2 SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
4 SPDX-License-Identifier: GPL-3.0-only
10 RRTS is a C++ library with implementation of RRT\* planning algorithm.
15 The project is published under [GNU GPLv3][1].
22 - `libbcar` (as submodule)
28 To build the project run the following commands:
39 cmake -DCMAKE_BUILD_TYPE=Release -G Ninja ../
45 Write [great git commit messages][5]:
47 1. Separate subject from body with a blank line.
48 2. Limit the subject line to 50 characters.
49 3. Capitalize the subject line.
50 4. Do not end the subject line with a period.
51 5. Use the imperative mood in the subject line.
52 6. Wrap the body at 72 characters.
53 7. Use the body to explain what and why vs. how.
55 [5]: https://chris.beams.io/posts/git-commit/
60 The documentation is generated by Doxygen, at least version `1.8.15` is needed.
61 Just run `doxygen` in the project root directory.
67 There is basic RRT\* algorithm in `rrts.cc` file. To test different approaches
68 and upgrades to RRT, _extensions_ are declared in `rrtext.hh` and implemented in
69 `src/rrtextN.cc`, where `N` is the number of an extension.
71 For more information, see the `incl/rrtext.hh` header file or the generated
74 RRT extensions are not to be used as the final planner. Instead, the _RRT*
75 planners_ declared in `incl/rrtsp.hh` are to be used as the final planner.