libMultiRobotPlanning

https://github.com/whoenig/libmultirobotplanning
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A C++14 library with search algorithms for task and path planning in multi-robot and multi-agent...
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### A* Example Executable

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/CMakeLists.txt

Defines an executable target 'a_star' that builds the a_star example. It links against Boost libraries.

```cmake
# Examples

## a_star
add_executable(a_star
  example/a_star.cpp
)
target_link_libraries(a_star
  ${Boost_LIBRARIES}
)
```

--------------------------------

### Assignment Example Executable

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/CMakeLists.txt

Configures the 'assignment' executable for the assignment example. It links against Boost libraries.

```cmake
## assignment
add_executable(assignment
  example/assignment.cpp
)
target_link_libraries(assignment
  ${Boost_LIBRARIES}
)
```

--------------------------------

### A* Epsilon Example Executable

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/CMakeLists.txt

Defines an executable target 'a_star_epsilon' for the a_star_epsilon example. It requires linking against Boost libraries.

```cmake
## a_star_epsilon
add_executable(a_star_epsilon
  example/a_star_epsilon.cpp
)
target_link_libraries(a_star_epsilon
  ${Boost_LIBRARIES}
)
```

--------------------------------

### SIPP Example Executable

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/CMakeLists.txt

Builds the 'sipp' executable for the SIPP example. This target links against Boost and yaml-cpp libraries.

```cmake
## sipp
add_executable(sipp
  example/sipp.cpp
)
target_link_libraries(sipp
  ${Boost_LIBRARIES}
  yaml-cpp
)
```

--------------------------------

### Run ECBS Example

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/README.md

Execute an ECBS planning instance with specified input and output files, and visualize the result.

```bash
./ecbs -i ../benchmark/32x32_obst204/map_32by32_obst204_agents10_ex1.yaml -o output.yaml -w 1.3
python3 ../example/visualize.py ../benchmark/32x32_obst204/map_32by32_obst204_agents10_ex1.yaml output.yaml
```

--------------------------------

### CBS Roadmap Example Executable

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/CMakeLists.txt

Builds the 'cbs_roadmap' executable for the corresponding example. This target links against Boost and yaml-cpp libraries.

```cmake
## cbs_roadmap
add_executable(cbs_roadmap
  example/cbs_roadmap.cpp
)
target_link_libraries(cbs_roadmap
  ${Boost_LIBRARIES}
  yaml-cpp
)
```

--------------------------------

### Project Setup and Dependency Finding

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/CMakeLists.txt

Initializes the CMake project and finds necessary packages like Boost and PkgConfig for yaml-cpp. Ensures Doxygen is available for documentation generation.

```cmake
cmake_minimum_required(VERSION 3.5)

project(libMultiRobotPlanning)

find_package(Boost 1.58 REQUIRED COMPONENTS program_options)
find_package(PkgConfig)
pkg_check_modules(YamlCpp yaml-cpp)

# check if Doxygen is installed
find_package(Doxygen)
```

--------------------------------

### ECBS Example Executable

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/CMakeLists.txt

Builds the 'ecbs' executable for the ECBS example. It links against Boost and yaml-cpp libraries.

```cmake
## ecbs
add_executable(ecbs
  example/ecbs.cpp
)
target_link_libraries(ecbs
  ${Boost_LIBRARIES}
  yaml-cpp
)
```

--------------------------------

### CBS Example Executable

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/CMakeLists.txt

Defines the 'cbs' executable for the CBS example. It requires linking to Boost and yaml-cpp libraries.

```cmake
## cbs
add_executable(cbs
  example/cbs.cpp
)
target_link_libraries(cbs
  ${Boost_LIBRARIES}
  yaml-cpp
)
```

--------------------------------

### Next Best Assignment Example Executable

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/CMakeLists.txt

Configures the 'next_best_assignment' executable for the corresponding example. It links against Boost and yaml-cpp libraries.

```cmake
## next_best_assignment
add_executable(next_best_assignment
  example/next_best_assignment.cpp
)
target_link_libraries(next_best_assignment
  ${Boost_LIBRARIES}
  yaml-cpp
)
```

