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### File: ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation.py
"""
Obstacle navigation using A* on a toroidal grid
Author: Daniel Ingram (daniel-s-ingram)
"""
from math import pi
import numpy as np
import matplotlib.pyplot as plt
from matplotlib.colors import from_levels_and_colors
plt.ion()
# Simulation... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation.py", "license": "mit", "size": 8688} |
### File: ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation_2.py
"""
Obstacle navigation using A* on a toroidal grid
Author: Daniel Ingram (daniel-s-ingram)
Tullio Facchinetti (tullio.facchinetti@unipv.it)
"""
from math import pi
import numpy as np
import matplotlib.pyplot as plt
from matplotlib.co... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation_2.py", "license": "mit", "size": 9814} |
### File: ArmNavigation/n_joint_arm_3d/NLinkArm3d.py
"""
Class of n-link arm in 3D
Author: Takayuki Murooka (takayuki5168)
"""
import numpy as np
import math
from mpl_toolkits.mplot3d import Axes3D
import matplotlib.pyplot as plt
class Link:
def __init__(self, dh_params):
self.dh_params_ = dh_params
... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "ArmNavigation/n_joint_arm_3d/NLinkArm3d.py", "license": "mit", "size": 6950} |
### File: ArmNavigation/n_joint_arm_3d/__init__.py
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent))
| {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "ArmNavigation/n_joint_arm_3d/__init__.py", "license": "mit", "size": 78} |
### File: ArmNavigation/n_joint_arm_3d/random_forward_kinematics.py
"""
Forward Kinematics for an n-link arm in 3D
Author: Takayuki Murooka (takayuki5168)
"""
import math
from NLinkArm3d import NLinkArm
import random
def random_val(min_val, max_val):
return min_val + random.random() * (max_val - min_val)
def ma... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "ArmNavigation/n_joint_arm_3d/random_forward_kinematics.py", "license": "mit", "size": 1011} |
### File: ArmNavigation/n_joint_arm_3d/random_inverse_kinematics.py
"""
Inverse Kinematics for an n-link arm in 3D
Author: Takayuki Murooka (takayuki5168)
"""
import math
from NLinkArm3d import NLinkArm
import random
def random_val(min_val, max_val):
return min_val + random.random() * (max_val - min_val)
def ma... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "ArmNavigation/n_joint_arm_3d/random_inverse_kinematics.py", "license": "mit", "size": 1233} |
### File: ArmNavigation/n_joint_arm_to_point_control/NLinkArm.py
"""
Class for controlling and plotting an arm with an arbitrary number of links.
Author: Daniel Ingram
"""
import numpy as np
import matplotlib.pyplot as plt
class NLinkArm(object):
def __init__(self, link_lengths, joint_angles, goal, show_animati... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "ArmNavigation/n_joint_arm_to_point_control/NLinkArm.py", "license": "mit", "size": 2486} |
### File: ArmNavigation/n_joint_arm_to_point_control/n_joint_arm_to_point_control.py
"""
Inverse kinematics for an n-link arm using the Jacobian inverse method
Author: Daniel Ingram (daniel-s-ingram)
Atsushi Sakai (@Atsushi_twi)
"""
import sys
from pathlib import Path
sys.path.append(str(Path(__file__).parent... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "ArmNavigation/n_joint_arm_to_point_control/n_joint_arm_to_point_control.py", "license": "mit", "size": 541... |
### File: ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py
"""
RRT* path planner for a seven joint arm
Author: Mahyar Abdeetedal (mahyaret)
"""
import math
import random
import numpy as np
import matplotlib.pyplot as plt
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py", "license": "mit", "si... |
### File: ArmNavigation/two_joint_arm_to_point_control/two_joint_arm_to_point_control.py
"""
Inverse kinematics of a two-joint arm
Left-click the plot to set the goal position of the end effector
Author: Daniel Ingram (daniel-s-ingram)
Atsushi Sakai (@Atsushi_twi)
Ref: P. I. Corke, "Robotics, Vision & Control... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "ArmNavigation/two_joint_arm_to_point_control/two_joint_arm_to_point_control.py", "license": "mit", "size":... |
### File: Bipedal/bipedal_planner/bipedal_planner.py
"""
Bipedal Walking with modifying designated footsteps
author: Takayuki Murooka (takayuki5168)
"""
import numpy as np
import math
from matplotlib import pyplot as plt
import matplotlib.patches as pat
from mpl_toolkits.mplot3d import Axes3D
import mpl_toolkits.mplot3... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Bipedal/bipedal_planner/bipedal_planner.py", "license": "mit", "size": 8048} |
### File: Control/inverted_pendulum/inverted_pendulum_lqr_control.py
"""
Inverted Pendulum LQR control
author: Trung Kien - letrungkien.k53.hut@gmail.com
"""
import math
import time
import matplotlib.pyplot as plt
import numpy as np
from numpy.linalg import inv, eig
# Model parameters
l_bar = 2.0 # length of bar
M... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Control/inverted_pendulum/inverted_pendulum_lqr_control.py", "license": "mit", "size": 4187} |
### File: Control/inverted_pendulum/inverted_pendulum_mpc_control.py
"""
Inverted Pendulum MPC control
author: Atsushi Sakai
"""
import math
import time
import cvxpy
import matplotlib.pyplot as plt
import numpy as np
# Model parameters
l_bar = 2.0 # length of bar
M = 1.0 # [kg]
m = 0.3 # [kg]
g = 9.8 # [m/s^2]
... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Control/inverted_pendulum/inverted_pendulum_mpc_control.py", "license": "mit", "size": 4322} |
