using pathlib based local module import (#722)

* using pathlib based local module import

* remove unused import

AerialNavigation/drone_3d_trajectory_following/__init__.py

@@ -1,4 +1,3 @@
-import os
 import sys
-
+import pathlib
-sys.path.append(os.path.dirname(os.path.abspath(__file__)))
+sys.path.append(str(pathlib.Path(__file__).parent))

ArmNavigation/n_joint_arm_3d/__init__.py

@@ -1,3 +1,3 @@
 import sys
-import os
+import pathlib
-sys.path.append(os.path.dirname(os.path.abspath(__file__)))
+sys.path.append(str(pathlib.Path(__file__).parent))

ArmNavigation/n_joint_arm_to_point_control/n_joint_arm_to_point_control.py

@@ -5,11 +5,11 @@ Author: Daniel Ingram (daniel-s-ingram)
         Atsushi Sakai (@Atsushi_twi)
 """
 
-import numpy as np
 import sys
 from pathlib import Path
 sys.path.append(str(Path(__file__).parent.parent.parent))
 
+import numpy as np
 from ArmNavigation.n_joint_arm_to_point_control.NLinkArm import NLinkArm
 
 # Simulation parameters

ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py

@@ -3,18 +3,15 @@ RRT* path planner for a seven joint arm
 Author: Mahyar Abdeetedal (mahyaret)
 """
 import math
-import os
-import sys
 import random
 import numpy as np
 from mpl_toolkits import mplot3d
 import matplotlib.pyplot as plt
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+import sys
-                "/../n_joint_arm_3d/")
+import pathlib
-try:
+sys.path.append(str(pathlib.Path(__file__).parent.parent))
-    from NLinkArm3d import NLinkArm
+
-except ImportError:
+from n_joint_arm_3d.NLinkArm3d import NLinkArm
-    raise
 
 show_animation = True
 verbose = False

Localization/ensemble_kalman_filter/ensemble_kalman_filter.py

@@ -9,10 +9,9 @@ Ensemble Kalman filtering
 (https://rmets.onlinelibrary.wiley.com/doi/10.1256/qj.05.135)
 
 """
-
 import sys
-import os
+import pathlib
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../utils/")
+sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
 
 import math
 import matplotlib.pyplot as plt

Localization/extended_kalman_filter/extended_kalman_filter.py

@@ -5,10 +5,9 @@ Extended kalman filter (EKF) localization sample
 author: Atsushi Sakai (@Atsushi_twi)
 
 """
-
 import sys
-import os
+import pathlib
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../utils/")
+sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
 
 import math
 import matplotlib.pyplot as plt

Localization/particle_filter/particle_filter.py

@@ -6,8 +6,8 @@ author: Atsushi Sakai (@Atsushi_twi)
 
 """
 import sys
-import os
+import pathlib
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../utils/")
+sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
 
 import math
 

Localization/unscented_kalman_filter/unscented_kalman_filter.py

@@ -7,8 +7,8 @@ author: Atsushi Sakai (@Atsushi_twi)
 """
 
 import sys
-import os
+import pathlib
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../utils/")
+sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
 
 import math
 

Mapping/rectangle_fitting/__init_.py

@@ -1,4 +1,3 @@
-import os
 import sys
-
+import pathlib
-sys.path.append(os.path.dirname(os.path.abspath(__file__)))
+sys.path.append(str(pathlib.Path(__file__).parent))

Mapping/rectangle_fitting/rectangle_fitting.py

@@ -13,9 +13,8 @@ efficient-l-shape-fitting-for-vehicle-detection-using-laser-scanners/
 """
 
 import sys
-import os
+import pathlib
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../utils/")
+sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
-
 
 import matplotlib.pyplot as plt
 import numpy as np

Mapping/rectangle_fitting/simulator.py

@@ -6,8 +6,8 @@ author: Atsushi Sakai
 
 """
 import sys
-import os
+import pathlib
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../utils/")
+sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
 
 import numpy as np
 import matplotlib.pyplot as plt

PathPlanning/ClosedLoopRRTStar/closed_loop_rrt_star_car.py

@@ -5,27 +5,17 @@ Path planning Sample Code with Closed loop RRT for car like robot.
 author: AtsushiSakai(@Atsushi_twi)
 
