2 *I am car, too* puts together multiple libraries and run some automated parking
6 The project is published under [MIT License][1].
11 To build the project run the following commands:
23 cmake -DCMAKE_BUILD_TYPE=Release -G Ninja ../
28 - libjsoncpp-dev (`apt install libjsoncpp-dev`)
29 - [libpsp](http://rtime.felk.cvut.cz/gitweb/hubacji1/psp.git)
30 - [libbcar](http://rtime.felk.cvut.cz/gitweb/hubacji1/bcar.git)
31 - libpslot (part of libbcar repository)
32 - [librrts](http://rtime.felk.cvut.cz/gitweb/hubacji1/rrts.git)
36 Files in `src/` folder named `testX.cc` where `X` is integer are tests. All
37 tests expects JSON fromatted *scenario* on standard input and outputs JSON
38 formatted *plan* on standard output. Both, *scenario* and *plan* can be plotted
39 with `plot_json_objects_scenario.py` script.
41 ## JSON formatted *scenario*
42 The following properties are expected:
43 - `init`: list of 3 numbers (`x`, `y`, `heading`).
44 - `obst`: list of polygon obstacles, where polygon obstacle is list of
45 coordinates, and coordinate is a list of 2 numbers (`x`, `y`).
46 - `slot`: list of parking slots, where parking slot is a list of 4 coordinates,
47 and coordinate is a list of 2 numbers (`x`, `y`).
49 ## JSON formatted *plan*
50 The following properties are expected to extend *scenario* properties:
51 - `goal`: list of 3 numbers (`x`, `y`, `heading`).
52 - `goals`: list of possible goals `[(x, y, h), ...]`.
53 - `path`: list of poses, where pose is list of 3 numbers (`x`, `y`, `heading`).
55 ## JSON formatted *stats*
56 The following are expected in the output along with *plan*:
57 - `time`: elapsed time.
58 - `iterations`: number of iterations of algorithm.
60 - `cusps-in-path`: the number of nodes with direction change in path.
61 - `connecteds-in-path`: the number of nodes almost same (connected) in path.
62 - `nodes`: overall number of nodes.
65 There is a list of test files `src/testN.cc`, where `N` stands for:
67 1. *PSPlanner*: parking slot planner.
68 2. *RRTS*: rapidly-exploring random tree star.
69 3. *RRTExt2*: RRT\* w/[cute c2][] library for collision detection.
70 4. *RRTCE1*: cute, RS-heur.
71 5. *RRTCE2*: cute, RS-Euclid.
72 6. *RRTCE3*: cute, RS-RS.
73 7. *RRTS*: pure RRT\* run in 1 second interval multiple times.
74 8. *RRTCE5*: cute, grid, RS-Euclid.
75 9. *RRTCE7*: cute, grid, RS-Euclid, Dijkstra.
76 10. [behavior tree][] w/*RRTCE7*: cute, grid, RS-Euclid, Dijkstra.
77 11. *RRTCE4*: cute, grid, RS-heur.
78 12. *RRTCE6*: cute, grid, RS-RS.
79 13. *RRTCE8*: cute, grid, RS-RS, dijkstra (`ce8`).
80 14. *RRTCE9*: cute, grid, RS-heur, dijkstra (`ce9`).
81 15. *RRTCE10*: cute, Dijkstra, 2D k-d tree, RS-RS.
82 16. *RRTCE11*: cute, Dijkstra, 2D k-d tree, RS-Euclid.
83 17. *RRTCE12*: cute, Dijkstra, 2D k-d tree, RS-heur.
84 18. *RRTCE13*: cute, Dijkstra, 3D k-d tree, RS-RS.
85 19. *RRTCE14*: cute, Dijkstra, 3D k-d tree, RS-heur.
86 20. *RRTCE15*: cute, Dijkstra, 3D grid, RS-RS.
87 21. *RRTCE16*: cute, Dijkstra, 3D grid, RS-heur.
88 22. *RRTCE13*: psp, cute, Dijkstra, RS-RS, 3D tree.
89 23. *RRTCE14*: psp, cute, Dijkstra, RS-H, 3D tree.
90 24. *RRTCE15*: psp, cute, Dijkstra, RS-RS, 3D grid.
91 25. *RRTCE16*: psp, cute, Dijkstra, RS-H, 3D grid.
92 26. *RRTCE11*: psp, cute, Dijkstra, RS-E, 2D tree
93 27. *RRTCE7*: psp, cute, Dijkstra, RS-E, 2D grid
95 28. *RRTCE3*: psp, cute, RS-RS
96 29. *RRTCE2*: psp, cute, RS-E
97 30. *RRTCE1*: psp, cute, RS-H
98 31. *RRTCE17*: psp, cute, RS-B
100 32. *RRTCE18*: psp, cute, 2D grid, RS-RS
101 33. *RRTCE19*: psp, cute, 2D grid, RS-E
102 34. *RRTCE20*: psp, cute, 2D grid, RS-H
103 35. *RRTCE21*: psp, cute, 2D grid, RS-B
105 36. *RRTCE22*: psp, cute, 2D tree, RS-RS
106 37. *RRTCE23*: psp, cute, 2D tree, RS-E
107 38. *RRTCE24*: psp, cute, 2D tree, RS-H
108 39. *RRTCE25*: psp, cute, 2D tree, RS-B
110 40. *RRTCE26*: psp, cute, 3D grid, RS-RS
111 41. *RRTCE27*: psp, cute, 3D grid, RS-E
112 42. *RRTCE28*: psp, cute, 3D grid, RS-H
113 43. *RRTCE29*: psp, cute, 3D grid, RS-B
115 44. *RRTCE30*: psp, cute, 3D tree, RS-RS
116 45. *RRTCE31*: psp, cute, 3D tree, RS-E
117 46. *RRTCE32*: psp, cute, 3D tree, RS-H
118 47. *RRTCE33*: psp, cute, 3D tree, RS-B
120 Template for tests is in file `src/test-template.cc`.
122 [cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
123 [behavior tree]: https://github.com/arvidsson/BrainTree
126 Use [OneFlow][3] branching model and keep the [changelog][4].
128 Write [great git commit messages][5]:
129 1. Separate subject from body with a blank line.
130 2. Limit the subject line to 50 characters.
131 3. Capitalize the subject line.
132 4. Do not end the subject line with a period.
133 5. Use the imperative mood in the subject line.
134 6. Wrap the body at 72 characters.
135 7. Use the body to explain what and why vs. how.
137 When adding feature or hotfix, use [Test-driven development (TDD)][2]:
138 1. Add tests to `ut` folder, add methods declaration, basic structure.
139 2. Run tests (just `make` in `build` folder), check that tests *fail*.
140 3. Implement functionality.
141 4. Run tests, check that tests *pass*.
144 [2]: https://en.wikipedia.org/wiki/Test-driven_development
145 [3]: https://www.endoflineblog.com/oneflow-a-git-branching-model-and-workflow
147 [5]: https://chris.beams.io/posts/git-commit/
150 The documentation is generated by Doxygen, at least version `1.8.15` is needed.
151 Just run `doxygen` in the project root directory.