Merge branch 'main' into dev

.github/workflows/main.yml

@@ -0,0 +1,47 @@
+name: CI
+
+on:
+ push:
+ branches: 
+ - main
+
+jobs:
+ build:
+
+ runs-on: ubuntu-latest
+
+ steps:
+ - uses: actions/checkout@v1
+ # Standard drop-in approach that should work for most people.
+ - uses: ammaraskar/sphinx-action@master
+ with:
+ pre-build-command: "pip install sphinx-rtd-theme sphinx-autoapi numpydoc numpy==1.21 scipy matplotlib pyfastnoisesimd numba tqdm networkx"
+ docs-folder: "docs/"
+ # Great extra actions to compose with:
+ # Create an artifact of the html output.
+ - uses: actions/upload-artifact@v1
+ with:
+ name: DocumentationHTML
+ path: docs/_build/html/ 
+ # Publish built docs to gh-pages branch.
+ # ===============================
+ - name: Commit documentation changes
+ run: |
+ git clone https://github.com/ammaraskar/sphinx-action-test.git --branch gh-pages --single-branch gh-pages
+ cp -r docs/_build/html/* gh-pages/
+ cd gh-pages
+ touch .nojekyll
+ git config --local user.email "action@github.com"
+ git config --local user.name "GitHub Action"
+ git add .
+ git commit -m "Update documentation" -a || true
+ # The above command will fail if no changes were present, so we ignore
+ # that.
+ - name: Push changes
+ uses: ad-m/github-push-action@master
+ with:
+ force: true
+ branch: gh-pages
+ directory: gh-pages
+ github_token: ${{ secrets.GITHUB_TOKEN }}
+ # ===============================

docs/Makefile

@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS ?=
+SPHINXBUILD ?= sphinx-build
+SOURCEDIR = .
+BUILDDIR = _build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+ @$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+ @$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/conf.py

@@ -0,0 +1,86 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# This file only contains a selection of the most common options. For a full
+# list see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+import sys
+
+sys.path.insert(0, os.path.abspath(".."))
+try:
+ import rrtplanner
+except ImportError:
+ raise ImportError("check that `rrtplanner` is available to your system path.")
+
+# -- Project information -----------------------------------------------------
+
+project = "RRT Planner"
+copyright = "2021, Mike Sutherland"
+author = "Mike Sutherland"
+
+
+# -- General configuration ---------------------------------------------------
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+ "autoapi.extension",
+ "sphinx.ext.autodoc",
+ "sphinx.ext.autosummary",
+ "sphinx.ext.doctest",
+ "sphinx.ext.mathjax",
+ "sphinx.ext.viewcode",
+ "sphinx.ext.githubpages",
+ "sphinx.ext.intersphinx",
+ "numpydoc",
+]
+
+autoapi_type = "python"
+autoapi_dirs = ["../rrtplanner/"]
+
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ["_templates"]
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
+
+pygments_style = "solarized-dark"
+
+autodoc_mock_imports = ["scipy", "numpy", "matplotlib", "cvxpy"]
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages. See the documentation for
+# a list of builtin themes.
+#
+import sphinx_rtd_theme
+
+html_theme = "sphinx_rtd_theme"
+html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
+
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ["_static"]
+
+master_doc = "index"
+
+intersphinx_mapping = {
+ "python": ("https://docs.python.org/3/", None),
+ "numpy": ("https://numpy.org/doc/stable/", None),
+ "matplotlib": ("https://matplotlib.org/stable", None),
+ "scipy": ("https://docs.scipy.org/doc/scipy/reference", None),
+ "networkx": ("https://networkx.org/documentation/stable/", None),
+}