 """
-import os
-import sys
-
 import matplotlib.pyplot as plt
 import numpy as np
 
-sys.path.append(os.path.dirname(os.path.abspath(__file__)))
+import sys
+import pathlib
+sys.path.append(str(pathlib.Path(__file__).parent.parent))
 
-import pure_pursuit
+from ClosedLoopRRTStar import pure_pursuit
-import unicycle_model
+from ClosedLoopRRTStar import unicycle_model
-
+from ReedsSheppPath import reeds_shepp_path_planning
-sys.path.append(os.path.dirname(
+from RRTStarReedsShepp.rrt_star_reeds_shepp import RRTStarReedsShepp
-    os.path.abspath(__file__)) + "/../ReedsSheppPath/")
-sys.path.append(os.path.dirname(
-    os.path.abspath(__file__)) + "/../RRTStarReedsShepp/")
-
-try:
-    import reeds_shepp_path_planning
-    from rrt_star_reeds_shepp import RRTStarReedsShepp
-except ImportError:
-    raise
 
 show_animation = True
 

PathPlanning/ClosedLoopRRTStar/pure_pursuit.py

@@ -10,7 +10,11 @@ import math
 import matplotlib.pyplot as plt
 import numpy as np
 
-import unicycle_model
+import sys
+import pathlib
+sys.path.append(str(pathlib.Path(__file__).parent.parent))
+
+from ClosedLoopRRTStar import unicycle_model
 
 Kp = 2.0  # speed propotional gain
 Lf = 0.5  # look-ahead distance

PathPlanning/DubinsPath/dubins_path_planner.py

@@ -6,9 +6,8 @@ author Atsushi Sakai(@Atsushi_twi)
 
 """
 import sys
-import os
+import pathlib
-
+sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../utils/")
 
 from math import sin, cos, atan2, sqrt, acos, pi, hypot
 import numpy as np

PathPlanning/Eta3SplineTrajectory/eta3_spline_trajectory.py

@@ -16,14 +16,10 @@ import numpy as np
 import matplotlib.pyplot as plt
 from matplotlib.collections import LineCollection
 import sys
-import os
+import pathlib
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+sys.path.append(str(pathlib.Path(__file__).parent.parent))
-                "/../Eta3SplinePath")
 
-try:
+from Eta3SplinePath.eta3_spline_path import Eta3Path, Eta3PathSegment
-    from eta3_spline_path import Eta3Path, Eta3PathSegment
-except ImportError:
-    raise
 
 show_animation = True
 

PathPlanning/FrenetOptimalTrajectory/frenet_optimal_trajectory.py

@@ -19,18 +19,12 @@ import matplotlib.pyplot as plt
 import copy
 import math
 import sys
-import os
+import pathlib
+sys.path.append(str(pathlib.Path(__file__).parent.parent))
 
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+from QuinticPolynomialsPlanner.quintic_polynomials_planner import \
-                "/../QuinticPolynomialsPlanner/")
+    QuinticPolynomial
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+from CubicSpline import cubic_spline_planner
-                "/../CubicSpline/")
-
-try:
-    from quintic_polynomials_planner import QuinticPolynomial
-    import cubic_spline_planner
-except ImportError:
-    raise
 
 SIM_LOOP = 500
 

PathPlanning/GridBasedSweepCPP/grid_based_sweep_coverage_path_planner.py

@@ -4,25 +4,16 @@ Grid based sweep planner
 author: Atsushi Sakai
 """
 
