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* Refactor module links and improve code documentation. Updated documentation to rename "API" sections to "Code Link" for clarity and consistency. Enhanced docstrings for `circle_fitting` and `kmeans_clustering` functions, improving parameter descriptions and adding return value details. Fixed typos in function and file names in the ray casting grid map module. * Fix import typo in ray casting grid map test module. Corrected the import statement in the test file by updating the module's name to `ray_casting_grid_map` for consistency with the source file. This ensures proper functionality of the test suite.
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908 B
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27 lines
908 B
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Distance Map
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------------
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This is an implementation of the Distance Map algorithm for path planning.
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The Distance Map algorithm computes the unsigned distance field (UDF) and signed distance field (SDF) from a boolean field representing obstacles.
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The UDF gives the distance from each point to the nearest obstacle. The SDF gives positive distances for points outside obstacles and negative distances for points inside obstacles.
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Example
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~~~~~~~
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The algorithm is demonstrated on a simple 2D grid with obstacles:
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.. image:: distance_map.png
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Code Link
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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.. autofunction:: Mapping.DistanceMap.distance_map.compute_sdf
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.. autofunction:: Mapping.DistanceMap.distance_map.compute_udf
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References
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~~~~~~~~~~
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- `Distance Transforms of Sampled Functions <https://cs.brown.edu/people/pfelzens/papers/dt-final.pdf>`_ paper by Pedro F. Felzenszwalb and Daniel P. Huttenlocher. |