start cleanup of sampling-based chapter. added A*

RussTedrake · Apr 20, 2024 · 641bb6c · 641bb6c
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diff --git a/book/.tidy.config b/book/.tidy.config
@@ -626,7 +626,7 @@ new-empty-tags:
 # Default: no default value
 # Values: tagX, tagY, ...
 # See also: new-blocklevel-tags, new-empty-tags, new-pre-tags, custom-tags
-new-inline-tags: appendix, chapter, definition, drake, elib, example, exercise, jupyter, pysrc, pysrcinclude, sidenote, subsection, subsubsection, theorem, todo
+new-inline-tags: algorithm, appendix, chapter, definition, drake, elib, example, exercise, jupyter, pysrc, pysrcinclude, sidenote, subsection, subsubsection, theorem, todo
 
 # This option specifies new tags that are to be processed in exactly the same
 # way as the HTML <pre> element. This option takes a space or comma separated

diff --git a/book/htmlbook b/book/htmlbook
diff --git a/book/index.html b/book/index.html
@@ -480,22 +480,16 @@ <h1>Table of Contents</h1>
     </ul>
     <li><a href=policy_search.html#section5>Policy Iteration</a></li>
   </ul>
-  <li><a href="planning.html">Chapter 12: Motion Planning as
-Search</a></li>
+  <li><a href="planning.html">Chapter 12: Sampling-based motion planning</a></li>
   <ul>
-    <li><a href=planning.html#section1>Artificial Intelligence as Search</a></li>
-    <li><a href=planning.html#section2>Sampling-based motion planning</a></li>
+    <li><a href=planning.html#section1>Large-scale Incremental Search</a></li>
+    <li><a href=planning.html#section2>Probabilistic RoadMaps (PRMs)</a></li>
+    <li><a href=planning.html#section3>Rapidly-exploring Random Trees (RRTs)</a></li>
     <ul>
-      <li>Rapidly-Exploring Random Trees (RRTs)</li>
       <li>RRTs for robots with dynamics</li>
       <li>Variations and extensions</li>
-      <li>Discussion</li>
-    </ul>
-    <li><a href=planning.html#section3>Decomposition methods</a></li>
-    <li><a href=planning.html#section4>Planning as Combinatorial + Continuous Optimization</a></li>
-    <ul>
-      <li>Motion Planning on Graphs of Convex Sets (GCS)</li>
     </ul>
+    <li><a href=planning.html#section4>Decomposition methods</a></li>
     <li><a href=planning.html#section5>Exercises</a></li>
   </ul>
   <li><a href="feedback_motion_planning.html">Chapter 13: Feedback Motion