### File: Control/move_to_pose/move_to_pose.py
"""
Move to specified pose
Author: Daniel Ingram (daniel-s-ingram)
Atsushi Sakai (@Atsushi_twi)
Seied Muhammad Yazdian (@Muhammad-Yazdian)
P. I. Corke, "Robotics, Vision & Control", Springer 2017, ISBN 978-3-319-54413-7
"""
import matplotlib.pyplot as ... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Control/move_to_pose/move_to_pose.py", "license": "mit", "size": 5784} |
### File: Control/move_to_pose/move_to_pose_robot.py
"""
Move to specified pose (with Robot class)
Author: Daniel Ingram (daniel-s-ingram)
Atsushi Sakai (@Atsushi_twi)
Seied Muhammad Yazdian (@Muhammad-Yazdian)
P.I. Corke, "Robotics, Vision & Control", Springer 2017, ISBN 978-3-319-54413-7
"""
impo... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Control/move_to_pose/move_to_pose_robot.py", "license": "mit", "size": 7387} |
### File: Localization/cubature_kalman_filter/cubature_kalman_filter.py
"""
Cubature Kalman filter using Constant Turn Rate and Velocity (CTRV) model
Fuse sensor data from IMU and GPS to obtain accurate position
https://ieeexplore.ieee.org/document/4982682
Author: Raghuram Shankar
state matrix: ... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Localization/cubature_kalman_filter/cubature_kalman_filter.py", "license": "mit", "size": 8236} |
### File: Localization/ensemble_kalman_filter/ensemble_kalman_filter.py
"""
Ensemble Kalman Filter(EnKF) localization sample
author: Ryohei Sasaki(rsasaki0109)
Ref:
Ensemble Kalman filtering
(https://rmets.onlinelibrary.wiley.com/doi/10.1256/qj.05.135)
"""
import sys
import pathlib
sys.path.append(str(pathlib.Path(... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Localization/ensemble_kalman_filter/ensemble_kalman_filter.py", "license": "mit", "size": 6632} |
### File: Localization/extended_kalman_filter/ekf_with_velocity_correction.py
"""
Extended kalman filter (EKF) localization with velocity correction sample
author: Atsushi Sakai (@Atsushi_twi)
modified by: Ryohei Sasaki (@rsasaki0109)
"""
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.p... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Localization/extended_kalman_filter/ekf_with_velocity_correction.py", "license": "mit", "size": 5131} |
### File: Localization/extended_kalman_filter/extended_kalman_filter.py
"""
Extended kalman filter (EKF) localization sample
author: Atsushi Sakai (@Atsushi_twi)
"""
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
import math
import matplotlib.pyplot as plt
import numpy ... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Localization/extended_kalman_filter/extended_kalman_filter.py", "license": "mit", "size": 4279} |
### File: Localization/histogram_filter/histogram_filter.py
"""
Histogram Filter 2D localization example
In this simulation, x,y are unknown, yaw is known.
Initial position is not needed.
author: Atsushi Sakai (@Atsushi_twi)
"""
import copy
import math
import matplotlib.pyplot as plt
import matplotlib as mpl
im... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Localization/histogram_filter/histogram_filter.py", "license": "mit", "size": 7193} |
### File: Localization/particle_filter/particle_filter.py
"""
Particle Filter localization sample
author: Atsushi Sakai (@Atsushi_twi)
"""
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
import math
import matplotlib.pyplot as plt
import numpy as np
from utils.angle imp... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Localization/particle_filter/particle_filter.py", "license": "mit", "size": 6776} |
### File: Localization/unscented_kalman_filter/unscented_kalman_filter.py
"""
Unscented kalman filter (UKF) localization sample
author: Atsushi Sakai (@Atsushi_twi)
"""
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
import math
import matplotlib.pyplot as plt
import nu... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Localization/unscented_kalman_filter/unscented_kalman_filter.py", "license": "mit", "size": 6408} |
### File: Mapping/circle_fitting/circle_fitting.py
"""
Object shape recognition with circle fitting
author: Atsushi Sakai (@Atsushi_twi)
"""
import matplotlib.pyplot as plt
import math
import random
import numpy as np
show_animation = True
def circle_fitting(x, y):
"""
Circle Fitting with least squared
... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Mapping/circle_fitting/circle_fitting.py", "license": "mit", "size": 3764} |
### File: Mapping/gaussian_grid_map/gaussian_grid_map.py
"""
2D gaussian grid map sample
author: Atsushi Sakai (@Atsushi_twi)
"""
import math
import numpy as np
import matplotlib.pyplot as plt
from scipy.stats import norm
EXTEND_AREA = 10.0 # [m] grid map extention length
show_animation = True
def generate_gau... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Mapping/gaussian_grid_map/gaussian_grid_map.py", "license": "mit", "size": 2397} |
### File: Mapping/grid_map_lib/grid_map_lib.py
"""
Grid map library in python
author: Atsushi Sakai
"""
from functools import total_ordering
import matplotlib.pyplot as plt
import numpy as np
@total_ordering
class FloatGrid:
def __init__(self, init_val=0.0):
self.data = init_val
def get_float_dat... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Mapping/grid_map_lib/grid_map_lib.py", "license": "mit", "size": 9509} |
### File: Mapping/kmeans_clustering/kmeans_clustering.py
"""
Object clustering with k-means algorithm
author: Atsushi Sakai (@Atsushi_twi)
"""
import math
import matplotlib.pyplot as plt
import random
# k means parameters
MAX_LOOP = 10
