python-motion-planning 1.0__tar.gz → 1.1.1__tar.gz

{python_motion_planning-1.0 → python_motion_planning-1.1.1}/PKG-INFO

@@ -1,6 +1,6 @@
-Metadata-Version: 2.2
+Metadata-Version: 2.4
 Name: python-motion-planning
-Version: 1.0
+Version: 1.1.1
 Summary: Motion planning algorithms for Python
 Maintainer-email: Yang Haodong <913982779@qq.com>, Wu Maojia <2223942063@qq.com>
 License: GNU GENERAL PUBLIC LICENSE
@@ -690,12 +690,7 @@ Requires-Dist: matplotlib
 Requires-Dist: cvxopt
 Requires-Dist: osqp
 Requires-Dist: tqdm
-Requires-Dist: torch
-Requires-Dist: torchvision
-Requires-Dist: tensorboard==2.12.0
-Requires-Dist: mkdocs
-Requires-Dist: mkdocstrings
-Requires-Dist: mkdocs-material
+Dynamic: license-file
 
 
 # Introduction
@@ -716,76 +711,98 @@ We also provide [ROS C++](https://github.com/ai-winter/ros_motion_planning) vers
 # Quick Start
 
 ## Overview
-The file structure is shown below
+The source file structure is shown below
 
 ```
 python_motion_planning
-├─assets
-├─docs
-├─examples
-└─python_motion_planning
-    ├─global_planner
-    |   ├─graph_search
-    |   ├─sample_search
-    |   └─evolutionary_search
-    ├─local_planner
-    ├─curve_generation
-    └─utils
-        ├─agent
-        ├─environment
-        ├─helper
-        ├─planner
-        └─plot
+├─global_planner
+|   ├─graph_search
+|   ├─sample_search
+|   └─evolutionary_search
+├─local_planner
+├─curve_generation
+└─utils
+    ├─agent
+    ├─environment
+    ├─helper
+    ├─planner
+    └─plot
 ```
+
 * The global planning algorithm implementation is in the folder `global_planner` with `graph_search`, `sample_search` and `evolutionary search`.
+
 * The local planning algorithm implementation is in the folder `local_planner`.
+
 * The curve generation algorithm implementation is in the folder `curve_generation`.
 
-## Dependencies
-The code was tested in python=3.10. To install other dependencies, please run the following command in shell.
+## Install
+*(Optional)* The code was tested in python=3.10. We recommend using `conda` to install the dependencies.
+
+```shell
+conda create -n pmp python=3.10
+conda activate pmp
+```
+
+To install the repository, please run the following command in shell.
 
 ```shell
-pip install -r requirements.txt
+pip install python-motion-planning
 ```
 
 ## Run
 Below are some simple examples.
 
-1. Run planning and animation separately
+1. Run A* with discrete environment (Grid)
 ```python
 import python_motion_planning as pmp
-planner = pmp.AStar(start=(5, 5), goal=(45, 25), env=pmp.Grid(51, 31))
-cost, path, expand = planner.plan()
-planner.plot.animation(path, str(planner), cost, expand)  # animation
-```
 
-2. Run planning and animation in one step
-```python
-import python_motion_planning as pmp
-planner = pmp.AStar(start=(5, 5), goal=(45, 25), env=pmp.Grid(51, 31))
-planner.run()       # run both planning and animation
+# Create environment with custom obstacles
+env = pmp.Grid(51, 31)
+obstacles = env.obstacles
+for i in range(10, 21):
+    obstacles.add((i, 15))
+for i in range(15):
+    obstacles.add((20, i))
+for i in range(15, 30):
+    obstacles.add((30, i))
+for i in range(16):
+    obstacles.add((40, i))
+env.update(obstacles)
+
+planner = pmp.AStar(start=(5, 5), goal=(45, 25), env=env)   # create planner
+cost, path, expand = planner.plan()                         # plan
+planner.plot.animation(path, str(planner), cost, expand)    # animation
 ```
 
