cpp_robotics

C++ sample codes for robotics algorithms.

This is the C++ implementation of the PythonRobotics, some part of code refers to CppRobotics.

Requirements

• cmake
• opencv 3.3.1
• Eigen 3.3
• CppAD / IPOPT (for MPC convex optimization) install tips

Table of Contents

• localization
  • extended kalmam filter
  • particle filter
  • unscented kalman filter
• slam
  • ekf slam
  • ukf slam
  • fast slam
  • tiny slam
• path planning
  • dfs
  • bfs
  • dijkstra
  • a star
  • dubins path
  • reeds shepp path
  • rrt
  • rrt dubins
  • rrt reeds shepp
  • rrt star
  • rrt star dubins
  • rrt_star reeds shepp
  • closed loop rrt star
  • dynamic window approach
  • cubic spline
• path tracking
  • move to pose
  • pure pursuit
  • stanley controller
• path smooth
  • path smooth

License

• MIT

Authors

• zhouzuhong