Initial commit

.clang-format

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+BasedOnStyle: Google
+ColumnLimit: 80

.gitignore

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+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+# CLION excludes
+**/cmake-build-debug/*
+**/.idea/*

.gitmodules

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+[submodule "rmpcpp_planner/nvblox"]
+	path = rmpcpp_planner/nvblox
+	url = [email protected]:Isarm/nvblox.git

README.md

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+This is the __preliminary__ code release for ICRA Submission "Obstacle avoidance using raycasting and Riemannian Motion Policies at kHz                                                 rates for MAVs"
+
+While all the code for the policies & planner is included, we will add easy-to-run examples and 
+documentation soon (and clean up the code).
+
+### Please check back in approx 2-3 weeks. ###
+
+
+## Prerequisites: 
+- ROS Noetic
+- CUDA (10.2 - 11.5 are tested by nvblox developers, others may or may not work)
+
+System Dependencies for nvblox (nvblox itself is cloned as a submodule of this repository which is done automatically):
+
+```
+sudo apt-get install -y libgoogle-glog-dev libgtest-dev libgflags-dev python3-dev
+cd /usr/src/googletest && sudo cmake . && sudo cmake --build . --target install
+```
+
+## Creating the environment and building
+The following commands creates a new catkin environment, clones the required repositories and builds. 
+```
+mkdir rmp_planning
+cd rmp_planning
+mkdir src
+catkin init
+cd src
+git clone [email protected]:ethz-asl/eigen_catkin.git
+wstool update
+git clone https://github.com/ethz-asl/reactive_avoidance --recurse-submodules
+catkin build
+```
+
+## Possible issues:
+
+Gflags dependency conflict (build fails when compiling nvblox with errors about gflags). Go to the src directory and run:
+
+```
+rm -rf rmpcpp/rmpcpp_planner/nvblox
+git clone -b gflags_namespace_fix [email protected]:Isarm/nvblox.git rmpcpp/rmpcpp_planner/nvblox
+catkin build
+``` 
+
+# Architecture
+
+All planner types are compiled into the same executable and can be selected via command line arguments. 
+See the `parser` class for the full list of options. I’ll briefly list the most important classes for the RMP planner. 
+
+The policies are implemented in 
+- NVBlox Raycasting obstacle avoidance policy: `rmpcpp_planner/src/policies/raycasting_CUDA.cc` 
+- Lidar ray obstacle avoidance policy: `rmpcpp_planner/src/policies/lidarray_CUDA.cc`
+- ESDF policy: `rmpcpp_planner/src/policies/simple_ESDF.cc`
+
+
+The `tester` class sets up testing runs, using the `worldgen` class to generate random worlds or load custom worlds. 
+There are a lot of options you can pass to the executable, which are all defined in the `parser` class. 
+Check out `rmpcpp_planner/src/testing/parser.cc` for the full list of options. 
+
+

rmpcpp/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(rmpcpp)
+
+find_package(catkin_simple REQUIRED)
+catkin_simple(ALL_DEPS_REQUIRED)
+
+
+add_definitions(-std=c++17 -Wall -Wextra)
+
+#############
+# LIBRARIES #
+#############
+cs_add_executable(rmpcpp_example example.cc)
+
+##########
+# EXPORT #
+##########
+cs_install()
+cs_export()

rmpcpp/Readme.md

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+References
+=========
+
+[1] N. Ratliff, J. Issac, D. Kappler, S. Birchfield, D. Fox;
+    Riemannian Motion Policies; arxiv:1801.02854v3

rmpcpp/docs/.buildinfo

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+# Sphinx build info version 1
+# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
+config: 2addfc989f070a5a38bc2383b01a71af
+tags: 645f666f9bcd5a90fca523b33c5a78b7