openspaceplanner

.gitignore

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+.vscode
+/build
+/lib
+/test/bin

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8)
+project(OpenSpacePlanner)
+set(CMAKE_CXX_STANDARD 17)
+message("cmake OpenSpacePlanner...")
+
+set(CMAKE_BUILD_TYPE Debug)
+
+# set(project_link_directories
+#     Ipopt_x86pc/lib/
+# #    ${CMAKE_FIND_ROOT_PATH}/usr/lib
+# )
+
+# link_directories (
+#     ${project_link_directories}
+# )
+
+include_directories(
+    Ipopt_x86pc/include/coin-or
+    include/open_space_planner
+    src
+)
+
+link_directories(
+    ${PROJECT_SOURCE_DIR}/Ipopt_x86pc/lib
+    # ${PROJECT_SOURCE_DIR}/../../Ipopt_x86pc/lib
+)
+
+add_library(open_space_planner SHARED
+    src/Grid.cpp
+    src/Point.cpp
+    src/Pose.cpp
+    src/GridRect.cpp
+    src/Rect.cpp
+    src/Map.cpp
+    src/GeometryFunc.cpp
+    src/AStarNode.cpp
+    src/AStarPlanner.cpp
+    src/HybridAStarNode.cpp
+    src/ReedsSheppPath.cpp
+    src/HybridAStarPlanner.cpp
+    src/PathOptIpoptNlp.cpp
+    src/PathSmoother.cpp
+    src/IaOptimizer.cpp
+)
+
+target_link_libraries(open_space_planner
+    # pthread
+    ipopt
+)
+
+# if (NOT ALL)
+#     set(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib/${BUILD_PROJECT}/${BUILD_PLATFORM})
+# endif()
+
+find_package(Boost REQUIRED COMPONENTS filesystem)
+
+# if ((TEST) AND (NOT ALL))
+find_package(OpenCV REQUIRED)
+    set(OpenCV_LIBS
+        opencv_core
+        opencv_video
+        opencv_imgproc
+        opencv_calib3d
+        opencv_videoio
+        opencv_highgui
+        opencv_imgcodecs)
+    # FILE(GLOB_RECURSE OpenCV_LIBS "../apa_sdk/lib/libopencv*")
+
+    include_directories(
+        # ../apa_sdk/include 
+        /usr/local/include
+    )
+    # set(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/test/bin/${BUILD_PROJECT}/${BUILD_PLATFORM})
+    set(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/test/bin)
+    add_executable(test_open_space_planner
+        test/TestHybridAStarPlanner.cpp
+        # test/TestAStarPlanner.cpp
+    )
+    target_link_libraries(test_open_space_planner
+        open_space_planner
+        # ../apa_sdk/lib/${OpenCV_LIBS}
+        ${OpenCV_LIBS}
+        ${Boost_LIBRARIES}
+        # pthread
+        # ipopt
+    )
+# endif()