cmt-20240921-1: +CMakeList.txt

+CMakeList.txt

.gitignore

@@ -5,4 +5,5 @@
 *.a
 *.so
 *.dylib
-*.dll
+*.dll
+**/build/

CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.10)
+project(MyProject)
+
+# Set C++ 11 standard
+set(CMAKE_CXX_STANDARD 11)
+
+# Add subdirectories and compile separately
+add_subdirectory(monte_carlo_tree_search)
+add_subdirectory(rapidly_exploring_random_tree)
+
+# Clean all
+add_custom_target(clean_all
+    COMMAND ${CMAKE_COMMAND} --build ${CMAKE_BINARY_DIR} --target clean
+)

README.md

@@ -1,3 +1,3 @@
 ## Robot Path Planning
 * [Monte Carlo Tree Search](monte_carlo_tree_search/README.md)
-* [Rapidly Exploring Random Tree](rapidly_exploring_random_tree/README.md)
+* [Rapidly Exploring Random Tree (RRT)](rapidly_exploring_random_tree/README.md)

monte_carlo_tree_search/CMakeLists.txt

@@ -0,0 +1,48 @@
+cmake_minimum_required(VERSION 3.10)
+project(mcts_project)
+
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_FLAGS "-Wall")
+
+# Load configs from config.properties
+file(READ ${CMAKE_CURRENT_LIST_DIR}/config.properties CONFIG_CONTENT)
+
+string(REGEX MATCH "CONFIG_GRID_SIZE=[0-9]+" GRID_SIZE_MATCH ${CONFIG_CONTENT})
+string(REGEX MATCH "CONFIG_GOAL_X=[0-9]+" GOAL_X_MATCH ${CONFIG_CONTENT})
+string(REGEX MATCH "CONFIG_GOAL_Y=[0-9]+" GOAL_Y_MATCH ${CONFIG_CONTENT})
+string(REGEX MATCH "CONFIG_MAX_SIM_STEPS=[0-9]+" MAX_SIM_STEPS_MATCH ${CONFIG_CONTENT})
+string(REGEX MATCH "CONFIG_C=[0-9.]+" CONFIG_C_MATCH ${CONFIG_CONTENT})
+
+# config values
+string(REPLACE "CONFIG_GRID_SIZE=" "" CONFIG_GRID_SIZE ${GRID_SIZE_MATCH})
+string(REPLACE "CONFIG_GOAL_X=" "" CONFIG_GOAL_X ${GOAL_X_MATCH})
+string(REPLACE "CONFIG_GOAL_Y=" "" CONFIG_GOAL_Y ${GOAL_Y_MATCH})
+string(REPLACE "CONFIG_MAX_SIM_STEPS=" "" CONFIG_MAX_SIM_STEPS ${MAX_SIM_STEPS_MATCH})
+string(REPLACE "CONFIG_C=" "" CONFIG_C ${CONFIG_C_MATCH})
+
+# compile options
+add_compile_definitions(
+    CONFIG_GRID_SIZE=${CONFIG_GRID_SIZE}
+    CONFIG_GOAL_X=${CONFIG_GOAL_X}
+    CONFIG_GOAL_Y=${CONFIG_GOAL_Y}
+    CONFIG_MAX_SIM_STEPS=${CONFIG_MAX_SIM_STEPS}
+    CONFIG_C=${CONFIG_C}
+)
+
+# source
+set(SRC
+    src/main.cpp
+    src/mcts.cpp
+    src/state.cpp
+)
+
+# header
+include_directories(include)
+
+# executable file
+add_executable(mcts.so ${SRC})
+
+# clean
+add_custom_target(clean_mcts
+    COMMAND ${CMAKE_COMMAND} -E remove ${CMAKE_BINARY_DIR}/mcts.so
+)

rapidly_exploring_random_tree/CMakeLists.txt

@@ -0,0 +1,37 @@
+cmake_minimum_required(VERSION 3.10)
+project(rrt_project)
+
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_FLAGS "-Wall")
+
+# 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/rrt.cpp ${CMAKE_CURRENT_LIST_DIR}/src/main.cpp)
+set(OBJFILES ${OBJDIR}/rrt.o ${OBJDIR}/main.o)
+
+# Include Dir
+include_directories(${INCDIR})
+
+# Add an object library to control the generation of object files
+add_library(rrt_objects OBJECT ${SRCFILES})
+
+# Set the output directory to the obj folder
+set_target_properties(rrt_objects PROPERTIES
+    ARCHIVE_OUTPUT_DIRECTORY ${OBJDIR}
+    LIBRARY_OUTPUT_DIRECTORY ${OBJDIR}
+    RUNTIME_OUTPUT_DIRECTORY ${OBJDIR}
+)
+
+# executable file
+add_executable(rrt.so $<TARGET_OBJECTS:rrt_objects>)
+
+# clean
+add_custom_target(clean_rrt
+    COMMAND ${CMAKE_COMMAND} -E remove_directory ${OBJDIR}
+    COMMAND ${CMAKE_COMMAND} -E remove ${CMAKE_BINARY_DIR}/rrt.so
+)
+

rapidly_exploring_random_tree/README.md

@@ -1 +1 @@
-## Rapidly Exploring Random Tree
+## Rapidly Exploring Random Tree (RRT)