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Author: omigeft

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 <h1 id="introduction">Introduction<a class="headerlink" href="#introduction" title="Permanent link">&para;</a></h1>
-<p><code>Python Motion Planning</code> repository provides the implementations of common <code>Motion planning</code> algorithms, including path planners on N-D grid, controllers for path-tracking, curve generators, a visualizer based on matplotlib and a toy physical simulator to test controllers.</p>
+<p><code>Python Motion Planning</code> repository provides the implementations of common <code>Motion planning</code> algorithms, including path planners on N-D grid, controllers for path-tracking, trajectory optimizers, a visualizer based on matplotlib and a toy physical simulator to test controllers.</p>
 <p><code>Motion planning</code> plans the state sequence of the robot without conflict between the start and goal. </p>
 <p><code>Motion planning</code> mainly includes <code>Path planning</code> and <code>Trajectory planning</code>.</p>
 <ul>
@@ -612,7 +612,7 @@ <h2 id="overview">Overview<a class="headerlink" href="#overview" title="Permanen
 <a id="__codelineno-0-13" name="__codelineno-0-13"></a><a href="#__codelineno-0-13"><span class="linenos" data-linenos="13 "></span></a>|   ├─sample_search
 <a id="__codelineno-0-14" name="__codelineno-0-14"></a><a href="#__codelineno-0-14"><span class="linenos" data-linenos="14 "></span></a>|   └─hybrid_search
 <a id="__codelineno-0-15" name="__codelineno-0-15"></a><a href="#__codelineno-0-15"><span class="linenos" data-linenos="15 "></span></a>└─traj_optimizer
-<a id="__codelineno-0-16" name="__codelineno-0-16"></a><a href="#__codelineno-0-16"><span class="linenos" data-linenos="16 "></span></a>|   └─curve_generator
+<a id="__codelineno-0-16" name="__codelineno-0-16"></a><a href="#__codelineno-0-16"><span class="linenos" data-linenos="16 "></span></a>    └─curve_generator
 </code></pre></div>
 <h2 id="install">Install<a class="headerlink" href="#install" title="Permanent link">&para;</a></h2>
 <p><em>(Optional)</em> The code was tested in python=3.10, though other similar versions should also work. We recommend using <code>conda</code> to install the dependencies.</p>