C++ Boilerplate

Rapidly Exploring Random Tree Pathing Algorithm

A simple rapidly exploring random tree path algorithm implementation. Includes four classes: -RRTPath -Vertex -Map -Obstacle

The RRTPath class relies upon the map, vertex, and obstacle classes to function. It accepts a map, with or without obstacles, a starting location on the map, a goal location on the map, a distance that the RRT expands at each step, a distance that the RRT uses to check for collisions, and a radius for the goal. It returns the first path it finds (not always the most efficient) between the starting location and the goal as a list of x,y coordinate pairs.

Vertices are simple structures used by RRTPath to keep track of the RRT expansions and to rebuild the path from the start to the goal. They consist of an x,y coordinate location and a link to the vertex that preceded it.

The map class is a simple grid. The default size of the map is 10x10, but can be customized to any rectangular height and width. Maps can have obstacles or not.

Obstacles are defined by a location on the map and their radius.

Vertices are simple structs used by RRTPath to keep track of the RRT expansions and to rebuild the path from the start to the goal. They consist of an x,y coordinate location and a link to the vertex that preceded it.

Spreadsheets with backlog, iteration log, and work log available at: https://docs.google.com/spreadsheets/d/1GPpUz2nD-m0Ix3eE1D8XtdHuq6s90qdbppGDrRtQlEs/edit?usp=sharing

Standard install via command-line

git clone --recursive https://github.com/jeshoward/RRTPath
cd <path to repository>
mkdir build
cd build
cmake ..
make

Building for code coverage

sudo apt-get install lcov
cmake -D COVERAGE=ON -D CMAKE_BUILD_TYPE=Debug ../
make
make code_coverage

This generates a index.html page in the build/coverage sub-directory that can be viewed locally in a web browser.

Working with Eclipse IDE

Installation

In your Eclipse workspace directory (or create a new one), checkout the repo (and submodules)

mkdir -p ~/workspace
cd ~/workspace
git clone --recursive https://github.com/jeshoward/RRTPath

In your work directory, use cmake to create an Eclipse project for an [out-of-source build] of cpp-boilerplate

cd ~/workspace
mkdir -p boilerplate-eclipse
cd boilerplate-eclipse
cmake -G "Eclipse CDT4 - Unix Makefiles" -D CMAKE_BUILD_TYPE=Debug -D CMAKE_ECLIPSE_VERSION=4.7.0 -D CMAKE_CXX_COMPILER_ARG1=-std=c++14 ../cpp-boilerplate/

Import

Open Eclipse, go to File -> Import -> General -> Existing Projects into Workspace -> Select "boilerplate-eclipse" directory created previously as root directory -> Finish

Edit

Source files may be edited under the "[Source Directory]" label in the Project Explorer.

Build

To build the project, in Eclipse, unfold RRTPath project in Project Explorer, unfold Build Targets, double click on "all" to build all projects.

Running the demo

The demo can be found in main.cpp within the app source directory. To customize it you may set any of the variables in the customizable variables section at the top. map_height: The height of your rectangular map map_width: The width of your rectangular map start_x: the x coordinate of where you want your path to begin start_y: the y coordinate of where you want your path to begin goal_x: the x coordinate of your goal location goal_y: the y coordinate of your goal location step: how far you travel at each algorithm iteration. Smaller steps have more detail and may create a more efficient path, but take longer to run. radius: how near you need to be to the goal to "reach" it

Obstacles may be added to the map in the create obstacles here section. Simply create your obstacle(s) and then add them to the map as shown.

Your path is printed to the console at the conclusion of the demo.

In Eclipse, right click on the shell-app in Project Explorer in the app folder and select Run As -> Local C/C++ Application

Running the tests

In Eclipse, right click on cpp-test in Project Explorer in the test folder and select Run As -> Local C/C++ Application

Running cppcheck

To run cppcheck in Eclipse you can either right-click the app directory and select "cppcheck -> run cppcheck". To run cppcheck in the terminal "cppcheck -v --std=c++11 --enable=all -I include/ app/"

Running cpplint

Formatter for Eclipse IDE

The Google styleguide GitHub repository includes an xml file that can be imported into Eclipse. This is a limited usage of the style guide but it does help in being compliant with spacing for example:

1. Download the XML file (https://raw.githubusercontent.com/google/styleguide/gh-pages/eclipse-cpp-google-style.xml (Links to an external site.)). You can do this directly from command-line in your VM: wget https://raw.githubusercontent.com/google/styleguide/gh-pages/eclipse-cpp-google-style.xml (Links to an external site.)

2. Import styleguide in Eclipse *With Eclipse open, Window -> Preferences -> C/C++ -> Code Style -> Formatter *Click Import... navigate to the downloaded xml file, click OK *Active profile should now say "Google C++" *Click apply. *If you want to automatically run the formatter every time you save a file: C/C++ -> Editor -> Save Actions -> Check Format source code and select one of the options (all lines or just edited) *Click OK *To manually apply formatting, select lines to change, then Source -> Format

Code analysis with cpplint

Lint tools are a form of static code analysis (like cppcheck). Google's cpplint tool is a python script that identifies potential source code issues that are in conflict with the Google C++ style guide. This tool can be run before a version control commit, after you've written a new class, or following refactoring. Any issue found by cpplint will have a confidence score, 1-5, with 5 most certain. Note: cpp-boilerplate has a few errors right now.

To install and run from terminal:

1. wget https://raw.githubusercontent.com/google/styleguide/gh-pages/cpplint/cpplint.py (Links to an external site.)
2. Change permission to executable: chmod +x cpplint.py
3. cd
4. Run cpplint by typing

./cpplint.py --extensions=h,hpp,cpp $( find . -name *.h -or -name *.hpp -or -name *.cpp | grep -vE -e "^./build/" -e "^./vendor/" -e "^./CMakeFiles/")

Building doxygen documentation

Download the included doxygenconfig file in the repository. Type

doxygen -g doxygenconfig
doxygen doxygenconfig

Contributing

This implementation was an exercise in software engineering practices for the University of Maryland course ENPM808X - Software Development for Robotics. No contributions are particularly desired, though feel free to spiffy up the code for your own use.

• Google C++ Sytle

  To include and use Google C++ Style formatter in Eclipse

  1. In Eclipse, go to Window -> Preferences -> C/C++ -> Code Style -> Formatter. Import eclipse-cpp-google-style and apply.

  2. To use Google C++ style formatter, right click on the source code or folder in Project Explorer and choose Source -> Format

Licensing

The code in this project is licensed under GNU public license