python-motion-planning 2.0.dev1__tar.gz → 2.0.dev2__tar.gz

{python_motion_planning-2.0.dev1 → python_motion_planning-2.0.dev2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: python-motion-planning
-Version: 2.0.dev1
+Version: 2.0.dev2
 Summary: Motion planning algorithms for Python
 Maintainer-email: Wu Maojia <omige@mail.nwpu.edu.cn>, Yang Haodong <913982779@qq.com>
 License: GNU GENERAL PUBLIC LICENSE
@@ -689,6 +689,9 @@ Requires-Dist: scipy
 Requires-Dist: matplotlib
 Requires-Dist: osqp
 Requires-Dist: gymnasium
+Requires-Dist: faiss-cpu
+Requires-Dist: pyvista
+Requires-Dist: pyvistaqt
 Dynamic: license-file
 
 
@@ -701,11 +704,13 @@ Dynamic: license-file
 * `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, including path planners on N-D grid and controllers for path-tracking, a visualizer based on matplotlib and a toy physical simulator to test controllers.
+
 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.
+**Your stars and forks are welcome!**
 
 # Quick Start
 
@@ -725,8 +730,9 @@ python_motion_planning
 |   └─path_tracker
 ├─path_planner
 |   ├─graph_search
-|   └─sample_search
-└─curve_generation
+|   ├─sample_search
+|   └─hybrid_search
+└─curve_generator
 ```
 
 ## Install
@@ -740,7 +746,7 @@ conda activate pmp
 To install the repository, please run the following command in shell.
 
 ```shell
-pip install python-motion-planning==2.0.dev1
+pip install python-motion-planning==2.0.dev2
 ```
 
 ## Run
@@ -749,29 +755,40 @@ Please refer to the Tutorials part of [online documentation](https://ai-winter.g
 
 # Demos
 ## Path Planner
-
+### Graph Search
 |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
+**Dijkstra**|![dijkstra_2d.svg](assets/dijkstra_2d.svg)|![dijkstra_3d.png](assets/dijkstra_3d.png)
+**GBFS**|![gbfs_2d.svg](assets/gbfs_2d.svg)|![gbfs_3d.png](assets/gbfs_3d.png)
+**A\***|![a_star_2d.svg](assets/a_star_2d.svg)|![a_star_3d.png](assets/a_star_3d.png)
+**JPS**|![jps_2d.svg](assets/jps_2d.svg)|![jps_3d.png](assets/jps_3d.png)
+**Theta\***|![theta_star_2d.svg](assets/theta_star_2d.svg)|![theta_star_3d.png](assets/theta_star_3d.png)
+**Lazy Theta\***|![lazy_theta_star_2d.svg](assets/lazy_theta_star_2d.svg)|![lazy_theta_star_3d.png](assets/lazy_theta_star_3d.png)
 **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)
+
+### Sample Search
+|Planner|2D Grid|3D Grid
+|-------|-------|-------
+**RRT**|![rrt_2d.svg](assets/rrt_2d.svg)|![rrt_3d.png](assets/rrt_3d.png)
+**RRT\***|![rrt_star_2d.svg](assets/rrt_star_2d.svg)|![rrt_star_3d.png](assets/rrt_star_3d.png)
+**RRT-Connect**|![rrt_connect_2d.svg](assets/rrt_connect_2d.svg)|![rrt_connect_3d.png](assets/rrt_connect_3d.png)
 **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
+**PRM**|Not implemented|Not implemented
+
+### Evolutionary Search
+|Planner|2D Grid|3D Grid
+|-------|-------|-------
 | **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
 
+### Hybrid Search
+|Planner|2D Grid|3D Grid
+|-------|-------|-------
+**Voronoi Planner**|![voronoi_planner_2d.svg](assets/voronoi_planner_2d.svg)|![voronoi_planner_3d.png](assets/voronoi_planner_3d.png)
 
 ## Controller
 
@@ -779,7 +796,7 @@ We provide a toy simulator with simple physical simulation to test controllers (
 
 In the following demos, the blue robot 1 is the `CircularRobot`, and the orange robot 2 is the `DiffDriveRobot`.
 
-|Planner|2D|3D
+|Controller|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
@@ -799,7 +816,7 @@ In the following demos, the blue robot 1 is the `CircularRobot`, and the orange
 
 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|
+|Generator|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
@@ -809,6 +826,24 @@ The visualization of the curve generators has not been implemented in current ve
 | **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
 
+# Future Works
+
+* N-D controllers (path-trackers).
+
+* Path planning for robotic arms.
+
+* Path planning on topological map.
+
+* Application on ROS2.
+
+* Application in mainstream robot simulation environments (e.g. Gazebo, Carla, Airsim, PyBullet, MuJoCo, Issac Sim).
+
+* More mainstream motion planning algorithms.
+
+* Performance optimization.
+
+Contributors are welcome! For trivial modification, please directly contribute to `dev` branch. For big modification, please [contact](#contact) us before you contribute.
+
 # Contact
 
 Long-term maintainers:

{python_motion_planning-2.0.dev1 → python_motion_planning-2.0.dev2}/README.md

@@ -8,11 +8,13 @@
 * `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, including path planners on N-D grid and controllers for path-tracking, a visualizer based on matplotlib and a toy physical simulator to test controllers.
+
 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.
+**Your stars and forks are welcome!**
 
 # Quick Start
 
@@ -32,8 +34,9 @@ python_motion_planning
 |   └─path_tracker
 ├─path_planner
 |   ├─graph_search
-|   └─sample_search
-└─curve_generation
+|   ├─sample_search
+|   └─hybrid_search
+└─curve_generator
 ```
 