-3. Create planner in factory mode
+2. Run RRT with continuous environment (Map)
 ```python
 import python_motion_planning as pmp
-search_factory = pmp.SearchFactory()
-planner = search_factory("a_star", start=(5, 5), goal=(45, 25), env=pmp.Grid(51, 31))
-planner.run()       # run both planning and animation
-```
-
-More examples can be found in the folder `examples`. You can also refer to the examples in the documentations generated using the following method.
-
-## Documentation
 
-This repository also support auto-generated documentation using mkdocs. Enter the root directory and run
-
-```shell
-python generate_mkdocs.py
-mkdocs serve
+# Create environment with custom obstacles
+env = pmp.Map(51, 31)
+obs_rect = [
+    [14, 12, 8, 2],
+    [18, 22, 8, 3],
+    [26, 7, 2, 12],
+    [32, 14, 10, 2]
+]
+obs_circ = [
+    [7, 12, 3],
+    [46, 20, 2],
+    [15, 5, 2],
+    [37, 7, 3],
+    [37, 23, 3]
+]
+env.update(obs_rect=obs_rect, obs_circ=obs_circ)
+
+planner = pmp.RRT(start=(18, 8), goal=(37, 18), env=env)    # create planner
+cost, path, expand = planner.plan()                         # plan
+planner.plot.animation(path, str(planner), cost, expand)    # animation
 ```
 
-Then open the browser and go to [http://127.0.0.1:8000](http://127.0.0.1:8000). That is the generated documentation.
+More examples can be found in the folder `examples` in the repository.
+
+For more details, you can refer to [online documentation](https://ai-winter.github.io/python_motion_planning/).
 
 # Version
 ## Global Planner
@@ -814,6 +831,7 @@ Planner      | Version
 
 
 ## Local Planner
+
 | Planner     | Version                                                                                                                                                | Animation                                     
 |-------------|--------------------------------------------------------------------------------------------------------------------------------------------------------| -------------------------------------------------- 
 | **PID**     | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/local_planner/pid.py)  | ![pid_python.svg](assets/pid_python.svg) 
@@ -825,7 +843,8 @@ Planner      | Version
 | **MPC**     | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/local_planner/mpc.py)  | ![mpc_python.svg](assets/mpc_python.svg)
 | **MPPI**    | ![Status](https://img.shields.io/badge/develop-v1.0-red)                                                                                               |![Status](https://img.shields.io/badge/gif-none-yellow)
 | **Lattice** | ![Status](https://img.shields.io/badge/develop-v1.0-red)                                                                                               |![Status](https://img.shields.io/badge/gif-none-yellow)
-| **DDPG**    | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/local_planner/ddpg.py) |![ddpg_python.svg](assets/ddpg_python.svg)
+| **DQN**    | ![Status](https://img.shields.io/badge/develop-v1.0-red)                                                                                               |![Status](https://img.shields.io/badge/gif-none-yellow)
+| **DDPG**    | ![Status](https://img.shields.io/badge/develop-v1.0-red)                                                                                               |![Status](https://img.shields.io/badge/gif-none-yellow)
 
 ## Curve Generation
 
@@ -844,6 +863,7 @@ Planner      | Version
 
 # Papers
 ## Global Planning
+
 * [A*: ](https://ieeexplore.ieee.org/document/4082128) A Formal Basis for the heuristic Determination of Minimum Cost Paths
 * [JPS:](https://ojs.aaai.org/index.php/AAAI/article/view/7994) Online Graph Pruning for Pathfinding On Grid Maps
 * [Lifelong Planning A*: ](https://www.cs.cmu.edu/~maxim/files/aij04.pdf) Lifelong Planning A*
@@ -867,7 +887,9 @@ Planner      | Version
 * [DDPG: ](https://arxiv.org/abs/1509.02971) Continuous control with deep reinforcement learning
 
 ## Curve Generation
+
 * [Dubins: ]() On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents
 
 # Acknowledgment
+
 * Our visualization and animation framework of Python Version refers to [https://github.com/zhm-real/PathPlanning](https://github.com/zhm-real/PathPlanning). Thanks sincerely.

{python_motion_planning-1.0 → python_motion_planning-1.1.1}/README.md

@@ -17,76 +17,98 @@ We also provide [ROS C++](https://github.com/ai-winter/ros_motion_planning) vers
 # Quick Start
 
 ## Overview
-The file structure is shown below
+The source file structure is shown below
 
 ```
 python_motion_planning
-├─assets
-├─docs
-├─examples
-└─python_motion_planning
-    ├─global_planner
-    |   ├─graph_search
-    |   ├─sample_search
-    |   └─evolutionary_search
-    ├─local_planner
-    ├─curve_generation
-    └─utils
-        ├─agent
-        ├─environment
-        ├─helper
-        ├─planner
-        └─plot
+├─global_planner
+|   ├─graph_search
+|   ├─sample_search
+|   └─evolutionary_search
+├─local_planner
+├─curve_generation
+└─utils
+    ├─agent
+    ├─environment
+    ├─helper
+    ├─planner
+    └─plot
 ```
+
 * The global planning algorithm implementation is in the folder `global_planner` with `graph_search`, `sample_search` and `evolutionary search`.
+
 * The local planning algorithm implementation is in the folder `local_planner`.
+
 * The curve generation algorithm implementation is in the folder `curve_generation`.
 
