PythonRobotics
Table of Contents
Getting Started
Introduction
Localization
Mapping
SLAM
Path Planning
Path Tracking
Arm Navigation
Aerial Navigation
Bipedal
Inverted Pendulum
Mission Planning
Utilities
Appendix
PythonRobotics
Index
Edit on GitHub
Index
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A
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B
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C
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D
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E
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F
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G
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H
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I
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K
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L
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M
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N
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O
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P
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Q
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R
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S
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T
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U
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V
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W
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Z
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__init__() (MissionPlanning.StateMachine.state_machine.StateMachine method)
A
ActionNode (class in MissionPlanning.BehaviorTree.behavior_tree)
add_transition() (MissionPlanning.StateMachine.state_machine.StateMachine method)
alpha (in module PathTracking.cgmres_nmpc.cgmres_nmpc)
approximate_b_spline_path() (in module PathPlanning.BSplinePath.bspline_path)
AStarPlanner() (in module PathPlanning.AStar.a_star)
B
BehaviorTree (class in MissionPlanning.BehaviorTree.behavior_tree)
BehaviorTreeFactory (class in MissionPlanning.BehaviorTree.behavior_tree)
BidirectionalAStarPlanner() (in module PathPlanning.BidirectionalAStar.bidirectional_a_star)
BipedalPlanner() (in module Bipedal.bipedal_planner.bipedal_planner)
BITStar (class in PathPlanning.BatchInformedRRTStar.batch_informed_rrt_star)
BreadthFirstSearchPlanner() (in module PathPlanning.BreadthFirstSearch.breadth_first_search)
build_node() (MissionPlanning.BehaviorTree.behavior_tree.BehaviorTreeFactory method)
build_tree() (MissionPlanning.BehaviorTree.behavior_tree.BehaviorTreeFactory method)
build_tree_from_file() (MissionPlanning.BehaviorTree.behavior_tree.BehaviorTreeFactory method)
C
calc_4points_bezier_path() (in module PathPlanning.BezierPath.bezier_path)
calc_biased_polar_states() (in module PathPlanning.StateLatticePlanner.state_lattice_planner)
calc_curvature() (PathPlanning.CubicSpline.cubic_spline_planner.CubicSpline2D method)
calc_curvature_rate() (PathPlanning.CubicSpline.cubic_spline_planner.CubicSpline2D method)
calc_first_derivative() (PathPlanning.CubicSpline.cubic_spline_planner.CubicSpline1D method)
calc_lane_states() (in module PathPlanning.StateLatticePlanner.state_lattice_planner)
calc_normal_vector() (in module Mapping.normal_vector_estimation.normal_vector_estimation)
calc_position() (PathPlanning.CubicSpline.cubic_spline_planner.CubicSpline1D method)
(PathPlanning.CubicSpline.cubic_spline_planner.CubicSpline2D method)
