Primary author
+Tom Arne Pedersen +Tom.Arne.Pedersen@dnv.com
+Claas Rostock +claas.rostock@dnv.com
+Minos Hemrich +Minos.Hemrich@dnv.com
+
+
+
+ ' + + '' + + _("Hide Search Matches") + + "
" + ) + ); + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords: () => { + document + .querySelectorAll("#searchbox .highlight-link") + .forEach((el) => el.remove()); + document + .querySelectorAll("span.highlighted") + .forEach((el) => el.classList.remove("highlighted")); + localStorage.removeItem("sphinx_highlight_terms") + }, + + initEscapeListener: () => { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) return; + + document.addEventListener("keydown", (event) => { + // bail for input elements + if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return; + // bail with special keys + if (event.shiftKey || event.altKey || event.ctrlKey || event.metaKey) return; + if (DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS && (event.key === "Escape")) { + SphinxHighlight.hideSearchWords(); + event.preventDefault(); + } + }); + }, +}; + +_ready(() => { + /* Do not call highlightSearchWords() when we are on the search page. + * It will highlight words from the *previous* search query. + */ + if (typeof Search === "undefined") SphinxHighlight.highlightSearchWords(); + SphinxHighlight.initEscapeListener(); +}); diff --git a/api.html b/api.html new file mode 100644 index 0000000..7bd54bd --- /dev/null +++ b/api.html @@ -0,0 +1,220 @@ + + + + + + +
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+ API Documentation
+
+
+-
+
- trafficgen package
-
+
- Submodules
-
+
- trafficgen.check_land_crossing module + +
- trafficgen.cli module +
- trafficgen.encounter module
-
+
assign_beta()
+assign_beta_from_list()
+assign_future_position_to_target_ship()
+assign_sog_to_target_ship()
+assign_vector_time()
+calculate_min_vector_length_target_ship()
+calculate_relative_bearing()
+calculate_ship_cog()
+check_encounter_evolvement()
+decide_target_ship()
+define_own_ship()
+determine_colreg()
+find_start_position_target_ship()
+generate_encounter()
+
+ - trafficgen.marine_system_simulator module
-
+
flat2llh()
+llh2flat()
+ssa()
+
+ - trafficgen.plot_traffic_situation module + +
- trafficgen.read_files module
-
+
camel_to_snake()
+check_input_units()
+convert_keys_to_snake_case()
+convert_settings_data_from_maritime_to_si_units()
+convert_situation_data_from_maritime_to_si_units()
+read_encounter_settings_file()
+read_generated_situation_files()
+read_own_ship_static_file()
+read_situation_files()
+read_target_ship_static_files()
+
+ - trafficgen.ship_traffic_generator module + +
- trafficgen.types module + +
- trafficgen.utils module
-
+
calculate_bearing_between_waypoints()
+calculate_destination_along_track()
+calculate_distance()
+calculate_position_along_track_using_waypoints()
+calculate_position_at_certain_time()
+convert_angle_0_to_2_pi_to_minus_pi_to_pi()
+convert_angle_minus_pi_to_pi_to_0_to_2_pi()
+deg_2_rad()
+knot_2_m_pr_s()
+m_2_nm()
+m_pr_s_2_knot()
+min_2_s()
+nm_2_m()
+rad_2_deg()
+
+ - trafficgen.write_traffic_situation_to_file module + +
+
+ - Submodules
+
+
+
+
+
+
+
+
+
+
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+# Sphinx build info version 1
+# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
+config: 3ef4fb1aa496aded3da200383724e853
+tags: 645f666f9bcd5a90fca523b33c5a78b7
diff --git a/branch/main/_downloads/3f0d4d1fea704d8ffdd7fa89c1edb3ed/ICMASS23_verfying_caga_systems.pdf b/branch/main/_downloads/3f0d4d1fea704d8ffdd7fa89c1edb3ed/ICMASS23_verfying_caga_systems.pdf
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+ All modules for which code is available
+ + +
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diff --git a/branch/main/_modules/trafficgen/encounter.html b/branch/main/_modules/trafficgen/encounter.html
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+ Source code for trafficgen.check_land_crossing
+"""Module with helper functions to determine if a generated path is crossing land."""
+
+from global_land_mask import globe
+from maritime_schema.types.caga import Position
+
+from trafficgen.utils import calculate_position_at_certain_time, rad_2_deg
+
+
+
+[docs]
+def path_crosses_land(
+ position_1: Position,
+ speed: float,
+ course: float,
+ lat_lon0: Position,
+ time_interval: float = 300.0,
+) -> bool:
+ """
+ Find if path is crossing land.
+
+ Params:
+ position_1: Ship position in latitude/longitude [rad].
+ speed: Ship speed [m/s].
+ course: Ship course [rad].
+ lat_lon0: Reference point, latitudinal [rad] and longitudinal [rad].
+ time_interval: The time interval the vessel should travel without crossing land [sec]
+
+ Returns
+ -------
+ is_on_land: True if parts of the path crosses land.
+ """
+
+ num_checks = 10
+ for i in range(int(time_interval / num_checks)):
+ position_2 = calculate_position_at_certain_time(
+ Position(latitude=position_1.latitude, longitude=position_1.longitude),
+ lat_lon0,
+ speed,
+ course,
+ i * time_interval / num_checks,
+ )
+
+ lat = rad_2_deg(position_2.latitude)
+ lon = rad_2_deg(position_2.longitude)
+ if globe.is_land(lat, lon): # type: ignore (The package is unfortunately not typed.)
+ return True
+ return False
+
+
+
+
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+
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+
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+ Source code for trafficgen.encounter
+"""
+Functions to generate encounters consisting of one own ship and one to many target ships.
+The generated encounters may be of type head-on, overtaking give-way and stand-on and
+crossing give-way and stand-on.
+"""
+
+import random
+from typing import List, Optional, Tuple, Union
+from uuid import uuid4
+
+import numpy as np
+from maritime_schema.types.caga import (
+ AISNavStatus,
+ Initial,
+ OwnShip,
+ Position,
+ ShipStatic,
+ TargetShip,
+ Waypoint,
+)
+
+from trafficgen.check_land_crossing import path_crosses_land
+from trafficgen.marine_system_simulator import flat2llh, llh2flat
+from trafficgen.types import (
+ EncounterRelativeSpeed,
+ EncounterSettings,
+ EncounterType,
+ SituationInput,
+)
+from trafficgen.utils import (
+ calculate_bearing_between_waypoints,
+ calculate_position_along_track_using_waypoints,
+ calculate_position_at_certain_time,
+ convert_angle_0_to_2_pi_to_minus_pi_to_pi,
+ convert_angle_minus_pi_to_pi_to_0_to_2_pi,
+)
+
+
+
+[docs]
+def generate_encounter(
+ desired_encounter_type: EncounterType,
+ own_ship: OwnShip,
+ target_ships_static: List[ShipStatic],
+ encounter_number: int,
+ beta_default: Optional[Union[List[float], float]],
+ relative_sog_default: Optional[float],
+ vector_time_default: Optional[float],
+ settings: EncounterSettings,
+) -> Tuple[TargetShip, bool]:
+ """
+ Generate an encounter.
+
+ Params:
+ * desired_encounter_type: Desired encounter to be generated
+ * own_ship: Dict, information about own ship that will encounter a target ship
+ * target_ships_static: List of target ships including static information that
+ may be used in an encounter
+ * encounter_number: Integer, used to naming the target ships. target_ship_1,2 etc.
+ * beta_default: User defined beta. If not set, this is None.
+ * relative_sog_default: User defined relative sog between own ship and
+ target ship. If not set, this is None.
+ * vector_time_default: User defined vector time. If not set, this is None.
+ * settings: Encounter settings
+
+ Returns
+ -------
+ * target_ship: target ship information, such as initial position, sog and cog
+ * encounter_found: True=encounter found, False=encounter not found
+ """
+ encounter_found: bool = False
+ outer_counter: int = 0
+
+ # Initiating some variables which later will be set if an encounter is found
+ assert own_ship.initial is not None
+ target_ship_initial_position: Position = own_ship.initial.position
+ target_ship_sog: float = 0
+ target_ship_cog: float = 0
+
+ # Initial posision of own ship used as reference point for lat_lon0
+ lat_lon0: Position = Position(
+ latitude=own_ship.initial.position.latitude,
+ longitude=own_ship.initial.position.longitude,
+ )
+
+ target_ship_static: ShipStatic = decide_target_ship(target_ships_static)
+ assert target_ship_static is not None
+
+ # Searching for encounter. Two loops used. Only vector time is locked in the
+ # first loop. In the second loop, beta and sog are assigned.
+ while not encounter_found and outer_counter < 5:
+ outer_counter += 1
+ inner_counter: int = 0
+
+ # resetting vector_time, beta and relative_sog to default values before
+ # new search for situation is done
+ vector_time: Union[float, None] = vector_time_default
+
+ if vector_time is None:
+ vector_time = random.uniform(settings.vector_range[0], settings.vector_range[1])
+ if beta_default is None:
+ beta: float = assign_beta(desired_encounter_type, settings)
+ elif isinstance(beta_default, List):
+ beta: float = assign_beta_from_list(beta_default)
+ else:
+ beta: float = beta_default
+
+ # Own ship
+ assert own_ship.initial is not None
+ assert own_ship.waypoints is not None
+ # Assuming ship is pointing in the direction of wp1
+ own_ship_cog = calculate_bearing_between_waypoints(
+ own_ship.waypoints[0].position, own_ship.waypoints[1].position
+ )
+ own_ship_position_future = calculate_position_along_track_using_waypoints(
+ own_ship.waypoints,
+ own_ship.initial.sog,
+ vector_time,
+ )
+
+ # Target ship
+ target_ship_position_future: Position = assign_future_position_to_target_ship(
+ own_ship_position_future, lat_lon0, settings.max_meeting_distance
+ )
+
+ while not encounter_found and inner_counter < 5:
+ inner_counter += 1
+ relative_sog = relative_sog_default
+ if relative_sog is None:
+ min_target_ship_sog = (
+ calculate_min_vector_length_target_ship(
+ own_ship.initial.position,
+ own_ship_cog,
+ target_ship_position_future,
+ beta,
+ lat_lon0,
+ )
+ / vector_time
+ )
+
+ target_ship_sog: float = assign_sog_to_target_ship(
+ desired_encounter_type,
+ own_ship.initial.sog,
+ min_target_ship_sog,
+ settings.relative_speed,
+ )
+ else:
+ target_ship_sog: float = relative_sog * own_ship.initial.sog
+
+ assert target_ship_static.speed_max is not None
+ target_ship_sog = round(np.minimum(target_ship_sog, target_ship_static.speed_max), 1)
+
+ target_ship_vector_length = target_ship_sog * vector_time
+ start_position_target_ship, position_found = find_start_position_target_ship(
+ own_ship.initial.position,
+ lat_lon0,
+ own_ship_cog,
+ target_ship_position_future,
+ target_ship_vector_length,
+ beta,
+ desired_encounter_type,
+ settings,
+ )
+
+ if position_found:
+ target_ship_initial_position: Position = start_position_target_ship
+ target_ship_cog: float = calculate_ship_cog(
+ target_ship_initial_position, target_ship_position_future, lat_lon0
+ )
+ encounter_ok: bool = check_encounter_evolvement(
+ own_ship,
+ own_ship_cog,
+ own_ship.initial.position,
+ lat_lon0,
+ target_ship_sog,
+ target_ship_cog,
+ target_ship_position_future,
+ desired_encounter_type,
+ settings,
+ )
+
+ if settings.disable_land_check is False:
+ # Check if trajectory passes land
+ trajectory_on_land = path_crosses_land(
+ target_ship_initial_position,
+ target_ship_sog,
+ target_ship_cog,
+ lat_lon0,
+ settings.situation_length,
+ )
+ encounter_found = encounter_ok and not trajectory_on_land
+ else:
+ encounter_found = encounter_ok
+
+ if encounter_found:
+ target_ship_static.id = uuid4()
+ target_ship_static.name = f"target_ship_{encounter_number}"
+ target_ship_initial: Initial = Initial(
+ position=target_ship_initial_position,
+ sog=target_ship_sog,
+ cog=target_ship_cog,
+ heading=target_ship_cog,
+ nav_status=AISNavStatus.UNDER_WAY_USING_ENGINE,
+ )
+ target_ship_waypoint0 = Waypoint(
+ position=target_ship_initial_position.model_copy(deep=True), turn_radius=None, data=None
+ )
+
+ future_position_target_ship = calculate_position_at_certain_time(
+ target_ship_initial_position,
+ lat_lon0,
+ target_ship_sog,
+ target_ship_cog,
+ settings.situation_length,
+ )
+
+ target_ship_waypoint1 = Waypoint(
+ position=future_position_target_ship, turn_radius=None, data=None
+ )
+ waypoints = [target_ship_waypoint0, target_ship_waypoint1]
+
+ target_ship = TargetShip(
+ static=target_ship_static, initial=target_ship_initial, waypoints=waypoints
+ )
+ else:
+ # Since encounter is not found, using initial values from own ship. Will not be taken into use.
+ target_ship = TargetShip(static=target_ship_static, initial=own_ship.initial, waypoints=None)
+ return target_ship, encounter_found
+
+
+
+
+[docs]
+def check_encounter_evolvement(
+ own_ship: OwnShip,
+ own_ship_cog: float,
+ own_ship_position_future: Position,
+ lat_lon0: Position,
+ target_ship_sog: float,
+ target_ship_cog: float,
+ target_ship_position_future: Position,
+ desired_encounter_type: EncounterType,
+ settings: EncounterSettings,
+) -> bool:
+ """
+ Check encounter evolvement. The generated encounter should be the same type of
+ encounter (head-on, crossing, give-way) also some time before the encounter is started.
+
+ Params:
+ * own_ship: Own ship information such as initial position, sog and cog
+ * target_ship: Target ship information such as initial position, sog and cog
+ * desired_encounter_type: Desired type of encounter to be generated
+ * settings: Encounter settings
+
+ Returns
+ -------
+ * returns True if encounter ok, False if encounter not ok
+ """
+ theta13_criteria: float = settings.classification.theta13_criteria
+ theta14_criteria: float = settings.classification.theta14_criteria
+ theta15_criteria: float = settings.classification.theta15_criteria
+ theta15: List[float] = settings.classification.theta15
+
+ assert own_ship.initial is not None
+
+ own_ship_sog: float = own_ship.initial.sog
+ evolve_time: float = settings.evolve_time
+
+ # Calculating position back in time to ensure that the encounter do not change from one type
+ # to another before the encounter is started
+ encounter_preposition_target_ship = calculate_position_at_certain_time(
+ target_ship_position_future,
+ lat_lon0,
+ target_ship_sog,
+ target_ship_cog,
+ -evolve_time,
+ )
+ encounter_preposition_own_ship = calculate_position_at_certain_time(
+ own_ship_position_future,
+ lat_lon0,
+ own_ship_sog,
+ own_ship_cog,
+ -evolve_time,
+ )
+ pre_beta, pre_alpha = calculate_relative_bearing(
+ encounter_preposition_own_ship,
+ own_ship_cog,
+ encounter_preposition_target_ship,
+ target_ship_cog,
+ lat_lon0,
+ )
+
+ pre_colreg_state = determine_colreg(
+ pre_alpha, pre_beta, theta13_criteria, theta14_criteria, theta15_criteria, theta15
+ )
+
+ encounter_ok: bool = pre_colreg_state == desired_encounter_type
+
+ return encounter_ok
+
+
+
+
+[docs]
+def define_own_ship(
+ desired_traffic_situation: SituationInput,
+ own_ship_static: ShipStatic,
+ encounter_settings: EncounterSettings,
+ lat_lon0: Position,
+) -> OwnShip:
+ """
+ Define own ship based on information in desired traffic situation.
+
+ Params:
+ * desired_traffic_situation: Information about type of traffic situation to generate
+ * own_ship_static: Static information of own ship.
+ * encounter_settings: Necessary setting for the encounter
+ * lat_lon0: Reference position [deg]
+
+ Returns
+ -------
+ * own_ship: Own ship
+ """
+ own_ship_initial: Initial = desired_traffic_situation.own_ship.initial
+ if desired_traffic_situation.own_ship.waypoints is None:
+ # If waypoints are not given, let initial position be the first waypoint,
+ # then calculate second waypoint some time in the future
+ own_ship_waypoint0 = Waypoint(
+ position=own_ship_initial.position.model_copy(deep=True), turn_radius=None, data=None
+ )
+ ship_position_future = calculate_position_at_certain_time(
+ own_ship_initial.position,
+ lat_lon0,
+ own_ship_initial.sog,
+ own_ship_initial.cog,
+ encounter_settings.situation_length,
+ )
+ own_ship_waypoint1 = Waypoint(position=ship_position_future, turn_radius=None, data=None)
+ own_ship_waypoints: List[Waypoint] = [own_ship_waypoint0, own_ship_waypoint1]
+ elif len(desired_traffic_situation.own_ship.waypoints) == 1:
+ # If one waypoint is given, use initial position as first waypoint
+ own_ship_waypoint0 = Waypoint(
+ position=own_ship_initial.position.model_copy(deep=True), turn_radius=None, data=None
+ )
+ own_ship_waypoint1 = desired_traffic_situation.own_ship.waypoints[0]
+ own_ship_waypoints: List[Waypoint] = [own_ship_waypoint0, own_ship_waypoint1]
+ else:
+ own_ship_waypoints: List[Waypoint] = desired_traffic_situation.own_ship.waypoints
+
+ own_ship = OwnShip(
+ static=own_ship_static,
+ initial=own_ship_initial,
+ waypoints=own_ship_waypoints,
+ )
+
+ return own_ship
+
+
+
+
+[docs]
+def calculate_min_vector_length_target_ship(
+ own_ship_position: Position,
+ own_ship_cog: float,
+ target_ship_position_future: Position,
+ desired_beta: float,
+ lat_lon0: Position,
+) -> float:
+ """
+ Calculate minimum vector length (target ship sog x vector). This will
+ ensure that ship sog is high enough to find proper situation.
+
+ Params:
+ * own_ship_position: Own ship initial position, latitudinal [rad] and longitudinal [rad]
+ * own_ship_cog: Own ship initial cog
+ * target_ship_position_future: Target ship future position
+ * desired_beta: Desired relative bearing between
+ * lat_lon0: Reference point, latitudinal [rad] and longitudinal [rad]
+
+ Returns
+ -------
+ * min_vector_length: Minimum vector length (target ship sog x vector)
+ """
+ psi: float = own_ship_cog + desired_beta
+
+ own_ship_position_north, own_ship_position_east, _ = llh2flat(
+ own_ship_position.latitude, own_ship_position.longitude, lat_lon0.latitude, lat_lon0.longitude
+ )
+ target_ship_position_future_north, target_ship_position_future_east, _ = llh2flat(
+ target_ship_position_future.latitude,
+ target_ship_position_future.longitude,
+ lat_lon0.latitude,
+ lat_lon0.longitude,
+ )
+
+ p_1 = np.array([own_ship_position_north, own_ship_position_east])
+ p_2 = np.array([own_ship_position_north + np.cos(psi), own_ship_position_east + np.sin(psi)])
+ p_3 = np.array([target_ship_position_future_north, target_ship_position_future_east])
+
+ min_vector_length: float = float(np.abs(np.cross(p_2 - p_1, p_3 - p_1) / np.linalg.norm(p_2 - p_1)))
+
+ return min_vector_length
+
+
+
+
+[docs]
+def find_start_position_target_ship(
+ own_ship_position: Position,
+ lat_lon0: Position,
+ own_ship_cog: float,
+ target_ship_position_future: Position,
+ target_ship_vector_length: float,
+ desired_beta: float,
+ desired_encounter_type: EncounterType,
+ settings: EncounterSettings,
+) -> Tuple[Position, bool]:
+ """
+ Find start position of target ship using desired beta and vector length.
+
+ Params:
+ * own_ship_position: Own ship initial position, sog and cog
+ * own_ship_cog: Own ship initial cog
+ * target_ship_position_future: Target ship future position
+ * target_ship_vector_length: vector length (target ship sog x vector)
+ * desired_beta: Desired bearing between own ship and target ship seen from own ship
+ * desired_encounter_type: Desired type of encounter to be generated
+ * settings: Encounter settings
+
+ Returns
+ -------
+ * start_position_target_ship: Dict, initial position of target ship {north, east} [m]
+ * start_position_found: 0=position not found, 1=position found
+ """
+ theta13_criteria: float = settings.classification.theta13_criteria
+ theta14_criteria: float = settings.classification.theta14_criteria
+ theta15_criteria: float = settings.classification.theta15_criteria
+ theta15: List[float] = settings.classification.theta15
+
+ n_1, e_1, _ = llh2flat(
+ own_ship_position.latitude, own_ship_position.longitude, lat_lon0.latitude, lat_lon0.longitude
+ )
+ n_2, e_2, _ = llh2flat(
+ target_ship_position_future.latitude,
+ target_ship_position_future.longitude,
+ lat_lon0.latitude,
+ lat_lon0.longitude,
+ )
+ v_r: float = target_ship_vector_length
+ psi: float = own_ship_cog + desired_beta
+
+ n_4: float = n_1 + np.cos(psi)
+ e_4: float = e_1 + np.sin(psi)
+
+ b: float = (
+ -2 * e_2 * e_4
+ - 2 * n_2 * n_4
+ + 2 * e_1 * e_2
+ + 2 * n_1 * n_2
+ + 2 * e_1 * (e_4 - e_1)
+ + 2 * n_1 * (n_4 - n_1)
+ )
+ a: float = (e_4 - e_1) ** 2 + (n_4 - n_1) ** 2
+ c: float = e_2**2 + n_2**2 - 2 * e_1 * e_2 - 2 * n_1 * n_2 - v_r**2 + e_1**2 + n_1**2
+
+ # Assign conservative fallback values to return variables
+ start_position_found: bool = False
+ start_position_target_ship = target_ship_position_future.model_copy(deep=True)
+
+ if b**2 - 4 * a * c <= 0.0:
+ # Do not run calculation of target ship start position. Return fallback values.
+ return start_position_target_ship, start_position_found
+
+ # Calculation of target ship start position
+ s_1 = (-b + np.sqrt(b**2 - 4 * a * c)) / (2 * a)
+ s_2 = (-b - np.sqrt(b**2 - 4 * a * c)) / (2 * a)
+
+ e_31 = round(e_1 + s_1 * (e_4 - e_1), 0)
+ n_31 = round(n_1 + s_1 * (n_4 - n_1), 0)
+ e_32 = round(e_1 + s_2 * (e_4 - e_1), 0)
+ n_32 = round(n_1 + s_2 * (n_4 - n_1), 0)
+
+ lat31, lon31, _ = flat2llh(n_31, e_31, lat_lon0.latitude, lat_lon0.longitude)
+ target_ship_cog_1: float = calculate_ship_cog(
+ pos_0=Position(latitude=lat31, longitude=lon31),
+ pos_1=target_ship_position_future,
+ lat_lon0=lat_lon0,
+ )
+ beta1, alpha1 = calculate_relative_bearing(
+ position_own_ship=own_ship_position,
+ heading_own_ship=own_ship_cog,
+ position_target_ship=Position(latitude=lat31, longitude=lon31),
+ heading_target_ship=target_ship_cog_1,
+ lat_lon0=lat_lon0,
+ )
+ colreg_state1: EncounterType = determine_colreg(
+ alpha1, beta1, theta13_criteria, theta14_criteria, theta15_criteria, theta15
+ )
+
+ lat32, lon32, _ = flat2llh(n_32, e_32, lat_lon0.latitude, lat_lon0.longitude)
+ target_ship_cog_2 = calculate_ship_cog(
+ pos_0=Position(latitude=lat32, longitude=lon32),
+ pos_1=target_ship_position_future,
+ lat_lon0=lat_lon0,
+ )
+ beta2, alpha2 = calculate_relative_bearing(
+ position_own_ship=own_ship_position,
+ heading_own_ship=own_ship_cog,
+ position_target_ship=Position(latitude=lat32, longitude=lon32),
+ heading_target_ship=target_ship_cog_2,
+ lat_lon0=lat_lon0,
+ )
+ colreg_state2: EncounterType = determine_colreg(
+ alpha2, beta2, theta13_criteria, theta14_criteria, theta15_criteria, theta15
+ )
+
+ if (
+ desired_encounter_type is colreg_state1
+ and np.abs(convert_angle_0_to_2_pi_to_minus_pi_to_pi(np.abs(beta1 - desired_beta))) < 0.01
+ ):
+ start_position_target_ship = Position(latitude=lat31, longitude=lon31)
+ start_position_found = True
+ elif (
+ desired_encounter_type is colreg_state2
+ and np.abs(convert_angle_0_to_2_pi_to_minus_pi_to_pi(np.abs(beta2 - desired_beta))) < 0.01
+ ):
+ start_position_target_ship = Position(latitude=lat32, longitude=lon32)
+ start_position_found = True
+
+ return start_position_target_ship, start_position_found
+
+
+
+
+[docs]
+def assign_future_position_to_target_ship(
+ own_ship_position_future: Position,
+ lat_lon0: Position,
+ max_meeting_distance: float,
+) -> Position:
+ """
+ Randomly assign future position of target ship. If drawing a circle with radius
+ max_meeting_distance around future position of own ship, future position of
+ target ship shall be somewhere inside this circle.
+
+ Params:
+ * own_ship_position_future: Dict, own ship position at a given time in the
+ future, {north, east}
+ * lat_lon0: Reference point, latitudinal [rad] and longitudinal [rad]
+ * max_meeting_distance: Maximum distance between own ship and target ship at
+ a given time in the future [m]
+
+ Returns
+ -------
+ future_position_target_ship: Future position of target ship {north, east} [m]
+ """
+ random_angle = random.uniform(0, 1) * 2 * np.pi
+ random_distance = random.uniform(0, 1) * max_meeting_distance
+
+ own_ship_position_future_north, own_ship_position_future_east, _ = llh2flat(
+ own_ship_position_future.latitude,
+ own_ship_position_future.longitude,
+ lat_lon0.latitude,
+ lat_lon0.longitude,
+ )
+ north: float = own_ship_position_future_north + random_distance * np.cos(random_angle)
+ east: float = own_ship_position_future_east + random_distance * np.sin(random_angle)
+ latitude, longitude, _ = flat2llh(north, east, lat_lon0.latitude, lat_lon0.longitude)
+ return Position(latitude=latitude, longitude=longitude)
+
+
+
+
+[docs]
+def determine_colreg(
+ alpha: float,
+ beta: float,
+ theta13_criteria: float,
+ theta14_criteria: float,
+ theta15_criteria: float,
+ theta15: List[float],
+) -> EncounterType:
+ """
+ Determine the colreg type based on alpha, relative bearing between target ship and own
+ ship seen from target ship, and beta, relative bearing between own ship and target ship
+ seen from own ship.
+
+ Params:
+ * alpha: relative bearing between target ship and own ship seen from target ship
+ * beta: relative bearing between own ship and target ship seen from own ship
+ * theta13_criteria: Tolerance for "coming up with" relative bearing
+ * theta14_criteria: Tolerance for "reciprocal or nearly reciprocal cogs",
+ "when in any doubt... assume... [head-on]"
+ * theta15_criteria: Crossing aspect limit, used for classifying a crossing encounter
+ * theta15: 22.5 deg aft of the beam, used for classifying a crossing and an overtaking
+ encounter
+
+ Returns
+ -------
+ * encounter classification
+ """
+ # Mapping
+ alpha_2_pi: float = alpha if alpha >= 0.0 else alpha + 2 * np.pi
+ beta_pi: float = beta if (beta >= 0.0) & (beta <= np.pi) else beta - 2 * np.pi
+
+ # Find appropriate rule set
+ if (beta > theta15[0]) & (beta < theta15[1]) & (abs(alpha) - theta13_criteria <= 0.001):
+ return EncounterType.OVERTAKING_STAND_ON
+ if (
+ (alpha_2_pi > theta15[0])
+ & (alpha_2_pi < theta15[1])
+ & (abs(beta_pi) - theta13_criteria <= 0.001)
+ ):
+ return EncounterType.OVERTAKING_GIVE_WAY
+ if (abs(beta_pi) - theta14_criteria <= 0.001) & (abs(alpha) - theta14_criteria <= 0.001):
+ return EncounterType.HEAD_ON
+ if (beta > 0) & (beta < theta15[0]) & (alpha > -theta15[0]) & (alpha - theta15_criteria <= 0.001):
+ return EncounterType.CROSSING_GIVE_WAY
+ if (
+ (alpha_2_pi > 0)
+ & (alpha_2_pi < theta15[0])
+ & (beta_pi > -theta15[0])
+ & (beta_pi - theta15_criteria <= 0.001)
+ ):
+ return EncounterType.CROSSING_STAND_ON
+ return EncounterType.NO_RISK_COLLISION
+
+
+
+
+[docs]
+def calculate_relative_bearing(
+ position_own_ship: Position,
+ heading_own_ship: float,
+ position_target_ship: Position,
+ heading_target_ship: float,
+ lat_lon0: Position,
+) -> Tuple[float, float]:
+ """
+ Calculate relative bearing between own ship and target ship, both seen from
+ own ship and seen from target ship.
+
+ Params:
+ * position_own_ship: Own ship position {latitude, longitude} [rad]
+ * heading_own_ship: Own ship heading [rad]
+ * position_target_ship: Target ship position {latitude, longitude} [rad]
+ * heading_target_ship: Target ship heading [rad]
+ * lat_lon0: Reference point, latitudinal [rad] and longitudinal [rad]
+
+ Returns
+ -------
+ * beta: relative bearing between own ship and target ship seen from own ship [rad]
+ * alpha: relative bearing between target ship and own ship seen from target ship [rad]
+ """
+ # POSE combination of relative bearing and contact angle
+ n_own_ship, e_own_ship, _ = llh2flat(
+ position_own_ship.latitude, position_own_ship.longitude, lat_lon0.latitude, lat_lon0.longitude
+ )
+ n_target_ship, e_target_ship, _ = llh2flat(
+ position_target_ship.latitude,
+ position_target_ship.longitude,
+ lat_lon0.latitude,
+ lat_lon0.longitude,
+ )
+
+ # Absolute bearing of target ship relative to own ship
+ bng_own_ship_target_ship: float = 0.0
+ if e_own_ship == e_target_ship:
+ if n_own_ship <= n_target_ship:
+ bng_own_ship_target_ship = 0.0
+ else:
+ bng_own_ship_target_ship = np.pi
+ else:
+ if e_own_ship < e_target_ship:
+ if n_own_ship <= n_target_ship:
+ bng_own_ship_target_ship = 1 / 2 * np.pi - np.arctan(
+ abs(n_target_ship - n_own_ship) / abs(e_target_ship - e_own_ship)
+ )
+ else:
+ bng_own_ship_target_ship = 1 / 2 * np.pi + np.arctan(
+ abs(n_target_ship - n_own_ship) / abs(e_target_ship - e_own_ship)
+ )
+ else:
+ if n_own_ship <= n_target_ship:
+ bng_own_ship_target_ship = 3 / 2 * np.pi + np.arctan(
+ abs(n_target_ship - n_own_ship) / abs(e_target_ship - e_own_ship)
+ )
+ else:
+ bng_own_ship_target_ship = 3 / 2 * np.pi - np.arctan(
+ abs(n_target_ship - n_own_ship) / abs(e_target_ship - e_own_ship)
+ )
+
+ # Bearing of own ship from the perspective of the contact
+ bng_target_ship_own_ship: float = bng_own_ship_target_ship + np.pi
+
+ # Relative bearing of contact ship relative to own ship
+ beta: float = bng_own_ship_target_ship - heading_own_ship
+ while beta < 0:
+ beta += 2 * np.pi
+ while beta >= 2 * np.pi:
+ beta -= 2 * np.pi
+
+ # Relative bearing of own ship relative to target ship
+ alpha: float = bng_target_ship_own_ship - heading_target_ship
+ while alpha < -np.pi:
+ alpha += 2 * np.pi
+ while alpha >= np.pi:
+ alpha -= 2 * np.pi
+
+ return beta, alpha
+
+
+
+
+[docs]
+def calculate_ship_cog(pos_0: Position, pos_1: Position, lat_lon0: Position) -> float:
+ """
+ Calculate ship cog between two waypoints.
+
+ Params:
+ * waypoint_0: Dict, waypoint {latitude, longitude} [rad]
+ * waypoint_1: Dict, waypoint {latitude, longitude} [rad]
+
+ Returns
+ -------
+ * cog: Ship cog [rad]
+ """
+ n_0, e_0, _ = llh2flat(pos_0.latitude, pos_0.longitude, lat_lon0.latitude, lat_lon0.longitude)
+ n_1, e_1, _ = llh2flat(pos_1.latitude, pos_1.longitude, lat_lon0.latitude, lat_lon0.longitude)
+
+ cog: float = np.arctan2(e_1 - e_0, n_1 - n_0)
+ if cog < 0.0:
+ cog += 2 * np.pi
+ return round(cog, 3)
+
+
+
+
+[docs]
+def assign_vector_time(vector_time_range: List[float]):
+ """
+ Assign random (uniform) vector time.
+
+ Params:
+ * vector_range: Minimum and maximum value for vector time
+
+ Returns
+ -------
+ * vector_time: Vector time [min]
+ """
+ vector_time: float = vector_time_range[0] + random.uniform(0, 1) * (
+ vector_time_range[1] - vector_time_range[0]
+ )
+ return vector_time
+
+
+
+
+[docs]
+def assign_sog_to_target_ship(
+ encounter_type: EncounterType,
+ own_ship_sog: float,
+ min_target_ship_sog: float,
+ relative_sog_setting: EncounterRelativeSpeed,
+):
+ """
+ Assign random (uniform) sog to target ship depending on type of encounter.
+
+ Params:
+ * encounter_type: Type of encounter
+ * own_ship_sog: Own ship sog [m/s]
+ * min_target_ship_sog: Minimum target ship sog [m/s]
+ * relative_sog_setting: Relative sog setting dependent on encounter [-]
+
+ Returns
+ -------
+ * target_ship_sog: Target ship sog [m/s]
+ """
+ if encounter_type is EncounterType.OVERTAKING_STAND_ON:
+ relative_sog = relative_sog_setting.overtaking_stand_on
+ elif encounter_type is EncounterType.OVERTAKING_GIVE_WAY:
+ relative_sog = relative_sog_setting.overtaking_give_way
+ elif encounter_type is EncounterType.HEAD_ON:
+ relative_sog = relative_sog_setting.head_on
+ elif encounter_type is EncounterType.CROSSING_GIVE_WAY:
+ relative_sog = relative_sog_setting.crossing_give_way
+ elif encounter_type is EncounterType.CROSSING_STAND_ON:
+ relative_sog = relative_sog_setting.crossing_stand_on
+ else:
+ relative_sog = [0.0, 0.0]
+
+ # Check that minimum target ship sog is in the relative sog range
+ if (
+ min_target_ship_sog / own_ship_sog > relative_sog[0]
+ and min_target_ship_sog / own_ship_sog < relative_sog[1]
+ ):
+ relative_sog[0] = min_target_ship_sog / own_ship_sog
+
+ target_ship_sog: float = (
+ relative_sog[0] + random.uniform(0, 1) * (relative_sog[1] - relative_sog[0])
+ ) * own_ship_sog
+
+ return target_ship_sog
+
+
+
+
+[docs]
+def assign_beta_from_list(beta_limit: List[float]) -> float:
+ """
+ Assign random (uniform) relative bearing beta between own ship
+ and target ship depending between the limits given by beta_limit.
