Python Motion Planning v2.0.dev2 Release!

Release v2.0.dev2 - 2025/12/21

Update

1. New planners:
   • GBFS (Greedy Best-First Search)
   • JPS (Jump Point Search)
   • RRT-Connect
   • Voronoi Planner
2. New controller:
   • RPP (Regulated Pure-Pursuit)
3. Improve graph search planners:
   • Add diagonal argument, which determines whether expand nodes diagonally or not.
4. Improve sample search planners:
   • Now you can plan in continuous space.
   • Use Faiss to accelerate the node search.
   • Improve asymptotically optimal RRT* planner. Add stop_until_sample_num to provide an option to wait for a better result.
5. Improve Grid:
   • Some interfaces changes (such as type_map.array -> type_map.data)
   • New function point_float_to_int, etc.
6. Improve visualizer:
   • Switching to PyVista, a 3D visualization library that renders faster than Matplotlib
   • Some interface changes (such as dividing the original Visualizer class into three classes BaseVisualizer, Visualizer2D, and Visualizer3D)
   • Add NE (Navigation Error), DTW (Dynamic Time Warping), nDTW (normalized Dynamic Time Warping) metrics to get_traj_info function.