This is a motion planning library implemented in c++ and cuda, with integration of ROS.
motion_planning/
|-- include/
| |-- motion_planning/
| |-- map.h
| |-- robot.h
| |-- motion_planner.h
| |-- algorithms/
| |-- base_algorithm.h
| |-- a_star.h
| |-- rrt.h
| |-- cuda/
| |-- base_algorithm_cuda.h
| |-- a_star_cuda.h
|-- src/
| |-- map.cpp
| |-- robot.cpp
| |-- motion_planner.cpp
| |-- algorithms/
| |-- base_algorithm.cpp
| |-- a_star.cpp
| |-- rrt.cpp
| |-- cuda/
| |-- base_algorithm_cuda.cu
| |-- a_star_cuda.cu
|-- tests/
| |-- map_test.cpp
| |-- robot_test.cpp
| |-- motion_planner_test.cpp
|-- CMakeLists.txt
|-- package.xml
|-- README.md