+
+ Params:
+ * beta_limit: Limits for beta
+
+ Returns
+ -------
+ * Relative bearing between own ship and target ship seen from own ship [rad]
+ """
+ assert len(beta_limit) == 2
+ beta: float = beta_limit[0] + random.uniform(0, 1) * (beta_limit[1] - beta_limit[0])
+ return beta
+
+
+
+
+[docs]
+def assign_beta(encounter_type: EncounterType, settings: EncounterSettings) -> float:
+ """
+ Assign random (uniform) relative bearing beta between own ship
+ and target ship depending on type of encounter.
+
+ Params:
+ * encounter_type: Type of encounter
+ * settings: Encounter settings
+
+ Returns
+ -------
+ * Relative bearing between own ship and target ship seen from own ship [rad]
+ """
+ theta13_crit: float = settings.classification.theta13_criteria
+ theta14_crit: float = settings.classification.theta14_criteria
+ theta15_crit: float = settings.classification.theta15_criteria
+ theta15: List[float] = settings.classification.theta15
+
+ if encounter_type is EncounterType.OVERTAKING_STAND_ON:
+ return theta15[0] + random.uniform(0, 1) * (theta15[1] - theta15[0])
+ if encounter_type is EncounterType.OVERTAKING_GIVE_WAY:
+ return -theta13_crit + random.uniform(0, 1) * (theta13_crit - (-theta13_crit))
+ if encounter_type is EncounterType.HEAD_ON:
+ return -theta14_crit + random.uniform(0, 1) * (theta14_crit - (-theta14_crit))
+ if encounter_type is EncounterType.CROSSING_GIVE_WAY:
+ return 0 + random.uniform(0, 1) * (theta15[0] - 0)
+ if encounter_type is EncounterType.CROSSING_STAND_ON:
+ return convert_angle_minus_pi_to_pi_to_0_to_2_pi(
+ -theta15[1] + random.uniform(0, 1) * (theta15[1] + theta15_crit)
+ )
+ return 0.0
+
+
+
+
+[docs]
+def decide_target_ship(target_ships_static: List[ShipStatic]) -> ShipStatic:
+ """
+ Randomly pick a target ship from a list of target ships.
+
+ Params:
+ * target_ships: list of target ships with static information
+
+ Returns
+ -------
+ * The target ship, info of type, size etc.
+ """
+ num_target_ships: int = len(target_ships_static)
+ target_ship_to_use: int = random.randint(1, num_target_ships)
+ target_ship_static: ShipStatic = target_ships_static[target_ship_to_use - 1]
+ return target_ship_static.model_copy(deep=True)
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/branch/main/_modules/trafficgen/plot_traffic_situation.html b/branch/main/_modules/trafficgen/plot_traffic_situation.html
new file mode 100644
index 0000000..e788c88
--- /dev/null
+++ b/branch/main/_modules/trafficgen/plot_traffic_situation.html
@@ -0,0 +1,541 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Source code for trafficgen.marine_system_simulator
+"""
+The Marine Systems Simulator (MSS) is a Matlab and Simulink library for marine systems.
+
+It includes models for ships, underwater vehicles, unmanned surface vehicles, and floating structures.
+The library also contains guidance, navigation, and control (GNC) blocks for real-time simulation.
+The algorithms are described in:
+
+T. I. Fossen (2021). Handbook of Marine Craft Hydrodynamics and Motion Control. 2nd. Edition,
+Wiley. ISBN-13: 978-1119575054
+
+Parts of the library have been re-implemented in Python and are found below.
+"""
+
+from typing import Tuple
+
+import numpy as np
+
+
+
+[docs]
+def flat2llh(
+ x_n: float,
+ y_n: float,
+ lat_0: float,
+ lon_0: float,
+ z_n: float = 0.0,
+ height_ref: float = 0.0,
+) -> Tuple[float, float, float]:
+ """
+ Compute longitude lon (rad), latitude lat (rad) and height h (m) for the
+ NED coordinates (xn,yn,zn).
+
+ Method taken from the MSS (Marine System Simulator) toolbox which is a Matlab/Simulink
+ library for marine systems.
+
+ The method computes longitude lon (rad), latitude lat (rad) and height h (m) for the
+ NED coordinates (xn,yn,zn) using a flat Earth coordinate system defined by the WGS-84
+ ellipsoid. The flat Earth coordinate origin is located at (lon_0, lat_0) with reference
+ height h_ref in meters above the surface of the ellipsoid. Both height and h_ref
+ are positive upwards, while zn is positive downwards (NED).
+ Author: Thor I. Fossen
+ Date: 20 July 2018
+ Revisions: 2023-02-04 updates the formulas for latitude and longitude
+
+ Params:
+ * xn: Ship position, north [m]
+ * yn: Ship position, east [m]
+ * zn=0.0: Ship position, down [m]
+ * lat_0, lon_0: Flat earth coordinate located at (lon_0, lat_0)
+ * h_ref=0.0: Flat earth coordinate with reference h_ref in meters above the surface
+ of the ellipsoid
+
+ Returns
+ -------
+ * lat: Latitude [rad]
+ * lon: Longitude [rad]
+ * h: Height [m]
+
+ """
+ # WGS-84 parameters
+ a_radius = 6378137 # Semi-major axis
+ f_factor = 1 / 298.257223563 # Flattening
+ e_eccentricity = np.sqrt(2 * f_factor - f_factor**2) # Earth eccentricity
+
+ r_n = a_radius / np.sqrt(1 - e_eccentricity**2 * np.sin(lat_0) ** 2)
+ r_m = r_n * ((1 - e_eccentricity**2) / (1 - e_eccentricity**2 * np.sin(lat_0) ** 2))
+
+ d_lat = x_n / (r_m + height_ref) # delta latitude dmu = mu - mu0
+ d_lon = y_n / ((r_n + height_ref) * np.cos(lat_0)) # delta longitude dl = l - l0
+
+ lat = ssa(lat_0 + d_lat)
+ lon = ssa(lon_0 + d_lon)
+ height = height_ref - z_n
+
+ return lat, lon, height
+
+
+
+
+[docs]
+def llh2flat(
+ lat: float,
+ lon: float,
+ lat_0: float,
+ lon_0: float,
+ height: float = 0.0,
+ height_ref: float = 0.0,
+) -> Tuple[float, float, float]:
+ """
+ Compute (north, east) for a flat Earth coordinate system from longitude
+ lon (rad) and latitude lat (rad).
+
+ Method taken from the MSS (Marine System Simulator) toolbox which is a Matlab/Simulink
+ library for marine systems.
+
+ The method computes (north, east) for a flat Earth coordinate system from longitude
+ lon (rad) and latitude lat (rad) of the WGS-84 elipsoid. The flat Earth coordinate
+ origin is located at (lon_0, lat_0).
+ Author: Thor I. Fossen
+ Date: 20 July 2018
+ Revisions: 2023-02-04 updates the formulas for latitude and longitude
+
+ Params:
+ * lat: Ship position in latitude [rad]
+ * lon: Ship position in longitude [rad]
+ * h=0.0: Ship height in meters above the surface of the ellipsoid
+ * lat_0, lon_0: Flat earth coordinate located at (lon_0, lat_0)
+ * h_ref=0.0: Flat earth coordinate with reference h_ref in meters above
+ the surface of the ellipsoid
+
+ Returns
+ -------
+ * x_n: Ship position, north [m]
+ * y_n: Ship position, east [m]
+ * z_n: Ship position, down [m]
+ """
+
+ # WGS-84 parameters
+ a_radius = 6378137 # Semi-major axis (equitorial radius)
+ f_factor = 1 / 298.257223563 # Flattening
+ e_eccentricity = np.sqrt(2 * f_factor - f_factor**2) # Earth eccentricity
+
+ d_lon = lon - lon_0
+ d_lat = lat - lat_0
+
+ r_n = a_radius / np.sqrt(1 - e_eccentricity**2 * np.sin(lat_0) ** 2)
+ r_m = r_n * ((1 - e_eccentricity**2) / (1 - e_eccentricity**2 * np.sin(lat_0) ** 2))
+
+ x_n = d_lat * (r_m + height_ref)
+ y_n = d_lon * ((r_n + height_ref) * np.cos(lat_0))
+ z_n = height_ref - height
+
+ return x_n, y_n, z_n
+
+
+
+
+[docs]
+def ssa(angle: float) -> float:
+ """
+ Return the "smallest signed angle" (SSA) or the smallest difference between two angles.
+
+ Method taken from the MSS (Marine System Simulator) toolbox which is a Matlab/Simulink
+ library for marine systems.
+
+ Examples
+ --------
+ angle = ssa(angle) maps an angle in rad to the interval [-pi pi)
+
+ Author: Thor I. Fossen
+ Date: 2018-09-21
+
+ Param:
+ * angle: angle given in radius
+
+ Returns
+ -------
+ * smallest_angle: "smallest signed angle" or the smallest difference between two angles
+ """
+
+ return np.mod(angle + np.pi, 2 * np.pi) - np.pi
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/branch/main/_modules/trafficgen/read_files.html b/branch/main/_modules/trafficgen/read_files.html
new file mode 100644
index 0000000..3fa3d96
--- /dev/null
+++ b/branch/main/_modules/trafficgen/read_files.html
@@ -0,0 +1,407 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Source code for trafficgen.plot_traffic_situation
+# The matplotlib package is unfortunately not fully typed. Hence the following pyright exemption.
+# pyright: reportUnknownMemberType=false
+"""Functions to prepare and plot traffic situations."""
+import math
+from typing import List, Optional, Tuple, Union
+
+import matplotlib.pyplot as plt
+import numpy as np
+from folium import Map, Polygon
+from maritime_schema.types.caga import Position, Ship, TargetShip, TrafficSituation
+from matplotlib.axes import Axes as Axes
+from matplotlib.patches import Circle
+
+from trafficgen.marine_system_simulator import flat2llh, llh2flat
+from trafficgen.types import EncounterSettings
+from trafficgen.utils import m_2_nm, rad_2_deg
+
+
+
+[docs]
+def calculate_vector_arrow(
+ position: Position,
+ direction: float,
+ vector_length: float,
+ lat_lon0: Position,
+) -> List[Tuple[float, float]]:
+ """
+ Calculate the arrow with length vector pointing in the direction of ship course.
+
+ Params:
+ * position: {latitude}, {longitude} position of the ship [rad]
+ * direction: direction the arrow is pointing [rad]
+ * vector_length: length of vector [m]
+ * lat_lon0: Reference point, latitudinal [rad] and longitudinal [rad]
+
+ Returns
+ -------
+ * arrow_points: Polygon points to draw the arrow [deg]
+ """
+ north_start, east_start, _ = llh2flat(
+ position.latitude, position.longitude, lat_lon0.latitude, lat_lon0.longitude
+ )
+
+ side_length = vector_length / 10
+ sides_angle = 25
+
+ north_end = north_start + vector_length * np.cos(direction)
+ east_end = east_start + vector_length * np.sin(direction)
+
+ north_arrow_side_1 = north_end + side_length * np.cos(direction + np.pi - sides_angle)
+ east_arrow_side_1 = east_end + side_length * np.sin(direction + np.pi - sides_angle)
+ north_arrow_side_2 = north_end + side_length * np.cos(direction + np.pi + sides_angle)
+ east_arrow_side_2 = east_end + side_length * np.sin(direction + np.pi + sides_angle)
+
+ lat_start, lon_start, _ = flat2llh(north_start, east_start, lat_lon0.latitude, lat_lon0.longitude)
+ lat_end, lon_end, _ = flat2llh(north_end, east_end, lat_lon0.latitude, lat_lon0.longitude)
+ lat_arrow_side_1, lon_arrow_side_1, _ = flat2llh(
+ north_arrow_side_1, east_arrow_side_1, lat_lon0.latitude, lat_lon0.longitude
+ )
+ lat_arrow_side_2, lon_arrow_side_2, _ = flat2llh(
+ north_arrow_side_2, east_arrow_side_2, lat_lon0.latitude, lat_lon0.longitude
+ )
+
+ point_1 = (rad_2_deg(lat_start), rad_2_deg(lon_start))
+ point_2 = (rad_2_deg(lat_end), rad_2_deg(lon_end))
+ point_3 = (rad_2_deg(lat_arrow_side_1), rad_2_deg(lon_arrow_side_1))
+ point_4 = (rad_2_deg(lat_arrow_side_2), rad_2_deg(lon_arrow_side_2))
+
+ return [point_1, point_2, point_3, point_4, point_2]
+
+
+
+
+[docs]
+def calculate_ship_outline(
+ position: Position,
+ course: float,
+ lat_lon0: Position,
+ ship_length: float = 100.0,
+ ship_width: float = 15.0,
+) -> List[Tuple[float, float]]:
+ """
+ Calculate the outline of the ship pointing in the direction of ship course.
+
+ Params:
+ * position: {latitude}, {longitude} position of the ship [rad]
+ * course: course of the ship [rad]
+ * lat_lon0: Reference point, latitudinal [rad] and longitudinal [rad]
+ * ship_length: Ship length. If not given, ship length is set to 100
+ * ship_width: Ship width. If not given, ship width is set to 15
+
+ Returns
+ -------
+ * ship_outline_points: Polygon points to draw the ship [deg]
+ """
+ north_start, east_start, _ = llh2flat(
+ position.latitude, position.longitude, lat_lon0.latitude, lat_lon0.longitude
+ )
+
+ # increase size for visualizing
+ ship_length *= 10
+ ship_width *= 10
+
+ north_pos1 = north_start + np.cos(course) * (-ship_length / 2) - np.sin(course) * ship_width / 2
+ east_pos1 = east_start + np.sin(course) * (-ship_length / 2) + np.cos(course) * ship_width / 2
+ lat_pos1, lon_pos1, _ = flat2llh(north_pos1, east_pos1, lat_lon0.latitude, lat_lon0.longitude)
+
+ north_pos2 = (
+ north_start
+ + np.cos(course) * (ship_length / 2 - ship_length * 0.1)
+ - np.sin(course) * ship_width / 2
+ )
+ east_pos2 = (
+ east_start
+ + np.sin(course) * (ship_length / 2 - ship_length * 0.1)
+ + np.cos(course) * ship_width / 2
+ )
+ lat_pos2, lon_pos2, _ = flat2llh(north_pos2, east_pos2, lat_lon0.latitude, lat_lon0.longitude)
+
+ north_pos3 = north_start + np.cos(course) * (ship_length / 2)
+ east_pos3 = east_start + np.sin(course) * (ship_length / 2)
+ lat_pos3, lon_pos3, _ = flat2llh(north_pos3, east_pos3, lat_lon0.latitude, lat_lon0.longitude)
+
+ north_pos4 = (
+ north_start
+ + np.cos(course) * (ship_length / 2 - ship_length * 0.1)
+ - np.sin(course) * (-ship_width / 2)
+ )
+ east_pos4 = (
+ east_start
+ + np.sin(course) * (ship_length / 2 - ship_length * 0.1)
+ + np.cos(course) * (-ship_width / 2)
+ )
+ lat_pos4, lon_pos4, _ = flat2llh(north_pos4, east_pos4, lat_lon0.latitude, lat_lon0.longitude)
+
+ north_pos5 = north_start + np.cos(course) * (-ship_length / 2) - np.sin(course) * (-ship_width / 2)
+ east_pos5 = east_start + np.sin(course) * (-ship_length / 2) + np.cos(course) * (-ship_width / 2)
+ lat_pos5, lon_pos5, _ = flat2llh(north_pos5, east_pos5, lat_lon0.latitude, lat_lon0.longitude)
+
+ point_1 = (rad_2_deg(lat_pos1), rad_2_deg(lon_pos1))
+ point_2 = (rad_2_deg(lat_pos2), rad_2_deg(lon_pos2))
+ point_3 = (rad_2_deg(lat_pos3), rad_2_deg(lon_pos3))
+ point_4 = (rad_2_deg(lat_pos4), rad_2_deg(lon_pos4))
+ point_5 = (rad_2_deg(lat_pos5), rad_2_deg(lon_pos5))
+
+ return [point_1, point_2, point_3, point_4, point_5, point_1]
+
+
+
+
+[docs]
+def plot_specific_traffic_situation(
+ traffic_situations: List[TrafficSituation],
+ situation_number: int,
+ encounter_settings: EncounterSettings,
+):
+ """
+ Plot a specific situation in map.
+
+ Params:
+ * traffic_situations: Generated traffic situations
+ * situation_number: The specific situation to be plotted
+ """
+
+ num_situations = len(traffic_situations)
+ if situation_number > num_situations:
+ print(
+ f"Situation_number specified higher than number of situations available, plotting last situation: {num_situations}"
+ )
+ situation_number = num_situations
+
+ situation: TrafficSituation = traffic_situations[situation_number - 1]
+ assert situation.own_ship is not None
+ assert situation.own_ship.initial is not None
+ assert encounter_settings.common_vector is not None
+
+ lat_lon0 = situation.own_ship.initial.position
+
+ map_plot = Map(location=(rad_2_deg(lat_lon0.latitude), rad_2_deg(lat_lon0.longitude)), zoom_start=10)
+ map_plot = add_ship_to_map(
+ situation.own_ship,
+ encounter_settings.common_vector,
+ lat_lon0,
+ map_plot,
+ "black",
+ )
+
+ target_ships: Union[List[TargetShip], None] = situation.target_ships
+ assert target_ships is not None
+ for target_ship in target_ships:
+ map_plot = add_ship_to_map(
+ target_ship,
+ encounter_settings.common_vector,
+ lat_lon0,
+ map_plot,
+ "red",
+ )
+ map_plot.show_in_browser()
+
+
+
+
+[docs]
+def add_ship_to_map(
+ ship: Ship,
+ vector_time: float,
+ lat_lon0: Position,
+ map_plot: Optional[Map],
+ color: str = "black",
+) -> Map:
+ """
+ Add the ship to the map.
+
+ Params:
+ * ship: Ship information
+ * vector_time: Vector time [sec]
+ * lat_lon0=Reference point, latitudinal [rad] and longitudinal [rad]
+ * map_plot: Instance of Map. If not set, instance is set to None
+ * color: Color of the ship. If not set, color is 'black'
+
+ Returns
+ -------
+ * m: Updated instance of Map.
+ """
+ if map_plot is None:
+ map_plot = Map(
+ location=(rad_2_deg(lat_lon0.latitude), rad_2_deg(lat_lon0.longitude)), zoom_start=10
+ )
+
+ assert ship.initial is not None
+ vector_length = vector_time * ship.initial.sog
+ _ = map_plot.add_child(
+ Polygon(
+ calculate_vector_arrow(ship.initial.position, ship.initial.cog, vector_length, lat_lon0),
+ fill=True,
+ fill_opacity=1,
+ color=color,
+ )
+ )
+ _ = map_plot.add_child(
+ Polygon(
+ calculate_ship_outline(ship.initial.position, ship.initial.cog, lat_lon0),
+ fill=True,
+ fill_opacity=1,
+ color=color,
+ )
+ )
+ return map_plot
+
+
+
+
+[docs]
+def plot_traffic_situations(
+ traffic_situations: List[TrafficSituation],
+ col: int,
+ row: int,
+ encounter_settings: EncounterSettings,
+):
+ """
+ Plot the traffic situations in one more figures.
+
+ Params:
+ * traffic_situations: Traffic situations to be plotted
+ * col: Number of columns in each figure
+ * row: Number of rows in each figure
+ """
+ max_columns = col
+ max_rows = row
+ num_subplots_pr_plot = max_columns * max_rows
+ small_size = 6
+ bigger_size = 10
+
+ plt.rc("axes", titlesize=small_size) # fontsize of the axes title
+ plt.rc("axes", labelsize=small_size) # fontsize of the x and y labels
+ plt.rc("xtick", labelsize=small_size) # fontsize of the tick labels
+ plt.rc("ytick", labelsize=small_size) # fontsize of the tick labels
+ plt.rc("figure", titlesize=bigger_size) # fontsize of the figure title
+
+ # The axes should have the same x/y limits, thus find max value for
+ # north/east position to be used for plotting
+ max_value: float = 0.0
+ for situation in traffic_situations:
+ assert situation.own_ship is not None
+ assert situation.own_ship.initial is not None
+ lat_lon0 = situation.own_ship.initial.position
+ max_value = find_max_value_for_plot(situation.own_ship, max_value, lat_lon0)
+ assert situation.target_ships is not None
+ for target_ship in situation.target_ships:
+ max_value = find_max_value_for_plot(target_ship, max_value, lat_lon0)
+
+ plot_number: int = 1
+ _ = plt.figure(plot_number)
+ for i, situation in enumerate(traffic_situations):
+ if math.floor(i / num_subplots_pr_plot) + 1 > plot_number:
+ plot_number += 1
+ _ = plt.figure(plot_number)
+
+ axes: Axes = plt.subplot(
+ max_rows,
+ max_columns,
+ int(1 + i - (plot_number - 1) * num_subplots_pr_plot),
+ xlabel="[nm]",
+ ylabel="[nm]",
+ )
+ _ = axes.set_title(situation.title)
+ assert situation.own_ship is not None
+ assert situation.own_ship.initial
+ assert encounter_settings.common_vector is not None
+ lat_lon0 = situation.own_ship.initial.position
+ axes = add_ship_to_plot(
+ situation.own_ship,
+ encounter_settings.common_vector,
+ lat_lon0,
+ axes,
+ "black",
+ )
+ assert situation.target_ships is not None
+ for target_ship in situation.target_ships:
+ axes = add_ship_to_plot(
+ target_ship,
+ encounter_settings.common_vector,
+ lat_lon0,
+ axes,
+ "red",
+ )
+ axes.set_aspect("equal")
+
+ _ = plt.xlim(-max_value, max_value)
+ _ = plt.ylim(-max_value, max_value)
+ _ = plt.subplots_adjust(wspace=0.4, hspace=0.4)
+
+ plt.show()
+
+
+
+
+[docs]
+def find_max_value_for_plot(
+ ship: Ship,
+ max_value: float,
+ lat_lon0: Position,
+) -> float:
+ """
+ Find the maximum deviation from the Reference point in north and east direction.
+
+ Params:
+ * ship: Ship information
+ * max_value: maximum deviation in north, east direction
+ * lat_lon0: Reference point, latitudinal [rad] and longitudinal [rad]
+
+ Returns
+ -------
+ * max_value: updated maximum deviation in north, east direction
+ """
+ assert ship.initial is not None
+
+ north, east, _ = llh2flat(
+ ship.initial.position.latitude,
+ ship.initial.position.longitude,
+ lat_lon0.latitude,
+ lat_lon0.longitude,
+ )
+ max_value = np.max(
+ [
+ max_value,
+ np.abs(m_2_nm(north)),
+ np.abs(m_2_nm(east)),
+ ]
+ )
+ return max_value
+
+
+
+
+[docs]
+def add_ship_to_plot(
+ ship: Ship,
+ vector_time: float,
+ lat_lon0: Position,
+ axes: Optional[Axes],
+ color: str = "black",
+):
+ """
+ Add the ship to the plot.
+
+ Params:
+ * ship: Ship information
+ * vector_time: Vector time [sec]
+ * axes: Instance of figure axis. If not set, instance is set to None
+ * color: Color of the ship. If not set, color is 'black'
+ """
+ if axes is None:
+ axes = plt.gca()
+ assert isinstance(axes, Axes)
+
+ assert ship.initial is not None
+ pos_0_north, pos_0_east, _ = llh2flat(
+ ship.initial.position.latitude,
+ ship.initial.position.longitude,
+ lat_lon0.latitude,
+ lat_lon0.longitude,
+ )
+ pos_0_north = m_2_nm(pos_0_north)
+ pos_0_east = m_2_nm(pos_0_east)
+ course = ship.initial.cog
+ speed = ship.initial.sog
+
+ vector_length = m_2_nm(vector_time * speed)
+
+ _ = axes.arrow(
+ pos_0_east,
+ pos_0_north,
+ vector_length * np.sin(course),
+ vector_length * np.cos(course),
+ edgecolor=color,
+ facecolor=color,
+ width=0.0001,
+ head_length=0.2,
+ head_width=0.2,
+ length_includes_head=True,
+ )
+ circle = Circle(
+ xy=(pos_0_east, pos_0_north),
+ radius=vector_time / 3000.0, # type: ignore
+ color=color,
+ )
+ _ = axes.add_patch(circle)
+
+ return axes
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/branch/main/_modules/trafficgen/ship_traffic_generator.html b/branch/main/_modules/trafficgen/ship_traffic_generator.html
new file mode 100644
index 0000000..72ee610
--- /dev/null
+++ b/branch/main/_modules/trafficgen/ship_traffic_generator.html
@@ -0,0 +1,210 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Source code for trafficgen.read_files
+"""Functions to read the files needed to build one or more traffic situations."""
+
+import json
+import os
+from pathlib import Path
+from typing import Any, Dict, List, Union, cast
+from uuid import UUID, uuid4
+
+from maritime_schema.types.caga import (
+ ShipStatic,
+ TrafficSituation,
+)
+
+from trafficgen.types import EncounterSettings, SituationInput
+from trafficgen.utils import deg_2_rad, knot_2_m_pr_s, min_2_s, nm_2_m
+
+
+
+[docs]
+def read_situation_files(situation_folder: Path) -> List[SituationInput]:
+ """
+ Read traffic situation files.
+
+ Params:
+ * situation_folder: Path to the folder where situation files are found
+ * input_units: Specify if the inputs are given in si or maritime units
+
+ Returns
+ -------
+ * situations: List of desired traffic situations
+ """
+ situations: List[SituationInput] = []
+ for file_name in sorted([file for file in os.listdir(situation_folder) if file.endswith(".json")]):
+ file_path = os.path.join(situation_folder, file_name)
+ with open(file_path, encoding="utf-8") as f:
+ data = json.load(f)
+
+ data = convert_keys_to_snake_case(data)
+
+ if "num_situations" not in data:
+ data["num_situations"] = 1
+
+ situation: SituationInput = SituationInput(**data)
+ situation = convert_situation_data_from_maritime_to_si_units(situation)
+
+ situations.append(situation)
+ return situations
+
+
+
+
+[docs]
+def read_generated_situation_files(situation_folder: Path) -> List[TrafficSituation]:
+ """
+ Read the generated traffic situation files. Used for testing the trafficgen algorithm.
+
+ Params:
+ * situation_folder: Path to the folder where situation files are found
+
+ Returns
+ -------
+ * situations: List of desired traffic situations
+ """
+ situations: List[TrafficSituation] = []
+ for file_name in sorted([file for file in os.listdir(situation_folder) if file.endswith(".json")]):
+ file_path = os.path.join(situation_folder, file_name)
+ with open(file_path, encoding="utf-8") as f:
+ data = json.load(f)
+ data = convert_keys_to_snake_case(data)
+
+ situation: TrafficSituation = TrafficSituation(**data)
+ situations.append(situation)
+ return situations
+
+
+
+
+[docs]
+def convert_situation_data_from_maritime_to_si_units(situation: SituationInput) -> SituationInput:
+ """
+ Convert situation data which is given in maritime units to SI units.
+
+ Params:
+ * own_ship_file: Path to the own_ship_file file
+
+ Returns
+ -------
+ * own_ship information
+ """
+ assert situation.own_ship is not None
+ assert situation.own_ship.initial is not None
+ situation.own_ship.initial.position.longitude = deg_2_rad(
+ situation.own_ship.initial.position.longitude
+ )
+ situation.own_ship.initial.position.latitude = deg_2_rad(
+ situation.own_ship.initial.position.latitude
+ )
+ situation.own_ship.initial.cog = deg_2_rad(situation.own_ship.initial.cog)
+ situation.own_ship.initial.heading = deg_2_rad(situation.own_ship.initial.heading)
+ situation.own_ship.initial.sog = knot_2_m_pr_s(situation.own_ship.initial.sog)
+
+ if situation.own_ship.waypoints is not None:
+ for waypoint in situation.own_ship.waypoints:
+ waypoint.position.latitude = deg_2_rad(waypoint.position.latitude)
+ waypoint.position.longitude = deg_2_rad(waypoint.position.longitude)
+ if waypoint.data is not None:
+ assert waypoint.data.model_extra
+ if waypoint.data.model_extra.get("sog") is not None:
+ waypoint.data.model_extra["sog"]["value"] = knot_2_m_pr_s(waypoint.data.model_extra["sog"]["value"]) # type: ignore
+
+ assert situation.encounters is not None
+ for encounter in situation.encounters:
+ beta: Union[List[float], float, None] = encounter.beta
+ vector_time: Union[float, None] = encounter.vector_time
+ if beta is not None:
+ if isinstance(beta, List):
+ assert len(beta) == 2
+ for i in range(len(beta)):
+ beta[i] = deg_2_rad(beta[i])
+ encounter.beta = beta
+ else:
+ encounter.beta = deg_2_rad(beta)
+ if vector_time is not None:
+ encounter.vector_time = min_2_s(vector_time)
+ return situation
+
+
+
+
+[docs]
+def read_own_ship_static_file(own_ship_static_file: Path) -> ShipStatic:
+ """
+ Read own ship static data from file.
+
+ Params:
+ * own_ship_file: Path to the own_ship_static_file file
+
+ Returns
+ -------
+ * own_ship static information
+ """
+ with open(own_ship_static_file, encoding="utf-8") as f:
+ data = json.load(f)
+ data = convert_keys_to_snake_case(data)
+
+ if "id" not in data:
+ ship_id: UUID = uuid4()
+ data.update({"id": ship_id})
+
+ ship_static: ShipStatic = ShipStatic(**data)
+
+ return ship_static
+
+
+
+
+[docs]
+def read_target_ship_static_files(target_ship_folder: Path) -> List[ShipStatic]:
+ """
+ Read target ship static data files.
+
+ Params:
+ * target_ship_folder: Path to the folder where target ships are found
+
+ Returns
+ -------
+ * target_ships_static: List of different target ships with static information
+ """
+ target_ships_static: List[ShipStatic] = []
+ i = 0
+ for file_name in sorted([file for file in os.listdir(target_ship_folder) if file.endswith(".json")]):
+ i = i + 1
+ file_path = os.path.join(target_ship_folder, file_name)
+ with open(file_path, encoding="utf-8") as f:
+ data = json.load(f)
+ data = convert_keys_to_snake_case(data)
+
+ if "id" not in data:
+ ship_id: UUID = uuid4()
+ data.update({"id": ship_id})
+
+ target_ship_static: ShipStatic = ShipStatic(**data)
+ target_ships_static.append(target_ship_static)
+ return target_ships_static
+
+
+
+
+[docs]
+def read_encounter_settings_file(settings_file: Path) -> EncounterSettings:
+ """
+ Read encounter settings file.
+
+ Params:
+ * settings_file: Path to the encounter setting file
+
+ Returns
+ -------
+ * encounter_settings: Settings for the encounter
+ """
+ with open(settings_file, encoding="utf-8") as f:
+ data = json.load(f)
+ data = check_input_units(data)
+ encounter_settings: EncounterSettings = EncounterSettings(**data)
+
+ encounter_settings = convert_settings_data_from_maritime_to_si_units(encounter_settings)
+
+ return encounter_settings
+
+
+
+
+[docs]
+def convert_settings_data_from_maritime_to_si_units(settings: EncounterSettings) -> EncounterSettings:
+ """
+ Convert situation data which is given in maritime units to SI units.
+
+ Params:
+ * own_ship_file: Path to the own_ship_file file
+
+ Returns
+ -------
+ * own_ship information
+ """
+ assert settings.classification is not None
+
+ settings.classification.theta13_criteria = deg_2_rad(settings.classification.theta13_criteria)
+ settings.classification.theta14_criteria = deg_2_rad(settings.classification.theta14_criteria)
+ settings.classification.theta15_criteria = deg_2_rad(settings.classification.theta15_criteria)
+ settings.classification.theta15[0] = deg_2_rad(settings.classification.theta15[0])
+ settings.classification.theta15[1] = deg_2_rad(settings.classification.theta15[1])
+
+ settings.vector_range[0] = min_2_s(settings.vector_range[0])
+ settings.vector_range[1] = min_2_s(settings.vector_range[1])
+
+ settings.situation_length = min_2_s(settings.situation_length)
+ settings.max_meeting_distance = nm_2_m(settings.max_meeting_distance)
+ settings.evolve_time = min_2_s(settings.evolve_time)
+ settings.common_vector = min_2_s(settings.common_vector)
+
+ return settings
+
+
+
+
+[docs]
+def check_input_units(data: Dict[str, Any]) -> Dict[str, Any]:
+ """Check if input unit is specified, if not specified it is set to SI."""
+
+ if "input_units" not in data:
+ data["input_units"] = "si"
+
+ return data
+
+
+
+
+[docs]
+def camel_to_snake(string: str) -> str:
+ """Convert a camel case string to snake case."""
+ return "".join([f"_{c.lower()}" if c.isupper() else c for c in string]).lstrip("_")
+
+
+
+
+[docs]
+def convert_keys_to_snake_case(data: Dict[str, Any]) -> Dict[str, Any]:
+ """Convert keys in a nested dictionary from camel case to snake case."""
+ return cast(Dict[str, Any], _convert_keys_to_snake_case(data))
+
+
+
+def _convert_keys_to_snake_case(
+ data: Union[Dict[str, Any], List[Any]],
+) -> Union[Dict[str, Any], List[Any]]:
+ """Convert keys in a nested dictionary from camel case to snake case."""
+
+ if isinstance(data, Dict): # Dict
+ converted_dict: Dict[str, Any] = {}
+ for key, value in data.items():
+ converted_key = camel_to_snake(key)
+ if isinstance(value, (Dict, List)):
+ converted_value = _convert_keys_to_snake_case(value)
+ else:
+ converted_value = value
+ converted_dict[converted_key] = converted_value
+ return converted_dict
+
+ # List
+ converted_list: List[Any] = []
+ for value in data:
+ if isinstance(value, (Dict, List)):
+ converted_value = _convert_keys_to_snake_case(value)
+ else:
+ converted_value = value
+ converted_list.append(value)
+ return converted_list
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/branch/main/_modules/trafficgen/types.html b/branch/main/_modules/trafficgen/types.html
new file mode 100644
index 0000000..75371d0
--- /dev/null
+++ b/branch/main/_modules/trafficgen/types.html
@@ -0,0 +1,263 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Source code for trafficgen.ship_traffic_generator
+"""Functions to generate traffic situations."""
+
+from pathlib import Path
+from typing import List, Union
+
+from maritime_schema.types.caga import (
+ OwnShip,
+ Position,
+ ShipStatic,
+ TargetShip,
+ TrafficSituation,
+)
+
+from trafficgen.encounter import (
+ define_own_ship,
+ generate_encounter,
+)
+from trafficgen.read_files import (
+ read_encounter_settings_file,
+ read_own_ship_static_file,
+ read_situation_files,
+ read_target_ship_static_files,
+)
+from trafficgen.types import EncounterSettings, EncounterType, SituationInput
+
+
+
+[docs]
+def generate_traffic_situations(
+ situation_folder: Path,
+ own_ship_file: Path,
+ target_ship_folder: Path,
+ settings_file: Path,
+) -> List[TrafficSituation]:
+ """
+ Generate a set of traffic situations using input files.
+ This is the main function for generating a set of traffic situations using input files
+ specifying number and type of encounter, type of target ships etc.
+
+ Params:
+ * situation_folder: Path to situation folder, files describing the desired situations
+ * own_ship_file: Path to where own ships is found
+ * target_ship_folder: Path to where different type of target ships is found
+ * settings_file: Path to settings file
+
+ Returns
+ -------
+ * traffic_situations: List of generated traffic situations.