--------------------------------

### CBS TA Example Executable

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/CMakeLists.txt

Configures the 'cbs_ta' executable for the CBS TA example. This target links against Boost and yaml-cpp libraries.

```cmake
## cbs_ta
add_executable(cbs_ta
  example/cbs_ta.cpp
)
target_link_libraries(cbs_ta
  ${Boost_LIBRARIES}
  yaml-cpp
)
```

--------------------------------

### MAPF Prioritized SIPP Example Executable

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/CMakeLists.txt

Defines the 'mapf_prioritized_sipp' executable for the MAPF Prioritized SIPP example. It requires linking to Boost and yaml-cpp libraries.

```cmake
## mapf_prioritized_sipp
add_executable(mapf_prioritized_sipp
  example/mapf_prioritized_sipp.cpp
)
target_link_libraries(mapf_prioritized_sipp
  ${Boost_LIBRARIES}
  yaml-cpp
)
```

--------------------------------

### ECBS TA Example Executable

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/CMakeLists.txt

Defines the 'ecbs_ta' executable for the ECBS TA example. This target requires linking to Boost and yaml-cpp libraries.

```cmake
## ecbs_ta
add_executable(ecbs_ta
  example/ecbs_ta.cpp
)
target_link_libraries(ecbs_ta
  ${Boost_LIBRARIES}
  yaml-cpp
)
```

--------------------------------

### Doxygen Documentation Target

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/CMakeLists.txt

Configures a custom CMake target 'docs' to generate API documentation using Doxygen. It requires Doxygen to be installed and configured via a Doxyfile.in template.

```cmake
if (DOXYGEN_FOUND)
  # set input and output files
  set(DOXYGEN_IN ${CMAKE_CURRENT_SOURCE_DIR}/doc/Doxyfile.in)
  set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)

  # request to configure the file
  configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
  message("Doxygen build started")

  # note the option ALL which allows to build the docs together with the application
  add_custom_target( docs
    COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT}
    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
    COMMENT "Generating API documentation with Doxygen"
    VERBATIM )
else (DOXYGEN_FOUND)
  message("Doxygen need to be installed to generate the doxygen documentation")
endif (DOXYGEN_FOUND)
```

--------------------------------

### Test Execution Target

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/CMakeLists.txt

Defines a custom target 'run-test' to execute all unit tests using Python's unittest module. Tests are discovered starting from the 'test' directory.

```cmake
# tests
add_custom_target(run-test
  COMMAND python3 -m unittest discover -s ${CMAKE_CURRENT_SOURCE_DIR}/test
)
```

--------------------------------

### Clang-Tidy Linting Target

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/CMakeLists.txt

Defines a custom target 'clang-tidy' to perform static code analysis and linting using clang-tidy. It requires clang-tidy to be installed and configured to export compile commands.

```cmake
# clang-tidy target (linter & static code analysis)
add_custom_target(clang-tidy
  COMMAND CMAKE_EXPORT_COMPILE_COMMANDS=ON run-clang-tidy ${CMAKE_CURRENT_SOURCE_DIR})
```

--------------------------------

### Build libMultiRobotPlanning

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/README.md

Standard CMake build process for the library. Assumes Ubuntu 16.04.

```bash
mkdir build
cd build
cmake ..
make
```

--------------------------------

### Annotate and Run CBS Roadmap

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/README.md

Annotate a roadmap file and then run the CBS planner on the annotated roadmap, followed by visualization.

```python
python3 ../tools/annotate_roadmap.py ../test/mapf_simple1_roadmap_to_annotate.yaml mapf_simple1_roadmap_annotated.yaml
./cbs_roadmap -i mapf_simple1_roadmap_annotated.yaml -o output.yaml
python3 ../example/visualize_roadmap.py mapf_simple1_roadmap_annotated.yaml output.yaml
```

--------------------------------

### All Targets Combined

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/CMakeLists.txt

Creates a meta-target 'everything' that depends on all other custom targets: clang-format, clang-tidy, docs, and run-test. This allows building/running all development tools with a single command.

```cmake
add_custom_target(everything
  DEPENDS clang-format clang-tidy docs run-test
)
```

