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Merge branch 'future'
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‎docs/source/arm_superclass.rst

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

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Robot manipulator blocks
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========================
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.. image:: https://raw.githubusercontent.com/petercorke/bdsim/master/figs/BDSimLogo_NoBackgnd@2x.png
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:width: 300
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.. automodule:: roboticstoolbox.blocks.arm
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:members:
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:undoc-members:
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:show-inheritance:
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:special-members: __init__
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:exclude-members: output, reset, step, start, done, deriv, nin, nout, inlabels, outlabels
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‎docs/source/blocks-mobile.rst

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Mobile robot blocks
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===================
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.. image:: https://raw.githubusercontent.com/petercorke/bdsim/master/figs/BDSimLogo_NoBackgnd@2x.png
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:width: 300
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.. automodule:: roboticstoolbox.blocks.mobile
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:members:
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:undoc-members:
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:show-inheritance:
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:special-members: __init__
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:exclude-members: output, reset, step, start, done, deriv, nin, nout, inlabels, outlabels
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‎docs/source/blocks-uav.rst

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UAV blocks
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==========
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.. image:: https://raw.githubusercontent.com/petercorke/bdsim/master/figs/BDSimLogo_NoBackgnd@2x.png
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:width: 300
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.. automodule:: roboticstoolbox.blocks.uav
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:members:
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:undoc-members:
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:show-inheritance:
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:special-members: __init__
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:exclude-members: output, reset, step, start, done, deriv, nin, nout, inlabels, outlabels
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‎docs/source/blocks.rst

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bdsim blocks
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============
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.. image:: https://raw.githubusercontent.com/petercorke/bdsim/master/figs/BDSimLogo_NoBackgnd@2x.png
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:width: 400
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A set of block definitions that provide robotic capability to `bdsim <https://github.com/petercorke/bdsim>`_.
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.. warning:: This capability is still experimental
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.. toctree::
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:maxdepth: 2
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blocks-arm
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blocks-mobile
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blocks-uav
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‎docs/source/conf.py

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

‎docs/source/exts/blockname.py

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from docutils import nodes
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#from docutils.parsers.rst import Directive
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def block_name(name, rawtext, text, lineno, inliner, options={}, content=[]):
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# name: The local name of the interpreted role, the role name actually used in the document.
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# 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.
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# text: The interpreted text content.
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# lineno: The line number where the interpreted text begins.
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# 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.
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# 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.
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# content: A list of strings, the directive content for customization (from the "role" directive). To be interpreted by the role function.
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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')
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return [html_node], []
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def setup(app):
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app.add_role("blockname", block_name)
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return {
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'version': '0.1',
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'parallel_read_safe': True,
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'parallel_write_safe': True,
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}

‎docs/source/index.rst

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intro
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arm
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mobile
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blocks

‎docs/source/mobile.rst

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mobile_vehicle
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mobile_vehicle_animation
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mobile_reactive
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mobile_planner
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mobile_EKF

‎docs/source/mobile_planner.rst

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

‎notebooks/Makefile

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

‎notebooks/dynamics.ipynb

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