-## Dependencies
-The code was tested in python=3.10. To install other dependencies, please run the following command in shell.
+## Install
+*(Optional)* The code was tested in python=3.10. We recommend using `conda` to install the dependencies.
+
+```shell
+conda create -n pmp python=3.10
+conda activate pmp
+```
+
+To install the repository, please run the following command in shell.
 
 ```shell
-pip install -r requirements.txt
+pip install python-motion-planning
 ```
 
 ## Run
 Below are some simple examples.
 
-1. Run planning and animation separately
+1. Run A* with discrete environment (Grid)
 ```python
 import python_motion_planning as pmp
-planner = pmp.AStar(start=(5, 5), goal=(45, 25), env=pmp.Grid(51, 31))
-cost, path, expand = planner.plan()
-planner.plot.animation(path, str(planner), cost, expand)  # animation
-```
 
-2. Run planning and animation in one step
-```python
-import python_motion_planning as pmp
-planner = pmp.AStar(start=(5, 5), goal=(45, 25), env=pmp.Grid(51, 31))
-planner.run()       # run both planning and animation
+# Create environment with custom obstacles
+env = pmp.Grid(51, 31)
+obstacles = env.obstacles
+for i in range(10, 21):
+    obstacles.add((i, 15))
+for i in range(15):
+    obstacles.add((20, i))
+for i in range(15, 30):
+    obstacles.add((30, i))
+for i in range(16):
+    obstacles.add((40, i))
+env.update(obstacles)
+
+planner = pmp.AStar(start=(5, 5), goal=(45, 25), env=env)   # create planner
+cost, path, expand = planner.plan()                         # plan
+planner.plot.animation(path, str(planner), cost, expand)    # animation
 ```
 
-3. Create planner in factory mode
+2. Run RRT with continuous environment (Map)
 ```python
 import python_motion_planning as pmp
-search_factory = pmp.SearchFactory()
-planner = search_factory("a_star", start=(5, 5), goal=(45, 25), env=pmp.Grid(51, 31))
-planner.run()       # run both planning and animation
-```
-
-More examples can be found in the folder `examples`. You can also refer to the examples in the documentations generated using the following method.
-
-## Documentation
 
-This repository also support auto-generated documentation using mkdocs. Enter the root directory and run
-
-```shell
-python generate_mkdocs.py
-mkdocs serve
+# Create environment with custom obstacles
+env = pmp.Map(51, 31)
+obs_rect = [
+    [14, 12, 8, 2],
+    [18, 22, 8, 3],
+    [26, 7, 2, 12],
+    [32, 14, 10, 2]
+]
+obs_circ = [
+    [7, 12, 3],
+    [46, 20, 2],
+    [15, 5, 2],
+    [37, 7, 3],
+    [37, 23, 3]
+]
+env.update(obs_rect=obs_rect, obs_circ=obs_circ)
+
+planner = pmp.RRT(start=(18, 8), goal=(37, 18), env=env)    # create planner
+cost, path, expand = planner.plan()                         # plan
+planner.plot.animation(path, str(planner), cost, expand)    # animation
 ```
 
-Then open the browser and go to [http://127.0.0.1:8000](http://127.0.0.1:8000). That is the generated documentation.
+More examples can be found in the folder `examples` in the repository.
+
+For more details, you can refer to [online documentation](https://ai-winter.github.io/python_motion_planning/).
 
