[pull] master from AtsushiSakai:master

.circleci/config.yml

@@ -1,21 +1,23 @@
 version: 2.1
 
 orbs:
-  python: circleci/python@0.2.1
+  python: circleci/python@1.4.0
 
 jobs:
   build_doc:
     docker:
-      - image: circleci/python:3.9
+      - image: cimg/python:3.13
     steps:
       - checkout
-      - python/load-cache
-      - python/install-deps
-      - python/save-cache
-      - run: pip install sphinx sphinx-autobuild sphinx-rtd-theme pytest
       - run:
-          command: cd docs;make html
           name: doc_build
+          command: |
+            python --version
+            python -m venv venv
+            . venv/bin/activate
+            pip install -r requirements/requirements.txt
+            pip install -r docs/doc_requirements.txt
+            cd docs;make html
       - store_artifacts:
           path: docs/_build/html/
           destination: html

.github/FUNDING.yml

@@ -1,4 +1,4 @@
 # These are supported funding model platforms
 github:  AtsushiSakai
 patreon: myenigma
-custom: https://www.paypal.me/myenigmapay/
+custom: https://www.paypal.com/paypalme/myenigmapay/

.github/ISSUE_TEMPLATE/bug_report.md

@@ -17,5 +17,6 @@ A clear and concise description of what you expected to happen.
 If applicable, add screenshots to help explain your problem.
 
 **Desktop (please complete the following information):**
- - Python version (This repo only supports Python 3.7.x or higher).
+ - Python version (This repo only supports Python 3.9.x or higher).
  - Each library version
+ - OS version

.github/dependabot.yml

@@ -1,8 +1,13 @@
 version: 2
 updates:
 - package-ecosystem: pip
-  directory: "/"
+  directory: "/requirements"
   schedule:
     interval: weekly
     time: "20:00"
   open-pull-requests-limit: 10
+
+- package-ecosystem: github-actions
+  directory: "/"
+  schedule:
+    interval: weekly

.github/pull_request_template.md

@@ -1,11 +1,7 @@
 <!-- 
 Thanks for contributing a pull request! 
-Please ensure that your PR satisfies the checklist before submitting:
-- [] This project only accept codes for python 3.9 or higher.
-- [] If you add a new algorithm sample code, please add a unit test file under `test` dir.
-     This sample test code might help you : https://github.com/AtsushiSakai/PythonRobotics/blob/master/tests/test_a_star.py
-- [] If you fix a bug of existing code please add a test function in the test code to show the issue was solved.
-- [] Please fix all issues on CI (All CI should be green), before code review.
+Please check this document before submitting:
+- [How to contribute](https://atsushisakai.github.io/PythonRobotics/modules/0_getting_started/3_how_to_contribute.html#adding-a-new-algorithm-example)
 
 Note that this is my hobby project; I appreciate your
 patience during the review process.
@@ -21,3 +17,8 @@ Again, thanks for contributing!
 
 #### Additional information
 <!--Any additional information you think is important.-->
+
+#### CheckList
+- [ ] Did you add an unittest for your new example or defect fix?
+- [ ] Did you add documents for your new example?
+- [ ] All CIs are green? (You can check it after submitting)

.github/workflows/Linux_CI.yml

@@ -1,50 +1,34 @@
 name: Linux_CI
 
-on: [push, pull_request]
+on:
+  push:
+    branches:
+      - master
+  pull_request:
 
 jobs:
   build:
 
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: ['3.9']
+        python-version: [ '3.13' ]
 
     name: Python ${{ matrix.python-version }} CI
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v5
     - run: git fetch --prune --unshallow
 
     - name: Setup python
-      uses: actions/setup-python@v2
+      uses: actions/setup-python@v6
       with:
         python-version: ${{ matrix.python-version }}
     - name: Install dependencies
       run: |
+        python --version
         python -m pip install --upgrade pip
-        python -m pip install -r requirements.txt
-    - name: install coverage
-      run: pip install coverage
-    - name: install mypy
-      run: pip install mypy
-    - name: install pycodestyle
-      run: pip install pycodestyle
-    - name: install pytest-xdist
-      run: pip install pytest-xdist
-    - name: mypy check
-      run: |
-        mypy -p AerialNavigation
-        mypy -p ArmNavigation
-        mypy -p Bipedal
-        mypy -p InvertedPendulumCart
-        mypy -p Localization
-        mypy -p Mapping
-        mypy -p PathPlanning
-        mypy -p PathTracking
-        mypy -p SLAM
-    - name: do diff style check
-      run: bash rundiffstylecheck.sh
+        python -m pip install -r requirements/requirements.txt
     - name: do all unit tests
       run: bash runtests.sh
 

.github/workflows/MacOS_CI.yml

@@ -4,53 +4,36 @@ name: MacOS_CI
 
 # Controls when the action will run. Triggers the workflow on push or pull request
 # events but only for the master branch
-on: [push, pull_request]
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+
 
 jobs:
   build:
-    runs-on: ubuntu-latest
+    runs-on: macos-latest
     strategy:
       matrix:
-        python-version: [ '3.9' ]
+        python-version: [ '3.13' ]
     name: Python ${{ matrix.python-version }} CI
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v5
       - run: git fetch --prune --unshallow
 
+      - name: Update bash
+        run: brew install bash
+
       - name: Setup python
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v6
         with:
           python-version: ${{ matrix.python-version }}
 
