Merge pull request #16 from mlsdpk/feature-sampling-planner

Add minimal versions of RRT and RRT-Star

Author: mlsdpk

.github/workflows/.travis.yml

@@ -26,7 +26,7 @@ jobs:
     - name: Install Dependencies
       run: |
         sudo apt-get update
-        sudo apt-get -y install libsfml-dev
+        sudo apt-get -y install libsfml-dev libboost-all-dev
 
     - name: Building
       run: |

CMakeLists.txt

@@ -11,6 +11,8 @@ include_directories(include/States/Algorithms/BFS)
 include_directories(include/States/Algorithms/DFS)
 include_directories(include/States/Algorithms/DIJKSTRA)
 include_directories(include/States/Algorithms/ASTAR)
+include_directories(include/States/Algorithms/RRT)
+include_directories(include/States/Algorithms/RRT_STAR)
 
 set(EXECUTABLE_NAME "main")
 
@@ -20,6 +22,7 @@ add_executable(${EXECUTABLE_NAME}
   src/State.cpp
   src/Gui.cpp
   src/States/Algorithms/Algorithm.cpp
+  src/States/Algorithms/SamplingBased.cpp
   src/States/Algorithms/Node.cpp
 )
 
@@ -43,18 +46,33 @@ add_library(astar
   src/States/Algorithms/ASTAR/ASTAR.cpp
 )
 
+add_library(rrt
+  src/States/Algorithms/RRT/RRT.cpp
+)
+
+add_library(rrt_star
+  src/States/Algorithms/RRT_STAR/RRT_STAR.cpp
+)
+
 # Find any version 2.X of SFML
 find_package(SFML 2.5.1 COMPONENTS system window graphics network audio)
+find_package(Boost COMPONENTS system filesystem REQUIRED)
 
-include_directories(${SFML_INCLUDE_DIRS})
+include_directories(${SFML_INCLUDE_DIRS} ${Boost_INCLUDE_DIR})
 
 target_link_libraries(${EXECUTABLE_NAME}
+  ${Boost_LIBRARIES}
   sfml-graphics
   sfml-window
   sfml-system
+)
+
+target_link_libraries(${EXECUTABLE_NAME}
   main_menu
   bfs
   dfs
   dijkstra
   astar
+  rrt
+	rrt_star
 )

README.md

@@ -4,7 +4,9 @@
 
 ## Overview
 
-A tool for visualizing numerous pathfinding algorithms. Current implementation of the project involves four search-based planning algorithms: BFS, DFS, DIJKSTRA and A-Star. The project extensively uses SFML and Modern C++ features such as smart pointers, lamda expressions along with multi-threading concepts.
+A tool for visualizing numerous pathfinding algorithms.
+
+Current implementation of the project involves four search-based planning algorithms: BFS, DFS, DIJKSTRA and A-Star, and two sampling-based planning algorithms: RRT and RRT*. The project extensively uses SFML and Modern C++ features such as smart pointers, lamda expressions along with multi-threading concepts.
 
 ![](figures/img1.gif)
 
@@ -97,7 +99,25 @@ The exact name of the packages may vary from distribution to distribution. Once
 
 ## TODO
 
+### Search-based planners
+- [x] BFS
+- [x] DFS
+- [x] DIJKSTRA
+- [x] A*
+- [ ] Bidirectional-A*
+- [ ] D*
+- [ ] LPA*
+
 ### Sampling-based planners
-- [ ] RRT
+- [x] RRT
 - [ ] RRT-Connect
-- [ ] RRT*
+- [x] RRT*
+- [ ] Informed-RRT*
+- [ ] FMT*
+- [ ] BIT*
+- [ ] ABIT*
+- [ ] AIT*
+
+## Related Publications
+- [RRT](https://www.cs.csustan.edu/~xliang/Courses/CS4710-21S/Papers/06%20RRT.pdf): Rapidly-exploring random trees: A new tool for path planning
+- [RRT*](https://journals.sagepub.com/doi/abs/10.1177/0278364911406761): Sampling-based algorithms for optimal motion planning

config/algorithms.ini

@@ -2,3 +2,5 @@ BFS
 DFS
 ASTAR
 DIJKSTRA
+RRT
+RRT_STAR

config/rrt.ini

@@ -0,0 +1,3 @@
+max_vertices: 2000
+delta_q: 0.05
+goal_radius: 0.1

config/rrt_star.ini

@@ -0,0 +1,5 @@
+max_vertices: 2000
+delta_q: 0.05
+rewireFactor: 1.1
+maxDistance: 0.1
+goal_radius: 0.1

figures/img1.gif

@@ -62,8 +62,7 @@ class DropDownList {
  public:
   // Constructor
   DropDownList(float x, float y, float width, float height, sf::Font* font,
-               std::string text, const std::vector<std::string>& algo_vec,
-               unsigned numOfElements, unsigned default_index = 0);
+               std::string text, const std::vector<std::string>& algo_vec);
 
   // Destructor
   ~DropDownList();

include/Gui.h

@@ -37,6 +37,7 @@ class ASTAR : public Algorithm {
   void updateNodes() override;
 
   // override render functions
+  void renderBackground() override;
   void renderNodes() override;
 
   // ASTAR algorithm function

include/States/Algorithms/ASTAR/ASTAR.h

@@ -82,14 +82,12 @@ class Algorithm : public State {
   void update(const float& dt) override;
   void render() override;
 
-  // New update functions
+  // New update & render functions
   void updateButtons();
-
-  // New render functions
-  void renderBackground();
   void renderButtons();
 
   // virtual functions
+  virtual void renderBackground() = 0;
   virtual void renderNodes() = 0;
   virtual void updateNodes() = 0;
   virtual void initAlgorithm() = 0;