CppRobotics
Cpp implementation of robotics algorithms including localization, path planning, path tracking and control, inspired by PythonRobotics and MotionPlanning.
📌Requirement
- CMake
- Eigen3
-
fmt
- for MPC convex optimization （alternative）
- CppAD & IPOPT
- osqp & osqp-eigen
Because this project uses matplotlib-cpp for visualization, you also need to ensure that you have Python3.x, and contain the following packages:
You can find install-tips for some third-party libraries here.
🛠Build
git clone [email protected]:PuYuuu/CppRobotics.git
cd CppRobotics
mkdir build && cd build
cmake ..
make -j6
Find all the executable files in $workspace/bin. By the way, all code development and debugging of this project are completed under WSL2. Currently, WSL2 natively supports GUI on Win10/Win11 without any configuration. For details, refer to gui-apps .
🎈Animations
Perception
PathPlanning
GlobalPlanner
Search_based Planning
Sampling_based Planning
LocalPlanner
CurvesGenerator
PathTracking
Control
🧾Licence
MIT
CppRobotics copied to clipboard
PuYuuu
PuYuuu