State Lattice Planning
----------------------

This script is a path planning code with state lattice planning.

This code uses the model predictive trajectory generator to solve
boundary problem.


Uniform polar sampling
~~~~~~~~~~~~~~~~~~~~~~

.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/StateLatticePlanner/UniformPolarSampling.gif

Code Link
^^^^^^^^^^^^^

.. autofunction:: PathPlanning.StateLatticePlanner.state_lattice_planner.calc_uniform_polar_states


Biased polar sampling
~~~~~~~~~~~~~~~~~~~~~

.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/StateLatticePlanner/BiasedPolarSampling.gif

Code Link
^^^^^^^^^^^^^
.. autofunction:: PathPlanning.StateLatticePlanner.state_lattice_planner.calc_biased_polar_states


Lane sampling
~~~~~~~~~~~~~

.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/StateLatticePlanner/LaneSampling.gif

Code Link
^^^^^^^^^^^^^
.. autofunction:: PathPlanning.StateLatticePlanner.state_lattice_planner.calc_lane_states


Reference
~~~~~~~~~~~~~~~

-  `Optimal rough terrain trajectory generation for wheeled mobile
   robots <https://journals.sagepub.com/doi/pdf/10.1177/0278364906075328>`__

-  `State Space Sampling of Feasible Motions for High-Performance Mobile
   Robot Navigation in Complex
   Environments <https://www.frc.ri.cmu.edu/~alonzo/pubs/papers/JFR_08_SS_Sampling.pdf>`__

