RRTs
(What is it) A repository of Python2 implemented RRT*-based algorithms for Path (Motion) Planning of Autonomous Driving.
Currently, it includes these variants:
- RRT*1, for static environments (parking lots, narrow space).
- Bi-RRT*2, for static environments (parking lots, narrow space).
How to use
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
$ pip2 install rrts
- From source
$ git clone https://github.com/liespace/pyRRTs.git
$ cd pyRRTs
$ python2 setup.py sdist
# install
$ pip2 install rrts -f dist/* --no-cache-dir
# or upload yours
# $ twine upload dist/*
Reference
1 maintainer
Release files for rrts 1.1.1
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
| File | Size | Uploaded | |
|---|---|---|---|
| rrts-1.1.1.tar.gz | 11.3 kB | Details |
Release files / rrts-1.1.1.tar.gz
| Download URL | rrts-1.1.1.tar.gz |
|---|---|
| Size | 11.3 kB |
| Tags | Source |
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twine/1.15.0 pkginfo/1.5.0.1 requests/2.23.0 setuptools/39.0.1 requests-toolbelt/0.9.1 tqdm/4.43.0 CPython/2.7.17
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