Primary author
+Tom Arne Pedersen +Tom.Arne.Pedersen@dnv.com
+
+
+
+ ' + + '' + + _("Hide Search Matches") + + "
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+ trafficgen.check_land_crossing
+Module with helper functions to determine if a generated path is crossing land.
+Module Contents
+Functions
+
|
+Find if path is crossing land. |
+
-
+
- +trafficgen.check_land_crossing.path_crosses_land(position_1: trafficgen.types.Position, speed: float, course: float, lat_lon_0: List[float], time_interval: float = 50.0) bool[source] +
Find if path is crossing land.
+-
+
- Params:
position_1: Ship position in (north, east) [m]. +speed: Ship speed [knots]. +course: Ship course [degree]. +lat_lon_0: Reference point, latitudinal [degree] and longitudinal [degree]. +time_interval: The time interval the vessel should travel without crossing land [minutes]
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-
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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/api/trafficgen/encounter/index.html b/branch/main/api/trafficgen/encounter/index.html
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+ trafficgen.cli
+CLI for trafficgen package.
+Module Contents
+Functions
+
|
+Entry point for console script as configured in pyproject.toml. |
+
|
+Console script for trafficgen. |
+
Attributes
+| + | + |
| + | + |
| + | + |
| + | + |
| + | + |
| + | + |
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| + | + |
-
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- +trafficgen.cli.logger +
-
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- +trafficgen.cli._ +
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- +trafficgen.cli.default_data_path: pathlib.Path +
-
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- +trafficgen.cli.situation_folder: pathlib.Path +
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- +trafficgen.cli.own_ship_file: pathlib.Path +
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- +trafficgen.cli.target_ship_folder: pathlib.Path +
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- +trafficgen.cli.settings_file: pathlib.Path +
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- +trafficgen.cli.output_folder: pathlib.Path +
-
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- +trafficgen.cli.main(args=None) +
Entry point for console script as configured in pyproject.toml.
+Runs the command line interface and parses arguments and options entered on the console.
+
-
+
- +trafficgen.cli.gen_situation(situations, own_ship, targets, settings, visualize, col, row, visualize_situation, output) +
Console script for trafficgen. +Example: n +trafficgen gen-situation -s ./data/example_situations_input +-o ./data/test_output_1.
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+ 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.
+Module Contents
+Functions
+
|
+Generate an encounter. |
+
|
+Check encounter evolvement. The generated encounter should be the same type of |
+
| + | Calculate minimum vector length (target ship speed x vector). This will |
+
|
+Find start position of target ship using desired beta and vector length. |
+
| + | Randomly assign future position of target ship. If drawing a circle with radius |
+
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+Determine the colreg type based on alpha, relative bearing between target ship and own |
+
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+Calculate relative bearing between own ship and target ship, both seen from |
+
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+Calculate ship course between two waypoints. |
+
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+Assign random (uniform) vector time. |
+
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+Assign random (uniform) speed to target ship depending on type of encounter. |
+
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+Assign random (uniform) relative bearing beta between own ship |
+
| + | Update position data of the target ship to also include latitude and longitude |
+
|
+Update position data of the target ship to also include latitude and longitude |
+
|
+Randomly pick a target ship from a list of target ships. |
+
-
+
- +trafficgen.encounter.generate_encounter(desired_encounter_type: trafficgen.types.EncounterType, own_ship: trafficgen.types.Ship, target_ships: List[trafficgen.types.TargetShip], target_ship_id: int, beta_default: float | None, relative_speed_default: float | None, vector_time_default: float | None, settings: trafficgen.types.EncounterSettings) Tuple[trafficgen.types.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: List of target ships that may be used in an encounter
+target_ship_id: ID which should be used on target ship
+beta_default: User defined beta. If not set, this is None.
+-
+
- relative_speed_default: User defined relative speed 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, speed and course)
+encounter_found (True=encounter found, False=encounter not found)
+
+
-
+
- +trafficgen.encounter.check_encounter_evolvement(own_ship: trafficgen.types.Ship, own_ship_position_future: trafficgen.types.Position, target_ship: trafficgen.types.TargetShip, target_ship_position_future: trafficgen.types.Position, desired_encounter_type: trafficgen.types.EncounterType, settings: trafficgen.types.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, speed and course
+target_ship: Target ship information such as initial position, speed and course
+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.calculate_min_vector_length_target_ship(own_ship_position: trafficgen.types.Position, own_ship_course: float, target_ship_position_future: trafficgen.types.Position, desired_beta: float) float[source] +
Calculate minimum vector length (target ship speed x vector). This will +ensure that ship speed is high enough to find proper situation.
+-
+
- Params:
-
+
own_ship_position: Own ship initial position, speed and course
+own_ship_course: Own ship initial course
+target_ship_position_future: Target ship future position
+desired_beta: Desired relative bearing between
+
+
Returns: min_vector_length: Minimum vector length (target ship speed x vector)
+
-
+
- +trafficgen.encounter.find_start_position_target_ship(own_ship_position: trafficgen.types.Position, own_ship_course: float, target_ship_position_future: trafficgen.types.Position, target_ship_vector_length: float, desired_beta: float, desired_encounter_type: trafficgen.types.EncounterType, settings: trafficgen.types.EncounterSettings)[source] +
Find start position of target ship using desired beta and vector length.
+-
+
- Params:
-
+
own_ship_position: Own ship initial position, speed and course
+own_ship_course: Own ship initial course
+target_ship_position_future: Target ship future position
+target_ship_vector_length: vector length (target ship speed 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.assign_future_position_to_target_ship(own_ship_position_future: trafficgen.types.Position, max_meeting_distance: float) trafficgen.types.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}
+
+
+-
+
- max_meeting_distance: Maximum distance between own ship and target ship at
a given time in the future [nm]
+
+
+
+
-
+
- Returns: +
future_position_target_ship
+
+- Return type: +
Future position of target ship {north, east} [m]
+
+
-
+
- +trafficgen.encounter.determine_colreg(alpha: float, beta: float, theta13_criteria: float, theta14_criteria: float, theta15_criteria: float, theta15: List[float]) trafficgen.types.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 courses”, +“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.calculate_relative_bearing(position_own_ship: trafficgen.types.Position, heading_own_ship: float, position_target_ship: trafficgen.types.Position, heading_target_ship: float) 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: Dict, own ship position {north, east} [m]
+heading_own_ship: Own ship course [deg]
+position_target_ship: Dict, own ship position {north, east} [m]
+heading_target_ship: Target ship course [deg]
+
+
-
+
- Returns: +
-
+
* beta (relative bearing between own ship and target ship seen from own ship [deg])
+* alpha (relative bearing between target ship and own ship seen from target ship [deg])
+
+
-
+
- +trafficgen.encounter.calculate_ship_course(waypoint_0: trafficgen.types.Position, waypoint_1: trafficgen.types.Position) float[source] +
Calculate ship course between two waypoints.
+-
+
- Params:
-
+
waypoint_0: Dict, waypoint {north, east} [m]
+waypoint_1: Dict, waypoint {north, east} [m]
+
+
-
+
- Returns: +
course
+
+- Return type: +
Ship course [deg]
+
+
-
+
- +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.assign_speed_to_target_ship(encounter_type: trafficgen.types.EncounterType, own_ship_speed: float, min_target_ship_speed: float, relative_speed_setting: trafficgen.types.EncounterRelativeSpeed)[source] +
Assign random (uniform) speed to target ship depending on type of encounter.
+-
+
- Params:
-
+
encounter_type: Type of encounter
+own_ship_speed: Own ship speed [knot]
+min_target_ship_speed: Minimum target ship speed [knot]
+relative_speed_setting: Relative speed setting dependent on encounter [-]
+
+
-
+
- Returns: +
target_ship_speed
+
+- Return type: +
Target ship speed [knot]
+
+
-
+
- +trafficgen.encounter.assign_beta(encounter_type: trafficgen.types.EncounterType, settings: trafficgen.types.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 [deg]
+
+
-
+
- +trafficgen.encounter.update_position_data_target_ship(target_ship: trafficgen.types.TargetShip, lat_lon_0: List[float]) trafficgen.types.TargetShip[source] +
Update position data of the target ship to also include latitude and longitude +position of the target ship.
+-
+
- Params:
-
+
target_ship: Target ship data
+lat_lon_0: Reference point, latitudinal [degree] and longitudinal [degree]
+
+
-
+
- Returns: +
ship
+
+- Return type: +
Updated target ship data
+
+
-
+
- +trafficgen.encounter.update_position_data_own_ship(ship: trafficgen.types.Ship, lat_lon_0: List[float], delta_time: float) trafficgen.types.Ship[source] +
Update position data of the target ship to also include latitude and longitude +position of the target ship.
+-
+
- Params:
-
+
ship: Own ship data
+lat_lon_0: Reference point, latitudinal [degree] and longitudinal [degree]
+delta_time: Delta time from now to the time new position is being calculated [minutes]
+
+
-
+
- Returns: +
ship
+
+- Return type: +
Updated own ship data
+
+
-
+
- +trafficgen.encounter.decide_target_ship(target_ships: List[trafficgen.types.TargetShip]) trafficgen.types.TargetShip[source] +
Randomly pick a target ship from a list of target ships.
+-
+
- Params:
-
+
target_ships: list of target ships
+
+
-
+
- Return type: +
The target ship, info of type, size etc.
+
+
+
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\ No newline at end of file
diff --git a/branch/main/api/trafficgen/marine_system_simulator/index.html b/branch/main/api/trafficgen/marine_system_simulator/index.html
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+ trafficgen
+Top-level package for Traffic Generator.
+Submodules
+ +Package Contents
+Functions
+
|
+Convert ship speed in knot to meters pr minutes. |
+
|
+Convert ship speed in meters pr minutes to knot. |
+
|
+Convert length given in meters to length given in nautical miles. |
+
|
+Convert length given in nautical miles to length given in meters. |
+
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+Convert angle given in degrees to angle give in radians. |
+
|
+Convert angle given in radians to angle give in degrees. |
+
| + | Convert an angle given in the region -180 to 180 degrees to an |
+
| + | Convert an angle given in the region 0 to 360 degrees to an |
+
| + | Calculate the position of the ship at a given time based on initial position |
+
|
+Compute longitude lon (rad), latitude lat (rad) and height h (m) for the |
+
|
+Compute (north, east) for a flat Earth coordinate system from longitude |
+
|
+Return the "smallest signed angle" (SSA) or the smallest difference between two angles. |
+
|
+Find if path is crossing land. |
+
|
+Write traffic situations to json file. |
+
|
+Generate an encounter. |
+
|
+Check encounter evolvement. The generated encounter should be the same type of |
+
|
+Find start position of target ship using desired beta and vector length. |
+
| + | Randomly assign future position of target ship. If drawing a circle with radius |
+
|
+Determine the colreg type based on alpha, relative bearing between target ship and own |
+
|
+Calculate relative bearing between own ship and target ship, both seen from |
+
|
+Calculate ship course between two waypoints. |
+
|
+Assign random (uniform) vector time. |
+
|
+Assign random (uniform) speed to target ship depending on type of encounter. |
+
|
+Assign random (uniform) relative bearing beta between own ship |
+
| + | Update position data of the target ship to also include latitude and longitude |
+
|
+Update position data of the target ship to also include latitude and longitude |
+
|
+Randomly pick a target ship from a list of target ships. |
+
|
+Plot the traffic situations in one more figures. |
+
|
+Plot a specific situation in map. |
+
|
+Read traffic situation files. |
+
|
+Read own ship file. |
+
|
+Read target ship files. |
+
| + | Read encounter settings file. |
+
-
+
- +trafficgen.knot_2_m_pr_min(speed_in_knot: float) float[source] +
Convert ship speed in knot to meters pr minutes.
+-
+
- Params:
speed_in_knot: Ship speed given in knots
+
+
-
+
- Returns: +
speed_in_m_pr_min
+
+- Return type: +
Ship speed in meters pr minutes
+
+
-
+
- +trafficgen.m_pr_min_2_knot(speed_in_m_pr_min: float) float[source] +
Convert ship speed in meters pr minutes to knot.
