feat: add DistanceMap doc

Aglargil · Aglargil · commit 39b3123dfd7b · 2025-02-05T14:15:46.000+08:00
diff --git a/docs/modules/5_path_planning/path_planning_main.rst b/docs/modules/5_path_planning/path_planning_main.rst
@@ -31,3 +31,4 @@ Path planning is the ability of a robot to search feasible and efficient path to
    hybridastar/hybridastar
    frenet_frame_path/frenet_frame_path
    coverage_path/coverage_path
+   distance_map/distance_map
diff --git a/docs/modules/path_planning/distance_map/distance_map.png b/docs/modules/path_planning/distance_map/distance_map.png
diff --git a/docs/modules/path_planning/distance_map/distance_map_main.rst b/docs/modules/path_planning/distance_map/distance_map_main.rst
@@ -0,0 +1,27 @@
+Distance Map
+------------
+
+This is an implementation of the Distance Map algorithm for path planning.
+
+The Distance Map algorithm computes the unsigned distance field (UDF) and signed distance field (SDF) from a boolean field representing obstacles. 
+
+The UDF gives the distance from each point to the nearest obstacle. The SDF gives positive distances for points outside obstacles and negative distances for points inside obstacles.
+
+Example
+~~~~~~~
+
+The algorithm is demonstrated on a simple 2D grid with obstacles:
+
+.. image:: distance_map.png
+
+API
+~~~
+
+.. autofunction:: PathPlanning.DistanceMap.distance_map.compute_sdf
+
+.. autofunction:: PathPlanning.DistanceMap.distance_map.compute_udf
+
+References
+~~~~~~~~~~
+
+- `Distance Transforms of Sampled Functions <https://cs.brown.edu/people/pfelzens/papers/dt-final.pdf>`_ paper by Pedro F. Felzenszwalb and Daniel P. Huttenlocher. 