-import sys
-import os
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../utils/")
-
 import math
 from enum import IntEnum
-
 import numpy as np
 import matplotlib.pyplot as plt
+import sys
+import pathlib
+sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
 
 from utils.angle import rot_mat_2d
-
+from Mapping.grid_map_lib.grid_map_lib import GridMap
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
-                "/../../Mapping/")
-
-try:
-    from grid_map_lib.grid_map_lib import GridMap
-except ImportError:
-    raise
 
 do_animation = True
 

PathPlanning/HybridAStar/car.py

@@ -7,8 +7,9 @@ author: Zheng Zh (@Zhengzh)
 """
 
 import sys
-import os
+import pathlib
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../utils/")
+root_dir = pathlib.Path(__file__).parent.parent.parent
+sys.path.append(str(root_dir))
 
 from math import cos, sin, tan, pi
 
@@ -76,7 +77,7 @@ def plot_arrow(x, y, yaw, length=1.0, width=0.5, fc="r", ec="k"):
 def plot_car(x, y, yaw):
     car_color = '-k'
     c, s = cos(yaw), sin(yaw)
-    rot = Rot.from_euler('z', -yaw).as_matrix()[0:2, 0:2]
+    rot = rot_mat_2d(-yaw)
     car_outline_x, car_outline_y = [], []
     for rx, ry in zip(VRX, VRY):
         converted_xy = np.stack([rx, ry]).T @ rot

PathPlanning/HybridAStar/hybrid_a_star.py

@@ -8,22 +8,16 @@ author: Zheng Zh (@Zhengzh)
 
 import heapq
 import math
-import os
-import sys
-
 import matplotlib.pyplot as plt
 import numpy as np
 from scipy.spatial import cKDTree
+import sys
+import pathlib
+sys.path.append(str(pathlib.Path(__file__).parent.parent))
 
-sys.path.append(os.path.dirname(os.path.abspath(__file__))
+from dynamic_programming_heuristic import calc_distance_heuristic
-                + "/../ReedsSheppPath")
+from ReedsSheppPath import reeds_shepp_path_planning as rs
-try:
+from car import move, check_car_collision, MAX_STEER, WB, plot_car, BUBBLE_R
-    from dynamic_programming_heuristic import calc_distance_heuristic
-    import reeds_shepp_path_planning as rs
-    from car import move, check_car_collision, MAX_STEER, WB, plot_car,\
-        BUBBLE_R
-except Exception:
-    raise
 
 XY_GRID_RESOLUTION = 2.0  # [m]
 YAW_GRID_RESOLUTION = np.deg2rad(15.0)  # [rad]

PathPlanning/InformedRRTStar/informed_rrt_star.py

@@ -10,8 +10,8 @@ https://arxiv.org/pdf/1404.2334.pdf
 
 """
 import sys
-import os
+import pathlib
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../utils/")
+sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
 
 import copy
 import math

PathPlanning/LQRRRTStar/lqr_rrt_star.py

@@ -7,21 +7,15 @@ author: AtsushiSakai(@Atsushi_twi)
 """
 import copy
 import math
-import os
 import random
-import sys
-
 import matplotlib.pyplot as plt
 import numpy as np
+import sys
+import pathlib
+sys.path.append(str(pathlib.Path(__file__).parent.parent))
 
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../LQRPlanner/")
+from LQRPlanner.lqr_planner import LQRPlanner
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../RRTStar/")
+from RRTStar.rrt_star import RRTStar
-
-try:
-    from LQRplanner import LQRPlanner
-    from rrt_star import RRTStar
-except ImportError:
-    raise
 
 show_animation = True
 

PathPlanning/ModelPredictiveTrajectoryGenerator/trajectory_generator.py

@@ -7,11 +7,14 @@ author: Atsushi Sakai(@Atsushi_twi)
 """
 
 import math
-
 import matplotlib.pyplot as plt
 import numpy as np
+import sys
+import pathlib
+path_planning_dir = pathlib.Path(__file__).parent.parent
+sys.path.append(str(path_planning_dir))
 