+-
+
- Params:
speed_in_m_pr_min: Ship speed in meters pr second
+
+
-
+
- Returns: +
speed_in_knot
+
+- Return type: +
Ship speed given in knots
+
+
-
+
- +trafficgen.m2nm(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.nm_2_m(length_in_nm: float) float[source] +
Convert length given in nautical miles to length given in meters.
+-
+
- Params:
length_in_nm: Length given in nautical miles
+
+
-
+
- Returns: +
length_in_m
+
+- Return type: +
Length given in meters
+
+
-
+
- +trafficgen.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.rad_2_deg(angle_in_radians: float) float[source] +
Convert angle given in radians to angle give in degrees.
+-
+
- Params:
angle_in_degrees: Angle given in degrees
+
+
-
+
- Returns: +
angle given in radians
+
+- Return type: +
Angle given in radians
+
+
-
+
- +trafficgen.convert_angle_minus_180_to_180_to_0_to_360(angle_180: float) float[source] +
Convert an angle given in the region -180 to 180 degrees to an +angle given in the region 0 to 360 degrees.
+-
+
- Params:
angle_180: Angle given in the region -180 to 180 degrees
+
+
-
+
- Returns: +
angle_360
+
+- Return type: +
Angle given in the region 0 to 360 degrees
+
+
-
+
- +trafficgen.convert_angle_0_to_360_to_minus_180_to_180(angle_360: float) float[source] +
Convert an angle given in the region 0 to 360 degrees to an +angle given in the region -180 to 180 degrees.
+-
+
- Params:
angle_360: Angle given in the region 0 to 360 degrees
+
+
-
+
- Returns: +
angle_180
+
+- Return type: +
Angle given in the region -180 to 180 degrees
+
+
-
+
- +trafficgen.calculate_position_at_certain_time(position: trafficgen.types.Position, speed: float, course: float, delta_time: float) trafficgen.types.Position[source] +
Calculate the position of the ship at a given time based on initial position +and delta time, and constand speed and course.
+-
+
- Params:
position: Initial ship position [m] +speed: Ship speed [knot] +course: Ship course [deg] +delta_time: Delta time from now to the time new position is being calculated [minutes]
+
+
-
+
- Returns: +
position{north, east}
+
+- Return type: +
Dict, north and east position given in meters
+
+
-
+
- +trafficgen.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.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.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
+
+
-
+
- +trafficgen.path_crosses_land(position_1: trafficgen.types.Position, speed: float, course: float, lat_lon_0: List[float], time_interval: float = 50.0) bool[source] +
Find if path is crossing land.
+-
+
- Params:
position_1: Ship position in (north, east) [m]. +speed: Ship speed [knots]. +course: Ship course [degree]. +lat_lon_0: Reference point, latitudinal [degree] and longitudinal [degree]. +time_interval: The time interval the vessel should travel without crossing land [minutes]
+
+
-
+
- Returns: +
is_on_land
+
+- Return type: +
True if parts of the path crosses land.
+
+
-
+
- +trafficgen.write_traffic_situations_to_json_file(situations: List[trafficgen.types.Situation], write_folder: pathlib.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
+
+
-
+
- +trafficgen.generate_encounter(desired_encounter_type: trafficgen.types.EncounterType, own_ship: trafficgen.types.Ship, target_ships: List[trafficgen.types.TargetShip], target_ship_id: int, beta_default: float | None, relative_speed_default: float | None, vector_time_default: float | None, settings: trafficgen.types.EncounterSettings) Tuple[trafficgen.types.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: List of target ships that may be used in an encounter
+target_ship_id: ID which should be used on target ship
+beta_default: User defined beta. If not set, this is None.
+-
+
- relative_speed_default: User defined relative speed 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, speed and course)
+encounter_found (True=encounter found, False=encounter not found)
+
+
-
+
- +trafficgen.check_encounter_evolvement(own_ship: trafficgen.types.Ship, own_ship_position_future: trafficgen.types.Position, target_ship: trafficgen.types.TargetShip, target_ship_position_future: trafficgen.types.Position, desired_encounter_type: trafficgen.types.EncounterType, settings: trafficgen.types.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, speed and course
+target_ship: Target ship information such as initial position, speed and course
+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.find_start_position_target_ship(own_ship_position: trafficgen.types.Position, own_ship_course: float, target_ship_position_future: trafficgen.types.Position, target_ship_vector_length: float, desired_beta: float, desired_encounter_type: trafficgen.types.EncounterType, settings: trafficgen.types.EncounterSettings)[source] +
Find start position of target ship using desired beta and vector length.
+-
+
- Params:
-
+
own_ship_position: Own ship initial position, speed and course
+own_ship_course: Own ship initial course
+target_ship_position_future: Target ship future position
+target_ship_vector_length: vector length (target ship speed 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.assign_future_position_to_target_ship(own_ship_position_future: trafficgen.types.Position, max_meeting_distance: float) trafficgen.types.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}
+
+
+-
+
- max_meeting_distance: Maximum distance between own ship and target ship at
a given time in the future [nm]
+
+
+
+
-
+
- Returns: +
future_position_target_ship
+
+- Return type: +
Future position of target ship {north, east} [m]
+
+
-
+
- +trafficgen.determine_colreg(alpha: float, beta: float, theta13_criteria: float, theta14_criteria: float, theta15_criteria: float, theta15: List[float]) trafficgen.types.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 courses”, +“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.calculate_relative_bearing(position_own_ship: trafficgen.types.Position, heading_own_ship: float, position_target_ship: trafficgen.types.Position, heading_target_ship: float) 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: Dict, own ship position {north, east} [m]
+heading_own_ship: Own ship course [deg]
+position_target_ship: Dict, own ship position {north, east} [m]
+heading_target_ship: Target ship course [deg]
+
+
-
+
- Returns: +
-
+
* beta (relative bearing between own ship and target ship seen from own ship [deg])
+* alpha (relative bearing between target ship and own ship seen from target ship [deg])
+
+
-
+
- +trafficgen.calculate_ship_course(waypoint_0: trafficgen.types.Position, waypoint_1: trafficgen.types.Position) float[source] +
Calculate ship course between two waypoints.
+-
+
- Params:
-
+
waypoint_0: Dict, waypoint {north, east} [m]
+waypoint_1: Dict, waypoint {north, east} [m]
+
+
-
+
- Returns: +
course
+
+- Return type: +
Ship course [deg]
+
+
-
+
- +trafficgen.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.assign_speed_to_target_ship(encounter_type: trafficgen.types.EncounterType, own_ship_speed: float, min_target_ship_speed: float, relative_speed_setting: trafficgen.types.EncounterRelativeSpeed)[source] +
Assign random (uniform) speed to target ship depending on type of encounter.
+-
+
- Params:
-
+
encounter_type: Type of encounter
+own_ship_speed: Own ship speed [knot]
+min_target_ship_speed: Minimum target ship speed [knot]
+relative_speed_setting: Relative speed setting dependent on encounter [-]
+
+
-
+
- Returns: +
target_ship_speed
+
+- Return type: +
Target ship speed [knot]
+
+
-
+
- +trafficgen.assign_beta(encounter_type: trafficgen.types.EncounterType, settings: trafficgen.types.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 [deg]
+
+
-
+
- +trafficgen.update_position_data_target_ship(target_ship: trafficgen.types.TargetShip, lat_lon_0: List[float]) trafficgen.types.TargetShip[source] +
Update position data of the target ship to also include latitude and longitude +position of the target ship.
+-
+
- Params:
-
+
target_ship: Target ship data
+lat_lon_0: Reference point, latitudinal [degree] and longitudinal [degree]
+
+
-
+
- Returns: +
ship
+
+- Return type: +
Updated target ship data
+
+
-
+
- +trafficgen.update_position_data_own_ship(ship: trafficgen.types.Ship, lat_lon_0: List[float], delta_time: float) trafficgen.types.Ship[source] +
Update position data of the target ship to also include latitude and longitude +position of the target ship.
+-
+
- Params:
-
+
ship: Own ship data
+lat_lon_0: Reference point, latitudinal [degree] and longitudinal [degree]
+delta_time: Delta time from now to the time new position is being calculated [minutes]
+
+
-
+
- Returns: +
ship
+
+- Return type: +
Updated own ship data
+
+
-
+
- +trafficgen.decide_target_ship(target_ships: List[trafficgen.types.TargetShip]) trafficgen.types.TargetShip[source] +
Randomly pick a target ship from a list of target ships.
+-
+
- Params:
-
+
target_ships: list of target ships
+
+
-
+
- Return type: +
The target ship, info of type, size etc.
+
+
-
+
- +trafficgen.plot_traffic_situations(traffic_situations: List[trafficgen.types.Situation], col: int, row: int)[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
+
+
-
+
- +trafficgen.plot_specific_traffic_situation(traffic_situations: List[trafficgen.types.Situation], situation_number: int)[source] +
Plot a specific situation in map.
+-
+
- Params:
traffic_situations: Generated traffic situations +situation_number: The specific situation to be plotted
+
+
-
+
- +trafficgen.read_situation_files(situation_folder: pathlib.Path) List[trafficgen.types.Situation][source] +
Read traffic situation files.
+-
+
- Params:
situation_folder: Path to the folder where situation files are found
+
+
-
+
- Returns: +
situations
+
+- Return type: +
List of desired traffic situations
+
+
-
+
- +trafficgen.read_own_ship_file(own_ship_file: pathlib.Path) trafficgen.types.Ship[source] +
Read own ship file.
+-
+
- Params:
own_ship_file: Path to the own_ship_file file
+
+
-
+
- Return type: +
own_ship information
+
+
-
+
- +trafficgen.read_target_ship_files(target_ship_folder: pathlib.Path) List[trafficgen.types.TargetShip][source] +
Read target ship files.
+-
+
- Params:
target_ship_folder: Path to the folder where target ships are found
+
+
-
+
- Returns: +
target_ships
+
+- Return type: +
List of different target ships
+
+
-
+
- +trafficgen.read_encounter_settings_file(settings_file: pathlib.Path) trafficgen.types.EncounterSettings[source] +
Read encounter settings file.
+-
+
- Params:
settings_file: Path to the encounter setting file
+
+
-
+
- Return type: +
Encounter settings
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/branch/main/api/trafficgen/plot_traffic_situation/index.html b/branch/main/api/trafficgen/plot_traffic_situation/index.html
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index 0000000..ae7806a
--- /dev/null
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@@ -0,0 +1,292 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 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.
+Module Contents
+Functions
+
|
+Compute longitude lon (rad), latitude lat (rad) and height h (m) for the |
+
|
+Compute (north, east) for a flat Earth coordinate system from longitude |
+
|
+Return the "smallest signed angle" (SSA) or the smallest difference between two angles. |
+
-
+
- +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/api/trafficgen/read_files/index.html b/branch/main/api/trafficgen/read_files/index.html
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ trafficgen.plot_traffic_situation
+Functions to prepare and plot traffic situations.
+Module Contents
+Functions
+
|
+Calculate the arrow with length vector pointing in the direction of ship course. |
+
|
+Calculate the outline of the ship pointing in the direction of ship course. |
+
|
+Plot a specific situation in map. |
+
|
+Add the ship to the map. |
+
|
+Plot the traffic situations in one more figures. |
+
|
+Find the maximum deviation from the Reference point in north and east direction. |
+
|
+Add the ship to the plot. |
+
-
+
- +trafficgen.plot_traffic_situation.calculate_vector_arrow(position: trafficgen.types.Position, direction: float, vector_length: float, lat_lon_0: List[float]) List[Tuple[float, float]][source] +
Calculate the arrow with length vector pointing in the direction of ship course.
+-
+
- Params:
position: {north}, {east} position of the ship [m] +direction: direction the arrow is pointing [deg] +vector_length: length of vector +lat_lon_0: Reference point, latitudinal [degree] and longitudinal [degree]
+
+
-
+
- Returns: +
arrow_points
+
+- Return type: +
Polygon points to draw the arrow
+
+
-
+
- +trafficgen.plot_traffic_situation.calculate_ship_outline(position: trafficgen.types.Position, course: float, lat_lon_0: List[float], 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: {north}, {east} position of the ship [m] +course: course of the ship [deg] +lat_lon_0: Reference point, latitudinal [degree] and longitudinal [degree] +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
+
+
-
+
- +trafficgen.plot_traffic_situation.plot_specific_traffic_situation(traffic_situations: List[trafficgen.types.Situation], situation_number: int)[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.add_ship_to_map(ship: trafficgen.types.Ship, vector_time: float, lat_lon_0: List[float], map_plot: folium.Map | None, color: str = 'black') folium.Map[source] +
Add the ship to the map.
