Merge pull request #18 from rland93/documentation-#8

Hosted Documentation, YAY! #8

.github/workflows/main.yml

@@ -0,0 +1,47 @@
+name: CI
+
+on:
+  push:
+    branches:    
+      - main
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v1
+    # Standard drop-in approach that should work for most people.
+    - uses: ammaraskar/sphinx-action@master
+      with:
+        pre-build-command: "pip install sphinx-rtd-theme sphinx-autoapi numpydoc"
+        docs-folder: "docs/"
+    # Great extra actions to compose with:
+    # Create an artifact of the html output.
+    - uses: actions/upload-artifact@v1
+      with:
+        name: DocumentationHTML
+        path: docs/_build/html/    
+    # Publish built docs to gh-pages branch.
+    # ===============================
+    - name: Commit documentation changes
+      run: |
+        git clone https://github.com/ammaraskar/sphinx-action-test.git --branch gh-pages --single-branch gh-pages
+        cp -r docs/_build/html/* gh-pages/
+        cd gh-pages
+        touch .nojekyll
+        git config --local user.email "[email protected]"
+        git config --local user.name "GitHub Action"
+        git add .
+        git commit -m "Update documentation" -a || true
+        # The above command will fail if no changes were present, so we ignore
+        # that.
+    - name: Push changes
+      uses: ad-m/github-push-action@master
+      with:
+        force: true
+        branch: gh-pages
+        directory: gh-pages
+        github_token: ${{ secrets.GITHUB_TOKEN }}
+    # ===============================

docs/Makefile

@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = .
+BUILDDIR      = _build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/conf.py

@@ -0,0 +1,89 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# This file only contains a selection of the most common options. For a full
+# list see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+import sys
+
+sys.path.insert(0, os.path.abspath(".."))
+try:
+    import rrtplanner
+except ImportError:
+    raise ImportError("check that `rrtplanner` is available to your system path.")
+
+# -- Project information -----------------------------------------------------
+
+project = "RRT Planner"
+copyright = "2021, Mike Sutherland"
+author = "Mike Sutherland"
+
+
+# -- General configuration ---------------------------------------------------
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    "autoapi.extension",
+    "sphinx.ext.autodoc",
+    "sphinx.ext.autosummary",
+    "sphinx.ext.doctest",
+    "sphinx.ext.mathjax",
+    "sphinx.ext.viewcode",
+    "sphinx.ext.githubpages",
+    "sphinx.ext.intersphinx",
+    "numpydoc",
+]
+
+autoapi_type = "python"
+autoapi_dirs = ["../rrtplanner/"]
+
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ["_templates"]
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
+
+pygments_style = "solarized-dark"
+
+autodoc_mock_imports = ["scipy", "numpy", "matplotlib", "cvxpy"]
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+on_rtd = os.environ.get("READTHEDOCS", None) == "True"
+
+if not on_rtd:  # only import and set the theme if we're building docs locally
+    import sphinx_rtd_theme
+
+    html_theme = "sphinx_rtd_theme"
+    html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
+
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ["_static"]
+
+master_doc = "index"
+
+intersphinx_mapping = {
+    "python": ("https://docs.python.org/3/", None),
+    "numpy": ("https://numpy.org/doc/stable/", None),
+    "matplotlib": ("https://matplotlib.org/stable", None),
+    "scipy": ("https://docs.scipy.org/doc/scipy/reference", None),
+    "networkx": ("https://networkx.org/documentation/stable/", None),
+}

