cpp_robotics

Overview

This is a C++ repository containing various robotics related algorithms implemented in C++17.
I try my best to follow the clang-tidy guidelines. I believe that open-sourced codes are meant to be read more than they are meant to be coded. Hence I try to make an optimal use of the latest C++17 features, the STL libraries, and other open-sourced libraries that simplify the code.

Note: Codes for visualizing the algorithms are written in Python 3.7.
Note: Some codes for synthetic data generation are written in Python 3.7.

Table of Contents

Algorithms

• dijkstra: Graph based implementation of Dijkstra algorithm.
• a-star: Graph based implementation of A* algorithm.
• weighted_a-star: Graph based implementation of Weighted A* algorithm.
• ara-star: Coming Soon. # TODO
• ana-star: Coming Soon. # TODO
• rrt_2d: Graph based implementation of RRT algorithm in 2D workspace.
• kalman_filter: Linear algebra based implementation of basic 2D Kalman filter.
• other algorithms coming soon...

Supporting / Utility Packages

• graph_sandbox: Some random examples demonstrating graph creation using boost graph library.
• random_data: Some functions for efficient random data generation in the project.
• synthetic_data: Some functions for efficient synthetic data generation in the project.

Visualizations

Dijkstra Algorithm	A* Algorithm
A* Algorithm	Weighted A* Algorithm

ARA* Algorithm

ANA* Algorithm

RRT Algorithm

RRT Algorithm (with motion model)

Run Instructions

Each directory in the main project directory cpp_robotics contains a sub-project with its own CMakeLists.txt file.
The general process to run any project is following.
For Ubuntu:

# open the sub-project directory
cd ./<sub-project>

# view the CMakeLists.txt file of the sub-project
cat ./CMakeLists.txt

# make sure proper directories are included in the CMakeLists.txt file.
<use code editor of your preference to edit CMakeLists.txt>

# create a build directory
mkdir build

# open the build directory
cd build

# cmake the project in the build directory
cmake .. 

# make the cmake project
make -j4

# execute the generated executible file
./<executible file>

For Windows: I would recommend using an IDE that uses CMake for build process. Use the contents of the provided CMakeLists_Windows.txt file in the CMakeLists.txt file of your project generated by the IDE. Example IDE: CLion by Jetbrains, Visual Studio etc.