diff --git a/docs/index_main.rst b/docs/index_main.rst index 79980c2b..15175928 100644 --- a/docs/index_main.rst +++ b/docs/index_main.rst @@ -31,7 +31,7 @@ See this paper for more details: .. toctree:: :maxdepth: 2 - :caption: Guide + :caption: Contents getting_started modules/introduction diff --git a/docs/modules/aerial_navigation/aerial_navigation_main.rst b/docs/modules/aerial_navigation/aerial_navigation_main.rst index ea6c4c8e..b2ccb071 100644 --- a/docs/modules/aerial_navigation/aerial_navigation_main.rst +++ b/docs/modules/aerial_navigation/aerial_navigation_main.rst @@ -3,6 +3,10 @@ Aerial Navigation ================= -.. include:: drone_3d_trajectory_following/drone_3d_trajectory_following.rst -.. include:: rocket_powered_landing/rocket_powered_landing.rst +.. toctree:: + :maxdepth: 2 + :caption: Contents + + drone_3d_trajectory_following/drone_3d_trajectory_following + rocket_powered_landing/rocket_powered_landing diff --git a/docs/modules/aerial_navigation/drone_3d_trajectory_following/drone_3d_trajectory_following.rst b/docs/modules/aerial_navigation/drone_3d_trajectory_following/drone_3d_trajectory_following_main.rst similarity index 100% rename from docs/modules/aerial_navigation/drone_3d_trajectory_following/drone_3d_trajectory_following.rst rename to docs/modules/aerial_navigation/drone_3d_trajectory_following/drone_3d_trajectory_following_main.rst diff --git a/docs/modules/aerial_navigation/rocket_powered_landing/rocket_powered_landing.rst b/docs/modules/aerial_navigation/rocket_powered_landing/rocket_powered_landing_main.rst similarity index 100% rename from docs/modules/aerial_navigation/rocket_powered_landing/rocket_powered_landing.rst rename to docs/modules/aerial_navigation/rocket_powered_landing/rocket_powered_landing_main.rst diff --git a/docs/modules/appendix/Kalmanfilter_basics_2.rst b/docs/modules/appendix/Kalmanfilter_basics_2_main.rst similarity index 100% rename from docs/modules/appendix/Kalmanfilter_basics_2.rst rename to docs/modules/appendix/Kalmanfilter_basics_2_main.rst diff --git a/docs/modules/appendix/Kalmanfilter_basics.rst b/docs/modules/appendix/Kalmanfilter_basics_main.rst similarity index 100% rename from docs/modules/appendix/Kalmanfilter_basics.rst rename to docs/modules/appendix/Kalmanfilter_basics_main.rst diff --git a/docs/modules/appendix/appendix_main.rst b/docs/modules/appendix/appendix_main.rst index 8840603b..8a29d846 100644 --- a/docs/modules/appendix/appendix_main.rst +++ b/docs/modules/appendix/appendix_main.rst @@ -3,7 +3,10 @@ Appendix ============== -.. include:: Kalmanfilter_basics.rst +.. toctree:: + :maxdepth: 2 + :caption: Contents -.. include:: Kalmanfilter_basics_2.rst + Kalmanfilter_basics + Kalmanfilter_basics_2 diff --git a/docs/modules/arm_navigation/arm_navigation_main.rst b/docs/modules/arm_navigation/arm_navigation_main.rst index 4399ae13..bbbc872c 100644 --- a/docs/modules/arm_navigation/arm_navigation_main.rst +++ b/docs/modules/arm_navigation/arm_navigation_main.rst @@ -3,26 +3,10 @@ Arm Navigation ============== -.. include:: planar_two_link_ik.rst +.. toctree:: + :maxdepth: 2 + :caption: Contents - -N joint arm to point control ----------------------------- - -N joint arm to a point control simulation. - -This is a interactive simulation. - -You can set the goal position of the end effector with left-click on the -plotting area. - -.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/ArmNavigation/n_joint_arm_to_point_control/animation.gif - -In this simulation N = 10, however, you can change it. - -Arm navigation with obstacle avoidance --------------------------------------- - -Arm navigation with obstacle avoidance simulation. - -.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/ArmNavigation/arm_obstacle_navigation/animation.gif + planar_two_link_ik + n_joint_arm_to_point_control + obstacle_avoidance_arm_navigation diff --git a/docs/modules/arm_navigation/n_joint_arm_to_point_control_main.rst b/docs/modules/arm_navigation/n_joint_arm_to_point_control_main.rst new file mode 100644 index 00000000..cc6279f6 --- /dev/null +++ b/docs/modules/arm_navigation/n_joint_arm_to_point_control_main.rst @@ -0,0 +1,13 @@ +N joint arm to point control +---------------------------- + +N joint arm to a point control simulation. + +This is a interactive simulation. + +You can set the goal position of the end effector with left-click on the +plotting area. + +.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/ArmNavigation/n_joint_arm_to_point_control/animation.gif + +In this simulation N = 10, however, you can change it. diff --git a/docs/modules/arm_navigation/obstacle_avoidance_arm_navigation_main.rst b/docs/modules/arm_navigation/obstacle_avoidance_arm_navigation_main.rst new file mode 100644 index 00000000..899a64a5 --- /dev/null +++ b/docs/modules/arm_navigation/obstacle_avoidance_arm_navigation_main.rst @@ -0,0 +1,6 @@ +Arm navigation with obstacle avoidance +-------------------------------------- + +Arm navigation with obstacle avoidance simulation. + +.