planning-algorithms-cpp
Science Score: 57.0%
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Low similarity (8.3%) to scientific vocabulary
Last synced: 9 months ago
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Repository
Basic Info
- Host: GitHub
- Owner: fvlvivs
- License: mit
- Language: C++
- Default Branch: main
- Size: 401 KB
Statistics
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
- Releases: 0
Created over 2 years ago
· Last pushed almost 2 years ago
Metadata Files
Readme
License
Citation
README.md
Planning Algorithms C++
A small C++ template library for planning algorithms. It is not meant to be the most efficient one but to offer a simple and easy to understand implementation of the most common planning algorithms. Note that RDT (Random Dense Tree) implements the SMART algorithm version of RRT, which is a rapid convergence implementation.
Algorithms
- 2D Dijkstra / A*
- 3D Dijkstra / A*
- 2D RDT*
- 3D RDT*
Notable Features
- One code for 2D and 3D planning algorithms;
- representing system and obstacles as (convex) polytopes;
- collision detection using Separating Axis Theorem (SAT);
- generic metric functions.
Dependencies
- Eigen, a powerful C++ template library for linear algebra;
- Matplotplusplus, a simple to use plotting library for C++.
References
- Planning Algorithms, by Steven M. LaValle;
- Real Time Collision Detection, by Christer Ericson;
- RRT-SMART: A Rapid Convergence Implementation of RRT by Nasir J, Islam F, Malik U, et al.
License
This project is licensed under the MIT License.
Support
If you find this project useful, consider to star it on GitHub. If you use it in your projects, please cite it!
Examples
The examples folder contains a few examples on how to use the library.
- 2D Dijkstra
- 3D A*
- 2D RDT*
- 3D RDT*
Owner
- Name: Fulvio Di Luzio
- Login: fvlvivs
- Kind: user
- Location: Odense, Denmark
- Company: @cmrobotics
- Repositories: 1
- Profile: https://github.com/fvlvivs
Citation (CITATION.cff)
cff-version: 1.0.0 message: "If you use this software, please cite it as below." authors: - family-names: "Di Luzio" given-names: "Fulvio" title: "xi - Planning Algorithms: a C++ template library for motion planning" version: 1.0.0 date-released: 2023-12-22 url: "https://github.com/fvlvivs/xi-planning-algorithms" license: "MIT" keywords: - "planning" - "path planning" - "motion planning" - "robotics" - "c++" - "dijkstra" - "a*" - "rdt" - "rrt"