calc_second_derivative() (PathPlanning.CubicSpline.cubic_spline_planner.CubicSpline1D method)
calc_third_derivative() (PathPlanning.CubicSpline.cubic_spline_planner.CubicSpline1D method)
calc_uniform_polar_states() (in module PathPlanning.StateLatticePlanner.state_lattice_planner)
calc_yaw() (PathPlanning.CubicSpline.cubic_spline_planner.CubicSpline2D method)
catmull_rom_point() (in module PathPlanning.Catmull_RomSplinePath.catmull_rom_spline_path)
catmull_rom_spline() (in module PathPlanning.Catmull_RomSplinePath.catmull_rom_spline_path)
center_grid_x (Mapping.ndt_map.ndt_map.NDTMap.NDTGrid attribute)
center_grid_y (Mapping.ndt_map.ndt_map.NDTMap.NDTGrid attribute)
circle_fitting() (in module Mapping.circle_fitting.circle_fitting)
ClosedLoopRRTStar (class in PathPlanning.ClosedLoopRRTStar.closed_loop_rrt_star_car)
compute_sdf() (in module Mapping.DistanceMap.distance_map)
compute_udf() (in module Mapping.DistanceMap.distance_map)
ControlNode (class in MissionPlanning.BehaviorTree.behavior_tree)
covariance (Mapping.ndt_map.ndt_map.NDTMap.NDTGrid attribute)
criteria (Mapping.rectangle_fitting.rectangle_fitting.LShapeFitting attribute)
CubicSpline1D (class in PathPlanning.CubicSpline.cubic_spline_planner)
CubicSpline2D (class in PathPlanning.CubicSpline.cubic_spline_planner)
D
d_theta_deg_for_search (Mapping.rectangle_fitting.rectangle_fitting.LShapeFitting attribute)
DecoratorNode (class in MissionPlanning.BehaviorTree.behavior_tree)
DelayNode (class in MissionPlanning.BehaviorTree.behavior_tree)
DepthFirstSearchPlanner() (in module PathPlanning.DepthFirstSearch.depth_first_search)
DijkstraPlanner() (in module PathPlanning.Dijkstra.dijkstra)
Dstar (class in PathPlanning.DStar.dstar)
DStarLite (class in PathPlanning.DStarLite.d_star_lite)
dummy_u_1s (in module PathTracking.cgmres_nmpc.cgmres_nmpc)
dummy_u_2s (in module PathTracking.cgmres_nmpc.cgmres_nmpc)
dwa_control() (in module PathPlanning.DynamicWindowApproach.dynamic_window_approach)
E
EchoNode (class in MissionPlanning.BehaviorTree.behavior_tree)
eig_values (Mapping.ndt_map.ndt_map.NDTMap.NDTGrid attribute)
eig_vec (Mapping.ndt_map.ndt_map.NDTMap.NDTGrid attribute)
ekf_estimation() (in module Localization.extended_kalman_filter.ekf_with_velocity_correction)
(in module Localization.extended_kalman_filter.extended_kalman_filter)
ekf_slam() (in module SLAM.EKFSLAM.ekf_slam)
ElasticBands (class in PathPlanning.ElasticBands.elastic_bands)
enkf_localization() (in module Localization.ensemble_kalman_filter.ensemble_kalman_filter)
Eta3SplineTrajectory (class in PathPlanning.Eta3SplineTrajectory.eta3_spline_trajectory)
F
farthest_point_sampling() (in module Mapping.point_cloud_sampling.point_cloud_sampling)
fast_slam1() (in module SLAM.FastSLAM1.fast_slam1)
fast_slam2() (in module SLAM.FastSLAM2.fast_slam2)
fitting() (Mapping.rectangle_fitting.rectangle_fitting.LShapeFitting method)
ForceFailureNode (class in MissionPlanning.BehaviorTree.behavior_tree)
ForceSuccessNode (class in MissionPlanning.BehaviorTree.behavior_tree)
G
generate_clothoid_path() (in module PathPlanning.ClothoidPath.clothoid_path_planner)
generate_gaussian_grid_map() (in module Mapping.gaussian_grid_map.gaussian_grid_map)
generate_ray_casting_grid_map() (in module Mapping.ray_casting_grid_map.ray_casting_grid_map)
graph_based_slam() (in module SLAM.GraphBasedSLAM.graph_based_slam)
grid_index_map (Mapping.ndt_map.ndt_map.NDTMap attribute)
H
