Python implementations of selected chapter projects from Planning Algorithms. Supporting Data Structures: Pointset, Polygon, Doubly Connected Edge List, Rigid Body, Kinematic Linkage, Voronoi Regions, Topological Identification, Bezier Curve

• Chapter 3: Geometric Representations and Transformations Rigid Body Rotation, Translation, and a kinematic chain
• Chapter 4: The Configuration Space 2D Manifolds, Configuration space data structures
• Chapter 5: Sampling-Based Motion Planning RRT, RDT, 2D collision detection with Voronoi Regions
• Chapter 6: Combinatorial Motion Planning Vertical Cell Decomposition

Rapidly exploring random tree
Rapidly exploring random tree with path optimization
Vertical cell decomposition roadmap