This custom simulator is implemented in Python 3 and should run in any standard Python interpreter.
We depend on the following libraries:
- matplotlib: for figure generation and plotting
- numpy: for general array/vector manipulation
- shapely: for handling of planar polygons
All of which can be installed with pip (e.g. "pip install <package name>").
Most of the Python files contain helper classes. The important scripts are:
- Tests/Reeb/reeb_barrier_test.py
- Creates and plots the Reeb Graph example in Figure 1
- Figures/sampling_region_visualization.py
- Creates and plots the DRRRT growth example in Figure 2
- Figures/problem_configurations.py
- Creates and plots the problem configurations in Figure 3
- performance_tests.py
- Runs the experiments and saves the metrics shown in the table of Figure 4
- Figures/performance_boxplots.py
- Plots the boxplots of the experiment results in Figure 5
- Figures/rrt_narrow_passages.py
- Creates the "narrow passages RRT problem" figure from the presentation
- Figures/rrt_hallway_suboptimal.py
- Creates the "suboptimal RRT performance" figure from the presentation
- Figures/final_paths.py
- Creates the final paths figure at the end of the presentation