Metadata-Version: 2.1
Name: rrts
Version: 1.0.4
Summary: RRTs Planners
Home-page: https://github.com/liespace/pyRRTs
Author: Gabel Liemann
Author-email: troubleli233@gmail.com
License: MIT
Description: # RRTs
        ## What is it
        A repository of Python2 implemented RRT\*-based algorithms for Path Planning of Autonomous Driving. 
        
        Currently, it includes these variants:
        
        1. RRT\*[^1], for static environments (parking lots, narrow space).
        2. Bi-RRT\*[^2], for static environments (parking lots, narrow space).
        
        ## How to use
        ```python
        from rrts.planner import RRTStar, BiRRTStar
        # see test directory for details to set arguments.
        rrt_star = RRTStar()  # or rrt_star= BiRRTStar()
        rrt_star.set_vehicle(check_poly, check_res, maximum_curvature)
        rrt_star.preset(start, goal, grid_map, grid_res, grid_ori, obstacle, heuristic)
        rrt_star.planning(times, debug)
        ```
        ## How to install
        ### PyPI
        ```shell script
        $ pip install rrts
        ```
        ### From source
        ```shell script
        $ git clone https://github.com/liespace/pyRRTs.git
        $ cd pyRRTs
        $ python setup.py sdist
        # install
        $ pip install rrts -f dist/* --no-cache-dir
        # or upload yours
        $ twine upload dist/*
        ```
        ## Reference
        [^1]: Karaman, Sertac, and Emilio Frazzoli. "Sampling-based algorithms for optimal motion planning." The international journal of robotics research 30.7 (2011): 846-894.
        
        [^2]: Jordan, Matthew, and Alejandro Perez. "Optimal bidirectional rapidly-exploring random trees." (2013).
        
Platform: UNKNOWN
Classifier: Programming Language :: Python :: 2
Classifier: License :: OSI Approved :: MIT License
Classifier: Operating System :: OS Independent
Description-Content-Type: text/markdown
