-# I am car, too
-*I am car, too* puts together multiple libraries and run some automated parking
-tests.
+I am car, too
+=============
+
+__I am car, too__ puts together some libraries to run some tests on some
+scenarios.
+
+This project uses git submodules, run `git submodule update --init` when cloned.
+
+License
+-------
-# License
The project is published under [MIT License][1].
[1]: ./LICENSE
-# Build
+Build
+-----
+
To build the project run the following commands:
-```
-mkdir build
-cd build
-cmake ../
-make
-```
+
+ mkdir build
+ cd build
+ cmake ../
+ make
To build with ninja:
-```
-mkdir build
-cd build
-cmake -DCMAKE_BUILD_TYPE=Release -G Ninja ../
-ninja -v
-```
-
-## Required libraries
-- libjsoncpp-dev (`apt install libjsoncpp-dev`)
-- [libpsp](http://rtime.felk.cvut.cz/gitweb/hubacji1/psp.git)
- - [libbcar](http://rtime.felk.cvut.cz/gitweb/hubacji1/bcar.git)
- - libpslot (part of libbcar repository)
-- [librrts](http://rtime.felk.cvut.cz/gitweb/hubacji1/rrts.git)
- - libbcar (see above)
-
-# Tests
-Files in `src/` folder named `testX.cc` where `X` is integer are tests. All
-tests expects JSON fromatted *scenario* on standard input and outputs JSON
-formatted *plan* on standard output. Both, *scenario* and *plan* can be plotted
-with `plot_json_objects_scenario.py` script.
-
-## JSON formatted *scenario*
-The following properties are expected:
-- `init`: list of 3 numbers (`x`, `y`, `heading`).
-- `obst`: list of polygon obstacles, where polygon obstacle is list of
- coordinates, and coordinate is a list of 2 numbers (`x`, `y`).
-- `slot`: list of parking slots, where parking slot is a list of 4 coordinates,
- and coordinate is a list of 2 numbers (`x`, `y`).
-
-## JSON formatted *plan*
-The following properties are expected to extend *scenario* properties:
-- `goal`: list of 3 numbers (`x`, `y`, `heading`).
-- `goals`: list of possible goals `[(x, y, h), ...]`.
-- `path`: list of poses, where pose is list of 3 numbers (`x`, `y`, `heading`).
-
-## JSON formatted *stats*
-The following are expected in the output along with *plan*:
-- `time`: elapsed time.
-- `iterations`: number of iterations of algorithm.
-- `cost`: path cost.
-- `cusps-in-path`: the number of nodes with direction change in path.
-- `connecteds-in-path`: the number of nodes almost same (connected) in path.
-- `nodes`: overall number of nodes.
-
-## Test files
-There is a list of test files `src/testN.cc`, where `N` stands for:
-
-1. *PSPlanner*: parking slot planner.
-2. *RRTS*: rapidly-exploring random tree star.
-3. *RRTExt2*: RRT\* w/[cute c2][] library for collision detection.
-4. *RRTCE1*: cute, RS-heur.
-5. *RRTCE2*: cute, RS-Euclid.
-6. *RRTCE3*: cute, RS-RS.
-7. *RRTS*: pure RRT\* run in 1 second interval multiple times.
-8. *RRTCE5*: cute, grid, RS-Euclid.
-9. *RRTCE7*: cute, grid, RS-Euclid, Dijkstra.
-10. [behavior tree][] w/*RRTCE7*: cute, grid, RS-Euclid, Dijkstra.
-11. *RRTCE4*: cute, grid, RS-heur.
-12. *RRTCE6*: cute, grid, RS-RS.
-13. *RRTCE8*: cute, grid, RS-RS, dijkstra (`ce8`).
-14. *RRTCE9*: cute, grid, RS-heur, dijkstra (`ce9`).
-15. *RRTCE10*: cute, Dijkstra, 2D k-d tree, RS-RS.
-16. *RRTCE11*: cute, Dijkstra, 2D k-d tree, RS-Euclid.
-17. *RRTCE12*: cute, Dijkstra, 2D k-d tree, RS-heur.
-18. *RRTCE13*: cute, Dijkstra, 3D k-d tree, RS-RS.
-19. *RRTCE14*: cute, Dijkstra, 3D k-d tree, RS-heur.
-20. *RRTCE15*: cute, Dijkstra, 3D grid, RS-RS.
-21. *RRTCE16*: cute, Dijkstra, 3D grid, RS-heur.
