Add "Code Link" sections and rename classes for consistency

This commit adds "Code Link" sections to documentation across various path planning modules, linking to relevant class and function APIs. Additionally, several class renaming changes were made, such as `Dijkstra` to `DijkstraPlanner` and `eta3_trajectory` to `Eta3SplineTrajectory`, to enhance naming consistency. Minor fixes include file restructuring and image renaming for the RRT module.

Author: AtsushiSakai

…nformedRRTStar/batch_informed_rrtstar.py …formedRRTStar/batch_informed_rrt_star.pyPathPlanning/BatchInformedRRTStar/batch_informed_rrtstar.py renamed to PathPlanning/BatchInformedRRTStar/batch_informed_rrt_star.py PathPlanning/BatchInformedRRTStar/batch_informed_rrtstar.py renamed to PathPlanning/BatchInformedRRTStar/batch_informed_rrt_star.py

@@ -12,7 +12,7 @@
 show_animation = True
 
 
-class Dijkstra:
+class DijkstraPlanner:
 
     def __init__(self, ox, oy, resolution, robot_radius):
         """
@@ -246,7 +246,7 @@ def main():
         plt.grid(True)
         plt.axis("equal")
 
-    dijkstra = Dijkstra(ox, oy, grid_size, robot_radius)
+    dijkstra = DijkstraPlanner(ox, oy, grid_size, robot_radius)
     rx, ry = dijkstra.planning(sx, sy, gx, gy)
 
     if show_animation:  # pragma: no cover

PathPlanning/Dijkstra/dijkstra.py

@@ -29,7 +29,7 @@ def __init__(self, actual_vel, max_vel):
         self.message = f'Actual velocity {actual_vel} does not equal desired max velocity {max_vel}!'
 
 
-class eta3_trajectory(Eta3Path):
+class Eta3SplineTrajectory(Eta3Path):
     """
     eta3_trajectory
 
@@ -300,8 +300,8 @@ def test1(max_vel=0.5):
         trajectory_segments.append(Eta3PathSegment(
             start_pose=start_pose, end_pose=end_pose, eta=eta, kappa=kappa))
 
-        traj = eta3_trajectory(trajectory_segments,
-                               max_vel=max_vel, max_accel=0.5)
+        traj = Eta3SplineTrajectory(trajectory_segments,
+                                    max_vel=max_vel, max_accel=0.5)
 
         # interpolate at several points along the path
         times = np.linspace(0, traj.total_time, 101)
@@ -334,8 +334,8 @@ def test2(max_vel=0.5):
         trajectory_segments.append(Eta3PathSegment(
             start_pose=start_pose, end_pose=end_pose, eta=eta, kappa=kappa))
 
-        traj = eta3_trajectory(trajectory_segments,
-                               max_vel=max_vel, max_accel=0.5)
+        traj = Eta3SplineTrajectory(trajectory_segments,
+                                    max_vel=max_vel, max_accel=0.5)
 
         # interpolate at several points along the path
         times = np.linspace(0, traj.total_time, 101)
@@ -400,8 +400,8 @@ def test3(max_vel=2.0):
         start_pose=start_pose, end_pose=end_pose, eta=eta, kappa=kappa))
 
     # construct the whole path
-    traj = eta3_trajectory(trajectory_segments,
-                           max_vel=max_vel, max_accel=0.5, max_jerk=1)
+    traj = Eta3SplineTrajectory(trajectory_segments,
+                                max_vel=max_vel, max_accel=0.5, max_jerk=1)
 
     # interpolate at several points along the path
     times = np.linspace(0, traj.total_time, 1001)

PathPlanning/Eta3SplineTrajectory/eta3_spline_trajectory.py

@@ -13,8 +13,15 @@ You can get different Beizer course:
 
 .. image:: Figure_2.png
 
+Code Link
+~~~~~~~~~~~~~~~
+
+.. autofunction:: PathPlanning.BezierPath.bezier_path.calc_4points_bezier_path
+
+
 Reference
+~~~~~~~~~~~~~~~
 
 -  `Continuous Curvature Path Generation Based on Bezier Curves for
    Autonomous
-   Vehicles <https://citeseerx.ist.psu.edu/document?repid=rep1&type=pdf&doi=b00b657c3e0e828c589132a14825e7119772003d>`
+   Vehicles <https://citeseerx.ist.psu.edu/document?repid=rep1&type=pdf&doi=b00b657c3e0e828c589132a14825e7119772003d>`__

docs/modules/5_path_planning/bezier_path/bezier_path_main.rst

@@ -105,8 +105,8 @@ The default spline degree is 3, so curvature changes smoothly.
 
