python-motion-planning 1.1__tar.gz → 2.0.dev1__tar.gz

{python_motion_planning-1.1 → python_motion_planning-2.0.dev1}/PKG-INFO

@@ -1,8 +1,8 @@
-Metadata-Version: 2.2
+Metadata-Version: 2.4
 Name: python-motion-planning
-Version: 1.1
+Version: 2.0.dev1
 Summary: Motion planning algorithms for Python
-Maintainer-email: Yang Haodong <913982779@qq.com>, Wu Maojia <2223942063@qq.com>
+Maintainer-email: Wu Maojia <omige@mail.nwpu.edu.cn>, Yang Haodong <913982779@qq.com>
 License: GNU GENERAL PUBLIC LICENSE
                                Version 3, 29 June 2007
         
@@ -687,10 +687,9 @@ License-File: LICENSE
 Requires-Dist: numpy
 Requires-Dist: scipy
 Requires-Dist: matplotlib
-Requires-Dist: cvxopt
 Requires-Dist: osqp
-Requires-Dist: tqdm
-Requires-Dist: tensorboard==2.12.0
+Requires-Dist: gymnasium
+Dynamic: license-file
 
 
 # Introduction
@@ -702,45 +701,36 @@ Requires-Dist: tensorboard==2.12.0
 * `Path Planning`: It's based on path constraints (such as obstacles), planning the optimal path sequence for the robot to travel without conflict between the start and goal.
 * `Trajectory planning`: It plans the motion state to approach the global path based on kinematics, dynamics constraints and path sequence.
 
-This repository provides the implementations of common `Motion planning` algorithms. **Your stars and forks are welcome**. Maintaining this repository requires a huge amount of work. **Therefore, you are also welcome to contribute to this repository by opening issues, submitting pull requests or joining our development team**.
-
 The theory analysis can be found at [motion-planning](https://blog.csdn.net/frigidwinter/category_11410243.html).
 
 We also provide [ROS C++](https://github.com/ai-winter/ros_motion_planning) version and [Matlab](https://github.com/ai-winter/matlab_motion_planning) version.
 
+This repository provides the implementations of common `Motion planning` algorithms. **Your stars and forks are welcome**. Submitting pull requests or joining our development team are also welcome. For trivial modification, please directly contribute to `dev` branch. For big modification, please [contact](#contact) us before you contribute.
+
 # 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
+├─common
+|   ├─env
+|   |   ├─map
+|   |   ├─robot
+|   |   └─world
+|   ├─utils
+|   └─visualizer
+├─controller
+|   └─path_tracker
+├─path_planner
+|   ├─graph_search
+|   └─sample_search
+└─curve_generation
 ```
 
-* 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`.
-
 ## Install
-*(Optional)* The code was tested in python=3.10. We recommend using `conda` to install the dependencies.
+*(Optional)* The code was tested in python=3.10, though other similar versions should also work. We recommend using `conda` to install the dependencies.
 
 ```shell
 conda create -n pmp python=3.10
@@ -750,136 +740,80 @@ conda activate pmp
 To install the repository, please run the following command in shell.
 
 ```shell
-pip install python-motion-planning
+pip install python-motion-planning==2.0.dev1
 ```
 
