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Add base doc files
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‎.gitignore

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__pycache__/
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*.py[cod]
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*$py.class
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_build/
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.idea/
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# C extensions
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*.so

‎docs/Makefile

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# Minimal makefile for Sphinx documentation
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#
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# You can set these variables from the command line.
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SPHINXOPTS =
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SPHINXBUILD = sphinx-build
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SPHINXPROJ = PythonRobotics
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SOURCEDIR = .
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BUILDDIR = _build
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# Put it first so that "make" without argument is like "make help".
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help:
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@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
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.PHONY: help Makefile
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# Catch-all target: route all unknown targets to Sphinx using the new
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# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS).
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%: Makefile
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@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

‎docs/README.md

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## Python Robotics Documentation
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This folder contains documentation for the Python Robotics project.
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### Build the Documentation
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#### Install Sphinx and Theme
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```
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pip install sphinx sphinx-autobuild sphinx-rtd-theme
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```
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#### Building the Docs
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In the `docs/` folder:
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```
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make html
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```
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if you want to building each time a file is changed:
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```
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sphinx-autobuild . _build/html
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```

‎docs/conf.py

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# -*- coding: utf-8 -*-
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#
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# Configuration file for the Sphinx documentation builder.
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#
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# This file does only contain a selection of the most common options. For a
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# full list see the documentation:
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# http://www.sphinx-doc.org/en/master/config
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# -- Path setup --------------------------------------------------------------
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# If extensions (or modules to document with autodoc) are in another directory,
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# add these directories to sys.path here. If the directory is relative to the
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# documentation root, use os.path.abspath to make it absolute, like shown here.
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#
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import os
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# import sys
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# sys.path.insert(0, os.path.abspath('.'))
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# -- Project information -----------------------------------------------------
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project = 'PythonRobotics'
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copyright = '2018, Atsushi Sakai'
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author = 'Atsushi Sakai'
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# The short X.Y version
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version = ''
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# The full version, including alpha/beta/rc tags
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release = ''
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# -- General configuration ---------------------------------------------------
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# If your documentation needs a minimal Sphinx version, state it here.
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#
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# needs_sphinx = '1.0'
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# Add any Sphinx extension module names here, as strings. They can be
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# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
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# ones.
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extensions = [
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'sphinx.ext.autodoc',
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'sphinx.ext.mathjax',
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'sphinx.ext.viewcode',
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]
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# Add any paths that contain templates here, relative to this directory.
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templates_path = ['_templates']
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# The suffix(es) of source filenames.
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# You can specify multiple suffix as a list of string:
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#
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# source_suffix = ['.rst', '.md']
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source_suffix = '.rst'
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# The master toctree document.
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master_doc = 'index'
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# The language for content autogenerated by Sphinx. Refer to documentation
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# for a list of supported languages.
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#
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# This is also used if you do content translation via gettext catalogs.
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# Usually you set "language" from the command line for these cases.
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language = None
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# List of patterns, relative to source directory, that match files and
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# directories to ignore when looking for source files.
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# This pattern also affects html_static_path and html_extra_path .
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exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
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# The name of the Pygments (syntax highlighting) style to use.
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pygments_style = 'sphinx'
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# -- Options for HTML output -------------------------------------------------
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# The theme to use for HTML and HTML Help pages. See the documentation for
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# a list of builtin themes.
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#
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# Fix for read the docs
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on_rtd = os.environ.get('READTHEDOCS') == 'True'
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if on_rtd:
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html_theme = 'default'
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else:
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html_theme = 'sphinx_rtd_theme'
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# Theme options are theme-specific and customize the look and feel of a theme
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# further. For a list of options available for each theme, see the
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# documentation.
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#
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html_logo = '../icon.png'
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html_theme_options = {
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'display_version': False,
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}
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# Add any paths that contain custom static files (such as style sheets) here,
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# relative to this directory. They are copied after the builtin static files,
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# so a file named "default.css" will overwrite the builtin "default.css".
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html_static_path = ['_static']
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# Custom sidebar templates, must be a dictionary that maps document names
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# to template names.
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#
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# The default sidebars (for documents that don't match any pattern) are
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# defined by theme itself. Builtin themes are using these templates by
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# default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
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# 'searchbox.html']``.
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#
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# html_sidebars = {}
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# -- Options for HTMLHelp output ---------------------------------------------
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# Output file base name for HTML help builder.
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htmlhelp_basename = 'PythonRoboticsdoc'
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# -- Options for LaTeX output ------------------------------------------------
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latex_elements = {
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# The paper size ('letterpaper' or 'a4paper').
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#
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# 'papersize': 'letterpaper',
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# The font size ('10pt', '11pt' or '12pt').
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#
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# 'pointsize': '10pt',
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# Additional stuff for the LaTeX preamble.
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#
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# 'preamble': '',
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# Latex figure (float) alignment
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#
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# 'figure_align': 'htbp',
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}
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# Grouping the document tree into LaTeX files. List of tuples
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# (source start file, target name, title,
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# author, documentclass [howto, manual, or own class]).
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latex_documents = [
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(master_doc, 'PythonRobotics.tex', 'PythonRobotics Documentation',
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'Atsushi Sakai', 'manual'),
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]
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# -- Options for manual page output ------------------------------------------
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# One entry per manual page. List of tuples
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# (source start file, name, description, authors, manual section).
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man_pages = [
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(master_doc, 'pythonrobotics', 'PythonRobotics Documentation',
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[author], 1)
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]
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# -- Options for Texinfo output ----------------------------------------------
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# Grouping the document tree into Texinfo files. List of tuples
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# (source start file, target name, title, author,
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# dir menu entry, description, category)
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texinfo_documents = [
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(master_doc, 'PythonRobotics', 'PythonRobotics Documentation',
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author, 'PythonRobotics', 'One line description of project.',
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'Miscellaneous'),
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]
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# -- Extension configuration -------------------------------------------------

