Feat/sampling planner comparisons

[Kim-JeongHan]

Summary by CodeRabbit

• Documentation

  • Expanded README with detailed example comparisons for multiple planners (RRT-Connect, RRG, RRT*, PRM*, Informed RRT*), including side-by-side images, metrics, and performance notes.

• Examples

  • Enhanced example scripts with planning time measurements and statistics output.
  • Updated planner configuration parameters across multiple examples.

[coderabbitai]

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Run ID: b89c3883-5758-4349-bbb2-2b289077561d

📥 Commits

Reviewing files that changed from the base of the PR and between 230d3cb and 23ca328.

⛔ Files ignored due to path filters (9)

• docs/images/informed_rrt_star_example.png is excluded by !**/*.png
• docs/images/prm_example.png is excluded by !**/*.png
• docs/images/prm_star_example.png is excluded by !**/*.png
• docs/images/rrg_example.png is excluded by !**/*.png
• docs/images/rrt_connect_example.png is excluded by !**/*.png
• docs/images/rrt_example.png is excluded by !**/*.png
• docs/images/rrt_example2.png is excluded by !**/*.png
• docs/images/rrt_star_example.png is excluded by !**/*.png
• docs/images/rrt_star_opt_example.png is excluded by !**/*.png

📒 Files selected for processing (8)

• README.md
• examples/informed_rrt_star_example.py
• examples/prm_example.py
• examples/prm_star_example.py
• examples/rrg_example.py
• examples/rrt_connect_example.py
• examples/rrt_example.py
• examples/rrt_star_example.py

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📝 Walkthrough

Walkthrough

README documentation is expanded with detailed example comparison sections for five planners: RRT-Connect, RRG, RRT*, PRM*, and Informed RRT*. Example scripts across the codebase are updated to measure planning duration (RRT, RRT-Connect) and report algorithm statistics (RRG, PRM, PRM*). Planner configurations are tuned across multiple examples to optimize iteration budgets, radius scaling, and obstacle generation parameters.

Changes

Planner examples with metrics and configuration tuning

Layer / File(s)	Summary
Documentation with example comparisons README.md	"## Features" section removed. Detailed "Example comparison" subsections added for RRT-Connect, RRG, RRT*, PRM*, and Informed RRT*, each with side-by-side images, metric tables (iterations, path length, waypoints, planning time, node/edge counts), and explanatory text. Informed RRT* section substantially rewritten with enhanced comparison table and convergence behavior explanation.
Planning duration measurement infrastructure examples/rrt_example.py, examples/rrt_connect_example.py	Module-level import time added and time.perf_counter() wraps planning calls to measure duration. Planning time printed for both success and no-path cases. RRT-Connect obstacle generation updated from 40 box to 30 mixed obstacles; iteration budget reduced 5000→2000. Redundant inner imports removed.
Statistics and metrics reporting infrastructure examples/rrg_example.py, examples/prm_example.py, examples/prm_star_example.py	get_stats() calls added to fetch and print statistics key/value pairs under "Statistics:" header. RRG removes explicit GoalBiasedSampler import, updates radius_gain 0.8→2.5, enables path length printing. PRM* increases radius_gain 5.0→10.0. Statistics reported after planning concludes.
Algorithm-specific configuration optimization examples/rrt_star_example.py, examples/informed_rrt_star_example.py	RRT* configuration: max_iterations 5000→2000, radius_gain 1.0→5.0, adds return_first_solution=False. Informed RRT* configuration: max_iterations 5000→3000, radius_gain 0.4→1.0, adds return_first_solution=False, removes goal_tolerance.

Estimated code review effort

🎯 2 (Simple) | ⏱️ ~12 minutes

Possibly related PRs

• Kim-JeongHan/planning#6: Both PRs update README.md's RRT*/related planner documentation and examples/sections (adding/reorganizing RRT* content and visuals).
• Kim-JeongHan/planning#11: This PR's examples/prm_star_example.py changes (config tuning and stats printing) build directly on the PRM* implementation introduced in that PR.

✨ Finishing Touches

📝 Generate docstrings

• Create stacked PR
• Commit on current branch

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Commit unit tests in branch feat/sampling-planner-comparisons

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