- Typo EMERGENCY_STOP traffic sign enum name
- Activation condition for drawing occupancies
- Traffic sign with first occurrence set to None can be hashed
- Traffic light can be plotted without a TrafficLightCycle

Changed
- Optimization-based planner tutorial now uses planner and predictor interfaces
- Simplified traffic sign matching in FileReader
- The occupancy set, initial time step, and final time step are now computed properties of TrajectoryPrediction
- Trajectory now allows direct access to the state list
- Drawing occupancies by default false
- Improved visual appearance of notebooks

Removed
- Setters for initial and final time step in predictions
- Setter for occupancy_set in TrajectoryPrediction

Added
- Function to convert 3D scenarios to 2D scenarios
- Support for Python 3.12
- Function to retrieve all lanelets referencing a given traffic sign/light
- New line marking types
- Traffic light shape

Fixed
- Conversion to initial state in function create_dynamic_obstacle of solution object

Changed
- Traffic signs for Zamunda now use images of German traffic signs
- Code formatting (flake8, black, isort)

Removed
- Images for Zamunda traffic signs
- Function commonorad.common.util.interpolate_angle

Added
- Type information for lanelet init function
- Dynamic obstacles can now store a history of their states
- Function to update the initial state of a dynamic obstacle while storing the previous state in the history
- Function to update behavior predictions of dynamic obstacles
- Function to find lanelet predecessors in range to lanelet network
- Function to compute all predecessor lanelets starting from a provided lanelet and merge them to a single lanelet for each route.
- Documentation for renderers (including video creation)
- Abstract interfaces for motion planner and prediction for usage in other tools
- New ExtendedPMState to support states with position, velocity, orientation, and acceleration
- Orientation property to PMState
- Hash and equality functions for area

Fixed
- Function create_from_lanelet_network deletes references to removed lanelets
- Write environment time to XML in correct format
- Failing visualization of lanelets, stop lines, traffic signs, and traffic lights with z-coordinate
- Traffic lights now correctly change size in interactive matplotlib plots (only affected matplotlib>=3.7)
- Considering state attributes not part of dataclass definition in state to state conversion
- Enforce InitialState class for initial state property of dynamic obstacle
- Hash function of obstacle

Changed
- Cleanup lanelet, traffic sign, and traffic light references in function create_from_lanelet_list by default
- Equality checks of scenario elements no longer emit a warning on inequality (except if the elements are of different types)

Removed
- Duplicated initial_state property of dynamic obstacle

Added
- Area for modelling drivable areas which cannot be represented by lanelets
- New weather and time of day options
- Allow file reader to determine format based on suffix

Fixed

- Visualization of all traffic signs by setting `show_traffic_signs = None` in draw parameters
- Validity functions to support z-axis
- Unreferenced traffic signs for lanelet networks filtered by lanelet type

Changed

- Visualization of direction arrow of narrow lanelets
- Traffic light cycle optional
- Traffic light in separate python file
- Allow file reader to determine format based on suffix
- Broaden types allowed as file names
- Open files safely by using a context manager
- Use correct suffix when inferring filename from scenario id

Removed

- function get_default_cycle for traffic lights
- support for Python 3.7

Added
- Support for shapely>=2.0.0

Fixed

- Writing scenarios without location to protobuf
- Dashed lanelet boundaries with fixed dash position
- Default plot limits for focused obstacle
- Use dt from scenario as default for video creation
- Apply axis visible-option also for video creation
- Protobuf FileReader marking road network related IDs as used
- State attribute comparison

Changed

- Name of SIDEWALK and BUSLANE traffic signs to PEDESTRIAN_SIDEWALK and BUS_LANE
- Packaging and dependency management using poetry

Added

- Drawing parameters as dataclasses (support for context help)
- Documentation for drawing parameters
- Support for Python 3.11
- Function to convert a state into a 1D-numpy array
- Progress bar for video creation
- Callback for modifying axes during plotting a video

Changed

- Name of position in lateral and longitudinal state

Removed

- ParamServer and dictionary specification of drawing parameters

Fixed

- Failing visualization of a trajectory at it's initial time step
- Broken lanelet visualization with matplotlib >3.5