DCOST_TH = 0.1
show_animation = True
def kmeans_clustering(rx, ry, nc):
c... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Mapping/kmeans_clustering/kmeans_clustering.py", "license": "mit", "size": 3611} |
### File: Mapping/lidar_to_grid_map/lidar_to_grid_map.py
"""
LIDAR to 2D grid map example
author: Erno Horvath, Csaba Hajdu based on Atsushi Sakai's scripts
"""
import math
from collections import deque
import matplotlib.pyplot as plt
import numpy as np
EXTEND_AREA = 1.0
def file_read(f):
"""
Reading LI... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Mapping/lidar_to_grid_map/lidar_to_grid_map.py", "license": "mit", "size": 8344} |
### File: Mapping/ndt_map/ndt_map.py
"""
Normal Distribution Transform (NDTGrid) mapping sample
"""
import matplotlib.pyplot as plt
import numpy as np
from collections import defaultdict
from Mapping.grid_map_lib.grid_map_lib import GridMap
from utils.plot import plot_covariance_ellipse
class NDTMap:
"""
Nor... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Mapping/ndt_map/ndt_map.py", "license": "mit", "size": 4296} |
### File: Mapping/normal_vector_estimation/normal_vector_estimation.py
import numpy as np
from matplotlib import pyplot as plt
from utils.plot import plot_3d_vector_arrow, plot_triangle, set_equal_3d_axis
show_animation = True
def calc_normal_vector(p1, p2, p3):
"""Calculate normal vector of triangle
Param... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Mapping/normal_vector_estimation/normal_vector_estimation.py", "license": "mit", "size": 5249} |
### File: Mapping/point_cloud_sampling/point_cloud_sampling.py
"""
Point cloud sampling example codes. This code supports
- Voxel point sampling
- Farthest point sampling
- Poisson disk sampling
"""
import matplotlib.pyplot as plt
import numpy as np
import numpy.typing as npt
from collections import defaultdict
do_pl... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Mapping/point_cloud_sampling/point_cloud_sampling.py", "license": "mit", "size": 5732} |
### File: Mapping/raycasting_grid_map/raycasting_grid_map.py
"""
Ray casting 2D grid map example
author: Atsushi Sakai (@Atsushi_twi)
"""
import math
import numpy as np
import matplotlib.pyplot as plt
EXTEND_AREA = 10.0
show_animation = True
def calc_grid_map_config(ox, oy, xyreso):
minx = round(min(ox) - E... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Mapping/raycasting_grid_map/raycasting_grid_map.py", "license": "mit", "size": 3464} |
### File: Mapping/rectangle_fitting/__init_.py
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent))
| {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Mapping/rectangle_fitting/__init_.py", "license": "mit", "size": 78} |
### File: Mapping/rectangle_fitting/rectangle_fitting.py
"""
Object shape recognition with L-shape fitting
author: Atsushi Sakai (@Atsushi_twi)
Ref:
- Efficient L-Shape Fitting for Vehicle Detection Using Laser Scanners -
The Robotics Institute Carnegie Mellon University
https://www.ri.cmu.edu/publications/
efficien... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Mapping/rectangle_fitting/rectangle_fitting.py", "license": "mit", "size": 8618} |
### File: Mapping/rectangle_fitting/simulator.py
"""
Simulator
author: Atsushi Sakai
"""
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
import numpy as np
import matplotlib.pyplot as plt
import math
import random
from utils.angle import rot_mat_2d
class VehicleSimula... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "Mapping/rectangle_fitting/simulator.py", "license": "mit", "size": 3819} |
### File: PathPlanning/AStar/a_star.py
"""
A* grid planning
author: Atsushi Sakai(@Atsushi_twi)
Nikos Kanargias (nkana@tee.gr)
See Wikipedia article (https://en.wikipedia.org/wiki/A*_search_algorithm)
"""
import math
import matplotlib.pyplot as plt
show_animation = True
class AStarPlanner:
def __i... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/AStar/a_star.py", "license": "mit", "size": 8717} |
### File: PathPlanning/AStar/a_star_searching_from_two_side.py
"""
A* algorithm
Author: Weicent
randomly generate obstacles, start and goal point
searching path from start and end simultaneously
"""
import numpy as np
import matplotlib.pyplot as plt
import math
show_animation = True
class Node:
"""node with pro... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/AStar/a_star_searching_from_two_side.py", "license": "mit", "size": 13899} |
### File: PathPlanning/AStar/a_star_variants.py
"""
a star variants
author: Sarim Mehdi(muhammadsarim.mehdi@studio.unibo.it)
Source: http://theory.stanford.edu/~amitp/GameProgramming/Variations.html
"""
import numpy as np
import matplotlib.pyplot as plt
show_animation = True
use_beam_search = False
use_iterative_deep... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/AStar/a_star_variants.py", "license": "mit", "size": 18918} |
### File: PathPlanning/BSplinePath/bspline_path.py
"""
Path Planner with B-Spline
author: Atsushi Sakai (@Atsushi_twi)
"""
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
import numpy as np
import matplotlib.pyplot as plt
import scipy.interpolate as interpolate
from util... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/BSplinePath/bspline_path.py", "license": "mit", "size": 4404} |
### File: PathPlanning/BatchInformedRRTStar/batch_informed_rrtstar.py
"""
Batch Informed Trees based path planning:
Uses a heuristic to efficiently search increasingly dense
RGGs while reusing previous information. Provides faster
convergence that RRT*, Informed RRT* and other sampling based
methods.
