AtsushiSakai · AtsushiSakai · May 4, 2025 · May 4, 2025
diff --git a/...ear_wheel_feedback/rear_wheel_feedback.py → ...ck_control/rear_wheel_feedback_control.py b/...ear_wheel_feedback/rear_wheel_feedback.py → ...ck_control/rear_wheel_feedback_control.py
diff --git a/.../stanley_controller/stanley_controller.py → ...acking/stanley_control/stanley_control.py b/.../stanley_controller/stanley_controller.py → ...acking/stanley_control/stanley_control.py
diff --git a/docs/modules/10_inverted_pendulum/inverted_pendulum_main.rst b/docs/modules/10_inverted_pendulum/inverted_pendulum_main.rst
@@ -89,6 +89,12 @@ and :math:`P` is the unique positive definite solution to the discrete time
 
 .. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Control/InvertedPendulumCart/animation_lqr.gif
 
+Code Link
+^^^^^^^^^^^
+
+.. autofunction:: InvertedPendulum.inverted_pendulum_lqr_control.main
+
+
 MPC control
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~
 The MPC controller minimize this cost function defined as:
@@ -101,3 +107,9 @@ subject to:
 - Initial state
 
 .. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Control/InvertedPendulumCart/animation.gif
+
+Code Link
+^^^^^^^^^^^
+
+.. autofunction:: InvertedPendulum.inverted_pendulum_mpc_control.main
+
diff --git a/docs/modules/13_mission_planning/behavior_tree/behavior_tree_main.rst b/docs/modules/13_mission_planning/behavior_tree/behavior_tree_main.rst
@@ -5,7 +5,7 @@ Behavior Tree is a modular, hierarchical decision model that is widely used in r
 It present some similarities to hierarchical state machines with the key difference that the main building block of a behavior is a task rather than a state.
 Behavior Tree have been shown to generalize several other control architectures (https://ieeexplore.ieee.org/document/7790863)
 
-Core Concepts
+Code Link
 ~~~~~~~~~~~~~
 
 Control Node

diff --git a/docs/modules/13_mission_planning/state_machine/state_machine_main.rst b/docs/modules/13_mission_planning/state_machine/state_machine_main.rst
@@ -12,8 +12,8 @@ Core Concepts
 - **Action**: An operation executed during transition (before entering new state)
 - **Guard**: A precondition that must be satisfied to allow transition
 
-API
-~~~
+Code Link
+~~~~~~~~~~~
 
 .. autoclass:: MissionPlanning.StateMachine.state_machine.StateMachine
    :members: add_transition, process, register_state

diff --git a/docs/modules/6_path_tracking/cgmres_nmpc/cgmres_nmpc_main.rst b/docs/modules/6_path_tracking/cgmres_nmpc/cgmres_nmpc_main.rst
@@ -17,6 +17,11 @@ Nonlinear Model Predictive Control with C-GMRES
 .. figure:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/cgmres_nmpc/animation.gif
    :alt: gif
 
+Code Link
+~~~~~~~~~~~~
+
+.. autofunction:: PathTracking.cgmres_nmpc.cgmres_nmpc.NMPCControllerCGMRES
+
 Mathematical Formulation
 ~~~~~~~~~~~~~~~~~~~~~~~~
 

diff --git a/...tracking/lqr_speed_and_steering_control/lqr_speed_and_steering_control_main.rst b/...tracking/lqr_speed_and_steering_control/lqr_speed_and_steering_control_main.rst
@@ -7,7 +7,12 @@ Path tracking simulation with LQR speed and steering control.
 
 .. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/lqr_speed_steer_control/animation.gif
 
-`[Code Link] <https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathTracking/lqr_speed_steer_control/lqr_speed_steer_control.py>`_
+
+Code Link
+~~~~~~~~~~~~~~~
+
+.. autofunction:: PathTracking.lqr_speed_steer_control.lqr_speed_steer_control.lqr_speed_steering_control
+
 
 Overview
 ~~~~~~~~

diff --git a/docs/modules/6_path_tracking/lqr_steering_control/lqr_steering_control_main.rst b/docs/modules/6_path_tracking/lqr_steering_control/lqr_steering_control_main.rst
@@ -8,7 +8,11 @@ control.
 
 .. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/lqr_steer_control/animation.gif
 
-`[Code Link] <https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathTracking/lqr_steer_control/lqr_steer_control.py>`_
+Code Link
+~~~~~~~~~~~~~~~
+
+.. autofunction:: PathTracking.lqr_steer_control.lqr_steer_control.lqr_steering_control
+
 
 Overview
 ~~~~~~~~

diff --git a/...speed_and_steering_control/model_predictive_speed_and_steering_control_main.rst b/...speed_and_steering_control/model_predictive_speed_and_steering_control_main.rst
@@ -5,13 +5,6 @@ Model predictive speed and steering control
 .. figure:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/model_predictive_speed_and_steer_control/animation.gif?raw=true
    :alt: Model predictive speed and steering control
 
-   Model predictive speed and steering control
-
-code:
-
-`PythonRobotics/model_predictive_speed_and_steer_control.py at master ·
-AtsushiSakai/PythonRobotics <https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py>`__
-
 This is a path tracking simulation using model predictive control (MPC).
 
 The MPC controller controls vehicle speed and steering base on
@@ -22,6 +15,12 @@ This code uses cvxpy as an optimization modeling tool.
 -  `Welcome to CVXPY 1.0 — CVXPY 1.0.6
    documentation <http://www.cvxpy.org/>`__
 
+Code Link
+~~~~~~~~~~~~~~~
+
+.. autofunction:: PathTracking.model_predictive_speed_and_steer_control.model_predictive_speed_and_steer_control.iterative_linear_mpc_control
+
+
 MPC modeling
 ~~~~~~~~~~~~
 

diff --git a/...e_control/move_to_a_pose_control_main.rst → ...ng/move_to_a_pose/move_to_a_pose_main.rst b/...e_control/move_to_a_pose_control_main.rst → ...ng/move_to_a_pose/move_to_a_pose_main.rst
@@ -3,7 +3,13 @@ Move to a Pose Control
 
 In this section, we present the logic of PathFinderController that drives a car from a start pose (x, y, theta) to a goal pose. A simulation of moving to a pose control is presented below.
 
-.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/move_to_pose/animation.gif
+.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Control/move_to_pose/animation.gif
+
+Code Link
+~~~~~~~~~~~~~~~
+
+.. autofunction:: PathTracking.move_to_pose.move_to_pose.move_to_pose
+
 
 Position Control of non-Holonomic Systems
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

diff --git a/docs/modules/6_path_tracking/path_tracking_main.rst b/docs/modules/6_path_tracking/path_tracking_main.rst
@@ -16,4 +16,4 @@ Path tracking is the ability of a robot to follow the reference path generated b
    lqr_speed_and_steering_control/lqr_speed_and_steering_control
    model_predictive_speed_and_steering_control/model_predictive_speed_and_steering_control
    cgmres_nmpc/cgmres_nmpc
-   move_to_a_pose_control/move_to_a_pose_control
+   move_to_a_pose/move_to_a_pose
diff --git a/docs/modules/6_path_tracking/pure_pursuit_tracking/pure_pursuit_tracking_main.rst b/docs/modules/6_path_tracking/pure_pursuit_tracking/pure_pursuit_tracking_main.rst
@@ -9,6 +9,12 @@ speed control.
 The red line is a target course, the green cross means the target point
 for pure pursuit control, the blue line is the tracking.
 
+Code Link
+~~~~~~~~~~~~~~~
+
+.. autofunction:: PathTracking.pure_pursuit.pure_pursuit.pure_pursuit_steer_control
+
+
 Reference
 ~~~~~~~~~~~
 

diff --git a/..._path_tracking/rear_wheel_feedback_control/rear_wheel_feedback_control_main.rst b/..._path_tracking/rear_wheel_feedback_control/rear_wheel_feedback_control_main.rst
@@ -6,6 +6,12 @@ PID speed control.
 
 .. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/rear_wheel_feedback/animation.gif
 
+Code Link
+~~~~~~~~~~~~~~~
+
+.. autofunction:: PathTracking.rear_wheel_feedback_control.rear_wheel_feedback_control.rear_wheel_feedback_control
+
+
 Reference
 ~~~~~~~~~~~
 -  `A Survey of Motion Planning and Control Techniques for Self-driving

diff --git a/docs/modules/6_path_tracking/stanley_control/stanley_control_main.rst b/docs/modules/6_path_tracking/stanley_control/stanley_control_main.rst
@@ -6,6 +6,12 @@ control.
 
 .. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathTracking/stanley_controller/animation.gif
 
+Code Link
+~~~~~~~~~~~~~~~
+
+.. autofunction:: PathTracking.stanley_control.stanley_control.stanley_control
+
+
 Reference
 ~~~~~~~~~~~
 

diff --git a/docs/modules/7_arm_navigation/n_joint_arm_to_point_control_main.rst b/docs/modules/7_arm_navigation/n_joint_arm_to_point_control_main.rst
@@ -11,3 +11,10 @@ plotting area.
 .. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/ArmNavigation/n_joint_arm_to_point_control/animation.gif
 