+ * One situation may consist of one or more encounters.
+ """
+
+ own_ship_static: ShipStatic = read_own_ship_static_file(own_ship_file)
+ target_ships_static: List[ShipStatic] = read_target_ship_static_files(target_ship_folder)
+ encounter_settings: EncounterSettings = read_encounter_settings_file(settings_file)
+ desired_traffic_situations: List[SituationInput] = read_situation_files(situation_folder)
+ traffic_situations: List[TrafficSituation] = []
+
+ for desired_traffic_situation in desired_traffic_situations:
+ num_situations: int = desired_traffic_situation.num_situations
+ assert encounter_settings.common_vector is not None
+ assert desired_traffic_situation.own_ship is not None
+ assert desired_traffic_situation.encounters is not None
+
+ lat_lon0: Position = desired_traffic_situation.own_ship.initial.position
+
+ own_ship: OwnShip = define_own_ship(
+ desired_traffic_situation, own_ship_static, encounter_settings, lat_lon0
+ )
+ for _ in range(num_situations):
+ target_ships: List[TargetShip] = []
+ for i, encounter in enumerate(desired_traffic_situation.encounters):
+ desired_encounter_type = EncounterType(encounter.desired_encounter_type)
+ beta: Union[List[float], float, None] = encounter.beta
+ relative_speed: Union[float, None] = encounter.relative_speed
+ vector_time: Union[float, None] = encounter.vector_time
+
+ target_ship, encounter_found = generate_encounter(
+ desired_encounter_type,
+ own_ship.model_copy(deep=True),
+ target_ships_static,
+ i + 1,
+ beta,
+ relative_speed,
+ vector_time,
+ encounter_settings,
+ )
+ if encounter_found:
+ target_ships.append(target_ship.model_copy(deep=True))
+
+ traffic_situation: TrafficSituation = TrafficSituation(
+ title=desired_traffic_situation.title,
+ description=desired_traffic_situation.description,
+ own_ship=own_ship.model_copy(deep=True),
+ target_ships=target_ships,
+ start_time=None,
+ environment=None,
+ )
+ traffic_situations.append(traffic_situation)
+ return traffic_situations
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/branch/main/_modules/trafficgen/utils.html b/branch/main/_modules/trafficgen/utils.html
new file mode 100644
index 0000000..6bc8f9a
--- /dev/null
+++ b/branch/main/_modules/trafficgen/utils.html
@@ -0,0 +1,457 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Source code for trafficgen.types
+"""Domain specific data types used in trafficgen."""
+
+from enum import Enum
+from typing import List, Optional, Union
+
+from maritime_schema.types.caga import Initial, Waypoint
+from pydantic import BaseModel
+from pydantic.fields import Field
+
+
+
+[docs]
+def to_camel(string: str) -> str:
+ """Return a camel case formated string from snake case string."""
+
+ words = string.split("_")
+ return words[0] + "".join(word.capitalize() for word in words[1:])
+
+
+
+
+[docs]
+class EncounterType(Enum):
+ """Enumeration of encounter types."""
+
+ OVERTAKING_STAND_ON = "overtaking-stand-on"
+ OVERTAKING_GIVE_WAY = "overtaking-give-way"
+ HEAD_ON = "head-on"
+ CROSSING_GIVE_WAY = "crossing-give-way"
+ CROSSING_STAND_ON = "crossing-stand-on"
+ NO_RISK_COLLISION = "noRiskCollision"
+
+
+
+
+[docs]
+class Encounter(BaseModel):
+ """Data type for an encounter."""
+
+ desired_encounter_type: EncounterType
+ beta: Union[List[float], float, None] = None
+ relative_speed: Union[float, None] = None
+ vector_time: Union[float, None] = None
+
+
+[docs]
+ class Config:
+ """For converting parameters written to file from snake to camel case."""
+
+ alias_generator = to_camel
+ populate_by_name = True
+
+
+
+
+
+[docs]
+class EncounterClassification(BaseModel):
+ """Data type for the encounter classification."""
+
+ theta13_criteria: float
+ theta14_criteria: float
+ theta15_criteria: float
+ theta15: List[float]
+
+
+[docs]
+ class Config:
+ """For converting parameters written to file from snake to camel case."""
+
+ alias_generator = to_camel
+ populate_by_name = True
+
+
+
+
+
+[docs]
+class EncounterRelativeSpeed(BaseModel):
+ """Data type for relative speed between two ships in an encounter."""
+
+ overtaking_stand_on: List[float]
+ overtaking_give_way: List[float]
+ head_on: List[float]
+ crossing_give_way: List[float]
+ crossing_stand_on: List[float]
+
+
+[docs]
+ class Config:
+ """For converting parameters written to file from snake to camel case."""
+
+ alias_generator = to_camel
+ populate_by_name = True
+
+
+
+
+
+[docs]
+class EncounterSettings(BaseModel):
+ """Data type for encounter settings."""
+
+ classification: EncounterClassification
+ relative_speed: EncounterRelativeSpeed
+ vector_range: List[float]
+ common_vector: float
+ situation_length: float
+ max_meeting_distance: float
+ evolve_time: float
+ disable_land_check: bool
+
+
+[docs]
+ class Config:
+ """For converting parameters written to file from snake to camel case."""
+
+ alias_generator = to_camel
+ populate_by_name = True
+
+
+
+
+
+[docs]
+class OwnShipInitial(BaseModel):
+ """Data type for initial data for the own ship used for generating a situation."""
+
+ initial: Initial
+ waypoints: Optional[List[Waypoint]] = Field(None, description="An array of `Waypoint` objects.")
+
+
+
+
+[docs]
+class SituationInput(BaseModel):
+ """Data type for inputs needed for generating a situations."""
+
+ title: str
+ description: str
+ num_situations: int
+ own_ship: OwnShipInitial
+ encounters: List[Encounter]
+
+
+[docs]
+ class Config:
+ """For converting parameters written to file from snake to camel case."""
+
+ alias_generator = to_camel
+ populate_by_name = True
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/branch/main/_modules/trafficgen/write_traffic_situation_to_file.html b/branch/main/_modules/trafficgen/write_traffic_situation_to_file.html
new file mode 100644
index 0000000..0b85885
--- /dev/null
+++ b/branch/main/_modules/trafficgen/write_traffic_situation_to_file.html
@@ -0,0 +1,204 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Source code for trafficgen.utils
+"""Utility functions that are used by several other functions."""
+
+from typing import List
+
+import numpy as np
+from maritime_schema.types.caga import Position, Waypoint
+
+from trafficgen.marine_system_simulator import flat2llh, llh2flat
+
+
+
+[docs]
+def knot_2_m_pr_s(speed_in_knot: float) -> float:
+ """
+ Convert ship speed in knots to meters pr second.
+
+ Params:
+ * speed_in_knot: Ship speed given in knots
+
+ Returns
+ -------
+ * speed_in_m_pr_s: Ship speed in meters pr second
+ """
+
+ knot_2_m_pr_sec: float = 0.5144
+ return speed_in_knot * knot_2_m_pr_sec
+
+
+
+
+[docs]
+def m_pr_s_2_knot(speed_in_m_pr_s: float) -> float:
+ """
+ Convert ship speed in knots to meters pr second.
+
+ Params:
+ * speed_in_m_pr_s: Ship speed given in meters pr second
+
+ Returns
+ -------
+ * speed_in_knot: Ship speed in knots
+ """
+
+ knot_2_m_pr_sec: float = 0.5144
+ return speed_in_m_pr_s / knot_2_m_pr_sec
+
+
+
+
+[docs]
+def min_2_s(time_in_min: float) -> float:
+ """
+ Convert time given in minutes to time given in seconds.
+
+ Params:
+ * time_in_min: Time given in minutes
+
+ Returns
+ -------
+ * time_in_s: Time in seconds
+ """
+
+ min_2_s_coeff: float = 60.0
+ return time_in_min * min_2_s_coeff
+
+
+
+
+[docs]
+def m_2_nm(length_in_m: float) -> float:
+ """
+ Convert length given in meters to length given in nautical miles.
+
+ Params:
+ * length_in_m: Length given in meters
+
+ Returns
+ -------
+ * length_in_nm: Length given in nautical miles
+ """
+
+ m_2_nm_coeff: float = 1.0 / 1852.0
+ return m_2_nm_coeff * length_in_m
+
+
+
+
+[docs]
+def nm_2_m(length_in_nm: float) -> float:
+ """
+ Convert length given in nautical miles to length given in meters.
+
+ Params:
+ * length_in_nm: Length given in nautical miles
+
+ Returns
+ -------
+ * length_in_m: Length given in meters
+ """
+
+ nm_2_m_factor: float = 1852.0
+ return length_in_nm * nm_2_m_factor
+
+
+
+
+[docs]
+def deg_2_rad(angle_in_degrees: float) -> float:
+ """
+ Convert angle given in degrees to angle give in radians.
+
+ Params:
+ * angle_in_degrees: Angle given in degrees
+
+ Returns
+ -------
+ * angle given in radians: Angle given in radians
+ """
+
+ return angle_in_degrees * np.pi / 180.0
+
+
+
+
+[docs]
+def rad_2_deg(angle_in_radians: float) -> float:
+ """
+ Convert angle given in radians to angle give in degrees.
+
+ Params:
+ * angle_in_degrees: Angle given in degrees
+
+ Returns
+ -------
+ * angle given in radians: Angle given in radians
+
+ """
+
+ return angle_in_radians * 180.0 / np.pi
+
+
+
+
+[docs]
+def convert_angle_minus_pi_to_pi_to_0_to_2_pi(angle_pi: float) -> float:
+ """
+ Convert an angle given in the region -pi to pi degrees to an
+ angle given in the region 0 to 2pi radians.
+
+ Params:
+ * angle_pi: Angle given in the region -pi to pi radians
+
+ Returns
+ -------
+ * angle_2_pi: Angle given in the region 0 to 2pi radians
+
+ """
+
+ return angle_pi if angle_pi >= 0.0 else angle_pi + 2 * np.pi
+
+
+
+
+[docs]
+def convert_angle_0_to_2_pi_to_minus_pi_to_pi(angle_2_pi: float) -> float:
+ """
+ Convert an angle given in the region 0 to 2*pi degrees to an
+ angle given in the region -pi to pi degrees.
+
+ Params:
+ * angle_2_pi: Angle given in the region 0 to 2pi radians
+
+ Returns
+ -------
+ * angle_pi: Angle given in the region -pi to pi radians
+
+ """
+
+ return angle_2_pi if (angle_2_pi >= 0.0) & (angle_2_pi <= np.pi) else angle_2_pi - 2 * np.pi
+
+
+
+
+[docs]
+def calculate_position_at_certain_time(
+ position: Position,
+ lat_lon0: Position,
+ speed: float,
+ course: float,
+ delta_time: float,
+) -> Position:
+ """
+ Calculate the position of the ship at a given time based on initial position
+ and delta time, and constant speed and course.
+
+ Params:
+ * position{latitude, longitude}: Initial ship position [rad]
+ * speed: Ship speed [m/s]
+ * course: Ship course [rad]
+ * delta_time: Delta time from now to the time new position is being calculated [minutes]
+
+ Returns
+ -------
+ * position{latitude, longitude}: Estimated ship position in delta time minutes [rad]
+ """
+
+ north, east, _ = llh2flat(
+ position.latitude, position.longitude, lat_lon0.latitude, lat_lon0.longitude
+ )
+
+ north = north + speed * delta_time * np.cos(course)
+ east = east + speed * delta_time * np.sin(course)
+
+ lat_future, lon_future, _ = flat2llh(north, east, lat_lon0.latitude, lat_lon0.longitude)
+
+ position_future: Position = Position(
+ latitude=lat_future,
+ longitude=lon_future,
+ )
+ return position_future
+
+
+
+
+[docs]
+def calculate_distance(position_prev: Position, position_next: Position) -> float:
+ """
+ Calculate the distance in meter between two waypoints.
+
+ Params:
+ * position_prev{latitude, longitude}: Previous waypoint [rad]
+ * position_next{latitude, longitude}: Next waypoint [rad]
+
+ Returns
+ -------
+ * distance: Distance between waypoints [m]
+ """
+ # Using position of previous waypoint as reference point
+ north_next, east_next, _ = llh2flat(
+ position_next.latitude, position_next.longitude, position_prev.latitude, position_prev.longitude
+ )
+
+ distance: float = np.sqrt(north_next**2 + east_next**2)
+
+ return distance
+
+
+
+
+[docs]
+def calculate_position_along_track_using_waypoints(
+ waypoints: List[Waypoint],
+ inital_speed: float,
+ vector_time: float,
+) -> Position:
+ """
+ Calculate the position of the ship at a given time based on initial position
+ and delta time, and constant speed and course.
+
+ Params:
+ * position{latitude, longitude}: Initial ship position [rad]
+ * speed: Ship speed [m/s]
+ * course: Ship course [rad]
+ * delta_time: Delta time from now to the time new position is being calculated [sec]
+
+ Returns
+ -------
+ * position{latitude, longitude}: Estimated ship position in delta time minutes [rad]
+ """
+ time_in_transit: float = 0
+
+ for i in range(1, len(waypoints)):
+ ship_speed: float = inital_speed
+ if waypoints[i].data is not None and waypoints[i].data.model_extra["sog"] is not None: # type: ignore
+ ship_speed = waypoints[i].data.model_extra["sog"]["value"] # type: ignore
+
+ dist_between_waypoints = calculate_distance(waypoints[i - 1].position, waypoints[i].position)
+
+ # find distance ship will travel
+ dist_travel = ship_speed * (vector_time - time_in_transit)
+
+ if dist_travel > dist_between_waypoints:
+ time_in_transit = time_in_transit + dist_between_waypoints / ship_speed
+ else:
+ bearing = calculate_bearing_between_waypoints(
+ waypoints[i - 1].position, waypoints[i].position
+ )
+ position_along_track = calculate_destination_along_track(
+ waypoints[i - 1].position, dist_travel, bearing
+ )
+ return position_along_track
+
+ # if ship reach last waypoint in less time than vector_time, last waypoint is used
+ return waypoints[-1].position
+
+
+
+
+[docs]
+def calculate_bearing_between_waypoints(position_prev: Position, position_next: Position) -> float:
+ """
+ Calculate the bearing in rad between two waypoints.
+
+ Params:
+ * position_prev{latitude, longitude}: Previous waypoint [rad]
+ * position_next{latitude, longitude}: Next waypoint [rad]
+
+ Returns
+ -------
+ * bearing: Bearing between waypoints [m]
+ """
+ # Using position of previous waypoint as reference point
+ north_next, east_next, _ = llh2flat(
+ position_next.latitude, position_next.longitude, position_prev.latitude, position_prev.longitude
+ )
+
+ bearing: float = convert_angle_minus_pi_to_pi_to_0_to_2_pi(np.arctan2(east_next, north_next))
+
+ return bearing
+
+
+
+
+[docs]
+def calculate_destination_along_track(
+ position_prev: Position, distance: float, bearing: float
+) -> Position:
+ """
+ Calculate the destination along the track between two waypoints when distance along the track is given.
+
+ Params:
+ * position_prev{latitude, longitude}: Previous waypoint [rad]
+ * distance: Distance to travel [m]
+ * bearing: Bearing from previous waypoint to next waypoint [rad]
+
+ Returns
+ -------
+ * destination{latitude, longitude}: Destination along the track [rad]
+ """
+ north = distance * np.cos(bearing)
+ east = distance * np.sin(bearing)
+
+ lat, lon, _ = flat2llh(north, east, position_prev.latitude, position_prev.longitude)
+ destination = Position(latitude=lat, longitude=lon)
+
+ return destination
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/branch/main/_sources/api.rst.txt b/branch/main/_sources/api.rst.txt
new file mode 100644
index 0000000..3e977b3
--- /dev/null
+++ b/branch/main/_sources/api.rst.txt
@@ -0,0 +1,7 @@
+API Documentation
+=================
+
+.. toctree::
+ :maxdepth: 4
+
+ trafficgen
diff --git a/branch/main/_sources/authors.rst.txt b/branch/main/_sources/authors.rst.txt
new file mode 100644
index 0000000..e122f91
--- /dev/null
+++ b/branch/main/_sources/authors.rst.txt
@@ -0,0 +1 @@
+.. include:: ../AUTHORS.rst
diff --git a/branch/main/_sources/contributing.rst.txt b/branch/main/_sources/contributing.rst.txt
new file mode 100644
index 0000000..e582053
--- /dev/null
+++ b/branch/main/_sources/contributing.rst.txt
@@ -0,0 +1 @@
+.. include:: ../CONTRIBUTING.rst
diff --git a/branch/main/_sources/history.rst.txt b/branch/main/_sources/history.rst.txt
new file mode 100644
index 0000000..2506499
--- /dev/null
+++ b/branch/main/_sources/history.rst.txt
@@ -0,0 +1 @@
+.. include:: ../HISTORY.rst
diff --git a/branch/main/_sources/index.rst.txt b/branch/main/_sources/index.rst.txt
new file mode 100644
index 0000000..c67c64e
--- /dev/null
+++ b/branch/main/_sources/index.rst.txt
@@ -0,0 +1,28 @@
+Welcome to Traffic Generator's documentation!
+=============================================
+
+The tool generates a structured set of encounters for verifying automatic collision and
+grounding avoidance systems. Based on input parameters such as desired situation, relative speed,
+relative bearing etc, the tool will generate a set of traffic situations. The traffic situations
+may be written to files and/or inspected using plots.
+
+A :download:`paper<../docs/ICMASS23_verfying_caga_systems.pdf>` is written describing the background for
+the tool and how it works.
+
+.. toctree::
+ :maxdepth: 4
+ :caption: Contents:
+
+ installation
+ usage
+ input_files
+ contributing
+ authors
+ history
+ api
+
+Indices and tables
+==================
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`
diff --git a/branch/main/_sources/input_files.rst.txt b/branch/main/_sources/input_files.rst.txt
new file mode 100644
index 0000000..8d6383c
--- /dev/null
+++ b/branch/main/_sources/input_files.rst.txt
@@ -0,0 +1,129 @@
+===========
+Input files
+===========
+
+Example 1: Complete specified situation::
+
+ {
+ "title": "HO",
+ "description": "A head on situation with one target ship.",
+ "ownShip": {
+ "initial": {
+ "position": {
+ "latitude": 58.763449,
+ "longitude": 10.490654
+ },
+ "sog": 10.0,
+ "cog": 0.0,
+ "heading": 0.0,
+ "navStatus": "Under way using engine"
+ }
+ },
+ "encounters": [
+ {
+ "desiredEncounterType": "head-on",
+ "beta": 2.0,
+ "relativeSpeed": 1.2,
+ "vectorTime": 15.0
+ }
+ ]
+ }
+
+The values may be given in either maritime units or SI units, and which unit is used shall be specified in the `src/trafficgen/settings/encounter_settings.json` file.
+The `common_vector` is given in minutes (maritime) or seconds (SI). For radar plotting (plotting vessel positions and relative motions),
+the `common_vector` and `vector_time` are used together with ship speed to display where the ship will be in e.g. 10 minutes
+(Common vector is the common time vector used on a radar plot, e.g 10, 15, 20 minutes. The length of the arrow in the plot
+will then be the speed times this time vector).
+Speed and course of the own ship, which is the ship to be tested, are given in knots and degrees (maritime) or m/s and radians (SI), respectively.
+The own ship position is given both in latitudinal and longitudinal (degree/radians) together with north/east in meters from the reference point.
+The reference point is the initial position of own ship.
+
+An encounter may be fully described as shown above, but the user may also deside to input less data,
+as demonstrated in Example 2. Desired encounter type is mandatory,
+while the `beta`, `relative_speed` and `vector_time` parameters are optional:
+
+ * `desired_encounter_type` is either head-on, overtaking-give-way, overtaking-stand-on, crossing-give-way, and crossing-stand-on.
+ * `beta` is the relative bearing between the own ship and the target ship as seen from the own shop, given in degrees/radians.
+ * `relative_speed` is relative speed between the own ship and the target ship as seen from the own ship, such that a relative speed of 1.2 means that the target ship's speed is 20% higher than the speed of the own ship.
+
+An encounter is built using a maximum meeting distance [nm], see the paper linked in the introduction for more info.
+At some time in the future, given by the `vector_time`, the target ship will be located somewhere inside a circle
+with a radius given by `max_meeting_distance` and a center point given by the own ship position. This is not necessarily the
+closest point of approach.
+
+The `max_meeting_distance` parameter is common for all encounters and is specified in `src/trafficgen/settings/encounter_settings.json`.
+
+Example 2: Minimum specified situation::
+
+ {
+ "title": "HO",
+ "description": "A head on situation with one target ship.",
+ "ownShip": {
+ "initial": {
+ "position": {
+ "latitude": 58.763449,
+ "longitude": 10.490654
+ },
+ "sog": 10.0,
+ "cog": 0.0,
+ "heading": 0.0,
+ "navStatus": "Under way using engine"
+ }
+ },
+ "encounters": [
+ {
+ "desiredEncounterType": "head-on",
+ }
+ ]
+ }
+
+
+You can also request the generation of several traffic situations of the same encounter type by specifying `num_situations`:
+
+Example 3: Generate multiple situations using `numSituations`::
+
+ {
+ "title": "HO",
+ "description": "A head on situation with one target ship.",
+ "numSituations": 5
+ "ownShip": {
+ "initial": {
+ "position": {
+ "latitude": 58.763449,
+ "longitude": 10.490654
+ },
+ "sog": 10.0,
+ "cog": 0.0,
+ "heading": 0.0,
+ "navStatus": "Under way using engine"
+ }
+ },
+ "encounters": [
+ {
+ "desiredEncounterType": "head-on",
+ }
+ ]
+ }
+
+The next example show how it is possible to give a range for the relative bearing between own ship and target ship
+
+Example 4: Assign range for `beta`::
+
+ {
+ "title": "CR_GW",
+ "common_vector": 10.0,
+ "own_ship": {
+ "speed": 7.0,
+ "course": 0.0,
+ "position": {
+ "latitude": 58.763449,
+ "longitude": 10.490654
+ }
+ },
+ "encounter": [
+ {
+ "desired_encounter_type": "crossing-give-way",
+ "beta": [45.0,120.0]
+ }
+ ]
+ }
diff --git a/branch/main/_sources/installation.rst.txt b/branch/main/_sources/installation.rst.txt
new file mode 100644
index 0000000..13058cb
--- /dev/null
+++ b/branch/main/_sources/installation.rst.txt
@@ -0,0 +1,45 @@
+.. highlight:: shell
+
+============
+Installation
+============
+
+
+Stable release
+--------------
+
+To install Traffic Generator, run this command in your terminal:
+
+.. code-block:: console
+
+ $ pip install trafficgen
+
+This is the preferred method to install Traffic Generator, as it will always install the most recent stable release.
+
+If you don't have `pip`_ installed, this `Python installation guide`_ can guide
+you through the process.
+
+.. _pip: https://pip.pypa.io
+.. _Python installation guide: http://docs.python-guide.org/en/latest/starting/installation/
+
+
+From sources
+------------
+
+The sources for Traffic Generator can be downloaded from the https://github.com/dnv-opensource/ship-traffic-generator.
+
+You can either clone the public repository:
+
+.. code-block:: console
+
+ $ git clone https://github.com/dnv-opensource/ship-traffic-generator
+
+
+Once you have a copy of the source, you can install it with:
+
+.. code-block:: console
+
+ $ python setup.py install
+
+
+.. _Git repo: git clone https://github.com/dnv-opensource/ship-traffic-generator
diff --git a/branch/main/_sources/modules.rst.txt b/branch/main/_sources/modules.rst.txt
new file mode 100644
index 0000000..2bce8f8
--- /dev/null
+++ b/branch/main/_sources/modules.rst.txt
@@ -0,0 +1,7 @@
+trafficgen
+==========
+
+.. toctree::
+ :maxdepth: 4
+
+ trafficgen
diff --git a/branch/main/_sources/trafficgen.check_land_crossing.rst.txt b/branch/main/_sources/trafficgen.check_land_crossing.rst.txt
new file mode 100644
index 0000000..19ca198
--- /dev/null
+++ b/branch/main/_sources/trafficgen.check_land_crossing.rst.txt
@@ -0,0 +1,7 @@
+trafficgen.check\_land\_crossing module
+=======================================
+
+.. automodule:: trafficgen.check_land_crossing
+ :members:
+ :undoc-members:
+ :show-inheritance:
diff --git a/branch/main/_sources/trafficgen.cli.rst.txt b/branch/main/_sources/trafficgen.cli.rst.txt
new file mode 100644
index 0000000..27bb6be
--- /dev/null
+++ b/branch/main/_sources/trafficgen.cli.rst.txt
@@ -0,0 +1,7 @@
+trafficgen.cli module
+=====================
+
+.. automodule:: trafficgen.cli
+ :members:
+ :undoc-members:
+ :show-inheritance:
diff --git a/branch/main/_sources/trafficgen.encounter.rst.txt b/branch/main/_sources/trafficgen.encounter.rst.txt
new file mode 100644
index 0000000..adfccef
--- /dev/null
+++ b/branch/main/_sources/trafficgen.encounter.rst.txt
@@ -0,0 +1,7 @@
+trafficgen.encounter module
+===========================
+
+.. automodule:: trafficgen.encounter
+ :members:
+ :undoc-members:
+ :show-inheritance:
diff --git a/branch/main/_sources/trafficgen.marine_system_simulator.rst.txt b/branch/main/_sources/trafficgen.marine_system_simulator.rst.txt
new file mode 100644
index 0000000..3b9290d
--- /dev/null
+++ b/branch/main/_sources/trafficgen.marine_system_simulator.rst.txt
@@ -0,0 +1,7 @@
+trafficgen.marine\_system\_simulator module
+===========================================
+
+.. automodule:: trafficgen.marine_system_simulator
+ :members:
+ :undoc-members:
+ :show-inheritance:
diff --git a/branch/main/_sources/trafficgen.plot_traffic_situation.rst.txt b/branch/main/_sources/trafficgen.plot_traffic_situation.rst.txt
new file mode 100644
index 0000000..39206b2
--- /dev/null
+++ b/branch/main/_sources/trafficgen.plot_traffic_situation.rst.txt
@@ -0,0 +1,7 @@
+trafficgen.plot\_traffic\_situation module
+==========================================
+
+.. automodule:: trafficgen.plot_traffic_situation
+ :members:
+ :undoc-members:
+ :show-inheritance:
diff --git a/branch/main/_sources/trafficgen.read_files.rst.txt b/branch/main/_sources/trafficgen.read_files.rst.txt
new file mode 100644
index 0000000..4409f70
--- /dev/null
+++ b/branch/main/_sources/trafficgen.read_files.rst.txt
@@ -0,0 +1,7 @@
+trafficgen.read\_files module
+=============================
+
+.. automodule:: trafficgen.read_files
+ :members:
+ :undoc-members:
+ :show-inheritance:
diff --git a/branch/main/_sources/trafficgen.rst.txt b/branch/main/_sources/trafficgen.rst.txt
new file mode 100644
index 0000000..1530ec7
--- /dev/null
+++ b/branch/main/_sources/trafficgen.rst.txt
@@ -0,0 +1,24 @@
+trafficgen package
+==================
+
+.. automodule:: trafficgen
+ :members:
+ :undoc-members:
+ :show-inheritance:
+
+Submodules
+----------
+
+.. toctree::
+ :maxdepth: 4
+
+ trafficgen.check_land_crossing
+ trafficgen.cli
+ trafficgen.encounter
+ trafficgen.marine_system_simulator
+ trafficgen.plot_traffic_situation
+ trafficgen.read_files
+ trafficgen.ship_traffic_generator
+ trafficgen.types
+ trafficgen.utils
+ trafficgen.write_traffic_situation_to_file
diff --git a/branch/main/_sources/trafficgen.ship_traffic_generator.rst.txt b/branch/main/_sources/trafficgen.ship_traffic_generator.rst.txt
new file mode 100644
index 0000000..acca72c
--- /dev/null
+++ b/branch/main/_sources/trafficgen.ship_traffic_generator.rst.txt
@@ -0,0 +1,7 @@
+trafficgen.ship\_traffic\_generator module
+==========================================
+
+.. automodule:: trafficgen.ship_traffic_generator
+ :members:
+ :undoc-members:
+ :show-inheritance:
diff --git a/branch/main/_sources/trafficgen.types.rst.txt b/branch/main/_sources/trafficgen.types.rst.txt
new file mode 100644
index 0000000..e736371
--- /dev/null
+++ b/branch/main/_sources/trafficgen.types.rst.txt
@@ -0,0 +1,7 @@
+trafficgen.types module
+=======================
+
+.. automodule:: trafficgen.types
+ :members:
+ :undoc-members:
+ :show-inheritance:
diff --git a/branch/main/_sources/trafficgen.utils.rst.txt b/branch/main/_sources/trafficgen.utils.rst.txt
new file mode 100644
index 0000000..6335e60
--- /dev/null
+++ b/branch/main/_sources/trafficgen.utils.rst.txt
@@ -0,0 +1,7 @@
+trafficgen.utils module
+=======================
+
+.. automodule:: trafficgen.utils
+ :members:
+ :undoc-members:
+ :show-inheritance:
diff --git a/branch/main/_sources/trafficgen.write_traffic_situation_to_file.rst.txt b/branch/main/_sources/trafficgen.write_traffic_situation_to_file.rst.txt
new file mode 100644
index 0000000..e70ec29
--- /dev/null
+++ b/branch/main/_sources/trafficgen.write_traffic_situation_to_file.rst.txt
@@ -0,0 +1,7 @@
+trafficgen.write\_traffic\_situation\_to\_file module
+=====================================================
+
+.. automodule:: trafficgen.write_traffic_situation_to_file
+ :members:
+ :undoc-members:
+ :show-inheritance:
diff --git a/branch/main/_sources/usage.rst.txt b/branch/main/_sources/usage.rst.txt
new file mode 100644
index 0000000..b9cb17a
--- /dev/null
+++ b/branch/main/_sources/usage.rst.txt
@@ -0,0 +1,58 @@
+=====
+Usage
+=====
+
+To use Traffic Generator in a project::
+
+ import trafficgen
+
+To use Traffic Generator as a command line tool for generating traffic situations, write::
+
+ trafficgen gen-situation
+
+The command line tool takes different input options::
+
+ -s, --situations PATH Folders with situations (default=./baseline_situations_input/)
+ -t, --targets PATH Folder with target configurations (default=./target_ships/)
+ -c, --settings PATH Path to settings file (default=./settings/encounter_settings.json)
+ --visualize Plot visualization
+ --col INTEGER Number of columns for plot, may be used with visualize (default=10)
+ --row INTEGER Number of rows for plot, may be used with visualize (default=6)
+ --visualize-situation INTEGER Plot individual traffic situation, specify INTEGER value
+ -o, --output PATH Output folder (default=None)
+ --help Show this message and exit.
+
+Example::
+
+ trafficgen gen-situation -s ./data/example_situations_input -o ./data/test_output_1
+
+Situations
+~~~~~~~~~~
+When generating situations without specifying where the desired situations (``--situation``) are found, the
+default path, which is ``default=./baseline_situations_input/``, will be used.
+
+Baseline situations
+~~~~~~~~~~~~~~~~~~~
+The baseline situations are a set of generic traffic situations covering head-on, overtaking stand-on/give-way
+and crossing stand-on/give-way encounters. To cover the combination of encounters for 1, 2 and 3 target ships,
+there are in total 55 baseline situations. The input files for generating these situations are found in
+``./baseline_situations_input/``
+
+Plotting
+~~~~~~~~
+Plotting all generated traffic situations
+-----------------------------------------
+All the generated situations are displayed if using ``--visualize``. This will pop up one or more plot windows,
+which show all the traffic situations. The number of colums and rows for the plots (per figure) can be specified by
+using ``--col`` and ``--row``, respectively.
+
+Individual plots with map background
+------------------------------------
+A specific encounter is visualized by using ``--visualize-situation INTEGER``, e.g.::
+
+ trafficgen gen-situation -s ./data/example_situations_input -o ./data/test_output_1 --visualize-situation 2
+
+This will open a browser window/tab with an OpenStreetMap background and the traffic situation
+radar plot as an overlay.
+Note that the integer needs to be within the range of the number of generated situations,
+for example 1 - 12 if you generated 12 situations.
diff --git a/branch/main/_static/_sphinx_javascript_frameworks_compat.js b/branch/main/_static/_sphinx_javascript_frameworks_compat.js
new file mode 100644
index 0000000..8141580
--- /dev/null
+++ b/branch/main/_static/_sphinx_javascript_frameworks_compat.js
@@ -0,0 +1,123 @@
+/* Compatability shim for jQuery and underscores.js.
+ *
+ * Copyright Sphinx contributors
+ * Released under the two clause BSD licence
+ */
+
+/**
+ * small helper function to urldecode strings
+ *
+ * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL
+ */
+jQuery.urldecode = function(x) {
+ if (!x) {
+ return x
+ }
+ return decodeURIComponent(x.replace(/\+/g, ' '));
+};
+
+/**
+ * small helper function to urlencode strings
+ */
+jQuery.urlencode = encodeURIComponent;
+
+/**
+ * This function returns the parsed url parameters of the
+ * current request. Multiple values per key are supported,
+ * it will always return arrays of strings for the value parts.
+ */
+jQuery.getQueryParameters = function(s) {
+ if (typeof s === 'undefined')
+ s = document.location.search;
+ var parts = s.substr(s.indexOf('?') + 1).split('&');
+ var result = {};
+ for (var i = 0; i < parts.length; i++) {
+ var tmp = parts[i].split('=', 2);
+ var key = jQuery.urldecode(tmp[0]);
+ var value = jQuery.urldecode(tmp[1]);
+ if (key in result)
+ result[key].push(value);
+ else
+ result[key] = [value];
+ }
+ return result;
+};
+
+/**
+ * highlight a given string on a jquery object by wrapping it in
+ * span elements with the given class name.
+ */
+jQuery.fn.highlightText = function(text, className) {
+ function highlight(node, addItems) {
+ if (node.nodeType === 3) {
+ var val = node.nodeValue;
+ var pos = val.toLowerCase().indexOf(text);
+ if (pos >= 0 &&
+ !jQuery(node.parentNode).hasClass(className) &&
+ !jQuery(node.parentNode).hasClass("nohighlight")) {
+ var span;
+ var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg");
+ if (isInSVG) {
+ span = document.createElementNS("http://www.w3.org/2000/svg", "tspan");
+ } else {
+ span = document.createElement("span");
+ span.className = className;
+ }
+ span.appendChild(document.createTextNode(val.substr(pos, text.length)));
+ node.parentNode.insertBefore(span, node.parentNode.insertBefore(
+ document.createTextNode(val.substr(pos + text.length)),
+ node.nextSibling));
+ node.nodeValue = val.substr(0, pos);
+ if (isInSVG) {
+ var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect");
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+ rect.x.baseVal.value = bbox.x;
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+ rect.setAttribute('class', className);
+ addItems.push({
+ "parent": node.parentNode,
+ "target": rect});
+ }
+ }
+ }
+ else if (!jQuery(node).is("button, select, textarea")) {
+ jQuery.each(node.childNodes, function() {
+ highlight(this, addItems);
+ });
+ }
+ }
+ var addItems = [];
+ var result = this.each(function() {
+ highlight(this, addItems);
+ });
+ for (var i = 0; i < addItems.length; ++i) {
+ jQuery(addItems[i].parent).before(addItems[i].target);
+ }
+ return result;
+};
+
+/*
+ * backward compatibility for jQuery.browser
+ * This will be supported until firefox bug is fixed.