 ## Run
-Below are some simple examples.
-
-1. Run planning and animation separately
-```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
-```
-
-3. Create planner in factory mode
-```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` in the repository.
-
-## Documentation
-
-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
-mkdocs serve
-```
-
-Then open the browser and go to [http://127.0.0.1:8000](http://127.0.0.1:8000). That is the generated documentation.
-
-# Version
-## Global Planner
-
-Planner      | Version                                                                                                                                                                         | Animation
------------- |---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------| --------- 
-**GBFS**              | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/global_planner/graph_search/gbfs.py)            | ![gbfs_python.png](assets/gbfs_python.png) 
-**Dijkstra**                 | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/global_planner/graph_search/dijkstra.py)        | ![dijkstra_python.png](assets/dijkstra_python.png)
-**A***               | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/global_planner/graph_search/a_star.py)          |  ![a_star_python.png](assets/a_star_python.png) 
-**JPS**                 | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/global_planner/graph_search/jps.py)             | ![jps_python.png](assets/jps_python.png)
-**D***                  | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/global_planner/graph_search/d_star.py)          | ![d_star_python.png](assets/d_star_python.png)
-**LPA***                 | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/global_planner/graph_search/lpa_star.py)        | ![lpa_star_python.png](assets/lpa_star_python.png) 
-**D\* Lite**                | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/global_planner/graph_search/d_star_lite.py)     | ![d_star_lite_python.png](assets/d_star_lite_python.png)
-**Theta\***                | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/global_planner/graph_search/theta_star.py)      | ![theta_star_python.png](assets/theta_star_python.png)
-**Lazy Theta\***                | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/global_planner/graph_search/lazy_theta_star.py) | ![lazy_theta_star_python.png](assets/lazy_theta_star_python.png)
-**S-Theta\***                | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/global_planner/graph_search/s_theta_star.py)    | ![s_theta_star_python.png](assets/s_theta_star_python.png)
-**Anya**                | [![Status](https://img.shields.io/badge/develop-v1.0-red)](https://github.com/ai-winter/python_motion_planning/blob/master/global_planner/graph_search/anya.py)                 | ![Status](https://img.shields.io/badge/gif-none-yellow)
-**Voronoi**                | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/global_planner/graph_search/voronoi.py)         | ![voronoi_python.png](assets/voronoi_python.png) 
-**RRT**                 | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/global_planner/sample_search/rrt.py)            | ![rrt_python.png](assets/rrt_python.png)
-**RRT***                 | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/global_planner/sample_search/rrt_star.py)       | ![rrt_star_python.png](assets/rrt_star_python.png)
-**Informed RRT**                 | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/global_planner/sample_search/informed_rrt.py)   | ![informed_rrt_python.png](assets/informed_rrt_python.png)
-**RRT-Connect**                | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/global_planner/sample_search/rrt_connect.py)    | ![rrt_connect_python.png](assets/rrt_connect_python.png)
-| **ACO** | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/global_planner/evolutionary_search/aco.py)      | ![aco_python.png](assets/aco_python.png)
-| **GA**  | ![Status](https://img.shields.io/badge/develop-v1.0-red)                                                                                                                        | ![Status](https://img.shields.io/badge/gif-none-yellow) 
-| **PSO**  | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/global_planner/evolutionary_search/pso.py)      | ![pso_python.png](assets/pso_python.svg) ![pso_python_cost.png](assets/pso_python_cost.svg) 
-
-
-## 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) 
-| **APF**     | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/local_planner/apf.py)  | ![apf_python.svg](assets/apf_python.svg) 
-| **DWA**     | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/local_planner/dwa.py)  | ![dwa_python.svg](assets/dwa_python.svg)
-| **RPP**     | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/local_planner/rpp.py)  | ![rpp_python.svg](assets/rpp_python.svg)
-| **LQR**     | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/local_planner/lqr.py)  | ![lqr_python.svg](assets/lqr_python.svg) 
-| **TEB**     | ![Status](https://img.shields.io/badge/develop-v1.0-red)                                                                                               | ![Status](https://img.shields.io/badge/gif-none-yellow) 
-| **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)
-| **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
-
-| Planner | Version   | Animation                                |
+Please refer to the Tutorials part of [online documentation](https://ai-winter.github.io/python_motion_planning/).
+
+# Demos
+## Path Planner
+
+|Planner|2D Grid|3D Grid
+|-------|-------|-------
+**GBFS**|Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+**Dijkstra**|![dijkstra_2d.svg](assets/dijkstra_2d.svg)|![dijkstra_3d.svg](assets/dijkstra_3d.svg)
+**A\***|![a_star_2d.svg](assets/a_star_2d.svg)|![a_star_3d.svg](assets/a_star_3d.svg)
+**JPS**|Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+**D\***|Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+**LPA\***|Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+**D\* Lite**|Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+**Theta\***|![theta_star_2d.svg](assets/theta_star_2d.svg)|![theta_star_3d.svg](assets/theta_star_3d.svg)
