popov1212 / decomputil

A header only c++ package for convex decomposition using ellipsoids

MRSL Decomputil Library v1.0

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A header only c++ library for fast convex decomposition. In the basic pipeline, it implements ellipsoid based regional inflation to model free space from a given path inside a point cloud. Detials of the algorithm is proposed in "S. Liu, M. Watterson, K. Mohta, K. Sun, S. Bhattacharya, C.J. Taylor and V. Kumar. Planning Dynamically Feasible Trajectories for Quadrotors using Safe Flight Corridors in 3-D Complex Environments. ICRA 2017".

Installation

DecompUtil is a header only library, several test nodes are compiled during the installation.

A) Simple cmake

$ mkdir build && cd build && cmake .. && make

B) Using CATKIN (not recognizable by catkin_make)

$ cd mv decomp_util ~/catkin_ws/src
$ cd ~/catkin_ws & catkin_make_isolated -DCMAKE_BUILD_TYPE=Release

CTest

To check if everything is installed properlly:

$ make test

Include in other projects:

To link this lib properly, add following in the CMakeLists.txt

find_package(decomp_util REQUIRED)
include_directories(${DECOMP_UTIL_INCLUDE_DIRS})

Examples

The examples of using SeedDecomp2D, LineSegment2D, EllipsoidDecomp2D and IterativeDecomp2D are plotted as followings:

SeedDecomp2D	LineSegment2D	EllipsoidDecomp2D	IterativeDecomp2D

The corresponding code for testing can be found in the test folder.

Doxygen

For more details, please refer to https://sikang.github.io/DecompUtil/index.html

ROS

The ROS wrapper for easier use of this package can be found in DecompROS.