+-
+
- Params:
ship: Ship information +vector_time: Vector time [min] +lat_lon_0=Reference point, latitudinal [degree] and longitudinal [degree] +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.plot_traffic_situations(traffic_situations: List[trafficgen.types.Situation], col: int, row: int)[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
+
+
-
+
- +trafficgen.plot_traffic_situation.find_max_value_for_plot(ship: trafficgen.types.Ship, max_value: float) 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
+
+
-
+
- Returns: +
max_value
+
+- Return type: +
updated maximum deviation in north, east direction
+
+
-
+
- +trafficgen.plot_traffic_situation.add_ship_to_plot(ship: trafficgen.types.Ship, vector_time: float, axes: matplotlib.pyplot.Axes | None, color: str = 'black')[source] +
Add the ship to the plot.
+-
+
- Params:
ship: Ship information +vector_time: Vector time [min] +axes: Instance of figure axis. If not set, instance is set to None +color: Color of the ship. If not set, color is ‘black’
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/branch/main/api/trafficgen/ship_traffic_generator/index.html b/branch/main/api/trafficgen/ship_traffic_generator/index.html
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+
+ trafficgen.read_files
+Functions to read the files needed to build one or more traffic situations.
+Module Contents
+Functions
+
|
+Read traffic situation files. |
+
|
+Read own ship file. |
+
|
+Read target ship files. |
+
| + | Read encounter settings file. |
+
-
+
- +trafficgen.read_files.read_situation_files(situation_folder: pathlib.Path) List[trafficgen.types.Situation][source] +
Read traffic situation files.
+-
+
- 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_file(own_ship_file: pathlib.Path) trafficgen.types.Ship[source] +
Read own ship file.
+-
+
- Params:
own_ship_file: Path to the own_ship_file file
+
+
-
+
- Return type: +
own_ship information
+
+
-
+
- +trafficgen.read_files.read_target_ship_files(target_ship_folder: pathlib.Path) List[trafficgen.types.TargetShip][source] +
Read target ship files.
+-
+
- Params:
target_ship_folder: Path to the folder where target ships are found
+
+
-
+
- Returns: +
target_ships
+
+- Return type: +
List of different target ships
+
+
-
+
- +trafficgen.read_files.read_encounter_settings_file(settings_file: pathlib.Path) trafficgen.types.EncounterSettings[source] +
Read encounter settings file.
+-
+
- Params:
settings_file: Path to the encounter setting file
+
+
-
+
- Return type: +
Encounter settings
+
+
+
+
+
+
+
+
+
+
+
+
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diff --git a/branch/main/api/trafficgen/types/index.html b/branch/main/api/trafficgen/types/index.html
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+ trafficgen.ship_traffic_generator
+Functions to generate traffic situations.
+Module Contents
+Functions
+| + | Generate a set of traffic situations using input files. |
+
-
+
- +trafficgen.ship_traffic_generator.generate_traffic_situations(situation_folder: pathlib.Path, own_ship_file: pathlib.Path, target_ship_folder: pathlib.Path, settings_file: pathlib.Path) List[trafficgen.types.Situation][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
+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.
+
+
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diff --git a/branch/main/api/trafficgen/utils/index.html b/branch/main/api/trafficgen/utils/index.html
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+ trafficgen.types
+Domain specific data types used in trafficgen.
+Module Contents
+Classes
+| + | Data type for a ship's position with attributes north, east in [m]. |
+
| + | Data type for a (ship) pose. |
+
| + | Enumeration of ship types. |
+
| + | Data type for static ship data. |
+
| + | Data type for a ship. |
+
| + | Data type for a target ship. |
+
| + | Enumeration of encounter types. |
+
| + | Data type for an encounter. |
+
| + | Data type for a traffic situation. |
+
| + | Data type for the encounter classification. |
+
| + | Data type for relative speed between two ships in an encounter. |
+
| + | Data type for encounter settings. |
+
-
+
- +class trafficgen.types.Position(**data: Any)[source] +
Bases:
+pydantic.BaseModelData type for a ship’s position with attributes north, east in [m].
+-
+
- +north: float = 0.0 +
-
+
- +east: float = 0.0 +
-
+
- +latitude: float = 0.0 +
-
+
- +longitude: float = 0.0 +
-
+
- +class trafficgen.types.Pose(**data: Any)[source] +
Bases:
+pydantic.BaseModelData type for a (ship) pose.
+-
+
- +speed: float = 0.0 +
-
+
- +course: float = 0.0 +
-
+
- +class trafficgen.types.ShipType(*args, **kwds)[source] +
Bases:
+enum.EnumEnumeration of ship types.
+-
+
- +PASSENGER_RORO = 'Passenger/Ro-Ro Cargo Ship' +
-
+
- +GENERAL_CARGO = 'General Cargo Ship' +
-
+
- +FISHING = 'Fishing' +
-
+
- +MILITARY = 'Military ops' +
-
+
- +class trafficgen.types.StaticShipData(**data: Any)[source] +
Bases:
+pydantic.BaseModelData type for static ship data.
+-
+
- +length: float +
-
+
- +width: float +
-
+
- +height: float +
-
+
- +speed_max: float +
-
+
- +mmsi: int +
-
+
- +name: str +
-
+
- +class trafficgen.types.Ship(**data: Any)[source] +
Bases:
+pydantic.BaseModelData type for a ship.
+-
+
- +static: StaticShipData | None +
-
+
- +class trafficgen.types.TargetShip(**data: Any)[source] +
Bases:
+ShipData type for a target ship.
+-
+
- +id: int | None +
-
+
- +class trafficgen.types.EncounterType(*args, **kwds)[source] +
Bases:
+enum.EnumEnumeration 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' +
-
+
- +class trafficgen.types.Encounter(**data: Any)[source] +
Bases:
+pydantic.BaseModelData type for an encounter.
+-
+
- +desired_encounter_type: EncounterType +
-
+
- +beta: float | None +
-
+
- +relative_speed: float | None +
-
+
- +vector_time: float | None +
-
+
- +class trafficgen.types.Situation(**data: Any)[source] +
Bases:
+pydantic.BaseModelData type for a traffic situation.
+-
+
- +title: str +
-
+
- +input_file_name: str | None +
-
+
- +common_vector: float | None +
-
+
- +lat_lon_0: List[float] | None +
-
+
- +num_situations: int | None +
-
+
- +target_ship: List[TargetShip] | None +
-
+
- +class trafficgen.types.EncounterClassification(**data: Any)[source] +
Bases:
+pydantic.BaseModelData type for the encounter classification.
+-
+
- +theta13_criteria: float +
-
+
- +theta14_criteria: float +
-
+
- +theta15_criteria: float +
-
+
- +theta15: List[float] +
-
+
- +class trafficgen.types.EncounterRelativeSpeed(**data: Any)[source] +
Bases:
+pydantic.BaseModelData 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] +
-
+
- +class trafficgen.types.EncounterSettings(**data: Any)[source] +
Bases:
+pydantic.BaseModelData type for encounter settings.
+-
+
- +classification: EncounterClassification +
-
+
- +relative_speed: EncounterRelativeSpeed +
-
+
- +vector_range: List[float] +
-
+
- +max_meeting_distance: float +
-
+
- +evolve_time: float +
-
+
- +lat_lon_0: List[float] +
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/branch/main/api/trafficgen/write_traffic_situation_to_file/index.html b/branch/main/api/trafficgen/write_traffic_situation_to_file/index.html
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+
+ trafficgen.utils
+Utility functions that are used by several other functions.
+Module Contents
+Functions
+
|
+Convert ship speed in meters pr minutes to knot. |
+
|
+Convert ship speed in knot to meters pr minutes. |
+
|
+Convert length given in meters to length given in nautical miles. |
+
|
+Convert length given in nautical miles to length given in meters. |
+
|
+Convert angle given in degrees to angle give in radians. |
+
|
+Convert angle given in radians to angle give in degrees. |
+
| + | Convert an angle given in the region -180 to 180 degrees to an |
+
| + | Convert an angle given in the region 0 to 360 degrees to an |
+
| + | Calculate the position of the ship at a given time based on initial position |
+
-
+
- +trafficgen.utils.m_pr_min_2_knot(speed_in_m_pr_min: float) float[source] +
Convert ship speed in meters pr minutes to knot.
+-
+
- Params:
speed_in_m_pr_min: Ship speed in meters pr second
+
+
-
+
- Returns: +
speed_in_knot
+
+- Return type: +
Ship speed given in knots
+
+
-
+
- +trafficgen.utils.knot_2_m_pr_min(speed_in_knot: float) float[source] +
Convert ship speed in knot to meters pr minutes.
+-
+
- Params:
speed_in_knot: Ship speed given in knots
+
+
-
+
- Returns: +
speed_in_m_pr_min
+
+- Return type: +
Ship speed in meters pr minutes
+
+
-
+
- +trafficgen.utils.m2nm(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.nm_2_m(length_in_nm: float) float[source] +
Convert length given in nautical miles to length given in meters.
+-
+
- Params:
length_in_nm: Length given in nautical miles
+
+
-
+
- Returns: +
length_in_m
+
+- Return type: +
Length given in meters
+
+
-
+
- +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.rad_2_deg(angle_in_radians: float) float[source] +
Convert angle given in radians to angle give in degrees.
+-
+
- Params:
angle_in_degrees: Angle given in degrees
+
+
-
+
- Returns: +
angle given in radians
+
+- Return type: +
Angle given in radians
+
+
-
+
- +trafficgen.utils.convert_angle_minus_180_to_180_to_0_to_360(angle_180: float) float[source] +
Convert an angle given in the region -180 to 180 degrees to an +angle given in the region 0 to 360 degrees.
+-
+
- Params:
angle_180: Angle given in the region -180 to 180 degrees
+
+
-
+
- Returns: +
angle_360
+
+- Return type: +
Angle given in the region 0 to 360 degrees
+
+
-
+
- +trafficgen.utils.convert_angle_0_to_360_to_minus_180_to_180(angle_360: float) float[source] +
Convert an angle given in the region 0 to 360 degrees to an +angle given in the region -180 to 180 degrees.
+-
+
- Params:
angle_360: Angle given in the region 0 to 360 degrees
+
+
-
+
- Returns: +
angle_180
+
+- Return type: +
Angle given in the region -180 to 180 degrees
+
+
-
+
- +trafficgen.utils.calculate_position_at_certain_time(position: trafficgen.types.Position, speed: float, course: float, delta_time: float) trafficgen.types.Position[source] +
Calculate the position of the ship at a given time based on initial position +and delta time, and constand speed and course.
+-
+
- Params:
position: Initial ship position [m] +speed: Ship speed [knot] +course: Ship course [deg] +delta_time: Delta time from now to the time new position is being calculated [minutes]
+
+
-
+
- Returns: +
position{north, east}
+
+- Return type: +
Dict, north and east position given in meters
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
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+ trafficgen.write_traffic_situation_to_file
+Functions to clean traffic situations data before writing it to a json file.
