robojackets / rrt

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

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:

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:

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.

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

License

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