Uses lazy connect... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/BatchInformedRRTStar/batch_informed_rrtstar.py", "license": "mit", "size": 23993} |
### File: PathPlanning/BezierPath/bezier_path.py
"""
Path planning with Bezier curve.
author: Atsushi Sakai(@Atsushi_twi)
"""
import matplotlib.pyplot as plt
import numpy as np
import scipy.special
show_animation = True
def calc_4points_bezier_path(sx, sy, syaw, ex, ey, eyaw, offset):
"""
Compute control... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/BezierPath/bezier_path.py", "license": "mit", "size": 6811} |
### File: PathPlanning/BidirectionalAStar/bidirectional_a_star.py
"""
Bidirectional A* grid planning
author: Erwin Lejeune (@spida_rwin)
See Wikipedia article (https://en.wikipedia.org/wiki/Bidirectional_search)
"""
import math
import matplotlib.pyplot as plt
show_animation = True
class BidirectionalAStarPlann... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/BidirectionalAStar/bidirectional_a_star.py", "license": "mit", "size": 11287} |
### File: PathPlanning/BidirectionalBreadthFirstSearch/bidirectional_breadth_first_search.py
"""
Bidirectional Breadth-First grid planning
author: Erwin Lejeune (@spida_rwin)
See Wikipedia article (https://en.wikipedia.org/wiki/Breadth-first_search)
"""
import math
import matplotlib.pyplot as plt
show_animation ... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/BidirectionalBreadthFirstSearch/bidirectional_breadth_first_search.py", "license": "mit", "si... |
### File: PathPlanning/BreadthFirstSearch/breadth_first_search.py
"""
Breadth-First grid planning
author: Erwin Lejeune (@spida_rwin)
See Wikipedia article (https://en.wikipedia.org/wiki/Breadth-first_search)
"""
import math
import matplotlib.pyplot as plt
show_animation = True
class BreadthFirstSearchPlanner:... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/BreadthFirstSearch/breadth_first_search.py", "license": "mit", "size": 7701} |
### File: PathPlanning/BugPlanning/bug.py
"""
Bug Planning
author: Sarim Mehdi(muhammadsarim.mehdi@studio.unibo.it)
Source: https://sites.google.com/site/ece452bugalgorithms/
"""
import numpy as np
import matplotlib.pyplot as plt
show_animation = True
class BugPlanner:
def __init__(self, start_x, start_y, goal_... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/BugPlanning/bug.py", "license": "mit", "size": 12636} |
### File: PathPlanning/Catmull_RomSplinePath/blending_functions.py
import numpy as np
import matplotlib.pyplot as plt
def blending_function_1(t):
return -t + 2*t**2 - t**3
def blending_function_2(t):
return 2 - 5*t**2 + 3*t**3
def blending_function_3(t):
return t + 4*t**2 - 3*t**3
def blending_function_... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/Catmull_RomSplinePath/blending_functions.py", "license": "mit", "size": 860} |
### File: PathPlanning/Catmull_RomSplinePath/catmull_rom_spline_path.py
"""
Path Planner with Catmull-Rom Spline
Author: Surabhi Gupta (@this_is_surabhi)
Source: http://graphics.cs.cmu.edu/nsp/course/15-462/Fall04/assts/catmullRom.pdf
"""
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.pare... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/Catmull_RomSplinePath/catmull_rom_spline_path.py", "license": "mit", "size": 2292} |
### File: PathPlanning/ClosedLoopRRTStar/closed_loop_rrt_star_car.py
"""
Path planning Sample Code with Closed loop RRT for car like robot.
author: AtsushiSakai(@Atsushi_twi)
"""
import matplotlib.pyplot as plt
import numpy as np
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.parent))
... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/ClosedLoopRRTStar/closed_loop_rrt_star_car.py", "license": "mit", "size": 6222} |
### File: PathPlanning/ClosedLoopRRTStar/pure_pursuit.py
"""
Path tracking simulation with pure pursuit steering control and PID speed control.
