[
{
"path": ".gitignore",
"content": "build/\n*.*~\nexamples/build/\ndoc/html/\n.vscode\n\n#QtCreator temps\n.idea\n*.*user\nbuild*/\n"
},
{
"path": "CMakeLists.txt",
"content": "cmake_minimum_required (VERSION 2.6) \nproject (fast_methods) \n\n# set a default build type for single-configuration\n# CMake generators if no build type is set.\nif(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)\n set(CMAKE_BUILD_TYPE Release)\nendif(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)\n\nset(BUILD_EXAMPLES true CACHE STRING \"True (default) to build examples\")\nif(BUILD_EXAMPLES)\n message(STATUS \"Examples are being built and installed.\")\nendif(BUILD_EXAMPLES)\n\n# Select flags.\nset(CMAKE_CXX_FLAGS \"-std=c++11\")\nset(CMAKE_CXX_FLAGS_RELWITHDEBINFO \"-O3 -g\")\nset(CMAKE_CXX_FLAGS_RELEASE \"-Ofast -fno-finite-math-only\")\nset(CMAKE_CXX_FLAGS_DEBUG \"-Wall -Wno-unused-local-typedefs -g\")\n\n# Finding Boost\nfind_package(Boost REQUIRED COMPONENTS system filesystem program_options)\nif(Boost_FOUND)\n include_directories(${Boost_INCLUDE_DIRS})\nelse()\n message(FATAL_ERROR \"Boost NOT FOUND. Please install it following the instructions on the README file.\")\nendif()\n\n# Finding CImg\nset(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} \"${CMAKE_SOURCE_DIR}/cmake/Modules/\")\nfind_package(CImg)\nif(CImg_FOUND)\n include_directories(${CIMG_INCLUDE_DIRS})\nelse()\n message(FATAL_ERROR \"CImg NOT FOUND. Please install it following the instructions on the README file.\")\nendif()\n\n# Self-made includes\ninclude_directories (\n ${Boost_INCLUDE_DIRS}\n ${CImg_INCLUDE_DIRS}\n include\n)\n\n# Create main library\nadd_library(fast_methods SHARED\n src/console/console.cpp\n src/ndgridmap/cell.cpp\n src/ndgridmap/fmcell.cpp\n)\n\n# Linking \ntarget_link_libraries(fast_methods\n ${Boost_LIBRARIES}\n ${CImg_SYSTEM_LIBS}\n)\n\n# Add benchmarking capabilities\nadd_executable(fm_benchmark src/benchmark/fm_benchmark.cpp) \n\ntarget_link_libraries(fm_benchmark fast_methods)\n\n# Create main example\nif(BUILD_EXAMPLES)\n add_subdirectory(examples)\nendif(BUILD_EXAMPLES)\n\n# Install section\n# We are not using CMakePackageConfigHelpers because CIMG variables are lists\n# and those functions do not manage them properly.\nconfigure_file(\n cmake/fast_methods-config.cmake.in\n ${CMAKE_BINARY_DIR}/fast_methods-config.cmake\n)\n\ninstall(FILES ${CMAKE_CURRENT_BINARY_DIR}/fast_methods-config.cmake\n DESTINATION ${CMAKE_INSTALL_PREFIX}/lib/cmake/fast_methods\n)\n\ninstall(TARGETS fast_methods\n DESTINATION ${CMAKE_INSTALL_PREFIX}/lib\n)\n\ninstall(TARGETS fm_benchmark\n DESTINATION ${CMAKE_INSTALL_PREFIX}/bin\n)\n\ninstall(DIRECTORY scripts\n DESTINATION ${CMAKE_INSTALL_PREFIX}/share/fast_methods)\n\ninstall(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_PREFIX}/include\n FILES_MATCHING\n PATTERN \"*.hpp\"\n PATTERN \"*.h\"\n)\n\n# Uninstall target\nconfigure_file(\n \"${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in\"\n \"${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake\"\n IMMEDIATE @ONLY)\n\nadd_custom_target(uninstall\n COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)\n"
},
{
"path": "LICENSE",
"content": "GNU GENERAL PUBLIC LICENSE\n Version 3, 29 June 2007\n\n Copyright (C) 2007 Free Software Foundation, Inc. \n Everyone is permitted to copy and distribute verbatim copies\n of this license document, but changing it is not allowed.\n\n Preamble\n\n The GNU General Public License is a free, copyleft license for\nsoftware and other kinds of works.\n\n The licenses for most software and other practical works are designed\nto take away your freedom to share and change the works. By contrast,\nthe GNU General Public License is intended to guarantee your freedom to\nshare and change all versions of a program--to make sure it remains free\nsoftware for all its users. We, the Free Software Foundation, use the\nGNU General Public License for most of our software; it applies also to\nany other work released this way by its authors. You can apply it to\nyour programs, too.\n\n When we speak of free software, we are referring to freedom, not\nprice. 