RRT-Path-Planning

Sample of a code that uses RRT to find a path in a specified domain (c++) along with a script that allows to visualize results (python)

User guide

In order to use the project directly from command line, one must follow the following steps:

• cd into the directory: $ cd RRT-Path-Planning/

• Compile the project: $ mkdir build && cd build && cmake .. && make -j4

• [Optional] Make visualization tools executable: $ cd .. $ chmod +x VisualizationTools/PlotResults.py

• Search a trajectory by running PathPlanning: $ ./build/PathPlanning/path_planning (overwrites the Tree.csv, Trajectory.csv and Obstacles.csv files)

• Plot Trajectory: $ VisualizationTools/PlotResults.py or, if you skipped the optional step: $ python VisualizationTools/PlotResults.py