author: Atsushi Sakai
"""
import math
import matplotlib.pyplot as plt
import numpy as np
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.parent... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/ClosedLoopRRTStar/pure_pursuit.py", "license": "mit", "size": 7679} |
### File: PathPlanning/ClosedLoopRRTStar/unicycle_model.py
"""
Unicycle model class
author Atsushi Sakai
"""
import math
import numpy as np
from utils.angle import angle_mod
dt = 0.05 # [s]
L = 0.9 # [m]
steer_max = np.deg2rad(40.0)
curvature_max = math.tan(steer_max) / L
curvature_max = 1.0 / curvature_max + 1.... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/ClosedLoopRRTStar/unicycle_model.py", "license": "mit", "size": 1413} |
### File: PathPlanning/ClothoidPath/clothoid_path_planner.py
"""
Clothoid Path Planner
Author: Daniel Ingram (daniel-s-ingram)
Atsushi Sakai (AtsushiSakai)
Reference paper: Fast and accurate G1 fitting of clothoid curves
https://www.researchgate.net/publication/237062806
"""
from collections import namedtuple
... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/ClothoidPath/clothoid_path_planner.py", "license": "mit", "size": 5742} |
### File: PathPlanning/CubicSpline/cubic_spline_planner.py
"""
Cubic spline planner
Author: Atsushi Sakai(@Atsushi_twi)
"""
import math
import numpy as np
import bisect
class CubicSpline1D:
"""
1D Cubic Spline class
Parameters
----------
x : list
x coordinates for data points. This x co... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/CubicSpline/cubic_spline_planner.py", "license": "mit", "size": 9677} |
### File: PathPlanning/CubicSpline/spline_continuity.py
import numpy as np
import matplotlib.pyplot as plt
from scipy import interpolate
class Spline2D:
def __init__(self, x, y, kind="cubic"):
self.s = self.__calc_s(x, y)
self.sx = interpolate.interp1d(self.s, x, kind=kind)
self.sy = int... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/CubicSpline/spline_continuity.py", "license": "mit", "size": 1408} |
### File: PathPlanning/DStar/dstar.py
"""
D* grid planning
author: Nirnay Roy
See Wikipedia article (https://en.wikipedia.org/wiki/D*)
"""
import math
from sys import maxsize
import matplotlib.pyplot as plt
show_animation = True
class State:
def __init__(self, x, y):
self.x = x
self.y = y... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/DStar/dstar.py", "license": "mit", "size": 6432} |
### File: PathPlanning/DStarLite/d_star_lite.py
"""
D* Lite grid planning
author: vss2sn (28676655+vss2sn@users.noreply.github.com)
Link to papers:
D* Lite (Link: http://idm-lab.org/bib/abstracts/papers/aaai02b.pdf)
Improved Fast Replanning for Robot Navigation in Unknown Terrain
(Link: http://www.cs.cmu.edu/~maxim/fil... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/DStarLite/d_star_lite.py", "license": "mit", "size": 17271} |
### File: PathPlanning/DepthFirstSearch/depth_first_search.py
"""
Depth-First grid planning
author: Erwin Lejeune (@spida_rwin)
See Wikipedia article (https://en.wikipedia.org/wiki/Depth-first_search)
"""
import math
import matplotlib.pyplot as plt
show_animation = True
class DepthFirstSearchPlanner:
def ... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/DepthFirstSearch/depth_first_search.py", "license": "mit", "size": 7601} |
### File: PathPlanning/Dijkstra/dijkstra.py
"""
Grid based Dijkstra planning
author: Atsushi Sakai(@Atsushi_twi)
"""
import matplotlib.pyplot as plt
import math
show_animation = True
class Dijkstra:
def __init__(self, ox, oy, resolution, robot_radius):
"""
Initialize map for a star planning
... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/Dijkstra/dijkstra.py", "license": "mit", "size": 7853} |
### File: PathPlanning/DubinsPath/dubins_path_planner.py
"""
Dubins path planner sample code
author Atsushi Sakai(@Atsushi_twi)
"""
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
from math import sin, cos, atan2, sqrt, acos, pi, hypot
import numpy as np
from utils.angle ... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/DubinsPath/dubins_path_planner.py", "license": "mit", "size": 10216} |
### File: PathPlanning/DynamicMovementPrimitives/dynamic_movement_primitives.py
"""
Author: Jonathan Schwartz (github.com/SchwartzCode)
This code provides a simple implementation of Dynamic Movement
Primitives, which is an approach to learning curves by modelling
them as a weighted sum of gaussian distributions. This ... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/DynamicMovementPrimitives/dynamic_movement_primitives.py", "license": "mit", "size": 8485} |
### File: PathPlanning/DynamicWindowApproach/dynamic_window_approach.py
"""
Mobile robot motion planning sample with Dynamic Window Approach
author: Atsushi Sakai (@Atsushi_twi), Göktuğ Karakaşlı
"""
import math
from enum import Enum
import matplotlib.pyplot as plt
import numpy as np
show_animation = True
def d... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/DynamicWindowApproach/dynamic_window_approach.py", "license": "mit", "size": 10138} |
### File: PathPlanning/Eta3SplinePath/eta3_spline_path.py
"""
eta^3 polynomials planner
author: Joe Dinius, Ph.D (https://jwdinius.github.io)
Atsushi Sakai (@Atsushi_twi)
Ref:
- [eta^3-Splines for the Smooth Path Generation of Wheeled Mobile Robots]
(https://ieeexplore.ieee.org/document/4339545/)
"""
impor... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/Eta3SplinePath/eta3_spline_path.py", "license": "mit", "size": 13649} |
### File: PathPlanning/Eta3SplineTrajectory/eta3_spline_trajectory.py
"""
eta^3 polynomials trajectory planner
author: Joe Dinius, Ph.D (https://jwdinius.github.io)
Atsushi Sakai (@Atsushi_twi)
Refs:
- https://jwdinius.github.io/blog/2018/eta3traj
- [eta^3-Splines for the Smooth Path Generation of Wheeled Mo... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/Eta3SplineTrajectory/eta3_spline_trajectory.py", "license": "mit", "size": 18686} |
