pathfinding

A * pathfinding implementation over 2d binary occupancy grid Generalized Voronoi Diagram (GVD) generator.

todo:

• Improve GVD generation, plan paths over GVD for max efficiency
• runtime optimizations

Dependencies:

• pangolin
• eigen

Setup:

• mkdir build
• cd build
• cmake ..
• make
• ./compiledBinary nameOfImageFile.png

Instantiate a grid, set the start, goal, and obstacles. Instantiate a pathfinder, pass the grid into the pathfinder constructor. call the findpath() method

The program may be run with or without a gui:

GUI:

Image must have occupied border, else GVD will be inaccurate Default config: Start is top left corner, Goal is bottom right. Both nodes must be unoccupied

Console:

comment out Pangolin/openGL stuff Manually configure grid use print or printEverything to get console output.

#wahooo!