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/ArmNavigation/arm_obstacle_navigation/animation.gif \ No newline at end of file diff --git a/docs/modules/arm_navigation/planar_two_link_ik.rst b/docs/modules/arm_navigation/planar_two_link_ik_main.rst similarity index 100% rename from docs/modules/arm_navigation/planar_two_link_ik.rst rename to docs/modules/arm_navigation/planar_two_link_ik_main.rst diff --git a/docs/modules/bipedal/bipedal_main.rst b/docs/modules/bipedal/bipedal_main.rst index bab316b0..fc5b9330 100644 --- a/docs/modules/bipedal/bipedal_main.rst +++ b/docs/modules/bipedal/bipedal_main.rst @@ -3,5 +3,9 @@ Bipedal ================= -.. include:: bipedal_planner/bipedal_planner.rst +.. toctree:: + :maxdepth: 2 + :caption: Contents + + bipedal_planner/bipedal_planner diff --git a/docs/modules/bipedal/bipedal_planner/bipedal_planner.rst b/docs/modules/bipedal/bipedal_planner/bipedal_planner_main.rst similarity index 100% rename from docs/modules/bipedal/bipedal_planner/bipedal_planner.rst rename to docs/modules/bipedal/bipedal_planner/bipedal_planner_main.rst diff --git a/docs/modules/control/control_main.rst b/docs/modules/control/control_main.rst index d6d36a72..cee2aa9e 100644 --- a/docs/modules/control/control_main.rst +++ b/docs/modules/control/control_main.rst @@ -3,7 +3,10 @@ Control ================= -.. include:: inverted_pendulum_control/inverted_pendulum_control.rst +.. toctree:: + :maxdepth: 2 + :caption: Contents -.. include:: move_to_a_pose_control/move_to_a_pose_control.rst + inverted_pendulum_control/inverted_pendulum_control + move_to_a_pose_control/move_to_a_pose_control diff --git a/docs/modules/control/inverted_pendulum_control/inverted_pendulum_control.rst b/docs/modules/control/inverted_pendulum_control/inverted_pendulum_control_main.rst similarity index 98% rename from docs/modules/control/inverted_pendulum_control/inverted_pendulum_control.rst rename to docs/modules/control/inverted_pendulum_control/inverted_pendulum_control_main.rst index 4c1f672b..e41729fd 100644 --- a/docs/modules/control/inverted_pendulum_control/inverted_pendulum_control.rst +++ b/docs/modules/control/inverted_pendulum_control/inverted_pendulum_control_main.rst @@ -9,7 +9,7 @@ The objective of the control system is to balance the inverted pendulum by apply Modeling ~~~~~~~~~~~~ -.. image:: inverted_pendulum_control/inverted-pendulum.png +.. image:: inverted-pendulum.png :align: center - :math:`M`: mass of the cart diff --git a/docs/modules/control/move_to_a_pose_control/move_to_a_pose_control.rst b/docs/modules/control/move_to_a_pose_control/move_to_a_pose_control_main.rst similarity index 100% rename from docs/modules/control/move_to_a_pose_control/move_to_a_pose_control.rst rename to docs/modules/control/move_to_a_pose_control/move_to_a_pose_control_main.rst diff --git a/docs/modules/localization/ensamble_kalman_filter_localization_files/ensamble_kalman_filter_localization.rst b/docs/modules/localization/ensamble_kalman_filter_localization_files/ensamble_kalman_filter_localization_main.rst similarity index 100% rename from docs/modules/localization/ensamble_kalman_filter_localization_files/ensamble_kalman_filter_localization.rst rename to docs/modules/localization/ensamble_kalman_filter_localization_files/ensamble_kalman_filter_localization_main.rst diff --git a/docs/modules/localization/extended_kalman_filter_localization_files/extended_kalman_filter_localization.rst b/docs/modules/localization/extended_kalman_filter_localization_files/extended_kalman_filter_localization_main.rst similarity index 98% rename from docs/modules/localization/extended_kalman_filter_localization_files/extended_kalman_filter_localization.rst rename to docs/modules/localization/extended_kalman_filter_localization_files/extended_kalman_filter_localization_main.rst index a9c29396..0ec920c9 100644 --- a/docs/modules/localization/extended_kalman_filter_localization_files/extended_kalman_filter_localization.rst +++ b/docs/modules/localization/extended_kalman_filter_localization_files/extended_kalman_filter_localization_main.rst @@ -2,7 +2,7 @@ Extended Kalman Filter Localization ----------------------------------- -.. image:: extended_kalman_filter_localization_files/extended_kalman_filter_localization_1_0.png +.. image:: extended_kalman_filter_localization_1_0.png :width: 600px diff --git a/docs/modules/localization/histogram_filter_localization/histogram_filter_localization.rst b/docs/modules/localization/histogram_filter_localization/histogram_filter_localization_main.rst similarity index 94% rename from docs/modules/localization/histogram_filter_localization/histogram_filter_localization.rst rename to docs/modules/localization/histogram_filter_localization/histogram_filter_localization_main.rst index 891de941..fafd5783 100644 --- a/docs/modules/localization/histogram_filter_localization/histogram_filter_localization.rst +++ b/docs/modules/localization/histogram_filter_localization/histogram_filter_localization_main.rst @@ -53,12 +53,12 @@ the estimation error due to the movement. For example, the position probability is peaky with observations: -.. image:: histogram_filter_localization/1.png +.. image:: 1.png :width: 400px But, the probability is getting uncertain without observations: -.. image:: histogram_filter_localization/2.png +.. image:: 2.png :width: 400px @@ -88,12 +88,12 @@ The probability of each grid is updated by this formula: When the `d` is 3.0, the `h(z)` distribution is: -.. image:: histogram_filter_localization/4.png +.. image:: 4.png :width: 400px The observation probability distribution looks a circle when a RF-ID is observed: -.. image:: histogram_filter_localization/3.png +.. image:: 3.png :width: 400px Step4: Estimate position from probability @@ -110,5 +110,5 @@ There are two ways to calculate the final positions: References: ~~~~~~~~~~~ -- `PROBABILISTIC ROBOTICS`_ +- `_PROBABILISTIC ROBOTICS: `_ - `Robust Vehicle Localization in Urban Environments Using Probabilistic Maps `_ diff --git a/docs/modules/localization/localization_main.rst b/docs/modules/localization/localization_main.rst index b1769df1..db6651f6 100644 --- a/docs/modules/localization/localization_main.rst +++ b/docs/modules/localization/localization_main.rst @@ -3,11 +3,14 @@ Localization ============ -.. include:: extended_kalman_filter_localization_files/extended_kalman_filter_localization.rst -.. include:: ensamble_kalman_filter_localization_files/ensamble_kalman_filter_localization.rst -.. include:: unscented_kalman_filter_localization/unscented_kalman_filter_localization.rst -.. include:: histogram_filter_localization/histogram_filter_localization.rst -.. include:: particle_filter_localization/particle_filter_localization.rst +.. toctree:: + :maxdepth: 2 + :caption: Contents + + extended_kalman_filter_localization_files/extended_kalman_filter_localization + ensamble_kalman_filter_localization_files/ensamble_kalman_filter_localization + unscented_kalman_filter_localization/unscented_kalman_filter_localization + histogram_filter_localization/histogram_filter_localization + particle_filter_localization/particle_filter_localization -.. _PROBABILISTIC ROBOTICS: http://www.probabilistic-robotics.org/ diff --git a/docs/modules/localization/particle_filter_localization/particle_filter_localization.rst b/docs/modules/localization/particle_filter_localization/particle_filter_localization_main.rst similarity index 94% rename from docs/modules/localization/particle_filter_localization/particle_filter_localization.rst rename to docs/modules/localization/particle_filter_localization/particle_filter_localization_main.rst index 55b44e16..c8652ce8 100644 --- a/docs/modules/localization/particle_filter_localization/particle_filter_localization.rst +++ b/docs/modules/localization/particle_filter_localization/particle_filter_localization_main.rst @@ -33,5 +33,5 @@ The covariance matrix :math:`\Xi` from particle information is calculated by the References: ~~~~~~~~~~~ -- `PROBABILISTIC ROBOTICS`_ +- `_PROBABILISTIC ROBOTICS: `_ - `Improving the particle filter in high dimensions using conjugate artificial process noise `_ diff --git a/docs/modules/localization/unscented_kalman_filter_localization/unscented_kalman_filter_localization.rst b/docs/modules/localization/unscented_kalman_filter_localization/unscented_kalman_filter_localization_main.rst similarity index 100% rename from docs/modules/localization/unscented_kalman_filter_localization/unscented_kalman_filter_localization.rst rename to docs/modules/localization/unscented_kalman_filter_localization/unscented_kalman_filter_localization_main.rst diff --git a/docs/modules/mapping/circle_fitting/circle_fitting.rst b/docs/modules/mapping/circle_fitting/circle_fitting_main.rst similarity index 100% rename from docs/modules/mapping/circle_fitting/circle_fitting.rst rename to docs/modules/mapping/circle_fitting/circle_fitting_main.rst diff --git a/docs/modules/mapping/gaussian_grid_map/gaussian_grid_map.rst b/docs/modules/mapping/gaussian_grid_map/gaussian_grid_map_main.rst similarity index 100% rename from docs/modules/mapping/gaussian_grid_map/gaussian_grid_map.rst rename to docs/modules/mapping/gaussian_grid_map/gaussian_grid_map_main.rst diff --git a/docs/modules/mapping/k_means_object_clustering/k_means_object_clustering.rst b/docs/modules/mapping/k_means_object_clustering/k_means_object_clustering_main.rst similarity index 100% rename from docs/modules/mapping/k_means_object_clustering/k_means_object_clustering.rst rename to docs/modules/mapping/k_means_object_clustering/k_means_object_clustering_main.rst diff --git a/docs/modules/mapping/lidar_to_grid_map_tutorial/lidar_to_grid_map_tutorial.rst b/docs/modules/mapping/lidar_to_grid_map_tutorial/lidar_to_grid_map_tutorial_main.rst similarity index 92% rename from docs/modules/mapping/lidar_to_grid_map_tutorial/lidar_to_grid_map_tutorial.rst rename to docs/modules/mapping/lidar_to_grid_map_tutorial/lidar_to_grid_map_tutorial_main.rst index 2e9470ff..1f62179e 100644 --- a/docs/modules/mapping/lidar_to_grid_map_tutorial/lidar_to_grid_map_tutorial.rst +++ b/docs/modules/mapping/lidar_to_grid_map_tutorial/lidar_to_grid_map_tutorial_main.rst @@ -16,7 +16,7 @@ a ``numpy array``, and numbers close to 1 means the cell is occupied free (*marked with green*). The grid has the ability to represent unknown (unobserved) areas, which are close to 0.5. -.. figure:: lidar_to_grid_map_tutorial/grid_map_example.png +.. figure:: grid_map_example.png In order to construct the grid map from the measurement we need to discretise the values. But, first let’s need to ``import`` some @@ -68,7 +68,7 @@ From the distances and the angles it is easy to determine the ``x`` and -.. image:: lidar_to_grid_map_tutorial/lidar_to_grid_map_tutorial_5_0.png +.. image:: lidar_to_grid_map_tutorial_5_0.png The ``lidar_to_grid_map.py`` contains handy functions which can used to @@ -89,7 +89,7 @@ map. Let’s see how this works. -.. image:: lidar_to_grid_map_tutorial/lidar_to_grid_map_tutorial_7_0.png +.. image:: lidar_to_grid_map_tutorial_7_0.png .. code:: ipython3 @@ -106,7 +106,7 @@ map. Let’s see how this works. -.. image:: lidar_to_grid_map_tutorial/lidar_to_grid_map_tutorial_8_0.png +.. image:: lidar_to_grid_map_tutorial_8_0.png To fill empty areas, a queue-based algorithm can be used that can be @@ -163,7 +163,7 @@ from a center point (e.g. (10, 20)) with zeros: -.. image:: lidar_to_grid_map_tutorial/lidar_to_grid_map_tutorial_12_0.png +.. image:: lidar_to_grid_map_tutorial_12_0.png Let’s use this flood fill on real data: @@ -194,5 +194,5 @@ Let’s use this flood fill on real data: -.. image:: lidar_to_grid_map_tutorial/lidar_to_grid_map_tutorial_14_1.png +.. image:: lidar_to_grid_map_tutorial_14_1.png diff --git a/docs/modules/mapping/mapping_main.rst b/docs/modules/mapping/mapping_main.rst index 7d2c4cfe..0f7ec549 100644 --- a/docs/modules/mapping/mapping_main.rst +++ b/docs/modules/mapping/mapping_main.rst @@ -2,11 +2,14 @@ Mapping ======= +.. toctree:: + :maxdepth: 2 + :caption: Contents -.. include:: gaussian_grid_map/gaussian_grid_map.rst -.. include:: ray_casting_grid_map/ray_casting_grid_map.rst -.. include:: lidar_to_grid_map_tutorial/lidar_to_grid_map_tutorial.rst -.. include:: k_means_object_clustering/k_means_object_clustering.rst -.. include:: circle_fitting/circle_fitting.rst -.. include:: rectangle_fitting/rectangle_fitting.rst + gaussian_grid_map/gaussian_grid_map + ray_casting_grid_map/ray_casting_grid_map + lidar_to_grid_map_tutorial/lidar_to_grid_map_tutorial + k_means_object_clustering/k_means_object_clustering + circle_fitting/circle_fitting + rectangle_fitting/rectangle_fitting diff --git a/docs/modules/mapping/ray_casting_grid_map/ray_casting_grid_map.rst b/docs/modules/mapping/ray_casting_grid_map/ray_casting_grid_map_main.rst similarity index 100% rename from docs/modules/mapping/ray_casting_grid_map/ray_casting_grid_map.rst rename to docs/modules/mapping/ray_casting_grid_map/ray_casting_grid_map_main.rst diff --git a/docs/modules/mapping/rectangle_fitting/rectangle_fitting.rst b/docs/modules/mapping/rectangle_fitting/rectangle_fitting_main.rst similarity index 100% rename from docs/modules/mapping/rectangle_fitting/rectangle_fitting.rst rename to docs/modules/mapping/rectangle_fitting/rectangle_fitting_main.rst diff --git a/docs/modules/path_planning/bezier_path/bezier_path.rst b/docs/modules/path_planning/bezier_path/bezier_path_main.rst similarity index 85% rename from docs/modules/path_planning/bezier_path/bezier_path.rst rename to docs/modules/path_planning/bezier_path/bezier_path_main.rst index c630d543..fbba6a44 100644 --- a/docs/modules/path_planning/bezier_path/bezier_path.rst +++ b/docs/modules/path_planning/bezier_path/bezier_path_main.rst @@ -5,13 +5,13 @@ A sample code of Bezier path planning. It is based on 4 control points Beizer path. -.. image:: Bezier_path/Figure_1.png +.. image:: Figure_1.png If you change the offset distance from start and end point, You can get different Beizer course: -.. image:: Bezier_path/Figure_2.png +.. image:: Figure_2.png Ref: diff --git a/docs/modules/path_planning/bspline_path/bspline_path.rst b/docs/modules/path_planning/bspline_path/bspline_path_main.rst similarity index 88% rename from docs/modules/path_planning/bspline_path/bspline_path.rst rename to docs/modules/path_planning/bspline_path/bspline_path_main.rst index a8043122..d3523a19 100644 --- a/docs/modules/path_planning/bspline_path/bspline_path.rst +++ b/docs/modules/path_planning/bspline_path/bspline_path_main.rst @@ -1,7 +1,7 @@ B-Spline planning ----------------- -.. image:: bspline_path/Figure_1.png +.. image:: Figure_1.png This is a path planning with B-Spline curse. diff --git a/docs/modules/path_planning/bugplanner/bugplanner.rst b/docs/modules/path_planning/bugplanner/bugplanner_main.rst similarity index 100% rename from docs/modules/path_planning/bugplanner/bugplanner.rst rename to docs/modules/path_planning/bugplanner/bugplanner_main.rst diff --git a/docs/modules/path_planning/clothoid_path/clothoid_path.rst b/docs/modules/path_planning/clothoid_path/clothoid_path_main.rst similarity index 100% rename from docs/modules/path_planning/clothoid_path/clothoid_path.rst rename to docs/modules/path_planning/clothoid_path/clothoid_path_main.rst diff --git a/docs/modules/path_planning/coverage_path/coverage_path.rst b/docs/modules/path_planning/coverage_path/coverage_path_main.rst similarity index 100% rename from docs/modules/path_planning/coverage_path/coverage_path.rst rename to docs/modules/path_planning/coverage_path/coverage_path_main.rst diff --git a/docs/modules/path_planning/cubic_spline/cubic_spline.rst b/docs/modules/path_planning/cubic_spline/cubic_spline_main.rst similarity index 68% rename from docs/modules/path_planning/cubic_spline/cubic_spline.rst rename to docs/modules/path_planning/cubic_spline/cubic_spline_main.rst index b1973856..6de0297a 100644 --- a/docs/modules/path_planning/cubic_spline/cubic_spline.rst +++ b/docs/modules/path_planning/cubic_spline/cubic_spline_main.rst @@ -8,6 +8,6 @@ with cubic spline. Heading angle of each point can be also calculated analytically. -.. image:: cubic_spline/Figure_1.png -.. image:: cubic_spline/Figure_2.png -.. image:: cubic_spline/Figure_3.png +.. image:: Figure_1.png +.. image:: Figure_2.png +.. image:: Figure_3.png diff --git a/docs/modules/path_planning/dubins_path/dubins_path.rst b/docs/modules/path_planning/dubins_path/dubins_path_main.rst similarity index 96% rename from docs/modules/path_planning/dubins_path/dubins_path.rst rename to docs/modules/path_planning/dubins_path/dubins_path_main.rst index b612a82e..0b8c8fb6 100644 --- a/docs/modules/path_planning/dubins_path/dubins_path.rst +++ b/docs/modules/path_planning/dubins_path/dubins_path_main.rst @@ -19,12 +19,12 @@ Possible path will be at least one of these six types: RSR, RSL, LSR, LSL, RLR, For example, one of RSR Dubins paths is: -.. image:: dubins_path/RSR.jpg +.. image:: RSR.jpg :width: 400px one of RLR Dubins paths is: -.. image:: dubins_path/RLR.jpg +.. image:: RLR.jpg :width: 200px Dubins path planner can output three types and distances of each course segment. diff --git a/docs/modules/path_planning/dynamic_window_approach/dynamic_window_approach.rst b/docs/modules/path_planning/dynamic_window_approach/dynamic_window_approach_main.rst similarity index 92% rename from docs/modules/path_planning/dynamic_window_approach/dynamic_window_approach.rst rename to docs/modules/path_planning/dynamic_window_approach/dynamic_window_approach_main.rst index 0ece6e00..d6458385 100644 --- a/docs/modules/path_planning/dynamic_window_approach/dynamic_window_approach.rst +++ b/docs/modules/path_planning/dynamic_window_approach/dynamic_window_approach_main.rst @@ -1,3 +1,5 @@ +.. _dynamic_window_approach: + Dynamic Window Approach ----------------------- diff --git a/docs/modules/path_planning/eta3_spline/eta3_spline.rst