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 ../
31 There is basic RRT\* algorithm in `rrts.cc` file. To test different approaches
32 and upgrades to RRT, *extensions* are declared in `rrtext.h` and implemented in
33 `rrtextX.cc`, where `X` is the number of an extension.
35 ## Implemented extensions
36 There is a list of implemented extensions and what they include. The extension
37 number accomply to file `src/rrtextN.cc` where `N` is:
39 1. "cost" RS-M -- Reeds & Shepp (build), Matej's heur. (search).
40 2. "collision" [cute c2][] for collision detection,
41 3. "path optimization" Dijkstra algorithm,
42 4. "nn" 2D grid for nodes storage,
43 5. "cost" RS-E -- Reeds & Shepp (build), Euclidean (search),
44 6. "cost" RS-RS -- Reeds & Shepp (build), Reeds & Shepp (search),
45 7. "nn" 2D [K-d tree][] for nodes storage,
46 8. "nn" 3D [K-d tree][] for nodes storage,
47 9. "nn" 3D grid for nodes storage,
48 10. "cost" RS-H -- Reeds & Shepp (build), B-Spline paper (search)
49 11. "goal zone" gz -- Use drivable of libbcar to check if goal found.
50 12. "steer" -- Use random control input for `steer1`, use R&S for `steer2`.
51 13. "path optimization" -- Dijkstra algorithm, goal zone for interesting nodes.
53 [cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
54 [K-d tree]: https://en.wikipedia.org/wiki/K-d_tree
56 ## Compound extensions
57 There is a list of classes with reference to extensions used. The extensio
58 number accomply to class `RRTCEn` where `n` is:
60 1. cute, gz, Dijkstra, RS-M.
61 2. cute, gz, Dijkstra, RS-E.
62 3. cute, gz, Dijkstra, RS-RS.
63 4. RS-M, cute, 2D grid.
64 5. cute, 2D grid, RS-E.
65 6. cute, 2D grid, RS-RS.
66 7. cute, Dijkstra, 2D grid, RS-E.
67 8. cute, Dijkstra, 2D grid, RS-RS.
68 9. cute, Dijkstra, 2D grid, RS-M.
69 10. cute, Dijkstra, 2D tree, RS-RS.
70 11. cute, Dijkstra, 2D tree, RS-E.
71 12. cute, Dijkstra, 2D tree, RS-M.
72 13. cute, Dijkstra, 3D tree, RS-RS.
73 14. cute, Dijkstra, 3D tree, RS-M.
74 15. cute, Dijkstra, 3D grid, RS-RS.
75 16. cute, Dijkstra, 3D grid, RS-M.
76 17. cute, gz, Dijkstra, RS-H.
78 18. cute, gz, Dijkstra, 2D grid, RS-RS
79 19. cute, gz, Dijkstra, 2D grid, RS-E
80 20. cute, gz, Dijkstra, 2D grid, RS-M
81 21. cute, gz, Dijkstra, 2D grid, RS-H
83 22. cute, gz, Dijkstra, 2D tree, RS-RS
84 23. cute, gz, Dijkstra, 2D tree, RS-E
85 24. cute, gz, Dijkstra, 2D tree, RS-M
86 25. cute, gz, Dijkstra, 2D tree, RS-H
88 26. cute, gz, Dijkstra, 3D grid, RS-RS
89 27. cute, gz, Dijkstra, 3D grid, RS-E
90 28. cute, gz, Dijkstra, 3D grid, RS-M
91 29. cute, gz, Dijkstra, 3D grid, RS-H
93 30. cute, gz, Dijkstra, 3D tree, RS-RS
94 31. cute, gz, Dijkstra, 3D tree, RS-E
95 32. cute, gz, Dijkstra, 3D tree, RS-M
96 33. cute, gz, Dijkstra, 3D tree, RS-H
98 34. cute, gz, Dijkstra, 3D tree, RS-H, diff. steer
101 Use [OneFlow][3] branching model and keep the [changelog][4].
103 Write [great git commit messages][5]:
104 1. Separate subject from body with a blank line.
105 2. Limit the subject line to 50 characters.
106 3. Capitalize the subject line.
107 4. Do not end the subject line with a period.
108 5. Use the imperative mood in the subject line.
109 6. Wrap the body at 72 characters.
110 7. Use the body to explain what and why vs. how.
112 When adding feature or hotfix, use [Test-driven development (TDD)][2]:
113 1. Add tests to `ut` folder, add methods declaration, basic structure.
114 2. Run tests (just `make` in `build` folder), check that tests *fail*.
115 3. Implement functionality.
116 4. Run tests, check that tests *pass*.
119 [2]: https://en.wikipedia.org/wiki/Test-driven_development
120 [3]: https://www.endoflineblog.com/oneflow-a-git-branching-model-and-workflow
122 [5]: https://chris.beams.io/posts/git-commit/
125 The documentation is generated by Doxygen, at least version `1.8.15` is needed.
126 Just run `doxygen` in the project root directory.