seally 0.1.0__tar.gz

seally-0.1.0/.gitignore

@@ -0,0 +1,20 @@
+# Python-generated files
+__pycache__/
+*.py[oc]
+build/
+dist/
+wheels/
+*.egg-info
+
+# Virtual environments
+.venv
+
+# Python build artifacts
+*.egg-info/
+.egg-fno
+dist/
+build/
+*.egg
+
+# vS code
+.vscode/

seally-0.1.0/.python-version

@@ -0,0 +1 @@
+3.13

seally-0.1.0/PKG-INFO

@@ -0,0 +1,37 @@
+Metadata-Version: 2.4
+Name: seally
+Version: 0.1.0
+Summary: A simple planning library for prototyping 
+Project-URL: Homepage, https://github.com/nick-Sutton/Seally
+Project-URL: Documentation, https://nick-Sutton.github.io/Seally/
+Project-URL: Repository, https://github.com/nick-Sutton/Seally
+Author-email: Nicholas Sutton <nicksutton46@gmail.com>
+License: MIT
+Keywords: AI,Motion Planning,Robotics
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: OS Independent
+Classifier: Programming Language :: Python :: 3
+Requires-Python: >=3.11
+Requires-Dist: networkx[default]>=3.4
+Requires-Dist: numpy>=2.0
+Requires-Dist: pandas>=3.0
+Requires-Dist: pygame>=2.6
+Description-Content-Type: text/markdown
+
+### Seally
+Seally is a planning library that I build to prototype planning algorithms. It currently supports static grid based enviroments.
+
+#### Todo
+- [ ] Create better visualization tools
+- [ ] Add enviroment builder
+- [ ] Add performance logging
+- [ ] Add Configuration space enviroments
+- [ ] Find a better map file format
+- [ ] Allow for growing regions
+
+####
+1. Start with a map
+2. Grag start and goal positions
+3. Left-click to place obstacles
+4. Right-click to delete obstacles
+5. Robot should simulate SLAM

seally-0.1.0/README.md

@@ -0,0 +1,17 @@
+### Seally
+Seally is a planning library that I build to prototype planning algorithms. It currently supports static grid based enviroments.
+
+#### Todo
+- [ ] Create better visualization tools
+- [ ] Add enviroment builder
+- [ ] Add performance logging
+- [ ] Add Configuration space enviroments
+- [ ] Find a better map file format
+- [ ] Allow for growing regions
+
+####
+1. Start with a map
+2. Grag start and goal positions
+3. Left-click to place obstacles
+4. Right-click to delete obstacles
+5. Robot should simulate SLAM

seally-0.1.0/docs/api.md

@@ -0,0 +1 @@
+# API Reference

seally-0.1.0/docs/getting-started.md

@@ -0,0 +1 @@
+# Getting Started

seally-0.1.0/docs/index.md

@@ -0,0 +1 @@
+# Welcome to My Project

seally-0.1.0/examples/a_star_search.py

@@ -0,0 +1,27 @@
+from seally.common.path import Path
+from seally.common.heuristics import chebyshev_distance
+from seally.env.grid_map import GridMap, GridCell
+from seally.planners.a_star import AStar
+from seally.viz.vizualizer import Visualizer2D
+
+def main():
+    # Create an enviroment from a map file
+    env: GridMap = GridMap(False, './maps/map2.csv')
+
+    # Create a planner and pass in the heuristic
+    a_star = AStar(env, chebyshev_distance)
+
+    # Define the source and goal positions
+    source = GridCell(0, 4)
+    goal = GridCell(11, 2)
+
+    # Find the shortest path from the start to the goal
+    path: Path = a_star.compute_path(source, goal)
+
+    # Visualize the path
+    viz = Visualizer2D(screen_size=(env.x_dim, env.y_dim))
+    viz.run_visualization(path, env)
+
+
+if __name__ == "__main__":
+    main()

