Revert "Alpysbpl"

.gitignore

@@ -7,7 +7,6 @@ __pycache__/
 
 # C extensions
 *.so
-*.cpp
 
 # Distribution / packaging
 .Python

README.md

@@ -1,29 +1,2 @@
 # pysbpl
-#### Forked from : https://github.com/poine/pysbpl
-#### Edits Made By: Schmittle
-
-Python3 bindings and utilities for SBPL ( Search Based Planning Library, see https://github.com/sbpl/sbpl ). Just the bindings for ARASTAR and EnvironmentNAVXYTHETALAT.
-
-
-## Install & Run
-1. Install [SBPL](https://github.com/sbpl/sbpl) from source.  
-2. Clone this repo  
-    ` git clone https://github.com/schmittlema/pysbpl.git` 
-3. Build. Feel free to remove user to make install system wide
-   - For Development: `pip install -e . --user`
-   - For Use: `pip install . --user`
-4. Test by running: `python3 examples/run_sbpl_xytheta.py`. 
-
-If everything worked a visualization should appear
-
-## To create new motion primitives
-See `pysbpl/gen_mprim.py`. Run with:  
-`python3 pysbpl/gen_mprim.py`  
-
-A test.mprim file should be created
-
-
-## Troubleshooting
-
-**I properly installed SBPL but pip install is saying it doesnt exist:** This is likely a path linking issue. Add the path to `libsbpl.so` (usually `/usr/share/lib`) to `$LD_LIBRARY_PATH`
-
+Python bindings and utilities for SBPL ( Search Based Planning Library, see https://github.com/sbpl/sbpl )

params/config.rviz

@@ -0,0 +1,229 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 934
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 0.699999988
+      Class: rviz/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: true
+      Name: CostMap
+      Topic: /costmap_node/costmap/costmap
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 0.699999988
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 25; 255; 0
+      Enabled: true
+      Head Diameter: 0.300000012
+      Head Length: 0.200000003
+      Length: 0.300000012
+      Line Style: Lines
+      Line Width: 0.0299999993
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.0299999993
+      Shaft Diameter: 0.100000001
+      Shaft Length: 0.100000001
+      Topic: /sbpl/path
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.100000001
+      Class: rviz/PoseWithCovariance
+      Color: 255; 25; 0
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.300000012
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Head Length: 0.150000006
+      Head Radius: 0.0500000007
+      Name: start
+      Shaft Length: 0.100000001
+      Shaft Radius: 0.0250000004
+      Shape: Arrow
+      Topic: /sbpl/start
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.100000001
+      Class: rviz/PoseWithCovariance
+      Color: 255; 255; 0
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.300000012
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Head Length: 0.150000006
+      Head Radius: 0.0500000007
+      Name: goal
+      Shaft Length: 0.100000001
+      Shaft Radius: 0.0250000004
+      Shape: Arrow
+      Topic: /sbpl/goal
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 2.78549194
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 1.15972805
+        Y: 0.555970073
+        Z: -0.193922952
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 1.29979599
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 4.24859142
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1246
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000437fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006600fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004300000437000000df00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000437fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000004300000437000000b800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009840000003efc0100000002fb0000000800540069006d00650100000000000009840000022400fffffffb0000000800540069006d00650100000000000004500000000000000000000006ff0000043700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 2436
+  X: 58
+  Y: 10