python-motion-planning 2.0.dev2__tar.gz → 2.0.1__tar.gz

{python_motion_planning-2.0.dev2 → python_motion_planning-2.0.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: python-motion-planning
-Version: 2.0.dev2
+Version: 2.0.1
 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
@@ -685,6 +685,7 @@ Requires-Python: >=3.6
 Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: numpy
+Requires-Dist: numba
 Requires-Dist: scipy
 Requires-Dist: matplotlib
 Requires-Dist: osqp
@@ -697,6 +698,8 @@ Dynamic: license-file
 
 # Introduction
 
+`Python Motion Planning` repository provides the implementations of common `Motion planning` algorithms, including path planners on N-D grid, controllers for path-tracking, trajectory optimizers, a visualizer based on matplotlib and a toy physical simulator to test controllers.
+
 `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`.
@@ -704,8 +707,6 @@ 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.
@@ -732,7 +733,8 @@ python_motion_planning
 |   ├─graph_search
 |   ├─sample_search
 |   └─hybrid_search
-└─curve_generator
+└─traj_optimizer
+    └─curve_generator
 ```
 
 ## Install
@@ -746,7 +748,7 @@ conda activate pmp
 To install the repository, please run the following command in shell.
 
 ```shell
-pip install python-motion-planning==2.0.dev2
+pip install python-motion-planning
 ```
 
 ## Run
@@ -803,7 +805,7 @@ In the following demos, the blue robot 1 is the `CircularRobot`, and the orange
 | **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
+| **RPP**     |![rpp_2d.gif](assets/rpp_2d.gif)|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
@@ -812,19 +814,22 @@ In the following demos, the blue robot 1 is the `CircularRobot`, and the orange
 | **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
+## Trajectory Optimizer
+### Curve Generator
+#### Point-based
 
-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).
+|Generator|2D|3D|
+| ------- | -------------------------------------------------------- | -------------------------------------------------------- 
+| **Cubic Spline** |![cubic_spline_2d.svg](assets/cubic_spline_2d.svg)|Not implemented
+| **BSpline** |![bspline_2d.svg](assets/bspline_2d.svg)|Not implemented
 
+#### Pose-based
 |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
-| **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
+| **Polynomia** | ![polynomial_2d.svg](assets/polynomial_2d.svg)|Not implemented
+| **Bezier** |![bezier_2d.svg](assets/bezier_2d.svg)|Not implemented
+| **Dubins** |![dubins_2d.svg](assets/dubins_2d.svg)|Not implemented
+| **Reeds-Shepp** |![reeds_shepp_2d.svg](assets/reeds_shepp_2d.svg)|Not implemented
 
 # Future Works
 
@@ -834,6 +839,8 @@ The visualization of the curve generators has not been implemented in current ve
 
 * Path planning on topological map.
 
+* Sample search with Dubins or Reeds-Shepp curves.
+
 * Application on ROS2.
 
 * Application in mainstream robot simulation environments (e.g. Gazebo, Carla, Airsim, PyBullet, MuJoCo, Issac Sim).

{python_motion_planning-2.0.dev2 → python_motion_planning-2.0.1}/README.md

@@ -1,6 +1,8 @@
 
 # Introduction
 
+`Python Motion Planning` repository provides the implementations of common `Motion planning` algorithms, including path planners on N-D grid, controllers for path-tracking, trajectory optimizers, a visualizer based on matplotlib and a toy physical simulator to test controllers.
+
 `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`.
@@ -8,8 +10,6 @@
 * `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.
@@ -36,7 +36,8 @@ python_motion_planning
 |   ├─graph_search
 |   ├─sample_search
 |   └─hybrid_search
-└─curve_generator
+└─traj_optimizer
+    └─curve_generator
 ```
 
 ## Install
@@ -50,7 +51,7 @@ conda activate pmp
 To install the repository, please run the following command in shell.
 
 ```shell
-pip install python-motion-planning==2.0.dev2
+pip install python-motion-planning
 ```
 
 ## Run
@@ -107,7 +108,7 @@ In the following demos, the blue robot 1 is the `CircularRobot`, and the orange
 | **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
+| **RPP**     |![rpp_2d.gif](assets/rpp_2d.gif)|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
@@ -116,19 +117,22 @@ In the following demos, the blue robot 1 is the `CircularRobot`, and the orange
 | **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
+## Trajectory Optimizer
+### Curve Generator
+#### Point-based
 
-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).
+|Generator|2D|3D|
+| ------- | -------------------------------------------------------- | -------------------------------------------------------- 
+| **Cubic Spline** |![cubic_spline_2d.svg](assets/cubic_spline_2d.svg)|Not implemented
+| **BSpline** |![bspline_2d.svg](assets/bspline_2d.svg)|Not implemented
 
+#### Pose-based
 |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
-| **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
+| **Polynomia** | ![polynomial_2d.svg](assets/polynomial_2d.svg)|Not implemented
+| **Bezier** |![bezier_2d.svg](assets/bezier_2d.svg)|Not implemented
+| **Dubins** |![dubins_2d.svg](assets/dubins_2d.svg)|Not implemented
+| **Reeds-Shepp** |![reeds_shepp_2d.svg](assets/reeds_shepp_2d.svg)|Not implemented
 
 # Future Works
 
@@ -138,6 +142,8 @@ The visualization of the curve generators has not been implemented in current ve
 
 * Path planning on topological map.
 
+* Sample search with Dubins or Reeds-Shepp curves.
+
 * Application on ROS2.
 
 * Application in mainstream robot simulation environments (e.g. Gazebo, Carla, Airsim, PyBullet, MuJoCo, Issac Sim).

{python_motion_planning-2.0.dev2 → python_motion_planning-2.0.1}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "python-motion-planning"
-version = "2.0.dev2"
+version = "2.0.1"
 description = "Motion planning algorithms for Python"
 maintainers = [
     {name = "Wu Maojia", email = "omige@mail.nwpu.edu.cn"},
@@ -15,6 +15,7 @@ license = {file = "LICENSE"}
 requires-python = ">=3.6"
 dependencies = [
     "numpy",
+    "numba",
     "scipy",
     "matplotlib",
     "osqp",

{python_motion_planning-2.0.dev2 → python_motion_planning-2.0.1}/src/python_motion_planning/__init__.py

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