simple-autonomous-car 0.1.2__py3-none-any.whl

simple_autonomous_car-0.1.2.dist-info/METADATA

@@ -0,0 +1,324 @@
+Metadata-Version: 2.4
+Name: simple_autonomous_car
+Version: 0.1.2
+Summary: Comprehensive SDK for building autonomous vehicle systems with modular sensors, controllers, planners, and alert systems
+Author: Simple Autonomous Car Contributors
+License: MIT
+Keywords: alert-systems,autonomous-vehicles,control,frenet-frame,localization,perception,planning,sensor-fusion,sensors
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Topic :: Scientific/Engineering
+Classifier: Topic :: Software Development :: Libraries :: Python Modules
+Requires-Python: >=3.10
+Requires-Dist: matplotlib>=3.7.0
+Requires-Dist: numpy>=1.24.0
+Requires-Dist: scipy>=1.10.0
+Provides-Extra: dev
+Requires-Dist: black>=23.0.0; extra == 'dev'
+Requires-Dist: ipykernel>=6.0.0; extra == 'dev'
+Requires-Dist: jupyter>=1.0.0; extra == 'dev'
+Requires-Dist: mypy>=1.5.0; extra == 'dev'
+Requires-Dist: pre-commit>=3.4.0; extra == 'dev'
+Requires-Dist: pytest-cov>=4.1.0; extra == 'dev'
+Requires-Dist: pytest>=7.4.0; extra == 'dev'
+Requires-Dist: ruff>=0.1.0; extra == 'dev'
+Provides-Extra: docs
+Requires-Dist: sphinx-rtd-theme>=1.3.0; extra == 'docs'
+Requires-Dist: sphinx>=7.0.0; extra == 'docs'
+Description-Content-Type: text/markdown
+
+# Simple Autonomous Car SDK
+
+[![CI](https://github.com/guilyx/simple_autonomous_car/actions/workflows/ci.yml/badge.svg)](https://github.com/guilyx/simple_autonomous_car/actions/workflows/ci.yml)
+[![PyPI version](https://badge.fury.io/py/simple_autonomous_car.svg)](https://badge.fury.io/py/simple_autonomous_car)
+[![codecov](https://codecov.io/gh/guilyx/simple_autonomous_car/graph/badge.svg?token=EN1F43X99S)](https://codecov.io/gh/guilyx/simple_autonomous_car)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
+[![PyPI - Downloads](https://img.shields.io/pypi/dm/simple_autonomous_car)](https://pypi.org/project/simple_autonomous_car/)
+
+
+A comprehensive Python SDK for building autonomous vehicle systems with modular sensors, controllers, planners, and alert systems. Designed for researchers, engineers, and developers working on autonomous vehicle systems.
+
+## Features
+
+- 🚗 **Modular Car System**: Add multiple sensors, controllers, and planners
+- 🎯 **Multiple Coordinate Frames**: Global, Ego, Sensor, and Frenet frame support
+- 👁️ **Modular Sensors**: LiDAR and extensible sensor system (add Camera, Radar, etc.)
+- 🎮 **Control Systems**: Built-in Pure Pursuit and PID controllers, extensible architecture
+- 🗺️ **Planning Systems**: Track planner and extensible planning framework
+- 🚨 **Alert Systems**: Track bounds alert system with extensible architecture
+- 🔄 **Frame Conversions**: Comprehensive utilities for coordinate transformations
+- 📊 **Visualization**: Rich visualization tools for debugging and analysis
+- 🧪 **Well Tested**: Comprehensive test suite with CI/CD
+
+## Installation
+
+### From PyPI
+
+```bash
+pip install simple_autonomous_car
+```
+
+### From Source
+
+```bash
+git clone https://github.com/yourusername/simple_autonomous_car.git
+cd simple_autonomous_car
+pip install -e .
