Adds initial documentation with sphinxs.

.github/workflows/docs_pages.yaml

@@ -0,0 +1,69 @@
+name: Publish documentation
+on:
+  push:
+    tags: '*'
+    branches:
+      - main
+
+jobs:
+  build-docs:
+    runs-on: ubuntu-latest
+    steps:
+      #----------------------------------------------
+      #       check-out repo and set-up python
+      #----------------------------------------------
+      - name: Check out repository
+        uses: actions/checkout@v2
+      - name: Set up python
+        id: setup-python
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+      #----------------------------------------------
+      #  -----  install & configure poetry  -----
+      #----------------------------------------------
+      - name: Install Poetry
+        uses: snok/install-poetry@v1
+        with:
+          virtualenvs-create: true
+          virtualenvs-in-project: true
+          installer-parallel: true
+
+       #----------------------------------------------
+      #       load cached venv if cache exists
+      #----------------------------------------------
+      - name: Load cached venv
+        id: cached-poetry-dependencies
+        uses: actions/cache@v2
+        with:
+          path: .venv
+          key: venv-${{ runner.os }}-${{ steps.setup-python.outputs.python-version }}-${{ hashFiles('**/poetry.lock') }}
+      #----------------------------------------------
+      # install dependencies if cache does not exist
+      #----------------------------------------------
+      - name: Install dependencies
+        if: steps.cached-poetry-dependencies.outputs.cache-hit != 'true'
+        run: poetry install --with dev --no-interaction --no-root
+      #----------------------------------------------
+      # install your root project, if required
+      #----------------------------------------------
+      - name: Install library
+        run: poetry install --no-interaction
+      #----------------------------------------------
+      #              build documentation
+      #----------------------------------------------
+      # Runs a set of commands using the runners shell
+      - name: Build documentation
+        run: |
+          mkdir gh-pages
+          touch gh-pages/.nojekyll
+          cd docs/
+          poetry run sphinx-build -b html ./source _build
+          cp -r _build/* ../gh-pages/        
+
+      - name: Deploy documentation
+        if: ${{ github.event_name == 'push' }}
+        uses: JamesIves/[email protected]
+        with:
+          branch: gh-pages
+          folder: gh-pages

.pylintrc

@@ -426,6 +426,6 @@ valid-metaclass-classmethod-first-arg=mcs
 
 # Exceptions that will emit a warning when being caught. Defaults to
 # "Exception"
-overgeneral-exceptions=StandardError,
-                       Exception,
-                       BaseException
+overgeneral-exceptions=builtins.StandardError,
+                       builtins.Exception,
+                       builtins.BaseException

docs/.gitignore

@@ -0,0 +1 @@
+build

docs/Makefile

@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = source
+BUILDDIR      = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/make.bat

@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=source
+set BUILDDIR=build
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.https://www.sphinx-doc.org/
+	exit /b 1
+)
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd

docs/source/api.rst

@@ -0,0 +1,18 @@
+API
+========
+
+
+Common
+----------
+
+.. automodule:: mpscenes.common
+
+Obstacles
+----------
+
+.. automodule:: mpscenes.obstacles
+
+Goals
+----------
+
+.. automodule:: mpscenes.goals

docs/source/conf.py

@@ -0,0 +1,64 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# This file only contains a selection of the most common options. For a full
+# list see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+# import os
+# import sys
+# sys.path.insert(0, os.path.abspath('.'))
+
+
+# -- Project information -----------------------------------------------------
+
+project = 'mpscenes'
+copyright = '2022, Max Spahn'
+author = 'Max Spahn'
+
+
+# -- General configuration ---------------------------------------------------
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+   'sphinx.ext.duration',
+   'sphinx.ext.doctest',
+   'sphinx.ext.autodoc',
+   'sphinx.ext.autosummary',
+   'sphinx.ext.napoleon',
+   'sphinx.ext.viewcode',
+]
+
+autodoc_default_options = {
+        'members': True,
+        'undoc-members': False,
+        'member-order': 'groupwise'}
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = []
+
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = 'sphinx_rtd_theme'
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ['_static']
+