       - name: Install dependencies
         run: |
+          python --version
           python -m pip install --upgrade pip
-          pip install -r requirements.txt
-      - name: install coverage
-        run: pip install coverage
-      - name: install mypy
-        run: pip install mypy
-      - name: install pycodestyle
-        run: pip install pycodestyle
-      - name: install pytest-xdist
-        run: pip install pytest-xdist
-      - name: mypy check
-        run: |
-          mypy -p AerialNavigation
-          mypy -p ArmNavigation
-          mypy -p Bipedal
-          mypy -p InvertedPendulumCart
-          mypy -p Localization
-          mypy -p Mapping
-          mypy -p PathPlanning
-          mypy -p PathTracking
-          mypy -p SLAM
-      - name: do diff style check
-        run: bash rundiffstylecheck.sh
-
+          pip install -r requirements/requirements.txt
       - name: do all unit tests
         run: bash runtests.sh
-
-
-
-

.github/workflows/Windows_CI.yml

@@ -0,0 +1,36 @@
+# This is a basic workflow to help you get started with Actions
+
+name: Windows_CI
+
+# Controls when the action will run. Triggers the workflow on push or pull request
+# events but only for the master branch
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+
+
+jobs:
+  build:
+    runs-on: windows-latest
+    strategy:
+      matrix:
+        python-version: [ '3.13' ]
+    name: Python ${{ matrix.python-version }} CI
+    steps:
+      - uses: actions/checkout@v5
+      - run: git fetch --prune --unshallow
+
+      - name: Setup python
+        uses: actions/setup-python@v6
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      - name: Install dependencies
+        run: |
+          python --version
+          python -m pip install --upgrade pip
+          pip install -r requirements/requirements.txt
+      - name: do all unit tests
+        run: bash runtests.sh

.github/workflows/circleci-artifacts-redirector.yml

@@ -3,11 +3,12 @@ on: [status]
 jobs:
   circleci_artifacts_redirector_job:
     runs-on: ubuntu-latest
-    name: Run CircleCI artifacts redirector
+    name: Run CircleCI artifacts redirector!!
     steps:
       - name: run-circleci-artifacts-redirector
-        uses: larsoner/circleci-artifacts-redirector-action@0.2.0
+        uses: larsoner/circleci-artifacts-redirector-action@v1.3.1
         with:
           repo-token: ${{ secrets.GITHUB_TOKEN }}
+          api-token: ${{ secrets.CIRCLECI_TOKEN }}
           artifact-path: 0/html/index.html
           circleci-jobs: build_doc

.github/workflows/codeql.yml

@@ -2,6 +2,8 @@ name: "Code scanning - action"
 
 on:
   push:
+    branches:
+      - master
   pull_request:
   schedule:
     - cron: '0 19 * * 0'
@@ -14,15 +16,15 @@ jobs:
 
     steps:
     - name: Checkout repository
-      uses: actions/checkout@v2
+      uses: actions/checkout@v5
       with:
         # We must fetch at least the immediate parents so that if this is
         # a pull request then we can checkout the head.
         fetch-depth: 2
 
     # Initializes the CodeQL tools for scanning.
     - name: Initialize CodeQL
-      uses: github/codeql-action/init@v1
+      uses: github/codeql-action/init@v4
       with:
         config-file: ./.github/codeql/codeql-config.yml
       # Override language selection by uncommenting this and choosing your languages
@@ -32,7 +34,7 @@ jobs:
     # Autobuild attempts to build any compiled languages  (C/C++, C#, or Java).
     # If this step fails, then you should remove it and run the build manually (see below)
     - name: Autobuild
-      uses: github/codeql-action/autobuild@v1
+      uses: github/codeql-action/autobuild@v4
 
     # ℹ️ Command-line programs to run using the OS shell.
     # 📚 https://git.io/JvXDl
@@ -46,4 +48,4 @@ jobs:
     #   make release
 
     - name: Perform CodeQL Analysis
-      uses: github/codeql-action/analyze@v1
+      uses: github/codeql-action/analyze@v4

.github/workflows/gh-pages.yml

@@ -0,0 +1,30 @@
+name: GitHub Pages site update
+on:
+  push:
+    branches:
+    - master
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    permissions:
+      id-token: write
+      pages: write
+    steps:
+    - name: Setup python
+      uses: actions/setup-python@v6
+    - name: Checkout
+      uses: actions/checkout@master
+      with:
+        fetch-depth: 0 # otherwise, you will fail to push refs to dest repo
+    - name: Install dependencies
+      run: |
+        python --version
+        python -m pip install --upgrade pip
+        python -m pip install -r requirements/requirements.txt
+    - name: Build and Deploy
+      uses: sphinx-notes/pages@v3
+      with:
+        requirements_path: ./docs/doc_requirements.txt            

.gitignore

@@ -15,6 +15,7 @@ _build/
 # Distribution / packaging
 .Python
 env/
+venv/
 build/
 develop-eggs/
 dist/

AerialNavigation/drone_3d_trajectory_following/Quadrotor.py

@@ -56,7 +56,7 @@ def transformation_matrix(self):
             [[cos(yaw) * cos(pitch), -sin(yaw) * cos(roll) + cos(yaw) * sin(pitch) * sin(roll), sin(yaw) * sin(roll) + cos(yaw) * sin(pitch) * cos(roll), x],
              [sin(yaw) * cos(pitch), cos(yaw) * cos(roll) + sin(yaw) * sin(pitch)
               * sin(roll), -cos(yaw) * sin(roll) + sin(yaw) * sin(pitch) * cos(roll), y],
-             [-sin(pitch), cos(pitch) * sin(roll), cos(pitch) * cos(yaw), z]
+             [-sin(pitch), cos(pitch) * sin(roll), cos(pitch) * cos(roll), z]
              ])
 
     def plot(self):  # pragma: no cover

AerialNavigation/drone_3d_trajectory_following/__init__.py

@@ -1,4 +1,3 @@
-import os
 import sys
-
-sys.path.append(os.path.dirname(os.path.abspath(__file__)))
+import pathlib
+sys.path.append(str(pathlib.Path(__file__).parent))