N-Dimensional Fast Methods Library v0.7
Authors:
- Javier V. Gomez javvgomez at gmail.com
- Jose Pardeiro jose.pardeiro at gmail.com
- Pablo Gely
ALGORITHMS
All the theory and algorithms implemented in this library can be found in my PhD thesis. In fact, all the benchmarking data in chapter 4 has been produced with this library and it is stored on the experiments branch.
Fast Marching Methods:
- FMM: Fast Marching Method with Binary Queue and Fibonacci Queue (binary by default).
- FMM*: FMM with CostToGo heuristics.
- SFMM: Simplified Fast Marhching Method.
- SFMM*: SFMM with CostToGo heuristics..
O(n) Fast Marching Methods:
Fast Sweeping Methods:
Fast Marching Square motion planning algorithms:
ROS
ROS nodes using this code (tested in the TurtleBot) are provided in a separate repo
DISCLAIMER and IMPORTANT NOTES
-
The code is not deeply tested. I've just tested it works for the cases I need. If you find any problem, have any question (or whatever), please write to: javvgomez at gmail.com
-
The compilation time is highly increased due to CImg library. Please, omit it when possible as it is used only for visualization purposes.
-
License GNU/GPL V3
-
This is a source code intended for my research. Although I want it to be useful for other people it is not intended to act as a library (there are many many points to improve). However, if you show interest or have feature request do not hesitate to contact me and I will try my best to improve the code for whoever needs it. I am also open to contributions and to create a formal library if necessary.
Documentation
Building the code
Check the building section of the documentation.
Design and folder structure
Check the design section of the documentation.
KNOWN ISSUES
- Gradient Descent for FM2* could fail if very narrow passages are in the way of the path.
- It seems that UFMM can fail in maps with random (or similar) velocity changes.