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        "author": "Alexander Heilmeier, Tim Stahl, Fabian Christ",
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        "classifiers": [
            "License :: OSI Approved :: GNU Lesser General Public License v3 (LGPLv3)",
            "Operating System :: OS Independent",
            "Programming Language :: Python :: 3",
            "Programming Language :: Python :: 3.6",
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        "description": "# Description\nThis repository provides some helper functions we frequently use in our trajectory planning software stack at FTM/TUM.\nMany of the functions are based on third order splines because we use them as a basis for our path planning.\nPlease keep in mind that some of the functions are designed to work on a closed (race-) track and might therefore\nnot work properly on a common street network.\n\n# List of components\n* `angle3pt`: Calculates angle by turning from a to c around b.\n* `calc_ax_profile`: Calculate the longitudinal acceleration profile for a given velocity profile.\n* `calc_head_curv_an`: Analytical curvature calculation on the basis of third order splines.\n* `calc_head_curv_num`: Numerical curvature calculation.\n* `calc_normal_vectors`: Calculate normalized normal vectors on the basis of headings psi (psi - pi/2).\n* `calc_normal_vectors_ahead`: Calculate normalized normal vectors on the basis of headings psi (psi + pi/2).\n* `calc_spline_lengths`: Calculate spline lengths.\n* `calc_splines`: Calculate splines for a (closable) path.\n* `calc_t_profile`: Calculate the temporal duration profile for a given velocity profile.\n* `calc_tangent_vectors`: Calculate normalized tangent vectors on the basis of headings psi.\n* `calc_vel_profile`: Calculate velocity profile on the basis of a forward/backward solver. Important: ax_max_machines\ninput must be inserted without drag resistance, i.e. simply by calculating F_x_drivetrain / m_veh\n* `calc_vel_profile_brake`: Calculate velocity profile on the basis of a pure forward solver.\n* `check_normals_crossing`: Check if normal vectors of a given track have at least one crossing.\n* `conv_filt`: Filter a given signal using a 1D convolution (moving average) filter.\n* `create_raceline`: Function to create a raceline on the basis of the reference line and an optimization result.\n* `get_rel_path_part`: Get relevant part of a given path on the basis of a s position and a specified range.\n* `import_veh_dyn_info`: Imports the required vehicle dynamics information from several files: ggv and ax_max_machines.\n* `import_veh_dyn_info_2`: Imports local gg diagrams, required for local friction consideration.\n* `interp_splines`: Interpolate splines to get points with a desired stepsize.\n* `interp_track`: Interpolate track to get points with a desired stepsize.\n* `interp_track_widths`: Interpolation function for track widths.\n* `iqp_handler`: Handler function to iteratively call the minimum curvature optimization.\n* `nonreg_sampling`: Function to sample in non-regular intervals (based on curvature) from a given track.\n* `normalize_psi`: Normalize heading psi such that the interval [-pi, pi[ holds.\n* `opt_min_curv`: Minimum curvature optimization.\n* `opt_shortest_path`: Shortest path optimization.\n* `path_matching_global`: Match own vehicle position to a global (i.e. closed) path.\n* `path_matching_local`: Match own vehicle position to a local (i.e. unclosed) path.\n* `progressbar`: Commandline progressbar (to be called in a for loop).\n* `side_of_line`: Function determines if a point is on the left or right side of a line.\n* `spline_approximation`: Function used to obtain a smoothed track on the basis of a spline approximation.\n\n# Example files\nThe folder `example_files` contains an exemplary track file (`berlin_2018.csv`), ggv (`ggv.csv`) and ax_ax_machines file\n(`ax_max_machines.csv`). The two latter files can be easily imported (with checks) using `import_veh_dyn_info`. The\nfiles are taken from our global trajectory planner repository which can be found on\nhttps://github.com/TUMFTM/global_racetrajectory_optimization.\n\n### Solutions for possible installation problems (Windows)\n`cvxpy`, `cython` or any other package requires a `Visual C++ compiler` -> Download the build tools for Visual Studio\n2019 (https://visualstudio.microsoft.com/de/downloads/ -> tools for Visual Studio 2019 -> build tools), install them and\nchose the `C++ build tools` option to install the required C++ compiler and its dependencies\n\n### Solutions for possible installation problems (Ubuntu)\n1. `matplotlib` requires `tkinter` -> can be solved by `sudo apt install python3-tk`\n2. `Python.h` required `quadprog` -> can be solved by `sudo apt install python3-dev`\n\nContact persons: [Alexander Heilmeier](mailto:alexander.heilmeier@tum.de), [Tim Stahl](mailto:stahl@ftm.mw.tum.de).\n\n\n",
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