+ */
+if (!jQuery.browser) {
+ jQuery.uaMatch = function(ua) {
+ ua = ua.toLowerCase();
+
+ var match = /(chrome)[ \/]([\w.]+)/.exec(ua) ||
+ /(webkit)[ \/]([\w.]+)/.exec(ua) ||
+ /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) ||
+ /(msie) ([\w.]+)/.exec(ua) ||
+ ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) ||
+ [];
+
+ return {
+ browser: match[ 1 ] || "",
+ version: match[ 2 ] || "0"
+ };
+ };
+ jQuery.browser = {};
+ jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true;
+}
diff --git a/branch/main/_static/basic.css b/branch/main/_static/basic.css
new file mode 100644
index 0000000..f316efc
--- /dev/null
+++ b/branch/main/_static/basic.css
@@ -0,0 +1,925 @@
+/*
+ * basic.css
+ * ~~~~~~~~~
+ *
+ * Sphinx stylesheet -- basic theme.
+ *
+ * :copyright: Copyright 2007-2024 by the Sphinx team, see AUTHORS.
+ * :license: BSD, see LICENSE for details.
+ *
+ */
+
+/* -- main layout ----------------------------------------------------------- */
+
+div.clearer {
+ clear: both;
+}
+
+div.section::after {
+ display: block;
+ content: '';
+ clear: left;
+}
+
+/* -- relbar ---------------------------------------------------------------- */
+
+div.related {
+ width: 100%;
+ font-size: 90%;
+}
+
+div.related h3 {
+ display: none;
+}
+
+div.related ul {
+ margin: 0;
+ padding: 0 0 0 10px;
+ list-style: none;
+}
+
+div.related li {
+ display: inline;
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+ float: right;
+ margin-right: 5px;
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+
+/* -- sidebar --------------------------------------------------------------- */
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+ margin-left: -100%;
+ font-size: 90%;
+ word-wrap: break-word;
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+ font-family: sans-serif;
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+ padding: 2px;
+ border-collapse: collapse;
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+
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+
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+ min-width: 360px;
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+}
+
+/* -- sidebars -------------------------------------------------------------- */
+
+div.sidebar,
+aside.sidebar {
+ margin: 0 0 0.5em 1em;
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+ padding: 7px;
+ background-color: #ffe;
+ width: 40%;
+ float: right;
+ clear: right;
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+
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+ font-weight: bold;
+}
+
+nav.contents,
+aside.topic,
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+}
+
+/* -- topics ---------------------------------------------------------------- */
+
+nav.contents,
+aside.topic,
+div.topic {
+ border: 1px solid #ccc;
+ padding: 7px;
+ margin: 10px 0 10px 0;
+}
+
+p.topic-title {
+ font-size: 1.1em;
+ font-weight: bold;
+ margin-top: 10px;
+}
+
+/* -- admonitions ----------------------------------------------------------- */
+
+div.admonition {
+ margin-top: 10px;
+ margin-bottom: 10px;
+ padding: 7px;
+}
+
+div.admonition dt {
+ font-weight: bold;
+}
+
+p.admonition-title {
+ margin: 0px 10px 5px 0px;
+ font-weight: bold;
+}
+
+div.body p.centered {
+ text-align: center;
+ margin-top: 25px;
+}
+
+/* -- content of sidebars/topics/admonitions -------------------------------- */
+
+div.sidebar > :last-child,
+aside.sidebar > :last-child,
+nav.contents > :last-child,
+aside.topic > :last-child,
+div.topic > :last-child,
+div.admonition > :last-child {
+ margin-bottom: 0;
+}
+
+div.sidebar::after,
+aside.sidebar::after,
+nav.contents::after,
+aside.topic::after,
+div.topic::after,
+div.admonition::after,
+blockquote::after {
+ display: block;
+ content: '';
+ clear: both;
+}
+
+/* -- tables ---------------------------------------------------------------- */
+
+table.docutils {
+ margin-top: 10px;
+ margin-bottom: 10px;
+ border: 0;
+ border-collapse: collapse;
+}
+
+table.align-center {
+ margin-left: auto;
+ margin-right: auto;
+}
+
+table.align-default {
+ margin-left: auto;
+ margin-right: auto;
+}
+
+table caption span.caption-number {
+ font-style: italic;
+}
+
+table caption span.caption-text {
+}
+
+table.docutils td, table.docutils th {
+ padding: 1px 8px 1px 5px;
+ border-top: 0;
+ border-left: 0;
+ border-right: 0;
+ border-bottom: 1px solid #aaa;
+}
+
+th {
+ text-align: left;
+ padding-right: 5px;
+}
+
+table.citation {
+ border-left: solid 1px gray;
+ margin-left: 1px;
+}
+
+table.citation td {
+ border-bottom: none;
+}
+
+th > :first-child,
+td > :first-child {
+ margin-top: 0px;
+}
+
+th > :last-child,
+td > :last-child {
+ margin-bottom: 0px;
+}
+
+/* -- figures --------------------------------------------------------------- */
+
+div.figure, figure {
+ margin: 0.5em;
+ padding: 0.5em;
+}
+
+div.figure p.caption, figcaption {
+ padding: 0.3em;
+}
+
+div.figure p.caption span.caption-number,
+figcaption span.caption-number {
+ font-style: italic;
+}
+
+div.figure p.caption span.caption-text,
+figcaption span.caption-text {
+}
+
+/* -- field list styles ----------------------------------------------------- */
+
+table.field-list td, table.field-list th {
+ border: 0 !important;
+}
+
+.field-list ul {
+ margin: 0;
+ padding-left: 1em;
+}
+
+.field-list p {
+ margin: 0;
+}
+
+.field-name {
+ -moz-hyphens: manual;
+ -ms-hyphens: manual;
+ -webkit-hyphens: manual;
+ hyphens: manual;
+}
+
+/* -- hlist styles ---------------------------------------------------------- */
+
+table.hlist {
+ margin: 1em 0;
+}
+
+table.hlist td {
+ vertical-align: top;
+}
+
+/* -- object description styles --------------------------------------------- */
+
+.sig {
+ font-family: 'Consolas', 'Menlo', 'DejaVu Sans Mono', 'Bitstream Vera Sans Mono', monospace;
+}
+
+.sig-name, code.descname {
+ background-color: transparent;
+ font-weight: bold;
+}
+
+.sig-name {
+ font-size: 1.1em;
+}
+
+code.descname {
+ font-size: 1.2em;
+}
+
+.sig-prename, code.descclassname {
+ background-color: transparent;
+}
+
+.optional {
+ font-size: 1.3em;
+}
+
+.sig-paren {
+ font-size: larger;
+}
+
+.sig-param.n {
+ font-style: italic;
+}
+
+/* C++ specific styling */
+
+.sig-inline.c-texpr,
+.sig-inline.cpp-texpr {
+ font-family: unset;
+}
+
+.sig.c .k, .sig.c .kt,
+.sig.cpp .k, .sig.cpp .kt {
+ color: #0033B3;
+}
+
+.sig.c .m,
+.sig.cpp .m {
+ color: #1750EB;
+}
+
+.sig.c .s, .sig.c .sc,
+.sig.cpp .s, .sig.cpp .sc {
+ color: #067D17;
+}
+
+
+/* -- other body styles ----------------------------------------------------- */
+
+ol.arabic {
+ list-style: decimal;
+}
+
+ol.loweralpha {
+ list-style: lower-alpha;
+}
+
+ol.upperalpha {
+ list-style: upper-alpha;
+}
+
+ol.lowerroman {
+ list-style: lower-roman;
+}
+
+ol.upperroman {
+ list-style: upper-roman;
+}
+
+:not(li) > ol > li:first-child > :first-child,
+:not(li) > ul > li:first-child > :first-child {
+ margin-top: 0px;
+}
+
+:not(li) > ol > li:last-child > :last-child,
+:not(li) > ul > li:last-child > :last-child {
+ margin-bottom: 0px;
+}
+
+ol.simple ol p,
+ol.simple ul p,
+ul.simple ol p,
+ul.simple ul p {
+ margin-top: 0;
+}
+
+ol.simple > li:not(:first-child) > p,
+ul.simple > li:not(:first-child) > p {
+ margin-top: 0;
+}
+
+ol.simple p,
+ul.simple p {
+ margin-bottom: 0;
+}
+
+aside.footnote > span,
+div.citation > span {
+ float: left;
+}
+aside.footnote > span:last-of-type,
+div.citation > span:last-of-type {
+ padding-right: 0.5em;
+}
+aside.footnote > p {
+ margin-left: 2em;
+}
+div.citation > p {
+ margin-left: 4em;
+}
+aside.footnote > p:last-of-type,
+div.citation > p:last-of-type {
+ margin-bottom: 0em;
+}
+aside.footnote > p:last-of-type:after,
+div.citation > p:last-of-type:after {
+ content: "";
+ clear: both;
+}
+
+dl.field-list {
+ display: grid;
+ grid-template-columns: fit-content(30%) auto;
+}
+
+dl.field-list > dt {
+ font-weight: bold;
+ word-break: break-word;
+ padding-left: 0.5em;
+ padding-right: 5px;
+}
+
+dl.field-list > dd {
+ padding-left: 0.5em;
+ margin-top: 0em;
+ margin-left: 0em;
+ margin-bottom: 0em;
+}
+
+dl {
+ margin-bottom: 15px;
+}
+
+dd > :first-child {
+ margin-top: 0px;
+}
+
+dd ul, dd table {
+ margin-bottom: 10px;
+}
+
+dd {
+ margin-top: 3px;
+ margin-bottom: 10px;
+ margin-left: 30px;
+}
+
+.sig dd {
+ margin-top: 0px;
+ margin-bottom: 0px;
+}
+
+.sig dl {
+ margin-top: 0px;
+ margin-bottom: 0px;
+}
+
+dl > dd:last-child,
+dl > dd:last-child > :last-child {
+ margin-bottom: 0;
+}
+
+dt:target, span.highlighted {
+ background-color: #fbe54e;
+}
+
+rect.highlighted {
+ fill: #fbe54e;
+}
+
+dl.glossary dt {
+ font-weight: bold;
+ font-size: 1.1em;
+}
+
+.versionmodified {
+ font-style: italic;
+}
+
+.system-message {
+ background-color: #fda;
+ padding: 5px;
+ border: 3px solid red;
+}
+
+.footnote:target {
+ background-color: #ffa;
+}
+
+.line-block {
+ display: block;
+ margin-top: 1em;
+ margin-bottom: 1em;
+}
+
+.line-block .line-block {
+ margin-top: 0;
+ margin-bottom: 0;
+ margin-left: 1.5em;
+}
+
+.guilabel, .menuselection {
+ font-family: sans-serif;
+}
+
+.accelerator {
+ text-decoration: underline;
+}
+
+.classifier {
+ font-style: oblique;
+}
+
+.classifier:before {
+ font-style: normal;
+ margin: 0 0.5em;
+ content: ":";
+ display: inline-block;
+}
+
+abbr, acronym {
+ border-bottom: dotted 1px;
+ cursor: help;
+}
+
+.translated {
+ background-color: rgba(207, 255, 207, 0.2)
+}
+
+.untranslated {
+ background-color: rgba(255, 207, 207, 0.2)
+}
+
+/* -- code displays --------------------------------------------------------- */
+
+pre {
+ overflow: auto;
+ overflow-y: hidden; /* fixes display issues on Chrome browsers */
+}
+
+pre, div[class*="highlight-"] {
+ clear: both;
+}
+
+span.pre {
+ -moz-hyphens: none;
+ -ms-hyphens: none;
+ -webkit-hyphens: none;
+ hyphens: none;
+ white-space: nowrap;
+}
+
+div[class*="highlight-"] {
+ margin: 1em 0;
+}
+
+td.linenos pre {
+ border: 0;
+ background-color: transparent;
+ color: #aaa;
+}
+
+table.highlighttable {
+ display: block;
+}
+
+table.highlighttable tbody {
+ display: block;
+}
+
+table.highlighttable tr {
+ display: flex;
+}
+
+table.highlighttable td {
+ margin: 0;
+ padding: 0;
+}
+
+table.highlighttable td.linenos {
+ padding-right: 0.5em;
+}
+
+table.highlighttable td.code {
+ flex: 1;
+ overflow: hidden;
+}
+
+.highlight .hll {
+ display: block;
+}
+
+div.highlight pre,
+table.highlighttable pre {
+ margin: 0;
+}
+
+div.code-block-caption + div {
+ margin-top: 0;
+}
+
+div.code-block-caption {
+ margin-top: 1em;
+ padding: 2px 5px;
+ font-size: small;
+}
+
+div.code-block-caption code {
+ background-color: transparent;
+}
+
+table.highlighttable td.linenos,
+span.linenos,
+div.highlight span.gp { /* gp: Generic.Prompt */
+ user-select: none;
+ -webkit-user-select: text; /* Safari fallback only */
+ -webkit-user-select: none; /* Chrome/Safari */
+ -moz-user-select: none; /* Firefox */
+ -ms-user-select: none; /* IE10+ */
+}
+
+div.code-block-caption span.caption-number {
+ padding: 0.1em 0.3em;
+ font-style: italic;
+}
+
+div.code-block-caption span.caption-text {
+}
+
+div.literal-block-wrapper {
+ margin: 1em 0;
+}
+
+code.xref, a code {
+ background-color: transparent;
+ font-weight: bold;
+}
+
+h1 code, h2 code, h3 code, h4 code, h5 code, h6 code {
+ background-color: transparent;
+}
+
+.viewcode-link {
+ float: right;
+}
+
+.viewcode-back {
+ float: right;
+ font-family: sans-serif;
+}
+
+div.viewcode-block:target {
+ margin: -1px -10px;
+ padding: 0 10px;
+}
+
+/* -- math display ---------------------------------------------------------- */
+
+img.math {
+ vertical-align: middle;
+}
+
+div.body div.math p {
+ text-align: center;
+}
+
+span.eqno {
+ float: right;
+}
+
+span.eqno a.headerlink {
+ position: absolute;
+ z-index: 1;
+}
+
+div.math:hover a.headerlink {
+ visibility: visible;
+}
+
+/* -- printout stylesheet --------------------------------------------------- */
+
+@media print {
+ div.document,
+ div.documentwrapper,
+ div.bodywrapper {
+ margin: 0 !important;
+ width: 100%;
+ }
+
+ div.sphinxsidebar,
+ div.related,
+ div.footer,
+ #top-link {
+ display: none;
+ }
+}
\ No newline at end of file
diff --git a/branch/main/_static/css/badge_only.css b/branch/main/_static/css/badge_only.css
new file mode 100644
index 0000000..c718cee
--- /dev/null
+++ b/branch/main/_static/css/badge_only.css
@@ -0,0 +1 @@
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\ No newline at end of file
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index 0000000..855c845
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+++ b/branch/main/_static/css/fonts/fontawesome-webfont.svg
@@ -0,0 +1,2671 @@
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diff --git a/branch/main/_static/css/theme.css b/branch/main/_static/css/theme.css
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diff --git a/branch/main/_static/doctools.js b/branch/main/_static/doctools.js
new file mode 100644
index 0000000..4d67807
--- /dev/null
+++ b/branch/main/_static/doctools.js
@@ -0,0 +1,156 @@
+/*
+ * doctools.js
+ * ~~~~~~~~~~~
+ *
+ * Base JavaScript utilities for all Sphinx HTML documentation.
+ *
+ * :copyright: Copyright 2007-2024 by the Sphinx team, see AUTHORS.
+ * :license: BSD, see LICENSE for details.
+ *
+ */
+"use strict";
+
+const BLACKLISTED_KEY_CONTROL_ELEMENTS = new Set([
+ "TEXTAREA",
+ "INPUT",
+ "SELECT",
+ "BUTTON",
+]);
+
+const _ready = (callback) => {
+ if (document.readyState !== "loading") {
+ callback();
+ } else {
+ document.addEventListener("DOMContentLoaded", callback);
+ }
+};
+
+/**
+ * Small JavaScript module for the documentation.
+ */
+const Documentation = {
+ init: () => {
+ Documentation.initDomainIndexTable();
+ Documentation.initOnKeyListeners();
+ },
+
+ /**
+ * i18n support
+ */
+ TRANSLATIONS: {},
+ PLURAL_EXPR: (n) => (n === 1 ? 0 : 1),
+ LOCALE: "unknown",
+
+ // gettext and ngettext don't access this so that the functions
+ // can safely bound to a different name (_ = Documentation.gettext)
+ gettext: (string) => {
+ const translated = Documentation.TRANSLATIONS[string];
+ switch (typeof translated) {
+ case "undefined":
+ return string; // no translation
+ case "string":
+ return translated; // translation exists
+ default:
+ return translated[0]; // (singular, plural) translation tuple exists
+ }
+ },
+
+ ngettext: (singular, plural, n) => {
+ const translated = Documentation.TRANSLATIONS[singular];
+ if (typeof translated !== "undefined")
+ return translated[Documentation.PLURAL_EXPR(n)];
+ return n === 1 ? singular : plural;
+ },
+
+ addTranslations: (catalog) => {
+ Object.assign(Documentation.TRANSLATIONS, catalog.messages);
+ Documentation.PLURAL_EXPR = new Function(
+ "n",
+ `return (${catalog.plural_expr})`
+ );
+ Documentation.LOCALE = catalog.locale;
+ },
+
+ /**
+ * helper function to focus on search bar
+ */
+ focusSearchBar: () => {
+ document.querySelectorAll("input[name=q]")[0]?.focus();
+ },
+
+ /**
+ * Initialise the domain index toggle buttons
+ */
+ initDomainIndexTable: () => {
+ const toggler = (el) => {
+ const idNumber = el.id.substr(7);
+ const toggledRows = document.querySelectorAll(`tr.cg-${idNumber}`);
+ if (el.src.substr(-9) === "minus.png") {
+ el.src = `${el.src.substr(0, el.src.length - 9)}plus.png`;
+ toggledRows.forEach((el) => (el.style.display = "none"));
+ } else {
+ el.src = `${el.src.substr(0, el.src.length - 8)}minus.png`;
+ toggledRows.forEach((el) => (el.style.display = ""));
+ }
+ };
+
+ const togglerElements = document.querySelectorAll("img.toggler");
+ togglerElements.forEach((el) =>
+ el.addEventListener("click", (event) => toggler(event.currentTarget))
+ );
+ togglerElements.forEach((el) => (el.style.display = ""));
+ if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) togglerElements.forEach(toggler);
+ },
+
+ initOnKeyListeners: () => {
+ // only install a listener if it is really needed
+ if (
+ !DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS &&
+ !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS
+ )
+ return;
+
+ document.addEventListener("keydown", (event) => {
+ // bail for input elements
+ if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return;
+ // bail with special keys
+ if (event.altKey || event.ctrlKey || event.metaKey) return;
+
+ if (!event.shiftKey) {
+ switch (event.key) {
+ case "ArrowLeft":
+ if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break;
+
+ const prevLink = document.querySelector('link[rel="prev"]');
+ if (prevLink && prevLink.href) {
+ window.location.href = prevLink.href;
+ event.preventDefault();
+ }
+ break;
+ case "ArrowRight":
+ if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break;
+
+ const nextLink = document.querySelector('link[rel="next"]');
+ if (nextLink && nextLink.href) {
+ window.location.href = nextLink.href;
+ event.preventDefault();
+ }
+ break;
+ }
+ }
+
+ // some keyboard layouts may need Shift to get /
+ switch (event.key) {
+ case "/":
+ if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) break;
+ Documentation.focusSearchBar();
+ event.preventDefault();
+ }
+ });
+ },
+};
+
+// quick alias for translations
+const _ = Documentation.gettext;
+
+_ready(Documentation.init);
diff --git a/branch/main/_static/documentation_options.js b/branch/main/_static/documentation_options.js
new file mode 100644
index 0000000..240446d
--- /dev/null
+++ b/branch/main/_static/documentation_options.js
@@ -0,0 +1,13 @@
+const DOCUMENTATION_OPTIONS = {
+ VERSION: '0.5.0',
+ LANGUAGE: 'en',
+ COLLAPSE_INDEX: false,
+ BUILDER: 'html',
+ FILE_SUFFIX: '.html',
+ LINK_SUFFIX: '.html',
+ HAS_SOURCE: true,
+ SOURCELINK_SUFFIX: '.txt',
+ NAVIGATION_WITH_KEYS: false,
+ SHOW_SEARCH_SUMMARY: true,
+ ENABLE_SEARCH_SHORTCUTS: true,
+};
\ No newline at end of file
diff --git a/branch/main/_static/file.png b/branch/main/_static/file.png
new file mode 100644
index 0000000..a858a41
Binary files /dev/null and b/branch/main/_static/file.png differ
diff --git a/branch/main/_static/jquery.js b/branch/main/_static/jquery.js
new file mode 100644
index 0000000..c4c6022
--- /dev/null
+++ b/branch/main/_static/jquery.js
@@ -0,0 +1,2 @@
+/*! jQuery v3.6.0 | (c) OpenJS Foundation and other contributors | jquery.org/license */
+!function(e,t){"use strict";"object"==typeof module&&"object"==typeof module.exports?module.exports=e.document?t(e,!0):function(e){if(!e.document)throw new Error("jQuery requires a window with a document");return t(e)}:t(e)}("undefined"!=typeof window?window:this,function(C,e){"use strict";var t=[],r=Object.getPrototypeOf,s=t.slice,g=t.flat?function(e){return t.flat.call(e)}:function(e){return t.concat.apply([],e)},u=t.push,i=t.indexOf,n={},o=n.toString,v=n.hasOwnProperty,a=v.toString,l=a.call(Object),y={},m=function(e){return"function"==typeof e&&"number"!=typeof e.nodeType&&"function"!=typeof e.item},x=function(e){return null!=e&&e===e.window},E=C.document,c={type:!0,src:!0,nonce:!0,noModule:!0};function b(e,t,n){var r,i,o=(n=n||E).createElement("script");if(o.text=e,t)for(r in c)(i=t[r]||t.getAttribute&&t.getAttribute(r))&&o.setAttribute(r,i);n.head.appendChild(o).parentNode.removeChild(o)}function w(e){return null==e?e+"":"object"==typeof e||"function"==typeof e?n[o.call(e)]||"object":typeof e}var f="3.6.0",S=function(e,t){return new S.fn.init(e,t)};function p(e){var t=!!e&&"length"in e&&e.length,n=w(e);return!m(e)&&!x(e)&&("array"===n||0===t||"number"==typeof t&&0
+
+
+
+
+
+
+
+
+
+
+
+
+ Source code for trafficgen.write_traffic_situation_to_file
+"""Functions to clean traffic situations data before writing it to a json file."""
+
+from pathlib import Path
+from typing import List, TypeVar
+
+from maritime_schema.types.caga import OwnShip, Ship, TargetShip, TrafficSituation
+
+from trafficgen.utils import m_pr_s_2_knot, rad_2_deg
+
+T_ship = TypeVar("T_ship", Ship, OwnShip, TargetShip)
+
+
+
+[docs]
+def write_traffic_situations_to_json_file(situations: List[TrafficSituation], write_folder: Path):
+ """
+ Write traffic situations to json file.
+
+ Params:
+ * traffic_situations: Traffic situations to be written to file
+ * write_folder: Folder where the json files is to be written
+ """
+
+ Path(write_folder).mkdir(parents=True, exist_ok=True)
+ for i, situation in enumerate(situations):
+ file_number: int = i + 1
+ output_file_path: Path = write_folder / f"traffic_situation_{file_number:02d}.json"
+ situation = convert_situation_data_from_si_units_to__maritime(situation)
+ data: str = situation.model_dump_json(
+ by_alias=True, indent=4, exclude_unset=True, exclude_defaults=False, exclude_none=True
+ )
+ with open(output_file_path, "w", encoding="utf-8") as outfile:
+ _ = outfile.write(data)
+
+
+
+
+[docs]
+def convert_situation_data_from_si_units_to__maritime(situation: TrafficSituation) -> TrafficSituation:
+ """
+ Convert situation data which is given in SI units to maritime units.
+
+ Params:
+ * situation: Traffic situation data
+
+ Returns
+ -------
+ * situation: Converted traffic situation data
+ """
+ assert situation.own_ship is not None
+ situation.own_ship = convert_ship_data_from_si_units_to_maritime(situation.own_ship)
+
+ assert situation.target_ships is not None
+ for target_ship in situation.target_ships:
+ target_ship = convert_ship_data_from_si_units_to_maritime(target_ship)
+
+ return situation
+
+
+
+
+[docs]
+def convert_ship_data_from_si_units_to_maritime(ship: T_ship) -> T_ship:
+ """
+ Convert ship data which is given in SI units to maritime units.
+
+ Params:
+ * ship: Ship data
+
+ Returns
+ -------
+ * ship: Converted ship data
+ """
+ assert ship.initial is not None
+ ship.initial.position.longitude = round(rad_2_deg(ship.initial.position.longitude), 8)
+ ship.initial.position.latitude = round(rad_2_deg(ship.initial.position.latitude), 8)
+ ship.initial.cog = round(rad_2_deg(ship.initial.cog), 2)
+ ship.initial.sog = round(m_pr_s_2_knot(ship.initial.sog), 1)
+ ship.initial.heading = round(rad_2_deg(ship.initial.heading), 2)
+
+ if ship.waypoints is not None:
+ for waypoint in ship.waypoints:
+ waypoint.position.latitude = round(rad_2_deg(waypoint.position.latitude), 8)
+ waypoint.position.longitude = round(rad_2_deg(waypoint.position.longitude), 8)
+ if not waypoint.data:
+ continue
+ assert waypoint.data.model_extra
+ if waypoint.data.model_extra.get("sog") is not None:
+ waypoint.data.model_extra["sog"]["value"] = round(m_pr_s_2_knot(waypoint.data.model_extra["sog"]["value"]), 1) # type: ignore
+ if waypoint.data.model_extra.get("heading") is not None:
+ waypoint.data.model_extra["heading"]["value"] = round(m_pr_s_2_knot(waypoint.data.model_extra["heading"]["value"]), 2) # type: ignore
+
+ return ship
+
+' + + '' + + _("Hide Search Matches") + + "
" + ) + ); + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords: () => { + document + .querySelectorAll("#searchbox .highlight-link") + .forEach((el) => el.remove()); + document + .querySelectorAll("span.highlighted") + .forEach((el) => el.classList.remove("highlighted")); + localStorage.removeItem("sphinx_highlight_terms") + }, + + initEscapeListener: () => { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) return; + + document.addEventListener("keydown", (event) => { + // bail for input elements + if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return; + // bail with special keys + if (event.shiftKey || event.altKey || event.ctrlKey || event.metaKey) return; + if (DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS && (event.key === "Escape")) { + SphinxHighlight.hideSearchWords(); + event.preventDefault(); + } + }); + }, +}; + +_ready(() => { + /* Do not call highlightSearchWords() when we are on the search page. + * It will highlight words from the *previous* search query. + */ + if (typeof Search === "undefined") SphinxHighlight.highlightSearchWords(); + SphinxHighlight.initEscapeListener(); +}); diff --git a/branch/main/api.html b/branch/main/api.html new file mode 100644 index 0000000..7bd54bd --- /dev/null +++ b/branch/main/api.html @@ -0,0 +1,220 @@ + + + + + + +
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/branch/main/authors.html b/branch/main/authors.html
new file mode 100644
index 0000000..deb555b
--- /dev/null
+++ b/branch/main/authors.html
@@ -0,0 +1,138 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ API Documentation
+
+
+-
+
- trafficgen package
-
+
- Submodules
-
+
- trafficgen.check_land_crossing module + +
- trafficgen.cli module +
- trafficgen.encounter module
-
+
assign_beta()
+assign_beta_from_list()
+assign_future_position_to_target_ship()
+assign_sog_to_target_ship()
+assign_vector_time()
+calculate_min_vector_length_target_ship()
+calculate_relative_bearing()
+calculate_ship_cog()
+check_encounter_evolvement()
+decide_target_ship()
+define_own_ship()
+determine_colreg()
+find_start_position_target_ship()
+generate_encounter()
+
+ - trafficgen.marine_system_simulator module
-
+
flat2llh()
+llh2flat()
+ssa()
+
+ - trafficgen.plot_traffic_situation module + +
- trafficgen.read_files module
-
+
camel_to_snake()
+check_input_units()
+convert_keys_to_snake_case()
+convert_settings_data_from_maritime_to_si_units()
+convert_situation_data_from_maritime_to_si_units()
+read_encounter_settings_file()
+read_generated_situation_files()
+read_own_ship_static_file()
+read_situation_files()
+read_target_ship_static_files()
+
+ - trafficgen.ship_traffic_generator module + +
- trafficgen.types module + +
- trafficgen.utils module
-
+
calculate_bearing_between_waypoints()
+calculate_destination_along_track()
+calculate_distance()
+calculate_position_along_track_using_waypoints()
+calculate_position_at_certain_time()
+convert_angle_0_to_2_pi_to_minus_pi_to_pi()
+convert_angle_minus_pi_to_pi_to_0_to_2_pi()
+deg_2_rad()
+knot_2_m_pr_s()
+m_2_nm()
+m_pr_s_2_knot()
+min_2_s()
+nm_2_m()
+rad_2_deg()
+
+ - trafficgen.write_traffic_situation_to_file module + +
+
+ - Submodules
+
+
+
+
+
+
+
+
+
+
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+ Contributing
+Contributions are welcome, and they are greatly appreciated! Every little bit +helps, and credit will always be given.
+You can contribute in many ways:
+Types of Contributions
+Report Bugs
+Report bugs at https://github.com/dnv-opensource/ship-traffic-generator/issues.
+If you are reporting a bug, please include:
+-
+
Your operating system name and version.
+The version of Python (and Conda) that you are using.
+Any additional details about your local setup that might be helpful in troubleshooting.
+Detailed steps to reproduce the bug.
+
Fix Bugs
+Look through the GitHub issues for bugs. Anything tagged with “bug” and “help +wanted” is open to whoever wants to implement it.
+Implement Features
+Look through the GitHub issues for features. Anything tagged with “enhancement” +and “help wanted” is open to whoever wants to implement it.
+Write Documentation
+Traffic Generator could always use more documentation, whether as part of the +official Traffic Generator docs, in docstrings, or even on the web in blog posts, +articles, and such.
+Submit Feedback
+The best way to send feedback is to file an issue at https://github.com/dnv-opensource/ship-traffic-generator/issues.
+If you are proposing a feature:
+-
+
Explain in detail how it would work.
+Keep the scope as narrow as possible, to make it easier to implement.
+Remember that this is a volunteer-driven project, and that contributions +are welcome :)
+
Get Started!
+Ready to contribute? Here’s how to set up trafficgen for local development.
+-
+
Clone the trafficgen repo on GitHub.
+Install your local copy into a pyenv or conda environment.
+Create a branch for local development:
+++$ git checkout -b name-of-your-bugfix-or-feature +
Now you can make your changes locally.
+
+When you’re done making changes, check that your changes pass flake8 and the +tests, including testing other Python versions with tox:
+++$ flake8 --config tox.ini ./src/trafficgen ./tests +$ pytest ./tests +$ tox +
If you installed the package with poetry
++
+$ poetry install –with dev,docs
+flake8, pytest and tox should already be installed in your Python environment. +Note that the tox config assumes Python 3.10 and Python 3.11, you would have +to have them both available to tox for all tests to run. +If you only have one of these available tox will skip the non supported +environment (and in most cases that is OK). +If you are managing your Python enhancements with pyenv you will have to +install the necessary versions and then run pyenv rehash to make them +available to tox (or set multiple local envs with pyenv local py310 py311). +If you are using conda you will have to create a new environment with +the necessary Python version, install virtualenv in the environments +and then run conda activate <env-name> to make it available to tox (to run all +the environments in one go do conda activate inside activated environments).
+You can also run the python tests from VSCode via the “Testing” view, +“Configure Python Tests”, with pytest` and select the folder tests.
+
+Commit your changes and push your branch to the source repo:
+++$ git add . +$ git commit -m "Your detailed description of your changes." +$ git push origin name-of-your-bugfix-or-feature +
+Submit a pull request through https://github.com/dnv-opensource/ship-traffic-generator/pulls.
+
Pull Request Guidelines
+Before you submit a pull request, check that it meets these guidelines:
+-
+
The pull request should include tests.
+If the pull request adds functionality, the docs should be updated. Put +your new functionality into a function with a docstring, and add the +feature to the list in README.md.
+The pull request should work for Python 3.10.
+
Tips
+To run a subset of tests:
+$ pytest tests.test_trafficgen
+Deploying
+A reminder for the maintainers on how to deploy. +Make sure all your changes are committed (including an entry in HISTORY.rst). +Then run:
+$ bump2version patch # possible: major / minor / patch
+$ git push
+$ git push --tags
+
+
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+ Index
+ +
+ A
+ | B
+ | C
+ | D
+ | E
+ | F
+ | G
+ | H
+ | I
+ | K
+ | L
+ | M
+ | N
+ | O
+ | P
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+ History
+0.6.0 (2024-11-11)
+Changed
+-
+
Updated to download-artifact@v4 (from download-artifact@v3)
+
0.5.0 (2024-04-26)
+Changed
+-
+
removed specific names for target ships. Files generated with target ship 1, 2 etc.
+changed tests. Still need to figure out why some tests “fail” using CLI.
+
0.4.0 (2024-04-19)
+Changed
+-
+
possible to have several aypoints for own ship
+fixing pyright error
+beta (relative bearing between osn ship and target ship seen from own ship) +is not just a number, but could also be a range
+situation length is used when checking if target ship is passing land
+
0.3.0 (2024-04-10)
+Changed
+-
+
using types from maritime schema
+lat/lon used instead of north/east
+the generated output files are using “maritime” units: knots and degrees
+
0.2.0 (2024-01-11)
+Changed
+-
+
add-basic-code-quality-settings-black-ruff-pyright,
+first-small-round-of-code-improvement
+add-domain-specific-data-types-for-ship-situation-etc-using-pydantic-models,
+activate-remaining-pyright-rules,
+add-github-workflows-to-build-package-and-to-build-and-publish-documentation
+sorting output from os.listdir
+github workflow for release
+removed cyclic import
+length of encounter may be specified by user
+
0.1.0 (2023-11-08)
+-
+
First release on PyPI.
+
+
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+
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+ Welcome to Traffic Generator’s documentation!
+The tool generates a structured set of encounters for verifying automatic collision and +grounding avoidance systems. Based on input parameters such as desired situation, relative speed, +relative bearing etc, the tool will generate a set of traffic situations. The traffic situations +may be written to files and/or inspected using plots.
+A paper is written describing the background for
+the tool and how it works.
