davidirobinson / sample-based-planners

Planning for a high-dof planar arm

Sample-Based Planners

Planning for a high-DOF planar arm with Probabilistic Roadmaps (PRMs) and Rapidly-Exploring Random Trees (RRTs)

Usage

Dependencies

• OpenCV (3.x)
• JsonCpp

Build

mkdir -p build && cd build/
cmake .. && make -j<#-cores>

Run

cd build/
./src/sample_based_planner -c ../config.json -m ../test/map_01.pgm -v