Merge branch 'future'

docs/source/arm_superclass.rst

@@ -17,9 +17,19 @@ The various models :ref:`E Models` all subclass this class.
    :show-inheritance:
    :inherited-members:
    :special-members: __getitem__
+
+Kinematic cache
+---------------
+
+.. automodule:: roboticstoolbox.robot.KinematicCache
+   :members:
+   :undoc-members:
+   :show-inheritance:
+   :inherited-members:
+   :special-members: __init__
 
 Link
--------
+----
 
 The ``ERobot`` is defined by a tree of ``ELink`` subclass objects.
 

docs/source/blocks-arm.rst

@@ -0,0 +1,13 @@
+Robot manipulator blocks
+========================
+
+.. image:: https://raw.githubusercontent.com/petercorke/bdsim/master/figs/[email protected]
+    :width: 300
+
+.. automodule:: roboticstoolbox.blocks.arm
+   :members:
+   :undoc-members:
+   :show-inheritance:
+   :special-members: __init__
+   :exclude-members: output, reset, step, start, done, deriv, nin, nout, inlabels, outlabels
+

docs/source/blocks-mobile.rst

@@ -0,0 +1,14 @@
+Mobile robot blocks
+===================
+
+.. image:: https://raw.githubusercontent.com/petercorke/bdsim/master/figs/[email protected]
+    :width: 300
+
+.. automodule:: roboticstoolbox.blocks.mobile
+   :members:
+   :undoc-members:
+   :show-inheritance:
+   :special-members: __init__
+   :exclude-members: output, reset, step, start, done, deriv, nin, nout, inlabels, outlabels
+
+

docs/source/blocks-uav.rst

@@ -0,0 +1,13 @@
+UAV blocks
+==========
+
+.. image:: https://raw.githubusercontent.com/petercorke/bdsim/master/figs/[email protected]
+    :width: 300
+
+.. automodule:: roboticstoolbox.blocks.uav
+   :members:
+   :undoc-members:
+   :show-inheritance:
+   :special-members: __init__
+   :exclude-members: output, reset, step, start, done, deriv, nin, nout, inlabels, outlabels
+

docs/source/blocks.rst

@@ -0,0 +1,17 @@
+bdsim blocks
+============
+
+.. image:: https://raw.githubusercontent.com/petercorke/bdsim/master/figs/[email protected]
+    :width: 400
+
+A set of block definitions that provide robotic capability to `bdsim <https://github.com/petercorke/bdsim>`_.
+
+.. warning:: This capability is still experimental
+
+.. toctree::
+   :maxdepth: 2
+
+   blocks-arm
+   blocks-mobile
+   blocks-uav
+

docs/source/conf.py

@@ -16,6 +16,8 @@
 import sphinx_rtd_theme
 import re
 
+# defined relative to configuration directory which is where this file conf.py lives
+sys.path.append(os.path.abspath('exts'))
 
 # -- Project information -----------------------------------------------------
 
@@ -44,6 +46,7 @@
     'sphinx.ext.doctest',
     'sphinx.ext.inheritance_diagram',
     'sphinx_autorun',
+    'blockname',
     ]
 
 autosummary_generate = True

docs/source/exts/blockname.py

@@ -0,0 +1,24 @@
+from docutils import nodes
+#from docutils.parsers.rst import Directive
+
+
+def block_name(name, rawtext, text, lineno, inliner, options={}, content=[]):
+
+    # name: The local name of the interpreted role, the role name actually used in the document.
+    # rawtext: A string containing the enitre interpreted text input, including the role and markup. Return it as a problematic node linked to a system message if a problem is encountered.
+    # text: The interpreted text content.
+    # lineno: The line number where the interpreted text begins.
+    # inliner: The docutils.parsers.rst.states.Inliner object that called role_fn. It contains the several attributes useful for error reporting and document tree access.
+    # options: A dictionary of directive options for customization (from the "role" directive), to be interpreted by the role function. Used for additional attributes for the generated elements and other functionality.
+    # content: A list of strings, the directive content for customization (from the "role" directive). To be interpreted by the role function.
+    html_node = nodes.raw(text='<p style="border:10px; background-color:#000000; padding: 1em; color: white; font-size: 30px; font-weight: bold;">' + text + '</p>', format='html')
+    return [html_node], []
+
+
+def setup(app):
+    app.add_role("blockname", block_name)
+    return {
+        'version': '0.1',
+        'parallel_read_safe': True,
+        'parallel_write_safe': True,
+    }

docs/source/index.rst

@@ -13,4 +13,4 @@ Robotics Toolbox for Python
    intro
    arm
    mobile
-
+   blocks

docs/source/mobile.rst

@@ -11,5 +11,6 @@ and state estimation.
 
    mobile_vehicle
    mobile_vehicle_animation
+   mobile_reactive
    mobile_planner
    mobile_EKF

docs/source/mobile_planner.rst

@@ -1,20 +1,136 @@
-Mobile robot planner
---------------------
+Mobile robot path planning
+==========================
 