+
+Contents:
+-
+
- Installation + +
- Usage + +
- Input files +
- Contributing + +
- Authors + +
- History + +
- API Documentation
-
+
- trafficgen package
-
+
- Submodules
-
+
- trafficgen.check_land_crossing module +
- trafficgen.cli module +
- trafficgen.encounter module +
- trafficgen.marine_system_simulator module +
- trafficgen.plot_traffic_situation module +
- trafficgen.read_files module +
- trafficgen.ship_traffic_generator module +
- trafficgen.types module +
- trafficgen.utils module +
- trafficgen.write_traffic_situation_to_file module +
+
+ - Submodules
+ - trafficgen package
Indices and tables
+-
+
- +
- +
- +
+
+
+
+
+
+
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+
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+ Input files
+Example 1: Complete specified situation:
+{
+ "title": "HO",
+ "description": "A head on situation with one target ship.",
+ "ownShip": {
+ "initial": {
+ "position": {
+ "latitude": 58.763449,
+ "longitude": 10.490654
+ },
+ "sog": 10.0,
+ "cog": 0.0,
+ "heading": 0.0,
+ "navStatus": "Under way using engine"
+ }
+ },
+ "encounters": [
+ {
+ "desiredEncounterType": "head-on",
+ "beta": 2.0,
+ "relativeSpeed": 1.2,
+ "vectorTime": 15.0
+ }
+ ]
+}
+The values may be given in either maritime units or SI units, and which unit is used shall be specified in the src/trafficgen/settings/encounter_settings.json file. +The common_vector is given in minutes (maritime) or seconds (SI). For radar plotting (plotting vessel positions and relative motions), +the common_vector and vector_time are used together with ship speed to display where the ship will be in e.g. 10 minutes +(Common vector is the common time vector used on a radar plot, e.g 10, 15, 20 minutes. The length of the arrow in the plot +will then be the speed times this time vector). +Speed and course of the own ship, which is the ship to be tested, are given in knots and degrees (maritime) or m/s and radians (SI), respectively. +The own ship position is given both in latitudinal and longitudinal (degree/radians) together with north/east in meters from the reference point. +The reference point is the initial position of own ship.
+An encounter may be fully described as shown above, but the user may also deside to input less data, +as demonstrated in Example 2. Desired encounter type is mandatory, +while the beta, relative_speed and vector_time parameters are optional:
++++
+- +
desired_encounter_type is either head-on, overtaking-give-way, overtaking-stand-on, crossing-give-way, and crossing-stand-on.
- +
beta is the relative bearing between the own ship and the target ship as seen from the own shop, given in degrees/radians.
- +
relative_speed is relative speed between the own ship and the target ship as seen from the own ship, such that a relative speed of 1.2 means that the target ship’s speed is 20% higher than the speed of the own ship.
An encounter is built using a maximum meeting distance [nm], see the paper linked in the introduction for more info. +At some time in the future, given by the vector_time, the target ship will be located somewhere inside a circle +with a radius given by max_meeting_distance and a center point given by the own ship position. This is not necessarily the +closest point of approach.
+The max_meeting_distance parameter is common for all encounters and is specified in src/trafficgen/settings/encounter_settings.json.
+Example 2: Minimum specified situation:
+{
+ "title": "HO",
+ "description": "A head on situation with one target ship.",
+ "ownShip": {
+ "initial": {
+ "position": {
+ "latitude": 58.763449,
+ "longitude": 10.490654
+ },
+ "sog": 10.0,
+ "cog": 0.0,
+ "heading": 0.0,
+ "navStatus": "Under way using engine"
+ }
+ },
+ "encounters": [
+ {
+ "desiredEncounterType": "head-on",
+ }
+ ]
+}
+You can also request the generation of several traffic situations of the same encounter type by specifying num_situations:
+Example 3: Generate multiple situations using numSituations:
+{
+ "title": "HO",
+ "description": "A head on situation with one target ship.",
+ "numSituations": 5
+ "ownShip": {
+ "initial": {
+ "position": {
+ "latitude": 58.763449,
+ "longitude": 10.490654
+ },
+ "sog": 10.0,
+ "cog": 0.0,
+ "heading": 0.0,
+ "navStatus": "Under way using engine"
+ }
+ },
+ "encounters": [
+ {
+ "desiredEncounterType": "head-on",
+ }
+ ]
+}
+The next example show how it is possible to give a range for the relative bearing between own ship and target ship
+Example 4: Assign range for beta:
+{
+ "title": "CR_GW",
+ "common_vector": 10.0,
+ "own_ship": {
+ "speed": 7.0,
+ "course": 0.0,
+ "position": {
+ "latitude": 58.763449,
+ "longitude": 10.490654
+ }
+ },
+ "encounter": [
+ {
+ "desired_encounter_type": "crossing-give-way",
+ "beta": [45.0,120.0]
+ }
+ ]
+}
+
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+ Installation
+Stable release
+To install Traffic Generator, run this command in your terminal:
+$ pip install trafficgen
+This is the preferred method to install Traffic Generator, as it will always install the most recent stable release.
+If you don’t have pip installed, this Python installation guide can guide +you through the process.
+From sources
+The sources for Traffic Generator can be downloaded from the https://github.com/dnv-opensource/ship-traffic-generator.
+You can either clone the public repository:
+$ git clone https://github.com/dnv-opensource/ship-traffic-generator
+Once you have a copy of the source, you can install it with:
+$ python setup.py install
+
+
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+ trafficgen
+
+
+-
+
- trafficgen package
-
+
- Submodules
-
+
- trafficgen.check_land_crossing module + +
- trafficgen.cli module +
- trafficgen.encounter module
-
+
assign_beta()
+assign_beta_from_list()
+assign_future_position_to_target_ship()
+assign_sog_to_target_ship()
+assign_vector_time()
+calculate_min_vector_length_target_ship()
+calculate_relative_bearing()
+calculate_ship_cog()
+check_encounter_evolvement()
+decide_target_ship()
+define_own_ship()
+determine_colreg()
+find_start_position_target_ship()
+generate_encounter()
+
+ - trafficgen.marine_system_simulator module
-
+
flat2llh()
+llh2flat()
+ssa()
+
+ - trafficgen.plot_traffic_situation module + +
- trafficgen.read_files module
-
+
camel_to_snake()
+check_input_units()
+convert_keys_to_snake_case()
+convert_settings_data_from_maritime_to_si_units()
+convert_situation_data_from_maritime_to_si_units()
+read_encounter_settings_file()
+read_generated_situation_files()
+read_own_ship_static_file()
+read_situation_files()
+read_target_ship_static_files()
+
+ - trafficgen.ship_traffic_generator module + +
- trafficgen.types module + +
- trafficgen.utils module
-
+
calculate_bearing_between_waypoints()
+calculate_destination_along_track()
+calculate_distance()
+calculate_position_along_track_using_waypoints()
+calculate_position_at_certain_time()
+convert_angle_0_to_2_pi_to_minus_pi_to_pi()
+convert_angle_minus_pi_to_pi_to_0_to_2_pi()
+deg_2_rad()
+knot_2_m_pr_s()
+m_2_nm()
+m_pr_s_2_knot()
+min_2_s()
+nm_2_m()
+rad_2_deg()
+
+ - trafficgen.write_traffic_situation_to_file module + +
+
+ - Submodules
+
+
+
+
+
+
+
+
+
+
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+ Python Module Index
+ +
+ t
+
+
+ | + t | ||
| + |
+ trafficgen | + |
| + |
+ trafficgen.check_land_crossing | + |
| + |
+ trafficgen.cli | + |
| + |
+ trafficgen.encounter | + |
| + |
+ trafficgen.marine_system_simulator | + |
| + |
+ trafficgen.plot_traffic_situation | + |
| + |
+ trafficgen.read_files | + |
| + |
+ trafficgen.ship_traffic_generator | + |
| + |
+ trafficgen.types | + |
| + |
+ trafficgen.utils | + |
| + |
+ trafficgen.write_traffic_situation_to_file | + |
+
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+Search.setIndex({"alltitles": {"0.1.0 (2023-11-08)": [[3, "id6"]], "0.2.0 (2024-01-11)": [[3, "id5"]], "0.3.0 (2024-04-10)": [[3, "id4"]], "0.4.0 (2024-04-19)": [[3, "id3"]], "0.5.0 (2024-04-26)": [[3, "id2"]], "0.6.0 (2024-11-11)": [[3, "id1"]], "API Documentation": [[0, "api-documentation"]], "Authors": [[1, "authors"]], "Baseline situations": [[19, "baseline-situations"]], "Contents:": [[4, null]], "Contributing": [[2, "contributing"]], "Deploying": [[2, "deploying"]], "Fix Bugs": [[2, "fix-bugs"]], "From sources": [[6, "from-sources"]], "Get Started!": [[2, "get-started"]], "History": [[3, "history"]], "Implement Features": [[2, "implement-features"]], "Indices and tables": [[4, "indices-and-tables"]], "Individual plots with map background": [[19, "individual-plots-with-map-background"]], "Input files": [[5, "input-files"]], "Installation": [[6, "installation"]], "Plotting": [[19, "plotting"]], "Plotting all generated traffic situations": [[19, "plotting-all-generated-traffic-situations"]], "Primary author": [[1, "primary-author"]], "Pull Request Guidelines": [[2, "pull-request-guidelines"]], "Report Bugs": [[2, "report-bugs"]], "Situations": [[19, "situations"]], "Stable release": [[6, "stable-release"]], "Submit Feedback": [[2, "submit-feedback"]], "Submodules": [[8, "submodules"]], "Testers": [[1, "testers"]], "Tips": [[2, "tips"]], "Types of Contributions": [[2, "types-of-contributions"]], "Usage": [[19, "usage"]], "Welcome to Traffic Generator\u2019s documentation!": [[4, "welcome-to-traffic-generator-s-documentation"]], "Write Documentation": [[2, "write-documentation"]], "trafficgen": [[7, "trafficgen"]], "trafficgen package": [[8, "module-trafficgen"]], "trafficgen.check_land_crossing module": [[9, "module-trafficgen.check_land_crossing"]], "trafficgen.cli module": [[10, "module-trafficgen.cli"]], "trafficgen.encounter module": [[11, "module-trafficgen.encounter"]], "trafficgen.marine_system_simulator module": [[12, 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11, 16], "show": [5, 19], "shown": 5, "si": [5, 14, 18], "sign": 12, "simul": 12, "simulink": 12, "situat": [3, 4, 5, 11, 13, 14, 15, 16, 18], "situation_fold": [14, 15], "situation_length": [8, 16], "situation_numb": 13, "situationinput": [0, 7, 8, 11, 14, 16], "situationlength": 16, "size": 11, "skip": 2, "small": 3, "smallest": 12, "smallest_angl": 12, "snake": [14, 16], "sog": [5, 11], "some": [3, 5, 11], "somewher": [5, 11], "sort": 3, "sourc": [2, 4, 9, 11, 12, 13, 14, 15, 16, 17, 18], "specif": [3, 13, 16, 19], "specifi": [3, 5, 14, 15, 19], "speed": [4, 5, 9, 16, 17], "speed_in_knot": 17, "speed_in_m_pr_": 17, "src": [2, 5], "ssa": [0, 7, 8, 12], "stabl": 4, "stand": [5, 11, 16, 19], "start": [4, 11, 16], "start_position_found": 11, "start_position_target_ship": 11, "static": [11, 14], "step": 2, "stephani": 1, "still": 3, "str": [13, 14, 16], "string": [14, 16], "structur": [4, 12], "submit": 4, "submodul": [0, 4, 7], "subset": 2, "support": 2, "sure": 2, "surfac": 12, "system": [2, 4, 12], "t": [6, 12, 19], "t_ship": 18, "tab": 19, "tag": 2, "take": 19, "taken": 12, "target": [3, 5, 11, 14, 15, 19], "target_ship": [11, 19], "target_ship_1": 11, "target_ship_cog": 11, "target_ship_fold": [14, 15], "target_ship_position_futur": 11, "target_ship_sog": 11, "target_ship_vector_length": 11, "target_ships_stat": [11, 14], "targetship": 11, "termin": 6, "test": [2, 3, 5, 14], "test_output_1": 19, "test_trafficgen": 2, "tester": 4, "than": 5, "thei": 2, "them": 2, "theta13_criteria": [8, 11, 16], "theta13criteria": 16, "theta14_criteria": [8, 11, 16], "theta14criteria": 16, "theta15": [8, 11, 16], "theta15_criteria": [8, 11, 16], "theta15criteria": 16, "thi": [2, 5, 6, 11, 15, 19], "thor": 12, "through": [2, 6], "time": [5, 9, 11, 12, 13, 17], "time_in_": 17, "time_in_min": 17, "time_interv": 9, "tip": 4, "titl": [5, 8, 16], "to_camel": [0, 7, 8, 16], "togeth": 5, "toler": 11, "tom": 1, "tool": [4, 19], "toolbox": 12, "top": 8, "total": 19, "tox": 2, "track": 17, "traffic": [2, 5, 6, 8, 11, 13, 14, 15, 18], "traffic_situ": [13, 15, 18], "trafficgen": [0, 2, 4, 5, 6, 19], "trafficsitu": [13, 14, 15, 18], "travel": [9, 17], "troubleshoot": 2, "true": [9, 11, 16], "tupl": [11, 12, 13], "two": [11, 12, 16, 17], "type": [0, 3, 4, 5, 7, 8, 9, 11, 12, 13, 14, 15, 17, 18], "under": 5, "underwat": 12, "uniform": 11, "unit": [3, 5, 14, 18], "unman": 12, "up": [2, 11, 19], "updat": [2, 3, 12, 13], "upward": 12, "us": [2, 3, 4, 5, 11, 12, 14, 15, 16, 17, 19], "usag": 4, "user": [3, 5, 11], "util": [0, 4, 7, 8], "v3": 3, "v4": 3, "valu": [5, 11, 16, 19], "vector": [5, 11, 13], "vector_length": 13, "vector_rang": [8, 11, 16], "vector_tim": [5, 8, 11, 13, 16, 17], "vector_time_default": 11, "vector_time_rang": 11, "vectorrang": 16, "vectortim": [5, 16], "vehicl": 12, "verifi": 4, "version": 2, "vessel": [5, 9], "via": 2, "view": 2, "virtualenv": 2, "visual": 19, "volunt": 2, "vscode": 2, "wai": [2, 5, 11, 16, 19], "want": 2, "waypoint": [8, 11, 16, 17], "waypoint_0": 11, "waypoint_1": 11, "web": 2, "welcom": 2, "wg": 12, "when": [2, 3, 11, 17, 19], "where": [5, 14, 15, 18, 19], "whether": 2, "which": [5, 12, 14, 18, 19], "while": [5, 12], "whoever": 2, "why": 3, "width": 13, "wilei": 12, "window": 19, "within": 19, "without": [9, 19], "work": [2, 4], "workflow": 3, "would": 2, "write": [4, 18, 19], "write_fold": 18, "write_traffic_situation_to_fil": [0, 4, 7, 8], "write_traffic_situations_to_json_fil": [0, 7, 8, 18], "written": [4, 16, 18], "x": 11, "x_n": 12, "xn": 12, "y_n": 12, "yn": 12, "you": [2, 5, 6, 19], "your": [2, 6], "z_n": 12, "zn": 12}, "titles": ["API Documentation", "Authors", "Contributing", "History", "Welcome to Traffic Generator\u2019s documentation!", "Input files", "Installation", "trafficgen", "trafficgen package", "trafficgen.check_land_crossing module", "trafficgen.cli module", "trafficgen.encounter module", "trafficgen.marine_system_simulator module", "trafficgen.plot_traffic_situation module", "trafficgen.read_files module", "trafficgen.ship_traffic_generator module", "trafficgen.types module", "trafficgen.utils module", "trafficgen.write_traffic_situation_to_file module", "Usage"], "titleterms": {"": 4, "0": 3, "01": 3, "04": 3, "08": 3, "1": 3, "10": 3, "11": 3, "19": 3, "2": 3, "2023": 3, "2024": 3, "26": 3, "3": 3, "4": 3, "5": 3, "6": 3, "all": 19, "api": 0, "author": 1, "background": 19, "baselin": 19, "bug": 2, "check_land_cross": 9, "cli": 10, "content": 4, "contribut": 2, "deploi": 2, "document": [0, 2, 4], "encount": 11, "featur": 2, "feedback": 2, "file": 5, "fix": 2, "from": 6, "gener": [4, 19], "get": 2, "guidelin": 2, "histori": 3, "implement": 2, "indic": 4, "individu": 19, "input": 5, "instal": 6, "map": 19, "marine_system_simul": 12, "modul": [9, 10, 11, 12, 13, 14, 15, 16, 17, 18], "packag": 8, "plot": 19, "plot_traffic_situ": 13, "primari": 1, "pull": 2, "read_fil": 14, "releas": 6, "report": 2, "request": 2, "ship_traffic_gener": 15, "situat": 19, "sourc": 6, "stabl": 6, "start": 2, "submit": 2, "submodul": 8, "tabl": 4, "tester": 1, "tip": 2, "traffic": [4, 19], "trafficgen": [7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18], "type": [2, 16], "usag": 19, "util": 17, "welcom": 4, "write": 2, "write_traffic_situation_to_fil": 18}})
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diff --git a/branch/main/trafficgen.check_land_crossing.html b/branch/main/trafficgen.check_land_crossing.html
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diff --git a/branch/main/trafficgen.cli.html b/branch/main/trafficgen.cli.html
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+ trafficgen.check_land_crossing module
+Module with helper functions to determine if a generated path is crossing land.
+-
+
- +trafficgen.check_land_crossing.path_crosses_land(position_1: Position, speed: float, course: float, lat_lon0: Position, time_interval: float = 300.0) bool[source] +
Find if path is crossing land.
+-
+
- Params:
position_1: Ship position in latitude/longitude [rad]. +speed: Ship speed [m/s]. +course: Ship course [rad]. +lat_lon0: Reference point, latitudinal [rad] and longitudinal [rad]. +time_interval: The time interval the vessel should travel without crossing land [sec]
+
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- Returns: +
is_on_land
+
+- Return type: +
True if parts of the path crosses land.
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diff --git a/branch/main/trafficgen.encounter.html b/branch/main/trafficgen.encounter.html
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+ trafficgen.cli module
+CLI for trafficgen package.
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diff --git a/branch/main/trafficgen.html b/branch/main/trafficgen.html
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+ trafficgen.encounter module
+Functions to generate encounters consisting of one own ship and one to many target ships. +The generated encounters may be of type head-on, overtaking give-way and stand-on and +crossing give-way and stand-on.
+-
+
- +trafficgen.encounter.assign_beta(encounter_type: EncounterType, settings: EncounterSettings) float[source] +
Assign random (uniform) relative bearing beta between own ship +and target ship depending on type of encounter.
+-
+
- Params:
-
+
encounter_type: Type of encounter
+settings: Encounter settings
+
+
-
+
- Return type: +
* Relative bearing between own ship and target ship seen from own ship [rad]
+
+
-
+
- +trafficgen.encounter.assign_beta_from_list(beta_limit: List[float]) float[source] +
Assign random (uniform) relative bearing beta between own ship +and target ship depending between the limits given by beta_limit.
+-
+
- Params:
-
+
beta_limit: Limits for beta
+
+
-
+
- Return type: +
* Relative bearing between own ship and target ship seen from own ship [rad]
+
+
-
+
- +trafficgen.encounter.assign_future_position_to_target_ship(own_ship_position_future: Position, lat_lon0: Position, max_meeting_distance: float) Position[source] +
Randomly assign future position of target ship. If drawing a circle with radius +max_meeting_distance around future position of own ship, future position of +target ship shall be somewhere inside this circle.
+-
+
- Params:
-
+
-
+
- own_ship_position_future: Dict, own ship position at a given time in the
future, {north, east}
+
+
+lat_lon0: Reference point, latitudinal [rad] and longitudinal [rad]
+-
+
- max_meeting_distance: Maximum distance between own ship and target ship at
a given time in the future [m]
+
+
+
+
-
+
- Returns: +
future_position_target_ship
+
+- Return type: +
Future position of target ship {north, east} [m]
+
+
-
+
- +trafficgen.encounter.assign_sog_to_target_ship(encounter_type: EncounterType, own_ship_sog: float, min_target_ship_sog: float, relative_sog_setting: EncounterRelativeSpeed)[source] +
Assign random (uniform) sog to target ship depending on type of encounter.
+-
+
- Params:
-
+
encounter_type: Type of encounter
+own_ship_sog: Own ship sog [m/s]
+min_target_ship_sog: Minimum target ship sog [m/s]
+relative_sog_setting: Relative sog setting dependent on encounter [-]
+
+
-
+
- Returns: +
* target_ship_sog
+
+- Return type: +
Target ship sog [m/s]
+
+
-
+
- +trafficgen.encounter.assign_vector_time(vector_time_range: List[float])[source] +
Assign random (uniform) vector time.
+-
+
- Params:
-
+
vector_range: Minimum and maximum value for vector time
+
+
-
+
- Returns: +
* vector_time
+
+- Return type: +
Vector time [min]
+
+
-
+
- +trafficgen.encounter.calculate_min_vector_length_target_ship(own_ship_position: Position, own_ship_cog: float, target_ship_position_future: Position, desired_beta: float, lat_lon0: Position) float[source] +
Calculate minimum vector length (target ship sog x vector). This will +ensure that ship sog is high enough to find proper situation.
+-
+
- Params:
-
+
own_ship_position: Own ship initial position, latitudinal [rad] and longitudinal [rad]
+own_ship_cog: Own ship initial cog
+target_ship_position_future: Target ship future position
+desired_beta: Desired relative bearing between
+lat_lon0: Reference point, latitudinal [rad] and longitudinal [rad]
+
+
-
+
- Returns: +
* min_vector_length
+
+- Return type: +
Minimum vector length (target ship sog x vector)
+
+
-
+
- +trafficgen.encounter.calculate_relative_bearing(position_own_ship: Position, heading_own_ship: float, position_target_ship: Position, heading_target_ship: float, lat_lon0: Position) Tuple[float, float][source] +
Calculate relative bearing between own ship and target ship, both seen from +own ship and seen from target ship.
+-
+
- Params:
-
+
position_own_ship: Own ship position {latitude, longitude} [rad]
+heading_own_ship: Own ship heading [rad]
+position_target_ship: Target ship position {latitude, longitude} [rad]
+heading_target_ship: Target ship heading [rad]
+lat_lon0: Reference point, latitudinal [rad] and longitudinal [rad]
+
+
-
+
- Returns: +
-
+
* beta (relative bearing between own ship and target ship seen from own ship [rad])
+* alpha (relative bearing between target ship and own ship seen from target ship [rad])
+
+
-
+
- +trafficgen.encounter.calculate_ship_cog(pos_0: Position, pos_1: Position, lat_lon0: Position) float[source] +
Calculate ship cog between two waypoints.
+-
+
- Params:
-
+
waypoint_0: Dict, waypoint {latitude, longitude} [rad]
+waypoint_1: Dict, waypoint {latitude, longitude} [rad]
+
+
-
+
- Returns: +
* cog
+
+- Return type: +
Ship cog [rad]
+
+
-
+
- +trafficgen.encounter.check_encounter_evolvement(own_ship: OwnShip, own_ship_cog: float, own_ship_position_future: Position, lat_lon0: Position, target_ship_sog: float, target_ship_cog: float, target_ship_position_future: Position, desired_encounter_type: EncounterType, settings: EncounterSettings) bool[source] +
Check encounter evolvement. The generated encounter should be the same type of +encounter (head-on, crossing, give-way) also some time before the encounter is started.
+-
+
- Params:
-
+
own_ship: Own ship information such as initial position, sog and cog
+target_ship: Target ship information such as initial position, sog and cog
+desired_encounter_type: Desired type of encounter to be generated
+settings: Encounter settings
+
+
-
+
- Return type: +
* returns True if encounter ok, False if encounter not ok
+
+
-
+
- +trafficgen.encounter.decide_target_ship(target_ships_static: List[ShipStatic]) ShipStatic[source] +
Randomly pick a target ship from a list of target ships.
+-
+
- Params:
-
+
target_ships: list of target ships with static information
+
+
-
+
- Return type: +
* The target ship, info of type, size etc.
+
+
-
+
- +trafficgen.encounter.define_own_ship(desired_traffic_situation: SituationInput, own_ship_static: ShipStatic, encounter_settings: EncounterSettings, lat_lon0: Position) OwnShip[source] +
Define own ship based on information in desired traffic situation.
+-
+
- Params:
-
+
desired_traffic_situation: Information about type of traffic situation to generate
+own_ship_static: Static information of own ship.
+encounter_settings: Necessary setting for the encounter
+lat_lon0: Reference position [deg]
+
+
-
+
- Returns: +
* own_ship
+
+- Return type: +
Own ship
+
+
-
+
- +trafficgen.encounter.determine_colreg(alpha: float, beta: float, theta13_criteria: float, theta14_criteria: float, theta15_criteria: float, theta15: List[float]) EncounterType[source] +
Determine the colreg type based on alpha, relative bearing between target ship and own +ship seen from target ship, and beta, relative bearing between own ship and target ship +seen from own ship.
+-
+
- Params:
-
+
alpha: relative bearing between target ship and own ship seen from target ship
+beta: relative bearing between own ship and target ship seen from own ship
+theta13_criteria: Tolerance for “coming up with” relative bearing
+theta14_criteria: Tolerance for “reciprocal or nearly reciprocal cogs”, +“when in any doubt… assume… [head-on]”
+theta15_criteria: Crossing aspect limit, used for classifying a crossing encounter
+-
+
- theta15: 22.5 deg aft of the beam, used for classifying a crossing and an overtaking
encounter
+
+
+
+
-
+
- Return type: +
* encounter classification
+
+
-
+
- +trafficgen.encounter.find_start_position_target_ship(own_ship_position: Position, lat_lon0: Position, own_ship_cog: float, target_ship_position_future: Position, target_ship_vector_length: float, desired_beta: float, desired_encounter_type: EncounterType, settings: EncounterSettings) Tuple[Position, bool][source] +
Find start position of target ship using desired beta and vector length.
+-
+
- Params:
-
+
own_ship_position: Own ship initial position, sog and cog
+own_ship_cog: Own ship initial cog
+target_ship_position_future: Target ship future position
+target_ship_vector_length: vector length (target ship sog x vector)
+desired_beta: Desired bearing between own ship and target ship seen from own ship
+desired_encounter_type: Desired type of encounter to be generated
+settings: Encounter settings
+
+
-
+
- Returns: +
-
+
* start_position_target_ship (Dict, initial position of target ship {north, east} [m])
+* start_position_found (0=position not found, 1=position found)
+
+
-
+
- +trafficgen.encounter.generate_encounter(desired_encounter_type: EncounterType, own_ship: OwnShip, target_ships_static: List[ShipStatic], encounter_number: int, beta_default: List[float] | float | None, relative_sog_default: float | None, vector_time_default: float | None, settings: EncounterSettings) Tuple[TargetShip, bool][source] +
Generate an encounter.
+-
+
- Params:
-
+
desired_encounter_type: Desired encounter to be generated
+own_ship: Dict, information about own ship that will encounter a target ship
+target_ships_static: List of target ships including static information that +may be used in an encounter
+encounter_number: Integer, used to naming the target ships. target_ship_1,2 etc.
+beta_default: User defined beta. If not set, this is None.
+-
+
- relative_sog_default: User defined relative sog between own ship and
target ship. If not set, this is None.
+
+
+vector_time_default: User defined vector time. If not set, this is None.
+settings: Encounter settings
+
+
-
+
- Returns: +
-
+
* target_ship (target ship information, such as initial position, sog and cog)
+* encounter_found (True=encounter found, False=encounter not found)
+
+
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diff --git a/branch/main/trafficgen.marine_system_simulator.html b/branch/main/trafficgen.marine_system_simulator.html
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+
+ trafficgen package
+Top-level package for Traffic Generator.
+Nothing exposed at the moment, but will be done if needed.
+Submodules
+
+
+-
+
- trafficgen.check_land_crossing module + +
- trafficgen.cli module +
- trafficgen.encounter module
-
+
assign_beta()
+assign_beta_from_list()
+assign_future_position_to_target_ship()
+assign_sog_to_target_ship()
+assign_vector_time()
+calculate_min_vector_length_target_ship()
+calculate_relative_bearing()
+calculate_ship_cog()
+check_encounter_evolvement()
+decide_target_ship()
+define_own_ship()
+determine_colreg()
+find_start_position_target_ship()
+generate_encounter()
+
+ - trafficgen.marine_system_simulator module
-
+
flat2llh()
+llh2flat()
+ssa()
+
+ - trafficgen.plot_traffic_situation module + +
- trafficgen.read_files module
-
+
camel_to_snake()
+check_input_units()
+convert_keys_to_snake_case()
+convert_settings_data_from_maritime_to_si_units()
+convert_situation_data_from_maritime_to_si_units()
+read_encounter_settings_file()
+read_generated_situation_files()
+read_own_ship_static_file()
+read_situation_files()
+read_target_ship_static_files()
+
+ - trafficgen.ship_traffic_generator module + +
- trafficgen.types module
-
+
Encounter+
+EncounterClassification+
+EncounterRelativeSpeed+
+EncounterSettings-
+
EncounterSettings.Config+
+EncounterSettings.classification
+EncounterSettings.common_vector
+EncounterSettings.disable_land_check
+EncounterSettings.evolve_time
+EncounterSettings.max_meeting_distance
+EncounterSettings.model_config
+EncounterSettings.relative_speed
+EncounterSettings.situation_length
+EncounterSettings.vector_range
+
+EncounterType+
+OwnShipInitial+
+SituationInput+
+to_camel()
+
+ - trafficgen.utils module
-
+
calculate_bearing_between_waypoints()
+calculate_destination_along_track()
+calculate_distance()
+calculate_position_along_track_using_waypoints()
+calculate_position_at_certain_time()
+convert_angle_0_to_2_pi_to_minus_pi_to_pi()
+convert_angle_minus_pi_to_pi_to_0_to_2_pi()
+deg_2_rad()
+knot_2_m_pr_s()
+m_2_nm()
+m_pr_s_2_knot()
+min_2_s()
+nm_2_m()
+rad_2_deg()
+
+ - trafficgen.write_traffic_situation_to_file module + +
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/branch/main/trafficgen.plot_traffic_situation.html b/branch/main/trafficgen.plot_traffic_situation.html
new file mode 100644
index 0000000..a980efe
--- /dev/null
+++ b/branch/main/trafficgen.plot_traffic_situation.html
@@ -0,0 +1,256 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ trafficgen.marine_system_simulator module
+The Marine Systems Simulator (MSS) is a Matlab and Simulink library for marine systems.
+It includes models for ships, underwater vehicles, unmanned surface vehicles, and floating structures. +The library also contains guidance, navigation, and control (GNC) blocks for real-time simulation. +The algorithms are described in:
+T. I. Fossen (2021). Handbook of Marine Craft Hydrodynamics and Motion Control. 2nd. Edition, +Wiley. ISBN-13: 978-1119575054
+Parts of the library have been re-implemented in Python and are found below.
+-
+
- +trafficgen.marine_system_simulator.flat2llh(x_n: float, y_n: float, lat_0: float, lon_0: float, z_n: float = 0.0, height_ref: float = 0.0) Tuple[float, float, float][source] +
Compute longitude lon (rad), latitude lat (rad) and height h (m) for the +NED coordinates (xn,yn,zn).
+Method taken from the MSS (Marine System Simulator) toolbox which is a Matlab/Simulink +library for marine systems.
+The method computes longitude lon (rad), latitude lat (rad) and height h (m) for the +NED coordinates (xn,yn,zn) using a flat Earth coordinate system defined by the WGS-84 +ellipsoid. The flat Earth coordinate origin is located at (lon_0, lat_0) with reference +height h_ref in meters above the surface of the ellipsoid. Both height and h_ref +are positive upwards, while zn is positive downwards (NED). +Author: Thor I. Fossen +Date: 20 July 2018 +Revisions: 2023-02-04 updates the formulas for latitude and longitude
+-
+
- Params:
-
+
xn: Ship position, north [m]
+yn: Ship position, east [m]
+zn=0.0: Ship position, down [m]
+lat_0, lon_0: Flat earth coordinate located at (lon_0, lat_0)
+h_ref=0.0: Flat earth coordinate with reference h_ref in meters above the surface +of the ellipsoid
+
+
-
+
- Returns: +
-
+
* lat (Latitude [rad])
+* lon (Longitude [rad])
+* h (Height [m])
+
+
-
+
- +trafficgen.marine_system_simulator.llh2flat(lat: float, lon: float, lat_0: float, lon_0: float, height: float = 0.0, height_ref: float = 0.0) Tuple[float, float, float][source] +
Compute (north, east) for a flat Earth coordinate system from longitude +lon (rad) and latitude lat (rad).
+Method taken from the MSS (Marine System Simulator) toolbox which is a Matlab/Simulink +library for marine systems.
+The method computes (north, east) for a flat Earth coordinate system from longitude +lon (rad) and latitude lat (rad) of the WGS-84 elipsoid. The flat Earth coordinate +origin is located at (lon_0, lat_0). +Author: Thor I. Fossen +Date: 20 July 2018 +Revisions: 2023-02-04 updates the formulas for latitude and longitude
+-
+
- Params:
-
+
lat: Ship position in latitude [rad]
+lon: Ship position in longitude [rad]
+h=0.0: Ship height in meters above the surface of the ellipsoid
+lat_0, lon_0: Flat earth coordinate located at (lon_0, lat_0)
+h_ref=0.0: Flat earth coordinate with reference h_ref in meters above +the surface of the ellipsoid
+
+
-
+
- Returns: +
-
+
* x_n (Ship position, north [m])
+* y_n (Ship position, east [m])
+* z_n (Ship position, down [m])
+
+
-
+
- +trafficgen.marine_system_simulator.ssa(angle: float) float[source] +
Return the “smallest signed angle” (SSA) or the smallest difference between two angles.
+Method taken from the MSS (Marine System Simulator) toolbox which is a Matlab/Simulink +library for marine systems.
+Examples
+angle = ssa(angle) maps an angle in rad to the interval [-pi pi)
+Author: Thor I. Fossen +Date: 2018-09-21
+-
+
- Param:
-
+
angle: angle given in radius
+
+
-
+
- Returns: +
* smallest_angle
+
+- Return type: +
“smallest signed angle” or the smallest difference between two angles
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/branch/main/trafficgen.read_files.html b/branch/main/trafficgen.read_files.html
new file mode 100644
index 0000000..7b270ab
--- /dev/null
+++ b/branch/main/trafficgen.read_files.html
@@ -0,0 +1,271 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ trafficgen.plot_traffic_situation module
+Functions to prepare and plot traffic situations.
+-
+
- +trafficgen.plot_traffic_situation.add_ship_to_map(ship: Ship, vector_time: float, lat_lon0: Position, map_plot: Map | None, color: str = 'black') Map[source] +
Add the ship to the map.
+-
+
- Params:
-
+
ship: Ship information
+vector_time: Vector time [sec]
+lat_lon0=Reference point, latitudinal [rad] and longitudinal [rad]
+map_plot: Instance of Map. If not set, instance is set to None
+color: Color of the ship. If not set, color is ‘black’
+
+
-
+
- Returns: +
* m
+
+- Return type: +
Updated instance of Map.
+
+
-
+
- +trafficgen.plot_traffic_situation.add_ship_to_plot(ship: Ship, vector_time: float, lat_lon0: Position, axes: Axes | None, color: str = 'black')[source] +
Add the ship to the plot.
+-
+
- Params:
-
+
ship: Ship information
+vector_time: Vector time [sec]
+axes: Instance of figure axis. If not set, instance is set to None
+color: Color of the ship. If not set, color is ‘black’
+
+
-
+
- +trafficgen.plot_traffic_situation.calculate_ship_outline(position: Position, course: float, lat_lon0: Position, ship_length: float = 100.0, ship_width: float = 15.0) List[Tuple[float, float]][source] +
Calculate the outline of the ship pointing in the direction of ship course.