-import motion_model
+import ModelPredictiveTrajectoryGenerator.motion_model as motion_model
 
 # optimization parameter
 max_iter = 100

PathPlanning/RRT/rrt_with_pathsmoothing.py

@@ -7,18 +7,13 @@ Path planning Sample Code with RRT with path smoothing
 """
 
 import math
-import os
 import random
-import sys
-
 import matplotlib.pyplot as plt
+import sys
+import pathlib
+sys.path.append(str(pathlib.Path(__file__).parent))
 
-sys.path.append(os.path.dirname(os.path.abspath(__file__)))
+from rrt import RRT
-
-try:
-    from rrt import RRT
-except ImportError:
-    raise
 
 show_animation = True
 

PathPlanning/RRT/rrt_with_sobol_sampler.py

@@ -28,12 +28,11 @@ Rojas (rafaelrojasmiliani@gmail.com)
 
 import math
 import random
-from sobol import sobol_quasirand
-import sys
-
 import matplotlib.pyplot as plt
 import numpy as np
 
+from sobol import sobol_quasirand
+
 show_animation = True
 
 

PathPlanning/RRTDubins/rrt_dubins.py

@@ -6,23 +6,17 @@ author: AtsushiSakai(@Atsushi_twi)
 """
 import copy
 import math
-import os
 import random
-import sys
-
-import matplotlib.pyplot as plt
 import numpy as np
+import matplotlib.pyplot as plt
+import sys
+import pathlib
+sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))  # root dir
+sys.path.append(str(pathlib.Path(__file__).parent.parent))
 
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+from RRT.rrt import RRT
-                "/../DubinsPath/")
+from DubinsPath import dubins_path_planner
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+from utils.plot import plot_arrow
-                "/../RRT/")
-
-try:
-    from rrt import RRT
-    import dubins_path_planner
-except ImportError:
-    raise
 
 show_animation = True
 
@@ -130,10 +124,8 @@ class RRTDubins(RRT):
         plt.pause(0.01)
 
     def plot_start_goal_arrow(self):  # pragma: no cover
-        dubins_path_planner.plot_arrow(
+        plot_arrow(self.start.x, self.start.y, self.start.yaw)
-            self.start.x, self.start.y, self.start.yaw)
+        plot_arrow(self.end.x, self.end.y, self.end.yaw)
-        dubins_path_planner.plot_arrow(
-            self.end.x, self.end.y, self.end.yaw)
 
     def steer(self, from_node, to_node):
 
@@ -214,6 +206,7 @@ class RRTDubins(RRT):
 
 
 def main():
+
     print("Start " + __file__)
     # ====Search Path with RRT====
     obstacleList = [

PathPlanning/RRTStar/rrt_star.py

@@ -7,17 +7,12 @@ author: Atsushi Sakai(@Atsushi_twi)
 """
 
 import math
-import os
 import sys
-
 import matplotlib.pyplot as plt
+import pathlib
+sys.path.append(str(pathlib.Path(__file__).parent.parent))
 
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../RRT/")
+from RRT.rrt import RRT
-
-try:
-    from rrt import RRT
-except ImportError:
-    raise
 
 show_animation = True
 
@@ -59,6 +54,7 @@ class RRTStar(RRT):
         self.connect_circle_dist = connect_circle_dist
         self.goal_node = self.Node(goal[0], goal[1])
         self.search_until_max_iter = search_until_max_iter
+        self.node_list = []
 
     def planning(self, animation=True):
         """

PathPlanning/RRTStarDubins/rrt_star_dubins.py

@@ -4,26 +4,19 @@ Path planning Sample Code with RRT and Dubins path
 author: AtsushiSakai(@Atsushi_twi)
 
 """
-
 import copy
 import math
-import os
 import random
-import sys
-
 import matplotlib.pyplot as plt
 import numpy as np
+import sys
+import pathlib
+sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))  # root dir
+sys.path.append(str(pathlib.Path(__file__).parent.parent))
 
