Module visibility_road_map 

Visibility Road-Map path planning

Builds a graph by connecting start, goal, and expanded obstacle vertices that have line-of-sight to each other (no obstacle edge intersections), then searches the graph with Dijkstra’s algorithm.

Reference: PythonRobotics VisibilityRoadMap

Structs

ObstaclePolygon

A closed polygon obstacle.

VisibilityRoadMap

Visibility Road-Map planner.