b/docs/modules/path_planning/eta3_spline/eta3_spline_main.rst similarity index 100% rename from docs/modules/path_planning/eta3_spline/eta3_spline.rst rename to docs/modules/path_planning/eta3_spline/eta3_spline_main.rst diff --git a/docs/modules/path_planning/frenet_frame_path/frenet_frame_path.rst b/docs/modules/path_planning/frenet_frame_path/frenet_frame_path_main.rst similarity index 100% rename from docs/modules/path_planning/frenet_frame_path/frenet_frame_path.rst rename to docs/modules/path_planning/frenet_frame_path/frenet_frame_path_main.rst diff --git a/docs/modules/path_planning/grid_base_search/grid_base_search.rst b/docs/modules/path_planning/grid_base_search/grid_base_search_main.rst similarity index 100% rename from docs/modules/path_planning/grid_base_search/grid_base_search.rst rename to docs/modules/path_planning/grid_base_search/grid_base_search_main.rst diff --git a/docs/modules/path_planning/hybridastar/hybridastar.rst b/docs/modules/path_planning/hybridastar/hybridastar_main.rst similarity index 100% rename from docs/modules/path_planning/hybridastar/hybridastar.rst rename to docs/modules/path_planning/hybridastar/hybridastar_main.rst diff --git a/docs/modules/path_planning/lqr_path/lqr_path.rst b/docs/modules/path_planning/lqr_path/lqr_path_main.rst similarity index 100% rename from docs/modules/path_planning/lqr_path/lqr_path.rst rename to docs/modules/path_planning/lqr_path/lqr_path_main.rst diff --git a/docs/modules/path_planning/model_predictive_trajectory_generator/model_predictive_trajectory_generator.rst b/docs/modules/path_planning/model_predictive_trajectory_generator/model_predictive_trajectory_generator_main.rst similarity index 90% rename from docs/modules/path_planning/model_predictive_trajectory_generator/model_predictive_trajectory_generator.rst rename to docs/modules/path_planning/model_predictive_trajectory_generator/model_predictive_trajectory_generator_main.rst index 07a7ee9b..0fc99789 100644 --- a/docs/modules/path_planning/model_predictive_trajectory_generator/model_predictive_trajectory_generator.rst +++ b/docs/modules/path_planning/model_predictive_trajectory_generator/model_predictive_trajectory_generator_main.rst @@ -14,7 +14,7 @@ Path optimization sample Lookup table generation sample ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -.. image:: model_predictive_trajectory_generator/lookup_table.png +.. image:: lookup_table.png Ref: diff --git a/docs/modules/path_planning/path_planning_main.rst b/docs/modules/path_planning/path_planning_main.rst index 5c70592a..a3237f16 100644 --- a/docs/modules/path_planning/path_planning_main.rst +++ b/docs/modules/path_planning/path_planning_main.rst @@ -3,24 +3,28 @@ Path Planning ============= -.. include:: dynamic_window_approach/dynamic_window_approach.rst -.. include:: bugplanner/bugplanner.rst -.. include:: grid_base_search/grid_base_search.rst -.. include:: model_predictive_trajectory_generator/model_predictive_trajectory_generator.rst -.. include:: state_lattice_planner/state_lattice_planner.rst -.. include:: prm_planner/prm_planner.rst -.. include:: visibility_road_map_planner/visibility_road_map_planner.rst -.. include:: vrm_planner/vrm_planner.rst -.. include:: rrt/rrt.rst -.. include:: cubic_spline/cubic_spline.rst -.. include:: bspline_path/bspline_path.rst -.. include:: clothoid_path/clothoid_path.rst -.. include:: eta3_spline/eta3_spline.rst -.. include:: bezier_path/bezier_path.rst -.. include:: quintic_polynomials_planner/quintic_polynomials_planner.rst -.. include:: dubins_path/dubins_path.rst -.. include:: reeds_shepp_path/reeds_shepp_path.rst -.. include:: lqr_path/lqr_path.rst -.. include:: hybridastar/hybridastar.rst -.. include:: frenet_frame_path/frenet_frame_path.rst -.. include:: coverage_path/coverage_path.rst +.. toctree:: + :maxdepth: 2 + :caption: Contents + + dynamic_window_approach/dynamic_window_approach + bugplanner/bugplanner + grid_base_search/grid_base_search + model_predictive_trajectory_generator/model_predictive_trajectory_generator + state_lattice_planner/state_lattice_planner + prm_planner/prm_planner + visibility_road_map_planner/visibility_road_map_planner + vrm_planner/vrm_planner + rrt/rrt + cubic_spline/cubic_spline + bspline_path/bspline_path + clothoid_path/clothoid_path + eta3_spline/eta3_spline + bezier_path/bezier_path + quintic_polynomials_planner/quintic_polynomials_planner + dubins_path/dubins_path + reeds_shepp_path/reeds_shepp_path + lqr_path/lqr_path + hybridastar/hybridastar + frenet_frame_path/frenet_frame_path + coverage_path/coverage_path diff --git a/docs/modules/path_planning/prm_planner/prm_planner.rst b/docs/modules/path_planning/prm_planner/prm_planner_main.rst similarity index 100% rename from docs/modules/path_planning/prm_planner/prm_planner.rst rename to docs/modules/path_planning/prm_planner/prm_planner_main.rst diff --git a/docs/modules/path_planning/quintic_polynomials_planner/quintic_polynomials_planner.rst b/docs/modules/path_planning/quintic_polynomials_planner/quintic_polynomials_planner_main.rst similarity index 100% rename from docs/modules/path_planning/quintic_polynomials_planner/quintic_polynomials_planner.rst rename to docs/modules/path_planning/quintic_polynomials_planner/quintic_polynomials_planner_main.rst diff --git a/docs/modules/path_planning/reeds_shepp_path/reeds_shepp_path.rst b/docs/modules/path_planning/reeds_shepp_path/reeds_shepp_path_main.rst similarity index 100% rename from docs/modules/path_planning/reeds_shepp_path/reeds_shepp_path.rst rename to docs/modules/path_planning/reeds_shepp_path/reeds_shepp_path_main.rst diff --git a/docs/modules/path_planning/rrt/rrt.rst b/docs/modules/path_planning/rrt/rrt_main.rst similarity index 99% rename from