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+from DubinsPath import dubins_path_planner
-                "/../DubinsPath/")
+from RRTStar.rrt_star import RRTStar
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+from utils.plot import plot_arrow
-                "/../RRTStar/")
-
-try:
-    import dubins_path_planner
-    from rrt_star import RRTStar
-except ImportError:
-    raise
 
 show_animation = True
 
@@ -136,10 +129,8 @@ class RRTStarDubins(RRTStar):
         plt.pause(0.01)
 
     def plot_start_goal_arrow(self):
-        dubins_path_planner.plot_arrow(
+        plot_arrow(self.start.x, self.start.y, self.start.yaw)
-            self.start.x, self.start.y, self.start.yaw)
+        plot_arrow(self.end.x, self.end.y, self.end.yaw)
-        dubins_path_planner.plot_arrow(
-            self.end.x, self.end.y, self.end.yaw)
 
     def steer(self, from_node, to_node):
 

PathPlanning/RRTStarReedsShepp/rrt_star_reeds_shepp.py

@@ -7,23 +7,15 @@ author: AtsushiSakai(@Atsushi_twi)
 """
 import copy
 import math
-import os
 import random
 import sys
-
+import pathlib
 import matplotlib.pyplot as plt
 import numpy as np
+sys.path.append(str(pathlib.Path(__file__).parent.parent))
 
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+from ReedsSheppPath import reeds_shepp_path_planning
-                "/../ReedsSheppPath/")
+from RRTStar.rrt_star import RRTStar
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
-                "/../RRTStar/")
-
-try:
-    import reeds_shepp_path_planning
-    from rrt_star import RRTStar
-except ImportError:
-    raise
 
 show_animation = True
 

PathPlanning/StateLatticePlanner/state_lattice_planner.py

@@ -4,11 +4,16 @@ State lattice planner with model predictive trajectory generator
 
 author: Atsushi Sakai (@Atsushi_twi)
 
-- lookuptable.csv is generated with this script: https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/ModelPredictiveTrajectoryGenerator/lookuptable_generator.py
+- lookuptable.csv is generated with this script:
+https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning
+/ModelPredictiveTrajectoryGenerator/lookuptable_generator.py
 
 Ref:
 
-- State Space Sampling of Feasible Motions for High-Performance Mobile Robot Navigation in Complex Environments http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.187.8210&rep=rep1&type=pdf
+- State Space Sampling of Feasible Motions for High-Performance Mobile Robot
+Navigation in Complex Environments
+http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.187.8210&rep=rep1
+&type=pdf
 
 """
 import sys
@@ -17,17 +22,11 @@ from matplotlib import pyplot as plt
 import numpy as np
 import math
 import pandas as pd
+import pathlib
+sys.path.append(str(pathlib.Path(__file__).parent.parent))
 
-sys.path.append(os.path.dirname(os.path.abspath(__file__))
+import ModelPredictiveTrajectoryGenerator.trajectory_generator as planner
-                + "/../ModelPredictiveTrajectoryGenerator/")
+import ModelPredictiveTrajectoryGenerator.motion_model as motion_model
-
-
-try:
-    import model_predictive_trajectory_generator as planner
-    import motion_model
-except ImportError:
-    raise
-
 
 table_path = os.path.dirname(os.path.abspath(__file__)) + "/lookuptable.csv"
 

PathPlanning/VisibilityRoadMap/visibility_road_map.py

@@ -6,17 +6,15 @@ author: Atsushi Sakai (@Atsushi_twi)
 
 """
 
-import os
 import sys
 import math
 import numpy as np
 import matplotlib.pyplot as plt
+import pathlib
+sys.path.append(str(pathlib.Path(__file__).parent.parent))
 