docs/getting-started.rst

@@ -0,0 +1,98 @@
+Getting Started
+===============
+
+
+Installation
+------------
+
+Installation is done with ``pip``
+
+.. code-block:: bash
+
+    pip install rrtplanner
+
+How to Plan
+-----------
+
+Path Planning is the process of finding a viable path from one point to another in some configuration space. This package provides some example implementations of RRT, RRT*, and RRT*Informed planners. These planners can be used to plan in a two dimensional configuration space, with no differential constraints on the motion of the robot. This means that a path between two points is simply a straight line.
+
+Plans are computed by these objects:
+
+* :class:`rrtplanner.RRTStandard`
+* :class:`rrtplanner.RRTStar`
+* :class:`rrtplanner.RRTStarInformed`
+
+Plans are computed on an OccupancyGrid, which is a MxN array of integers. This package considers a value of 0 to be free space, and anything other than 0 to be an obstacle. We can create random, boolean arrays with the built-in ``perlin_occupancygrid`` function:
+
+.. code-block:: python
+
+    from rrtplanner import perlin_occupancygrid
+    og = perlin_occupancygrid(240, 240, 0.33)
+
+This will create an occupancy grid (really, just an 400x400 array) of points, with blocks of 1 where obstacles are present and blocks of 0 that are free space.
+
+.. important::
+
+    Using Perlin noise often generates good random obstacles. However, it sometimes creates an occupancygrid with free space that is split -- from a given point, there is no guarantee that all free space is reachable if you are using the ``perlin_occupancygrid`` noise generator.
+
+In real applications, occupancyGrids can be generated by e.g. a SLAM algorithm or pre-computed map.
+
+With our occupancy grid, we are ready to plan.
+
+First, we create the planner object. This object takes three important arguments: ``og``, which is the occupancy grid over which we want to plan, ``n`` which is the number of **attempted** sample points, and ``r_rewire``, which is the radius for which to rewire. 
+
+As a general rule, we choose ``n`` appropriately, according to the amount of time we have to compute new plans vs the optimality of computed plans. When ``n`` is large, more samples are attempted, and so there are more opportunities to generate an optimal plan. When ``n`` is small, plan time is short, but plans are less optimal.
+
+ We also want to choose ``r_rewire`` so that it is sized to the obstacle features. Very large values of ``r_rewire`` will result in the algorithm taking a long time to compute a plan, with little benefit, since obstacles block long straight-line paths. While very small values of ``r_rewire`` will result in the algorithm quickly finding a sub-optimal plan.
+
+.. code-block:: python
+
+    from rrtplanner import RRTStar, random_point_og
+    n = 1200
+    r_rewire = 80
+    rrts = RRTStar(og, n, r_rewire)
+
+
+Now, we can plan a path. We choose a start and a goal point randomly from the free space of the world, and call the ``RRTStar``'s ``plan`` method.
+
+.. code-block:: python
+
+    xstart = random_point_og(og)
+    xgoal = random_point_og(og)
+    T, gv = rrts.plan(xstart, xgoal)
+
+The plan is computed, and we have two return values. The first is the tree itself, formatted as a `NetworkX DiGraph object <https://networkx.org/documentation/stable/reference/classes/digraph.html>`_ Points are stored in keys called ```pt`` and edges have the attribute ``cost``, which is the cost of the leaf node connected to that edge. The second return value is the vertex of the goal point on the tree.
+
+Once our tree is created, we traverse it to find a path from vertex 0 to the goal vertex, and subsequently find each point in the order of that traversal:
+
+.. code-block:: python
+
+
+    path = rrts.route2gv(T, gv)
+    path_pts = rrts.vertices_as_ndarray(T, path)
+
+Then, we have computed our path and it is stored in ``path_pts``.
+
+This package includes a number of plotting functions (which use `matplotlib`<https://matplotlib.org/>_) that can be used to visualize the 2-D world and plans in it.
+
+.. code-block:: python
+
+    from rrtplanner import plot_rrt_lines, plot_path, plot_og, plot_start_goal
+    import matplotlib.pyplot as plt
+
+    # create figure and ax.
+    fig = plt.figure()
+    ax = fig.add_subplot()
+
+    # these functions alter ax in-place.
+    plot_og(ax, og)
+    plot_start_goal(ax, xstart, xgoal)
+    plot_rrt_lines(ax, T)
+    plot_path(ax, path_pts)
+
+    plt.show()
+
+
+We see the results of our plan. Because points and obstacles are generated randomly when you run this script, your result should bear a superficial resemblance to the figure below:
+
+.. image:: _static/getting-started-plan.png

docs/index.rst

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+RRTPlanner Documentation
+########################
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Contents
+
+   Getting Started<getting-started>
+   Git Repository<https://github.com/rland93/rrtplanner>
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`

docs/installation.rst

@@ -0,0 +1,8 @@
+Installation
+============
+
+Installation is done with pip:
+
+.. code-block:: bash
+    
+    pip install rrtplanner

docs/make.bat

@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=.
+set BUILDDIR=_build
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.http://sphinx-doc.org/
+	exit /b 1
+)
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd

rrtplanner/__init__.py

@@ -1,5 +1,10 @@
 """Top-level package for rrtplanner."""
 
 __author__ = """Mike Sutherland"""
-__email__ = '[email protected]'
-__version__ = '0.1.0'
+__email__ = "[email protected]"
+__version__ = "0.1.0"
+
+from .rrt import *
+from .anim import *
+from .oggen import *
+from .plots import *

rrtplanner/anim.py

@@ -5,7 +5,8 @@
 from matplotlib.patches import Circle
 from tqdm import tqdm
 from scipy.ndimage import binary_dilation
-from rrt import random_point_og, RRT
+
+from .rrt import random_point_og, RRT
 
 
 DEFAULT_APPEARANCE = {