+Module Contents
+Functions
+
|
+Write traffic situations to json file. |
+
-
+
- +trafficgen.write_traffic_situation_to_file.write_traffic_situations_to_json_file(situations: List[trafficgen.types.Situation], write_folder: pathlib.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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+
+ 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
+ | U
+ | V
+ | W
+
+
+_
+| + |
A
+| + | + |
B
+| + |
C
+D
+| + | + |
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+| + | + |
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+| + | + |
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+| + | + |
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+| + | + |
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+| + | + |
K
+
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+
L
+| + | + |
M
+N
+| + | + |
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+| + | + |
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+| + | + |
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+| + | + |
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+T
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+| + | + |
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+| + | + |
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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 Reference
-
+
trafficgen
+
+
Indices and tables
+-
+
- +
- +
- +
+
+
+
+
+
+
+
+
+
+
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+ Input files
+Example 1: Complete specified situation:
+{
+ "title": "HO",
+ "common_vector": 10.0,
+ "own_ship": {
+ "speed": 10.0,
+ "course": 0.0,
+ "position": {
+ "north": 0.0,
+ "east": 0.0
+ }
+ },
+ "encounter": [
+ {
+ "desired_encounter_type": "head-on",
+ "beta": 2.0,
+ "relative_speed": 1.2,
+ "vector_time": 15.0
+ }
+ ]
+}
+The common_vector is given in minutes. 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, respectively. +The own ship position is given in meters from the reference points, which are defined in latitudinal [degree] and longitudinal [degree]. +The global reference point is defined in src/trafficgen/settings/encounter_settings.json.
+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.
- +
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",
+ "common_vector": 10.0,
+ "own_ship": {
+ "speed": 10.0,
+ "course": 0.0,
+ "position": {
+ "north": 0.0,
+ "east": 0.0
+ }
+ },
+ "encounter": [
+ {
+ "desired_encounter_type": "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 num_situations:
+{
+ "title": "OT_GW",
+ "common_vector": 10.0,
+ "own_ship": {
+ "speed": 7.0,
+ "course": 0.0,
+ "position": {
+ "north": 0.0,
+ "east": 0.0
+ }
+ },
+ "num_situations": 5,
+ "encounter": [
+ {
+ "desired_encounter_type": "overtaking-give-way"
+ }
+ ]
+}
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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
+
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+-
+
- trafficgen package
-
+
assign_beta()
+assign_future_position_to_target_ship()
+assign_speed_to_target_ship()
+assign_vector_time()
+calculate_position_at_certain_time()
+calculate_relative_bearing()
+calculate_ship_course()
+check_encounter_evolvement()
+convert_angle_0_to_360_to_minus_180_to_180()
+convert_angle_minus_180_to_180_to_0_to_360()
+decide_target_ship()
+deg_2_rad()
+determine_colreg()
+find_start_position_target_ship()
+flat2llh()
+generate_encounter()
+generate_traffic_situations()
+knot_2_m_pr_min()
+llh2flat()
+m2nm()
+m_pr_min_2_knot()
+nm_2_m()
+path_crosses_land()
+plot_specific_traffic_situation()
+plot_traffic_situations()
+rad_2_deg()
+read_encounter_settings_file()
+read_own_ship_file()
+read_situation_files()
+read_target_ship_files()
+ssa()
+update_position_data_own_ship()
+update_position_data_target_ship()
+write_traffic_situations_to_json_file()
+- Submodules
-
+
- trafficgen.check_land_crossing module + +
- trafficgen.cli module +
- trafficgen.encounter module
-
+
assign_beta()
+assign_future_position_to_target_ship()
+assign_speed_to_target_ship()
+assign_vector_time()
+calculate_min_vector_length_target_ship()
+calculate_relative_bearing()
+calculate_ship_course()
+check_encounter_evolvement()
+decide_target_ship()
+determine_colreg()
+find_start_position_target_ship()
+generate_encounter()
+update_position_data_own_ship()
+update_position_data_target_ship()
+
+ - trafficgen.marine_system_simulator module
-
+
flat2llh()
+llh2flat()
+ssa()
+
+ - 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 + +
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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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+Search.setIndex({"docnames": ["api/index", "api/trafficgen/check_land_crossing/index", "api/trafficgen/cli/index", "api/trafficgen/encounter/index", "api/trafficgen/index", "api/trafficgen/marine_system_simulator/index", "api/trafficgen/plot_traffic_situation/index", "api/trafficgen/read_files/index", "api/trafficgen/ship_traffic_generator/index", "api/trafficgen/types/index", "api/trafficgen/utils/index", "api/trafficgen/write_traffic_situation_to_file/index", "authors", "contributing", "history", "index", "input_files", "installation", "modules", "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", "usage"], "filenames": ["api/index.rst", "api/trafficgen/check_land_crossing/index.rst", "api/trafficgen/cli/index.rst", "api/trafficgen/encounter/index.rst", "api/trafficgen/index.rst", "api/trafficgen/marine_system_simulator/index.rst", "api/trafficgen/plot_traffic_situation/index.rst", "api/trafficgen/read_files/index.rst", "api/trafficgen/ship_traffic_generator/index.rst", "api/trafficgen/types/index.rst", "api/trafficgen/utils/index.rst", "api/trafficgen/write_traffic_situation_to_file/index.rst", "authors.rst", "contributing.rst", "history.rst", "index.rst", "input_files.rst", "installation.rst", "modules.rst", "trafficgen.rst", "trafficgen.check_land_crossing.rst", "trafficgen.cli.rst", "trafficgen.encounter.rst", "trafficgen.marine_system_simulator.rst", "trafficgen.plot_traffic_situation.rst", "trafficgen.read_files.rst", "trafficgen.ship_traffic_generator.rst", "trafficgen.types.rst", "trafficgen.utils.rst", "trafficgen.write_traffic_situation_to_file.rst", "usage.rst"], "titles": ["API Reference", "
+
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+ trafficgen.check_land_crossing", "trafficgen.cli", "trafficgen.encounter", "trafficgen", "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", "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"], "terms": {"thi": [0, 3, 4, 8, 13, 16, 17, 19, 22, 26, 27, 30], "page": [0, 15], "contain": [0, 5, 23], "auto": 0, "gener": [0, 1, 3, 4, 6, 8, 9, 13, 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"trafficgen.plot_specific_traffic_situation"], [19, "trafficgen.plot_specific_traffic_situation"]], "plot_traffic_situations() (in module trafficgen)": [[4, "trafficgen.plot_traffic_situations"], [19, "trafficgen.plot_traffic_situations"]], "rad_2_deg() (in module trafficgen)": [[4, "trafficgen.rad_2_deg"], [19, "trafficgen.rad_2_deg"]], "read_encounter_settings_file() (in module trafficgen)": [[4, "trafficgen.read_encounter_settings_file"], [19, "trafficgen.read_encounter_settings_file"]], "read_own_ship_file() (in module trafficgen)": [[4, "trafficgen.read_own_ship_file"], [19, "trafficgen.read_own_ship_file"]], "read_situation_files() (in module trafficgen)": [[4, "trafficgen.read_situation_files"], [19, "trafficgen.read_situation_files"]], "read_target_ship_files() (in module trafficgen)": [[4, "trafficgen.read_target_ship_files"], [19, "trafficgen.read_target_ship_files"]], "ssa() (in module trafficgen)": [[4, "trafficgen.ssa"], [19, "trafficgen.ssa"]], "trafficgen": [[4, "module-trafficgen"], [19, "module-trafficgen"]], "update_position_data_own_ship() (in module trafficgen)": [[4, "trafficgen.update_position_data_own_ship"], [19, "trafficgen.update_position_data_own_ship"]], "update_position_data_target_ship() (in module trafficgen)": [[4, "trafficgen.update_position_data_target_ship"], [19, "trafficgen.update_position_data_target_ship"]], "write_traffic_situations_to_json_file() (in module trafficgen)": [[4, "trafficgen.write_traffic_situations_to_json_file"], [19, "trafficgen.write_traffic_situations_to_json_file"]], "flat2llh() (in module trafficgen.marine_system_simulator)": [[5, "trafficgen.marine_system_simulator.flat2llh"], [23, "trafficgen.marine_system_simulator.flat2llh"]], "llh2flat() (in module trafficgen.marine_system_simulator)": [[5, "trafficgen.marine_system_simulator.llh2flat"], [23, "trafficgen.marine_system_simulator.llh2flat"]], "ssa() (in module trafficgen.marine_system_simulator)": [[5, "trafficgen.marine_system_simulator.ssa"], [23, "trafficgen.marine_system_simulator.ssa"]], "trafficgen.marine_system_simulator": [[5, "module-trafficgen.marine_system_simulator"], [23, "module-trafficgen.marine_system_simulator"]], "add_ship_to_map() (in module trafficgen.plot_traffic_situation)": [[6, "trafficgen.plot_traffic_situation.add_ship_to_map"], [24, "trafficgen.plot_traffic_situation.add_ship_to_map"]], "add_ship_to_plot() (in module trafficgen.plot_traffic_situation)": [[6, "trafficgen.plot_traffic_situation.add_ship_to_plot"], [24, "trafficgen.plot_traffic_situation.add_ship_to_plot"]], "calculate_ship_outline() (in module trafficgen.plot_traffic_situation)": [[6, "trafficgen.plot_traffic_situation.calculate_ship_outline"], [24, "trafficgen.plot_traffic_situation.calculate_ship_outline"]], "calculate_vector_arrow() (in module trafficgen.plot_traffic_situation)": [[6, "trafficgen.plot_traffic_situation.calculate_vector_arrow"], [24, "trafficgen.plot_traffic_situation.calculate_vector_arrow"]], "find_max_value_for_plot() (in module trafficgen.plot_traffic_situation)": [[6, "trafficgen.plot_traffic_situation.find_max_value_for_plot"], [24, "trafficgen.plot_traffic_situation.find_max_value_for_plot"]], "plot_specific_traffic_situation() (in module trafficgen.plot_traffic_situation)": [[6, "trafficgen.plot_traffic_situation.plot_specific_traffic_situation"], [24, "trafficgen.plot_traffic_situation.plot_specific_traffic_situation"]], "plot_traffic_situations() (in module trafficgen.plot_traffic_situation)": [[6, "trafficgen.plot_traffic_situation.plot_traffic_situations"], [24, "trafficgen.plot_traffic_situation.plot_traffic_situations"]], "trafficgen.plot_traffic_situation": [[6, "module-trafficgen.plot_traffic_situation"], [24, "module-trafficgen.plot_traffic_situation"]], "read_encounter_settings_file() (in module trafficgen.read_files)": [[7, "trafficgen.read_files.read_encounter_settings_file"], [25, "trafficgen.read_files.read_encounter_settings_file"]], "read_own_ship_file() (in module trafficgen.read_files)": [[7, "trafficgen.read_files.read_own_ship_file"], [25, "trafficgen.read_files.read_own_ship_file"]], "read_situation_files() (in module trafficgen.read_files)": [[7, "trafficgen.read_files.read_situation_files"], [25, "trafficgen.read_files.read_situation_files"]], "read_target_ship_files() (in module trafficgen.read_files)": [[7, "trafficgen.read_files.read_target_ship_files"], [25, "trafficgen.read_files.read_target_ship_files"]], "trafficgen.read_files": [[7, "module-trafficgen.read_files"], [25, "module-trafficgen.read_files"]], "generate_traffic_situations() (in module trafficgen.ship_traffic_generator)": [[8, "trafficgen.ship_traffic_generator.generate_traffic_situations"], [26, "trafficgen.ship_traffic_generator.generate_traffic_situations"]], "trafficgen.ship_traffic_generator": [[8, "module-trafficgen.ship_traffic_generator"], [26, "module-trafficgen.ship_traffic_generator"]], "crossing_give_way (trafficgen.types.encountertype attribute)": [[9, "trafficgen.types.EncounterType.CROSSING_GIVE_WAY"], [27, "trafficgen.types.EncounterType.CROSSING_GIVE_WAY"]], "crossing_stand_on (trafficgen.types.encountertype attribute)": [[9, "trafficgen.types.EncounterType.CROSSING_STAND_ON"], [27, "trafficgen.types.EncounterType.CROSSING_STAND_ON"]], "encounter (class in trafficgen.types)": [[9, "trafficgen.types.Encounter"], [27, "trafficgen.types.Encounter"]], "encounterclassification (class in trafficgen.types)": [[9, "trafficgen.types.EncounterClassification"], [27, "trafficgen.types.EncounterClassification"]], "encounterrelativespeed (class in trafficgen.types)": [[9, "trafficgen.types.EncounterRelativeSpeed"], [27, "trafficgen.types.EncounterRelativeSpeed"]], "encountersettings (class in trafficgen.types)": [[9, "trafficgen.types.EncounterSettings"], [27, "trafficgen.types.EncounterSettings"]], "encountertype (class in trafficgen.types)": [[9, "trafficgen.types.EncounterType"], [27, "trafficgen.types.EncounterType"]], "fishing (trafficgen.types.shiptype attribute)": [[9, "trafficgen.types.ShipType.FISHING"], [27, "trafficgen.types.ShipType.FISHING"]], "general_cargo (trafficgen.types.shiptype attribute)": [[9, "trafficgen.types.ShipType.GENERAL_CARGO"], [27, "trafficgen.types.ShipType.GENERAL_CARGO"]], "head_on (trafficgen.types.encountertype attribute)": [[9, "trafficgen.types.EncounterType.HEAD_ON"], [27, "trafficgen.types.EncounterType.HEAD_ON"]], "military (trafficgen.types.shiptype attribute)": [[9, "trafficgen.types.ShipType.MILITARY"], [27, "trafficgen.types.ShipType.MILITARY"]], "no_risk_collision (trafficgen.types.encountertype attribute)": [[9, "trafficgen.types.EncounterType.NO_RISK_COLLISION"], [27, "trafficgen.types.EncounterType.NO_RISK_COLLISION"]], "overtaking_give_way (trafficgen.types.encountertype attribute)": [[9, "trafficgen.types.EncounterType.OVERTAKING_GIVE_WAY"], [27, "trafficgen.types.EncounterType.OVERTAKING_GIVE_WAY"]], "overtaking_stand_on (trafficgen.types.encountertype attribute)": [[9, "trafficgen.types.EncounterType.OVERTAKING_STAND_ON"], [27, "trafficgen.types.EncounterType.OVERTAKING_STAND_ON"]], "passenger_roro (trafficgen.types.shiptype attribute)": [[9, "trafficgen.types.ShipType.PASSENGER_RORO"], [27, "trafficgen.types.ShipType.PASSENGER_RORO"]], "pose (class in trafficgen.types)": [[9, "trafficgen.types.Pose"], [27, "trafficgen.types.Pose"]], "position (class in trafficgen.types)": [[9, "trafficgen.types.Position"], [27, "trafficgen.types.Position"]], "ship (class in trafficgen.types)": [[9, "trafficgen.types.Ship"], [27, "trafficgen.types.Ship"]], "shiptype (class in trafficgen.types)": [[9, "trafficgen.types.ShipType"], [27, "trafficgen.types.ShipType"]], "situation (class in trafficgen.types)": [[9, "trafficgen.types.Situation"], [27, "trafficgen.types.Situation"]], "staticshipdata (class in trafficgen.types)": [[9, "trafficgen.types.StaticShipData"], [27, "trafficgen.types.StaticShipData"]], "targetship (class in trafficgen.types)": [[9, "trafficgen.types.TargetShip"], [27, "trafficgen.types.TargetShip"]], "beta (trafficgen.types.encounter attribute)": [[9, "trafficgen.types.Encounter.beta"], [27, "trafficgen.types.Encounter.beta"]], "classification (trafficgen.types.encountersettings attribute)": [[9, "trafficgen.types.EncounterSettings.classification"], [27, "trafficgen.types.EncounterSettings.classification"]], "common_vector (trafficgen.types.situation attribute)": [[9, "trafficgen.types.Situation.common_vector"], [27, "trafficgen.types.Situation.common_vector"]], "course (trafficgen.types.pose attribute)": [[9, "trafficgen.types.Pose.course"], [27, "trafficgen.types.Pose.course"]], "crossing_give_way (trafficgen.types.encounterrelativespeed attribute)": [[9, "trafficgen.types.EncounterRelativeSpeed.crossing_give_way"], [27, "trafficgen.types.EncounterRelativeSpeed.crossing_give_way"]], "crossing_stand_on (trafficgen.types.encounterrelativespeed attribute)": [[9, "trafficgen.types.EncounterRelativeSpeed.crossing_stand_on"], [27, "trafficgen.types.EncounterRelativeSpeed.crossing_stand_on"]], "desired_encounter_type (trafficgen.types.encounter attribute)": [[9, "trafficgen.types.Encounter.desired_encounter_type"], [27, "trafficgen.types.Encounter.desired_encounter_type"]], "east (trafficgen.types.position attribute)": [[9, "trafficgen.types.Position.east"], [27, "trafficgen.types.Position.east"]], "encounter (trafficgen.types.situation attribute)": [[9, "trafficgen.types.Situation.encounter"], [27, "trafficgen.types.Situation.encounter"]], "evolve_time (trafficgen.types.encountersettings attribute)": [[9, "trafficgen.types.EncounterSettings.evolve_time"], [27, "trafficgen.types.EncounterSettings.evolve_time"]], "head_on (trafficgen.types.encounterrelativespeed attribute)": [[9, "trafficgen.types.EncounterRelativeSpeed.head_on"], [27, "trafficgen.types.EncounterRelativeSpeed.head_on"]], "height (trafficgen.types.staticshipdata attribute)": [[9, "trafficgen.types.StaticShipData.height"], [27, "trafficgen.types.StaticShipData.height"]], "id (trafficgen.types.targetship attribute)": [[9, "trafficgen.types.TargetShip.id"], [27, "trafficgen.types.TargetShip.id"]], "input_file_name (trafficgen.types.situation attribute)": [[9, "trafficgen.types.Situation.input_file_name"], [27, "trafficgen.types.Situation.input_file_name"]], "lat_lon_0 (trafficgen.types.encountersettings attribute)": [[9, "trafficgen.types.EncounterSettings.lat_lon_0"], [27, "trafficgen.types.EncounterSettings.lat_lon_0"]], "lat_lon_0 (trafficgen.types.situation attribute)": [[9, "trafficgen.types.Situation.lat_lon_0"], [27, "trafficgen.types.Situation.lat_lon_0"]], "latitude (trafficgen.types.position attribute)": [[9, "trafficgen.types.Position.latitude"], [27, "trafficgen.types.Position.latitude"]], "length (trafficgen.types.staticshipdata attribute)": [[9, "trafficgen.types.StaticShipData.length"], [27, "trafficgen.types.StaticShipData.length"]], "longitude (trafficgen.types.position attribute)": [[9, "trafficgen.types.Position.longitude"], [27, "trafficgen.types.Position.longitude"]], "max_meeting_distance (trafficgen.types.encountersettings attribute)": [[9, "trafficgen.types.EncounterSettings.max_meeting_distance"], [27, "trafficgen.types.EncounterSettings.max_meeting_distance"]], "mmsi (trafficgen.types.staticshipdata attribute)": [[9, "trafficgen.types.StaticShipData.mmsi"], [27, "trafficgen.types.StaticShipData.mmsi"]], "name (trafficgen.types.staticshipdata attribute)": [[9, "trafficgen.types.StaticShipData.name"], [27, "trafficgen.types.StaticShipData.name"]], "north (trafficgen.types.position attribute)": [[9, "trafficgen.types.Position.north"], [27, "trafficgen.types.Position.north"]], "num_situations (trafficgen.types.situation attribute)": [[9, "trafficgen.types.Situation.num_situations"], [27, "trafficgen.types.Situation.num_situations"]], "overtaking_give_way (trafficgen.types.encounterrelativespeed attribute)": [[9, "trafficgen.types.EncounterRelativeSpeed.overtaking_give_way"], [27, "trafficgen.types.EncounterRelativeSpeed.overtaking_give_way"]], "overtaking_stand_on (trafficgen.types.encounterrelativespeed attribute)": [[9, "trafficgen.types.EncounterRelativeSpeed.overtaking_stand_on"], [27, "trafficgen.types.EncounterRelativeSpeed.overtaking_stand_on"]], "own_ship (trafficgen.types.situation attribute)": [[9, "trafficgen.types.Situation.own_ship"], [27, "trafficgen.types.Situation.own_ship"]], "position (trafficgen.types.pose attribute)": [[9, "trafficgen.types.Pose.position"], [27, "trafficgen.types.Pose.position"]], "relative_speed (trafficgen.types.encounter attribute)": [[9, "trafficgen.types.Encounter.relative_speed"], [27, "trafficgen.types.Encounter.relative_speed"]], "relative_speed (trafficgen.types.encountersettings attribute)": [[9, "trafficgen.types.EncounterSettings.relative_speed"], [27, "trafficgen.types.EncounterSettings.relative_speed"]], "ship_type (trafficgen.types.staticshipdata attribute)": [[9, "trafficgen.types.StaticShipData.ship_type"], [27, "trafficgen.types.StaticShipData.ship_type"]], "speed (trafficgen.types.pose attribute)": [[9, "trafficgen.types.Pose.speed"], [27, "trafficgen.types.Pose.speed"]], "speed_max (trafficgen.types.staticshipdata attribute)": [[9, "trafficgen.types.StaticShipData.speed_max"], [27, "trafficgen.types.StaticShipData.speed_max"]], "start_pose (trafficgen.types.ship attribute)": [[9, "trafficgen.types.Ship.start_pose"], [27, "trafficgen.types.Ship.start_pose"]], "static (trafficgen.types.ship attribute)": [[9, "trafficgen.types.Ship.static"], [27, "trafficgen.types.Ship.static"]], "target_ship (trafficgen.types.situation attribute)": [[9, "trafficgen.types.Situation.target_ship"], [27, "trafficgen.types.Situation.target_ship"]], "theta13_criteria (trafficgen.types.encounterclassification attribute)": [[9, "trafficgen.types.EncounterClassification.theta13_criteria"], [27, "trafficgen.types.EncounterClassification.theta13_criteria"]], "theta14_criteria (trafficgen.types.encounterclassification attribute)": [[9, "trafficgen.types.EncounterClassification.theta14_criteria"], [27, "trafficgen.types.EncounterClassification.theta14_criteria"]], "theta15 (trafficgen.types.encounterclassification attribute)": [[9, "trafficgen.types.EncounterClassification.theta15"], [27, "trafficgen.types.EncounterClassification.theta15"]], "theta15_criteria (trafficgen.types.encounterclassification attribute)": [[9, "trafficgen.types.EncounterClassification.theta15_criteria"], [27, "trafficgen.types.EncounterClassification.theta15_criteria"]], "title (trafficgen.types.situation attribute)": [[9, "trafficgen.types.Situation.title"], [27, "trafficgen.types.Situation.title"]], "trafficgen.types": [[9, "module-trafficgen.types"], [27, "module-trafficgen.types"]], "vector_range (trafficgen.types.encountersettings attribute)": [[9, "trafficgen.types.EncounterSettings.vector_range"], [27, "trafficgen.types.EncounterSettings.vector_range"]], "vector_time (trafficgen.types.encounter attribute)": [[9, "trafficgen.types.Encounter.vector_time"], [27, "trafficgen.types.Encounter.vector_time"]], "waypoints (trafficgen.types.ship attribute)": [[9, "trafficgen.types.Ship.waypoints"], [27, "trafficgen.types.Ship.waypoints"]], "width (trafficgen.types.staticshipdata attribute)": [[9, "trafficgen.types.StaticShipData.width"], [27, "trafficgen.types.StaticShipData.width"]], "calculate_position_at_certain_time() (in module trafficgen.utils)": [[10, "trafficgen.utils.calculate_position_at_certain_time"], [28, "trafficgen.utils.calculate_position_at_certain_time"]], "convert_angle_0_to_360_to_minus_180_to_180() (in module trafficgen.utils)": [[10, "trafficgen.utils.convert_angle_0_to_360_to_minus_180_to_180"], [28, "trafficgen.utils.convert_angle_0_to_360_to_minus_180_to_180"]], "convert_angle_minus_180_to_180_to_0_to_360() (in module trafficgen.utils)": [[10, "trafficgen.utils.convert_angle_minus_180_to_180_to_0_to_360"], [28, "trafficgen.utils.convert_angle_minus_180_to_180_to_0_to_360"]], "deg_2_rad() (in module trafficgen.utils)": [[10, "trafficgen.utils.deg_2_rad"], [28, "trafficgen.utils.deg_2_rad"]], "knot_2_m_pr_min() (in module trafficgen.utils)": [[10, "trafficgen.utils.knot_2_m_pr_min"], [28, "trafficgen.utils.knot_2_m_pr_min"]], "m2nm() (in module trafficgen.utils)": [[10, "trafficgen.utils.m2nm"], [28, "trafficgen.utils.m2nm"]], "m_pr_min_2_knot() (in module trafficgen.utils)": [[10, "trafficgen.utils.m_pr_min_2_knot"], [28, "trafficgen.utils.m_pr_min_2_knot"]], "nm_2_m() (in module trafficgen.utils)": [[10, "trafficgen.utils.nm_2_m"], [28, "trafficgen.utils.nm_2_m"]], "rad_2_deg() (in module trafficgen.utils)": [[10, "trafficgen.utils.rad_2_deg"], [28, "trafficgen.utils.rad_2_deg"]], "trafficgen.utils": [[10, "module-trafficgen.utils"], [28, "module-trafficgen.utils"]], "trafficgen.write_traffic_situation_to_file": [[11, "module-trafficgen.write_traffic_situation_to_file"], [29, "module-trafficgen.write_traffic_situation_to_file"]], "write_traffic_situations_to_json_file() (in module trafficgen.write_traffic_situation_to_file)": [[11, "trafficgen.write_traffic_situation_to_file.write_traffic_situations_to_json_file"], [29, "trafficgen.write_traffic_situation_to_file.write_traffic_situations_to_json_file"]], "generate_traffic_situations() (in module