-from PathPlanning.VisibilityRoadMap.geometry import Geometry
+from VisibilityRoadMap.geometry import Geometry
-
+from VoronoiRoadMap.dijkstra_search import DijkstraSearch
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
-                "/../VoronoiRoadMap/")
-from dijkstra_search import DijkstraSearch
 
 show_animation = True
 

PathPlanning/VoronoiRoadMap/__init__.py

@@ -1,4 +0,0 @@
-import os
-import sys
-
-sys.path.append(os.path.dirname(os.path.abspath(__file__)))

PathPlanning/VoronoiRoadMap/voronoi_road_map.py

@@ -9,8 +9,12 @@ author: Atsushi Sakai (@Atsushi_twi)
 import math
 import numpy as np
 import matplotlib.pyplot as plt
-from dijkstra_search import DijkstraSearch
 from scipy.spatial import cKDTree, Voronoi
+import sys
+import pathlib
+sys.path.append(str(pathlib.Path(__file__).parent.parent))
+
+from VoronoiRoadMap.dijkstra_search import DijkstraSearch
 
 show_animation = True
 

PathTracking/lqr_speed_steer_control/lqr_speed_steer_control.py

@@ -7,19 +7,13 @@ author Atsushi Sakai (@Atsushi_twi)
 """
 import math
 import sys
-import os
-
 import matplotlib.pyplot as plt
 import numpy as np
 import scipy.linalg as la
+import pathlib
+sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
 
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+from PathPlanning.CubicSpline import cubic_spline_planner
-                "/../../PathPlanning/CubicSpline/")
-
-try:
-    import cubic_spline_planner
-except ImportError:
-    raise
 
 # === Parameters =====
 

PathTracking/lqr_steer_control/lqr_steer_control.py

@@ -10,16 +10,10 @@ import matplotlib.pyplot as plt
 import math
 import numpy as np
 import sys
-import os
+import pathlib
-
+sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
-                "/../../PathPlanning/CubicSpline/")
-
-try:
-    import cubic_spline_planner
-except:
-    raise
 
+from PathPlanning.CubicSpline import cubic_spline_planner
 
 Kp = 1.0  # speed proportional gain
 
@@ -29,7 +23,7 @@ R = np.eye(1)
 
 # parameters
 dt = 0.1  # time tick[s]
-L = 0.5  # Wheel base of the vehicle [m]
+L = 0.5  # Wheelbase of the vehicle [m]
 max_steer = np.deg2rad(45.0)  # maximum steering angle[rad]
 
 show_animation = True

PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py

@@ -10,16 +10,10 @@ import cvxpy
 import math
 import numpy as np
 import sys
-import os
+import pathlib
-
+sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
-                "/../../PathPlanning/CubicSpline/")
-
-try:
-    import cubic_spline_planner
-except:
-    raise
 
+from PathPlanning.CubicSpline import cubic_spline_planner
 
 NX = 4  # x = x, y, v, yaw
 NU = 2  # a = [accel, steer]

PathTracking/stanley_controller/stanley_controller.py

@@ -12,16 +12,10 @@ Ref:
 import numpy as np
 import matplotlib.pyplot as plt
 import sys
-import os
+import pathlib
-
+sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
-                "/../../PathPlanning/CubicSpline/")
-
-try:
-    import cubic_spline_planner
-except:
-    raise
 
+from PathPlanning.CubicSpline import cubic_spline_planner
 
 k = 0.5  # control gain
 Kp = 1.0  # speed proportional gain

SLAM/GraphBasedSLAM/graph_based_slam.py

@@ -11,8 +11,8 @@ Ref
 
 """
 import sys
-import os
+import pathlib
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../utils/")
+sys.path.append(str(pathlib.Path(__file__).parent.parent.parent))
 
 import copy
 import itertools

tests/test_LQR_planner.py

@@ -1,5 +1,5 @@
 import conftest  # Add root path to sys.path
-from PathPlanning.LQRPlanner import LQRplanner as m
+from PathPlanning.LQRPlanner import lqr_planner as m
 
 
 def test_1():