https://github.com/RoboJackets/rrt

C++ RRT (Rapidly-exploring Random Tree) Implementation
https://github.com/RoboJackets/rrt

c-plus-plus path-planning qt robocup robojackets robotics rrt small-size-league

Last synced: 9 months ago
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C++ RRT (Rapidly-exploring Random Tree) Implementation

• Host: GitHub
• URL: https://github.com/RoboJackets/rrt
• Owner: RoboJackets
• License: other
• Archived: true
• Created: 2014-02-04T02:13:39.000Z (almost 12 years ago)
• Default Branch: master
• Last Pushed: 2020-06-15T03:31:46.000Z (over 5 years ago)
• Last Synced: 2024-08-01T05:14:58.472Z (over 1 year ago)
• Topics: c-plus-plus, path-planning, qt, robocup, robojackets, robotics, rrt, small-size-league
• Language: C++
• Homepage:
• Size: 1.62 MB
• Stars: 250
• Watchers: 62
• Forks: 85
• Open Issues: 20
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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• awesome-robotic-tooling - rrt - C++ RRT (Rapidly-exploring Random Tree) implementation. (Planning and Control / Vector Map)
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README

          
# RRT [![CircleCI](https://circleci.com/gh/RoboJackets/rrt.svg?style=svg)](https://circleci.com/gh/RoboJackets/rrt)

C++ RRT (Rapidly-exploring Random Tree) implementation

## Interactive RRT Viewer

This project contains an interactive RRT viewer.  The source and destination points can be dragged with a mouse.  Here's a screenshot:

![Interactive RRT](doc/images/rrt-viewer-screenshot.png)

## Dependencies

The following are required in order to build this project:

* cmake >= 3.2.0

* Qt 5.5+

    - (The following dependencies are only needed for the rrt viewer)

    - QtDeclarative 5

    - QtQuick2.5+

    - QtQuick Controls

    - QtQuick Dialogs

* Eigen

* ninja

* ccache

* libflann-dev

* libboost-all-dev

To install all needed dependencies on Ubuntu 16.04, run:

```{.sh}

sudo apt-get -y install qt5-default libeigen3-dev g++ ninja-build cmake clang-format-3.6 ccache libflann-dev qtdeclarative5-dev qtdeclarative5-qtquick2-plugin qml-module-qtquick-{controls,dialogs} libboost-all-dev

```

## Building

Run `make` in the main directory to build the `rrt-viewer` program and the `test-runner` program, which are placed in the `build/` folder.

~~~{.sh}

git submodule update --init

make

build/rrt-viewer

~~~

## Resources

Here are some good resources for learning more about RRTs:

* http://msl.cs.uiuc.edu/rrt/

* [Wikipedia](http://en.wikipedia.org/wiki/Rapidly_exploring_random_tree)

* http://www.cs.cmu.edu/~15780/readings/02iros-errt.pdf

## License

This project is licensed under the Apache License v2.0.  See the [LICENSE](LICENSE) file for more information.