2 RRTS is a C++ library with implementation of RRT\* planning algorithm.
5 The project is published under [GNU GPLv3][1].
10 To build the project run the following commands:
22 cmake -DCMAKE_BUILD_TYPE=Release -G Ninja ../
27 There is basic RRT\* algorithm in `rrts.cc` file. To test different approaches
28 and upgrades to RRT, *extensions* are declared in `rrtext.h` and implemented in
29 `rrtextX.cc`, where `X` is the number of an extension.
31 ## Implemented extensions
32 There is a list of implemented extensions and what they include:
33 - `rrtext2.cc`: [cute c2][] for collision detection,
34 - `rrtext1.cc`: different cost for building and searching.
36 [cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
39 Use [OneFlow][3] branching model and keep the [changelog][4].
41 Write [great git commit messages][5]:
42 1. Separate subject from body with a blank line.
43 2. Limit the subject line to 50 characters.
44 3. Capitalize the subject line.
45 4. Do not end the subject line with a period.
46 5. Use the imperative mood in the subject line.
47 6. Wrap the body at 72 characters.
48 7. Use the body to explain what and why vs. how.
50 When adding feature or hotfix, use [Test-driven development (TDD)][2]:
51 1. Add tests to `ut` folder, add methods declaration, basic structure.
52 2. Run tests (just `make` in `build` folder), check that tests *fail*.
53 3. Implement functionality.
54 4. Run tests, check that tests *pass*.
57 [2]: https://en.wikipedia.org/wiki/Test-driven_development
58 [3]: https://www.endoflineblog.com/oneflow-a-git-branching-model-and-workflow
60 [5]: https://chris.beams.io/posts/git-commit/
63 The documentation is generated by Doxygen, at least version `1.8.15` is needed.
64 Just run `doxygen` in the project root directory.