trafficgen)": [[19, "trafficgen.generate_traffic_situations"]], "model_config (trafficgen.types.encounter attribute)": [[27, "trafficgen.types.Encounter.model_config"]], "model_config (trafficgen.types.encounterclassification attribute)": [[27, "trafficgen.types.EncounterClassification.model_config"]], "model_config (trafficgen.types.encounterrelativespeed attribute)": [[27, "trafficgen.types.EncounterRelativeSpeed.model_config"]], "model_config (trafficgen.types.encountersettings attribute)": [[27, "trafficgen.types.EncounterSettings.model_config"]], "model_config (trafficgen.types.pose attribute)": [[27, "trafficgen.types.Pose.model_config"]], "model_config (trafficgen.types.position attribute)": [[27, "trafficgen.types.Position.model_config"]], "model_config (trafficgen.types.ship attribute)": [[27, "trafficgen.types.Ship.model_config"]], "model_config (trafficgen.types.situation attribute)": [[27, "trafficgen.types.Situation.model_config"]], "model_config (trafficgen.types.staticshipdata attribute)": [[27, "trafficgen.types.StaticShipData.model_config"]], "model_config (trafficgen.types.targetship attribute)": [[27, "trafficgen.types.TargetShip.model_config"]], "model_fields (trafficgen.types.encounter attribute)": [[27, "trafficgen.types.Encounter.model_fields"]], "model_fields (trafficgen.types.encounterclassification attribute)": [[27, "trafficgen.types.EncounterClassification.model_fields"]], "model_fields (trafficgen.types.encounterrelativespeed attribute)": [[27, "trafficgen.types.EncounterRelativeSpeed.model_fields"]], "model_fields (trafficgen.types.encountersettings attribute)": [[27, "trafficgen.types.EncounterSettings.model_fields"]], "model_fields (trafficgen.types.pose attribute)": [[27, "trafficgen.types.Pose.model_fields"]], "model_fields (trafficgen.types.position attribute)": [[27, "trafficgen.types.Position.model_fields"]], "model_fields (trafficgen.types.ship attribute)": [[27, "trafficgen.types.Ship.model_fields"]], "model_fields (trafficgen.types.situation attribute)": [[27, "trafficgen.types.Situation.model_fields"]], "model_fields (trafficgen.types.staticshipdata attribute)": [[27, "trafficgen.types.StaticShipData.model_fields"]], "model_fields (trafficgen.types.targetship attribute)": [[27, "trafficgen.types.TargetShip.model_fields"]]}})
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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_lon_0: List[float], time_interval: float = 50.0) bool[source] +
Find if path is crossing land.
+-
+
- Params:
position_1: Ship position in (north, east) [m]. +speed: Ship speed [knots]. +course: Ship course [degree]. +lat_lon_0: Reference point, latitudinal [degree] and longitudinal [degree]. +time_interval: The time interval the vessel should travel without crossing land [minutes]
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- Returns: +
is_on_land
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+- 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
+
+
-
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- Return type: +
Relative bearing between own ship and target ship seen from own ship [deg]
+
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-
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- +trafficgen.encounter.assign_future_position_to_target_ship(own_ship_position_future: 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.
+-
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- Params:
-
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- own_ship_position_future: Dict, own ship position at a given time in the
future, {north, east}
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+
- max_meeting_distance: Maximum distance between own ship and target ship at
a given time in the future [nm]
+
+
+
+
-
+
- Returns: +
future_position_target_ship
+
+- Return type: +
Future position of target ship {north, east} [m]
+
+
-
+
- +trafficgen.encounter.assign_speed_to_target_ship(encounter_type: EncounterType, own_ship_speed: float, min_target_ship_speed: float, relative_speed_setting: EncounterRelativeSpeed)[source] +
Assign random (uniform) speed to target ship depending on type of encounter.
+-
+
- Params:
-
+
encounter_type: Type of encounter
+own_ship_speed: Own ship speed [knot]
+min_target_ship_speed: Minimum target ship speed [knot]
+relative_speed_setting: Relative speed setting dependent on encounter [-]
+
+
-
+
- Returns: +
target_ship_speed
+
+- Return type: +
Target ship speed [knot]
+
+
-
+
- +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_course: float, target_ship_position_future: Position, desired_beta: float) float[source] +
Calculate minimum vector length (target ship speed x vector). This will +ensure that ship speed is high enough to find proper situation.
+-
+
- Params:
-
+
own_ship_position: Own ship initial position, speed and course
+own_ship_course: Own ship initial course
+target_ship_position_future: Target ship future position
+desired_beta: Desired relative bearing between
+
+
Returns: min_vector_length: Minimum vector length (target ship speed x vector)
+
-
+
- +trafficgen.encounter.calculate_relative_bearing(position_own_ship: Position, heading_own_ship: float, position_target_ship: Position, heading_target_ship: float) 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: Dict, own ship position {north, east} [m]
+heading_own_ship: Own ship course [deg]
+position_target_ship: Dict, own ship position {north, east} [m]
+heading_target_ship: Target ship course [deg]
+
+
-
+
- Returns: +
-
+
* beta (relative bearing between own ship and target ship seen from own ship [deg])
+* alpha (relative bearing between target ship and own ship seen from target ship [deg])
+
+
-
+
- +trafficgen.encounter.calculate_ship_course(waypoint_0: Position, waypoint_1: Position) float[source] +
Calculate ship course between two waypoints.
+-
+
- Params:
-
+
waypoint_0: Dict, waypoint {north, east} [m]
+waypoint_1: Dict, waypoint {north, east} [m]
+
+
-
+
- Returns: +
course
+
+- Return type: +
Ship course [deg]
+
+
-
+
- +trafficgen.encounter.check_encounter_evolvement(own_ship: Ship, own_ship_position_future: Position, target_ship: TargetShip, 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, speed and course
+target_ship: Target ship information such as initial position, speed and course
+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: List[TargetShip]) TargetShip[source] +
Randomly pick a target ship from a list of target ships.
+-
+
- Params:
-
+
target_ships: list of target ships
+
+
-
+
- Return type: +
The target ship, info of type, size etc.
+
+
-
+
- +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 courses”, +“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, own_ship_course: float, target_ship_position_future: Position, target_ship_vector_length: float, desired_beta: float, desired_encounter_type: EncounterType, settings: EncounterSettings)[source] +
Find start position of target ship using desired beta and vector length.
+-
+
- Params:
-
+
own_ship_position: Own ship initial position, speed and course
+own_ship_course: Own ship initial course
+target_ship_position_future: Target ship future position
+target_ship_vector_length: vector length (target ship speed 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: Ship, target_ships: List[TargetShip], target_ship_id: int, beta_default: float | None, relative_speed_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: List of target ships that may be used in an encounter
+target_ship_id: ID which should be used on target ship
+beta_default: User defined beta. If not set, this is None.
+-
+
- relative_speed_default: User defined relative speed 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, speed and course)
+encounter_found (True=encounter found, False=encounter not found)
+
+
-
+
- +trafficgen.encounter.update_position_data_own_ship(ship: Ship, lat_lon_0: List[float], delta_time: float) Ship[source] +
Update position data of the target ship to also include latitude and longitude +position of the target ship.
+-
+
- Params:
-
+
ship: Own ship data
+lat_lon_0: Reference point, latitudinal [degree] and longitudinal [degree]
+delta_time: Delta time from now to the time new position is being calculated [minutes]
+
+
-
+
- Returns: +
ship
+
+- Return type: +
Updated own ship data
+
+
-
+
- +trafficgen.encounter.update_position_data_target_ship(target_ship: TargetShip, lat_lon_0: List[float]) TargetShip[source] +
Update position data of the target ship to also include latitude and longitude +position of the target ship.
+-
+
- Params:
-
+
target_ship: Target ship data
+lat_lon_0: Reference point, latitudinal [degree] and longitudinal [degree]
+
+
-
+
- Returns: +
ship
+
+- Return type: +
Updated target ship data
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
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--- /dev/null
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@@ -0,0 +1,215 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ trafficgen package
+Top-level package for Traffic Generator.
+-
+
- +trafficgen.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 [deg]
+
+
-
+
- +trafficgen.assign_future_position_to_target_ship(own_ship_position_future: 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}
+
+
+-
+
- max_meeting_distance: Maximum distance between own ship and target ship at
a given time in the future [nm]
+
+
+
+
-
+
- Returns: +
future_position_target_ship
+
+- Return type: +
Future position of target ship {north, east} [m]
+
+
-
+
- +trafficgen.assign_speed_to_target_ship(encounter_type: EncounterType, own_ship_speed: float, min_target_ship_speed: float, relative_speed_setting: EncounterRelativeSpeed)[source] +
Assign random (uniform) speed to target ship depending on type of encounter.
+-
+
- Params:
-
+
encounter_type: Type of encounter
+own_ship_speed: Own ship speed [knot]
+min_target_ship_speed: Minimum target ship speed [knot]
+relative_speed_setting: Relative speed setting dependent on encounter [-]
+
+
-
+
- Returns: +
target_ship_speed
+
+- Return type: +
Target ship speed [knot]
+
+
-
+
- +trafficgen.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.calculate_position_at_certain_time(position: 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 constand speed and course.
+-
+
- Params:
position: Initial ship position [m] +speed: Ship speed [knot] +course: Ship course [deg] +delta_time: Delta time from now to the time new position is being calculated [minutes]
+
+
-
+
- Returns: +
position{north, east}
+
+- Return type: +
Dict, north and east position given in meters
+
+
-
+
- +trafficgen.calculate_relative_bearing(position_own_ship: Position, heading_own_ship: float, position_target_ship: Position, heading_target_ship: float) 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: Dict, own ship position {north, east} [m]
+heading_own_ship: Own ship course [deg]
+position_target_ship: Dict, own ship position {north, east} [m]
+heading_target_ship: Target ship course [deg]
+
+
-
+
- Returns: +
-
+
* beta (relative bearing between own ship and target ship seen from own ship [deg])
+* alpha (relative bearing between target ship and own ship seen from target ship [deg])
+
+
-
+
- +trafficgen.calculate_ship_course(waypoint_0: Position, waypoint_1: Position) float[source] +
Calculate ship course between two waypoints.
+-
+
- Params:
-
+
waypoint_0: Dict, waypoint {north, east} [m]
+waypoint_1: Dict, waypoint {north, east} [m]
+
+
-
+
- Returns: +
course
+
+- Return type: +
Ship course [deg]
+
+
-
+
- +trafficgen.check_encounter_evolvement(own_ship: Ship, own_ship_position_future: Position, target_ship: TargetShip, 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, speed and course
+target_ship: Target ship information such as initial position, speed and course
+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.convert_angle_0_to_360_to_minus_180_to_180(angle_360: float) float[source] +
Convert an angle given in the region 0 to 360 degrees to an +angle given in the region -180 to 180 degrees.