+-
+
- Params:
-
+
position: {latitude}, {longitude} position of the ship [rad]
+course: course of the ship [rad]
+lat_lon0: Reference point, latitudinal [rad] and longitudinal [rad]
+ship_length: Ship length. If not given, ship length is set to 100
+ship_width: Ship width. If not given, ship width is set to 15
+
+
-
+
- Returns: +
* ship_outline_points
+
+- Return type: +
Polygon points to draw the ship [deg]
+
+
-
+
- +trafficgen.plot_traffic_situation.calculate_vector_arrow(position: Position, direction: float, vector_length: float, lat_lon0: Position) List[Tuple[float, float]][source] +
Calculate the arrow with length vector pointing in the direction of ship course.
+-
+
- Params:
-
+
position: {latitude}, {longitude} position of the ship [rad]
+direction: direction the arrow is pointing [rad]
+vector_length: length of vector [m]
+lat_lon0: Reference point, latitudinal [rad] and longitudinal [rad]
+
+
-
+
- Returns: +
* arrow_points
+
+- Return type: +
Polygon points to draw the arrow [deg]
+
+
-
+
- +trafficgen.plot_traffic_situation.find_max_value_for_plot(ship: Ship, max_value: float, lat_lon0: Position) float[source] +
Find the maximum deviation from the Reference point in north and east direction.
+-
+
- Params:
-
+
ship: Ship information
+max_value: maximum deviation in north, east direction
+lat_lon0: Reference point, latitudinal [rad] and longitudinal [rad]
+
+
-
+
- Returns: +
* max_value
+
+- Return type: +
updated maximum deviation in north, east direction
+
+
-
+
- +trafficgen.plot_traffic_situation.plot_specific_traffic_situation(traffic_situations: List[TrafficSituation], situation_number: int, encounter_settings: EncounterSettings)[source] +
Plot a specific situation in map.
+-
+
- Params:
-
+
traffic_situations: Generated traffic situations
+situation_number: The specific situation to be plotted
+
+
-
+
- +trafficgen.plot_traffic_situation.plot_traffic_situations(traffic_situations: List[TrafficSituation], col: int, row: int, encounter_settings: EncounterSettings)[source] +
Plot the traffic situations in one more figures.
+-
+
- Params:
-
+
traffic_situations: Traffic situations to be plotted
+col: Number of columns in each figure
+row: Number of rows in each figure
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/branch/main/trafficgen.ship_traffic_generator.html b/branch/main/trafficgen.ship_traffic_generator.html
new file mode 100644
index 0000000..f4a7b23
--- /dev/null
+++ b/branch/main/trafficgen.ship_traffic_generator.html
@@ -0,0 +1,147 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ trafficgen.read_files module
+Functions to read the files needed to build one or more traffic situations.
+-
+
- +trafficgen.read_files.camel_to_snake(string: str) str[source] +
Convert a camel case string to snake case.
+
-
+
- +trafficgen.read_files.check_input_units(data: Dict[str, Any]) Dict[str, Any][source] +
Check if input unit is specified, if not specified it is set to SI.
+
-
+
- +trafficgen.read_files.convert_keys_to_snake_case(data: Dict[str, Any]) Dict[str, Any][source] +
Convert keys in a nested dictionary from camel case to snake case.
+
-
+
- +trafficgen.read_files.convert_settings_data_from_maritime_to_si_units(settings: EncounterSettings) EncounterSettings[source] +
Convert situation data which is given in maritime units to SI units.
+-
+
- Params:
-
+
own_ship_file: Path to the own_ship_file file
+
+
-
+
- Return type: +
* own_ship information
+
+
-
+
- +trafficgen.read_files.convert_situation_data_from_maritime_to_si_units(situation: SituationInput) SituationInput[source] +
Convert situation data which is given in maritime units to SI units.
+-
+
- Params:
-
+
own_ship_file: Path to the own_ship_file file
+
+
-
+
- Return type: +
* own_ship information
+
+
-
+
- +trafficgen.read_files.read_encounter_settings_file(settings_file: Path) EncounterSettings[source] +
Read encounter settings file.
+-
+
- Params:
-
+
settings_file: Path to the encounter setting file
+
+
-
+
- Returns: +
* encounter_settings
+
+- Return type: +
Settings for the encounter
+
+
-
+
- +trafficgen.read_files.read_generated_situation_files(situation_folder: Path) List[TrafficSituation][source] +
Read the generated traffic situation files. Used for testing the trafficgen algorithm.
+-
+
- Params:
-
+
situation_folder: Path to the folder where situation files are found
+
+
-
+
- Returns: +
* situations
+
+- Return type: +
List of desired traffic situations
+
+
-
+
- +trafficgen.read_files.read_own_ship_static_file(own_ship_static_file: Path) ShipStatic[source] +
Read own ship static data from file.
+-
+
- Params:
-
+
own_ship_file: Path to the own_ship_static_file file
+
+
-
+
- Return type: +
* own_ship static information
+
+
-
+
- +trafficgen.read_files.read_situation_files(situation_folder: Path) List[SituationInput][source] +
Read traffic situation files.
+-
+
- Params:
-
+
situation_folder: Path to the folder where situation files are found
+input_units: Specify if the inputs are given in si or maritime units
+
+
-
+
- Returns: +
* situations
+
+- Return type: +
List of desired traffic situations
+
+
-
+
- +trafficgen.read_files.read_target_ship_static_files(target_ship_folder: Path) List[ShipStatic][source] +
Read target ship static data files.
+-
+
- Params:
-
+
target_ship_folder: Path to the folder where target ships are found
+
+
-
+
- Returns: +
* target_ships_static
+
+- Return type: +
List of different target ships with static information
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/branch/main/trafficgen.types.html b/branch/main/trafficgen.types.html
new file mode 100644
index 0000000..34a12b1
--- /dev/null
+++ b/branch/main/trafficgen.types.html
@@ -0,0 +1,472 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ trafficgen.ship_traffic_generator module
+Functions to generate traffic situations.
+-
+
- +trafficgen.ship_traffic_generator.generate_traffic_situations(situation_folder: Path, own_ship_file: Path, target_ship_folder: Path, settings_file: Path) List[TrafficSituation][source] +
Generate a set of traffic situations using input files. +This is the main function for generating a set of traffic situations using input files +specifying number and type of encounter, type of target ships etc.
+-
+
- Params:
-
+
situation_folder: Path to situation folder, files describing the desired situations
+own_ship_file: Path to where own ships is found
+target_ship_folder: Path to where different type of target ships is found
+settings_file: Path to settings file
+
+
-
+
- Returns: +
-
+
* traffic_situations (List of generated traffic situations.)
+* One situation may consist of one or more encounters.
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/branch/main/trafficgen.utils.html b/branch/main/trafficgen.utils.html
new file mode 100644
index 0000000..de9e8a3
--- /dev/null
+++ b/branch/main/trafficgen.utils.html
@@ -0,0 +1,415 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ trafficgen.types module
+Domain specific data types used in trafficgen.
+-
+
- +class trafficgen.types.Encounter(*, desiredEncounterType: EncounterType, beta: List[float] | float | None = None, relativeSpeed: float | None = None, vectorTime: float | None = None)[source] +
Bases:
+BaseModelData type for an encounter.
+-
+
- +class Config[source] +
Bases:
+objectFor converting parameters written to file from snake to camel case.
+-
+
- +alias_generator() str +
Return a camel case formated string from snake case string.
+
-
+
- +populate_by_name = True +
-
+
- +beta: List[float] | float | None +
-
+
- +desired_encounter_type: EncounterType +
-
+
- +model_config: ClassVar[ConfigDict] = {'alias_generator': <function to_camel>, 'populate_by_name': True} +
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
+
-
+
- +relative_speed: float | None +
-
+
- +vector_time: float | None +
-
+
- +class trafficgen.types.EncounterClassification(*, theta13Criteria: float, theta14Criteria: float, theta15Criteria: float, theta15: List[float])[source] +
Bases:
+BaseModelData type for the encounter classification.
+-
+
- +class Config[source] +
Bases:
+objectFor converting parameters written to file from snake to camel case.
+-
+
- +alias_generator() str +
Return a camel case formated string from snake case string.
+
-
+
- +populate_by_name = True +
-
+
- +model_config: ClassVar[ConfigDict] = {'alias_generator': <function to_camel>, 'populate_by_name': True} +
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
+
-
+
- +theta13_criteria: float +
-
+
- +theta14_criteria: float +
-
+
- +theta15: List[float] +
-
+
- +theta15_criteria: float +
-
+
- +class trafficgen.types.EncounterRelativeSpeed(*, overtakingStandOn: List[float], overtakingGiveWay: List[float], headOn: List[float], crossingGiveWay: List[float], crossingStandOn: List[float])[source] +
Bases:
+BaseModelData type for relative speed between two ships in an encounter.
+-
+
- +class Config[source] +
Bases:
+objectFor converting parameters written to file from snake to camel case.
+-
+
- +alias_generator() str +
Return a camel case formated string from snake case string.
+
-
+
- +populate_by_name = True +
-
+
- +crossing_give_way: List[float] +
-
+
- +crossing_stand_on: List[float] +
-
+
- +head_on: List[float] +
-
+
- +model_config: ClassVar[ConfigDict] = {'alias_generator': <function to_camel>, 'populate_by_name': True} +
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
+
-
+
- +overtaking_give_way: List[float] +
-
+
- +overtaking_stand_on: List[float] +
-
+
- +class trafficgen.types.EncounterSettings(*, classification: EncounterClassification, relativeSpeed: EncounterRelativeSpeed, vectorRange: List[float], commonVector: float, situationLength: float, maxMeetingDistance: float, evolveTime: float, disableLandCheck: bool)[source] +
Bases:
+BaseModelData type for encounter settings.
+-
+
- +class Config[source] +
Bases:
+objectFor converting parameters written to file from snake to camel case.
+-
+
- +alias_generator() str +
Return a camel case formated string from snake case string.
+
-
+
- +populate_by_name = True +
-
+
- +classification: EncounterClassification +
-
+
- +common_vector: float +
-
+
- +disable_land_check: bool +
-
+
- +evolve_time: float +
-
+
- +max_meeting_distance: float +
-
+
- +model_config: ClassVar[ConfigDict] = {'alias_generator': <function to_camel>, 'populate_by_name': True} +
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
+
-
+
- +relative_speed: EncounterRelativeSpeed +
-
+
- +situation_length: float +
-
+
- +vector_range: List[float] +
-
+
- +class trafficgen.types.EncounterType(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)[source] +
Bases:
+EnumEnumeration of encounter types.
+-
+
- +CROSSING_GIVE_WAY = 'crossing-give-way' +
-
+
- +CROSSING_STAND_ON = 'crossing-stand-on' +
-
+
- +HEAD_ON = 'head-on' +
-
+
- +NO_RISK_COLLISION = 'noRiskCollision' +
-
+
- +OVERTAKING_GIVE_WAY = 'overtaking-give-way' +
-
+
- +OVERTAKING_STAND_ON = 'overtaking-stand-on' +
-
+
- +class trafficgen.types.OwnShipInitial(*, initial: Initial, waypoints: List[Waypoint] | None = None)[source] +
Bases:
+BaseModelData type for initial data for the own ship used for generating a situation.
+-
+
- +initial: Initial +
-
+
- +model_config: ClassVar[ConfigDict] = {} +
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
+
-
+
- +waypoints: List[Waypoint] | None +
-
+
- +class trafficgen.types.SituationInput(*, title: str, description: str, numSituations: int, ownShip: OwnShipInitial, encounters: List[Encounter])[source] +
Bases:
+BaseModelData type for inputs needed for generating a situations.
+-
+
- +class Config[source] +
Bases:
+objectFor converting parameters written to file from snake to camel case.
+-
+
- +alias_generator() str +
Return a camel case formated string from snake case string.
+
-
+
- +populate_by_name = True +
-
+
- +description: str +
-
+
- +model_config: ClassVar[ConfigDict] = {'alias_generator': <function to_camel>, 'populate_by_name': True} +
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
+
-
+
- +num_situations: int +
-
+
- +own_ship: OwnShipInitial +
-
+
- +title: str +
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/branch/main/trafficgen.write_traffic_situation_to_file.html b/branch/main/trafficgen.write_traffic_situation_to_file.html
new file mode 100644
index 0000000..7e7bba3
--- /dev/null
+++ b/branch/main/trafficgen.write_traffic_situation_to_file.html
@@ -0,0 +1,172 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ trafficgen.utils module
+Utility functions that are used by several other functions.
+-
+
- +trafficgen.utils.calculate_bearing_between_waypoints(position_prev: Position, position_next: Position) float[source] +
Calculate the bearing in rad between two waypoints.
+-
+
- Params:
-
+
position_prev{latitude, longitude}: Previous waypoint [rad]
+position_next{latitude, longitude}: Next waypoint [rad]
+
+
-
+
- Returns: +
* bearing
+
+- Return type: +
Bearing between waypoints [m]
+
+
-
+
- +trafficgen.utils.calculate_destination_along_track(position_prev: Position, distance: float, bearing: float) Position[source] +
Calculate the destination along the track between two waypoints when distance along the track is given.
+-
+
- Params:
-
+
position_prev{latitude, longitude}: Previous waypoint [rad]
+distance: Distance to travel [m]
+bearing: Bearing from previous waypoint to next waypoint [rad]
+
+
-
+
- Returns: +
* destination{latitude, longitude}
+
+- Return type: +
Destination along the track [rad]
+
+
-
+
- +trafficgen.utils.calculate_distance(position_prev: Position, position_next: Position) float[source] +
Calculate the distance in meter between two waypoints.
+-
+
- Params:
-
+
position_prev{latitude, longitude}: Previous waypoint [rad]
+position_next{latitude, longitude}: Next waypoint [rad]
+
+
-
+
- Returns: +
* distance
+
+- Return type: +
Distance between waypoints [m]
+
+
-
+
- +trafficgen.utils.calculate_position_along_track_using_waypoints(waypoints: List[Waypoint], inital_speed: float, vector_time: float) Position[source] +
Calculate the position of the ship at a given time based on initial position +and delta time, and constant speed and course.
+-
+
- Params:
-
+
position{latitude, longitude}: Initial ship position [rad]
+speed: Ship speed [m/s]
+course: Ship course [rad]
+delta_time: Delta time from now to the time new position is being calculated [sec]
+
+
-
+
- Returns: +
* position{latitude, longitude}
+
+- Return type: +
Estimated ship position in delta time minutes [rad]
+
+
-
+
- +trafficgen.utils.calculate_position_at_certain_time(position: Position, lat_lon0: Position, speed: float, course: float, delta_time: float) Position[source] +
Calculate the position of the ship at a given time based on initial position +and delta time, and constant speed and course.
+-
+
- Params:
-
+
position{latitude, longitude}: Initial ship position [rad]
+speed: Ship speed [m/s]
+course: Ship course [rad]
+delta_time: Delta time from now to the time new position is being calculated [minutes]
+
+
-
+
- Returns: +
* position{latitude, longitude}
+
+- Return type: +
Estimated ship position in delta time minutes [rad]
+
+
-
+
- +trafficgen.utils.convert_angle_0_to_2_pi_to_minus_pi_to_pi(angle_2_pi: float) float[source] +
Convert an angle given in the region 0 to 2*pi degrees to an +angle given in the region -pi to pi degrees.
+-
+
- Params:
-
+
angle_2_pi: Angle given in the region 0 to 2pi radians
+
+
-
+
- Returns: +
* angle_pi
+
+- Return type: +
Angle given in the region -pi to pi radians
+
+
-
+
- +trafficgen.utils.convert_angle_minus_pi_to_pi_to_0_to_2_pi(angle_pi: float) float[source] +
Convert an angle given in the region -pi to pi degrees to an +angle given in the region 0 to 2pi radians.
+-
+
- Params:
-
+
angle_pi: Angle given in the region -pi to pi radians
+
+
-
+
- Returns: +
* angle_2_pi
+
+- Return type: +
Angle given in the region 0 to 2pi radians
+
+
-
+
- +trafficgen.utils.deg_2_rad(angle_in_degrees: float) float[source] +
Convert angle given in degrees to angle give in radians.
+-
+
- Params:
-
+
angle_in_degrees: Angle given in degrees
+
+
-
+
- Returns: +
* angle given in radians
+
+- Return type: +
Angle given in radians
+
+
-
+
- +trafficgen.utils.knot_2_m_pr_s(speed_in_knot: float) float[source] +
Convert ship speed in knots to meters pr second.
+-
+
- Params:
-
+
speed_in_knot: Ship speed given in knots
+
+
-
+
- Returns: +
* speed_in_m_pr_s
+
+- Return type: +
Ship speed in meters pr second
+
+
-
+
- +trafficgen.utils.m_2_nm(length_in_m: float) float[source] +
Convert length given in meters to length given in nautical miles.
+-
+
- Params:
-
+
length_in_m: Length given in meters
+
+
-
+
- Returns: +
* length_in_nm
+
+- Return type: +
Length given in nautical miles
+
+
-
+
- +trafficgen.utils.m_pr_s_2_knot(speed_in_m_pr_s: float) float[source] +
Convert ship speed in knots to meters pr second.
+-
+
- Params:
-
+
speed_in_m_pr_s: Ship speed given in meters pr second
+
+
-
+
- Returns: +
* speed_in_knot
+
+- Return type: +
Ship speed in knots
+
+
-
+
- +trafficgen.utils.min_2_s(time_in_min: float) float[source] +
Convert time given in minutes to time given in seconds.
+-
+
- Params:
-
+
time_in_min: Time given in minutes
+
+
-
+
- Returns: +
* time_in_s
+
+- Return type: +
Time in seconds
+
+
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+
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+ trafficgen.write_traffic_situation_to_file module
+Functions to clean traffic situations data before writing it to a json file.
+-
+
- +trafficgen.write_traffic_situation_to_file.convert_ship_data_from_si_units_to_maritime(ship: T_ship) T_ship[source] +
Convert ship data which is given in SI units to maritime units.
+-
+
- Params:
-
+
ship: Ship data
+
+
-
+
- Returns: +
* ship
+
+- Return type: +
Converted ship data
+
+
-
+
- +trafficgen.write_traffic_situation_to_file.convert_situation_data_from_si_units_to__maritime(situation: TrafficSituation) TrafficSituation[source] +
Convert situation data which is given in SI units to maritime units.
+-
+
- Params:
-
+
situation: Traffic situation data
+
+
-
+
- Returns: +
* situation
+
+- Return type: +
Converted traffic situation data
+
+
-
+
- +trafficgen.write_traffic_situation_to_file.write_traffic_situations_to_json_file(situations: List[TrafficSituation], write_folder: Path)[source] +
Write traffic situations to json file.
+-
+
- Params:
-
+
traffic_situations: Traffic situations to be written to file
+write_folder: Folder where the json files is to be written
+
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+
+ Usage
+To use Traffic Generator in a project:
+import trafficgen
+To use Traffic Generator as a command line tool for generating traffic situations, write:
+trafficgen gen-situation
+The command line tool takes different input options:
+-s, --situations PATH Folders with situations (default=./baseline_situations_input/)
+-t, --targets PATH Folder with target configurations (default=./target_ships/)
+-c, --settings PATH Path to settings file (default=./settings/encounter_settings.json)
+--visualize Plot visualization
+--col INTEGER Number of columns for plot, may be used with visualize (default=10)
+--row INTEGER Number of rows for plot, may be used with visualize (default=6)
+--visualize-situation INTEGER Plot individual traffic situation, specify INTEGER value
+-o, --output PATH Output folder (default=None)
+--help Show this message and exit.
+Example:
+trafficgen gen-situation -s ./data/example_situations_input -o ./data/test_output_1
+Situations
+When generating situations without specifying where the desired situations (--situation) are found, the
+default path, which is default=./baseline_situations_input/, will be used.
Baseline situations
+The baseline situations are a set of generic traffic situations covering head-on, overtaking stand-on/give-way
+and crossing stand-on/give-way encounters. To cover the combination of encounters for 1, 2 and 3 target ships,
+there are in total 55 baseline situations. The input files for generating these situations are found in
+./baseline_situations_input/
Plotting
+Plotting all generated traffic situations
+All the generated situations are displayed if using --visualize. This will pop up one or more plot windows,
+which show all the traffic situations. The number of colums and rows for the plots (per figure) can be specified by
+using --col and --row, respectively.
Individual plots with map background
+A specific encounter is visualized by using --visualize-situation INTEGER, e.g.:
trafficgen gen-situation -s ./data/example_situations_input -o ./data/test_output_1 --visualize-situation 2
+This will open a browser window/tab with an OpenStreetMap background and the traffic situation +radar plot as an overlay. +Note that the integer needs to be within the range of the number of generated situations, +for example 1 - 12 if you generated 12 situations.
+
+
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+
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+
+ Contributing
+Contributions are welcome, and they are greatly appreciated! Every little bit +helps, and credit will always be given.
+You can contribute in many ways:
+Types of Contributions
+Report Bugs
+Report bugs at https://github.com/dnv-opensource/ship-traffic-generator/issues.
+If you are reporting a bug, please include:
+-
+
Your operating system name and version.
+The version of Python (and Conda) that you are using.
+Any additional details about your local setup that might be helpful in troubleshooting.
+Detailed steps to reproduce the bug.
+
Fix Bugs
+Look through the GitHub issues for bugs. Anything tagged with “bug” and “help +wanted” is open to whoever wants to implement it.
+Implement Features
+Look through the GitHub issues for features. Anything tagged with “enhancement” +and “help wanted” is open to whoever wants to implement it.
+Write Documentation
+Traffic Generator could always use more documentation, whether as part of the +official Traffic Generator docs, in docstrings, or even on the web in blog posts, +articles, and such.
+Submit Feedback
+The best way to send feedback is to file an issue at https://github.com/dnv-opensource/ship-traffic-generator/issues.
+If you are proposing a feature:
+-
+
Explain in detail how it would work.
+Keep the scope as narrow as possible, to make it easier to implement.
+Remember that this is a volunteer-driven project, and that contributions +are welcome :)
+
Get Started!
+Ready to contribute? Here’s how to set up trafficgen for local development.
+-
+
Clone the trafficgen repo on GitHub.
+Install your local copy into a pyenv or conda environment.
+Create a branch for local development:
+++$ git checkout -b name-of-your-bugfix-or-feature +
Now you can make your changes locally.
+
+When you’re done making changes, check that your changes pass flake8 and the +tests, including testing other Python versions with tox:
+++$ flake8 --config tox.ini ./src/trafficgen ./tests +$ pytest ./tests +$ tox +
If you installed the package with poetry
++
+$ poetry install –with dev,docs
+flake8, pytest and tox should already be installed in your Python environment. +Note that the tox config assumes Python 3.10 and Python 3.11, you would have +to have them both available to tox for all tests to run. +If you only have one of these available tox will skip the non supported +environment (and in most cases that is OK). +If you are managing your Python enhancements with pyenv you will have to +install the necessary versions and then run pyenv rehash to make them +available to tox (or set multiple local envs with pyenv local py310 py311). +If you are using conda you will have to create a new environment with +the necessary Python version, install virtualenv in the environments +and then run conda activate <env-name> to make it available to tox (to run all +the environments in one go do conda activate inside activated environments).
+You can also run the python tests from VSCode via the “Testing” view, +“Configure Python Tests”, with pytest` and select the folder tests.
+
+Commit your changes and push your branch to the source repo:
+++$ git add . +$ git commit -m "Your detailed description of your changes." +$ git push origin name-of-your-bugfix-or-feature +
+Submit a pull request through https://github.com/dnv-opensource/ship-traffic-generator/pulls.
+
Pull Request Guidelines
+Before you submit a pull request, check that it meets these guidelines:
+-
+
The pull request should include tests.
+If the pull request adds functionality, the docs should be updated. Put +your new functionality into a function with a docstring, and add the +feature to the list in README.md.
+The pull request should work for Python 3.10.
+
Tips
+To run a subset of tests:
+$ pytest tests.test_trafficgen
+Deploying
+A reminder for the maintainers on how to deploy. +Make sure all your changes are committed (including an entry in HISTORY.rst). +Then run:
+$ bump2version patch # possible: major / minor / patch
+$ git push
+$ git push --tags
+
+
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+ Index
+ +
+ A
+ | B
+ | C
+ | D
+ | E
+ | F
+ | G
+ | H
+ | I
+ | K
+ | L
+ | M
+ | N
+ | O
+ | P
+ | R
+ | S
+ | T
+ | V
+ | W
+
+
+A
+B
+| + |
C
+D
+| + | + |
E
+F
+| + | + |
G
+| + | + |
H
+| + | + |
I
+| + |
K
+| + |
L
+| + |
M
+N
+| + | + |
O
+| + | + |
P
+| + |
R
+| + | + |
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+| + | + |
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+| + | + |
W
+| + | + |
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+ History
+0.6.0 (2024-11-11)
+Changed
+-
+
Updated to download-artifact@v4 (from download-artifact@v3)
+
0.5.0 (2024-04-26)
+Changed
+-
+
removed specific names for target ships. Files generated with target ship 1, 2 etc.
+changed tests. Still need to figure out why some tests “fail” using CLI.
+
0.4.0 (2024-04-19)
+Changed
+-
+
possible to have several aypoints for own ship
+fixing pyright error
+beta (relative bearing between osn ship and target ship seen from own ship) +is not just a number, but could also be a range
+situation length is used when checking if target ship is passing land
+
0.3.0 (2024-04-10)
+Changed
+-
+
using types from maritime schema
+lat/lon used instead of north/east
+the generated output files are using “maritime” units: knots and degrees
+
0.2.0 (2024-01-11)
+Changed
+-
+
add-basic-code-quality-settings-black-ruff-pyright,
+first-small-round-of-code-improvement
+add-domain-specific-data-types-for-ship-situation-etc-using-pydantic-models,
+activate-remaining-pyright-rules,
+add-github-workflows-to-build-package-and-to-build-and-publish-documentation
+sorting output from os.listdir
+github workflow for release
+removed cyclic import
+length of encounter may be specified by user
+
0.1.0 (2023-11-08)
+-
+
First release on PyPI.
+
+
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+ Welcome to Traffic Generator’s documentation!
+The tool generates a structured set of encounters for verifying automatic collision and +grounding avoidance systems. Based on input parameters such as desired situation, relative speed, +relative bearing etc, the tool will generate a set of traffic situations. The traffic situations +may be written to files and/or inspected using plots.
+A paper is written describing the background for
+the tool and how it works.
+
+Contents:
+-
+
- Installation + +
- Usage + +
- Input files +
- Contributing + +
- Authors + +
- History + +
- API Documentation
-
+
- trafficgen package
-
+
- Submodules
-
+
- trafficgen.check_land_crossing module +
- trafficgen.cli module +
- trafficgen.encounter module +
- trafficgen.marine_system_simulator module +
- trafficgen.plot_traffic_situation module +
- trafficgen.read_files module +
- trafficgen.ship_traffic_generator module +
- trafficgen.types module +
- trafficgen.utils module +
- trafficgen.write_traffic_situation_to_file module +
+
+ - Submodules
+ - trafficgen package
Indices and tables
+-
+
- +
- +
- +
+
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+ Input files
+Example 1: Complete specified situation:
+{
+ "title": "HO",
+ "description": "A head on situation with one target ship.",
+ "ownShip": {
+ "initial": {
+ "position": {
+ "latitude": 58.763449,
+ "longitude": 10.490654
+ },
+ "sog": 10.0,
+ "cog": 0.0,
+ "heading": 0.0,
+ "navStatus": "Under way using engine"
+ }
+ },
+ "encounters": [
+ {
+ "desiredEncounterType": "head-on",
+ "beta": 2.0,
+ "relativeSpeed": 1.2,
+ "vectorTime": 15.0
+ }
+ ]
+}
+The values may be given in either maritime units or SI units, and which unit is used shall be specified in the src/trafficgen/settings/encounter_settings.json file. +The common_vector is given in minutes (maritime) or seconds (SI). For radar plotting (plotting vessel positions and relative motions), +the common_vector and vector_time are used together with ship speed to display where the ship will be in e.g. 10 minutes +(Common vector is the common time vector used on a radar plot, e.g 10, 15, 20 minutes. The length of the arrow in the plot +will then be the speed times this time vector). +Speed and course of the own ship, which is the ship to be tested, are given in knots and degrees (maritime) or m/s and radians (SI), respectively. +The own ship position is given both in latitudinal and longitudinal (degree/radians) together with north/east in meters from the reference point. +The reference point is the initial position of own ship.
+An encounter may be fully described as shown above, but the user may also deside to input less data, +as demonstrated in Example 2. Desired encounter type is mandatory, +while the beta, relative_speed and vector_time parameters are optional:
++++
+- +
desired_encounter_type is either head-on, overtaking-give-way, overtaking-stand-on, crossing-give-way, and crossing-stand-on.
- +
beta is the relative bearing between the own ship and the target ship as seen from the own shop, given in degrees/radians.
- +
relative_speed is relative speed between the own ship and the target ship as seen from the own ship, such that a relative speed of 1.2 means that the target ship’s speed is 20% higher than the speed of the own ship.
An encounter is built using a maximum meeting distance [nm], see the paper linked in the introduction for more info. +At some time in the future, given by the vector_time, the target ship will be located somewhere inside a circle +with a radius given by max_meeting_distance and a center point given by the own ship position. This is not necessarily the +closest point of approach.
+The max_meeting_distance parameter is common for all encounters and is specified in src/trafficgen/settings/encounter_settings.json.
+Example 2: Minimum specified situation:
+{
+ "title": "HO",
+ "description": "A head on situation with one target ship.",
+ "ownShip": {
+ "initial": {
+ "position": {
+ "latitude": 58.763449,
+ "longitude": 10.490654
+ },
+ "sog": 10.0,
+ "cog": 0.0,
+ "heading": 0.0,
+ "navStatus": "Under way using engine"
+ }
+ },
+ "encounters": [
+ {
+ "desiredEncounterType": "head-on",
+ }
+ ]
+}
+You can also request the generation of several traffic situations of the same encounter type by specifying num_situations:
+Example 3: Generate multiple situations using numSituations:
+{
+ "title": "HO",
+ "description": "A head on situation with one target ship.",
+ "numSituations": 5
+ "ownShip": {
+ "initial": {
+ "position": {
+ "latitude": 58.763449,
+ "longitude": 10.490654
+ },
+ "sog": 10.0,
+ "cog": 0.0,
+ "heading": 0.0,
+ "navStatus": "Under way using engine"
+ }
+ },
+ "encounters": [
+ {
+ "desiredEncounterType": "head-on",
+ }
+ ]
+}
+The next example show how it is possible to give a range for the relative bearing between own ship and target ship
+Example 4: Assign range for beta:
+{
+ "title": "CR_GW",
+ "common_vector": 10.0,
+ "own_ship": {
+ "speed": 7.0,
+ "course": 0.0,
+ "position": {
+ "latitude": 58.763449,
+ "longitude": 10.490654
+ }
+ },
+ "encounter": [
+ {
+ "desired_encounter_type": "crossing-give-way",
+ "beta": [45.0,120.0]
+ }
+ ]
+}
+
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+ Installation
+Stable release
+To install Traffic Generator, run this command in your terminal:
+$ pip install trafficgen
+This is the preferred method to install Traffic Generator, as it will always install the most recent stable release.
+If you don’t have pip installed, this Python installation guide can guide +you through the process.
+From sources
+The sources for Traffic Generator can be downloaded from the https://github.com/dnv-opensource/ship-traffic-generator.