-.. autoclass:: roboticstoolbox.mobile.Bug2
+A set of path planners that all inherit from :class:`Planner`.
+
+Some planners are based on code from the PathPlanning category of
+`PythonRobotics <https://github.com/AtsushiSakai/PythonRobotics>`_ by Atsushi Sakai.
+
+.. py:module:: roboticstoolbox.mobile
+
+.. inheritance-diagram:: Bug2Planner DistanceTransformPlanner DstarPlanner DubinsPlanner ReedsSheppPlanner CurvaturePolyPlanner QuinticPolyPlanner
+    :parts: 1
+    :top-classes: roboticstoolbox.mobile.Planner
+
+
+========================   ====================   ===================
+Planner                    Plans in               Obstacle avoidance
+========================   ====================   ===================
+Bug2Planner                :math:`\mathbb{R}^2`   yes
+DistanceTransformPlanner   :math:`\mathbb{R}^2`   yes
+DstarPlanner               :math:`\mathbb{R}^2`   yes
+PRMPlanner                 :math:`\mathbb{R}^2`   yes
+LatticePlanner             :math:`\mathbb{R}^2`   yes
+DubinsPlanner              :math:`\SE{2}`         no
+ReedsSheppPlanner          :math:`\SE{2}`         no
+CurvaturePolyPlanner       :math:`\SE{2}`         no
+QuinticPolyPlanner         :math:`\SE{2}`         no
+========================   ====================   ===================
+
+Grid-based planners
+-------------------
+
+
+
+Distance transform planner
+^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. autoclass:: roboticstoolbox.mobile.DistanceTransformPlanner
+   :members: plan, query, plot
+   :undoc-members:
+   :show-inheritance:
+
+
+D* planner
+^^^^^^^^^^
+
+.. autoclass:: roboticstoolbox.mobile.DstarPlanner
+   :members: plan, query, plot
+   :undoc-members:
+   :show-inheritance:
+
+PRM planner
+^^^^^^^^^^^
+
+.. autoclass:: roboticstoolbox.mobile.PRMPlanner
+   :members: plan, query, plot
+   :undoc-members:
+   :show-inheritance:
+
+Lattice planner
+^^^^^^^^^^^^^^^
+
+.. autoclass:: roboticstoolbox.mobile.LatticePlanner
    :members:
    :undoc-members:
    :show-inheritance:
    :inherited-members:
+   :exclude-members: isoccupied, validate_point, occgrid, plan, random, message, plot_bg
+
+Configuration-space planners
+----------------------------
 
-.. autoclass:: roboticstoolbox.mobile.DXform
+These planners do not support planning around obstacles, but allow for the
+start and goal configuration :math:`(x, y, \theta)` to be specified.
+
+Dubins path planner
+^^^^^^^^^^^^^^^^^^^
+
+.. autoclass:: roboticstoolbox.mobile.DubinsPlanner
    :members:
    :undoc-members:
    :show-inheritance:
    :inherited-members:
+   :exclude-members: isoccupied, validate_point, occgrid, plan, random, message, plot_bg
+
+
+Reeds-Shepp path planner
+^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. autoclass:: roboticstoolbox.mobile.ReedsSheppPlanner
+   :members:
+   :undoc-members:
+   :show-inheritance:
+   :inherited-members:
+   :exclude-members: isoccupied, validate_point, occgrid, plan, random, message, plot_bg
+
+Curvature-polynomial planner
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. autoclass:: roboticstoolbox.mobile.CurvaturePolyPlanner
+   :members:
+   :undoc-members:
+   :show-inheritance:
+   :inherited-members:
+   :exclude-members: isoccupied, validate_point, occgrid, plan, random, message, plot_bg
+
+Quintic-polynomial planner
+^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. autoclass:: roboticstoolbox.mobile.QuinticPolyPlanner
+   :members:
+   :undoc-members:
+   :show-inheritance:
+   :inherited-members:
+   :exclude-members: isoccupied, validate_point, occgrid, plan, random, message, plot_bg
+
+
+Supporting classes
+------------------
+
+Planner superclass
+^^^^^^^^^^^^^^^^^^
+
+.. autoclass:: roboticstoolbox.mobile.Planner
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+Occupancy grid class
+^^^^^^^^^^^^^^^^^^^^
 
-.. autoclass:: roboticstoolbox.mobile.Dstar
+.. autoclass:: roboticstoolbox.mobile.OccGrid
    :members:
    :undoc-members:
    :show-inheritance:
-   :inherited-members:
+   :special-members: __init__

notebooks/Makefile

@@ -0,0 +1,10 @@
+pyfiles = kinematics.py dynamics.py icra2021.py
+
+all: $(pyfiles)
+
+clean:
+	rm *.py
+
+$(pyfiles): %.py: %.ipynb
+	jupyter nbconvert --to script $<
+	ipython --matplotlib=osx $@