C++ RRT (Rapidly-exploring Random Tree) implementation
This project contains an interactive RRT viewer. The source and destination points can be dragged with a mouse. Here's a screenshot:
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:
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
Run make in the main directory to build the rrt-viewer program and the test-runner program, which are placed in the build/ folder.
git submodule update --init
make
build/rrt-viewer
Here are some good resources for learning more about RRTs:
This project is licensed under the Apache License v2.0. See the LICENSE file for more information.