seally-0.1.0/examples/interactive_viz.py

@@ -0,0 +1,19 @@
+from seally.common.heuristics import chebyshev_distance
+from seally.env.grid_map import GridMap
+from seally.planners.a_star import AStar
+from seally.viz.vizualizer import InteractiveVisualizer2D
+
+def main():
+    # Create an enviroment from a map file
+    env: GridMap = GridMap(False, './maps/map7.csv')
+
+    # Create a planner and pass in the heuristic
+    a_star = AStar(env, chebyshev_distance)
+
+    # Visualize the path
+    viz = InteractiveVisualizer2D(planner=a_star)
+    viz.run_visualization(env)
+
+
+if __name__ == "__main__":
+    main()

seally-0.1.0/maps/map1.csv

@@ -0,0 +1,7 @@
+0,0,1,1,0,1,0,0,0,0,0,0
+0,0,0,0,0,1,0,1,1,1,1,0
+0,0,1,1,0,1,0,0,0,1,0,0
+0,0,1,0,0,0,0,0,0,1,1,0
+0,0,1,1,1,1,0,0,0,1,0,0
+0,0,1,0,0,1,0,1,1,1,0,0
+0,0,1,0,0,0,0,0,0,0,0,0

seally-0.1.0/maps/map2.csv

@@ -0,0 +1,15 @@
+1,1,1,1,1,1,1,1,1,1,1,1,1,1,1
+1,0,0,0,0,0,0,0,0,0,0,0,0,0,1
+1,0,1,1,1,1,1,1,1,1,1,0,1,0,1
+1,0,1,0,0,0,0,0,0,0,1,0,1,0,1
+1,0,1,0,1,1,1,1,1,0,1,0,1,0,1
+1,0,1,0,1,0,0,0,1,0,1,0,1,0,1
+1,0,1,0,1,0,1,0,1,0,0,0,1,0,1
+1,0,0,0,1,0,1,0,1,1,1,1,1,0,1
+1,0,1,0,1,0,1,0,0,0,0,0,0,0,1
+1,0,1,0,0,0,1,1,1,1,1,0,1,0,1
+1,0,1,1,1,1,1,0,0,0,1,0,1,0,1
+1,0,0,0,0,0,0,0,1,0,1,0,0,0,1
+1,0,1,1,1,1,1,1,1,0,1,1,1,0,1
+1,0,0,0,0,0,0,0,0,0,0,0,0,0,1
+1,1,1,1,1,1,1,1,1,1,1,1,1,1,1

seally-0.1.0/maps/map3.csv

@@ -0,0 +1,12 @@
+1,1,1,1,1,1,1,1,1,1,1,1
+1,0,0,0,0,0,0,0,0,0,0,1
+1,0,0,0,0,0,0,0,0,0,0,1
+1,0,0,1,1,0,0,1,1,0,0,1
+1,0,0,1,1,0,0,1,1,0,0,1
+1,0,0,0,0,0,0,0,0,0,0,1
+1,0,0,0,0,0,0,0,0,0,0,1
+1,0,0,1,1,0,0,1,1,0,0,1
+1,0,0,1,1,0,0,1,1,0,0,1
+1,0,0,0,0,0,0,0,0,0,0,1
+1,0,0,0,0,0,0,0,0,0,0,1
+1,1,1,1,1,1,1,1,1,1,1,1

seally-0.1.0/maps/map4.csv

@@ -0,0 +1,10 @@
+1,1,1,1,1,1,1,1,1,0,0,1,1,1,1,1,1,1,1,1
+1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
+1,0,0,0,0,0,0,0,1,1,1,1,0,0,0,0,0,0,0,1
+1,0,0,0,0,0,0,0,1,0,0,1,0,0,0,0,0,0,0,1
+1,0,0,1,1,0,0,0,1,0,0,1,0,0,0,1,1,0,0,1
+1,0,0,1,1,0,0,0,1,0,0,1,0,0,0,1,1,0,0,1
+1,0,0,0,0,0,0,0,1,0,0,1,0,0,0,0,0,0,0,1
+1,0,0,0,0,0,0,0,1,1,1,1,0,0,0,0,0,0,0,1
+1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
+1,1,1,1,1,1,1,1,1,0,0,1,1,1,1,1,1,1,1,1

