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`.
52 [cute c2]: https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
53 [K-d tree]: https://en.wikipedia.org/wiki/K-d_tree
55 ## Compound extensions
56 There is a list of classes with reference to extensions used. The extensio
57 number accomply to class `RRTCEn` where `n` is:
59 1. cute, gz, Dijkstra, RS-M.
60 2. cute, gz, Dijkstra, RS-E.
61 3. cute, gz, Dijkstra, RS-RS.
62 4. RS-M, cute, 2D grid.
63 5. cute, 2D grid, RS-E.
64 6. cute, 2D grid, RS-RS.
65 7. cute, Dijkstra, 2D grid, RS-E.
66 8. cute, Dijkstra, 2D grid, RS-RS.
67 9. cute, Dijkstra, 2D grid, RS-M.
68 10. cute, Dijkstra, 2D tree, RS-RS.
69 11. cute, Dijkstra, 2D tree, RS-E.
70 12. cute, Dijkstra, 2D tree, RS-M.
71 13. cute, Dijkstra, 3D tree, RS-RS.
72 14. cute, Dijkstra, 3D tree, RS-M.
73 15. cute, Dijkstra, 3D grid, RS-RS.
74 16. cute, Dijkstra, 3D grid, RS-M.
75 17. cute, gz, Dijkstra, RS-H.
77 18. cute, gz, Dijkstra, 2D grid, RS-RS
78 19. cute, gz, Dijkstra, 2D grid, RS-E
79 20. cute, gz, Dijkstra, 2D grid, RS-M
80 21. cute, gz, Dijkstra, 2D grid, RS-H
82 22. cute, gz, Dijkstra, 2D tree, RS-RS
83 23. cute, gz, Dijkstra, 2D tree, RS-E
84 24. cute, gz, Dijkstra, 2D tree, RS-M
85 25. cute, gz, Dijkstra, 2D tree, RS-H
87 26. cute, gz, Dijkstra, 3D grid, RS-RS
88 27. cute, gz, Dijkstra, 3D grid, RS-E
89 28. cute, gz, Dijkstra, 3D grid, RS-M
90 29. cute, gz, Dijkstra, 3D grid, RS-H
92 30. cute, gz, Dijkstra, 3D tree, RS-RS
93 31. cute, gz, Dijkstra, 3D tree, RS-E
94 32. cute, gz, Dijkstra, 3D tree, RS-M
95 33. cute, gz, Dijkstra, 3D tree, RS-H
97 34. cute, gz, Dijkstra, 3D tree, RS-H, diff. steer
100 Use [OneFlow][3] branching model and keep the [changelog][4].
102 Write [great git commit messages][5]:
103 1. Separate subject from body with a blank line.
104 2. Limit the subject line to 50 characters.
105 3. Capitalize the subject line.
106 4. Do not end the subject line with a period.
107 5. Use the imperative mood in the subject line.
108 6. Wrap the body at 72 characters.
109 7. Use the body to explain what and why vs. how.
111 When adding feature or hotfix, use [Test-driven development (TDD)][2]:
112 1. Add tests to `ut` folder, add methods declaration, basic structure.
113 2. Run tests (just `make` in `build` folder), check that tests *fail*.
114 3. Implement functionality.
115 4. Run tests, check that tests *pass*.
118 [2]: https://en.wikipedia.org/wiki/Test-driven_development
119 [3]: https://www.endoflineblog.com/oneflow-a-git-branching-model-and-workflow
121 [5]: https://chris.beams.io/posts/git-commit/
124 The documentation is generated by Doxygen, at least version `1.8.15` is needed.
125 Just run `doxygen` in the project root directory.