--------------------------------

### Run Specific Test

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/README.md

Execute a specific test case for the next best assignment algorithm using Python.

```python
python3 ../test/test_next_best_assignment.py TestNextBestAssignment.test_1by2
```

--------------------------------

### Clang-Format Target

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/CMakeLists.txt

Creates a custom target 'clang-format' to automatically format all source files according to predefined style guidelines. This ensures consistent code style across the project.

```cmake
# clang-format
set(ALL_SOURCE_FILES
  ${CMAKE_CURRENT_SOURCE_DIR}/include/libMultiRobotPlanning/a_star.hpp
  ${CMAKE_CURRENT_SOURCE_DIR}/include/libMultiRobotPlanning/a_star_epsilon.hpp
  ${CMAKE_CURRENT_SOURCE_DIR}/include/libMultiRobotPlanning/assignment.hpp
  ${CMAKE_CURRENT_SOURCE_DIR}/include/libMultiRobotPlanning/cbs.hpp
  ${CMAKE_CURRENT_SOURCE_DIR}/include/libMultiRobotPlanning/cbs_ta.hpp
  ${CMAKE_CURRENT_SOURCE_DIR}/include/libMultiRobotPlanning/ecbs.hpp
  ${CMAKE_CURRENT_SOURCE_DIR}/include/libMultiRobotPlanning/ecbs_ta.hpp
  ${CMAKE_CURRENT_SOURCE_DIR}/include/libMultiRobotPlanning/neighbor.hpp
  ${CMAKE_CURRENT_SOURCE_DIR}/include/libMultiRobotPlanning/next_best_assignment.hpp
  ${CMAKE_CURRENT_SOURCE_DIR}/include/libMultiRobotPlanning/planresult.hpp
  ${CMAKE_CURRENT_SOURCE_DIR}/include/libMultiRobotPlanning/sipp.hpp
  ${CMAKE_CURRENT_SOURCE_DIR}/example/a_star.cpp
  ${CMAKE_CURRENT_SOURCE_DIR}/example/a_star_epsilon.cpp
  ${CMAKE_CURRENT_SOURCE_DIR}/example/assignment.cpp
  ${CMAKE_CURRENT_SOURCE_DIR}/example/cbs.cpp
  ${CMAKE_CURRENT_SOURCE_DIR}/example/cbs_ta.cpp
  ${CMAKE_CURRENT_SOURCE_DIR}/example/ecbs.cpp
  ${CMAKE_CURRENT_SOURCE_DIR}/example/ecbs_ta.cpp
  ${CMAKE_CURRENT_SOURCE_DIR}/example/mapf_prioritized_sipp.cpp
  ${CMAKE_CURRENT_SOURCE_DIR}/example/next_best_assignment.cpp
  ${CMAKE_CURRENT_SOURCE_DIR}/example/shortest_path_heuristic.cpp
  ${CMAKE_CURRENT_SOURCE_DIR}/example/shortest_path_heuristic.hpp
  ${CMAKE_CURRENT_SOURCE_DIR}/example/sipp.cpp
  ${CMAKE_CURRENT_SOURCE_DIR}/example/timer.hpp
)

add_custom_target(clang-format
  COMMAND clang-format -i ${ALL_SOURCE_FILES}
)
```

--------------------------------

### C++ Standard and Warnings

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/CMakeLists.txt

Configures the C++ standard to C++14 and enables all compiler warnings (-Wall -Wextra) for better code quality and early error detection. Extensions are disabled.

```cmake
# Enable C++14 and warnings
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} -Wall -Wextra")
```

--------------------------------

### Include Directories

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/CMakeLists.txt

Specifies the 'include' directory to be added to the compiler's include path. This allows header files in the 'include' directory to be found by the build system.

```cmake
include_directories(
  include
)
```

--------------------------------

### Compile Commands Export

Source: https://github.com/whoenig/libmultirobotplanning/blob/main/CMakeLists.txt

Enables the export of compile commands to a compile_commands.json file. This is essential for tools like clang-tidy and clang-format to understand the project's build configuration.

```cmake
# Creates compile database used by clang-tidy.
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
```
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