 ## Install
@@ -47,7 +50,7 @@ conda activate pmp
 To install the repository, please run the following command in shell.
 
 ```shell
-pip install python-motion-planning==2.0.dev1
+pip install python-motion-planning==2.0.dev2
 ```
 
 ## Run
@@ -56,29 +59,40 @@ Please refer to the Tutorials part of [online documentation](https://ai-winter.g
 
 # Demos
 ## Path Planner
-
+### Graph Search
 |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
+**Dijkstra**|![dijkstra_2d.svg](assets/dijkstra_2d.svg)|![dijkstra_3d.png](assets/dijkstra_3d.png)
+**GBFS**|![gbfs_2d.svg](assets/gbfs_2d.svg)|![gbfs_3d.png](assets/gbfs_3d.png)
+**A\***|![a_star_2d.svg](assets/a_star_2d.svg)|![a_star_3d.png](assets/a_star_3d.png)
+**JPS**|![jps_2d.svg](assets/jps_2d.svg)|![jps_3d.png](assets/jps_3d.png)
+**Theta\***|![theta_star_2d.svg](assets/theta_star_2d.svg)|![theta_star_3d.png](assets/theta_star_3d.png)
+**Lazy Theta\***|![lazy_theta_star_2d.svg](assets/lazy_theta_star_2d.svg)|![lazy_theta_star_3d.png](assets/lazy_theta_star_3d.png)
 **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)
+
+### Sample Search
+|Planner|2D Grid|3D Grid
+|-------|-------|-------
+**RRT**|![rrt_2d.svg](assets/rrt_2d.svg)|![rrt_3d.png](assets/rrt_3d.png)
+**RRT\***|![rrt_star_2d.svg](assets/rrt_star_2d.svg)|![rrt_star_3d.png](assets/rrt_star_3d.png)
+**RRT-Connect**|![rrt_connect_2d.svg](assets/rrt_connect_2d.svg)|![rrt_connect_3d.png](assets/rrt_connect_3d.png)
 **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
+**PRM**|Not implemented|Not implemented
+
+### Evolutionary Search
+|Planner|2D Grid|3D Grid
+|-------|-------|-------
 | **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
 
+### Hybrid Search
+|Planner|2D Grid|3D Grid
+|-------|-------|-------
+**Voronoi Planner**|![voronoi_planner_2d.svg](assets/voronoi_planner_2d.svg)|![voronoi_planner_3d.png](assets/voronoi_planner_3d.png)
 
 ## Controller
 
@@ -86,7 +100,7 @@ We provide a toy simulator with simple physical simulation to test controllers (
 
 In the following demos, the blue robot 1 is the `CircularRobot`, and the orange robot 2 is the `DiffDriveRobot`.
 
-|Planner|2D|3D
+|Controller|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
@@ -106,7 +120,7 @@ In the following demos, the blue robot 1 is the `CircularRobot`, and the orange
 
 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|
+|Generator|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
@@ -116,6 +130,24 @@ The visualization of the curve generators has not been implemented in current ve
 | **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
 
+# Future Works
+
+* N-D controllers (path-trackers).
+
+* Path planning for robotic arms.
+
+* Path planning on topological map.
+
+* Application on ROS2.
+
+* Application in mainstream robot simulation environments (e.g. Gazebo, Carla, Airsim, PyBullet, MuJoCo, Issac Sim).
+
+* More mainstream motion planning algorithms.
+
+* Performance optimization.
+
+Contributors are welcome! For trivial modification, please directly contribute to `dev` branch. For big modification, please [contact](#contact) us before you contribute.
+
 # Contact
 
 Long-term maintainers:

{python_motion_planning-2.0.dev1 → python_motion_planning-2.0.dev2}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "python-motion-planning"
-version = "2.0.dev1"
+version = "2.0.dev2"
 description = "Motion planning algorithms for Python"
 maintainers = [
     {name = "Wu Maojia", email = "omige@mail.nwpu.edu.cn"},
@@ -18,7 +18,10 @@ dependencies = [
     "scipy",
     "matplotlib",
     "osqp",
-    "gymnasium"
+    "gymnasium",
+    "faiss-cpu",
+    "pyvista",
+    "pyvistaqt"
 ]
 classifiers = [
     "License :: OSI Approved :: GNU General Public License v3 (GPLv3)",

{python_motion_planning-2.0.dev1 → python_motion_planning-2.0.dev2}/src/python_motion_planning/common/env/map/base_map.py

@@ -1,7 +1,7 @@
 """
 @file: map.py
 @author: Wu Maojia
-@update: 2025.10.3
+@update: 2025.11.25
 """
 from typing import Iterable, Union
 from abc import ABC, abstractmethod
@@ -17,12 +17,10 @@ class BaseMap(ABC):
 
     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:
+    def __init__(self, bounds: Iterable) -> 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}")
@@ -39,10 +37,6 @@ class BaseMap(ABC):
     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:
         """