docs/source/getting_started.rst

@@ -0,0 +1,149 @@
+Getting started
+===============
+
+This is the guide to understand how motion planning components are defined in
+the package.
+
+Pre-requisites
+--------------
+
+- Python >=3.8
+- pip3
+
+Installation from pypi
+-----------------------
+
+The package is uploaded to pypi so you can install it using
+
+.. code:: bash
+
+   pip3 install mpscenes
+
+
+Installation from source
+-------------------------
+
+You first have to download the repository
+
+.. code:: bash
+
+   git clone [email protected]:maxspahn/motion_planning_scenes.git
+
+Then, you can install the package using pip as:
+
+.. code:: bash
+
+   pip3 install .
+
+The code can be installed in editible mode using
+
+.. code:: bash
+
+   pip3 install -e .
+
+Note that we recommend using poetry in this case.
+
+Optional: Installation with poetry
+------------------------------------
+
+If you want to use `poetry <https://python-poetry.org/docs/>`_, you have to install it
+first. See their webpage for instructions `docs <https://python-poetry.org/docs/>`_.
+
+.. code:: bash
+
+    poetry install
+
+The virtual environment is entered by
+
+.. code:: bash
+
+    poetry shell
+
+Inside the virtual environment you can access all the examples.
+
+Installing dependencies
+-----------------------
+
+Dependencies should be installed through pip or poetry, see below.
+
+Using pip, you can use
+
+.. code:: bash
+
+    pip3 install
+
+Using poetry
+
+.. code:: bash
+
+    poetry install
+
+
+Examples
+-----------
+
+Obstacles and goals are defined as dictionaries. You could potentially also load
+them in as yaml files, but the parsing is not part of this package. The examples
+will be based on python dicts.
+
+
+A simple spherical obstacle with radius can be constructed: 
+
+.. code:: python
+
+    config_dict = {
+        "type": "sphere",
+        "geometry": {
+          "position": [2.0, 2.0, 1.0],
+          "radius": 1.0,
+        },
+    }
+    obstacle_1 = SphereObstacle(
+      name="obstacle_1", content_dict=config_dict
+    )
+
+A box (cuboid) obstacle, that can be moved by robots, can be created as shown
+below. Note, that we specify the limits for randomization here.
+
+.. code:: python
+
+    config_dict = {
+        'type': 'box',
+        'geometry': {
+            'position' : [2.0, 0.0, 2.0],
+            'width': 0.2,
+            'height': 0.2,
+            'length': 0.2,
+        },
+        'movable': True,
+        'high': {
+             'position' : [5.0, 5.0, 1.0],
+            'width': 0.2,
+            'height': 0.2,
+            'length': 0.2,
+        },
+        'low': {
+            'position' : [0.0, 0.0, 0.5],
+            'width': 0.2,
+            'height': 0.2,
+            'length': 0.2,
+        }
+    }
+    obstacle_2 = BoxObstacle(
+      name="obstacle_2", content_dict=config_dict
+    )
+
+A dynamic obstacle can be defined as:
+
+.. code:: python
+
+    config_dict = {
+        "type": "sphere",
+        "geometry": {
+          "trajectory": ["2.0 - 0.1 * t", "-0.0", "0.1"],
+          "radius": 0.2
+        },
+    }
+    obstacle_3 = DynamicSphereObstacle(
+        name="obstacle_3", content_dict=config_dict
+    )

docs/source/index.rst

@@ -0,0 +1,21 @@
+.. mpscenes documentation master file, created by
+   sphinx-quickstart on Wed Dec  6 20:27:33 2023.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+Welcome to mpscenes's documentation!
+====================================
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Contents:
+
+   getting_started
+   api
+
+
+
+Indices and tables
+==================
+
+* :ref:`search`