From 1d9a6ee8e2ef7c919cac91a273ee3592cd25b92f Mon Sep 17 00:00:00 2001
From: nicewang <15051965381@163.com>
Date: Sat, 21 Sep 2024 04:33:45 +0800
Subject: [PATCH] cmt-20240921-4: some format

some format + edit readme
---
 README.md                               | 29 ++++++++++++++++++++++-
 monte_carlo_tree_search/CMakeLists.txt  | 31 ++++++++++++++++++-------
 monte_carlo_tree_search/README.md       | 29 ++++++++++++++++++++++-
 rapidly_exploring_random_tree/README.md | 26 ++++++++++++++++++++-
 4 files changed, 103 insertions(+), 12 deletions(-)

diff --git a/README.md b/README.md
index c7b6337..fdb117d 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,30 @@
 ## Robot Path Planning
 * [Monte Carlo Tree Search](monte_carlo_tree_search/README.md)
-* [Rapidly Exploring Random Tree (RRT)](rapidly_exploring_random_tree/README.md)
\ No newline at end of file
+* [Rapidly Exploring Random Tree (RRT)](rapidly_exploring_random_tree/README.md)
+
+### Appendix: Build & Run
+`CMakeList.txt` mainly for github workflows' building process.
+
+If you want to build manually using `CMakeList.txt`, use following commands:
+
+```shell
+# build
+mkdir build && cd build
+cmake ..
+make
+```
+
+Run:
+
+```shell
+# mcts
+./monte_carlo_tree_search/mcts.so
+# rrt
+./rapidly_exploring_random_tree/rrt.so
+```
+
+Clean:
+
+```shell
+make clean
+```
\ No newline at end of file
diff --git a/monte_carlo_tree_search/CMakeLists.txt b/monte_carlo_tree_search/CMakeLists.txt
index e5634ed..533f88b 100644
--- a/monte_carlo_tree_search/CMakeLists.txt
+++ b/monte_carlo_tree_search/CMakeLists.txt
@@ -29,20 +29,33 @@ add_compile_definitions(
     CONFIG_C=${CONFIG_C}
 )
 
-# source
-set(SRC
-    src/main.cpp
-    src/mcts.cpp
-    src/state.cpp
+# Set dir of include, src and obj
+set(INCDIR ${CMAKE_SOURCE_DIR}/include)
+set(SRCDIR ${CMAKE_SOURCE_DIR}/src)
+set(OBJDIR ${CMAKE_BINARY_DIR}/obj)
+
+# Set obj files and src files
+set(SRCFILES ${CMAKE_CURRENT_LIST_DIR}/src/state.cpp ${CMAKE_CURRENT_LIST_DIR}/src/mcts.cpp ${CMAKE_CURRENT_LIST_DIR}/src/main.cpp)
+set(OBJFILES ${OBJDIR}/mcts.o ${OBJDIR}/main.o)
+
+# Include Dir
+include_directories(${INCDIR})
+
+# Add an object library to control the generation of object files
+add_library(mcts_objects OBJECT ${SRCFILES})
+
+# Set the output directory to the obj folder
+set_target_properties(mcts_objects PROPERTIES
+    ARCHIVE_OUTPUT_DIRECTORY ${OBJDIR}
+    LIBRARY_OUTPUT_DIRECTORY ${OBJDIR}
+    RUNTIME_OUTPUT_DIRECTORY ${OBJDIR}
 )
 
-# header
-include_directories(include)
-
 # executable file
-add_executable(mcts.so ${SRC})
+add_executable(mcts.so $<TARGET_OBJECTS:mcts_objects>)
 
 # clean
 add_custom_target(clean_mcts
+    COMMAND ${CMAKE_COMMAND} -E remove_directory ${OBJDIR}
     COMMAND ${CMAKE_COMMAND} -E remove ${CMAKE_BINARY_DIR}/mcts.so
 )
diff --git a/monte_carlo_tree_search/README.md b/monte_carlo_tree_search/README.md
index 8f494fc..2bafffe 100644
--- a/monte_carlo_tree_search/README.md
+++ b/monte_carlo_tree_search/README.md
@@ -1,6 +1,33 @@
 ## Monte Carlo Tree Search
 ### Background: Algorithm Framework
+[Original Paper](paper/CG2006.pdf)
+
+Algorithm Main Steps:
+
 1. Selection
 2. Expansion
 3. Simulation / Rollout
-4. Backpropagation
\ No newline at end of file
+4. Backpropagation
+
+### Appendix: Build & Run
+`CMakeList.txt` mainly for github workflows' building process.
+
+If you want to build manually, use `Makefile` there. 
+
+* Build
+
+```shell
+make
+```
+
+* Run:
+
+```shell
+./mcts.so
+```
+
+* Clean:
+
+```shell
+make clean
+```
\ No newline at end of file
diff --git a/rapidly_exploring_random_tree/README.md b/rapidly_exploring_random_tree/README.md
index c11a271..b7cfe74 100644
--- a/rapidly_exploring_random_tree/README.md
+++ b/rapidly_exploring_random_tree/README.md
@@ -1 +1,25 @@
-## Rapidly Exploring Random Tree (RRT)
\ No newline at end of file
+## Rapidly Exploring Random Tree (RRT)
+[Original Paper](paper/Lav98c.pdf)
+
+### Appendix: Build & Run
+`CMakeList.txt` mainly for github workflows' building process.
+
+If you want to build manually, use `Makefile` there. 
+
+* Build
+
+```shell
+make
+```
+
+* Run:
+
+```shell
+./rrt.so
+```
+
+* Clean:
+
+```shell
+make clean
+```
\ No newline at end of file