+**Lazy Theta\***|Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+**S-Theta\***|Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+**Anya**|Not implemented|Not implemented
+**Voronoi**|Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+**RRT**|![rrt_2d.svg](assets/rrt_2d.svg)|![rrt_3d.svg](assets/rrt_3d.svg)
+**RRT\***|![rrt_star_2d.svg](assets/rrt_star_2d.svg)|![rrt_star_3d.svg](assets/rrt_star_3d.svg)
+**Informed RRT**|Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+**RRT-Connect**|Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+| **ACO** |Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+| **GA**  |Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+| **PSO**  |Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+
+
+## Controller
+
+We provide a toy simulator with simple physical simulation to test controllers (path-trakcers). The toy simulator supports multi-agents/multi-robots. The available robots include `CircularRobot` (Omnidirectional) and `DiffDriveRobot` (Only support moving forward and backward). Currently only 2D simulator is provided. 3D simulator has not been implemented.
+
+In the following demos, the blue robot 1 is the `CircularRobot`, and the orange robot 2 is the `DiffDriveRobot`.
+
+|Planner|2D|3D
+|-------|-------|-------
+|**Path Trakcer**|![path_tracker_2d.gif](assets/path_tracker_2d.gif)|Not implemented
+| **Pure Pursuit**     |![pure_pursuit_2d.gif](assets/pure_pursuit_2d.gif)|Not implemented
+| **PID**     |![pid_2d.gif](assets/pid_2d.gif)|Not implemented
+| **APF**     |![apf_2d.gif](assets/apf_2d.gif)|Not implemented
+| **DWA**     |![dwa_2d.gif](assets/dwa_2d.gif)|Not implemented
+| **RPP**     |Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+| **LQR**     |Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+| **MPC**     |Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+| **MPPI**    |Not implemented|Not implemented
+| **TEB**     |Not implemented|Not implemented
+| **Lattice** |Not implemented|Not implemented
+| **DQN**    |Not implemented|Not implemented
+| **DDPG**    |Implemented in [V1.0](https://github.com/ai-winter/python_motion_planning/tree/v1.0), not migrated|Not implemented
+
+## Curve Generator
+
+The visualization of the curve generators has not been implemented in current version. They can be visualized in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1).
+
+| Planner |2D|3D|
 | ------- | -------------------------------------------------------- | -------------------------------------------------------- 
-| **Polynomia** | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/curve_generation/polynomial_curve.py) | ![polynomial_curve_python.gif](assets/polynomial_curve_python.gif)
-| **Bezier** | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/curve_generation/bezier_curve.py) | ![bezier_curve_python.png](assets/bezier_curve_python.png)
-| **Cubic Spline** | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/curve_generation/cubic_spline.py) | ![cubic_spline_python.png](assets/cubic_spline_python.png)
-| **BSpline** | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/curve_generation/bspline_curve.py) | ![bspline_curve_python.png](assets/bspline_curve_python.png)
-| **Dubins** | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/curve_generation/dubins_curve.py) | ![dubins_curve_python.png](assets/dubins_curve_python.png)
-| **Reeds-Shepp** | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/curve_generation/reeds_shepp.py) | ![reeds_shepp_python.png](assets/reeds_shepp_python.gif)
-| **Fem-Pos Smoother** | [![Status](https://img.shields.io/badge/done-v1.0-brightgreen)](https://github.com/ai-winter/python_motion_planning/blob/master/curve_generation/fem_pos_smooth.py) | ![fem_pos_smoother_python.png](assets/fem_pos_smoother_python.png)
-
-
-
-
-# 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*
-* [D*: ](http://web.mit.edu/16.412j/www/html/papers/original_dstar_icra94.pdf) Optimal and Efficient Path Planning for Partially-Known Environments
-* [D* Lite: ](http://idm-lab.org/bib/abstracts/papers/aaai02b.pdf) D* Lite
-* [Theta*: ](https://www.jair.org/index.php/jair/article/view/10676) Theta*: Any-Angle Path Planning on Grids
-* [Lazy Theta*: ](https://ojs.aaai.org/index.php/AAAI/article/view/7566) Lazy Theta*: Any-Angle Path Planning and Path Length Analysis in 3D
-* [S-Theta*: ](https://link.springer.com/chapter/10.1007/978-1-4471-4739-8_8) S-Theta*: low steering path-planning algorithm
-* [Anya: ](http://www.grastien.net/ban/articles/hgoa-jair16.pdf) Optimal Any-Angle Pathfinding In Practice
-* [RRT: ](http://msl.cs.uiuc.edu/~lavalle/papers/Lav98c.pdf) Rapidly-Exploring Random Trees: A New Tool for Path Planning
-* [RRT-Connect: ](http://www-cgi.cs.cmu.edu/afs/cs/academic/class/15494-s12/readings/kuffner_icra2000.pdf) RRT-Connect: An Efficient Approach to Single-Query Path Planning
-* [RRT*: ](https://journals.sagepub.com/doi/abs/10.1177/0278364911406761) Sampling-based algorithms for optimal motion planning
-* [Informed RRT*: ](https://arxiv.org/abs/1404.2334) Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal heuristic
-* [ACO: ](http://www.cs.yale.edu/homes/lans/readings/routing/dorigo-ants-1999.pdf) Ant Colony Optimization: A New Meta-Heuristic
-
-## Local Planning
-
-* [DWA: ](https://www.ri.cmu.edu/pub_files/pub1/fox_dieter_1997_1/fox_dieter_1997_1.pdf) The Dynamic Window Approach to Collision Avoidance
-* [APF: ](https://ieeexplore.ieee.org/document/1087247) Real-time obstacle avoidance for manipulators and mobile robots
-* [RPP: ](https://arxiv.org/pdf/2305.20026.pdf) Regulated Pure Pursuit for Robot Path Tracking
-* [DDPG: ](https://arxiv.org/abs/1509.02971) Continuous control with deep reinforcement learning
+| **Polynomia** | ![polynomial_curve_python.gif](assets/polynomial_curve_python.gif)|Not implemented
+| **Bezier** |![bezier_curve_python.png](assets/bezier_curve_python.png)|Not implemented
+| **Cubic Spline** |![cubic_spline_python.png](assets/cubic_spline_python.png)|Not implemented
+| **BSpline** |![bspline_curve_python.png](assets/bspline_curve_python.png)|Not implemented
+| **Dubins** |![dubins_curve_python.png](assets/dubins_curve_python.png)|Not implemented
+| **Reeds-Shepp** |![reeds_shepp_python.png](assets/reeds_shepp_python.gif)|Not implemented
+| **Fem-Pos Smoother** |![fem_pos_smoother_python.png](assets/fem_pos_smoother_python.png)|Not implemented
 