+You can either clone the public repository:
+$ git clone https://github.com/dnv-opensource/ship-traffic-generator
+Once you have a copy of the source, you can install it with:
+$ python setup.py install
+
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+
+
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+
+
+
+
+
+
+ trafficgen
+
+
+-
+
- trafficgen package
-
+
- Submodules
-
+
- trafficgen.check_land_crossing module + +
- trafficgen.cli module +
- trafficgen.encounter module
-
+
assign_beta()
+assign_beta_from_list()
+assign_future_position_to_target_ship()
+assign_sog_to_target_ship()
+assign_vector_time()
+calculate_min_vector_length_target_ship()
+calculate_relative_bearing()
+calculate_ship_cog()
+check_encounter_evolvement()
+decide_target_ship()
+define_own_ship()
+determine_colreg()
+find_start_position_target_ship()
+generate_encounter()
+
+ - trafficgen.marine_system_simulator module
-
+
flat2llh()
+llh2flat()
+ssa()
+
+ - trafficgen.plot_traffic_situation module + +
- trafficgen.read_files module
-
+
camel_to_snake()
+check_input_units()
+convert_keys_to_snake_case()
+convert_settings_data_from_maritime_to_si_units()
+convert_situation_data_from_maritime_to_si_units()
+read_encounter_settings_file()
+read_generated_situation_files()
+read_own_ship_static_file()
+read_situation_files()
+read_target_ship_static_files()
+
+ - trafficgen.ship_traffic_generator module + +
- trafficgen.types module + +
- trafficgen.utils module
-
+
calculate_bearing_between_waypoints()
+calculate_destination_along_track()
+calculate_distance()
+calculate_position_along_track_using_waypoints()
+calculate_position_at_certain_time()
+convert_angle_0_to_2_pi_to_minus_pi_to_pi()
+convert_angle_minus_pi_to_pi_to_0_to_2_pi()
+deg_2_rad()
+knot_2_m_pr_s()
+m_2_nm()
+m_pr_s_2_knot()
+min_2_s()
+nm_2_m()
+rad_2_deg()
+
+ - trafficgen.write_traffic_situation_to_file module + +
+
+ - Submodules
+
+
+
+
+
+
+
+
+
+
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+ Python Module Index
+ +
+ t
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+
+ | + t | ||
| + |
+ trafficgen | + |
| + |
+ trafficgen.check_land_crossing | + |
| + |
+ trafficgen.cli | + |
| + |
+ trafficgen.encounter | + |
| + |
+ trafficgen.marine_system_simulator | + |
| + |
+ trafficgen.plot_traffic_situation | + |
| + |
+ trafficgen.read_files | + |
| + |
+ trafficgen.ship_traffic_generator | + |
| + |
+ trafficgen.types | + |
| + |
+ trafficgen.utils | + |
| + |
+ trafficgen.write_traffic_situation_to_file | + |
+
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+
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diff --git a/searchindex.js b/searchindex.js
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@@ -0,0 +1 @@
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(in module trafficgen.plot_traffic_situation)": [[13, "trafficgen.plot_traffic_situation.add_ship_to_plot", false]], "alias_generator() (trafficgen.types.encounter.config method)": [[16, "trafficgen.types.Encounter.Config.alias_generator", false]], "alias_generator() (trafficgen.types.encounterclassification.config method)": [[16, "trafficgen.types.EncounterClassification.Config.alias_generator", false]], "alias_generator() (trafficgen.types.encounterrelativespeed.config method)": [[16, "trafficgen.types.EncounterRelativeSpeed.Config.alias_generator", false]], "alias_generator() (trafficgen.types.encountersettings.config method)": [[16, "trafficgen.types.EncounterSettings.Config.alias_generator", false]], "alias_generator() (trafficgen.types.situationinput.config method)": [[16, "trafficgen.types.SituationInput.Config.alias_generator", false]], "assign_beta() (in module trafficgen.encounter)": [[11, "trafficgen.encounter.assign_beta", false]], "assign_beta_from_list() (in module trafficgen.encounter)": [[11, "trafficgen.encounter.assign_beta_from_list", false]], "assign_future_position_to_target_ship() (in module trafficgen.encounter)": [[11, "trafficgen.encounter.assign_future_position_to_target_ship", false]], "assign_sog_to_target_ship() (in module trafficgen.encounter)": [[11, "trafficgen.encounter.assign_sog_to_target_ship", false]], "assign_vector_time() (in module trafficgen.encounter)": [[11, "trafficgen.encounter.assign_vector_time", false]], "beta (trafficgen.types.encounter attribute)": [[16, "trafficgen.types.Encounter.beta", false]], "calculate_bearing_between_waypoints() (in module trafficgen.utils)": [[17, "trafficgen.utils.calculate_bearing_between_waypoints", false]], "calculate_destination_along_track() (in module trafficgen.utils)": [[17, "trafficgen.utils.calculate_destination_along_track", false]], "calculate_distance() (in module trafficgen.utils)": [[17, "trafficgen.utils.calculate_distance", false]], "calculate_min_vector_length_target_ship() (in module trafficgen.encounter)": [[11, "trafficgen.encounter.calculate_min_vector_length_target_ship", false]], "calculate_position_along_track_using_waypoints() (in module trafficgen.utils)": [[17, "trafficgen.utils.calculate_position_along_track_using_waypoints", false]], "calculate_position_at_certain_time() (in module trafficgen.utils)": [[17, "trafficgen.utils.calculate_position_at_certain_time", false]], "calculate_relative_bearing() (in module trafficgen.encounter)": [[11, "trafficgen.encounter.calculate_relative_bearing", false]], "calculate_ship_cog() (in module trafficgen.encounter)": [[11, "trafficgen.encounter.calculate_ship_cog", false]], "calculate_ship_outline() (in module trafficgen.plot_traffic_situation)": [[13, "trafficgen.plot_traffic_situation.calculate_ship_outline", false]], "calculate_vector_arrow() (in module trafficgen.plot_traffic_situation)": [[13, "trafficgen.plot_traffic_situation.calculate_vector_arrow", false]], "camel_to_snake() (in module trafficgen.read_files)": [[14, "trafficgen.read_files.camel_to_snake", false]], "check_encounter_evolvement() (in module trafficgen.encounter)": [[11, "trafficgen.encounter.check_encounter_evolvement", false]], "check_input_units() (in module trafficgen.read_files)": [[14, "trafficgen.read_files.check_input_units", false]], "classification (trafficgen.types.encountersettings attribute)": [[16, "trafficgen.types.EncounterSettings.classification", false]], "common_vector (trafficgen.types.encountersettings attribute)": [[16, "trafficgen.types.EncounterSettings.common_vector", false]], "convert_angle_0_to_2_pi_to_minus_pi_to_pi() (in module trafficgen.utils)": [[17, "trafficgen.utils.convert_angle_0_to_2_pi_to_minus_pi_to_pi", false]], "convert_angle_minus_pi_to_pi_to_0_to_2_pi() (in module trafficgen.utils)": [[17, "trafficgen.utils.convert_angle_minus_pi_to_pi_to_0_to_2_pi", false]], "convert_keys_to_snake_case() (in module trafficgen.read_files)": [[14, "trafficgen.read_files.convert_keys_to_snake_case", false]], "convert_settings_data_from_maritime_to_si_units() (in module trafficgen.read_files)": [[14, "trafficgen.read_files.convert_settings_data_from_maritime_to_si_units", false]], "convert_ship_data_from_si_units_to_maritime() (in module trafficgen.write_traffic_situation_to_file)": [[18, "trafficgen.write_traffic_situation_to_file.convert_ship_data_from_si_units_to_maritime", false]], "convert_situation_data_from_maritime_to_si_units() (in module trafficgen.read_files)": [[14, "trafficgen.read_files.convert_situation_data_from_maritime_to_si_units", false]], "convert_situation_data_from_si_units_to__maritime() (in module trafficgen.write_traffic_situation_to_file)": [[18, "trafficgen.write_traffic_situation_to_file.convert_situation_data_from_si_units_to__maritime", false]], "crossing_give_way (trafficgen.types.encounterrelativespeed attribute)": [[16, "trafficgen.types.EncounterRelativeSpeed.crossing_give_way", false]], "crossing_give_way (trafficgen.types.encountertype attribute)": [[16, "trafficgen.types.EncounterType.CROSSING_GIVE_WAY", false]], "crossing_stand_on (trafficgen.types.encounterrelativespeed attribute)": [[16, "trafficgen.types.EncounterRelativeSpeed.crossing_stand_on", false]], "crossing_stand_on (trafficgen.types.encountertype attribute)": [[16, "trafficgen.types.EncounterType.CROSSING_STAND_ON", false]], "decide_target_ship() (in module trafficgen.encounter)": [[11, "trafficgen.encounter.decide_target_ship", false]], "define_own_ship() (in module trafficgen.encounter)": [[11, "trafficgen.encounter.define_own_ship", false]], "deg_2_rad() (in module trafficgen.utils)": [[17, "trafficgen.utils.deg_2_rad", false]], "description (trafficgen.types.situationinput attribute)": [[16, "trafficgen.types.SituationInput.description", false]], "desired_encounter_type (trafficgen.types.encounter attribute)": [[16, "trafficgen.types.Encounter.desired_encounter_type", false]], "determine_colreg() (in module trafficgen.encounter)": [[11, "trafficgen.encounter.determine_colreg", false]], "disable_land_check (trafficgen.types.encountersettings attribute)": [[16, "trafficgen.types.EncounterSettings.disable_land_check", false]], "encounter (class in trafficgen.types)": [[16, "trafficgen.types.Encounter", false]], "encounter.config (class in trafficgen.types)": [[16, "trafficgen.types.Encounter.Config", false]], "encounterclassification (class in trafficgen.types)": [[16, "trafficgen.types.EncounterClassification", false]], "encounterclassification.config (class in trafficgen.types)": [[16, "trafficgen.types.EncounterClassification.Config", false]], "encounterrelativespeed (class in trafficgen.types)": [[16, "trafficgen.types.EncounterRelativeSpeed", false]], "encounterrelativespeed.config (class in trafficgen.types)": [[16, "trafficgen.types.EncounterRelativeSpeed.Config", false]], "encounters (trafficgen.types.situationinput attribute)": [[16, "trafficgen.types.SituationInput.encounters", false]], "encountersettings (class in trafficgen.types)": [[16, "trafficgen.types.EncounterSettings", false]], "encountersettings.config (class in trafficgen.types)": [[16, "trafficgen.types.EncounterSettings.Config", false]], "encountertype (class in trafficgen.types)": [[16, "trafficgen.types.EncounterType", false]], "evolve_time (trafficgen.types.encountersettings attribute)": [[16, "trafficgen.types.EncounterSettings.evolve_time", false]], "find_max_value_for_plot() (in module trafficgen.plot_traffic_situation)": [[13, "trafficgen.plot_traffic_situation.find_max_value_for_plot", false]], "find_start_position_target_ship() (in module trafficgen.encounter)": [[11, "trafficgen.encounter.find_start_position_target_ship", false]], "flat2llh() (in module trafficgen.marine_system_simulator)": [[12, "trafficgen.marine_system_simulator.flat2llh", false]], "generate_encounter() (in module trafficgen.encounter)": [[11, "trafficgen.encounter.generate_encounter", false]], "generate_traffic_situations() (in module trafficgen.ship_traffic_generator)": [[15, "trafficgen.ship_traffic_generator.generate_traffic_situations", false]], "head_on (trafficgen.types.encounterrelativespeed attribute)": [[16, "trafficgen.types.EncounterRelativeSpeed.head_on", false]], "head_on (trafficgen.types.encountertype attribute)": [[16, "trafficgen.types.EncounterType.HEAD_ON", false]], "initial (trafficgen.types.ownshipinitial attribute)": [[16, "trafficgen.types.OwnShipInitial.initial", false]], "knot_2_m_pr_s() (in module trafficgen.utils)": [[17, "trafficgen.utils.knot_2_m_pr_s", false]], "llh2flat() (in module trafficgen.marine_system_simulator)": [[12, "trafficgen.marine_system_simulator.llh2flat", false]], "m_2_nm() (in module trafficgen.utils)": [[17, "trafficgen.utils.m_2_nm", false]], "m_pr_s_2_knot() (in module trafficgen.utils)": [[17, "trafficgen.utils.m_pr_s_2_knot", false]], "max_meeting_distance (trafficgen.types.encountersettings attribute)": [[16, "trafficgen.types.EncounterSettings.max_meeting_distance", false]], "min_2_s() (in module trafficgen.utils)": [[17, "trafficgen.utils.min_2_s", false]], "model_computed_fields (trafficgen.types.encounter attribute)": [[16, "trafficgen.types.Encounter.model_computed_fields", false]], "model_computed_fields (trafficgen.types.encounterclassification attribute)": [[16, "trafficgen.types.EncounterClassification.model_computed_fields", false]], "model_computed_fields (trafficgen.types.encounterrelativespeed attribute)": [[16, "trafficgen.types.EncounterRelativeSpeed.model_computed_fields", false]], "model_computed_fields (trafficgen.types.encountersettings attribute)": [[16, "trafficgen.types.EncounterSettings.model_computed_fields", false]], "model_computed_fields (trafficgen.types.ownshipinitial attribute)": [[16, "trafficgen.types.OwnShipInitial.model_computed_fields", false]], "model_computed_fields (trafficgen.types.situationinput attribute)": [[16, "trafficgen.types.SituationInput.model_computed_fields", false]], "model_config (trafficgen.types.encounter attribute)": [[16, "trafficgen.types.Encounter.model_config", false]], "model_config (trafficgen.types.encounterclassification attribute)": [[16, "trafficgen.types.EncounterClassification.model_config", false]], "model_config (trafficgen.types.encounterrelativespeed attribute)": [[16, "trafficgen.types.EncounterRelativeSpeed.model_config", false]], "model_config (trafficgen.types.encountersettings attribute)": [[16, "trafficgen.types.EncounterSettings.model_config", false]], "model_config (trafficgen.types.ownshipinitial attribute)": [[16, "trafficgen.types.OwnShipInitial.model_config", false]], "model_config (trafficgen.types.situationinput attribute)": [[16, "trafficgen.types.SituationInput.model_config", false]], "model_fields (trafficgen.types.encounter attribute)": [[16, "trafficgen.types.Encounter.model_fields", false]], "model_fields 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"overtaking_stand_on (trafficgen.types.encountertype attribute)": [[16, "trafficgen.types.EncounterType.OVERTAKING_STAND_ON", false]], "own_ship (trafficgen.types.situationinput attribute)": [[16, "trafficgen.types.SituationInput.own_ship", false]], "ownshipinitial (class in trafficgen.types)": [[16, "trafficgen.types.OwnShipInitial", false]], "path_crosses_land() (in module trafficgen.check_land_crossing)": [[9, "trafficgen.check_land_crossing.path_crosses_land", false]], "plot_specific_traffic_situation() (in module trafficgen.plot_traffic_situation)": [[13, "trafficgen.plot_traffic_situation.plot_specific_traffic_situation", false]], "plot_traffic_situations() (in module trafficgen.plot_traffic_situation)": [[13, "trafficgen.plot_traffic_situation.plot_traffic_situations", false]], "populate_by_name (trafficgen.types.encounter.config attribute)": [[16, "trafficgen.types.Encounter.Config.populate_by_name", false]], "populate_by_name (trafficgen.types.encounterclassification.config attribute)": [[16, "trafficgen.types.EncounterClassification.Config.populate_by_name", false]], "populate_by_name (trafficgen.types.encounterrelativespeed.config attribute)": [[16, "trafficgen.types.EncounterRelativeSpeed.Config.populate_by_name", false]], "populate_by_name (trafficgen.types.encountersettings.config attribute)": [[16, "trafficgen.types.EncounterSettings.Config.populate_by_name", false]], "populate_by_name (trafficgen.types.situationinput.config attribute)": [[16, "trafficgen.types.SituationInput.Config.populate_by_name", false]], "rad_2_deg() (in module trafficgen.utils)": [[17, "trafficgen.utils.rad_2_deg", false]], "read_encounter_settings_file() (in module trafficgen.read_files)": [[14, "trafficgen.read_files.read_encounter_settings_file", false]], "read_generated_situation_files() (in module trafficgen.read_files)": [[14, "trafficgen.read_files.read_generated_situation_files", false]], "read_own_ship_static_file() (in module trafficgen.read_files)": [[14, 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16], "max_valu": 13, "maximum": [5, 11, 13], "maxmeetingdist": 16, "md": 2, "mean": 5, "meet": [2, 5], "messag": 19, "metadata": 16, "meter": [5, 12, 17], "method": [6, 12], "might": 2, "mile": 17, "min": 11, "min_2_": [0, 7, 8, 17], "min_target_ship_sog": 11, "min_vector_length": 11, "minimum": [5, 11], "mino": 1, "minor": 2, "minut": [5, 17], "model": [3, 12, 16], "model_computed_field": [8, 16], "model_config": [8, 16], "model_field": [8, 16], "modul": [0, 4, 7, 8], "moment": 8, "more": [2, 5, 13, 14, 15, 19], "most": [2, 6], "motion": [5, 12], "mss": 12, "multipl": [2, 5], "name": [2, 3, 11, 16], "narrow": 2, "nautic": 17, "navig": 12, "navstatu": 5, "nearli": 11, "necessari": [2, 11], "necessarili": 5, "ned": 12, "need": [3, 8, 14, 16, 19], "nest": 14, "new": [2, 17], "next": [5, 17], "nm": 5, "nm_2_m": [0, 7, 8, 17], "no_risk_collis": [8, 16], "non": 2, "none": [11, 13, 16, 19], "nonetyp": 16, "noriskcollis": 16, "north": [3, 5, 11, 12, 13], "note": [2, 19], "noth": 8, "now": [2, 17], "num_situ": [5, 8, 16], "number": [3, 13, 15, 19], "numsitu": [5, 16], "o": [3, 19], "object": 16, "offici": 2, "ok": [2, 11], "onc": 6, "one": [2, 5, 11, 13, 14, 15, 19], "onli": 2, "open": [2, 19], "opensourc": [2, 6], "openstreetmap": 19, "oper": 2, "option": [5, 19], "origin": [2, 12], "osn": 3, "other": [2, 17], "out": 3, "outlin": 13, "output": [3, 19], "overlai": 19, "overtak": [5, 11, 16, 19], "overtaking_give_wai": [8, 16], "overtaking_stand_on": [8, 16], "overtakinggivewai": 16, "overtakingstandon": 16, "own": [3, 5, 11, 14, 15, 16], "own_ship": [5, 8, 11, 14, 16], "own_ship_cog": 11, "own_ship_fil": [14, 15], "own_ship_posit": 11, "own_ship_position_futur": 11, "own_ship_sog": 11, "own_ship_stat": 11, "own_ship_static_fil": 14, "ownship": [5, 11, 16], "ownshipiniti": [0, 7, 8, 16], "packag": [0, 2, 3, 4, 7, 10], "page": 4, "paper": [4, 5], "param": [9, 11, 12, 13, 14, 15, 17, 18], "paramet": [4, 5, 16], "part": [2, 9, 12], "pass": [2, 3], "patch": 2, "path": [9, 14, 15, 18, 19], "path_crosses_land": [0, 7, 8, 9], "pedersen": 1, "per": 19, "pi": [12, 17], "pick": 11, "pip": 6, "pleas": 2, "plot": [4, 5, 13], "plot_specific_traffic_situ": [0, 7, 8, 13], "plot_traffic_situ": [0, 4, 7, 8], "poetri": 2, "point": [5, 9, 11, 13], "polygon": 13, "pop": 19, "populate_by_nam": [8, 16], "pos_0": 11, "pos_1": 11, "posit": [5, 9, 11, 12, 13, 17], "position_1": 9, "position_next": 17, "position_own_ship": 11, "position_prev": 17, "position_target_ship": 11, "possibl": [2, 3, 5], "post": 2, "pr": 17, "prefer": 6, "prepar": 13, "previou": 17, "primari": 4, "process": 6, "project": [2, 19], "proper": 11, "propos": 2, "public": 6, "publish": 3, "pull": 4, "push": 2, "put": 2, "py": 6, "py310": 2, "py311": 2, "pydant": [3, 16], "pyenv": 2, "pypi": 3, "pyright": 3, "pytest": 2, "python": [2, 6, 12], "qualiti": 3, "qualnam": 16, "rad": [9, 11, 12, 13, 17], "rad_2_deg": [0, 7, 8, 17], "radar": [5, 19], "radian": [5, 17], "radiu": [5, 11, 12], "random": 11, "randomli": 11, "rang": [3, 5, 19], "re": [2, 12], "read": 14, "read_encounter_settings_fil": [0, 7, 8, 14], "read_fil": [0, 4, 7, 8], "read_generated_situation_fil": [0, 7, 8, 14], "read_own_ship_static_fil": [0, 7, 8, 14], "read_situation_fil": [0, 7, 8, 14], "read_target_ship_static_fil": [0, 7, 8, 14], "readi": 2, "readm": 2, "real": 12, "recent": 6, "reciproc": 11, "refer": [5, 9, 11, 12, 13], "region": 17, "rehash": 2, "rel": [3, 4, 5, 11, 16], "relative_sog_default": 11, "relative_sog_set": 11, "relative_spe": [5, 8, 16], "relativespe": [5, 16], "releas": [3, 4], "remain": 3, "rememb": 2, "remind": 2, "remov": 3, "replac": 16, "repo": 2, "report": 4, "repositori": 6, "reproduc": 2, "request": [4, 5], "requir": 16, "respect": [5, 19], "return": [9, 11, 12, 13, 14, 15, 16, 17, 18], "revis": 12, "rostock": 1, "round": 3, "row": [13, 19], "rst": 2, "ruff": 3, "rule": 3, "run": [2, 6], "same": [5, 11], "schema": 3, "scope": 2, "search": 4, "sec": [9, 13, 17], "second": [5, 17], "see": 5, "seen": [3, 5, 11], "select": 2, "send": 2, "set": [2, 3, 4, 5, 11, 13, 14, 15, 16, 19], "settings_fil": [14, 15], "setup": [2, 6], "sever": [3, 5, 17], "shall": [5, 11], "ship": [2, 3, 5, 6, 9, 11, 12, 13, 14, 15, 16, 17, 18, 19], "ship_length": 13, "ship_outline_point": 13, "ship_traffic_gener": [0, 4, 7, 8], "ship_width": 13, "shipstat": [11, 14], "shop": 5, "should": [2, 9, 11, 16], "show": [5, 19], "shown": 5, "si": [5, 14, 18], "sign": 12, "simul": 12, "simulink": 12, "situat": [3, 4, 5, 11, 13, 14, 15, 16, 18], "situation_fold": [14, 15], "situation_length": [8, 16], "situation_numb": 13, "situationinput": [0, 7, 8, 11, 14, 16], "situationlength": 16, "size": 11, "skip": 2, "small": 3, "smallest": 12, "smallest_angl": 12, "snake": [14, 16], "sog": [5, 11], "some": [3, 5, 11], "somewher": [5, 11], "sort": 3, "sourc": [2, 4, 9, 11, 12, 13, 14, 15, 16, 17, 18], "specif": [3, 13, 16, 19], "specifi": [3, 5, 14, 15, 19], "speed": [4, 5, 9, 16, 17], "speed_in_knot": 17, "speed_in_m_pr_": 17, "src": [2, 5], "ssa": [0, 7, 8, 12], "stabl": 4, "stand": [5, 11, 16, 19], "start": [4, 11, 16], "start_position_found": 11, "start_position_target_ship": 11, "static": [11, 14], "step": 2, "stephani": 1, "still": 3, "str": [13, 14, 16], "string": [14, 16], "structur": [4, 12], "submit": 4, "submodul": [0, 4, 7], "subset": 2, "support": 2, "sure": 2, "surfac": 12, "system": [2, 4, 12], "t": [6, 12, 19], "t_ship": 18, "tab": 19, "tag": 2, "take": 19, "taken": 12, "target": [3, 5, 11, 14, 15, 19], "target_ship": [11, 19], "target_ship_1": 11, "target_ship_cog": 11, "target_ship_fold": [14, 15], "target_ship_position_futur": 11, "target_ship_sog": 11, "target_ship_vector_length": 11, "target_ships_stat": [11, 14], "targetship": 11, "termin": 6, "test": [2, 3, 5, 14], "test_output_1": 19, "test_trafficgen": 2, "tester": 4, "than": 5, "thei": 2, "them": 2, "theta13_criteria": [8, 11, 16], "theta13criteria": 16, "theta14_criteria": [8, 11, 16], "theta14criteria": 16, "theta15": [8, 11, 16], "theta15_criteria": [8, 11, 16], "theta15criteria": 16, "thi": [2, 5, 6, 11, 15, 16, 19], "thor": 12, "through": [2, 6], "time": [5, 9, 11, 12, 13, 17], "time_in_": 17, "time_in_min": 17, "time_interv": 9, "tip": 4, "titl": [5, 8, 16], "to_camel": [0, 7, 8, 16], "togeth": 5, "toler": 11, "tom": 1, "tool": [4, 19], "toolbox": 12, "top": 8, "total": 19, "tox": 2, "track": 17, "traffic": [2, 5, 6, 8, 11, 13, 14, 15, 18], "traffic_situ": [13, 15, 18], "trafficgen": [0, 2, 4, 5, 6, 19], "trafficsitu": [13, 14, 15, 18], "travel": [9, 17], "troubleshoot": 2, "true": [9, 11, 16], "tupl": [11, 12, 13], "two": [11, 12, 16, 17], "type": [0, 3, 4, 5, 7, 8, 9, 11, 12, 13, 14, 15, 17, 18], "under": 5, "underwat": 12, "uniform": 11, "union": 16, "unit": [3, 5, 14, 18], "unman": 12, "up": [2, 11, 19], "updat": [2, 3, 12, 13], "upward": 12, "us": [2, 3, 4, 5, 11, 12, 14, 15, 16, 17, 19], "usag": 4, "user": [3, 5, 11], "util": [0, 4, 7, 8], "v1": 16, "v3": 3, "v4": 3, "valu": [5, 11, 16, 19], "vector": [5, 11, 13], "vector_length": 13, "vector_rang": [8, 11, 16], "vector_tim": [5, 8, 11, 13, 16, 17], "vector_time_default": 11, "vector_time_rang": 11, "vectorrang": 16, "vectortim": [5, 16], "vehicl": 12, "verifi": 4, "version": 2, "vessel": [5, 9], "via": 2, "view": 2, "virtualenv": 2, "visual": 19, "volunt": 2, "vscode": 2, "wai": [2, 5, 11, 16, 19], "want": 2, "waypoint": [8, 11, 16, 17], "waypoint_0": 11, "waypoint_1": 11, "web": 2, "welcom": 2, "wg": 12, "when": [2, 3, 11, 17, 19], "where": [5, 14, 15, 18, 19], "whether": 2, "which": [5, 12, 14, 18, 19], "while": [5, 12], "whoever": 2, "why": 3, "width": 13, "wilei": 12, "window": 19, "within": 19, "without": [9, 19], "work": [2, 4], "workflow": 3, "would": 2, "write": [4, 18, 19], "write_fold": 18, "write_traffic_situation_to_fil": [0, 4, 7, 8], "write_traffic_situations_to_json_fil": [0, 7, 8, 18], "written": [4, 16, 18], "x": 11, "x_n": 12, "xn": 12, "y_n": 12, "yn": 12, "you": [2, 5, 6, 19], "your": [2, 6], "z_n": 12, "zn": 12}, "titles": ["API Documentation", "Authors", "Contributing", "History", "Welcome to Traffic Generator\u2019s documentation!", "Input files", "Installation", "trafficgen", "trafficgen package", "trafficgen.check_land_crossing module", "trafficgen.cli module", "trafficgen.encounter module", "trafficgen.marine_system_simulator module", "trafficgen.plot_traffic_situation module", "trafficgen.read_files module", "trafficgen.ship_traffic_generator module", "trafficgen.types module", "trafficgen.utils module", "trafficgen.write_traffic_situation_to_file module", "Usage"], "titleterms": {"": 4, "0": 3, "01": 3, "04": 3, "08": 3, "1": 3, "10": 3, "11": 3, "19": 3, "2": 3, "2023": 3, "2024": 3, "26": 3, "3": 3, "4": 3, "5": 3, "6": 3, "all": 19, "api": 0, "author": 1, "background": 19, "baselin": 19, "bug": 2, "check_land_cross": 9, "cli": 10, "content": 4, "contribut": 2, "deploi": 2, "document": [0, 2, 4], "encount": 11, "featur": 2, "feedback": 2, "file": 5, "fix": 2, "from": 6, "gener": [4, 19], "get": 2, "guidelin": 2, "histori": 3, "implement": 2, "indic": 4, "individu": 19, "input": 5, "instal": 6, "map": 19, "marine_system_simul": 12, "modul": [9, 10, 11, 12, 13, 14, 15, 16, 17, 18], "packag": 8, "plot": 19, "plot_traffic_situ": 13, "primari": 1, "pull": 2, "read_fil": 14, "releas": 6, "report": 2, "request": 2, "ship_traffic_gener": 15, "situat": 19, "sourc": 6, "stabl": 6, "start": 2, "submit": 2, "submodul": 8, "tabl": 4, "tester": 1, "tip": 2, "traffic": [4, 19], "trafficgen": [7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18], "type": [2, 16], "usag": 19, "util": 17, "welcom": 4, "write": 2, "write_traffic_situation_to_fil": 18}})
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+ trafficgen.check_land_crossing module
+Module with helper functions to determine if a generated path is crossing land.
+-
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- +trafficgen.check_land_crossing.path_crosses_land(position_1: Position, speed: float, course: float, lat_lon0: Position, time_interval: float = 300.0) bool[source] +
Find if path is crossing land.
+-
+
- Params:
position_1: Ship position in latitude/longitude [rad]. +speed: Ship speed [m/s]. +course: Ship course [rad]. +lat_lon0: Reference point, latitudinal [rad] and longitudinal [rad]. +time_interval: The time interval the vessel should travel without crossing land [sec]
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- Returns: +
is_on_land
+
+- Return type: +
True if parts of the path crosses land.
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+ trafficgen.cli module
+CLI for trafficgen package.
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+ trafficgen.encounter module
+Functions to generate encounters consisting of one own ship and one to many target ships. +The generated encounters may be of type head-on, overtaking give-way and stand-on and +crossing give-way and stand-on.
+-
+
- +trafficgen.encounter.assign_beta(encounter_type: EncounterType, settings: EncounterSettings) float[source] +
Assign random (uniform) relative bearing beta between own ship +and target ship depending on type of encounter.
+-
+
- Params:
-
+
encounter_type: Type of encounter
+settings: Encounter settings
+
+
-
+
- Return type: +
* Relative bearing between own ship and target ship seen from own ship [rad]
+
+
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- +trafficgen.encounter.assign_beta_from_list(beta_limit: List[float]) float[source] +
Assign random (uniform) relative bearing beta between own ship +and target ship depending between the limits given by beta_limit.
+-
+
- Params:
-
+
beta_limit: Limits for beta
+
+
-
+
- Return type: +
* Relative bearing between own ship and target ship seen from own ship [rad]
+
+
-
+
- +trafficgen.encounter.assign_future_position_to_target_ship(own_ship_position_future: Position, lat_lon0: Position, max_meeting_distance: float) Position[source] +
Randomly assign future position of target ship. If drawing a circle with radius +max_meeting_distance around future position of own ship, future position of +target ship shall be somewhere inside this circle.
+-
+
- Params:
-
+
-
+
- own_ship_position_future: Dict, own ship position at a given time in the
future, {north, east}
+
+
+lat_lon0: Reference point, latitudinal [rad] and longitudinal [rad]
+-
+
- max_meeting_distance: Maximum distance between own ship and target ship at
a given time in the future [m]
+
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+
-
+
- Returns: +
future_position_target_ship
+
+- Return type: +
Future position of target ship {north, east} [m]
+
+
-
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- +trafficgen.encounter.assign_sog_to_target_ship(encounter_type: EncounterType, own_ship_sog: float, min_target_ship_sog: float, relative_sog_setting: EncounterRelativeSpeed)[source] +
Assign random (uniform) sog to target ship depending on type of encounter.
+-
+
- Params:
-
+
encounter_type: Type of encounter
+own_ship_sog: Own ship sog [m/s]
+min_target_ship_sog: Minimum target ship sog [m/s]
+relative_sog_setting: Relative sog setting dependent on encounter [-]
+
+
-
+
- Returns: +
* target_ship_sog
+
+- Return type: +
Target ship sog [m/s]
+
+
-
+
- +trafficgen.encounter.assign_vector_time(vector_time_range: List[float])[source] +
Assign random (uniform) vector time.
+-
+
- Params:
-
+
vector_range: Minimum and maximum value for vector time
+
+
-
+
- Returns: +
* vector_time
+
+- Return type: +
Vector time [min]
+
+
-
+
- +trafficgen.encounter.calculate_min_vector_length_target_ship(own_ship_position: Position, own_ship_cog: float, target_ship_position_future: Position, desired_beta: float, lat_lon0: Position) float[source] +
Calculate minimum vector length (target ship sog x vector). This will +ensure that ship sog is high enough to find proper situation.
+-
+
- Params:
-
+
own_ship_position: Own ship initial position, latitudinal [rad] and longitudinal [rad]
+own_ship_cog: Own ship initial cog
+target_ship_position_future: Target ship future position
+desired_beta: Desired relative bearing between
+lat_lon0: Reference point, latitudinal [rad] and longitudinal [rad]
+
+
-
+
- Returns: +
* min_vector_length
+
+- Return type: +
Minimum vector length (target ship sog x vector)
+
+
-
+
- +trafficgen.encounter.calculate_relative_bearing(position_own_ship: Position, heading_own_ship: float, position_target_ship: Position, heading_target_ship: float, lat_lon0: Position) Tuple[float, float][source] +
Calculate relative bearing between own ship and target ship, both seen from +own ship and seen from target ship.
+-
+
- Params:
-
+
position_own_ship: Own ship position {latitude, longitude} [rad]
+heading_own_ship: Own ship heading [rad]
+position_target_ship: Target ship position {latitude, longitude} [rad]
+heading_target_ship: Target ship heading [rad]
+lat_lon0: Reference point, latitudinal [rad] and longitudinal [rad]
+
+
-
+
- Returns: +
-
+
* beta (relative bearing between own ship and target ship seen from own ship [rad])
+* alpha (relative bearing between target ship and own ship seen from target ship [rad])
+
+
-
+
- +trafficgen.encounter.calculate_ship_cog(pos_0: Position, pos_1: Position, lat_lon0: Position) float[source] +
Calculate ship cog between two waypoints.
+-
+
- Params:
-
+
waypoint_0: Dict, waypoint {latitude, longitude} [rad]
+waypoint_1: Dict, waypoint {latitude, longitude} [rad]
+
+
-
+
- Returns: +
* cog
+
+- Return type: +
Ship cog [rad]
+
+
-
+
- +trafficgen.encounter.check_encounter_evolvement(own_ship: OwnShip, own_ship_cog: float, own_ship_position_future: Position, lat_lon0: Position, target_ship_sog: float, target_ship_cog: float, target_ship_position_future: Position, desired_encounter_type: EncounterType, settings: EncounterSettings) bool[source] +
Check encounter evolvement. The generated encounter should be the same type of +encounter (head-on, crossing, give-way) also some time before the encounter is started.
+-
+
- Params:
-
+
own_ship: Own ship information such as initial position, sog and cog
+target_ship: Target ship information such as initial position, sog and cog
+desired_encounter_type: Desired type of encounter to be generated
+settings: Encounter settings
+
+
-
+
- Return type: +
* returns True if encounter ok, False if encounter not ok
+
+
-
+
- +trafficgen.encounter.decide_target_ship(target_ships_static: List[ShipStatic]) ShipStatic[source] +
Randomly pick a target ship from a list of target ships.
+-
+
- Params:
-
+
target_ships: list of target ships with static information
+
+
-
+
- Return type: +
* The target ship, info of type, size etc.
+
+
-
+
- +trafficgen.encounter.define_own_ship(desired_traffic_situation: SituationInput, own_ship_static: ShipStatic, encounter_settings: EncounterSettings, lat_lon0: Position) OwnShip[source] +
Define own ship based on information in desired traffic situation.
+-
+
- Params:
-
+
desired_traffic_situation: Information about type of traffic situation to generate
+own_ship_static: Static information of own ship.
+encounter_settings: Necessary setting for the encounter
+lat_lon0: Reference position [deg]
+
+
-
+
- Returns: +
* own_ship
+
+- Return type: +
Own ship
+
+
-
+
- +trafficgen.encounter.determine_colreg(alpha: float, beta: float, theta13_criteria: float, theta14_criteria: float, theta15_criteria: float, theta15: List[float]) EncounterType[source] +
Determine the colreg type based on alpha, relative bearing between target ship and own +ship seen from target ship, and beta, relative bearing between own ship and target ship +seen from own ship.
+-
+
- Params:
-
+
alpha: relative bearing between target ship and own ship seen from target ship
+beta: relative bearing between own ship and target ship seen from own ship
+theta13_criteria: Tolerance for “coming up with” relative bearing
+theta14_criteria: Tolerance for “reciprocal or nearly reciprocal cogs”, +“when in any doubt… assume… [head-on]”
+theta15_criteria: Crossing aspect limit, used for classifying a crossing encounter
+-
+
- theta15: 22.5 deg aft of the beam, used for classifying a crossing and an overtaking
encounter
+
+
+
+
-
+
- Return type: +
* encounter classification
+
+
-
+
- +trafficgen.encounter.find_start_position_target_ship(own_ship_position: Position, lat_lon0: Position, own_ship_cog: float, target_ship_position_future: Position, target_ship_vector_length: float, desired_beta: float, desired_encounter_type: EncounterType, settings: EncounterSettings) Tuple[Position, bool][source] +
Find start position of target ship using desired beta and vector length.
+-
+
- Params:
-
+
own_ship_position: Own ship initial position, sog and cog
+own_ship_cog: Own ship initial cog
+target_ship_position_future: Target ship future position
+target_ship_vector_length: vector length (target ship sog x vector)
+desired_beta: Desired bearing between own ship and target ship seen from own ship
+desired_encounter_type: Desired type of encounter to be generated
+settings: Encounter settings
+
+
-
+
- Returns: +
-
+
* start_position_target_ship (Dict, initial position of target ship {north, east} [m])
+* start_position_found (0=position not found, 1=position found)
+
+
-
+
- +trafficgen.encounter.generate_encounter(desired_encounter_type: EncounterType, own_ship: OwnShip, target_ships_static: List[ShipStatic], encounter_number: int, beta_default: List[float] | float | None, relative_sog_default: float | None, vector_time_default: float | None, settings: EncounterSettings) Tuple[TargetShip, bool][source] +
Generate an encounter.
+-
+
- Params:
-
+
desired_encounter_type: Desired encounter to be generated
+own_ship: Dict, information about own ship that will encounter a target ship
+target_ships_static: List of target ships including static information that +may be used in an encounter
+encounter_number: Integer, used to naming the target ships. target_ship_1,2 etc.
+beta_default: User defined beta. If not set, this is None.
+-
+
- relative_sog_default: User defined relative sog between own ship and
target ship. If not set, this is None.
+
+
+vector_time_default: User defined vector time. If not set, this is None.
+settings: Encounter settings
+
+
-
+
- Returns: +
-
+
* target_ship (target ship information, such as initial position, sog and cog)
+* encounter_found (True=encounter found, False=encounter not found)
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/trafficgen.marine_system_simulator.html b/trafficgen.marine_system_simulator.html
new file mode 100644
index 0000000..8c42474
--- /dev/null
+++ b/trafficgen.marine_system_simulator.html
@@ -0,0 +1,227 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ trafficgen package
+Top-level package for Traffic Generator.
