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DiscoPygal documentation
DiscoPygal documentation

Getting Started

  • Installation
    • Prerequisites
    • Discopygal Installation
    • Validation installation
    • Starter package
    • Troubleshooting
  • Using The Scene Designer
  • Writing Your First Solver
  • Using The Solver Viewer
  • Benchmarking Running Experiments

Technical Reference

  • Introduction to CGALPY
  • Additional information for developers
  • DiscoPygal Architecture Overview
  • CGALPY Bindings
  • Experiments Utilities
    • Experiments Module
    • Scenario Runner
  • Geometry Utilities
    • Bounding Boxes (bounding_boxes.py)
    • Collision Detection
    • Type Conversions (conversions.py)
    • Arrangement Visualization (display_arrangement.py)
    • Rigid Body Transformations (transform.py)
  • GUI Documentation
    • Main GUI class
    • GUI Entities
    • GUI Utils
  • Solvers Infrastructure
    • Solvers Base Classes
    • Base Object Classes
    • Metrics
    • Nearest Neighbors
    • Samplers
    • Roadmap
    • Tensor Roadmap Solver
    • Verify Paths
  • Solvers
    • RRT Variants
      • Rapidly-exploring Random Tree (RRT)
      • RRT*
      • Informed RRT*
      • BiRRT
      • dRRT
      • dRRT*
      • ao-dRRT
      • LBT-rrt
      • Contact Guided RRT
    • PRM Variants
      • Probabilistic Roadmap (PRM)
      • Basic PRM For Rod
    • Exact Variants
      • Exact Single-Robot Motion Planning (ExactSingle)
    • Staggered Grid Variants
      • Base Staggered Grid
      • Staggered Grid
      • dRRT Staggered Grid
    • Revolving Areas
    • Hybridization Graph Solvers (HGraph)
    • Bottleneck Tree & Fréchet Matching Solvers
  • Scene Designer
    • Main
    • Preferences Dialog
    • Object Editor
    • Object Drawer
  • Solver Viewer
    • DiscoPygal Solver Viewer: Developer Architecture Manual
    • Visuals
    • Theme
    • Logger Adapter
    • Serializers
  • Change Log

Version

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Exact Variants¶

This section covers exact-style solvers that rely more directly on geometric constructions.

  • Exact Single-Robot Motion Planning (ExactSingle)
    • Architectural Design & Algorithm Pipeline
    • Parameters & Configuration
    • Usage Example
    • API Reference
      • ExactSingle
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Exact Single-Robot Motion Planning (ExactSingle)
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Basic PRM For Rod
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