Quickstart
Install dependencies the following:
-
Linux:
sudo apt-get install libcdd-dev libblas3 libblas-dev liblapack3 liblapack-dev gfortran -
Mac:
brew install cddlib gmp eigen openblas cython boostNote: Remember to set
LDFLAGSandCPPFLAGSto the correct paths for the libraries.
In a virtual environment, install from PyPI with
pip install pydecomp
Conda
pycddlib does not ship Linux/macOS wheels, so pip builds it from source and
needs the cddlib C headers. In a conda environment the easiest path is to let
conda-forge supply cddlib and point pip at the env's include/lib paths:
conda create -n pydecomp_env python=3.12 -y
conda activate pydecomp_env
conda install -c conda-forge cddlib tk -y # tk gives matplotlib a working GUI backend
export CPPFLAGS="-I$CONDA_PREFIX/include"
export LDFLAGS="-L$CONDA_PREFIX/lib"
pip install pydecomp
python -c "import pydecomp; print(pydecomp.__version__)"
If plt.show() produces no window, matplotlib has no interactive backend —
conda install -c conda-forge tk (above) fixes it; alternatively
pip install pyqt5.
Examples
| Forest - 2D | Office - 2D | Office - 3D |
|---|---|---|
 |
 |
 |
Given an occupancy grid map and a pieciwise linear path, the package returns a convex decomposition of the free space. The free space is represented by a collection of convex sets, whose halspace representation fulfills Ax-b<0. The package returns the matrixes A and b for each convex set. The matrix A is a n x 3 matrix and b is a n x 1 vector, where n is the number of planes in the halfspace.
To check a script to perform a convex decomposition out of a given occupancy grid map, see this file for a planar (2D) case or this file for a spatial (3D) case. We provide two exemplary maps (forest and office), which you can select by modifying this line.
For the most minimal example see this file, which replicates a test case in the original DecompUtil repository.
Installing from source
After installing the dependencies given above, initialize git submodules with
git submodule init
git submodule update
Install the package with
pip install .
Citing
If you use this framework please cite our papers:
@misc{arrizabalaga2024differentiablecollisionfreeparametriccorridors,
title={Differentiable Collision-Free Parametric Corridors},
author={Jon Arrizabalaga and Zachary Manchester and Markus Ryll},
year={2024},
eprint={2407.12283},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2407.12283},
}
@inproceedings{arrizabalaga2023sctomp,
title={SCTOMP: Spatially Constrained Time-Optimal Motion Planning},
author={Arrizabalaga, Jon and Ryll, Markus},
booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages={4827--4834},
year={2023},
organization={IEEE}
}
Related repositories
For computing continuous and differentiable collision-free corridors, check out CorrGen!
1 maintainer
Metadata
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Release files for pydecomp 2.0.0
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Source distribution (sdist)
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Built distributions (wheels)
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|---|---|---|---|---|
| pydecomp-2.0.0-cp313-cp313-manylinux_2_24_x86_64.manylinux_2_28_x86_64.whl | CPython 3.13 | CPython 3.13 | Linux glibc 2.24+ x86-64, Linux glibc 2.28+ x86-64 | Details |
| pydecomp-2.0.0-cp313-cp313-macosx_11_0_arm64.whl | CPython 3.13 | CPython 3.13 | macOS 11.0+ ARM64 | Details |
| pydecomp-2.0.0-cp312-cp312-manylinux_2_24_x86_64.manylinux_2_28_x86_64.whl | CPython 3.12 | CPython 3.12 | Linux glibc 2.24+ x86-64, Linux glibc 2.28+ x86-64 | Details |
| pydecomp-2.0.0-cp312-cp312-macosx_11_0_arm64.whl | CPython 3.12 | CPython 3.12 | macOS 11.0+ ARM64 | Details |
| pydecomp-2.0.0-cp311-cp311-manylinux_2_24_x86_64.manylinux_2_28_x86_64.whl | CPython 3.11 | CPython 3.11 | Linux glibc 2.28+ x86-64, Linux glibc 2.24+ x86-64 | Details |
| pydecomp-2.0.0-cp311-cp311-macosx_11_0_arm64.whl | CPython 3.11 | CPython 3.11 | macOS 11.0+ ARM64 | Details |
| pydecomp-2.0.0-cp310-cp310-manylinux_2_24_x86_64.manylinux_2_28_x86_64.whl | CPython 3.10 | CPython 3.10 | Linux glibc 2.28+ x86-64, Linux glibc 2.24+ x86-64 | Details |
| pydecomp-2.0.0-cp310-cp310-macosx_11_0_arm64.whl | CPython 3.10 | CPython 3.10 | macOS 11.0+ ARM64 | Details |
| pydecomp-2.0.0-cp39-cp39-manylinux_2_24_x86_64.manylinux_2_28_x86_64.whl | CPython 3.9 | CPython 3.9 | Linux glibc 2.24+ x86-64, Linux glibc 2.28+ x86-64 | Details |
| pydecomp-2.0.0-cp39-cp39-macosx_11_0_arm64.whl | CPython 3.9 | CPython 3.9 | macOS 11.0+ ARM64 | Details |
Total release size: 26.8 MB
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