 .. image:: interp_and_curvature.png
 
-API
-++++
+Code link
+++++++++++
 
 .. autofunction:: PathPlanning.BSplinePath.bspline_path.interpolate_b_spline_path
 
@@ -133,8 +133,8 @@ The default spline degree is 3, so curvature changes smoothly.
 
 .. image:: approx_and_curvature.png
 
-API
-++++
+Code Link
+++++++++++
 
 .. autofunction:: PathPlanning.BSplinePath.bspline_path.approximate_b_spline_path
 

docs/modules/5_path_planning/bspline_path/bspline_path_main.rst

@@ -5,4 +5,12 @@ This is a 2D planning with Bug algorithm.
 
 .. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/BugPlanner/animation.gif
 
+Code Link
+~~~~~~~~~~~~~~~
+
+.. autofunction:: PathPlanning.BugPlanning.bug.main
+
+Reference
+~~~~~~~~~~~~
+
 - `ECE452 Bug Algorithms <https://web.archive.org/web/20201103052224/https://sites.google.com/site/ece452bugalgorithms/>`_

docs/modules/5_path_planning/bugplanner/bugplanner_main.rst

@@ -88,8 +88,8 @@ Catmull-Rom Spline API
 
 This section provides an overview of the functions used for Catmull-Rom spline path planning.
 
-API
-++++
+Code Link
+++++++++++
 
 .. autofunction:: PathPlanning.Catmull_RomSplinePath.catmull_rom_spline_path.catmull_rom_point
 

docs/modules/5_path_planning/catmull_rom_spline/catmull_rom_spline_main.rst

@@ -73,6 +73,11 @@ The final clothoid path can be calculated with the path parameters and Fresnel i
         &y(s)=y_{0}+\int_{0}^{s} \sin \left(\frac{1}{2} \kappa^{\prime} \tau^{2}+\kappa \tau+\vartheta_{0}\right) \mathrm{d} \tau
         \end{aligned}
 
+Code Link
+~~~~~~~~~~~~~
+
+.. autofunction:: PathPlanning.ClothoidPath.clothoid_path_planner.generate_clothoid_path
+
 
 References
 ~~~~~~~~~~

docs/modules/5_path_planning/clothoid_path/clothoid_path_main.rst

@@ -8,6 +8,11 @@ This is a 2D grid based sweep coverage path planner simulation:
 
 .. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/GridBasedSweepCPP/animation.gif
 
+Code Link
++++++++++++++
+
+.. autofunction:: PathPlanning.GridBasedSweepCPP.grid_based_sweep_coverage_path_planner.planning
+
 Spiral Spanning Tree
 ~~~~~~~~~~~~~~~~~~~~
 
@@ -17,6 +22,14 @@ This is a 2D grid based spiral spanning tree coverage path planner simulation:
 .. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/SpiralSpanningTreeCPP/animation2.gif
 .. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/SpiralSpanningTreeCPP/animation3.gif
 
+Code Link
++++++++++++++
+
+.. autofunction:: PathPlanning.SpiralSpanningTreeCPP.spiral_spanning_tree_coverage_path_planner.main
+
+Reference
++++++++++++++
+
 - `Spiral-STC: An On-Line Coverage Algorithm of Grid Environments by a Mobile Robot <https://ieeexplore.ieee.org/abstract/document/1013479>`_
 
 
@@ -29,6 +42,14 @@ This is a 2D grid based wavefront coverage path planner simulation:
 .. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/WavefrontCPP/animation2.gif
 .. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/WavefrontCPP/animation3.gif
 
+Code Link
++++++++++++++
+
+.. autofunction:: PathPlanning.WavefrontCPP.wavefront_coverage_path_planner.wavefront
+
+Reference
++++++++++++++
+
 - `Planning paths of complete coverage of an unstructured environment by a mobile robot <https://pinkwink.kr/attachment/cfile3.uf@1354654A4E8945BD13FE77.pdf>`_
 
 

docs/modules/5_path_planning/coverage_path/coverage_path_main.rst

@@ -171,8 +171,8 @@ the second derivative by:
 
 These equations can be calculated by differentiating the cubic polynomial.
 
-API
-===
+Code Link
+==========
 
 This is the 1D cubic spline class API:
 
@@ -199,8 +199,8 @@ Curvature of each point can be also calculated analytically by:
 
 :math:`\kappa=\frac{y^{\prime \prime} x^{\prime}-x^{\prime \prime} y^{\prime}}{\left(x^{\prime2}+y^{\prime2}\right)^{\frac{2}{3}}}`
 
-API
-===
+Code Link
+==========
 
 .. autoclass:: PathPlanning.CubicSpline.cubic_spline_planner.CubicSpline2D
 	:members: