Astar on CPP

This is a project used on Drone path planning. Followed by a path smoothing module based on Bezier Curve. Dynamic constraints are considered.

Dependencies:

1. OpenGL Mathematics (glm)

   This is just a mathematical library for 3D objects. I should have replaced it with a more commonly used library such like Eigen. If I have time, I will finish the transformation.

sudo apt-get libglm-dev

2. Plotly

   In /dataScripts there is a ready to use path visualization script written in R language with a 3D ploting library called Plotly.This library provides an interactive 3D data visualization result based on JavaScript.

   You can also generate a html version of the visualization making use of RStudio and the feature of Rmd.

R language beginner guides:

install R and ide:

• install r

sudo apt-get install r-base

• install RStudio

download r studio package

sudo dpkg -i rstudio*****.deb

The "****" part is different version number.

• configurate RStudio

  1. change Theme

  Tools -> Global Options -> Appearance -> Editor Theme

  2. auto completion

  Tools -> Global Options -> Code -> completion

  Set Completion Delay to 1 chr and 0 ms

  3. change CRAN source (increase the package download speed)

  Tools -> Global Options -> Packages -> Primary CRAN repository

  Change the repository to a server near you. (shanghai tongji is the nearest mirror, USTC mirror is the most stable one)

play with my script

My script is a Rmd script. It is just like a markdown script but it supports r language code blocks and you can click the little triangle on the right upper corner of each code block to run that chunk of code.

• Dependency: dependencies include following packages: tidyverse and plotly. To install them:

install.packages("tidyverse")
install.packages("plotly")

Then, run all of the chunks should be find. ctrl+alt+r runs all.