### File: PathPlanning/FlowField/flowfield.py
"""
flowfield pathfinding
author: Sarim Mehdi (muhammadsarim.mehdi@studio.unibo.it)
Source: https://leifnode.com/2013/12/flow-field-pathfinding/
"""
import numpy as np
import matplotlib.pyplot as plt
show_animation = True
def draw_horizontal_line(start_x, start_y, lengt... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/FlowField/flowfield.py", "license": "mit", "size": 8876} |
### File: PathPlanning/FrenetOptimalTrajectory/frenet_optimal_trajectory.py
"""
Frenet optimal trajectory generator
author: Atsushi Sakai (@Atsushi_twi)
Ref:
- [Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame]
(https://www.researchgate.net/profile/Moritz_Werling/publication/224156269_Op... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/FrenetOptimalTrajectory/frenet_optimal_trajectory.py", "license": "mit", "size": 9421} |
### File: PathPlanning/GreedyBestFirstSearch/greedy_best_first_search.py
"""
Greedy Best-First grid planning
author: Erwin Lejeune (@spida_rwin)
See Wikipedia article (https://en.wikipedia.org/wiki/Best-first_search)
"""
import math
import matplotlib.pyplot as plt
show_animation = True
class BestFirstSearchPla... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/GreedyBestFirstSearch/greedy_best_first_search.py", "license": "mit", "size": 8238} |
### File: PathPlanning/GridBasedSweepCPP/grid_based_sweep_coverage_path_planner.py
"""
Grid based sweep planner
author: Atsushi Sakai
"""
import math
from enum import IntEnum
import numpy as np
import matplotlib.pyplot as plt
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/GridBasedSweepCPP/grid_based_sweep_coverage_path_planner.py", "license": "mit", "size": 10460... |
### File: PathPlanning/HybridAStar/__init__.py
import os
import sys
sys.path.append(os.path.dirname(os.path.abspath(__file__)))
| {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/HybridAStar/__init__.py", "license": "mit", "size": 82} |
### File: PathPlanning/HybridAStar/car.py
"""
Car model for Hybrid A* path planning
author: Zheng Zh (@Zhengzh)
"""
import sys
import pathlib
root_dir = pathlib.Path(__file__).parent.parent.parent
sys.path.append(str(root_dir))
from math import cos, sin, tan, pi
import matplotlib.pyplot as plt
import numpy as np
... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/HybridAStar/car.py", "license": "mit", "size": 2957} |
### File: PathPlanning/HybridAStar/dynamic_programming_heuristic.py
"""
A* grid based planning
author: Nikos Kanargias (nkana@tee.gr)
See Wikipedia article (https://en.wikipedia.org/wiki/A*_search_algorithm)
"""
import heapq
import math
import matplotlib.pyplot as plt
show_animation = False
class Node:
de... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/HybridAStar/dynamic_programming_heuristic.py", "license": "mit", "size": 5030} |
### File: PathPlanning/HybridAStar/hybrid_a_star.py
"""
Hybrid A* path planning
author: Zheng Zh (@Zhengzh)
"""
import heapq
import math
import matplotlib.pyplot as plt
import numpy as np
from scipy.spatial import cKDTree
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.parent))
from dyn... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/HybridAStar/hybrid_a_star.py", "license": "mit", "size": 12978} |
### File: PathPlanning/InformedRRTStar/informed_rrt_star.py
"""
Informed RRT* path planning
author: Karan Chawla
Atsushi Sakai(@Atsushi_twi)
Reference: Informed RRT*: Optimal Sampling-based Path planning Focused via
Direct Sampling of an Admissible Ellipsoidal Heuristic
https://arxiv.org/pdf/1404.2334.pdf
""... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/InformedRRTStar/informed_rrt_star.py", "license": "mit", "size": 12161} |
### File: PathPlanning/LQRPlanner/lqr_planner.py
"""
LQR local path planning
author: Atsushi Sakai (@Atsushi_twi)
"""
import math
import random
import matplotlib.pyplot as plt
import numpy as np
import scipy.linalg as la
SHOW_ANIMATION = True
class LQRPlanner:
def __init__(self):
self.MAX_TIME = 10... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/LQRPlanner/lqr_planner.py", "license": "mit", "size": 3455} |
### File: PathPlanning/LQRRRTStar/lqr_rrt_star.py
"""
Path planning code with LQR RRT*
author: AtsushiSakai(@Atsushi_twi)
"""
import copy
import math
import random
import matplotlib.pyplot as plt
import numpy as np
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.parent))
from LQRPlanner.... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/LQRRRTStar/lqr_rrt_star.py", "license": "mit", "size": 7130} |
### File: PathPlanning/ModelPredictiveTrajectoryGenerator/lookup_table_generator.py
"""
Lookup Table generation for model predictive trajectory generator
author: Atsushi Sakai
"""
import sys
import pathlib
path_planning_dir = pathlib.Path(__file__).parent.parent
sys.path.append(str(path_planning_dir))
from matplotl... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/ModelPredictiveTrajectoryGenerator/lookup_table_generator.py", "license": "mit", "size": 2775... |
### File: PathPlanning/ModelPredictiveTrajectoryGenerator/motion_model.py
import math
import numpy as np
from scipy.interpolate import interp1d
from utils.angle import angle_mod
# motion parameter
L = 1.0 # wheel base
ds = 0.1 # course distance
v = 10.0 / 3.6 # velocity [m/s]
class State:
def __init__(self, ... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/ModelPredictiveTrajectoryGenerator/motion_model.py", "license": "mit", "size": 2166} |
### File: PathPlanning/ModelPredictiveTrajectoryGenerator/trajectory_generator.py
"""
Model trajectory generator
author: Atsushi Sakai(@Atsushi_twi)
"""
import math
import matplotlib.pyplot as plt
import numpy as np
import sys
import pathlib
path_planning_dir = pathlib.Path(__file__).parent.parent