-## Curve Generation
+# Contact
 
-* [Dubins: ]() On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents
+Long-term maintainers:
 
-# Acknowledgment
+* [@omigeft](https://github.com/omigeft) (Wu Maojia)
+* [@ai-winter](https://github.com/ai-winter) (Yang Haodong)
 
-* Our visualization and animation framework of Python Version refers to [https://github.com/zhm-real/PathPlanning](https://github.com/zhm-real/PathPlanning). Thanks sincerely.
+You can contact us via the information provided on our profile.

python_motion_planning-2.0.dev1/README.md

@@ -0,0 +1,126 @@
+
+# Introduction
+
+`Motion planning` plans the state sequence of the robot without conflict between the start and goal. 
+
+`Motion planning` mainly includes `Path planning` and `Trajectory planning`.
+
+* `Path Planning`: It's based on path constraints (such as obstacles), planning the optimal path sequence for the robot to travel without conflict between the start and goal.
+* `Trajectory planning`: It plans the motion state to approach the global path based on kinematics, dynamics constraints and path sequence.
+
+The theory analysis can be found at [motion-planning](https://blog.csdn.net/frigidwinter/category_11410243.html).
+
+We also provide [ROS C++](https://github.com/ai-winter/ros_motion_planning) version and [Matlab](https://github.com/ai-winter/matlab_motion_planning) version.
+
+This repository provides the implementations of common `Motion planning` algorithms. **Your stars and forks are welcome**. Submitting pull requests or joining our development team are also welcome. For trivial modification, please directly contribute to `dev` branch. For big modification, please [contact](#contact) us before you contribute.
+
+# Quick Start
+
+## Overview
+The source file structure is shown below
+
+```
+python_motion_planning
+├─common
+|   ├─env
+|   |   ├─map
+|   |   ├─robot
+|   |   └─world
+|   ├─utils
+|   └─visualizer
+├─controller
+|   └─path_tracker
+├─path_planner
+|   ├─graph_search
+|   └─sample_search
+└─curve_generation
+```
+
+## Install
+*(Optional)* The code was tested in python=3.10, though other similar versions should also work. 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 python-motion-planning==2.0.dev1
+```
+
+## Run
+
+Please refer to the Tutorials part of [online documentation](https://ai-winter.github.io/python_motion_planning/).
+
+# Demos
+## Path Planner
+
+|Planner|2D Grid|3D Grid
+|-------|-------|-------
+**GBFS**|Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+**Dijkstra**|![dijkstra_2d.svg](assets/dijkstra_2d.svg)|![dijkstra_3d.svg](assets/dijkstra_3d.svg)
+**A\***|![a_star_2d.svg](assets/a_star_2d.svg)|![a_star_3d.svg](assets/a_star_3d.svg)
+**JPS**|Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+**D\***|Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+**LPA\***|Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+**D\* Lite**|Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+**Theta\***|![theta_star_2d.svg](assets/theta_star_2d.svg)|![theta_star_3d.svg](assets/theta_star_3d.svg)
+**Lazy Theta\***|Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+**S-Theta\***|Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+**Anya**|Not implemented|Not implemented
+**Voronoi**|Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+**RRT**|![rrt_2d.svg](assets/rrt_2d.svg)|![rrt_3d.svg](assets/rrt_3d.svg)
+**RRT\***|![rrt_star_2d.svg](assets/rrt_star_2d.svg)|![rrt_star_3d.svg](assets/rrt_star_3d.svg)
+**Informed RRT**|Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+**RRT-Connect**|Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+| **ACO** |Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+| **GA**  |Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+| **PSO**  |Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+
+
+## Controller
+