 # Version
 ## Global Planner
@@ -115,6 +137,7 @@ Planner      | Version
 
 
 ## Local Planner
+
 | Planner     | Version                                                                                                                                                | Animation                                     
 |-------------|--------------------------------------------------------------------------------------------------------------------------------------------------------| -------------------------------------------------- 
 | **PID**     | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/local_planner/pid.py)  | ![pid_python.svg](assets/pid_python.svg) 
@@ -126,7 +149,8 @@ Planner      | Version
 | **MPC**     | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/local_planner/mpc.py)  | ![mpc_python.svg](assets/mpc_python.svg)
 | **MPPI**    | ![Status](https://img.shields.io/badge/develop-v1.0-red)                                                                                               |![Status](https://img.shields.io/badge/gif-none-yellow)
 | **Lattice** | ![Status](https://img.shields.io/badge/develop-v1.0-red)                                                                                               |![Status](https://img.shields.io/badge/gif-none-yellow)
-| **DDPG**    | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/local_planner/ddpg.py) |![ddpg_python.svg](assets/ddpg_python.svg)
+| **DQN**    | ![Status](https://img.shields.io/badge/develop-v1.0-red)                                                                                               |![Status](https://img.shields.io/badge/gif-none-yellow)
+| **DDPG**    | ![Status](https://img.shields.io/badge/develop-v1.0-red)                                                                                               |![Status](https://img.shields.io/badge/gif-none-yellow)
 
 ## Curve Generation
 
@@ -145,6 +169,7 @@ Planner      | Version
 
 # Papers
 ## Global Planning
+
 * [A*: ](https://ieeexplore.ieee.org/document/4082128) A Formal Basis for the heuristic Determination of Minimum Cost Paths
 * [JPS:](https://ojs.aaai.org/index.php/AAAI/article/view/7994) Online Graph Pruning for Pathfinding On Grid Maps
 * [Lifelong Planning A*: ](https://www.cs.cmu.edu/~maxim/files/aij04.pdf) Lifelong Planning A*
@@ -168,7 +193,9 @@ Planner      | Version
 * [DDPG: ](https://arxiv.org/abs/1509.02971) Continuous control with deep reinforcement learning
 
 ## Curve Generation
+
 * [Dubins: ]() On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents
 
 # Acknowledgment
+
 * Our visualization and animation framework of Python Version refers to [https://github.com/zhm-real/PathPlanning](https://github.com/zhm-real/PathPlanning). Thanks sincerely.

{python_motion_planning-1.0 → python_motion_planning-1.1.1}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "python-motion-planning"
-version = "1.0"
+version = "1.1.1"
 description = "Motion planning algorithms for Python"
 maintainers = [
     {name = "Yang Haodong", email = "913982779@qq.com"},
@@ -19,13 +19,7 @@ dependencies = [
     "matplotlib",
     "cvxopt",
     "osqp",
-    "tqdm",
-    "torch",
-    "torchvision",
-    "tensorboard==2.12.0",
-    "mkdocs",
-    "mkdocstrings",
-    "mkdocs-material"
+    "tqdm"
 ]
 classifiers = [
     "License :: OSI Approved :: GNU General Public License v3 (GPLv3)",
@@ -37,4 +31,4 @@ classifiers = [
 Repository = "https://github.com/ai-winter/python_motion_planning"
 
 [tool.setuptools.packages.find]
-where = ["python_motion_planning"]
+where = ["src"]

python_motion_planning-1.1.1/src/python_motion_planning/__init__.py

@@ -0,0 +1,4 @@
+from .utils import *
+from .global_planner import *
+from .local_planner import *
+from .curve_generation import *

{python_motion_planning-1.0 → python_motion_planning-1.1.1/src}/python_motion_planning/global_planner/evolutionary_search/aco.py

@@ -8,7 +8,7 @@ import random
 from bisect import bisect_left
 
 from .evolutionary_search import EvolutionarySearcher
-from python_motion_planning.utils import Env, Node
+from python_motion_planning.utils import Env, Node, Grid
 
 
 class ACO(EvolutionarySearcher):
@@ -18,7 +18,7 @@ class ACO(EvolutionarySearcher):
     Parameters:
         start (tuple): start point coordinate
         goal (tuple): goal point coordinate
-        env (Env): environment
+        env (Grid): environment
         heuristic_type (str): heuristic function type, default is euclidean
         n_ants (int): number of ants
         alpha (float): pheromone and heuristic factor weight coefficient
@@ -37,7 +37,7 @@ class ACO(EvolutionarySearcher):
     References:
         [1] Ant Colony Optimization: A New Meta-Heuristic
     """
-    def __init__(self, start: tuple, goal: tuple, env: Env, heuristic_type: str = "euclidean", 
+    def __init__(self, start: tuple, goal: tuple, env: Grid, heuristic_type: str = "euclidean", 
         n_ants: int = 50, alpha: float = 1.0, beta: float = 5.0, rho: float = 0.1, Q: float = 1.0,
         max_iter: int = 100) -> None:
         super().__init__(start, goal, env, heuristic_type)