‎docs/getting_started.rst

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.. _getting_started:
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Getting Started
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===============
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Requirements
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-------------
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- Python 3.6.x
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- numpy
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- scipy
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- matplotlib
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- pandas
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- `cvxpy`_
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.. _cvxpy: http://www.cvxpy.org/en/latest/
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How to use
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----------
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1. Install the required libraries. You can use environment.yml with
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conda command.
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2. Clone this repo.
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3. Execute python script in each directory.
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4. Add star to this repo if you like it 😃.

‎docs/index.rst

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.. PythonRobotics documentation master file, created by
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sphinx-quickstart on Sat Sep 15 13:15:55 2018.
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You can adapt this file completely to your liking, but it should at least
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contain the root `toctree` directive.
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Welcome to PythonRobotics's documentation!
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==========================================
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Python codes for robotics algorithm.
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This is a Python code collection of robotics algorithms, especially for autonomous navigation.
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Features:
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1. Easy to read for understanding each algorithm's basic idea.
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2. Widely used and practical algorithms are selected.
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3. Minimum dependency.
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See this paper for more details:
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- `[1808.10703] PythonRobotics: a Python code collection of robotics
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algorithms`_ (`BibTeX`_)
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.. _`[1808.10703] PythonRobotics: a Python code collection of robotics algorithms`: https://arxiv.org/abs/1808.10703
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.. _BibTeX: https://github.com/AtsushiSakai/PythonRoboticsPaper/blob/master/python_robotics.bib
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.. toctree::
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:maxdepth: 2
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:caption: Guide
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getting_started
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modules/localization
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modules/mapping
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modules/slam
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Indices and tables
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==================
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* :ref:`genindex`
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* :ref:`modindex`
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* :ref:`search`

‎docs/make.bat

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@ECHO OFF
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pushd %~dp0
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REM Command file for Sphinx documentation
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if "%SPHINXBUILD%" == "" (
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set SPHINXBUILD=sphinx-build
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)
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set SOURCEDIR=.
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set BUILDDIR=_build
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set SPHINXPROJ=PythonRobotics
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if "%1" == "" goto help
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%SPHINXBUILD% >NUL 2>NUL
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if errorlevel 9009 (
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echo.
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echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
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echo.installed, then set the SPHINXBUILD environment variable to point
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echo.to the full path of the 'sphinx-build' executable. Alternatively you
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echo.may add the Sphinx directory to PATH.
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echo.
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echo.If you don't have Sphinx installed, grab it from
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echo.http://sphinx-doc.org/
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exit /b 1
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)
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%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
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goto end
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:help
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%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
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:end
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popd

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