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GenNav \n\n[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)\n[![Build Status](https://travis-ci.org/ERC-BPGC/gennav.svg?branch=master)](https://travis-ci.org/ERC-BPGC/gennav)\n[![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/ERC-BPGC/gennav.svg?logo=lgtm\u0026logoWidth=18)](https://lgtm.com/projects/g/ERC-BPGC/gennav/context:python)\n[![Total alerts](https://img.shields.io/lgtm/alerts/g/ERC-BPGC/gennav.svg?logo=lgtm\u0026logoWidth=18)](https://lgtm.com/projects/g/ERC-BPGC/gennav/alerts/)\n[![Documentation Status](https://readthedocs.org/projects/gennav/badge/?version=latest)](https://gennav.readthedocs.io/en/latest/?badge=latest)\n\n**Status: Under Development**\n\nA python package for robot navigation algorithms.\n\n## Installation\n\nThe package is currently under development so we suggest installing from source.\n\n### From Source (Recommended)\n```bash\ngit clone https://github.com/ERC-BPGC/gennav.git\ncd gennav\npython -m pip install .\n```\n\n### Using pip\n```bash\npip install gennav\n```\n\n## Usage\n\nTo plan a path using the Rapidly-exploring random tree algorithm in a polygon based environment representation. \n\n```python\nfrom gennav.planners import RRT\nfrom gennav.envs import PolygonEnv\nfrom gennav.utils import RobotState\nfrom gennav.utils.geometry import Point\nfrom gennav.utils.samplers import UniformRectSampler\n\nobstacles = []  # obstacles can be added here\nenv = PolygonEnv()  # polygon environment to keep track of obstacles\nenv.update(obstacles)  # updating environment with obstacles\n\nsampler = UniformRectSampler(-5, 15, -5, 15)  # for sampling random states\nplanner = RRT(sampler=sampler, expand_dis=0.1)  # creating the planner\n\nstart = RobotState(position=Point(1, 1))  # starting state\ngoal = RobotState(position=Point(10, 10))  # goal state\n\npath, info_dict = planner.plan(start, goal, env)  # planning path through obstacles\n```\n\nNote that the environment have been left blank empty here, they should be updated as per use case.\n\nFor more details you can refer to our [documentation](https://gennav.readthedocs.io/en/latest/index.html).\n\n### ROS Integration\n\nIf you wish to use gennav in a ROS based stack, check out [gennav_ros](https://github.com/ERC-BPGC/gennav_ros).\n\n## Contributions\n\nContributions are always welcome. We reccomend you check out [contribution guidelines](./CONTRIBUTION.md) and view the [docs](https://gennav.readthedocs.io/en/latest/index.html) beforehand.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ferc-bpgc%2Fgennav","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Ferc-bpgc%2Fgennav","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ferc-bpgc%2Fgennav/lists"}