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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
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
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