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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:
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.
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