OpenCDA Codebase Structure
The OpenCDA
codebase directory is structured as follows:
OpenCDA
├── docs # documents of opencda, no need to pay attention.
├── opencda
│ ├── assests # customized map and sumo xml package.
│ ├── co_simulation # source codes for sumo background traffic generation.
│ ├── core # the core part of the code
│ │ └── actutation # implementation of control algorithms
│ │ ├── application # implementation of cooperative driving applications
│ │ ├── common # base class and communication class for cavs
│ │ ├── map # HDMap manager
│ │ ├── plan # planning algorithms
│ │ └── sensing # perception adn localization algorithms.
│ ├── customize # where the users put their customized algorithm to replace the default modules
│ ├── scenario_testing # where all scenario testing scripts and yaml files exist
│ │ └── config_yaml # the yaml file defining the testing scenarios
│ │ ├── evluations # evluation scripts for different modules' performance
│ │ ├── utils # utility functions to construct scenarios based on given yaml files.
├── scripts # installation scripts
├── tests # unit tests