histogram_filter_localization() (in module Localization.histogram_filter.histogram_filter)
history_dummy_u_1 (in module PathTracking.cgmres_nmpc.cgmres_nmpc)
history_dummy_u_2 (in module PathTracking.cgmres_nmpc.cgmres_nmpc)
history_f (in module PathTracking.cgmres_nmpc.cgmres_nmpc)
history_raw_1 (in module PathTracking.cgmres_nmpc.cgmres_nmpc)
history_raw_2 (in module PathTracking.cgmres_nmpc.cgmres_nmpc)
history_u_1 (in module PathTracking.cgmres_nmpc.cgmres_nmpc)
history_u_2 (in module PathTracking.cgmres_nmpc.cgmres_nmpc)
ht (in module PathTracking.cgmres_nmpc.cgmres_nmpc)
hybrid_a_star_planning() (in module PathPlanning.HybridAStar.hybrid_a_star)
I
icp_matching() (in module SLAM.ICPMatching.icp_matching)
InformedRRTStar (class in PathPlanning.InformedRRTStar.informed_rrt_star)
input_num (in module PathTracking.cgmres_nmpc.cgmres_nmpc)
interpolate_b_spline_path() (in module PathPlanning.BSplinePath.bspline_path)
InverterNode (class in MissionPlanning.BehaviorTree.behavior_tree)
iterative_linear_mpc_control() (in module PathTracking.model_predictive_speed_and_steer_control.model_predictive_speed_and_steer_control)
K
kmeans_clustering() (in module Mapping.kmeans_clustering.kmeans_clustering)
L
lqr_speed_steering_control() (in module PathTracking.lqr_speed_steer_control.lqr_speed_steer_control)
lqr_steering_control() (in module PathTracking.lqr_steer_control.lqr_steer_control)
LQRPlanner (class in PathPlanning.LQRPlanner.lqr_planner)
LQRRRTStar (class in PathPlanning.LQRRRTStar.lqr_rrt_star)
LShapeFitting (class in Mapping.rectangle_fitting.rectangle_fitting)
LShapeFitting.Criteria (class in Mapping.rectangle_fitting.rectangle_fitting)
M
main() (in module AerialNavigation.rocket_powered_landing.rocket_powered_landing)
(in module ArmNavigation.arm_obstacle_navigation.arm_obstacle_navigation)
(in module ArmNavigation.n_joint_arm_to_point_control.n_joint_arm_to_point_control)
(in module ArmNavigation.two_joint_arm_to_point_control.two_joint_arm_to_point_control)
(in module InvertedPendulum.inverted_pendulum_lqr_control)
(in module InvertedPendulum.inverted_pendulum_mpc_control)
(in module Mapping.lidar_to_grid_map.lidar_to_grid_map)
(in module PathPlanning.BugPlanning.bug)
(in module PathPlanning.FrenetOptimalTrajectory.frenet_optimal_trajectory)
(in module PathPlanning.SpiralSpanningTreeCPP.spiral_spanning_tree_coverage_path_planner)
max_iteration (in module PathTracking.cgmres_nmpc.cgmres_nmpc)
mean_x (Mapping.ndt_map.ndt_map.NDTMap.NDTGrid attribute)
mean_y (Mapping.ndt_map.ndt_map.NDTMap.NDTGrid attribute)
min_dist_of_closeness_criteria (Mapping.rectangle_fitting.rectangle_fitting.LShapeFitting attribute)
min_n_points (Mapping.ndt_map.ndt_map.NDTMap attribute)
move_to_pose() (in module PathTracking.move_to_pose.move_to_pose)
N
N (in module PathTracking.cgmres_nmpc.cgmres_nmpc)
n_points (Mapping.ndt_map.ndt_map.NDTMap.NDTGrid attribute)
NDTMap (class in Mapping.ndt_map.ndt_map)
NDTMap.NDTGrid (class in Mapping.ndt_map.ndt_map)
NMPCControllerCGMRES() (in module PathTracking.cgmres_nmpc.cgmres_nmpc)
O
optimize_trajectory() (in module PathPlanning.ModelPredictiveTrajectoryGenerator.trajectory_generator)
P
pf_localization() (in module Localization.particle_filter.particle_filter)
plan_dubins_path() (in module PathPlanning.DubinsPath.dubins_path_planner)
planning() (in module PathPlanning.GridBasedSweepCPP.grid_based_sweep_coverage_path_planner)
plot_curvature() (in module utils.plot)
