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doc/source/tutorial-motion-planning.rst

@@ -0,0 +1,46 @@
+.. _tutorial_motion_planning:
+
+############################
+Motion planning
+############################
+
+.. note::
+    For more advanced motion planning algorithms,
+    refer to the `selfdriving library <https://github.com/jlblancoc/selfdriving>`_.
+
+.. contents:: :local:
+
+1. Path planning for circular robots and 2D grid maps
+------------------------------------------------------
+The basic `value iteration algorithm <https://en.wikipedia.org/wiki/Markov_decision_process#Value_iteration>`_
+for searching shortest paths is implemented in MRPT for circular robots and obstacles described by means of 
+occupancy grids in the class `mrpt::nav::PlannerSimple2D <class_mrpt_nav_PlannerSimple2D.html>`_.
+
+The method comprises two steps:
+
+- Growth of the obstacles by the robot radius. This assure that just one single free cell is enough for the robot to move without collision.
+
+- The value iteration algorithm, starting at the source position, increase iteratively the area covered by shortest paths until the target cell is reached.
+Note that this is a very simple method, not suitable for robots with shapes very different from circular and/or moving in cluttered environments.
+For those cases, see the obstacle avoidance methods above.
+
+Using this planner requires declaring the gridmap, the mrpt::nav::PlannerSimple2D object, setting the robot radius,
+and invoking `mrpt::nav::PlannerSimple2D::computePath()`.
+See the complete example source code `here <page_nav_circ_robot_path_planning.html>`_.
+
+
+.. image:: images/nav_circ_robot_path_planning_screenshot.png
+   :align: right
+   :width: 300px
+
+
+2. RRT path planning
+--------------------------
+
+
+
+
+3. Obstacle avoidance (reactive navigation)
+------------------------------------------------
+
+See: https://www.mrpt.org/Obstacle_avoidance

doc/source/tutorials.rst

@@ -36,6 +36,12 @@ Note: This page is in the process of being imported from https://www.mrpt.org/tu
 
   page_tutorial_3D_scenes
 
+.. toctree::
+  :maxdepth: 2
+  :caption: Motion planning
+
+  tutorial-motion-planning
+
 .. toctree::
   :maxdepth: 2
   :caption: Maths, Geometry

samples/nav_circ_robot_path_planning/README.md

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+This example shows the use of the basic 2D path planning
+algorithm implemented in the mrpt-nav class [PlannerSimple2D](class_mrpt_nav_PlannerSimple2D.html).
+
+See also: [index of motion planning algorithms]()
+

samples/nav_rrt_planning_example/README.md

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+This example demonstrates how to install a custom OpenGL
+shader replacing one of MRPT default ones.
+
+In particular, the fragment shader is modified such that
+depth (raw depth, in opengl internal logarithmic scale)
+with respect to the eye is visualized as grayscale levels.
+