CppPathPlanning

CppPathPlanning is a C++ library for robotics path planning, designed to be used on Linux systems, specifically Ubuntu 22.04. This library provides efficient and robust algorithms for path planning in robotic applications.

Features

Path planning algorithms

Requirements

• Ubuntu 22.04.4 LTS (Jammy Jellyfish)
• CMake 3.22.1
• GCC 11.4.0
• OpenCV 4.5.4
• GoogleTest 1.11.0-3
• Doxygen 1.9.1-2ubuntu2
• lcov

Dependencies installation

sudo apt update
sudo apt install doxygen lcov libgtest-dev libopencv-dev

Local Build

Standard build for development

mkdir build && cd build
cmake ..
make # use -j4 or whatever the number of cores you have to speed up build process
sudo make install # if you want to install on your system to be able to use find_package in your own CMake project

Build for testing and coverage

cmake -S . -B build -DCMAKE_BUILD_TYPE=Coverage
cmake --build build --config Coverage
cd build
ctest -T Test -T Coverage
lcov --capture --directory . --output-file coverage.info
lcov --remove coverage.info '/usr/*' --output-file coverage.info
genhtml coverage.info --output-directory coverage-report

Usage of CppPathPlanning in your CMake project

# CMakeLists.txt
find_package(CppPathPlanning REQUIRED)
add_executable(your_executable src/your_code.cpp)
target_link_libraries(your_executable PRIVATE CppPathPlanning::cpp_path_planning)

Note: You don't need to use target_include_directories for your target. The include directories are already configured correctly by the CppPathPlanning library.

License

MIT

Issues

For any questions or issues with the code, please create an issue.