Metadata-Version: 2.1
Name: heurisp
Version: 0.3.0
Summary: Heuristics for Sampling-based Path Planner
Home-page: https://github.com/liespace/pyHSP
Author: Gabel Liemann
Author-email: troubleli233@gmail.com
License: MIT
Description: # Heurisp
        *(What is it)* A repository of **Python2** implemented **H**euristics for **S**ampling-based **P**ath (Motion) Planner **(HSP)**. 
        
        Currently, it includes these heuristics:
        
        1. Orientation-Aware Space Exploration (OSE, referred to [^1]). It is one of the state-of-the-art heuristics according to [^2].
        
        
        
        ## How to use
        
        - **Orientation-Aware Space Exploration** (Details included in ```test/test.py```)
        
        ```python
        from heurisp import OrientationSpaceExplorer as OSExplorer
        # see test directory for details to set arguments.
        explorer = OSExplorer()
        explorer.initialize(start, goal, grid_map, grid_res, grid_ori)
        explorer.exploring()
        ```
        
        
        ## How to install
        
        - **PyPI**
        
        ```shell script
        $ pip2 install heurisp
        ```
        - **From source**
        
        ```shell script
        $ git clone https://github.com/liespace/pyHSP.git
        $ cd pyHSP
        $ python setup.py sdist
        # install
        $ pip install heurisp -f dist/* --no-cache-dir
        # or upload yours
        # $ twine upload dist/*
        ```
        
        
        
        ## Reference
        
        [^1]: Chen, Chao, Markus Rickert, and Alois Knoll. "Path planning with orientation-aware space exploration guided heuristic search for autonomous parking and maneuvering." 2015 IEEE Intelligent Vehicles Symposium (IV). IEEE, 2015.
        
        [^2]: Banzhaf, Holger, et al. "Learning to predict ego-vehicle poses for sampling-based nonholonomic motion planning." IEEE Robotics and Automation Letters 4.2 (2019): 1053-1060.
Platform: UNKNOWN
Classifier: Programming Language :: Python :: 2
Classifier: License :: OSI Approved :: MIT License
Classifier: Operating System :: OS Independent
Description-Content-Type: text/markdown
