X,Y,$\theta$ planning in continuous space with soft duplicate detection.

About soft duplicate detection

Please refer to this paper:

Dependencies:

This package is only dependent on the sbpl library. So install the sbpl library first: based on this repo, which is from the Search-based planning Lab.

Run this program:

To build this program:

mkdir build && cd build
cmake ../ && make

To run the planner:

./xythetac <mapname> <start&goal> <motion_primitive>

The <filename> is replaced by the map filename, which is in the format(*.cfg) the same as the one in the sbpl library. The <start&goal> is the start and goal setup file, which is in *.sg format. The <motion_primitive> is in format *.mprim, which could be generated from the sbpl library.