docs/getting-started.rst

@@ -0,0 +1,133 @@
+Getting Started
+===============
+
+
+Installation
+------------
+
+Installation is done with ``pip``
+
+.. code-block:: bash
+
+ pip install rrtplanner
+
+How to Plan
+-----------
+
+Path Planning is the process of finding a viable path from one point to another in some configuration space. This package provides some example implementations of RRT, RRT*, and RRT*Informed planners. These planners can be used to plan in a two dimensional configuration space, with no differential constraints on the motion of the robot. This means that a path between two points is simply a straight line.
+
+Plans are computed by these objects:
+
+* :class:`rrtplanner.RRTStandard`
+* :class:`rrtplanner.RRTStar`
+* :class:`rrtplanner.RRTStarInformed`
+
+Plans are computed on an OccupancyGrid, which is a MxN array of integers. This package considers a value of 0 to be free space, and anything other than 0 to be an obstacle. We can create random, boolean arrays with the built-in ``perlin_occupancygrid`` function:
+
+.. code-block:: python
+
+ from rrtplanner import perlin_occupancygrid
+ og = perlin_occupancygrid(240, 240, 0.33)
+
+This will create an occupancy grid (really, just an 400x400 array) of points, with blocks of 1 where obstacles are present and blocks of 0 that are free space.
+
+.. important::
+
+ Using Perlin noise often generates good random obstacles. However, it sometimes creates an occupancygrid with free space that is split -- from a given point, there is no guarantee that all free space is reachable if you are using the ``perlin_occupancygrid`` noise generator.
+
+In real applications, occupancyGrids can be generated by e.g. a SLAM algorithm or pre-computed map.
+
+With our occupancy grid, we are ready to plan.
+
+First, we create the planner object. This object takes three important arguments: ``og``, which is the occupancy grid over which we want to plan, ``n`` which is the number of **attempted** sample points, and ``r_rewire``, which is the radius for which to rewire. 
+
+As a general rule, we choose ``n`` appropriately, according to the amount of time we have to compute new plans vs the optimality of computed plans. When ``n`` is large, more samples are attempted, and so there are more opportunities to generate an optimal plan. When ``n`` is small, plan time is short, but plans are less optimal.
+
+ We also want to choose ``r_rewire`` so that it is sized to the obstacle features. Very large values of ``r_rewire`` will result in the algorithm taking a long time to compute a plan, with little benefit, since obstacles block long straight-line paths. While very small values of ``r_rewire`` will result in the algorithm quickly finding a sub-optimal plan.
+
+.. code-block:: python
+
+ from rrtplanner import RRTStar, random_point_og
+ n = 1200
+ r_rewire = 80
+ rrts = RRTStar(og, n, r_rewire)
+
+
+Now, we can plan a path. We choose a start and a goal point randomly from the free space of the world, and call the ``RRTStar``'s ``plan`` method.
+
+.. code-block:: python
+
+ xstart = random_point_og(og)
+ xgoal = random_point_og(og)
+ T, gv = rrts.plan(xstart, xgoal)
+
+The plan is computed, and we have two return values. The first is the tree itself, formatted as a `NetworkX DiGraph object <https://networkx.org/documentation/stable/reference/classes/digraph.html>`_ Points are stored in keys called ```pt`` and edges have the attribute ``cost``, which is the cost of the leaf node connected to that edge. The second return value is the vertex of the goal point on the tree.
+
+Once our tree is created, we traverse it to find a path from vertex 0 to the goal vertex, and subsequently find each point in the order of that traversal:
+
+.. code-block:: python
+
+
+ path = rrts.route2gv(T, gv)
+ path_pts = rrts.vertices_as_ndarray(T, path)
+
+Then, we have computed our path and it is stored in ``path_pts``.
+
+This package includes a number of plotting functions (which use `matplotlib <https://matplotlib.org/>`_) that can be used to visualize the 2-D world and plans in it.
+
+.. code-block:: python
+
+ from rrtplanner import plot_rrt_lines, plot_path, plot_og, plot_start_goal
+ import matplotlib.pyplot as plt
+
+ # create figure and ax.
+ fig = plt.figure()
+ ax = fig.add_subplot()
+
+ # these functions alter ax in-place.
+ plot_og(ax, og)
+ plot_start_goal(ax, xstart, xgoal)
+ plot_rrt_lines(ax, T)
+ plot_path(ax, path_pts)
+
+ plt.show()
+
+
+We see the results of our plan. Because points and obstacles are generated randomly when you run this script, your result should bear a superficial resemblance to the figure below:
+
+.. image:: _static/getting-started-plan.png
+
+The full code used to generate this figure is shown below:
+
+.. code-block:: python
+
+ from rrtplanner import perlin_occupancygrid
+
+ og = perlin_occupancygrid(240, 240, 0.33)
+ from rrtplanner import RRTStar, random_point_og
+ n = 1200
+ r_rewire = 80 # large enough for our 400x400 world
+ rrts = RRTStar(og, n, r_rewire)
+
+ xstart = random_point_og(og)
+ xgoal = random_point_og(og)
+
+ T, gv = rrts.plan(xstart, xgoal)
+
+ path = rrts.route2gv(T, gv)
+ path_pts = rrts.vertices_as_ndarray(T, path)
+
+ from rrtplanner import plot_rrt_lines, plot_path, plot_og, plot_start_goal
+ import matplotlib.pyplot as plt
+
+ # create figure and ax.
+ fig = plt.figure()
+ ax = fig.add_subplot()
+
+ # these functions alter ax in-place.
+ plot_og(ax, og)
+ plot_start_goal(ax, xstart, xgoal)
+ plot_rrt_lines(ax, T)
+ plot_path(ax, path_pts)
+
+ plt.show()

docs/index.rst

@@ -0,0 +1,16 @@
+RRTPlanner Documentation
+########################
+
+.. toctree::
+ :maxdepth: 2
+ :caption: Contents
+
+ Getting Started<getting-started>
+ Git Repository<https://github.com/rland93/rrtplanner>
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`

docs/installation.rst

@@ -0,0 +1,8 @@
+Installation
+============
+
+Installation is done with pip:
+
+.. code-block:: bash
+ 
+ pip install rrtplanner

docs/make.bat

@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+ set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=.
+set BUILDDIR=_build
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+ echo.
+ echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+ echo.installed, then set the SPHINXBUILD environment variable to point
+ echo.to the full path of the 'sphinx-build' executable. Alternatively you
+ echo.may add the Sphinx directory to PATH.
+ echo.
+ echo.If you don't have Sphinx installed, grab it from
+ echo.http://sphinx-doc.org/
+ exit /b 1
+)
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd

pyproject.toml

@@ -0,0 +1,3 @@
+[build-system]
+requires = ["setuptools>=42", "wheel"]
+build-backend = "setuptools.build_meta"

rrtplanner/__init__.py

@@ -0,0 +1,10 @@
+"""Top-level package for rrtplanner."""
+
+__author__ = """Mike Sutherland"""
+__email__ = "msutherl@uci.edu"
+__version__ = "0.1.0"
+
+from .rrt import *
+from .anim import *
+from .oggen import *
+from .plots import *

rrtplanner/anim.py

@@ -5,7 +5,8 @@
 from matplotlib.patches import Circle
 from tqdm import tqdm
 from scipy.ndimage import binary_dilation
-from rrt import random_point_og, RRT
+
+from .rrt import random_point_og, RRT
 
 
 DEFAULT_APPEARANCE = {