python-motion-planning 1.0__tar.gz → 1.1__tar.gz

{python_motion_planning-1.0 → python_motion_planning-1.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: python-motion-planning
-Version: 1.0
+Version: 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
 
 
 # Introduction
@@ -737,15 +732,25 @@ python_motion_planning
         ├─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
@@ -774,11 +779,13 @@ planner = search_factory("a_star", start=(5, 5), goal=(45, 25), env=pmp.Grid(51,
 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.
+More examples can be found in the folder `examples` in the repository.
 
 ## Documentation
 
-This repository also support auto-generated documentation using mkdocs. Enter the root directory and run
+For more details, you can refer to [online documentation](https://ai-winter.github.io/python_motion_planning/).
+
+The documentation is auto-generated using mkdocs. To do this, enter the root directory and run
 
 ```shell
 python generate_mkdocs.py
@@ -814,6 +821,7 @@ 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 +833,8 @@ 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 +853,7 @@ 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 +877,9 @@ 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}/README.md

@@ -38,15 +38,25 @@ python_motion_planning
         ├─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
@@ -75,11 +85,13 @@ planner = search_factory("a_star", start=(5, 5), goal=(45, 25), env=pmp.Grid(51,
 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.
+More examples can be found in the folder `examples` in the repository.
 
 ## Documentation
 
-This repository also support auto-generated documentation using mkdocs. Enter the root directory and run
+For more details, you can refer to [online documentation](https://ai-winter.github.io/python_motion_planning/).
+
+The documentation is auto-generated using mkdocs. To do this, enter the root directory and run
 
 ```shell
 python generate_mkdocs.py
@@ -115,6 +127,7 @@ 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 +139,8 @@ 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 +159,7 @@ 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 +183,9 @@ 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}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "python-motion-planning"
-version = "1.0"
+version = "1.1"
 description = "Motion planning algorithms for Python"
 maintainers = [
     {name = "Yang Haodong", email = "913982779@qq.com"},
@@ -20,12 +20,7 @@ dependencies = [
     "cvxopt",
     "osqp",
     "tqdm",
-    "torch",
-    "torchvision",
-    "tensorboard==2.12.0",
-    "mkdocs",
-    "mkdocstrings",
-    "mkdocs-material"
+    "tensorboard==2.12.0"
 ]
 classifiers = [
     "License :: OSI Approved :: GNU General Public License v3 (GPLv3)",
@@ -37,4 +32,4 @@ 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/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/src}/python_motion_planning/local_planner/__init__.py

@@ -4,8 +4,6 @@ from .apf import APF
 from .rpp import RPP
 from .lqr import LQR
 from .mpc import MPC
-from .ddpg import DDPG
-from .dqn import DQNPlanner
 
 __all__ = [
     "DWA",
@@ -13,7 +11,5 @@ __all__ = [
     "APF",
     "RPP",
     "LQR",
-    "MPC",
-    "DDPG",
-    "DQNPlanner"
+    "MPC"
 ]

{python_motion_planning-1.0 → python_motion_planning-1.1/src}/python_motion_planning/utils/planner/control_factory.py

@@ -23,9 +23,5 @@ class ControlFactory(object):
             return LQR(**config)
         elif planner_name == "mpc":
             return MPC(**config)
-        elif planner_name == "ddpg":
-            return DDPG(actor_load_path="models/actor_best_example.pth",
-                        critic_load_path="models/critic_best_example.pth",
-                        **config)
         else:
             raise ValueError("The `planner_name` must be set correctly.")

{python_motion_planning-1.0/python_motion_planning → python_motion_planning-1.1/src}/python_motion_planning.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: python-motion-planning
-Version: 1.0
+Version: 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
 
 
 # Introduction
@@ -737,15 +732,25 @@ python_motion_planning
         ├─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
@@ -774,11 +779,13 @@ planner = search_factory("a_star", start=(5, 5), goal=(45, 25), env=pmp.Grid(51,
 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.
+More examples can be found in the folder `examples` in the repository.
 