{python_motion_planning-1.0 → python_motion_planning-1.1.1/src}/python_motion_planning/global_planner/evolutionary_search/evolutionary_search.py

@@ -6,7 +6,7 @@
 """
 import math
 
-from python_motion_planning.utils import Env, Node, Planner
+from python_motion_planning.utils import Env, Node, Planner, Grid
 
 class EvolutionarySearcher(Planner):
     """
@@ -15,10 +15,10 @@ class EvolutionarySearcher(Planner):
     Parameters:
         start (tuple): start point coordinate
         goal (tuple): goal point coordinate
-        env (Env): environment
+        env (Grid): environment
         heuristic_type (str): heuristic function type
     """
-    def __init__(self, start: tuple, goal: tuple, env: Env, heuristic_type: str="euclidean") -> None:
+    def __init__(self, start: tuple, goal: tuple, env: Grid, heuristic_type: str="euclidean") -> None:
         super().__init__(start, goal, env)
         # heuristic type
         self.heuristic_type = heuristic_type

{python_motion_planning-1.0 → python_motion_planning-1.1.1/src}/python_motion_planning/global_planner/evolutionary_search/pso.py

@@ -8,7 +8,7 @@ import random, math
 from copy import deepcopy
 
 from .evolutionary_search import EvolutionarySearcher
-from python_motion_planning.utils import Env, MathHelper
+from python_motion_planning.utils import Env, MathHelper, Grid
 from python_motion_planning.curve_generation import BSpline
 
 GEN_MODE_CIRCLE = 0
@@ -22,7 +22,7 @@ class PSO(EvolutionarySearcher):
     Parameters:
         start (tuple): start point coordinate
         goal (tuple): goal point coordinate
-        env (Env): environment
+        env (Grid): environment
         heuristic_type (str): heuristic function type
         n_particles (int): number of particles
         w_inertial (float): inertial weight
@@ -41,7 +41,7 @@ class PSO(EvolutionarySearcher):
         >>> planner.plot.animation(path, str(planner), cost, cost_curve=cost_curve)  # animation
         >>> planner.run()       # run both planning and animation
     """
-    def __init__(self, start: tuple, goal: tuple, env: Env, heuristic_type: str = "euclidean", 
+    def __init__(self, start: tuple, goal: tuple, env: Grid, heuristic_type: str = "euclidean", 
         n_particles: int = 300, point_num: int = 5, w_inertial: float = 1.0,
         w_cognitive: float = 1.0, w_social: float = 1.0, max_speed: int = 6,
         max_iter: int = 200, init_mode: int = GEN_MODE_RANDOM) -> None:

{python_motion_planning-1.0 → python_motion_planning-1.1.1/src}/python_motion_planning/global_planner/graph_search/a_star.py

@@ -7,7 +7,7 @@
 import heapq
 
 from .graph_search import GraphSearcher
-from python_motion_planning.utils import Env, Node
+from python_motion_planning.utils import Env, Grid, Node
 
 
 class AStar(GraphSearcher):
@@ -17,7 +17,7 @@ class AStar(GraphSearcher):
     Parameters:
         start (tuple): start point coordinate
         goal (tuple): goal point coordinate
-        env (Env): environment
+        env (Grid): environment
         heuristic_type (str): heuristic function type
 
     Examples:
@@ -30,7 +30,7 @@ class AStar(GraphSearcher):
     References:
         [1] A Formal Basis for the heuristic Determination of Minimum Cost Paths
     """
-    def __init__(self, start: tuple, goal: tuple, env: Env, heuristic_type: str = "euclidean") -> None:
+    def __init__(self, start: tuple, goal: tuple, env: Grid, heuristic_type: str = "euclidean") -> None:
         super().__init__(start, goal, env, heuristic_type)
 
     def __str__(self) -> str:

{python_motion_planning-1.0 → python_motion_planning-1.1.1/src}/python_motion_planning/global_planner/graph_search/d_star.py