seally-0.1.0/maps/map5.csv

@@ -0,0 +1,16 @@
+1,1,1,1,1,1,1,0,0,1,1,1,1,1,1,1
+1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
+1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
+1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
+1,0,0,0,1,1,1,1,1,1,1,1,0,0,0,1
+1,0,0,0,1,0,0,0,0,0,0,1,0,0,0,1
+0,0,0,0,1,0,0,0,0,0,0,1,0,0,0,0
+0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
+0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
+0,0,0,0,1,0,0,0,0,0,0,1,0,0,0,0
+1,0,0,0,1,0,0,0,0,0,0,1,0,0,0,1
+1,0,0,0,1,1,1,0,0,1,1,1,0,0,0,1
+1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
+1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
+1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
+1,1,1,1,1,1,1,0,0,1,1,1,1,1,1,1

seally-0.1.0/maps/map6.csv

@@ -0,0 +1,13 @@
+1,1,1,1,1,1,1,1,1,1,1,1,1
+1,0,0,0,0,0,0,0,0,0,0,0,1
+1,0,1,1,1,1,1,1,1,1,1,0,1
+1,0,1,0,0,0,0,0,0,0,1,0,1
+1,0,1,0,1,1,1,1,1,0,1,0,1
+1,0,1,0,1,0,0,0,1,0,1,0,1
+1,0,1,0,1,0,1,0,1,0,1,0,1
+1,0,1,0,1,0,0,0,1,0,1,0,1
+1,0,1,0,1,1,1,1,1,0,1,0,1
+1,0,1,0,0,0,0,0,0,0,1,0,1
+1,0,1,1,1,1,1,1,1,1,1,0,1
+1,0,0,0,0,0,0,0,0,0,0,0,1
+1,1,1,1,1,1,1,1,1,1,1,1,1

seally-0.1.0/maps/map7.csv

@@ -0,0 +1,30 @@
+1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1
+1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
+1,0,1,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,0,1,1,1,1,1,1,0,1
+1,0,1,0,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0,0,1,0,1,0,0,0,0,1,0,1
+1,0,1,0,1,1,1,1,1,1,1,0,1,0,1,0,1,1,1,0,1,0,1,0,1,1,0,1,0,1
+1,0,1,0,1,0,0,0,0,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,1,0,0,1,0,1
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+1,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0,1,0,1
+1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,1,1,0,1,0,1
+1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1

seally-0.1.0/mkdocs.yml

@@ -0,0 +1,33 @@
+site_name: Seally
+site_url: https://nick-Sutton.github.io/Seally/
+repo_url: https://github.com/nick-Sutton/Seally
+repo_name: nick-Sutton/Seally
+
+theme:
+  name: material
+  features:
+    - navigation.tabs
+    - navigation.sections
+    - toc.integrate
+    - search.suggest
+  palette:
+    - scheme: default
+      toggle:
+        icon: material/brightness-7
+        name: Switch to dark mode
+    - scheme: slate
+      toggle:
+        icon: material/brightness-4
+        name: Switch to light mode
+
+nav:
+  - Home: index.md
+  - Getting Started: getting-started.md
+  - API Reference: api.md
+
+markdown_extensions:
+  - pymdownx.highlight
+  - pymdownx.superfences
+  - admonition
+  - toc:
+      permalink: true

