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Graphically Recursive Simultaneous Task Allocation, Planning, and Scheduling

This repository includes the code used for

citation...

We are currently working on a refactored cleaner version of the code which will be used for future papers and linked here when completed.

Dependencies:

apt:

  • xorg-dev
  • libglu1-mesa-dev

Manually

  • OMPL Follow the from source instructions (Only 3 commands)
sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen

included submodules:

  • args - Argument Parsing
  • box2d - A 2D physics engine for games (Used for 2d collision detection)
  • fmt - A formatting library
  • json - JSON for Modern C++ (Magic)
  • googletest - Unit Testing
  • spdlog - Fast logging library

Cloning

Through SSH

git clone --recurse-submodules -j4 git@github.com:amessing/grstaps.git

Through HTTPS

git clone https://github.com/amessing/grstaps.git
cd grstaps
sed -i 's/git@github.com:/https:\/\/github.com\//' .gitmodules
git submodule update --init --recursive