+```
+
+### With uv (Recommended)
+
+```bash
+uv pip install simple_autonomous_car
+```
+
+## Quick Start
+
+```python
+from simple_autonomous_car import (
+    Track,
+    Car,
+    CarState,
+    LiDARSensor,
+    PurePursuitController,
+    TrackPlanner,
+    FrenetMap,
+    TrackBoundsAlert,
+)
+
+# Create track and car
+track = Track.create_simple_track()
+car = Car(initial_state=CarState(x=0.0, y=0.0, heading=0.0, velocity=8.0))
+
+# Add sensors to car
+ground_truth_map = GroundTruthMap(track)
+perceived_map = PerceivedMap(ground_truth_map)
+lidar = LiDARSensor(ground_truth_map, perceived_map, max_range=40.0)
+car.add_sensor(lidar)
+
+# Create planner and controller
+planner = TrackPlanner(track)
+controller = PurePursuitController(target_velocity=10.0)
+
+# Control loop
+for step in range(100):
+    plan = planner.plan(car.state)
+    perception_data = car.sense_all()
+    control = controller.compute_control(car.state, perception_data, plan)
+    car.update(dt=0.1, **control)
+```
+
+## Architecture
+
+### Modular Design
+
+```
+Car
+├── Sensors (LiDAR, Camera, Radar, etc.)
+├── Controller (Pure Pursuit, PID, MPC, etc.)
+└── Planner (Track Planner, A*, RRT, etc.)
+```
+
+### Data Flow
+
+```
+Planner → Plan → Controller → Control Commands → Car
+                ↑
+         Sensors → Perception Data
+```
+
+## Documentation
+
+Comprehensive documentation is available in the [`docs/`](docs/) directory:
+
+- **[Getting Started](docs/getting-started/installation.md)** - Installation and setup
+- **[Quick Start](docs/getting-started/quickstart.md)** - Get up and running quickly
+- **[Building Controllers](notebooks/building_controller.ipynb)** - Interactive controller tutorial
+- **[Building Alert Systems](docs/guides/building-alert-systems.md)** - Guide for building alert systems
+- **[Track Bounds Alert](docs/guides/track-bounds-alert.md)** - Detailed alert system documentation
+- **[Frame Conversions](docs/guides/frame-conversions.md)** - Understanding coordinate systems
+- **[API Reference](docs/api/overview.md)** - Complete API documentation
+
+See the [Documentation Index](docs/index.md) for a complete overview.
+
+## Key Concepts
+
+### Modular Components
+
+- **Car**: Vehicle with dynamics, can have multiple sensors
+- **Sensors**: Modular sensor system (LiDAR, Camera, Radar, etc.)
+- **Controllers**: Control algorithms (Pure Pursuit, PID, MPC, etc.)
+- **Planners**: Path planning algorithms (Track Planner, A*, RRT, etc.)
+
+### Coordinate Frames
+
+- **Global Frame**: World coordinates (track reference)
+- **Ego Frame**: Car-centered (x=forward, y=left)
+- **Sensor Frame**: Sensor-centered coordinates
+- **Frenet Frame**: Path-aligned (s=distance along path, d=lateral offset)
+
+## Tutorials and Examples
+
+### Jupyter Notebooks
+
+Interactive tutorials are available in the `notebooks/` directory:
+
+- **[Building Controllers](notebooks/building_controller.ipynb)** - Learn how to build controllers
+- **[Costmap Tutorial](notebooks/costmap_tutorial.ipynb)** - Learn about costmaps and obstacle representation
+- **[Planner Tutorial](notebooks/planner_tutorial.ipynb)** - Learn how to build and use planners
+- **[Track Bounds Alert](notebooks/track_bounds_alert.ipynb)** - Learn how to build alert systems
+
+### Code Examples
+
+- **[Unified Simulation Runner](src/simulations/simulation.py)** - Config-based simulation runner with enhanced visualization
+  - Run with: `python -m simulations.simulation simple_track` or `python -m simulations.simulation race_track`
+  - Supports custom configs via `--config` flag
+
+## Notebooks
+
+The SDK includes comprehensive Jupyter notebooks organized by category:
+
+### Tutorials (`notebooks/tutorials/`)
+- [Costmap Tutorial](notebooks/tutorials/costmap_tutorial.ipynb) - Learn costmaps
+- [Planner Tutorial](notebooks/tutorials/planner_tutorial.ipynb) - Learn path planning
+- [Track Bounds Alert Tutorial](notebooks/tutorials/track_bounds_alert.ipynb) - Learn alert systems
+
+### Building Custom Components (`notebooks/building/`)
+- [Building Simulations](notebooks/building/building_simulation.ipynb) - Build complete simulations