seally-0.1.0/pyproject.toml

@@ -0,0 +1,39 @@
+[project]
+name = "seally"
+version = "0.1.0"
+description = "A simple planning library for prototyping "
+readme = "README.md"
+license = { text = "MIT" }
+requires-python = ">=3.11"
+dependencies = [
+    "networkx[default]>=3.4",
+    "numpy>=2.0",
+    "pandas>=3.0",
+    "pygame>=2.6",
+]
+keywords = ["Motion Planning", "AI", "Robotics"]
+authors = [
+    { name = "Nicholas Sutton", email = "nicksutton46@gmail.com" }
+]
+classifiers = [
+    "Programming Language :: Python :: 3",
+    "License :: OSI Approved :: MIT License",
+    "Operating System :: OS Independent",
+]
+
+[project.urls]
+Homepage = "https://github.com/nick-Sutton/Seally"
+Documentation = "https://nick-Sutton.github.io/Seally/"
+Repository = "https://github.com/nick-Sutton/Seally"
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[tool.hatch.build.targets.wheel]
+packages = ["src/seally"] 
+
+[dependency-groups]
+dev = [
+    "mkdocs>=1.0,<2.0",
+    "mkdocs-material>=9.7.6",
+]

seally-0.1.0/src/seally/common/heuristics.py

@@ -0,0 +1,33 @@
+from seally.env.grid_map import GridCell
+import numpy as np
+
+def euclidean_distance(source: GridCell, goal: GridCell) -> float:
+    source_mat = np.array((source.x, source.y))
+    goal_mat = np.array((goal.x, goal.y))
+
+    dist = np.linalg.norm(source_mat - goal_mat)
+
+    return dist
+
+def manhattan_distance(source: GridCell, goal: GridCell) -> float:
+    source_mat = np.array((source.x, source.y))
+    goal_mat = np.array((goal.x, goal.y))
+
+    dist = np.sum(np.abs(source_mat - goal_mat))
+
+    return dist
+
+def chebyshev_distance(source: GridCell, goal: GridCell) -> float:
+    source_mat = np.array((source.x, source.y))
+    goal_mat = np.array((goal.x, goal.y))
+
+    dist = np.linalg.norm(source_mat - goal_mat, ord=np.inf)
+
+    return dist
+
+
+
+
+
+
+

seally-0.1.0/src/seally/common/path.py

@@ -0,0 +1,4 @@
+from typing import List, Tuple, Union
+from seally.env.grid_map import GridCell
+
+Path = Union[List[GridCell], List[float]]

seally-0.1.0/src/seally/env/grid_map.py

@@ -0,0 +1,76 @@
+from typing import List
+
+import numpy as np
+import pandas as pd
+
+class GridCell():
+    def __init__(self, x: int, y: int):
+        self.x = x
+        self.y = y
+
+    def __hash__(self):
+        return hash((self.x, self.y))
+
+    def __eq__(self, other):
+        return self.x == other.x and self.y == other.y
+
+class GridMap:
+    def __init__(self, gen_random: bool = True, file_path: str = None):
+        if gen_random:
+            pass
+        else:
+            self.map = pd.read_csv(file_path).to_numpy()
+
+        self.x_dim = self.map.shape[1]
+        self.y_dim = self.map.shape[0]
+
+    def is_occupied(self, cell: GridCell) -> bool:
+        """
+        Determines if the provided coordinates are in collision with an obstacle
+
+        param: cell to check
+        return: True if the position is in collision
+        """
+        return self.map[cell.y, cell.x] > 0
+    
+    def in_bounds(self, cell: GridCell) -> bool:
+        """
+        Determines if the provided coordinates within the bounds of the map
+
+        param: cell to check
+        return: True if the position is in bounds
+        """
+
+        if cell.x < 0 or cell.x > self.x_dim - 1:
+            return False
+        
+        if cell.y < 0 or cell.y > self.y_dim - 1:
+            return False
+        
+        return True
+
+    def get_neighbors(self, cell: GridCell) -> List[GridCell]:
+        """
+        Retuns a list of all valid neighbors for a given cell in the Gripmap
+        A valid cell is a cell that is within the bounds of the map.
+
+        params: cell to retrieve neighbors for
+        returns: A list of the cells valid neighbors
+        """
+
+        # create a mask of the indicies of the neighboring cells relative to the current cell        
+        shift_mask = np.array([[-1,-1],[-1,0],[-1,1],
+                               [0,-1],         [0,1],
+                               [1,-1], [1,0], [1,1]])
+        
+        # broadcast the current cell to each of the shift mask offsets and add them to produce an array of neighbor coordinates
+        neighbor_indicies = np.array([cell.x, cell.y]) + shift_mask  # shape (8, 2)
+
+        # create a mask to validate that all cells are in the bounds of the map
+        bounds_mask = (
+            (neighbor_indicies[:, 0] >= 0) & (neighbor_indicies[:, 0] < self.x_dim) &
+            (neighbor_indicies[:, 1] >= 0) & (neighbor_indicies[:, 1] < self.y_dim)
+        )
+
+        # apply the bounds map to each coordinate and return only the cells that are in bounds
+        return [GridCell(x, y) for x, y in neighbor_indicies[bounds_mask]]