+-
+
- Params:
angle_360: Angle given in the region 0 to 360 degrees
+
+
-
+
- Returns: +
angle_180
+
+- Return type: +
Angle given in the region -180 to 180 degrees
+
+
-
+
- +trafficgen.convert_angle_minus_180_to_180_to_0_to_360(angle_180: float) float[source] +
Convert an angle given in the region -180 to 180 degrees to an +angle given in the region 0 to 360 degrees.
+-
+
- Params:
angle_180: Angle given in the region -180 to 180 degrees
+
+
-
+
- Returns: +
angle_360
+
+- Return type: +
Angle given in the region 0 to 360 degrees
+
+
-
+
- +trafficgen.decide_target_ship(target_ships: List[TargetShip]) TargetShip[source] +
Randomly pick a target ship from a list of target ships.
+-
+
- Params:
-
+
target_ships: list of target ships
+
+
-
+
- Return type: +
The target ship, info of type, size etc.
+
+
-
+
- +trafficgen.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.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 courses”, +“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.find_start_position_target_ship(own_ship_position: Position, own_ship_course: float, target_ship_position_future: Position, target_ship_vector_length: float, desired_beta: float, desired_encounter_type: EncounterType, settings: EncounterSettings)[source] +
Find start position of target ship using desired beta and vector length.
+-
+
- Params:
-
+
own_ship_position: Own ship initial position, speed and course
+own_ship_course: Own ship initial course
+target_ship_position_future: Target ship future position
+target_ship_vector_length: vector length (target ship speed 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.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.generate_encounter(desired_encounter_type: EncounterType, own_ship: Ship, target_ships: List[TargetShip], target_ship_id: int, beta_default: float | None, relative_speed_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: List of target ships that may be used in an encounter
+target_ship_id: ID which should be used on target ship
+beta_default: User defined beta. If not set, this is None.
+-
+
- relative_speed_default: User defined relative speed 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, speed and course)
+encounter_found (True=encounter found, False=encounter not found)
+
+
-
+
- +trafficgen.generate_traffic_situations(situation_folder: Path, own_ship_file: Path, target_ship_folder: Path, settings_file: Path) List[Situation][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
+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.
+
+
-
+
- +trafficgen.knot_2_m_pr_min(speed_in_knot: float) float[source] +
Convert ship speed in knot to meters pr minutes.
+-
+
- Params:
speed_in_knot: Ship speed given in knots
+
+
-
+
- Returns: +
speed_in_m_pr_min
+
+- Return type: +
Ship speed in meters pr minutes
+
+
-
+
- +trafficgen.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.m2nm(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.m_pr_min_2_knot(speed_in_m_pr_min: float) float[source] +
Convert ship speed in meters pr minutes to knot.
+-
+
- Params:
speed_in_m_pr_min: Ship speed in meters pr second
+
+
-
+
- Returns: +
speed_in_knot
+
+- Return type: +
Ship speed given in knots
+
+
-
+
- +trafficgen.nm_2_m(length_in_nm: float) float[source] +
Convert length given in nautical miles to length given in meters.
+-
+
- Params:
length_in_nm: Length given in nautical miles
+
+
-
+
- Returns: +
length_in_m
+
+- Return type: +
Length given in meters
+
+
-
+
- +trafficgen.path_crosses_land(position_1: Position, speed: float, course: float, lat_lon_0: List[float], time_interval: float = 50.0) bool[source] +
Find if path is crossing land.
+-
+
- Params:
position_1: Ship position in (north, east) [m]. +speed: Ship speed [knots]. +course: Ship course [degree]. +lat_lon_0: Reference point, latitudinal [degree] and longitudinal [degree]. +time_interval: The time interval the vessel should travel without crossing land [minutes]
+
+
-
+
- Returns: +
is_on_land
+
+- Return type: +
True if parts of the path crosses land.
+
+
-
+
- +trafficgen.plot_specific_traffic_situation(traffic_situations: List[Situation], situation_number: int)[source] +
Plot a specific situation in map.
+-
+
- Params:
traffic_situations: Generated traffic situations +situation_number: The specific situation to be plotted
+
+
-
+
- +trafficgen.plot_traffic_situations(traffic_situations: List[Situation], col: int, row: int)[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
+
+
-
+
- +trafficgen.rad_2_deg(angle_in_radians: float) float[source] +
Convert angle given in radians to angle give in degrees.
+-
+
- Params:
angle_in_degrees: Angle given in degrees
+
+
-
+
- Returns: +
angle given in radians
+
+- Return type: +
Angle given in radians
+
+
-
+
- +trafficgen.read_encounter_settings_file(settings_file: Path) EncounterSettings[source] +
Read encounter settings file.
+-
+
- Params:
settings_file: Path to the encounter setting file
+
+
-
+
- Return type: +
Encounter settings
+
+
-
+
- +trafficgen.read_own_ship_file(own_ship_file: Path) Ship[source] +
Read own ship file.
+-
+
- Params:
own_ship_file: Path to the own_ship_file file
+
+
-
+
- Return type: +
own_ship information
+
+
-
+
- +trafficgen.read_situation_files(situation_folder: Path) List[Situation][source] +
Read traffic situation files.
+-
+
- Params:
situation_folder: Path to the folder where situation files are found
+
+
-
+
- Returns: +
situations
+
+- Return type: +
List of desired traffic situations
+
+
-
+
- +trafficgen.read_target_ship_files(target_ship_folder: Path) List[TargetShip][source] +
Read target ship files.
+-
+
- Params:
target_ship_folder: Path to the folder where target ships are found
+
+
-
+
- Returns: +
target_ships
+
+- Return type: +
List of different target ships
+
+
-
+
- +trafficgen.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
+
+
-
+
- +trafficgen.update_position_data_own_ship(ship: Ship, lat_lon_0: List[float], delta_time: float) Ship[source] +
Update position data of the target ship to also include latitude and longitude +position of the target ship.
+-
+
- Params:
-
+
ship: Own ship data
+lat_lon_0: Reference point, latitudinal [degree] and longitudinal [degree]
+delta_time: Delta time from now to the time new position is being calculated [minutes]
+
+
-
+
- Returns: +
ship
+
+- Return type: +
Updated own ship data
+
+
-
+
- +trafficgen.update_position_data_target_ship(target_ship: TargetShip, lat_lon_0: List[float]) TargetShip[source] +
Update position data of the target ship to also include latitude and longitude +position of the target ship.
+-
+
- Params:
-
+
target_ship: Target ship data
+lat_lon_0: Reference point, latitudinal [degree] and longitudinal [degree]
+
+
-
+
- Returns: +
ship
+
+- Return type: +
Updated target ship data
+
+
-
+
- +trafficgen.write_traffic_situations_to_json_file(situations: List[Situation], 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
+
+
Submodules
+
+
+-
+
- trafficgen.check_land_crossing module + +
- trafficgen.cli module +
- trafficgen.encounter module
-
+
assign_beta()
+assign_future_position_to_target_ship()
+assign_speed_to_target_ship()
+assign_vector_time()
+calculate_min_vector_length_target_ship()
+calculate_relative_bearing()
+calculate_ship_course()
+check_encounter_evolvement()
+decide_target_ship()
+determine_colreg()
+find_start_position_target_ship()
+generate_encounter()
+update_position_data_own_ship()
+update_position_data_target_ship()
+
+ - trafficgen.marine_system_simulator module
-
+
flat2llh()
+llh2flat()
+ssa()
+
+ - trafficgen.plot_traffic_situation module + +
- trafficgen.read_files module + +
- trafficgen.ship_traffic_generator module + +
- trafficgen.types module
-
+
Encounter+
+EncounterClassification+
+EncounterRelativeSpeed+
+EncounterSettings+
+EncounterType+
+Pose+
+Position+
+Ship+
+ShipType+
+Situation+
+StaticShipData+
+TargetShip+
+
+ - trafficgen.utils module + +
- 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..070be45
--- /dev/null
+++ b/branch/main/trafficgen.plot_traffic_situation.html
@@ -0,0 +1,235 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 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..d9e0084
--- /dev/null
+++ b/branch/main/trafficgen.read_files.html
@@ -0,0 +1,181 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 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_lon_0: List[float], map_plot: Map | None, color: str = 'black') Map[source] +
Add the ship to the map.
+-
+
- Params:
ship: Ship information +vector_time: Vector time [min] +lat_lon_0=Reference point, latitudinal [degree] and longitudinal [degree] +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, axes: Axes | None, color: str = 'black')[source] +
Add the ship to the plot.
+-
+
- Params:
ship: Ship information +vector_time: Vector time [min] +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_lon_0: List[float], 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: {north}, {east} position of the ship [m] +course: course of the ship [deg] +lat_lon_0: Reference point, latitudinal [degree] and longitudinal [degree] +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
+
+
-
+
- +trafficgen.plot_traffic_situation.calculate_vector_arrow(position: Position, direction: float, vector_length: float, lat_lon_0: List[float]) List[Tuple[float, float]][source] +
Calculate the arrow with length vector pointing in the direction of ship course.
+-
+
- Params:
position: {north}, {east} position of the ship [m] +direction: direction the arrow is pointing [deg] +vector_length: length of vector +lat_lon_0: Reference point, latitudinal [degree] and longitudinal [degree]
+
+
-
+
- Returns: +
arrow_points
+
+- Return type: +
Polygon points to draw the arrow
+
+
-
+
- +trafficgen.plot_traffic_situation.find_max_value_for_plot(ship: Ship, max_value: float) 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
+
+
-
+
- Returns: +
max_value
+
+- Return type: +
updated maximum deviation in north, east direction
+
+
-
+
- +trafficgen.plot_traffic_situation.plot_specific_traffic_situation(traffic_situations: List[Situation], situation_number: int)[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[Situation], col: int, row: int)[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..dc384f3
--- /dev/null
+++ b/branch/main/trafficgen.ship_traffic_generator.html
@@ -0,0 +1,140 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ trafficgen.read_files module
+Functions to read the files needed to build one or more traffic situations.
+-
+
- +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
+
+
-
+
- Return type: +
Encounter settings
+
+
-
+
- +trafficgen.read_files.read_own_ship_file(own_ship_file: Path) Ship[source] +
Read own ship file.
+-
+
- Params:
own_ship_file: Path to the own_ship_file file
+
+
-
+
- Return type: +
own_ship information
+
+
-
+
- +trafficgen.read_files.read_situation_files(situation_folder: Path) List[Situation][source] +
Read traffic situation files.
+-
+
- 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_target_ship_files(target_ship_folder: Path) List[TargetShip][source] +
Read target ship files.
+-
+
- Params:
target_ship_folder: Path to the folder where target ships are found
+
+
-
+
- Returns: +
target_ships
+
+- Return type: +
List of different target ships
+
+
+
+
+
+
+
+
+
+
+
+
\ 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..a11b965
--- /dev/null
+++ b/branch/main/trafficgen.types.html
@@ -0,0 +1,614 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 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[Situation][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
+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..3cf6175
--- /dev/null
+++ b/branch/main/trafficgen.utils.html
@@ -0,0 +1,283 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ trafficgen.types module
+Domain specific data types used in trafficgen.
+-
+
- +class trafficgen.types.Encounter(*, desired_encounter_type: EncounterType, beta: float | None = None, relative_speed: float | None = None, vector_time: float | None = None)[source] +
Bases:
+BaseModelData type for an encounter.
+-
+
- +beta: float | None +
-
+
- +desired_encounter_type: EncounterType +
-
+
- +model_config: ClassVar[ConfigDict] = {} +
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
+
-
+
- +model_fields: ClassVar[dict[str, FieldInfo]] = {'beta': FieldInfo(annotation=Union[float, NoneType], required=False), 'desired_encounter_type': FieldInfo(annotation=EncounterType, required=True), 'relative_speed': FieldInfo(annotation=Union[float, NoneType], required=False), 'vector_time': FieldInfo(annotation=Union[float, NoneType], required=False)} +
Metadata about the fields defined on the model, +mapping of field names to [FieldInfo][pydantic.fields.FieldInfo].
+This replaces Model.__fields__ from Pydantic V1.