+- [Building Controllers](notebooks/building/building_controller.ipynb) - Build custom controllers
+- [Building Custom Sensors](notebooks/building/building_custom_sensors.ipynb) - Build custom sensors
+- [Building Custom Planners](notebooks/building/building_custom_planners.ipynb) - Build custom planners
+
+### Learning Notebooks (`notebooks/learning/`) - Fill-in-the-Blank
+**Incomplete notebooks** where you fill in the code - perfect for hands-on learning:
+- [Learning: Build a Costmap](notebooks/learning/learning_build_costmap.ipynb) - Implement your own costmap
+- [Learning: Build a Planner](notebooks/learning/learning_build_planner.ipynb) - Implement your own planner
+- [Learning: Build a Controller](notebooks/learning/learning_build_controller.ipynb) - Implement your own controller
+- [Learning: Build a Sensor](notebooks/learning/learning_build_sensor.ipynb) - Implement your own sensor
+- [Learning: Advanced Planning](notebooks/learning/advanced_planning_algorithms.ipynb) - Implement A* and RRT
+
+## Examples
+
+### Adding Multiple Sensors
+
+```python
+# Add front LiDAR
+front_lidar = LiDARSensor(..., name="front_lidar", pose_ego=np.array([1.0, 0.0, 0.0]))
+car.add_sensor(front_lidar)
+
+# Add rear LiDAR
+rear_lidar = LiDARSensor(..., name="rear_lidar", pose_ego=np.array([-1.0, 0.0, np.pi]))
+car.add_sensor(rear_lidar)
+
+# Get data from all sensors
+perception_data = car.sense_all()
+```
+
+### Using Controller with Planner
+
+```python
+# Create planner and controller
+planner = TrackPlanner(track)
+controller = PurePursuitController(target_velocity=10.0)
+
+# Control loop
+plan = planner.plan(car.state)
+control = controller.compute_control(car.state, perception_data, plan)
+car.update(dt=0.1, **control)
+```
+
+### Building Custom Components
+
+```python
+# Custom sensor
+class MySensor(BaseSensor):
+    def sense(self, car_state, environment_data):
+        # Your sensor logic
+        return PerceptionPoints(points, frame="ego")
+
+# Custom controller
+class MyController(BaseController):
+    def compute_control(self, car_state, perception_data, plan):
+        # Your control logic
+        return {"acceleration": 0.0, "steering_rate": 0.0}
+
+# Custom planner
+class MyPlanner(BasePlanner):
+    def plan(self, car_state, perception_data, goal):
+        # Your planning logic
+        return waypoints
+```
+
+## Development
+
+```bash
+# Clone repository
+git clone https://github.com/yourusername/simple_autonomous_car.git
+cd simple_autonomous_car
+
+# Install with uv
+uv sync --dev
+
+# Run tests
+uv run pytest
+
+# Run linting
+uv run black src tests
+uv run ruff check src tests
+uv run mypy src
+
+# Install pre-commit hooks
+uv run pre-commit install
+```
+
+## Project Structure
+
+```
+simple_autonomous_car/
+├── src/simple_autonomous_car/
+│   ├── car/             # Car model with sensor support
+│   ├── sensors/         # Modular sensor system
+│   ├── control/         # Control algorithms
+│   ├── planning/        # Path planning algorithms
+│   ├── alerts/          # Alert systems
+│   ├── maps/            # Map representations
+│   ├── perception/      # Perception data structures
+│   ├── frames/          # Frame conversion utilities
+│   ├── track/           # Track generation
+│   └── visualization/   # Visualization tools
+├── docs/                # Documentation
+├── notebooks/           # Jupyter notebooks
+├── tests/               # Test suite
+└── src/simulations/     # Example simulations
+```
+
+## Contributing
+
+Contributions are welcome! Please see [Contributing Guidelines](docs/contributing.md) for details.
+
+## License
+
+MIT License - see [LICENSE](LICENSE) file for details.
+
+## Citation
+
+If you use this SDK in your research, please cite:
+
+```bibtex
+@software{simple_autonomous_car,
+  title = {Simple Autonomous Car SDK},
+  author = {Your Name},
+  year = {2024},
+  url = {https://github.com/yourusername/simple_autonomous_car}
+}
+```
+
+## Acknowledgments
+
+Inspired by the [AutonomousVehicleControlBeginnersGuide](https://github.com/ShisatoYano/AutonomousVehicleControlBeginnersGuide) repository.