docs/modules/path_planning/rrt/rrt.rst rename to docs/modules/path_planning/rrt/rrt_main.rst index 1afa17b1..5a3a30dc 100644 --- a/docs/modules/path_planning/rrt/rrt.rst +++ b/docs/modules/path_planning/rrt/rrt_main.rst @@ -14,7 +14,7 @@ This is a simple path planning code with Rapidly-Exploring Random Trees Black circles are obstacles, green line is a searched tree, red crosses are start and goal positions. -.. include:: rrt/rrt_star.rst +.. include:: rrt_star.rst RRT with dubins path diff --git a/docs/modules/path_planning/rrt/rrt_star.rst b/docs/modules/path_planning/rrt/rrt_star.rst index 546e9bf6..d36eaac7 100644 --- a/docs/modules/path_planning/rrt/rrt_star.rst +++ b/docs/modules/path_planning/rrt/rrt_star.rst @@ -10,7 +10,7 @@ Black circles are obstacles, green line is a searched tree, red crosses are star Simulation ^^^^^^^^^^ -.. image:: rrt/rrt_star/rrt_star_1_0.png +.. image:: rrt_star/rrt_star_1_0.png :width: 600px diff --git a/docs/modules/path_planning/state_lattice_planner/state_lattice_planner.rst b/docs/modules/path_planning/state_lattice_planner/state_lattice_planner_main.rst similarity index 100% rename from docs/modules/path_planning/state_lattice_planner/state_lattice_planner.rst rename to docs/modules/path_planning/state_lattice_planner/state_lattice_planner_main.rst diff --git a/docs/modules/path_planning/visibility_road_map_planner/visibility_road_map_planner.rst b/docs/modules/path_planning/visibility_road_map_planner/visibility_road_map_planner_main.rst similarity index 91% rename from docs/modules/path_planning/visibility_road_map_planner/visibility_road_map_planner.rst rename to docs/modules/path_planning/visibility_road_map_planner/visibility_road_map_planner_main.rst index 97e08338..3c9b7c00 100644 --- a/docs/modules/path_planning/visibility_road_map_planner/visibility_road_map_planner.rst +++ b/docs/modules/path_planning/visibility_road_map_planner/visibility_road_map_planner_main.rst @@ -24,7 +24,7 @@ We assume this planner can be provided these information in the below figure. - 2. Goal point (Blue point) - 3. Obstacle polygons (Black lines) -.. image:: visibility_road_map_planner/step0.png +.. image:: step0.png :width: 400px @@ -33,7 +33,7 @@ Step1: Generate visibility nodes based on polygon obstacles The nodes are generated by expanded these polygons vertexes like the below figure: -.. image:: visibility_road_map_planner/step1.png +.. image:: step1.png :width: 400px Each polygon vertex is expanded outward from the vector of adjacent vertices. @@ -49,7 +49,7 @@ If the arc is collided, the graph is removed. The blue lines are generated visibility graphs in the figure: -.. image:: visibility_road_map_planner/step2.png +.. image:: step2.png :width: 400px @@ -58,7 +58,7 @@ Step3: Search the shortest path in the graphs using Dijkstra algorithm The red line is searched path in the figure: -.. image:: visibility_road_map_planner/step3.png +.. image:: step3.png :width: 400px You can find the details of Dijkstra algorithm in :ref:`dijkstra`. diff --git a/docs/modules/path_planning/vrm_planner/vrm_planner.rst b/docs/modules/path_planning/vrm_planner/vrm_planner_main.rst similarity index 100% rename from docs/modules/path_planning/vrm_planner/vrm_planner.rst rename to docs/modules/path_planning/vrm_planner/vrm_planner_main.rst diff --git a/docs/modules/path_tracking/cgmres_nmpc/cgmres_nmpc.rst b/docs/modules/path_tracking/cgmres_nmpc/cgmres_nmpc_main.rst similarity index 92% rename from docs/modules/path_tracking/cgmres_nmpc/cgmres_nmpc.rst rename to docs/modules/path_tracking/cgmres_nmpc/cgmres_nmpc_main.rst index 5092fa8e..a1980ba1 100644 --- a/docs/modules/path_tracking/cgmres_nmpc/cgmres_nmpc.rst +++ b/docs/modules/path_tracking/cgmres_nmpc/cgmres_nmpc_main.rst @@ -2,16 +2,16 @@ Nonlinear Model Predictive Control with C-GMRES ----------------------------------------------- -.. image:: cgmres_nmpc/cgmres_nmpc_1_0.png +.. image:: cgmres_nmpc_1_0.png :width: 600px -.. image:: cgmres_nmpc/cgmres_nmpc_2_0.png +.. image:: cgmres_nmpc_2_0.png :width: 600px -.. image:: cgmres_nmpc/cgmres_nmpc_3_0.png +.. image:: cgmres_nmpc_3_0.png :width: 600px -.. image:: cgmres_nmpc/cgmres_nmpc_4_0.png +.. image:: cgmres_nmpc_4_0.png :width: 600px .. figure:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/cgmres_nmpc/animation.gif diff --git a/docs/modules/path_tracking/lqr_speed_and_steering_control/lqr_speed_and_steering_control.rst b/docs/modules/path_tracking/lqr_speed_and_steering_control/lqr_speed_and_steering_control_main.rst similarity index 100% rename from docs/modules/path_tracking/lqr_speed_and_steering_control/lqr_speed_and_steering_control.rst rename to docs/modules/path_tracking/lqr_speed_and_steering_control/lqr_speed_and_steering_control_main.rst diff --git a/docs/modules/path_tracking/lqr_steering_control/lqr_steering_control.rst b/docs/modules/path_tracking/lqr_steering_control/lqr_steering_control_main.rst similarity index 100% rename from docs/modules/path_tracking/lqr_steering_control/lqr_steering_control.rst rename to docs/modules/path_tracking/lqr_steering_control/lqr_steering_control_main.rst diff --git a/docs/modules/path_tracking/model_predictive_speed_and_steering_control/model_predictive_speed_and_steering_control.rst b/docs/modules/path_tracking/model_predictive_speed_and_steering_control/model_predictive_speed_and_steering_control_main.rst similarity index 100% rename from docs/modules/path_tracking/model_predictive_speed_and_steering_control/model_predictive_speed_and_steering_control.rst rename to docs/modules/path_tracking/model_predictive_speed_and_steering_control/model_predictive_speed_and_steering_control_main.rst diff --git a/docs/modules/path_tracking/path_tracking_main.rst b/docs/modules/path_tracking/path_tracking_main.rst