sys.path.append(s... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/ModelPredictiveTrajectoryGenerator/trajectory_generator.py", "license": "mit", "size": 4407} |
### File: PathPlanning/PotentialFieldPlanning/potential_field_planning.py
"""
Potential Field based path planner
author: Atsushi Sakai (@Atsushi_twi)
Ref:
https://www.cs.cmu.edu/~motionplanning/lecture/Chap4-Potential-Field_howie.pdf
"""
from collections import deque
import numpy as np
import matplotlib.pyplot as ... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/PotentialFieldPlanning/potential_field_planning.py", "license": "mit", "size": 5126} |
### File: PathPlanning/ProbabilisticRoadMap/probabilistic_road_map.py
"""
Probabilistic Road Map (PRM) Planner
author: Atsushi Sakai (@Atsushi_twi)
"""
import math
import numpy as np
import matplotlib.pyplot as plt
from scipy.spatial import KDTree
# parameter
N_SAMPLE = 500 # number of sample_points
N_KNN = 10 #... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/ProbabilisticRoadMap/probabilistic_road_map.py", "license": "mit", "size": 8195} |
### File: PathPlanning/QuinticPolynomialsPlanner/quintic_polynomials_planner.py
"""
Quintic Polynomials Planner
author: Atsushi Sakai (@Atsushi_twi)
Ref:
- [Local Path planning And Motion Control For Agv In Positioning](http://ieeexplore.ieee.org/document/637936/)
"""
import math
import matplotlib.pyplot as plt
... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/QuinticPolynomialsPlanner/quintic_polynomials_planner.py", "license": "mit", "size": 6680} |
### File: PathPlanning/RRT/rrt.py
"""
Path planning Sample Code with Randomized Rapidly-Exploring Random Trees (RRT)
author: AtsushiSakai(@Atsushi_twi)
"""
import math
import random
import matplotlib.pyplot as plt
import numpy as np
show_animation = True
class RRT:
"""
Class for RRT planning
"""
... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/RRT/rrt.py", "license": "mit", "size": 9047} |
### File: PathPlanning/RRT/rrt_with_pathsmoothing.py
"""
Path planning Sample Code with RRT with path smoothing
@author: AtsushiSakai(@Atsushi_twi)
"""
import math
import random
import matplotlib.pyplot as plt
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent))
from rrt import RRT
show_a... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/RRT/rrt_with_pathsmoothing.py", "license": "mit", "size": 3306} |
### File: PathPlanning/RRT/rrt_with_sobol_sampler.py
"""
Path planning Sample Code with Randomized Rapidly-Exploring Random
Trees with sobol low discrepancy sampler(RRTSobol).
Sobol wiki https://en.wikipedia.org/wiki/Sobol_sequence
The goal of low discrepancy samplers is to generate a sequence of points that
optimize... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/RRT/rrt_with_sobol_sampler.py", "license": "mit", "size": 8762} |
### File: PathPlanning/RRT/sobol/__init__.py
from .sobol import i4_sobol as sobol_quasirand
| {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/RRT/sobol/__init__.py", "license": "mit", "size": 47} |
### File: PathPlanning/RRT/sobol/sobol.py
"""
Licensing:
This code is distributed under the MIT license.
Authors:
Original FORTRAN77 version of i4_sobol by Bennett Fox.
MATLAB version by John Burkardt.
PYTHON version by Corrado Chisari
Original Python version of is_prime by Corrado Chisari
... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/RRT/sobol/sobol.py", "license": "mit", "size": 21902} |
### File: PathPlanning/RRTDubins/rrt_dubins.py
"""
Path planning Sample Code with RRT with Dubins path
author: AtsushiSakai(@Atsushi_twi)
"""
import copy
import math
import random
import numpy as np
import matplotlib.pyplot as plt
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.parent.pare... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/RRTDubins/rrt_dubins.py", "license": "mit", "size": 7263} |
### File: PathPlanning/RRTStar/rrt_star.py
"""
Path planning Sample Code with RRT*
author: Atsushi Sakai(@Atsushi_twi)
"""
import math
import sys
import matplotlib.pyplot as plt
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.parent))
from RRT.rrt import RRT
show_animation = True
class RRTStar(... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/RRTStar/rrt_star.py", "license": "mit", "size": 9512} |
### File: PathPlanning/RRTStarDubins/rrt_star_dubins.py
"""
Path planning Sample Code with RRT and Dubins path
author: AtsushiSakai(@Atsushi_twi)
"""
import copy
import math
import random
import matplotlib.pyplot as plt
import numpy as np
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.par... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/RRTStarDubins/rrt_star_dubins.py", "license": "mit", "size": 7673} |
### File: PathPlanning/RRTStarReedsShepp/rrt_star_reeds_shepp.py
"""
Path planning Sample Code with RRT with Reeds-Shepp path
author: AtsushiSakai(@Atsushi_twi)
"""
import copy
import math
import random
import sys
import pathlib
import matplotlib.pyplot as plt
import numpy as np
sys.path.append(str(pathlib.Path(__fi... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/RRTStarReedsShepp/rrt_star_reeds_shepp.py", "license": "mit", "size": 8265} |
### File: PathPlanning/ReedsSheppPath/reeds_shepp_path_planning.py
"""
Reeds Shepp path planner sample code
author Atsushi Sakai(@Atsushi_twi)
co-author Videh Patel(@videh25) : Added the missing RS paths
"""
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
import math
imp... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/ReedsSheppPath/reeds_shepp_path_planning.py", "license": "mit", "size": 14855} |
### File: PathPlanning/SpiralSpanningTreeCPP/spiral_spanning_tree_coverage_path_planner.py
"""
Spiral Spanning Tree Coverage Path Planner
author: Todd Tang
paper: Spiral-STC: An On-Line Coverage Algorithm of Grid Environments
by a Mobile Robot - Gabriely et.al.
