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Python implementation of the ORCA collision avoidance algorithm

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pyorca

pyorca is a Python implementation of the ORCA local collision avoidance algorithm, made from scratch.

pyorca.py and halfplaneintersect.py contain copious amounts of comments and notes regarding the implementations of their respective algorithms.

test.py contains a simple pygame-powered demo I used to test my implementation.

Todo

  • Implement the 3D LP fallback described in the paper.

License

Copyright (c) 2013 Mak Nazecic-Andrlon

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

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Python implementation of the ORCA collision avoidance algorithm

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