index 2a572ef6..504ba087 100644 --- a/docs/modules/path_tracking/path_tracking_main.rst +++ b/docs/modules/path_tracking/path_tracking_main.rst @@ -3,11 +3,14 @@ Path Tracking ============= -.. include:: pure_pursuit_tracking/pure_pursuit_tracking.rst -.. include:: stanley_control/stanley_control.rst -.. include:: rear_wheel_feedback_control/rear_wheel_feedback_control.rst -.. include:: lqr_steering_control/lqr_steering_control.rst -.. include:: lqr_speed_and_steering_control/lqr_speed_and_steering_control.rst -.. include:: model_predictive_speed_and_steering_control/model_predictive_speed_and_steering_control.rst -.. include:: cgmres_nmpc/cgmres_nmpc.rst +.. toctree:: + :maxdepth: 2 + :caption: Contents + pure_pursuit_tracking/pure_pursuit_tracking + stanley_control/stanley_control + rear_wheel_feedback_control/rear_wheel_feedback_control + lqr_steering_control/lqr_steering_control + lqr_speed_and_steering_control/lqr_speed_and_steering_control + model_predictive_speed_and_steering_control/model_predictive_speed_and_steering_control + cgmres_nmpc/cgmres_nmpc diff --git a/docs/modules/path_tracking/pure_pursuit_tracking/pure_pursuit_tracking.rst b/docs/modules/path_tracking/pure_pursuit_tracking/pure_pursuit_tracking_main.rst similarity index 100% rename from docs/modules/path_tracking/pure_pursuit_tracking/pure_pursuit_tracking.rst rename to docs/modules/path_tracking/pure_pursuit_tracking/pure_pursuit_tracking_main.rst diff --git a/docs/modules/path_tracking/rear_wheel_feedback_control/rear_wheel_feedback_control.rst b/docs/modules/path_tracking/rear_wheel_feedback_control/rear_wheel_feedback_control_main.rst similarity index 100% rename from docs/modules/path_tracking/rear_wheel_feedback_control/rear_wheel_feedback_control.rst rename to docs/modules/path_tracking/rear_wheel_feedback_control/rear_wheel_feedback_control_main.rst diff --git a/docs/modules/path_tracking/stanley_control/stanley_control.rst b/docs/modules/path_tracking/stanley_control/stanley_control_main.rst similarity index 100% rename from docs/modules/path_tracking/stanley_control/stanley_control.rst rename to docs/modules/path_tracking/stanley_control/stanley_control_main.rst diff --git a/docs/modules/slam/FastSLAM1/FastSLAM1.rst b/docs/modules/slam/FastSLAM1/FastSLAM1_main.rst similarity index 98% rename from docs/modules/slam/FastSLAM1/FastSLAM1.rst rename to docs/modules/slam/FastSLAM1/FastSLAM1_main.rst index f1e9dfd8..f09125df 100644 --- a/docs/modules/slam/FastSLAM1/FastSLAM1.rst +++ b/docs/modules/slam/FastSLAM1/FastSLAM1_main.rst @@ -11,7 +11,7 @@ Simulation This is a feature based SLAM example using FastSLAM 1.0. -.. image:: FastSLAM1/FastSLAM1_1_0.png +.. image:: FastSLAM1_1_0.png :width: 600px The blue line is ground truth, the black line is dead reckoning, the red @@ -46,8 +46,8 @@ an array of landmark locations I.e. Each particle maintains a deterministic pose and n-EKFs for each landmark and update it with each measurement. -Algorithm walkthrough -~~~~~~~~~~~~~~~~~~~~~ +Algorithm walk through +~~~~~~~~~~~~~~~~~~~~~~~ The particles are initially drawn from a uniform distribution the represent the initial uncertainty. At each time step we do: @@ -75,7 +75,7 @@ which are the linear and angular velocity repsectively. :math:`\begin{equation*} \begin{bmatrix} x_{t+1} \\ y_{t+1} \\ \theta_{t+1} \end{bmatrix}= \begin{bmatrix} 1 & 0 & 0 \\ 0 & 1 & 0 \\ 0 & 0 & 1 \end{bmatrix}\begin{bmatrix} x_{t} \\ y_{t} \\ \theta_{t} \end{bmatrix}+ \begin{bmatrix} \Delta t cos(\theta) & 0\\ \Delta t sin(\theta) & 0\\ 0 & \Delta t \end{bmatrix} \begin{bmatrix} v_{t} + \sigma_v\\ w_{t} + \sigma_w\\ \end{bmatrix} \end{equation*}` -The following snippets playsback the recorded trajectory of each +The following snippets playback the recorded trajectory of each particle. To get the insight of the motion model change the value of :math:`R` and @@ -527,8 +527,8 @@ indices -.. image:: FastSLAM1/FastSLAM1_12_0.png -.. image:: FastSLAM1/FastSLAM1_12_1.png +.. image:: FastSLAM1_12_0.png +.. image:: FastSLAM1_12_1.png References diff --git a/docs/modules/slam/FastSLAM2/FastSLAM2.rst b/docs/modules/slam/FastSLAM2/FastSLAM2_main.rst similarity index 100% rename from docs/modules/slam/FastSLAM2/FastSLAM2.rst rename to docs/modules/slam/FastSLAM2/FastSLAM2_main.rst diff --git a/docs/modules/slam/ekf_slam/ekf_slam.rst b/docs/modules/slam/ekf_slam/ekf_slam_main.rst similarity index 99% rename from docs/modules/slam/ekf_slam/ekf_slam.rst rename to docs/modules/slam/ekf_slam/ekf_slam_main.rst index a79c2737..5a23b4c8 100644 --- a/docs/modules/slam/ekf_slam/ekf_slam.rst +++ b/docs/modules/slam/ekf_slam/ekf_slam_main.rst @@ -581,7 +581,7 @@ reckoning and control functions are passed along here as well. New LM New LM -.. image:: ekf_slam/ekf_slam_1_0.png +.. image:: ekf_slam_1_0.png References: ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ diff --git a/docs/modules/slam/graph_slam/graphSLAM_SE2_example.rst b/docs/modules/slam/graph_slam/graphSLAM_SE2_example.rst index ef5d05bf..49132051 100644 --- a/docs/modules/slam/graph_slam/graphSLAM_SE2_example.rst +++ b/docs/modules/slam/graph_slam/graphSLAM_SE2_example.rst @@ -44,7 +44,7 @@ The Dataset -.. image:: graph_slam/graphSLAM_SE2_example_files/graphSLAM_SE2_example_4_0.png +.. image:: graphSLAM_SE2_example_files/graphSLAM_SE2_example_4_0.png Each edge in this dataset is a constraint that compares the measured @@ -122,7 +122,7 @@ dataset and plot them. -.. image:: graph_slam/graphSLAM_SE2_example_files/graphSLAM_SE2_example_8_0.png +.. image:: graphSLAM_SE2_example_files/graphSLAM_SE2_example_8_0.png .. code:: ipython3 @@ -131,7 +131,7 @@ dataset and plot them. -.. image:: graph_slam/graphSLAM_SE2_example_files/graphSLAM_SE2_example_9_0.png +.. image:: graphSLAM_SE2_example_files/graphSLAM_SE2_example_9_0.png Optimization @@ -165,7 +165,7 @@ different data sources into a single optimization problem. 