python example docs

MRPT · Jun 19, 2023 · 37f7543 · 37f7543
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diff --git a/doc/source/examples.rst b/doc/source/examples.rst
@@ -1,12 +1,14 @@
 .. _examples:
 
 ===============
-Code examples
+C++ examples
 ===============
 
 The source code for all these C++ examples can be found
 under `MRPT/samples <https://github.com/MRPT/mrpt/tree/develop/samples>`_.
-Python examples are under `MRPT/python-examples <https://github.com/MRPT/mrpt/tree/develop/python-examples>`_.
+
+Python examples are `here <python_examples.html>`_.
+
 
 .. toctree::
   :maxdepth: 1

diff --git a/doc/source/index.rst b/doc/source/index.rst
@@ -21,6 +21,7 @@ MRPT
   tutorials
   applications
   examples
+  python_examples
   wrappers
   supported-sensors
   unit_testing

diff --git a/doc/source/pymrpt_example_global_localization.rst b/doc/source/pymrpt_example_global_localization.rst
@@ -0,0 +1,15 @@
+.. _pyexample_global_localization:
+
+====================================================
+Python example: global_localization.py
+====================================================
+
+This example runs a MonteCarlo global localization
+algorithm for a robot from a dataset in .rawlog format.
+The adaptive particle filter algorithm has two implementations, 
+for 2D and 3D poses, or SE(2) or SE(3), respectively.
+
+
+.. literalinclude:: ../../python-examples/global_localization.py
+   :language: python
+   :linenos:
diff --git a/doc/source/pymrpt_example_hwdriver_tao_imu_usb.rst b/doc/source/pymrpt_example_hwdriver_tao_imu_usb.rst
@@ -0,0 +1,18 @@
+.. _pyexample_hwdriver_tao_imu_usb:
+
+====================================================
+Python example: hwdriver-tao-imu-usb.py
+====================================================
+
+This example shows how to read a Taobotics USB IMU
+with the pymrpt hwdrivers module.
+
+.. raw:: html
+
+    <iframe width="560" height="315" src="https://www.youtube.com/embed/qaaP9BmZYmo" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen>
+    </iframe>
+
+
+.. literalinclude:: ../../python-examples/hwdriver-tao-imu-usb.py
+   :language: python
+   :linenos:
diff --git a/doc/source/pymrpt_example_lines-3d-geometry-example.rst b/doc/source/pymrpt_example_lines-3d-geometry-example.rst
@@ -0,0 +1,11 @@
+.. _pyexample_lines-3d-geometry-example:
+
+====================================================
+Python example: lines-3d-geometry-example.py
+====================================================
+
+This example illustrates some geometry functions:
+
+.. literalinclude:: ../../python-examples/lines-3d-geometry-example.py
+   :language: python
+   :linenos:
diff --git a/doc/source/pymrpt_example_rbpf_slam.rst b/doc/source/pymrpt_example_rbpf_slam.rst
@@ -0,0 +1,12 @@
+.. _pyexample_rbpf_slam:
+
+====================================================
+Python example: rbpf_slam.py
+====================================================
+
+This example shows how to build a metric map using 
+the RBPF-SLAM algorithm:
+
+.. literalinclude:: ../../python-examples/rbpf_slam.py
+   :language: python
+   :linenos:
diff --git a/doc/source/pymrpt_example_se2-poses-example.rst b/doc/source/pymrpt_example_se2-poses-example.rst
@@ -0,0 +1,12 @@
+.. _pyexample_se2-poses-example:
+
+====================================================
+Python example: se2-poses-example.py
+====================================================
+
+Example usage of SE(2) poses, for transformations
+in the plane (x,y,phi):
+
+.. literalinclude:: ../../python-examples/se2-poses-example.py
+   :language: python
+   :linenos:
diff --git a/doc/source/pymrpt_example_se3-poses-example.rst b/doc/source/pymrpt_example_se3-poses-example.rst
@@ -0,0 +1,12 @@
+.. _pyexample_se3-poses-example:
+
+====================================================
+Python example: se3-poses-example.py
+====================================================
+
+Example usage of SE(3) poses, for transformations
+in the space (x,y,z,yaw,pitch,roll):
+
+.. literalinclude:: ../../python-examples/se3-poses-example.py
+   :language: python
+   :linenos:
diff --git a/doc/source/python_examples.rst b/doc/source/python_examples.rst
@@ -0,0 +1,21 @@
+.. _python_examples:
+
+=================
+Python examples
+=================
+
+The source code for all these Python examples can be found
+under `MRPT/python-examples <https://github.com/MRPT/mrpt/tree/develop/python-examples>`_.
+
+C++ examples are `here <examples.html>`_.
+
+
+.. toctree::
+  :maxdepth: 1
+
+  pymrpt_example_global_localization.rst
+  pymrpt_example_hwdriver_tao_imu_usb.rst
+  pymrpt_example_lines-3d-geometry-example.rst
+  pymrpt_example_rbpf_slam.rst
+  pymrpt_example_se2-poses-example.rst
+  pymrpt_example_se3-poses-example.rst
diff --git a/python-examples/global_localization.py b/python-examples/global_localization.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 # ---------------------------------------------------------------------
-# Install python3-mrpt, or test with a local build with:
+# Install python3-pymrpt, ros-$ROS_DISTRO-mrpt2, or test with a local build with:
 # export PYTHONPATH=$HOME/code/mrpt/build-Release/:$PYTHONPATH
 # ---------------------------------------------------------------------
 

diff --git a/python-examples/hwdriver-tao-imu-usb.py b/python-examples/hwdriver-tao-imu-usb.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 # ---------------------------------------------------------------------
-# Install python3-mrpt, or test with a local build with:
+# Install python3-pymrpt, ros-$ROS_DISTRO-mrpt2, or test with a local build with:
 # export PYTHONPATH=$HOME/code/mrpt/build-Release/:$PYTHONPATH
 # ---------------------------------------------------------------------
 

diff --git a/python-examples/lines-3d-geometry-example.py b/python-examples/lines-3d-geometry-example.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 # ---------------------------------------------------------------------
-# Install python3-mrpt, or test with a local build with:
+# Install python3-pymrpt, ros-$ROS_DISTRO-mrpt2, or test with a local build with:
 # export PYTHONPATH=$HOME/code/mrpt/build-Release/:$PYTHONPATH
 # ---------------------------------------------------------------------
 

diff --git a/python-examples/se2-poses-example.py b/python-examples/se2-poses-example.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 # ---------------------------------------------------------------------
-# Install python3-mrpt, or test with a local build with:
+# Install python3-pymrpt, ros-$ROS_DISTRO-mrpt2, or test with a local build with:
 # export PYTHONPATH=$HOME/code/mrpt/build-Release/:$PYTHONPATH
 # ---------------------------------------------------------------------
 

diff --git a/python-examples/se3-poses-example.py b/python-examples/se3-poses-example.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 # ---------------------------------------------------------------------
-# Install python3-mrpt, or test with a local build with:
+# Install python3-pymrpt, ros-$ROS_DISTRO-mrpt2, or test with a local build with:
 # export PYTHONPATH=$HOME/code/mrpt/build-Release/:$PYTHONPATH
 # ---------------------------------------------------------------------