 ## Documentation
 
-This repository also support auto-generated documentation using mkdocs. Enter the root directory and run
+For more details, you can refer to [online documentation](https://ai-winter.github.io/python_motion_planning/).
+
+The documentation is auto-generated using mkdocs. To do this, enter the root directory and run
 
 ```shell
 python generate_mkdocs.py
@@ -814,6 +821,7 @@ 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 +833,8 @@ 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 +853,7 @@ 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 +877,9 @@ 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-1.1/src/python_motion_planning.egg-info/SOURCES.txt

@@ -0,0 +1,67 @@
+LICENSE
+README.md
+pyproject.toml
+src/python_motion_planning/__init__.py
+src/python_motion_planning.egg-info/PKG-INFO
+src/python_motion_planning.egg-info/SOURCES.txt
+src/python_motion_planning.egg-info/dependency_links.txt
+src/python_motion_planning.egg-info/requires.txt
+src/python_motion_planning.egg-info/top_level.txt
+src/python_motion_planning/curve_generation/__init__.py
+src/python_motion_planning/curve_generation/bezier_curve.py
+src/python_motion_planning/curve_generation/bspline_curve.py
+src/python_motion_planning/curve_generation/cubic_spline.py
+src/python_motion_planning/curve_generation/curve.py
+src/python_motion_planning/curve_generation/dubins_curve.py
+src/python_motion_planning/curve_generation/fem_pos_smooth.py
+src/python_motion_planning/curve_generation/polynomial_curve.py
+src/python_motion_planning/curve_generation/reeds_shepp.py
+src/python_motion_planning/global_planner/__init__.py
+src/python_motion_planning/global_planner/evolutionary_search/__init__.py
+src/python_motion_planning/global_planner/evolutionary_search/aco.py
+src/python_motion_planning/global_planner/evolutionary_search/evolutionary_search.py
+src/python_motion_planning/global_planner/evolutionary_search/pso.py
+src/python_motion_planning/global_planner/graph_search/__init__.py
+src/python_motion_planning/global_planner/graph_search/a_star.py
+src/python_motion_planning/global_planner/graph_search/d_star.py
+src/python_motion_planning/global_planner/graph_search/d_star_lite.py
+src/python_motion_planning/global_planner/graph_search/dijkstra.py
+src/python_motion_planning/global_planner/graph_search/gbfs.py
+src/python_motion_planning/global_planner/graph_search/graph_search.py
+src/python_motion_planning/global_planner/graph_search/jps.py
+src/python_motion_planning/global_planner/graph_search/lazy_theta_star.py
+src/python_motion_planning/global_planner/graph_search/lpa_star.py
+src/python_motion_planning/global_planner/graph_search/s_theta_star.py
+src/python_motion_planning/global_planner/graph_search/theta_star.py
+src/python_motion_planning/global_planner/graph_search/voronoi.py
+src/python_motion_planning/global_planner/sample_search/__init__.py
+src/python_motion_planning/global_planner/sample_search/informed_rrt.py
+src/python_motion_planning/global_planner/sample_search/rrt.py
+src/python_motion_planning/global_planner/sample_search/rrt_connect.py
+src/python_motion_planning/global_planner/sample_search/rrt_star.py
+src/python_motion_planning/global_planner/sample_search/sample_search.py
+src/python_motion_planning/local_planner/__init__.py
+src/python_motion_planning/local_planner/apf.py
+src/python_motion_planning/local_planner/dwa.py
+src/python_motion_planning/local_planner/local_planner.py
+src/python_motion_planning/local_planner/lqr.py
+src/python_motion_planning/local_planner/mpc.py
+src/python_motion_planning/local_planner/pid.py
+src/python_motion_planning/local_planner/rpp.py
+src/python_motion_planning/utils/__init__.py
+src/python_motion_planning/utils/agent/__init__.py
+src/python_motion_planning/utils/agent/agent.py
+src/python_motion_planning/utils/environment/__init__.py
+src/python_motion_planning/utils/environment/env.py
+src/python_motion_planning/utils/environment/node.py
+src/python_motion_planning/utils/environment/point2d.py
+src/python_motion_planning/utils/environment/pose2d.py
+src/python_motion_planning/utils/helper/__init__.py
+src/python_motion_planning/utils/helper/math_helper.py
+src/python_motion_planning/utils/planner/__init__.py
+src/python_motion_planning/utils/planner/control_factory.py
+src/python_motion_planning/utils/planner/curve_factory.py
+src/python_motion_planning/utils/planner/planner.py
+src/python_motion_planning/utils/planner/search_factory.py
+src/python_motion_planning/utils/plot/__init__.py
+src/python_motion_planning/utils/plot/plot.py

{python_motion_planning-1.0/python_motion_planning → python_motion_planning-1.1/src}/python_motion_planning.egg-info/requires.txt

@@ -4,9 +4,4 @@ matplotlib
 cvxopt
 osqp
 tqdm
-torch
-torchvision
 tensorboard==2.12.0
-mkdocs
-mkdocstrings
-mkdocs-material

python_motion_planning-1.1/src/python_motion_planning.egg-info/top_level.txt

@@ -0,0 +1 @@
+python_motion_planning