Modular tools for path/motion planning in n-dimensional configuration spaces
Check out the scripts in /profiling for examples and speed statistics.
Data structures:
- K-dimensional tree
- Roadmaps
Algorithms:
- Probabilistic Roadmap
- Dijkstra search
This package is installable from the Python Package Index for Ubuntu, MacOS, and Windows! Currently only Python >=3.6 is supported, but support for Python 2.7 is also planned for the near future.
pip install navitools
Alternatively, build the tool yourself by cloning this repository. On Windows, Microsoft Visual Studio C++ >=2015 is recommended. On MacOS and Linux, the standard gcc compiler with Ninja is recommended.
git clone https://github.com/will-bell/navitools.git
cd navitools
pip install .
If you wish to test your installation and run examples, then also clone this repository. pytest is used for running the unit tests, and matplotlib is currently used to plot the results in the examples. As with any Python project, the use of virtual environments is strongly recommended.
git clone https://github.com/will-bell/navitools.git
virtualenv venv # create your virtual environment
venv\scripts\activate # if on Windows
venv/bin/activate # if on MacOS/Linux
pip install matplotlib pytest
cd navitools
pytest tests # run the tests
cd profiling
python polygonal_search_space.py # run one of the profiling examples