6 215.8405 -0.000000 -.. figure:: graph_slam/graphSLAM_SE2_example_files/Graph_SLAM_optimization.gif +.. figure:: graphSLAM_SE2_example_files/Graph_SLAM_optimization.gif .. code:: ipython3 @@ -173,7 +173,7 @@ different data sources into a single optimization problem. -.. image:: graph_slam/graphSLAM_SE2_example_files/graphSLAM_SE2_example_13_0.png +.. image:: graphSLAM_SE2_example_files/graphSLAM_SE2_example_13_0.png .. code:: ipython3 @@ -195,7 +195,7 @@ different data sources into a single optimization problem. -.. image:: graph_slam/graphSLAM_SE2_example_files/graphSLAM_SE2_example_15_0.png +.. image:: graphSLAM_SE2_example_files/graphSLAM_SE2_example_15_0.png .. code:: ipython3 @@ -204,5 +204,5 @@ different data sources into a single optimization problem. -.. image:: graph_slam/graphSLAM_SE2_example_files/graphSLAM_SE2_example_16_0.png +.. image:: graphSLAM_SE2_example_files/graphSLAM_SE2_example_16_0.png diff --git a/docs/modules/slam/graph_slam/graphSLAM_SE2_example_files/Graph_SLAM_optimization.gif b/docs/modules/slam/graph_slam/graphSLAM_SE2_example_files/Graph_SLAM_optimization.gif new file mode 100644 index 00000000..2fabeaaf Binary files /dev/null and b/docs/modules/slam/graph_slam/graphSLAM_SE2_example_files/Graph_SLAM_optimization.gif differ diff --git a/docs/modules/slam/graph_slam/graphSLAM_doc.rst b/docs/modules/slam/graph_slam/graphSLAM_doc.rst index 4367f770..52976048 100644 --- a/docs/modules/slam/graph_slam/graphSLAM_doc.rst +++ b/docs/modules/slam/graph_slam/graphSLAM_doc.rst @@ -142,7 +142,7 @@ created based on the information of the motion and the observation. -.. image:: graph_slam/graphSLAM_doc_files/graphSLAM_doc_2_0.png +.. image:: graphSLAM_doc_files/graphSLAM_doc_2_0.png .. parsed-literal:: @@ -157,7 +157,7 @@ created based on the information of the motion and the observation. -.. image:: graph_slam/graphSLAM_doc_files/graphSLAM_doc_2_2.png +.. image:: graphSLAM_doc_files/graphSLAM_doc_2_2.png In particular, the tasks are split into 2 parts, graph construction, and @@ -289,7 +289,7 @@ robot with 3DoF, namely, :math:`[x, y, \theta]^T` -.. image:: graph_slam/graphSLAM_doc_files/graphSLAM_doc_4_0.png +.. image:: graphSLAM_doc_files/graphSLAM_doc_4_0.png .. code:: ipython3 @@ -420,7 +420,7 @@ zero since :math:`x_j + d_j cos(\psi_j + \theta_j)` should equal -.. image:: graph_slam/graphSLAM_doc_files/graphSLAM_doc_9_1.png +.. image:: graphSLAM_doc_files/graphSLAM_doc_9_1.png Since the constraints equations derived before are non-linear, @@ -494,9 +494,9 @@ Similarly, :math:`B = \frac{\partial e_{ij}}{\partial \boldsymbol{x}_j}` -.. image:: graph_slam/graphSLAM_doc_files/graphSLAM_doc_11_1.png +.. image:: graphSLAM_doc_files/graphSLAM_doc_11_1.png -.. image:: graph_slam/graphSLAM_doc_files/graphSLAM_doc_11_2.png 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b/docs/modules/slam/graph_slam/graphSLAM_doc_files/graphSLAM_doc_9_1.png differ diff --git a/docs/modules/slam/graph_slam/graphSLAM_formulation.rst b/docs/modules/slam/graph_slam/graphSLAM_formulation.rst index 43f007e7..4978596c 100644 --- a/docs/modules/slam/graph_slam/graphSLAM_formulation.rst +++ b/docs/modules/slam/graph_slam/graphSLAM_formulation.rst @@ -70,7 +70,7 @@ Using Bayes’ rule, we can write this probability as since :math:`p(\mathcal{Z})` is a constant (albeit, an unknown constant) and we assume that :math:`p(\mathbf{p}_1, \ldots, \mathbf{p}_N)` is -uniformly distributed `PROBABILISTIC ROBOTICS`_. Therefore, we +uniformly distributed. Therefore, we can use Eq. :eq:`infomat` and and Eq. :eq:`bayes` to simplify the Graph SLAM optimization as follows: diff --git a/docs/modules/slam/graph_slam/graph_slam.rst b/docs/modules/slam/graph_slam/graph_slam_main.rst similarity index 78% rename from docs/modules/slam/graph_slam/graph_slam.rst rename to docs/modules/slam/graph_slam/graph_slam_main.rst index a1248a01..987eed38 100644 --- a/docs/modules/slam/graph_slam/graph_slam.rst +++ b/docs/modules/slam/graph_slam/graph_slam_main.rst @@ -13,9 +13,9 @@ The black stars are landmarks for graph edge generation. .. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/SLAM/GraphBasedSLAM/animation.gif -.. include:: graph_slam/graphSLAM_doc.rst -.. include:: graph_slam/graphSLAM_formulation.rst -.. include:: graph_slam/graphSLAM_SE2_example.rst +.. include:: graphSLAM_doc.rst +.. include:: graphSLAM_formulation.rst +.. include:: graphSLAM_SE2_example.rst References: ~~~~~~~~~~~ diff --git a/docs/modules/slam/iterative_closest_point_matching/iterative_closest_point_matching.rst b/docs/modules/slam/iterative_closest_point_matching/iterative_closest_point_matching_main.rst similarity index 100% rename from docs/modules/slam/iterative_closest_point_matching/iterative_closest_point_matching.rst rename to docs/modules/slam/iterative_closest_point_matching/iterative_closest_point_matching_main.rst diff --git a/docs/modules/slam/slam_main.rst b/docs/modules/slam/slam_main.rst index f4d10feb..86befa6e 100644 --- a/docs/modules/slam/slam_main.rst +++ b/docs/modules/slam/slam_main.rst @@ -5,9 +5,12 @@ SLAM Simultaneous Localization and Mapping(SLAM) examples -.. include:: iterative_closest_point_matching/iterative_closest_point_matching.rst -.. include:: ekf_slam/ekf_slam.rst -.. include:: FastSLAM1/FastSLAM1.rst -.. include:: FastSLAM2/FastSLAM2.rst -.. include:: graph_slam/graph_slam.rst +.. toctree:: + :maxdepth: 2 + :caption: Contents + iterative_closest_point_matching/iterative_closest_point_matching + ekf_slam/ekf_slam + FastSLAM1/FastSLAM1 + FastSLAM2/FastSLAM2 + graph_slam/graph_slam