This project aims to create an algorithm to allow safe, autonomous navigation for a single robot in an unknown environment.

As this simulator has evolved, it has become more like a library with many different features and types of simulation configurations available. The run_default.py file serves as a basic template for setting up and running a simulation. You can simply cd into the directory you cloned this repository to, then run:

python3 run_default.py --display-every-frame

This will run a basic simulation, similar to the original scenario this simulator was made for. You can run with the --help flag to see the command-line arguments available by default.

There are some (but not many) unit tests available in the testcode module. These can be run with python3 -m testcode.<test-file-name>. For example, to run the geometry unit tests in testcode/geometry_test.py, you would use:

python3 -m testcode.geometry_test

Use tabs, never spaces. Spaces can break the Cython compilation. Also, use Unix line endings.