In addition to being a runnable CLI tool, D2 can also be used to produce diagrams from Go programs. For examples, see ./docs/examples/lib. This blog post also demos a complete, runnable example of ...

Based on ros2 humble and navigation2, this warehouse implements a global path planner based on Voronoi in nav2 to avoid obstacles, so that the robot can walk in a safer path.

Considering that the surface of a CAD model can be easily decomposed into a collection of surface patches, its 3D medial axis can be extracted by computing the Voronoi diagram of these surface patches ...