link: https://ieeexplore.ieee.org/abstract/docum... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/SpiralSpanningTreeCPP/spiral_spanning_tree_coverage_path_planner.py", "license": "mit", "size... |
### File: PathPlanning/StateLatticePlanner/state_lattice_planner.py
"""
State lattice planner with model predictive trajectory generator
author: Atsushi Sakai (@Atsushi_twi)
- plookuptable.csv is generated with this script:
https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning
/ModelPredictiveTraje... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/StateLatticePlanner/state_lattice_planner.py", "license": "mit", "size": 8738} |
### File: PathPlanning/VisibilityRoadMap/geometry.py
class Geometry:
class Point:
def __init__(self, x, y):
self.x = x
self.y = y
@staticmethod
def is_seg_intersect(p1, q1, p2, q2):
def on_segment(p, q, r):
if ((q.x <= max(p.x, r.x)) and (q.x >= min(p.x... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/VisibilityRoadMap/geometry.py", "license": "mit", "size": 1278} |
### File: PathPlanning/VisibilityRoadMap/visibility_road_map.py
"""
Visibility Road Map Planner
author: Atsushi Sakai (@Atsushi_twi)
"""
import sys
import math
import numpy as np
import matplotlib.pyplot as plt
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.parent))
from VisibilityRoadMap.geometr... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/VisibilityRoadMap/visibility_road_map.py", "license": "mit", "size": 6606} |
### File: PathPlanning/VoronoiRoadMap/dijkstra_search.py
"""
Dijkstra Search library
author: Atsushi Sakai (@Atsushi_twi)
"""
import matplotlib.pyplot as plt
import math
import numpy as np
class DijkstraSearch:
class Node:
"""
Node class for dijkstra search
"""
def __init__(se... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/VoronoiRoadMap/dijkstra_search.py", "license": "mit", "size": 4504} |
### File: PathPlanning/VoronoiRoadMap/voronoi_road_map.py
"""
Voronoi Road Map Planner
author: Atsushi Sakai (@Atsushi_twi)
"""
import math
import numpy as np
import matplotlib.pyplot as plt
from scipy.spatial import cKDTree, Voronoi
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.parent... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/VoronoiRoadMap/voronoi_road_map.py", "license": "mit", "size": 4823} |
### File: PathPlanning/WavefrontCPP/wavefront_coverage_path_planner.py
"""
Distance/Path Transform Wavefront Coverage Path Planner
author: Todd Tang
paper: Planning paths of complete coverage of an unstructured environment
by a mobile robot - Zelinsky et.al.
link: http://pinkwink.kr/attachment/cfile3.uf@13546... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathPlanning/WavefrontCPP/wavefront_coverage_path_planner.py", "license": "mit", "size": 6926} |
### File: PathTracking/cgmres_nmpc/cgmres_nmpc.py
"""
Nonlinear MPC simulation with CGMRES
author Atsushi Sakai (@Atsushi_twi)
Ref:
Shunichi09/nonlinear_control: Implementing the nonlinear model predictive
control, sliding mode control https://github.com/Shunichi09/nonlinear_control
"""
from math import cos, sin, ... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathTracking/cgmres_nmpc/cgmres_nmpc.py", "license": "mit", "size": 20191} |
### File: PathTracking/lqr_speed_steer_control/lqr_speed_steer_control.py
"""
Path tracking simulation with LQR speed and steering control
author Atsushi Sakai (@Atsushi_twi)
"""
import math
import sys
import matplotlib.pyplot as plt
import numpy as np
import scipy.linalg as la
import pathlib
from utils.angle import... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathTracking/lqr_speed_steer_control/lqr_speed_steer_control.py", "license": "mit", "size": 7741} |
### File: PathTracking/lqr_steer_control/lqr_steer_control.py
"""
Path tracking simulation with LQR steering control and PID speed control.
author Atsushi Sakai (@Atsushi_twi)
"""
import scipy.linalg as la
import matplotlib.pyplot as plt
import math
import numpy as np
import sys
import pathlib
from utils.angle impor... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathTracking/lqr_steer_control/lqr_steer_control.py", "license": "mit", "size": 6687} |
### File: PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py
"""
Path tracking simulation with iterative linear model predictive control for speed and steer control
author: Atsushi Sakai (@Atsushi_twi)
"""
import matplotlib.pyplot as plt
import time
import cvxpy
import ... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py", "licen... |
### File: PathTracking/pure_pursuit/pure_pursuit.py
"""
Path tracking simulation with pure pursuit steering and PID speed control.
author: Atsushi Sakai (@Atsushi_twi)
Guillaume Jacquenot (@Gjacquenot)
"""
import numpy as np
import math
import matplotlib.pyplot as plt
# Parameters
k = 0.1 # look forward ga... | {"idx": "gitee_code", "domain": "code", "domain2": "gitee-permissive", "header_footer": "", "lang": "en", "source": "gitee_code-0.jsonl", "prog_lang": "Python", "repo_name": "minhanghuang/PythonRobotics", "path": "PathTracking/pure_pursuit/pure_pursuit.py", "license": "mit", "size": 6184} |
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