seally-0.1.0/src/seally/planners/a_star.py

@@ -0,0 +1,65 @@
+from collections.abc import Callable
+import heapq
+import numpy as np
+from seally.env.grid_map import GridMap, GridCell
+from seally.common.path import Path
+
+class AStar():
+    def __init__(self, env: GridMap, heuristic: Callable[[GridCell, GridCell], float]):
+        self.env = env
+        self.heuristic = heuristic
+
+    def cost(self, source: GridCell, goal: GridCell) -> float:
+        """
+        Computes the cost of going from one cell to another in the map
+        """
+        dx, dy = abs(source.x - goal.x), abs(source.y - goal.y)
+        return np.sqrt(2) if dx + dy == 2 else 1.0
+
+    def compute_path(self, source: GridCell, goal: GridCell) -> Path:
+        if not self.env.in_bounds(source) or self.env.is_occupied(source):
+            raise Exception("Source is not a valid position")
+        
+        if not self.env.in_bounds(goal) or self.env.is_occupied(goal):
+            raise Exception("Goal is not a valid position")
+
+        tie_count = 0
+        open_set = []
+        heapq.heappush(open_set, (0.0, tie_count, source))
+
+        came_from = {source: None}
+        cost_so_far = {source: 0.0}
+        closed_set = set()  # track fully explored cells
+
+        while open_set:
+            _, _, current = heapq.heappop(open_set)
+
+            if current in closed_set:  # already explored optimally, skip
+                continue
+
+            closed_set.add(current)
+
+            if current == goal:
+                break
+
+            for next_cell in self.env.get_neighbors(current):
+                if self.env.is_occupied(next_cell) or next_cell in closed_set:
+                    continue
+                new_cost = cost_so_far[current] + self.cost(current, next_cell)
+                if next_cell not in cost_so_far or new_cost < cost_so_far[next_cell]:
+                    cost_so_far[next_cell] = new_cost
+                    priority = new_cost + self.heuristic(next_cell, goal)
+                    tie_count += 1
+                    heapq.heappush(open_set, (priority, tie_count, next_cell))
+                    came_from[next_cell] = current
+
+        if current != goal:
+            raise Exception("Path not found")
+
+        path = []
+        current = goal
+        while current is not None:
+            path.append(current)
+            current = came_from.get(current)
+        path.reverse()
+        return path

seally-0.1.0/src/seally/planners/jps.py

@@ -0,0 +1 @@
+#https://theory.stanford.edu/~amitp/GameProgramming/Variations.html#jump-point-search

seally-0.1.0/src/seally/planners/wave_front.py

@@ -0,0 +1 @@
+#https://www.ccs.neu.edu/home/rplatt/cs5335_fall2016/slides/bugs_wavefront.pdf