poisson_disk_sampling() (in module Mapping.point_cloud_sampling.point_cloud_sampling)
potential_field_planning() (in module PathPlanning.PotentialFieldPlanning.potential_field_planning)
print_tree() (MissionPlanning.BehaviorTree.behavior_tree.BehaviorTree method)
prm_planning() (in module PathPlanning.ProbabilisticRoadMap.probabilistic_road_map)
process() (MissionPlanning.StateMachine.state_machine.StateMachine method)
pure_pursuit_steer_control() (in module PathTracking.pure_pursuit.pure_pursuit)
Q
quad_sim() (in module AerialNavigation.drone_3d_trajectory_following.drone_3d_trajectory_following)
quintic_polynomials_planner() (in module PathPlanning.QuinticPolynomialsPlanner.quintic_polynomials_planner)
R
R0 (Mapping.rectangle_fitting.rectangle_fitting.LShapeFitting attribute)
ransac_normal_vector_estimation() (in module Mapping.normal_vector_estimation.normal_vector_estimation)
raw_1s (in module PathTracking.cgmres_nmpc.cgmres_nmpc)
raw_2s (in module PathTracking.cgmres_nmpc.cgmres_nmpc)
Rd (Mapping.rectangle_fitting.rectangle_fitting.LShapeFitting attribute)
rear_wheel_feedback_control() (in module PathTracking.rear_wheel_feedback_control.rear_wheel_feedback_control)
reeds_shepp_path_planning() (in module PathPlanning.ReedsSheppPath.reeds_shepp_path_planning)
register_node_builder() (MissionPlanning.BehaviorTree.behavior_tree.BehaviorTreeFactory method)
register_state() (MissionPlanning.StateMachine.state_machine.StateMachine method)
reset() (MissionPlanning.BehaviorTree.behavior_tree.BehaviorTree method)
resolution (Mapping.ndt_map.ndt_map.NDTMap attribute)
RRT (class in PathPlanning.RRT.rrt)
RRTDubins (class in PathPlanning.RRTDubins.rrt_dubins)
RRTStar (class in PathPlanning.RRTStar.rrt_star)
RRTStarDubins (class in PathPlanning.RRTStarDubins.rrt_star_dubins)
RRTStarReedsShepp (class in PathPlanning.RRTStarReedsShepp.rrt_star_reeds_shepp)
S
SafeIntervalPathPlanner (class in PathPlanning.TimeBasedPathPlanning.SafeInterval)
SelectorNode (class in MissionPlanning.BehaviorTree.behavior_tree)
SequenceNode (class in MissionPlanning.BehaviorTree.behavior_tree)
simulator (in module PathTracking.cgmres_nmpc.cgmres_nmpc)
SleepNode (class in MissionPlanning.BehaviorTree.behavior_tree)
SpaceTimeAStar (class in PathPlanning.TimeBasedPathPlanning.SpaceTimeAStar)
stanley_control() (in module PathTracking.stanley_control.stanley_control)
StateMachine (class in MissionPlanning.StateMachine.state_machine)
T
tf (in module PathTracking.cgmres_nmpc.cgmres_nmpc)
threshold (in module PathTracking.cgmres_nmpc.cgmres_nmpc)
tick() (MissionPlanning.BehaviorTree.behavior_tree.BehaviorTree method)
tick_while_running() (MissionPlanning.BehaviorTree.behavior_tree.BehaviorTree method)
TimeoutNode (class in MissionPlanning.BehaviorTree.behavior_tree)
to_text() (MissionPlanning.BehaviorTree.behavior_tree.BehaviorTree method)
U
u_1s (in module PathTracking.cgmres_nmpc.cgmres_nmpc)
u_2s (in module PathTracking.cgmres_nmpc.cgmres_nmpc)
ukf_estimation() (in module Localization.unscented_kalman_filter.unscented_kalman_filter)
V
VisibilityRoadMap (class in PathPlanning.VisibilityRoadMap.visibility_road_map)
VoronoiRoadMapPlanner (class in PathPlanning.VoronoiRoadMap.voronoi_road_map)
voxel_point_sampling() (in module Mapping.point_cloud_sampling.point_cloud_sampling)
W
wavefront() (in module PathPlanning.WavefrontCPP.wavefront_coverage_path_planner)
WhileDoElseNode (class in MissionPlanning.BehaviorTree.behavior_tree)
Z
zeta (in module PathTracking.cgmres_nmpc.cgmres_nmpc)