simple_autonomous_car-0.1.2.dist-info/RECORD

@@ -0,0 +1,50 @@
+simple_autonomous_car/__init__.py,sha256=Yu90iYVSFWDkkP87fltE_0GHm8-B9v1DdrJ0TVpfnBY,2508
+simple_autonomous_car/constants.py,sha256=phZ6pkngdyYmq5vfRyjb9Nb1bGPwSIEH4Zs2lPqgcmY,4129
+simple_autonomous_car/alerts/__init__.py,sha256=X3z7l5AXhQPZJxKp2O1A5jYkC2L0cAMgSM4_eWzwLzQ,169
+simple_autonomous_car/alerts/track_bounds_alert.py,sha256=bNXSq5VmzXJvf85aJ-GlzvJW4795QftWCne9NHaO2OI,10197
+simple_autonomous_car/car/__init__.py,sha256=uoYr2v4Dh86jHCiMWC7h8xtGltsioG3b8c4XKdeG-jM,118
+simple_autonomous_car/car/car.py,sha256=P5UqIxY-BlLLV-WRriMjr119hPE5UMbeVWktMHMZppg,7493
+simple_autonomous_car/control/__init__.py,sha256=Zlfwe4993EgvRohFePnoMcEu37iXyzBVp9VDQP6DZSM,351
+simple_autonomous_car/control/base_controller.py,sha256=lCtEcIzXn0A-WY0x_FE1D9EgDsUbt_2IUAjq8x9e3go,4541
+simple_autonomous_car/control/controller_viz.py,sha256=Sjk7YRpEYBSMB6VPoefo4t9Wj8qDqRSrkAm6GsoEqdQ,9240
+simple_autonomous_car/control/pid_controller.py,sha256=Vu2G9-AZ-jrN1pbsQBhddswzDmu2nOnPn3ruhMCvwhk,5957
+simple_autonomous_car/control/pure_pursuit_controller.py,sha256=XS5QOCX_Nov9Myjq1kk27j_oPNWdKN_imVrBJr8T7m8,25446
+simple_autonomous_car/costmap/__init__.py,sha256=e13pHVJ_qi7aGG4gpgc3A6OBxZtNvq2eAEqRoy9G-EI,405
+simple_autonomous_car/costmap/base_costmap.py,sha256=7BckruhEsFG9Rq3Iilv4Lvnm5IBp7-mCTsCm8F-wXEY,5473
+simple_autonomous_car/costmap/grid_costmap.py,sha256=GRak3YctGu_OUasgGp66rrj4nEcyP9buq20MKEF_XKc,18355
+simple_autonomous_car/costmap/inflation.py,sha256=eOB2wEvxOYFBiGkQiV0m6BLIgguseDY-wklyE0dTv2Y,3633
+simple_autonomous_car/detection/__init__.py,sha256=98AkLR87qdID60ykjhm0CJt0SVqv8_tGLL6ikjJ5snE,171
+simple_autonomous_car/detection/error_detector.py,sha256=PmOkAzMZ9Vos7Js_J0uIKZAMkTm8sjJ8Am6RlKVeBKY,6380
+simple_autonomous_car/filters/__init__.py,sha256=JRLYNZg8U-KB0bdEQJiPmtWbjVuDPbaQuM7AwEcZdGk,327
+simple_autonomous_car/filters/base_filter.py,sha256=TeQ6BdvdcExN7yjy2tBXmlr_pVM5gVwkmBuPC4RlUCQ,2996
+simple_autonomous_car/filters/kalman_filter.py,sha256=r6QwhwiZ15-5L_TR19MJwzqkx1rwPHt7FRUiubaktC8,4508
+simple_autonomous_car/filters/particle_filter.py,sha256=2_3ep3JLLvF36eZiF2crTjiNjJxz3iTcVEPC34W5qcI,5700
+simple_autonomous_car/footprint/__init__.py,sha256=kv4vVeY1pS99Ng_4DV_REgBGL3VKhssmzg030RLtqL0,373
+simple_autonomous_car/footprint/base_footprint.py,sha256=bMdhz11hV8xMnjQEB-FW4sYejTpa-TQIiJ_Qmlft5Zc,3376
+simple_autonomous_car/footprint/circular_footprint.py,sha256=R8Em_v1Yl9VSqnkgyoFx0DJkh8KO7JZE9sLlBN939P0,2201
+simple_autonomous_car/footprint/rectangular_footprint.py,sha256=sJMHxnFLYY1gtMVZ05gcK36VPazRRd-LVQbmZGOJKtc,3873