+We provide a toy simulator with simple physical simulation to test controllers (path-trakcers). The toy simulator supports multi-agents/multi-robots. The available robots include `CircularRobot` (Omnidirectional) and `DiffDriveRobot` (Only support moving forward and backward). Currently only 2D simulator is provided. 3D simulator has not been implemented.
+
+In the following demos, the blue robot 1 is the `CircularRobot`, and the orange robot 2 is the `DiffDriveRobot`.
+
+|Planner|2D|3D
+|-------|-------|-------
+|**Path Trakcer**|![path_tracker_2d.gif](assets/path_tracker_2d.gif)|Not implemented
+| **Pure Pursuit**     |![pure_pursuit_2d.gif](assets/pure_pursuit_2d.gif)|Not implemented
+| **PID**     |![pid_2d.gif](assets/pid_2d.gif)|Not implemented
+| **APF**     |![apf_2d.gif](assets/apf_2d.gif)|Not implemented
+| **DWA**     |![dwa_2d.gif](assets/dwa_2d.gif)|Not implemented
+| **RPP**     |Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+| **LQR**     |Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+| **MPC**     |Implemented in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1), not migrated|Not implemented
+| **MPPI**    |Not implemented|Not implemented
+| **TEB**     |Not implemented|Not implemented
+| **Lattice** |Not implemented|Not implemented
+| **DQN**    |Not implemented|Not implemented
+| **DDPG**    |Implemented in [V1.0](https://github.com/ai-winter/python_motion_planning/tree/v1.0), not migrated|Not implemented
+
+## Curve Generator
+
+The visualization of the curve generators has not been implemented in current version. They can be visualized in [V1.1.1](https://github.com/ai-winter/python_motion_planning/tree/v1.1.1).
+
+| Planner |2D|3D|
+| ------- | -------------------------------------------------------- | -------------------------------------------------------- 
+| **Polynomia** | ![polynomial_curve_python.gif](assets/polynomial_curve_python.gif)|Not implemented
+| **Bezier** |![bezier_curve_python.png](assets/bezier_curve_python.png)|Not implemented
+| **Cubic Spline** |![cubic_spline_python.png](assets/cubic_spline_python.png)|Not implemented
+| **BSpline** |![bspline_curve_python.png](assets/bspline_curve_python.png)|Not implemented
+| **Dubins** |![dubins_curve_python.png](assets/dubins_curve_python.png)|Not implemented
+| **Reeds-Shepp** |![reeds_shepp_python.png](assets/reeds_shepp_python.gif)|Not implemented
+| **Fem-Pos Smoother** |![fem_pos_smoother_python.png](assets/fem_pos_smoother_python.png)|Not implemented
+
+# Contact
+
+Long-term maintainers:
+
+* [@omigeft](https://github.com/omigeft) (Wu Maojia)
+* [@ai-winter](https://github.com/ai-winter) (Yang Haodong)
+
+You can contact us via the information provided on our profile.

{python_motion_planning-1.1 → python_motion_planning-2.0.dev1}/pyproject.toml

@@ -4,11 +4,11 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "python-motion-planning"
-version = "1.1"
+version = "2.0.dev1"
 description = "Motion planning algorithms for Python"
 maintainers = [
-    {name = "Yang Haodong", email = "913982779@qq.com"},
-    {name = "Wu Maojia", email = "2223942063@qq.com"}
+    {name = "Wu Maojia", email = "omige@mail.nwpu.edu.cn"},
+    {name = "Yang Haodong", email = "913982779@qq.com"}
 ]
 readme = "README.md"
 license = {file = "LICENSE"}
@@ -17,10 +17,8 @@ dependencies = [
     "numpy",
     "scipy",
     "matplotlib",
-    "cvxopt",
     "osqp",
-    "tqdm",
-    "tensorboard==2.12.0"
+    "gymnasium"
 ]
 classifiers = [
     "License :: OSI Approved :: GNU General Public License v3 (GPLv3)",

python_motion_planning-2.0.dev1/src/python_motion_planning/__init__.py

@@ -0,0 +1,4 @@
+from .common import *
+from .path_planner import *
+from .controller import *
+from .curve_generator import *

python_motion_planning-2.0.dev1/src/python_motion_planning/common/__init__.py

@@ -0,0 +1,3 @@
+from .utils import *
+from .env import *
+from .visualizer import *

python_motion_planning-2.0.dev1/src/python_motion_planning/common/env/__init__.py