@@ -5,7 +5,7 @@
 @update: 2024.6.23
 """
 from .graph_search import GraphSearcher
-from python_motion_planning.utils import Env, Node
+from python_motion_planning.utils import Env, Node, Grid
 
 
 class DNode(Node):
@@ -41,7 +41,7 @@ class DStar(GraphSearcher):
     Parameters:
         start (tuple): start point coordinate
         goal (tuple): goal point coordinate
-        env (Env): environment
+        env (Grid): environment
 
     Examples:
         >>> import python_motion_planning as pmp
@@ -53,7 +53,7 @@ class DStar(GraphSearcher):
     References:
         [1]Optimal and Efficient Path Planning for Partially-Known Environments
     """
-    def __init__(self, start: tuple, goal: tuple, env: Env) -> None:
+    def __init__(self, start: tuple, goal: tuple, env: Grid) -> None:
         super().__init__(start, goal, env, None)
         self.start = DNode(start, None, 'NEW', float('inf'), float("inf"))
         self.goal = DNode(goal, None, 'NEW', 0, float('inf'))

{python_motion_planning-1.0 → python_motion_planning-1.1.1/src}/python_motion_planning/global_planner/graph_search/d_star_lite.py

@@ -8,7 +8,7 @@ import heapq
 
 from .graph_search import GraphSearcher
 from .lpa_star import LPAStar, LNode
-from python_motion_planning.utils import Env
+from python_motion_planning.utils import Env, Grid
 
 
 class DStarLite(LPAStar):
@@ -18,7 +18,7 @@ class DStarLite(LPAStar):
     Parameters:
         start (tuple): start point coordinate
         goal (tuple): goal point coordinate
-        env (Env): environment
+        env (Grid): environment
         heuristic_type (str): heuristic function type
 
     Examples:
@@ -31,7 +31,7 @@ class DStarLite(LPAStar):
     References:
         [1] D* Lite
     """
-    def __init__(self, start: tuple, goal: tuple, env: Env, heuristic_type: str = "euclidean") -> None:
+    def __init__(self, start: tuple, goal: tuple, env: Grid, heuristic_type: str = "euclidean") -> None:
         GraphSearcher.__init__(self, start, goal, env, heuristic_type)
         # start and goal
         self.start = LNode(start, float('inf'), float('inf'), None)

{python_motion_planning-1.0 → python_motion_planning-1.1.1/src}/python_motion_planning/global_planner/graph_search/dijkstra.py

@@ -7,11 +7,27 @@
 import heapq
 
 from .a_star import AStar
-from python_motion_planning.utils import Env
+from python_motion_planning.utils import Env, Grid
 
 
 class Dijkstra(AStar):
-    def __init__(self, start: tuple, goal: tuple, env: Env, heuristic_type: str = "euclidean") -> None:
+    """
+    Class for Dijkstra motion planning.
+
+    Parameters:
+        start (tuple): start point coordinate
+        goal (tuple): goal point coordinate
+        env (Grid): environment
+        heuristic_type (str): heuristic function type
+
+    Examples:
+        >>> import python_motion_planning as pmp
+        >>> planner = pmp.Dijkstra((5, 5), (45, 25), pmp.Grid(51, 31))
+        >>> cost, path, expand = planner.plan()     # planning results only
+        >>> planner.plot.animation(path, str(planner), cost, expand)  # animation
+        >>> planner.run()       # run both planning and animation
+    """
+    def __init__(self, start: tuple, goal: tuple, env: Grid, heuristic_type: str = "euclidean") -> None:
         super().__init__(start, goal, env, heuristic_type)
     
     def __str__(self) -> str:
@@ -19,20 +35,12 @@ class Dijkstra(AStar):
 
     def plan(self) -> tuple:
         """
-        Class for Dijkstra motion planning.
-
-        Parameters:
-            start (tuple): start point coordinate
-            goal (tuple): goal point coordinate
-            env (Env): environment
-            heuristic_type (str): heuristic function type
+        Dijkstra motion plan function.
 
-        Examples:
-            >>> import python_motion_planning as pmp
-            >>> planner = pmp.Dijkstra((5, 5), (45, 25), pmp.Grid(51, 31))
-            >>> cost, path, expand = planner.plan()     # planning results only
-            >>> planner.plot.animation(path, str(planner), cost, expand)  # animation
-            >>> planner.run()       # run both planning and animation
+        Returns:
+            cost (float): path cost
+            path (list): planning path
+            expand (list): all nodes that planner has searched
         """
         # OPEN list (priority queue) and CLOSED list (hash table)
         OPEN = []