-22. *RRTCE13*: psp, cute, Dijkstra, RS-RS, 3D tree.
-23. *RRTCE14*: psp, cute, Dijkstra, RS-M, 3D tree.
-24. *RRTCE15*: psp, cute, Dijkstra, RS-RS, 3D grid.
-25. *RRTCE16*: psp, cute, Dijkstra, RS-M, 3D grid.
-26. *RRTCE11*: psp, cute, Dijkstra, RS-E, 2D tree
-27. *RRTCE7*: psp, cute, Dijkstra, RS-E, 2D grid
-
-28. *RRTCE3*: psp, cute, RS-RS
-29. *RRTCE2*: psp, cute, RS-E
-30. *RRTCE1*: psp, cute, RS-M
-31. *RRTCE17*: psp, cute, RS-H
-
-32. *RRTCE18*: psp, cute, 2D grid, RS-RS
-33. *RRTCE19*: psp, cute, 2D grid, RS-E
-34. *RRTCE20*: psp, cute, 2D grid, RS-M
-35. *RRTCE21*: psp, cute, 2D grid, RS-H
-
-36. *RRTCE22*: psp, cute, 2D tree, RS-RS
-37. *RRTCE23*: psp, cute, 2D tree, RS-E
-38. *RRTCE24*: psp, cute, 2D tree, RS-M
-39. *RRTCE25*: psp, cute, 2D tree, RS-H
-
-40. *RRTCE26*: psp, cute, 3D grid, RS-RS
-41. *RRTCE27*: psp, cute, 3D grid, RS-E
-42. *RRTCE28*: psp, cute, 3D grid, RS-M
-43. *RRTCE29*: psp, cute, 3D grid, RS-H
-
-44. *RRTCE30*: psp, cute, 3D tree, RS-RS
-45. *RRTCE31*: psp, cute, 3D tree, RS-E
-46. *RRTCE32*: psp, cute, 3D tree, RS-M
-47. *RRTCE33*: psp, cute, 3D tree, RS-H
-
-48. *RRTCE34*: psp, cute, gz, Dijkstra, 3D tree, RS-H, diff. steer
-49. *RRTCE35*: psp, cute, gz, Dijkstra2, 3D tree, RS-H
-
-Template for tests is in file `src/test-template.cc`.
-
-[cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
-[behavior tree]: https://github.com/arvidsson/BrainTree
-
-# Contribute
-Use [OneFlow][3] branching model and keep the [changelog][4].
-
-Write [great git commit messages][5]:
-1. Separate subject from body with a blank line.
-2. Limit the subject line to 50 characters.
-3. Capitalize the subject line.
-4. Do not end the subject line with a period.
-5. Use the imperative mood in the subject line.
-6. Wrap the body at 72 characters.
-7. Use the body to explain what and why vs. how.
-
-When adding feature or hotfix, use [Test-driven development (TDD)][2]:
-1. Add tests to `ut` folder, add methods declaration, basic structure.
-2. Run tests (just `make` in `build` folder), check that tests *fail*.
-3. Implement functionality.
-4. Run tests, check that tests *pass*.
-5. Refactor.
-
-[2]: https://en.wikipedia.org/wiki/Test-driven_development
-[3]: https://www.endoflineblog.com/oneflow-a-git-branching-model-and-workflow
-[4]: ./CHANGELOG.md
-[5]: https://chris.beams.io/posts/git-commit/
-
-# Documentation
-The documentation is generated by Doxygen, at least version `1.8.15` is needed.
-Just run `doxygen` in the project root directory.
+
+ mkdir build
+ cd build
+ cmake -DCMAKE_BUILD_TYPE=Release -G Ninja ../
+ ninja -v
+
+Scenarios
+=========
+
+All the scenarios are in the directories named `scenarios-*`. Each scenario
+contains at least `init`, `slot`, and the list of `obst`acles.
+
+Tests
+=====
+
+Tests are build from within the cmake file. Tests are named `testN` where `N` is
+the test's identifier. All tests expects JSON fromatted scenario on standard
+input and outputs JSON that can vary, but at minimum contains `goal` computed
+for the parking `slot`, `path` from `init` to `goal` that avoid `obst`acles, if
+such a path exists, `goal_cc` (cumulative cost), and elapsed `time`.
+
+Input and/or otput of the tests can be plotted with
+`plot_json_objects_scenario.py` script.
+
+`src/` directory contains templates used to build tests.
projects / hubacji1 / iamcar2.git / commitdiff