2 SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
4 SPDX-License-Identifier: GPL-3.0-only
7 Merged into http://rtime.felk.cvut.cz/gitweb/hubacji1/iamcar2.git
14 RRTS is a C++ library with implementation of RRT\* planning algorithm.
19 The project is published under [GNU GPLv3][1].
26 - `libbcar` (as submodule)
32 To build the project run the following commands:
43 cmake -DCMAKE_BUILD_TYPE=Release -G Ninja ../
49 Write [great git commit messages][5]:
51 1. Separate subject from body with a blank line.
52 2. Limit the subject line to 50 characters.
53 3. Capitalize the subject line.
54 4. Do not end the subject line with a period.
55 5. Use the imperative mood in the subject line.
56 6. Wrap the body at 72 characters.
57 7. Use the body to explain what and why vs. how.
59 [5]: https://chris.beams.io/posts/git-commit/
61 Use [git send-email][6]:
63 git config format.subjectPrefix "PATCH rrts"
64 git config sendemail.to "jiri.vlasak.2@cvut.cz"
66 [6]: https://git-send-email.io/
71 The documentation is generated by Doxygen, at least version `1.8.15` is needed.
72 Just run `doxygen` in the project root directory.
78 There is basic RRT\* algorithm in `rrts.cc` file. To test different approaches
79 and upgrades to RRT, _extensions_ are declared in `rrtext.hh` and implemented in
80 `src/rrtextN.cc`, where `N` is the number of an extension.
82 For more information, see the `incl/rrtext.hh` header file or the generated
85 RRT extensions are not to be used as the final planner. Instead, the _RRT*
86 planners_ declared in `incl/rrtsp.hh` are to be used as the final planner.