DiscoPygal Documentation

Complete documentation for building, extending, and evaluating 2D multi-robot motion planning solutions with DiscoPygal.

What is DiscoPygal? A Python framework for single and multi-robot motion planning, providing geometric algorithms, planning solvers, visualization tools, and an experiment framework for benchmarking and research.

Installation and Setup

• Installation guide — Step-by-step instructions for setting up your environment on different platforms.

Learning Resources

Step-by-Step Tutorials

• Detailed Scene Designer guide — Create geometric scenes

• Creating your first solver — Implement a custom motion planner

• Solver Viewer walkthrough — Visualize and analyze solutions

• Benchmarking guide — Run and analyze experiments

Technical Reference

• CGALPY and geometry — Computational geometry primitives

• Developer setup — Build from source and contribute

API Reference

Core Modules

• Architecture overview — System design and module responsibilities

• Solver infrastructure — Base classes, roadmaps, metrics

• Solvers — Concrete algorithm implementations (RRT, PRM, etc.)

• Bindings — CGALPY integration and exported types

• Geometry utilities — Collision detection, transforms, arrangements

• GUI utilities — Visualization and rendering

Tools and Utilities

• Solver Viewer — Visualization tool documentation

• Experiments — Experiment runner API reference

Changelog

• Changelog — Version history and breaking changes