+Nothing exposed at the moment, but will be done if needed.
+Submodules
+
+
+-
+
- trafficgen.check_land_crossing module + +
- trafficgen.cli module +
- trafficgen.encounter module
-
+
assign_beta()
+assign_beta_from_list()
+assign_future_position_to_target_ship()
+assign_sog_to_target_ship()
+assign_vector_time()
+calculate_min_vector_length_target_ship()
+calculate_relative_bearing()
+calculate_ship_cog()
+check_encounter_evolvement()
+decide_target_ship()
+define_own_ship()
+determine_colreg()
+find_start_position_target_ship()
+generate_encounter()
+
+ - trafficgen.marine_system_simulator module
-
+
flat2llh()
+llh2flat()
+ssa()
+
+ - trafficgen.plot_traffic_situation module + +
- trafficgen.read_files module
-
+
camel_to_snake()
+check_input_units()
+convert_keys_to_snake_case()
+convert_settings_data_from_maritime_to_si_units()
+convert_situation_data_from_maritime_to_si_units()
+read_encounter_settings_file()
+read_generated_situation_files()
+read_own_ship_static_file()
+read_situation_files()
+read_target_ship_static_files()
+
+ - trafficgen.ship_traffic_generator module + +
- trafficgen.types module
-
+
Encounter+
+EncounterClassification-
+
EncounterClassification.Config+
+EncounterClassification.model_computed_fields
+EncounterClassification.model_config
+EncounterClassification.model_fields
+EncounterClassification.theta13_criteria
+EncounterClassification.theta14_criteria
+EncounterClassification.theta15
+EncounterClassification.theta15_criteria
+
+EncounterRelativeSpeed-
+
EncounterRelativeSpeed.Config+
+EncounterRelativeSpeed.crossing_give_way
+EncounterRelativeSpeed.crossing_stand_on
+EncounterRelativeSpeed.head_on
+EncounterRelativeSpeed.model_computed_fields
+EncounterRelativeSpeed.model_config
+EncounterRelativeSpeed.model_fields
+EncounterRelativeSpeed.overtaking_give_way
+EncounterRelativeSpeed.overtaking_stand_on
+
+EncounterSettings-
+
EncounterSettings.Config+
+EncounterSettings.classification
+EncounterSettings.common_vector
+EncounterSettings.disable_land_check
+EncounterSettings.evolve_time
+EncounterSettings.max_meeting_distance
+EncounterSettings.model_computed_fields
+EncounterSettings.model_config
+EncounterSettings.model_fields
+EncounterSettings.relative_speed
+EncounterSettings.situation_length
+EncounterSettings.vector_range
+
+EncounterType+
+OwnShipInitial+
+SituationInput+
+to_camel()
+
+ - trafficgen.utils module
-
+
calculate_bearing_between_waypoints()
+calculate_destination_along_track()
+calculate_distance()
+calculate_position_along_track_using_waypoints()
+calculate_position_at_certain_time()
+convert_angle_0_to_2_pi_to_minus_pi_to_pi()
+convert_angle_minus_pi_to_pi_to_0_to_2_pi()
+deg_2_rad()
+knot_2_m_pr_s()
+m_2_nm()
+m_pr_s_2_knot()
+min_2_s()
+nm_2_m()
+rad_2_deg()
+
+ - trafficgen.write_traffic_situation_to_file module + +
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/trafficgen.plot_traffic_situation.html b/trafficgen.plot_traffic_situation.html
new file mode 100644
index 0000000..a980efe
--- /dev/null
+++ b/trafficgen.plot_traffic_situation.html
@@ -0,0 +1,256 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ trafficgen.marine_system_simulator module
+The Marine Systems Simulator (MSS) is a Matlab and Simulink library for marine systems.
+It includes models for ships, underwater vehicles, unmanned surface vehicles, and floating structures. +The library also contains guidance, navigation, and control (GNC) blocks for real-time simulation. +The algorithms are described in:
+T. I. Fossen (2021). Handbook of Marine Craft Hydrodynamics and Motion Control. 2nd. Edition, +Wiley. ISBN-13: 978-1119575054
+Parts of the library have been re-implemented in Python and are found below.
+-
+
- +trafficgen.marine_system_simulator.flat2llh(x_n: float, y_n: float, lat_0: float, lon_0: float, z_n: float = 0.0, height_ref: float = 0.0) Tuple[float, float, float][source] +
Compute longitude lon (rad), latitude lat (rad) and height h (m) for the +NED coordinates (xn,yn,zn).
+Method taken from the MSS (Marine System Simulator) toolbox which is a Matlab/Simulink +library for marine systems.
+The method computes longitude lon (rad), latitude lat (rad) and height h (m) for the +NED coordinates (xn,yn,zn) using a flat Earth coordinate system defined by the WGS-84 +ellipsoid. The flat Earth coordinate origin is located at (lon_0, lat_0) with reference +height h_ref in meters above the surface of the ellipsoid. Both height and h_ref +are positive upwards, while zn is positive downwards (NED). +Author: Thor I. Fossen +Date: 20 July 2018 +Revisions: 2023-02-04 updates the formulas for latitude and longitude
+-
+
- Params:
-
+
xn: Ship position, north [m]
+yn: Ship position, east [m]
+zn=0.0: Ship position, down [m]
+lat_0, lon_0: Flat earth coordinate located at (lon_0, lat_0)
+h_ref=0.0: Flat earth coordinate with reference h_ref in meters above the surface +of the ellipsoid
+
+
-
+
- Returns: +
-
+
* lat (Latitude [rad])
+* lon (Longitude [rad])
+* h (Height [m])
+
+
-
+
- +trafficgen.marine_system_simulator.llh2flat(lat: float, lon: float, lat_0: float, lon_0: float, height: float = 0.0, height_ref: float = 0.0) Tuple[float, float, float][source] +
Compute (north, east) for a flat Earth coordinate system from longitude +lon (rad) and latitude lat (rad).
+Method taken from the MSS (Marine System Simulator) toolbox which is a Matlab/Simulink +library for marine systems.
+The method computes (north, east) for a flat Earth coordinate system from longitude +lon (rad) and latitude lat (rad) of the WGS-84 elipsoid. The flat Earth coordinate +origin is located at (lon_0, lat_0). +Author: Thor I. Fossen +Date: 20 July 2018 +Revisions: 2023-02-04 updates the formulas for latitude and longitude
+-
+
- Params:
-
+
lat: Ship position in latitude [rad]
+lon: Ship position in longitude [rad]
+h=0.0: Ship height in meters above the surface of the ellipsoid
+lat_0, lon_0: Flat earth coordinate located at (lon_0, lat_0)
+h_ref=0.0: Flat earth coordinate with reference h_ref in meters above +the surface of the ellipsoid
+
+
-
+
- Returns: +
-
+
* x_n (Ship position, north [m])
+* y_n (Ship position, east [m])
+* z_n (Ship position, down [m])
+
+
-
+
- +trafficgen.marine_system_simulator.ssa(angle: float) float[source] +
Return the “smallest signed angle” (SSA) or the smallest difference between two angles.
+Method taken from the MSS (Marine System Simulator) toolbox which is a Matlab/Simulink +library for marine systems.
+Examples
+angle = ssa(angle) maps an angle in rad to the interval [-pi pi)
+Author: Thor I. Fossen +Date: 2018-09-21
+-
+
- Param:
-
+
angle: angle given in radius
+
+
-
+
- Returns: +
* smallest_angle
+
+- Return type: +
“smallest signed angle” or the smallest difference between two angles
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/trafficgen.read_files.html b/trafficgen.read_files.html
new file mode 100644
index 0000000..7b270ab
--- /dev/null
+++ b/trafficgen.read_files.html
@@ -0,0 +1,271 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ trafficgen.plot_traffic_situation module
+Functions to prepare and plot traffic situations.
+-
+
- +trafficgen.plot_traffic_situation.add_ship_to_map(ship: Ship, vector_time: float, lat_lon0: Position, map_plot: Map | None, color: str = 'black') Map[source] +
Add the ship to the map.
+-
+
- Params:
-
+
ship: Ship information
+vector_time: Vector time [sec]
+lat_lon0=Reference point, latitudinal [rad] and longitudinal [rad]
+map_plot: Instance of Map. If not set, instance is set to None
+color: Color of the ship. If not set, color is ‘black’
+
+
-
+
- Returns: +
* m
+
+- Return type: +
Updated instance of Map.
+
+
-
+
- +trafficgen.plot_traffic_situation.add_ship_to_plot(ship: Ship, vector_time: float, lat_lon0: Position, axes: Axes | None, color: str = 'black')[source] +
Add the ship to the plot.
+-
+
- Params:
-
+
ship: Ship information
+vector_time: Vector time [sec]
+axes: Instance of figure axis. If not set, instance is set to None
+color: Color of the ship. If not set, color is ‘black’
+
+
-
+
- +trafficgen.plot_traffic_situation.calculate_ship_outline(position: Position, course: float, lat_lon0: Position, ship_length: float = 100.0, ship_width: float = 15.0) List[Tuple[float, float]][source] +
Calculate the outline of the ship pointing in the direction of ship course.
+-
+
- Params:
-
+
position: {latitude}, {longitude} position of the ship [rad]
+course: course of the ship [rad]
+lat_lon0: Reference point, latitudinal [rad] and longitudinal [rad]
+ship_length: Ship length. If not given, ship length is set to 100
+ship_width: Ship width. If not given, ship width is set to 15
+
+
-
+
- Returns: +
* ship_outline_points
+
+- Return type: +
Polygon points to draw the ship [deg]
+
+
-
+
- +trafficgen.plot_traffic_situation.calculate_vector_arrow(position: Position, direction: float, vector_length: float, lat_lon0: Position) List[Tuple[float, float]][source] +
Calculate the arrow with length vector pointing in the direction of ship course.
+-
+
- Params:
-
+
position: {latitude}, {longitude} position of the ship [rad]
+direction: direction the arrow is pointing [rad]
+vector_length: length of vector [m]
+lat_lon0: Reference point, latitudinal [rad] and longitudinal [rad]
+
+
-
+
- Returns: +
* arrow_points
+
+- Return type: +
Polygon points to draw the arrow [deg]
+
+
-
+
- +trafficgen.plot_traffic_situation.find_max_value_for_plot(ship: Ship, max_value: float, lat_lon0: Position) float[source] +
Find the maximum deviation from the Reference point in north and east direction.
+-
+
- Params:
-
+
ship: Ship information
+max_value: maximum deviation in north, east direction
+lat_lon0: Reference point, latitudinal [rad] and longitudinal [rad]
+
+
-
+
- Returns: +
* max_value
+
+- Return type: +
updated maximum deviation in north, east direction
+
+
-
+
- +trafficgen.plot_traffic_situation.plot_specific_traffic_situation(traffic_situations: List[TrafficSituation], situation_number: int, encounter_settings: EncounterSettings)[source] +
Plot a specific situation in map.
+-
+
- Params:
-
+
traffic_situations: Generated traffic situations
+situation_number: The specific situation to be plotted
+
+
-
+
- +trafficgen.plot_traffic_situation.plot_traffic_situations(traffic_situations: List[TrafficSituation], col: int, row: int, encounter_settings: EncounterSettings)[source] +
Plot the traffic situations in one more figures.
+-
+
- Params:
-
+
traffic_situations: Traffic situations to be plotted
+col: Number of columns in each figure
+row: Number of rows in each figure
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/trafficgen.ship_traffic_generator.html b/trafficgen.ship_traffic_generator.html
new file mode 100644
index 0000000..f4a7b23
--- /dev/null
+++ b/trafficgen.ship_traffic_generator.html
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ trafficgen.read_files module
+Functions to read the files needed to build one or more traffic situations.
+-
+
- +trafficgen.read_files.camel_to_snake(string: str) str[source] +
Convert a camel case string to snake case.
+
-
+
- +trafficgen.read_files.check_input_units(data: Dict[str, Any]) Dict[str, Any][source] +
Check if input unit is specified, if not specified it is set to SI.
+
-
+
- +trafficgen.read_files.convert_keys_to_snake_case(data: Dict[str, Any]) Dict[str, Any][source] +
Convert keys in a nested dictionary from camel case to snake case.
+
-
+
- +trafficgen.read_files.convert_settings_data_from_maritime_to_si_units(settings: EncounterSettings) EncounterSettings[source] +
Convert situation data which is given in maritime units to SI units.
+-
+
- Params:
-
+
own_ship_file: Path to the own_ship_file file
+
+
-
+
- Return type: +
* own_ship information
+
+
-
+
- +trafficgen.read_files.convert_situation_data_from_maritime_to_si_units(situation: SituationInput) SituationInput[source] +
Convert situation data which is given in maritime units to SI units.
+-
+
- Params:
-
+
own_ship_file: Path to the own_ship_file file
+
+
-
+
- Return type: +
* own_ship information
+
+
-
+
- +trafficgen.read_files.read_encounter_settings_file(settings_file: Path) EncounterSettings[source] +
Read encounter settings file.
+-
+
- Params:
-
+
settings_file: Path to the encounter setting file
+
+
-
+
- Returns: +
* encounter_settings
+
+- Return type: +
Settings for the encounter
+
+
-
+
- +trafficgen.read_files.read_generated_situation_files(situation_folder: Path) List[TrafficSituation][source] +
Read the generated traffic situation files. Used for testing the trafficgen algorithm.
+-
+
- Params:
-
+
situation_folder: Path to the folder where situation files are found
+
+
-
+
- Returns: +
* situations
+
+- Return type: +
List of desired traffic situations
+
+
-
+
- +trafficgen.read_files.read_own_ship_static_file(own_ship_static_file: Path) ShipStatic[source] +
Read own ship static data from file.
+-
+
- Params:
-
+
own_ship_file: Path to the own_ship_static_file file
+
+
-
+
- Return type: +
* own_ship static information
+
+
-
+
- +trafficgen.read_files.read_situation_files(situation_folder: Path) List[SituationInput][source] +
Read traffic situation files.
+-
+
- Params:
-
+
situation_folder: Path to the folder where situation files are found
+input_units: Specify if the inputs are given in si or maritime units
+
+
-
+
- Returns: +
* situations
+
+- Return type: +
List of desired traffic situations
+
+
-
+
- +trafficgen.read_files.read_target_ship_static_files(target_ship_folder: Path) List[ShipStatic][source] +
Read target ship static data files.
+-
+
- Params:
-
+
target_ship_folder: Path to the folder where target ships are found
+
+
-
+
- Returns: +
* target_ships_static
+
+- Return type: +
List of different target ships with static information
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/trafficgen.types.html b/trafficgen.types.html
new file mode 100644
index 0000000..707bf47
--- /dev/null
+++ b/trafficgen.types.html
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ trafficgen.ship_traffic_generator module
+Functions to generate traffic situations.
+-
+
- +trafficgen.ship_traffic_generator.generate_traffic_situations(situation_folder: Path, own_ship_file: Path, target_ship_folder: Path, settings_file: Path) List[TrafficSituation][source] +
Generate a set of traffic situations using input files. +This is the main function for generating a set of traffic situations using input files +specifying number and type of encounter, type of target ships etc.
+-
+
- Params:
-
+
situation_folder: Path to situation folder, files describing the desired situations
+own_ship_file: Path to where own ships is found
+target_ship_folder: Path to where different type of target ships is found
+settings_file: Path to settings file
+
+
-
+
- Returns: +
-
+
* traffic_situations (List of generated traffic situations.)
+* One situation may consist of one or more encounters.
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/trafficgen.utils.html b/trafficgen.utils.html
new file mode 100644
index 0000000..de9e8a3
--- /dev/null
+++ b/trafficgen.utils.html
@@ -0,0 +1,415 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ trafficgen.types module
+Domain specific data types used in trafficgen.
+-
+
- +class trafficgen.types.Encounter(*, desiredEncounterType: EncounterType, beta: List[float] | float | None = None, relativeSpeed: float | None = None, vectorTime: float | None = None)[source] +
Bases:
+BaseModelData type for an encounter.
+-
+
- +class Config[source] +
Bases:
+objectFor converting parameters written to file from snake to camel case.
+-
+
- +alias_generator() str +
Return a camel case formated string from snake case string.
+
-
+
- +populate_by_name = True +
-
+
- +beta: List[float] | float | None +
-
+
- +desired_encounter_type: EncounterType +
-
+
- +model_computed_fields: ClassVar[Dict[str, ComputedFieldInfo]] = {} +
A dictionary of computed field names and their corresponding ComputedFieldInfo objects.
+
-
+
- +model_config: ClassVar[ConfigDict] = {'alias_generator': <function to_camel>, 'populate_by_name': True} +
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
+
-
+
- +model_fields: ClassVar[Dict[str, FieldInfo]] = {'beta': FieldInfo(annotation=Union[List[float], float, NoneType], required=False, default=None, alias='beta', alias_priority=1), 'desired_encounter_type': FieldInfo(annotation=EncounterType, required=True, alias='desiredEncounterType', alias_priority=1), 'relative_speed': FieldInfo(annotation=Union[float, NoneType], required=False, default=None, alias='relativeSpeed', alias_priority=1), 'vector_time': FieldInfo(annotation=Union[float, NoneType], required=False, default=None, alias='vectorTime', alias_priority=1)} +
Metadata about the fields defined on the model, +mapping of field names to [FieldInfo][pydantic.fields.FieldInfo] objects.
+This replaces Model.__fields__ from Pydantic V1.
+
-
+
- +relative_speed: float | None +
-
+
- +vector_time: float | None +
-
+
- +class trafficgen.types.EncounterClassification(*, theta13Criteria: float, theta14Criteria: float, theta15Criteria: float, theta15: List[float])[source] +
Bases:
+BaseModelData type for the encounter classification.
+-
+
- +class Config[source] +
Bases:
+objectFor converting parameters written to file from snake to camel case.
+-
+
- +alias_generator() str +
Return a camel case formated string from snake case string.
+
-
+
- +populate_by_name = True +
-
+
- +model_computed_fields: ClassVar[Dict[str, ComputedFieldInfo]] = {} +
A dictionary of computed field names and their corresponding ComputedFieldInfo objects.
+
-
+
- +model_config: ClassVar[ConfigDict] = {'alias_generator': <function to_camel>, 'populate_by_name': True} +
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
+
-
+
- +model_fields: ClassVar[Dict[str, FieldInfo]] = {'theta13_criteria': FieldInfo(annotation=float, required=True, alias='theta13Criteria', alias_priority=1), 'theta14_criteria': FieldInfo(annotation=float, required=True, alias='theta14Criteria', alias_priority=1), 'theta15': FieldInfo(annotation=List[float], required=True, alias='theta15', alias_priority=1), 'theta15_criteria': FieldInfo(annotation=float, required=True, alias='theta15Criteria', alias_priority=1)} +
Metadata about the fields defined on the model, +mapping of field names to [FieldInfo][pydantic.fields.FieldInfo] objects.
+This replaces Model.__fields__ from Pydantic V1.
+
-
+
- +theta13_criteria: float +
-
+
- +theta14_criteria: float +
-
+
- +theta15: List[float] +
-
+
- +theta15_criteria: float +
-
+
- +class trafficgen.types.EncounterRelativeSpeed(*, overtakingStandOn: List[float], overtakingGiveWay: List[float], headOn: List[float], crossingGiveWay: List[float], crossingStandOn: List[float])[source] +
Bases:
+BaseModelData type for relative speed between two ships in an encounter.
+-
+
- +class Config[source] +
Bases:
+objectFor converting parameters written to file from snake to camel case.
+-
+
- +alias_generator() str +
Return a camel case formated string from snake case string.
+
-
+
- +populate_by_name = True +
-
+
- +crossing_give_way: List[float] +
-
+
- +crossing_stand_on: List[float] +
-
+
- +head_on: List[float] +
-
+
- +model_computed_fields: ClassVar[Dict[str, ComputedFieldInfo]] = {} +
A dictionary of computed field names and their corresponding ComputedFieldInfo objects.
+
-
+
- +model_config: ClassVar[ConfigDict] = {'alias_generator': <function to_camel>, 'populate_by_name': True} +
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
+
-
+
- +model_fields: ClassVar[Dict[str, FieldInfo]] = {'crossing_give_way': FieldInfo(annotation=List[float], required=True, alias='crossingGiveWay', alias_priority=1), 'crossing_stand_on': FieldInfo(annotation=List[float], required=True, alias='crossingStandOn', alias_priority=1), 'head_on': FieldInfo(annotation=List[float], required=True, alias='headOn', alias_priority=1), 'overtaking_give_way': FieldInfo(annotation=List[float], required=True, alias='overtakingGiveWay', alias_priority=1), 'overtaking_stand_on': FieldInfo(annotation=List[float], required=True, alias='overtakingStandOn', alias_priority=1)} +
Metadata about the fields defined on the model, +mapping of field names to [FieldInfo][pydantic.fields.FieldInfo] objects.
+This replaces Model.__fields__ from Pydantic V1.
+
-
+
- +overtaking_give_way: List[float] +
-
+
- +overtaking_stand_on: List[float] +
-
+
- +class trafficgen.types.EncounterSettings(*, classification: EncounterClassification, relativeSpeed: EncounterRelativeSpeed, vectorRange: List[float], commonVector: float, situationLength: float, maxMeetingDistance: float, evolveTime: float, disableLandCheck: bool)[source] +
Bases:
+BaseModelData type for encounter settings.
+-
+
- +class Config[source] +
Bases:
+objectFor converting parameters written to file from snake to camel case.
+-
+
- +alias_generator() str +
Return a camel case formated string from snake case string.
+
-
+
- +populate_by_name = True +
-
+
- +classification: EncounterClassification +
-
+
- +common_vector: float +
-
+
- +disable_land_check: bool +
-
+
- +evolve_time: float +
-
+
- +max_meeting_distance: float +
-
+
- +model_computed_fields: ClassVar[Dict[str, ComputedFieldInfo]] = {} +
A dictionary of computed field names and their corresponding ComputedFieldInfo objects.
+
-
+
- +model_config: ClassVar[ConfigDict] = {'alias_generator': <function to_camel>, 'populate_by_name': True} +
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
+
-
+
- +model_fields: ClassVar[Dict[str, FieldInfo]] = {'classification': FieldInfo(annotation=EncounterClassification, required=True, alias='classification', alias_priority=1), 'common_vector': FieldInfo(annotation=float, required=True, alias='commonVector', alias_priority=1), 'disable_land_check': FieldInfo(annotation=bool, required=True, alias='disableLandCheck', alias_priority=1), 'evolve_time': FieldInfo(annotation=float, required=True, alias='evolveTime', alias_priority=1), 'max_meeting_distance': FieldInfo(annotation=float, required=True, alias='maxMeetingDistance', alias_priority=1), 'relative_speed': FieldInfo(annotation=EncounterRelativeSpeed, required=True, alias='relativeSpeed', alias_priority=1), 'situation_length': FieldInfo(annotation=float, required=True, alias='situationLength', alias_priority=1), 'vector_range': FieldInfo(annotation=List[float], required=True, alias='vectorRange', alias_priority=1)} +
Metadata about the fields defined on the model, +mapping of field names to [FieldInfo][pydantic.fields.FieldInfo] objects.
+This replaces Model.__fields__ from Pydantic V1.
+
-
+
- +relative_speed: EncounterRelativeSpeed +
-
+
- +situation_length: float +
-
+
- +vector_range: List[float] +
-
+
- +class trafficgen.types.EncounterType(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)[source] +
Bases:
+EnumEnumeration of encounter types.
+-
+
- +CROSSING_GIVE_WAY = 'crossing-give-way' +
-
+
- +CROSSING_STAND_ON = 'crossing-stand-on' +
-
+
- +HEAD_ON = 'head-on' +
-
+
- +NO_RISK_COLLISION = 'noRiskCollision' +
-
+
- +OVERTAKING_GIVE_WAY = 'overtaking-give-way' +
-
+
- +OVERTAKING_STAND_ON = 'overtaking-stand-on' +
-
+
- +class trafficgen.types.OwnShipInitial(*, initial: Initial, waypoints: List[Waypoint] | None = None)[source] +
Bases:
+BaseModelData type for initial data for the own ship used for generating a situation.
+-
+
- +initial: Initial +
-
+
- +model_computed_fields: ClassVar[Dict[str, ComputedFieldInfo]] = {} +
A dictionary of computed field names and their corresponding ComputedFieldInfo objects.
+
-
+
- +model_config: ClassVar[ConfigDict] = {} +
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
+
-
+
- +model_fields: ClassVar[Dict[str, FieldInfo]] = {'initial': FieldInfo(annotation=Initial, required=True), 'waypoints': FieldInfo(annotation=Union[List[Waypoint], NoneType], required=False, default=None, description='An array of `Waypoint` objects.')} +
Metadata about the fields defined on the model, +mapping of field names to [FieldInfo][pydantic.fields.FieldInfo] objects.
+This replaces Model.__fields__ from Pydantic V1.
+
-
+
- +waypoints: List[Waypoint] | None +
-
+
- +class trafficgen.types.SituationInput(*, title: str, description: str, numSituations: int, ownShip: OwnShipInitial, encounters: List[Encounter])[source] +
Bases:
+BaseModelData type for inputs needed for generating a situations.
+-
+
- +class Config[source] +
Bases:
+objectFor converting parameters written to file from snake to camel case.
+-
+
- +alias_generator() str +
Return a camel case formated string from snake case string.
+
-
+
- +populate_by_name = True +
-
+
- +description: str +
-
+
- +model_computed_fields: ClassVar[Dict[str, ComputedFieldInfo]] = {} +
A dictionary of computed field names and their corresponding ComputedFieldInfo objects.
+
-
+
- +model_config: ClassVar[ConfigDict] = {'alias_generator': <function to_camel>, 'populate_by_name': True} +
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
+
-
+
- +model_fields: ClassVar[Dict[str, FieldInfo]] = {'description': FieldInfo(annotation=str, required=True, alias='description', alias_priority=1), 'encounters': FieldInfo(annotation=List[Encounter], required=True, alias='encounters', alias_priority=1), 'num_situations': FieldInfo(annotation=int, required=True, alias='numSituations', alias_priority=1), 'own_ship': FieldInfo(annotation=OwnShipInitial, required=True, alias='ownShip', alias_priority=1), 'title': FieldInfo(annotation=str, required=True, alias='title', alias_priority=1)} +
Metadata about the fields defined on the model, +mapping of field names to [FieldInfo][pydantic.fields.FieldInfo] objects.
+This replaces Model.__fields__ from Pydantic V1.
+
-
+
- +num_situations: int +
-
+
- +own_ship: OwnShipInitial +
-
+
- +title: str +
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/trafficgen.write_traffic_situation_to_file.html b/trafficgen.write_traffic_situation_to_file.html
new file mode 100644
index 0000000..7e7bba3
--- /dev/null
+++ b/trafficgen.write_traffic_situation_to_file.html
@@ -0,0 +1,172 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ trafficgen.utils module
+Utility functions that are used by several other functions.
+-
+
- +trafficgen.utils.calculate_bearing_between_waypoints(position_prev: Position, position_next: Position) float[source] +
Calculate the bearing in rad between two waypoints.
+-
+
- Params:
-
+
position_prev{latitude, longitude}: Previous waypoint [rad]
+position_next{latitude, longitude}: Next waypoint [rad]
+
+
-
+
- Returns: +
* bearing
+
+- Return type: +
Bearing between waypoints [m]
+
+
-
+
- +trafficgen.utils.calculate_destination_along_track(position_prev: Position, distance: float, bearing: float) Position[source] +
Calculate the destination along the track between two waypoints when distance along the track is given.
+-
+
- Params:
-
+
position_prev{latitude, longitude}: Previous waypoint [rad]
+distance: Distance to travel [m]
+bearing: Bearing from previous waypoint to next waypoint [rad]
+
+
-
+
- Returns: +
* destination{latitude, longitude}
+
+- Return type: +
Destination along the track [rad]
+
+
-
+
- +trafficgen.utils.calculate_distance(position_prev: Position, position_next: Position) float[source] +
Calculate the distance in meter between two waypoints.
+-
+
- Params:
-
+
position_prev{latitude, longitude}: Previous waypoint [rad]
+position_next{latitude, longitude}: Next waypoint [rad]
+
+
-
+
- Returns: +
* distance
+
+- Return type: +
Distance between waypoints [m]
+
+
-
+
- +trafficgen.utils.calculate_position_along_track_using_waypoints(waypoints: List[Waypoint], inital_speed: float, vector_time: float) Position[source] +
Calculate the position of the ship at a given time based on initial position +and delta time, and constant speed and course.
+-
+
- Params:
-
+
position{latitude, longitude}: Initial ship position [rad]
+speed: Ship speed [m/s]
+course: Ship course [rad]
+delta_time: Delta time from now to the time new position is being calculated [sec]
+
+
-
+
- Returns: +
* position{latitude, longitude}
+
+- Return type: +
Estimated ship position in delta time minutes [rad]
+
+
-
+
- +trafficgen.utils.calculate_position_at_certain_time(position: Position, lat_lon0: Position, speed: float, course: float, delta_time: float) Position[source] +
Calculate the position of the ship at a given time based on initial position +and delta time, and constant speed and course.
+-
+
- Params:
-
+
position{latitude, longitude}: Initial ship position [rad]
+speed: Ship speed [m/s]
+course: Ship course [rad]
+delta_time: Delta time from now to the time new position is being calculated [minutes]
+
+
-
+
- Returns: +
* position{latitude, longitude}
+
+- Return type: +
Estimated ship position in delta time minutes [rad]
+
+
-
+
- +trafficgen.utils.convert_angle_0_to_2_pi_to_minus_pi_to_pi(angle_2_pi: float) float[source] +
Convert an angle given in the region 0 to 2*pi degrees to an +angle given in the region -pi to pi degrees.
+-
+
- Params:
-
+
angle_2_pi: Angle given in the region 0 to 2pi radians
+
+
-
+
- Returns: +
* angle_pi
+
+- Return type: +
Angle given in the region -pi to pi radians
+
+
-
+
- +trafficgen.utils.convert_angle_minus_pi_to_pi_to_0_to_2_pi(angle_pi: float) float[source] +
Convert an angle given in the region -pi to pi degrees to an +angle given in the region 0 to 2pi radians.
+-
+
- Params:
-
+
angle_pi: Angle given in the region -pi to pi radians
+
+
-
+
- Returns: +
* angle_2_pi
+
+- Return type: +
Angle given in the region 0 to 2pi radians
+
+
-
+
- +trafficgen.utils.deg_2_rad(angle_in_degrees: float) float[source] +
Convert angle given in degrees to angle give in radians.
+-
+
- Params:
-
+
angle_in_degrees: Angle given in degrees
+
+
-
+
- Returns: +
* angle given in radians
+
+- Return type: +
Angle given in radians
+
+
-
+
- +trafficgen.utils.knot_2_m_pr_s(speed_in_knot: float) float[source] +
Convert ship speed in knots to meters pr second.
+-
+
- Params:
-
+
speed_in_knot: Ship speed given in knots
+
+
-
+
- Returns: +
* speed_in_m_pr_s
+
+- Return type: +
Ship speed in meters pr second
+
+
-
+
- +trafficgen.utils.m_2_nm(length_in_m: float) float[source] +
Convert length given in meters to length given in nautical miles.
+-
+
- Params:
-
+
length_in_m: Length given in meters
+
+
-
+
- Returns: +
* length_in_nm
+
+- Return type: +
Length given in nautical miles
+
+
-
+
- +trafficgen.utils.m_pr_s_2_knot(speed_in_m_pr_s: float) float[source] +
Convert ship speed in knots to meters pr second.
+-
+
- Params:
-
+
speed_in_m_pr_s: Ship speed given in meters pr second
+
+
-
+
- Returns: +
* speed_in_knot
+
+- Return type: +
Ship speed in knots
+
+
-
+
- +trafficgen.utils.min_2_s(time_in_min: float) float[source] +
Convert time given in minutes to time given in seconds.
+-
+
- Params:
-
+
time_in_min: Time given in minutes
+
+
-
+
- Returns: +
* time_in_s
+
+- Return type: +
Time in seconds
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/usage.html b/usage.html
new file mode 100644
index 0000000..cfc0092
--- /dev/null
+++ b/usage.html
@@ -0,0 +1,183 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ trafficgen.write_traffic_situation_to_file module
+Functions to clean traffic situations data before writing it to a json file.
+-
+
- +trafficgen.write_traffic_situation_to_file.convert_ship_data_from_si_units_to_maritime(ship: T_ship) T_ship[source] +
Convert ship data which is given in SI units to maritime units.
+-
+
- Params:
-
+
ship: Ship data
+
+
-
+
- Returns: +
* ship
+
+- Return type: +
Converted ship data
+
+
-
+
- +trafficgen.write_traffic_situation_to_file.convert_situation_data_from_si_units_to__maritime(situation: TrafficSituation) TrafficSituation[source] +
Convert situation data which is given in SI units to maritime units.
+-
+
- Params:
-
+
situation: Traffic situation data
+
+
-
+
- Returns: +
* situation
+
+- Return type: +
Converted traffic situation data
+
+
-
+
- +trafficgen.write_traffic_situation_to_file.write_traffic_situations_to_json_file(situations: List[TrafficSituation], write_folder: Path)[source] +
Write traffic situations to json file.
+-
+
- Params:
-
+
traffic_situations: Traffic situations to be written to file
+write_folder: Folder where the json files is to be written
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Usage
+To use Traffic Generator in a project:
+import trafficgen
+To use Traffic Generator as a command line tool for generating traffic situations, write:
+trafficgen gen-situation
+The command line tool takes different input options:
+-s, --situations PATH Folders with situations (default=./baseline_situations_input/)
+-t, --targets PATH Folder with target configurations (default=./target_ships/)
+-c, --settings PATH Path to settings file (default=./settings/encounter_settings.json)
+--visualize Plot visualization
+--col INTEGER Number of columns for plot, may be used with visualize (default=10)
+--row INTEGER Number of rows for plot, may be used with visualize (default=6)
+--visualize-situation INTEGER Plot individual traffic situation, specify INTEGER value
+-o, --output PATH Output folder (default=None)
+--help Show this message and exit.
+Example:
+trafficgen gen-situation -s ./data/example_situations_input -o ./data/test_output_1
+Situations
+When generating situations without specifying where the desired situations (--situation) are found, the
+default path, which is default=./baseline_situations_input/, will be used.
Baseline situations
+The baseline situations are a set of generic traffic situations covering head-on, overtaking stand-on/give-way
+and crossing stand-on/give-way encounters. To cover the combination of encounters for 1, 2 and 3 target ships,
+there are in total 55 baseline situations. The input files for generating these situations are found in
+./baseline_situations_input/
Plotting
+Plotting all generated traffic situations
+All the generated situations are displayed if using --visualize. This will pop up one or more plot windows,
+which show all the traffic situations. The number of colums and rows for the plots (per figure) can be specified by
+using --col and --row, respectively.
Individual plots with map background
+A specific encounter is visualized by using --visualize-situation INTEGER, e.g.:
trafficgen gen-situation -s ./data/example_situations_input -o ./data/test_output_1 --visualize-situation 2
+This will open a browser window/tab with an OpenStreetMap background and the traffic situation +radar plot as an overlay. +Note that the integer needs to be within the range of the number of generated situations, +for example 1 - 12 if you generated 12 situations.
+