+simple_autonomous_car/frames/__init__.py,sha256=oQgsmg8TL_5raEKZDGROw7asCmSdGNplzs5s8qLq2Kw,421
+simple_autonomous_car/frames/frenet.py,sha256=2mLdfR7hSgDR1jCJhZE0MvUnq4-jnDqGVDe7sbcV608,8597
+simple_autonomous_car/maps/__init__.py,sha256=eYGtQ3VNmrQmlX54VW9n6SXxFiI3SwGeTYP-3urLQJI,485
+simple_autonomous_car/maps/frenet_map.py,sha256=c_AGDlAQDYtO5vysGBP4EKCxG1hTRTxR-TotpIbBKC0,3161
+simple_autonomous_car/maps/grid_ground_truth_map.py,sha256=Li5SBQRRkgVxbHzma1tpOWar9LR2kBTkZDW75N8z4-8,2866
+simple_autonomous_car/maps/grid_map.py,sha256=22cYqrtzWUKm6dsqZ0JIFA2V1SleNHjR4VC2AVC58CQ,12663
+simple_autonomous_car/maps/ground_truth_map.py,sha256=fvSBSdTk_VTexpOYgOW3i_imQ1Cyx63Whl7LOxRMSxw,2301
+simple_autonomous_car/maps/perceived_map.py,sha256=XaIjuMZGN3wKr6PJ2VyYLNm34MKk3McNSXdIH1rTAZI,6282
+simple_autonomous_car/perception/__init__.py,sha256=gNlLJez_dWIzV24jN7FwFZBisyPk7wUtqG4qRHNur-Q,154
+simple_autonomous_car/perception/perception.py,sha256=XAwEF_kdgVLW9EUJxijq4pjw2HwFgJ8BLSsiwgm-0n0,3583
+simple_autonomous_car/planning/__init__.py,sha256=pkrmsvylw0gSRdprbXqnRvmN_BF0CiSyfhR__ZOi7_A,317
+simple_autonomous_car/planning/base_planner.py,sha256=XiWoTsqT-geCI43UcxXKcmkQF2j2j4_nz4s1rE9xDmo,5495
+simple_autonomous_car/planning/goal_planner.py,sha256=NVH_V2x383C0wSx6MHXZT1C33NsMJJpByyc9eDRFAcA,9539
+simple_autonomous_car/planning/track_planner.py,sha256=7mo-bGKoCXNFyCQAtZepLBoo_7HWkOW4MquymI0Ukjs,6480
+simple_autonomous_car/sensors/__init__.py,sha256=FNWit0k6GcZl-p9_NEXv-zW6tMQ9OZPw5K2qGPu0Tzk,219
+simple_autonomous_car/sensors/base_sensor.py,sha256=Hk8LTL3lF51jhLxj4XaNwCgMYPLlBiyFWuzKuuBlXvk,3156
+simple_autonomous_car/sensors/lidar_sensor.py,sha256=gRAhxA25qDgOSMIjFmwdtJEiAYcYUTKbsPO1GANwJ6E,5380
+simple_autonomous_car/track/__init__.py,sha256=4cXclTeilTdbTRBNsfFYhnWCaITdRMXZgExFHUtlyZI,113
+simple_autonomous_car/track/track.py,sha256=wnoSnZo-q7G_dj5z41L2hhgklkFnh4eHVSqWdAiJSBA,16999
+simple_autonomous_car/visualization/__init__.py,sha256=fzGpPqnD2OBFy-05DgR4TQu8er_o7ODR7GG-K_cGlMA,694
+simple_autonomous_car/visualization/alert_viz.py,sha256=A4XTZ_HIU_YqIoWDrLvP_j3-wP02fdp1CrHNowGWX08,10113
+simple_autonomous_car/visualization/utils.py,sha256=BROpAoK7gTA8TeaQWoqPueT5QmKgv0XDgaL2iZX7c94,4404
+simple_autonomous_car-0.1.2.dist-info/METADATA,sha256=62oLmgmjBzkJtPR7Lf9rwkJwTyBgEdQetgdJiA6kqR0,11578
+simple_autonomous_car-0.1.2.dist-info/WHEEL,sha256=WLgqFyCfm_KASv4WHyYy0P3pM_m7J5L9k2skdKLirC8,87
+simple_autonomous_car-0.1.2.dist-info/RECORD,,

simple_autonomous_car-0.1.2.dist-info/WHEEL

@@ -0,0 +1,4 @@
+Wheel-Version: 1.0
+Generator: hatchling 1.28.0
+Root-Is-Purelib: true
+Tag: py3-none-any