 In this simulation N = 10, however, you can change it.
+
+
+Code Link
+~~~~~~~~~~~~~~~
+
+.. autofunction:: ArmNavigation.n_joint_arm_to_point_control.n_joint_arm_to_point_control.main
+
diff --git a/docs/modules/7_arm_navigation/obstacle_avoidance_arm_navigation_main.rst b/docs/modules/7_arm_navigation/obstacle_avoidance_arm_navigation_main.rst
@@ -3,4 +3,9 @@ Arm navigation with obstacle avoidance
 
 Arm navigation with obstacle avoidance simulation.
 
-.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/ArmNavigation/arm_obstacle_navigation/animation.gif
+.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/ArmNavigation/arm_obstacle_navigation/animation.gif
+
+Code Link
+~~~~~~~~~~~~~~~
+
+.. autofunction:: ArmNavigation.arm_obstacle_navigation.arm_obstacle_navigation.main
diff --git a/docs/modules/7_arm_navigation/planar_two_link_ik_main.rst b/docs/modules/7_arm_navigation/planar_two_link_ik_main.rst
@@ -11,6 +11,12 @@ This is a interactive simulation.
 
 You can set the goal position of the end effector with left-click on the plotting area.
 
+Code Link
+~~~~~~~~~~~~~~~
+
+.. autofunction:: ArmNavigation.two_joint_arm_to_point_control.two_joint_arm_to_point_control.main
+
+
 Inverse Kinematics for a Planar Two-Link Robotic Arm
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 

diff --git a/...navigation/drone_3d_trajectory_following/drone_3d_trajectory_following_main.rst b/...navigation/drone_3d_trajectory_following/drone_3d_trajectory_following_main.rst
@@ -4,3 +4,8 @@ Drone 3d trajectory following
 This is a 3d trajectory following simulation for a quadrotor.
 
 .. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/AerialNavigation/drone_3d_trajectory_following/animation.gif
+
+Code Link
+~~~~~~~~~~~~~~~
+
+.. autofunction:: AerialNavigation.drone_3d_trajectory_following.drone_3d_trajectory_following.quad_sim
diff --git a/...ules/8_aerial_navigation/rocket_powered_landing/rocket_powered_landing_main.rst b/...ules/8_aerial_navigation/rocket_powered_landing/rocket_powered_landing_main.rst
@@ -1,6 +1,14 @@
 Rocket powered landing
 -----------------------------
 
+.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/AerialNavigation/rocket_powered_landing/animation.gif
+
+Code Link
+~~~~~~~~~~~~~~~
+
+.. autofunction:: AerialNavigation.rocket_powered_landing.rocket_powered_landing.main
+
+
 Simulation
 ~~~~~~~~~~
 

diff --git a/docs/modules/9_bipedal/bipedal_planner/bipedal_planner_main.rst b/docs/modules/9_bipedal/bipedal_planner/bipedal_planner_main.rst
@@ -4,3 +4,8 @@ Bipedal Planner
 Bipedal Walking with modifying designated footsteps
 
 .. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/Bipedal/bipedal_planner/animation.gif
+
+Code Link
+~~~~~~~~~~~~~~~
+
+.. autofunction:: Bipedal.bipedal_planner.bipedal_planner.BipedalPlanner
diff --git a/tests/test_rear_wheel_feedback.py b/tests/test_rear_wheel_feedback.py
@@ -1,5 +1,5 @@
 import conftest  # Add root path to sys.path
-from PathTracking.rear_wheel_feedback import rear_wheel_feedback as m
+from PathTracking.rear_wheel_feedback_control import rear_wheel_feedback_control as m
 
 
 def test1():

diff --git a/tests/test_stanley_controller.py b/tests/test_stanley_controller.py
@@ -1,5 +1,5 @@
 import conftest  # Add root path to sys.path
-from PathTracking.stanley_controller import stanley_controller as m
+from PathTracking.stanley_control import stanley_control as m
 
 
 def test1():