@@ -0,0 +1,6 @@
+# from .world import *
+from .node import *
+from .types import *
+from .map import *
+from .world import *
+from .robot import *

python_motion_planning-2.0.dev1/src/python_motion_planning/common/env/map/__init__.py

@@ -0,0 +1,2 @@
+from .base_map import *
+from .grid import *

python_motion_planning-2.0.dev1/src/python_motion_planning/common/env/map/base_map.py

@@ -0,0 +1,125 @@
+"""
+@file: map.py
+@author: Wu Maojia
+@update: 2025.10.3
+"""
+from typing import Iterable, Union
+from abc import ABC, abstractmethod
+
+import numpy as np
+
+from python_motion_planning.common.env import Node
+
+
+class BaseMap(ABC):
+    """
+    Base class for Path Planning Map.
+
+    Args:
+        bounds: The size of map in the world (shape: (n, 2) (n>=2)). bounds[i, 0] means the lower bound of the world in the i-th dimension. bounds[i, 1] means the upper bound of the world in the i-th dimension.  
+        dtype: data type of coordinates
+    """
+    def __init__(self, bounds: Iterable, dtype: np.dtype) -> None:
+        super().__init__()
+        self._bounds = np.asarray(bounds, dtype=float)
+        self._dtype = dtype
+
+        if len(self._bounds.shape) != 2 or self._bounds.shape[0] <= 1 or self._bounds.shape[1] != 2:
+            raise ValueError(f"The shape of bounds must be (n, 2) (n>=2) instead of {self._bounds.shape}")
+
+        for d in range(self._bounds.shape[0]):
+            if self._bounds[d, 0] >= self._bounds[d, 1]:
+                raise ValueError(f"The lower bound of the world in the {d}-th dimension must be smaller than the upper bound of the world in the {d}-th dimension.")
+
+    @property
+    def bounds(self) -> np.ndarray:
+        return self._bounds
+
+    @property
+    def dim(self) -> int:
+        return self._bounds.shape[0]
+
+    @property
+    def dtype(self) -> np.dtype:
+        return self._dtype
+
+    @abstractmethod
+    def map_to_world(self, point: tuple) -> tuple:
+        """
+        Convert map coordinates to world coordinates.
+        
+        Args:
+            point: Point in map coordinates.
+        
+        Returns:
+            point: Point in world coordinates.
+        """
+        pass
+
+    @abstractmethod
+    def world_to_map(self, point: tuple) -> tuple:
+        """
+        Convert world coordinates to map coordinates.
+        
+        Args:
+            point: Point in world coordinates.
+        
+        Returns:
+            point: Point in map coordinates.
+        """
+        pass
+
+    @abstractmethod
+    def get_distance(self, p1: tuple, p2: tuple) -> float:
+        """
+        Get the distance between two points.
+
+        Args:
+            p1: First point.
+            p2: Second point.
+        
+        Returns:
+            dist: Distance between two points.
+        """
+        pass
+        
+    @abstractmethod
+    def get_neighbors(self, node: Node) -> list:
+        """
+        Get neighbor nodes of a given node.
+        
+        Args:
+            node: Node to get neighbor nodes.
+        
+        Returns:
+            nodes: List of neighbor nodes.
+        """
+        pass
+
+    @abstractmethod
+    def is_expandable(self, point: tuple) -> bool:
+        """
+        Check if a point is expandable.
+        
+        Args:
+            point: Point to check.
+        
+        Returns:
+            expandable: True if the point is expandable, False otherwise.
+        """
+        pass
+
+    @abstractmethod
+    def in_collision(self, p1: tuple, p2: tuple) -> bool:
+        """
+        Check if the line of sight between two points is in collision.
+        
+        Args:
+            p1: Start point of the line.
+            p2: End point of the line.
+        
+        Returns:
+            in_collision: True if the line of sight is in collision, False otherwise.
+        """
+        pass
+