v2.0.dev2

Author: omigeft

README.md

@@ -34,7 +34,8 @@ python_motion_planning
 |   └─path_tracker
 ├─path_planner
 |   ├─graph_search
-|   └─sample_search
+|   ├─sample_search
+|   └─hybrid_search
 └─curve_generator
 ```
 

assets/rrt_3d_discrete.png

@@ -91,7 +91,7 @@ site_description: Motion planning algorithms for Python.
 site_author: Wu Maojia, Yang Haodong
 site_url: http://localhost:8000
 use_directory_urls: false
-copyright: Copyright @ 2023-2025, Wu Maojia, Yang Haodong.
+copyright: Copyright @ 2023-2026, Wu Maojia, Yang Haodong.
 repo_url: https://github.com/ai-winter/python_motion_planning/
 nav:
 - Home: index.md
@@ -102,6 +102,7 @@ nav:
     - 1.2 - Path Planner:
       - 1.2.1 - Graph Search: tutorials/2d/path_planner/graph_search.md
       - 1.2.2 - Sample Search: tutorials/2d/path_planner/sample_search.md
+      - 1.2.3 - Hybrid Search: tutorials/2d/path_planner/hybrid_search.md
     - 1.3 - Controller:
       - 1.3.1 - Path Tracker: tutorials/2d/controller/path_tracker.md
   - 2 - 3D:
@@ -110,6 +111,7 @@ nav:
     - 2.2 - Path Planner:
       - 2.2.1 - Graph Search: tutorials/3d/path_planner/graph_search.md
       - 2.2.2 - Sample Search: tutorials/3d/path_planner/sample_search.md
+      - 2.2.3 - Hybrid Search: tutorials/3d/path_planner/hybrid_search.md
 - API Reference:
   - common:
     - env:
@@ -128,12 +130,6 @@ nav:
           - CircularRobot: api\common\env\robot\circular_robot\CircularRobot.md
         - diff_drive_robot:
           - DiffDriveRobot: api\common\env\robot\diff_drive_robot\DiffDriveRobot.md
-        - tmp:
-          - BaseAgent: api\common\env\robot\tmp\BaseAgent.md
-          - SimpleAgent: api\common\env\robot\tmp\SimpleAgent.md
-          - BaseController: api\common\env\robot\tmp\BaseController.md
-          - RandomController: api\common\env\robot\tmp\RandomController.md
-          - MultiAgentNavEnv: api\common\env\robot\tmp\MultiAgentNavEnv.md
       - types:
         - TYPES: api\common\env\types\TYPES.md
       - world:
@@ -142,13 +138,19 @@ nav:
         - toy_simulator:
           - ToySimulator: api\common\env\world\toy_simulator\ToySimulator.md
     - utils:
+      - child_tree:
+        - ChildTree: api\common\utils\child_tree\ChildTree.md
       - frame_transformer:
         - FrameTransformer: api\common\utils\frame_transformer\FrameTransformer.md
       - geometry:
         - Geometry: api\common\utils\geometry\Geometry.md
     - visualizer:
-      - visualizer:
-        - Visualizer: api\common\visualizer\visualizer\Visualizer.md
+      - base_visualizer:
+        - BaseVisualizer: api\common\visualizer\base_visualizer\BaseVisualizer.md
+      - visualizer_2d:
+        - Visualizer2D: api\common\visualizer\visualizer_2d\Visualizer2D.md
+      - visualizer_3d:
+        - Visualizer3D: api\common\visualizer\visualizer_3d\Visualizer3D.md
   - controller:
     - base_controller:
       - BaseController: api\controller\base_controller\BaseController.md
@@ -163,6 +165,8 @@ nav:
         - PID: api\controller\path_tracker\pid\PID.md
       - pure_pursuit:
         - PurePursuit: api\controller\path_tracker\pure_pursuit\PurePursuit.md
+      - rpp:
+        - RPP: api\controller\path_tracker\rpp\RPP.md
     - random_controller:
       - RandomController: api\controller\random_controller\RandomController.md
   - curve_generator:
@@ -190,11 +194,22 @@ nav:
         - AStar: api\path_planner\graph_search\a_star\AStar.md
       - dijkstra:
         - Dijkstra: api\path_planner\graph_search\dijkstra\Dijkstra.md
+      - gbfs:
+        - GBFS: api\path_planner\graph_search\gbfs\GBFS.md
+      - jps:
+        - JPS: api\path_planner\graph_search\jps\JPS.md
+      - lazy_theta_star:
+        - LazyThetaStar: api\path_planner\graph_search\lazy_theta_star\LazyThetaStar.md
       - theta_star:
         - ThetaStar: api\path_planner\graph_search\theta_star\ThetaStar.md
+    - hybrid_search:
+      - voronoi_planner:
+        - VoronoiPlanner: api\path_planner\hybrid_search\voronoi_planner\VoronoiPlanner.md
     - sample_search:
       - rrt:
         - RRT: api\path_planner\sample_search\rrt\RRT.md
+      - rrt_connect:
+        - RRTConnect: api\path_planner\sample_search\rrt_connect\RRTConnect.md
       - rrt_star:
         - RRTStar: api\path_planner\sample_search\rrt_star\RRTStar.md
 plugins:

mkdocs.yml

@@ -60,4 +60,14 @@ vis = Visualizer3D()
 vis.plot_grid_map(map_)
 vis.show()
 vis.close()
+```
+
+3D visualization is based on PyVista. If you want to save the figure, you need to set argument `off_screen` to `True` and comment `vis.show()`. Below is an example to save a figure:
+
+```python
+vis = Visualizer3D(show_axes=False, off_screen=True)
+vis.plot_grid_map(map_)
+# vis.show()
+vis.savefig("../assets/rrt_3d_discrete.png")
+vis.close()
 ```

tutorials/3d/map/grid.md

@@ -61,6 +61,19 @@ vis.plot_expand_tree(path_info["expand"])
 vis.show()
 vis.close()
 ```
+Sample search planners plan in continuous space by default. If you want to plan in discrete grid map, just set argument `discrete` to `True`. For example:
+
+```python
+planner = RRT(map_=map_, start=start, goal=goal, discrete=True)
+```
+
+Print results:
+```
+[(25, 5, 5), (24, 10, 7), (25, 11, 12), (27, 14, 15), (27, 18, 19), (26, 21, 22), (21, 22, 23), (16, 23, 24), (11, 23, 26), (6, 21, 27), (5, 25, 25)]
+{'success': True, 'start': (25, 5, 5), 'goal': (5, 25, 25), 'length': 51.21681787317005, 'cost': 51.21681787317005, 'expand': {(25, 5, 5): Node((25, 5, 5), None, 0, 0), ...}}
+```
+
+![rrt_3d_discrete.png](../../../assets/rrt_3d_discrete.png)
 
 For asymptoticaly optimal sample search planners like **RRT\***, you can set argument `stop_until_sample_num` to `True` and configure `sample_num` to wait for a better result. For example: