common_robotics_utilities

Common utility functions and algorithms for robotics work used by ARC & ARM labs and TRI.

Bindings

Binding codes copied from mpetersen94/drake:gcs2 with:

• adaption to latest commit of the cpp library
• write tests in a more pythonic way
• more tests

Installation

Requirements:

• cmake, Eigen3
• (Pip) scikit-build, calver, numpy Note that only Eigen3 is required for building the C++ library, while scikit-build is required, other dependencies are automatically resolved by python's build system.

pip install .

Usage

The C++ library supports parallelism using OpenMP in finding nearest k neighborhoods, connecting roadmaps, etc. However, cares must be taken when calling these codes. In general, if python codes is being executed in the parallel region with parallelism activated: single thread performance or deadlock will be observed. One should either:

• (best performance) write most planning problem related codes in C++, for an example, see GraphPuzzle.
• (avoid deadlock) turn-off parallelism by passing use_parallel=False in those function.

C++ library

Building

mkdir build && cd build
cmake .. 
cmake --build .
cmake --install .

Testing

mkdir build && cd build
cmake .. 
ctest

pytest bindings/test