+
-
+
- +relative_speed: float | None +
-
+
- +vector_time: float | None +
-
+
- +class trafficgen.types.EncounterClassification(*, theta13_criteria: float, theta14_criteria: float, theta15_criteria: float, theta15: List[float])[source] +
Bases:
+BaseModelData type for the encounter classification.
+-
+
- +model_config: ClassVar[ConfigDict] = {} +
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), 'theta14_criteria': FieldInfo(annotation=float, required=True), 'theta15': FieldInfo(annotation=List[float], required=True), 'theta15_criteria': FieldInfo(annotation=float, required=True)} +
Metadata about the fields defined on the model, +mapping of field names to [FieldInfo][pydantic.fields.FieldInfo].
+This replaces Model.__fields__ from Pydantic V1.
+
-
+
- +theta13_criteria: float +
-
+
- +theta14_criteria: float +
-
+
- +theta15: List[float] +
-
+
- +theta15_criteria: float +
-
+
- +class trafficgen.types.EncounterRelativeSpeed(*, overtaking_stand_on: List[float], overtaking_give_way: List[float], head_on: List[float], crossing_give_way: List[float], crossing_stand_on: List[float])[source] +
Bases:
+BaseModelData type for relative speed between two ships in an encounter.
+-
+
- +crossing_give_way: List[float] +
-
+
- +crossing_stand_on: List[float] +
-
+
- +head_on: List[float] +
-
+
- +model_config: ClassVar[ConfigDict] = {} +
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), 'crossing_stand_on': FieldInfo(annotation=List[float], required=True), 'head_on': FieldInfo(annotation=List[float], required=True), 'overtaking_give_way': FieldInfo(annotation=List[float], required=True), 'overtaking_stand_on': FieldInfo(annotation=List[float], required=True)} +
Metadata about the fields defined on the model, +mapping of field names to [FieldInfo][pydantic.fields.FieldInfo].
+This replaces Model.__fields__ from Pydantic V1.
+
-
+
- +overtaking_give_way: List[float] +
-
+
- +overtaking_stand_on: List[float] +
-
+
- +class trafficgen.types.EncounterSettings(*, classification: EncounterClassification, relative_speed: EncounterRelativeSpeed, vector_range: List[float], max_meeting_distance: float, evolve_time: float, lat_lon_0: List[float])[source] +
Bases:
+BaseModelData type for encounter settings.
+-
+
- +classification: EncounterClassification +
-
+
- +evolve_time: float +
-
+
- +lat_lon_0: List[float] +
-
+
- +max_meeting_distance: float +
-
+
- +model_config: ClassVar[ConfigDict] = {} +
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), 'evolve_time': FieldInfo(annotation=float, required=True), 'lat_lon_0': FieldInfo(annotation=List[float], required=True), 'max_meeting_distance': FieldInfo(annotation=float, required=True), 'relative_speed': FieldInfo(annotation=EncounterRelativeSpeed, required=True), 'vector_range': FieldInfo(annotation=List[float], required=True)} +
Metadata about the fields defined on the model, +mapping of field names to [FieldInfo][pydantic.fields.FieldInfo].
+This replaces Model.__fields__ from Pydantic V1.
+
-
+
- +relative_speed: EncounterRelativeSpeed +
-
+
- +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.Pose(*, speed: float = 0.0, course: float = 0.0, position: Position = Position(north=0.0, east=0.0, latitude=0.0, longitude=0.0))[source] +
Bases:
+BaseModelData type for a (ship) pose.
+-
+
- +course: float +
-
+
- +model_config: ClassVar[ConfigDict] = {} +
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
+
-
+
- +model_fields: ClassVar[dict[str, FieldInfo]] = {'course': FieldInfo(annotation=float, required=False, default=0.0), 'position': FieldInfo(annotation=Position, required=False, default=Position(north=0.0, east=0.0, latitude=0.0, longitude=0.0)), 'speed': FieldInfo(annotation=float, required=False, default=0.0)} +
Metadata about the fields defined on the model, +mapping of field names to [FieldInfo][pydantic.fields.FieldInfo].
+This replaces Model.__fields__ from Pydantic V1.
+
-
+
- +speed: float +
-
+
- +class trafficgen.types.Position(*, north: float = 0.0, east: float = 0.0, latitude: float = 0.0, longitude: float = 0.0)[source] +
Bases:
+BaseModelData type for a ship’s position with attributes north, east in [m].
+-
+
- +east: float +
-
+
- +latitude: float +
-
+
- +longitude: float +
-
+
- +model_config: ClassVar[ConfigDict] = {} +
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
+
-
+
- +model_fields: ClassVar[dict[str, FieldInfo]] = {'east': FieldInfo(annotation=float, required=False, default=0.0), 'latitude': FieldInfo(annotation=float, required=False, default=0.0), 'longitude': FieldInfo(annotation=float, required=False, default=0.0), 'north': FieldInfo(annotation=float, required=False, default=0.0)} +
Metadata about the fields defined on the model, +mapping of field names to [FieldInfo][pydantic.fields.FieldInfo].
+This replaces Model.__fields__ from Pydantic V1.
+
-
+
- +north: float +
-
+
- +class trafficgen.types.Ship(*, static: StaticShipData | None = None, start_pose: Pose | None = None, waypoints: List[Position] | None = None)[source] +
Bases:
+BaseModelData type for a ship.
+-
+
- +model_config: ClassVar[ConfigDict] = {} +
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
+
-
+
- +model_fields: ClassVar[dict[str, FieldInfo]] = {'start_pose': FieldInfo(annotation=Union[Pose, NoneType], required=False), 'static': FieldInfo(annotation=Union[StaticShipData, NoneType], required=False), 'waypoints': FieldInfo(annotation=Union[List[Position], NoneType], required=False)} +
Metadata about the fields defined on the model, +mapping of field names to [FieldInfo][pydantic.fields.FieldInfo].
+This replaces Model.__fields__ from Pydantic V1.
+
-
+
- +static: StaticShipData | None +
-
+
- +class trafficgen.types.ShipType(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)[source] +
Bases:
+EnumEnumeration of ship types.
+-
+
- +FISHING = 'Fishing' +
-
+
- +GENERAL_CARGO = 'General Cargo Ship' +
-
+
- +MILITARY = 'Military ops' +
-
+
- +PASSENGER_RORO = 'Passenger/Ro-Ro Cargo Ship' +
-
+
- +class trafficgen.types.Situation(*, title: str, input_file_name: str | None = None, common_vector: float | None = None, lat_lon_0: List[float] | None = None, own_ship: Ship | None = None, num_situations: int | None = None, encounter: List[Encounter] | None = None, target_ship: List[TargetShip] | None = None)[source] +
Bases:
+BaseModelData type for a traffic situation.
+-
+
- +common_vector: float | None +
-
+
- +input_file_name: str | None +
-
+
- +lat_lon_0: List[float] | None +
-
+
- +model_config: ClassVar[ConfigDict] = {} +
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
+
-
+
- +model_fields: ClassVar[dict[str, FieldInfo]] = {'common_vector': FieldInfo(annotation=Union[float, NoneType], required=False), 'encounter': FieldInfo(annotation=Union[List[Encounter], NoneType], required=False), 'input_file_name': FieldInfo(annotation=Union[str, NoneType], required=False), 'lat_lon_0': FieldInfo(annotation=Union[List[float], NoneType], required=False), 'num_situations': FieldInfo(annotation=Union[int, NoneType], required=False), 'own_ship': FieldInfo(annotation=Union[Ship, NoneType], required=False), 'target_ship': FieldInfo(annotation=Union[List[TargetShip], NoneType], required=False), 'title': FieldInfo(annotation=str, required=True)} +
Metadata about the fields defined on the model, +mapping of field names to [FieldInfo][pydantic.fields.FieldInfo].
+This replaces Model.__fields__ from Pydantic V1.
+
-
+
- +num_situations: int | None +
-
+
- +target_ship: List[TargetShip] | None +
-
+
- +title: str +
-
+
- +class trafficgen.types.StaticShipData(*, length: float, width: float, height: float, speed_max: float, mmsi: int, name: str, ship_type: ShipType)[source] +
Bases:
+BaseModelData type for static ship data.
+-
+
- +height: float +
-
+
- +length: float +
-
+
- +mmsi: int +
-
+
- +model_config: ClassVar[ConfigDict] = {} +
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
+
-
+
- +model_fields: ClassVar[dict[str, FieldInfo]] = {'height': FieldInfo(annotation=float, required=True), 'length': FieldInfo(annotation=float, required=True), 'mmsi': FieldInfo(annotation=int, required=True), 'name': FieldInfo(annotation=str, required=True), 'ship_type': FieldInfo(annotation=ShipType, required=True), 'speed_max': FieldInfo(annotation=float, required=True), 'width': FieldInfo(annotation=float, required=True)} +
Metadata about the fields defined on the model, +mapping of field names to [FieldInfo][pydantic.fields.FieldInfo].
+This replaces Model.__fields__ from Pydantic V1.
+
-
+
- +name: str +
-
+
- +speed_max: float +
-
+
- +width: float +
-
+
- +class trafficgen.types.TargetShip(*, static: StaticShipData | None = None, start_pose: Pose | None = None, waypoints: List[Position] | None = None, id: int | None = None)[source] +
Bases:
+ShipData type for a target ship.
+-
+
- +id: int | None +
-
+
- +model_config: ClassVar[ConfigDict] = {} +
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
+
-
+
- +model_fields: ClassVar[dict[str, FieldInfo]] = {'id': FieldInfo(annotation=Union[int, NoneType], required=False), 'start_pose': FieldInfo(annotation=Union[Pose, NoneType], required=False), 'static': FieldInfo(annotation=Union[StaticShipData, NoneType], required=False), 'waypoints': FieldInfo(annotation=Union[List[Position], NoneType], required=False)} +
Metadata about the fields defined on the model, +mapping of field names to [FieldInfo][pydantic.fields.FieldInfo].
+This replaces Model.__fields__ from Pydantic V1.
+
+
+
+
+
+
+
+
+
+
+
\ 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..5aaf1f9
--- /dev/null
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ trafficgen.utils module
+Utility functions that are used by several other functions.
+-
+
- +trafficgen.utils.calculate_position_at_certain_time(position: 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 constand speed and course.
+-
+
- Params:
position: Initial ship position [m] +speed: Ship speed [knot] +course: Ship course [deg] +delta_time: Delta time from now to the time new position is being calculated [minutes]
+
+
-
+
- Returns: +
position{north, east}
+
+- Return type: +
Dict, north and east position given in meters
+
+
-
+
- +trafficgen.utils.convert_angle_0_to_360_to_minus_180_to_180(angle_360: float) float[source] +
Convert an angle given in the region 0 to 360 degrees to an +angle given in the region -180 to 180 degrees.
+-
+
- Params:
angle_360: Angle given in the region 0 to 360 degrees
+
+
-
+
- Returns: +
angle_180
+
+- Return type: +
Angle given in the region -180 to 180 degrees
+
+
-
+
- +trafficgen.utils.convert_angle_minus_180_to_180_to_0_to_360(angle_180: float) float[source] +
Convert an angle given in the region -180 to 180 degrees to an +angle given in the region 0 to 360 degrees.
+-
+
- Params:
angle_180: Angle given in the region -180 to 180 degrees
+
+
-
+
- Returns: +
angle_360
+
+- Return type: +
Angle given in the region 0 to 360 degrees
+
+
-
+
- +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_min(speed_in_knot: float) float[source] +
Convert ship speed in knot to meters pr minutes.
+-
+
- Params:
speed_in_knot: Ship speed given in knots
+
+
-
+
- Returns: +
speed_in_m_pr_min
+
+- Return type: +
Ship speed in meters pr minutes
+
+
-
+
- +trafficgen.utils.m2nm(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_min_2_knot(speed_in_m_pr_min: float) float[source] +
Convert ship speed in meters pr minutes to knot.
+-
+
- Params:
speed_in_m_pr_min: Ship speed in meters pr second
+
+
-
+
- Returns: +
speed_in_knot
+
+- Return type: +
Ship speed given in knots
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/branch/main/usage.html b/branch/main/usage.html
new file mode 100644
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--- /dev/null
+++ b/branch/main/usage.html
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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.write_traffic_situations_to_json_file(situations: List[Situation], 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.
+