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:

• matplotlib
• numpy

You can find install-tips for some third-party libraries here.

🛠Build

git clone git@github.com: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

<div align=center> <table> <tr> <td><img src="./assets/images/ekf.gif" width="400"/></a></td> <td><img src="./assets/images/rectangle_fitting.gif" width="400"/></a></td> </tr> </table> </div>

PathPlanning

GlobalPlanner

Search_based Planning

<div align=center> <table> <tr> <td><img src="./assets/images/bfs.gif" width="400"/></a></td> <td><img src="./assets/images/dfs.gif" width="400"/></a></td> </tr> </table> </div> <div align=center> <table> <tr> <td><img src="./assets/images/dijkstra.gif" width="400"/></a></td> <td><img src="./assets/images/astar.gif" width="400"/></a></td> </tr> </table> </div> <div align=center> <table> <tr> <td><img src="./assets/images/astar-bidirectional.gif" width="400"/></a></td> <td><img src="./assets/images/hybrid_astar.gif" width="400"/></a></td> </tr> </table> </div> <div align=center> <table> <tr> <td><img src="./assets/images/hybrid_astar_trailer_0.gif" width="400"/></a></td> <td><img src="./assets/images/hybrid_astar_trailer.gif" width="400"/></a></td> </tr> </table> </div>

Sampling_based Planning

<div align=center> <table> <tr> <td><img src="./assets/images/rrt.gif" width="400"/></a></td> <td><img src="./assets/images/probabilistic_road_map.gif" width="400"/></a></td> </tr> </table> </div>

LocalPlanner

<div align=center> <table> <tr> <td><img src="./assets/images/dwa.gif" width="400"/></a></td> <td><img src="./assets/images/potential_field.gif" width="400"/></a></td> </tr> </table> </div> <div align=center> <table> <tr> <td><img src="./assets/images/lattice_planner.gif" width="400"/></a></td> <td><img src="./assets/images/lattice_planner_stopping.gif" width="400"/></a></td> </tr> </table> </div>

CurvesGenerator

<div align=center> <table> <tr> <td><img src="./assets/images/cubic.png" width="400"/></a></td> <td><img src="./assets/images/bspline.png" width="400"/></a></td> </tr> </table> </div> <div align=center> <table> <tr> <td><img src="./assets/images/dubins.gif" width="400"/></a></td> <td><img src="./assets/images/bezier.gif" width="400"/></a></td> </tr> </table> </div> <div align=center> <table> <tr> <td><img src="./assets/images/reeds_shepp.gif" width="400"/></a></td> <td><img src="./assets/images/frenet_optimal_traj.gif" width="400"/></a></td> </tr> </table> </div>

PathTracking

<div align=center> <table> <tr> <td><img src="./assets/images/pure_pursuit.gif" width="400"/></a></td> <td><img src="./assets/images/stanley.gif" width="400"/></a></td> </tr> </table> </div> <div align=center> <table> <tr> <td><img src="./assets/images/lqr-xy.gif" width="400"/></a></td> <td><img src="./assets/images/mpc.gif" width="400"/></a></td> </tr> </table> </div>

Control

<div align=center> <table> <tr> <td><img src="./assets/images/move_to_pose.gif" width="400"/></a></td> <td><img src="./assets/images/move_to_pose_robots.gif" width="400"/></a></td> </tr> </table> </div>

🧾Licence

MIT