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To \"grant\" such a patent license to a\nparty means to make such an agreement or commitment not to enforce a\npatent against the party.\n\n If you convey a covered work, knowingly relying on a patent license,\nand the Corresponding Source of the work is not available for anyone\nto copy, free of charge and under the terms of this License, through a\npublicly available network server or other readily accessible means,\nthen you must either (1) cause the Corresponding Source to be so\navailable, or (2) arrange to deprive yourself of the benefit of the\npatent license for this particular work, or (3) arrange, in a manner\nconsistent with the requirements of this License, to extend the patent\nlicense to downstream recipients. \"Knowingly relying\" means you have\nactual knowledge that, but for the patent license, your conveying the\ncovered work in a country, or your recipient's use of the covered work\nin a country, would infringe one or more identifiable patents in that\ncountry that you have reason to believe are valid.\n\n If, pursuant to or in connection with a single transaction or\narrangement, you convey, or propagate by procuring conveyance of, a\ncovered work, and grant a patent license to some of the parties\nreceiving the covered work authorizing them to use, propagate, modify\nor convey a specific copy of the covered work, then the patent license\nyou grant is automatically extended to all recipients of the covered\nwork and works based on it.\n\n A patent license is \"discriminatory\" if it does not include within\nthe scope of its coverage, prohibits the exercise of, or is\nconditioned on the non-exercise of one or more of the rights that are\nspecifically granted under this License. You may not convey a covered\nwork if you are a party to an arrangement with a third party that is\nin the business of distributing software, under which you make payment\nto the third party based on the extent of your activity of conveying\nthe work, and under which the third party grants, to any of the\nparties who would receive the covered work from you, a discriminatory\npatent license (a) in connection with copies of the covered work\nconveyed by you (or copies made from those copies), or (b) primarily\nfor and in connection with specific products or compilations that\ncontain the covered work, unless you entered into that arrangement,\nor that patent license was granted, prior to 28 March 2007.\n\n Nothing in this License shall be construed as excluding or limiting\nany implied license or other defenses to infringement that may\notherwise be available to you under applicable patent law.\n\n 12. No Surrender of Others' Freedom.\n\n If conditions are imposed on you (whether by court order, agreement or\notherwise) that contradict the conditions of this License, they do not\nexcuse you from the conditions of this License. If you cannot convey a\ncovered work so as to satisfy simultaneously your obligations under this\nLicense and any other pertinent obligations, then as a consequence you may\nnot convey it at all. For example, if you agree to terms that obligate you\nto collect a royalty for further conveying from those to whom you convey\nthe Program, the only way you could satisfy both those terms and this\nLicense would be to refrain entirely from conveying the Program.\n\n 13. 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},
{
"path": "README.md",
"content": "N-Dimensional Fast Methods Library v0.7\n\n**Authors:**\n - [Javier V. Gomez](http://jvgomez.github.io) javvgomez _at_ gmail.com\n - Jose Pardeiro jose.pardeiro _at_ gmail.com\n - Pablo Gely\n\n## ALGORITHMS\nAll the theory and algorithms implemented in this library can be found in my [PhD thesis](doc/files/phd_thesis.pdf). In fact, all the benchmarking data in chapter 4 has been produced with this library and it is stored on the `experiments` branch.\n\n\n**Fast Marching Methods:**\n- [FMM](http://jvgomez.github.io/fast_methods/classFMM.html): Fast Marching Method with Binary Queue and Fibonacci Queue (binary by default).\n- [FMM*](http://jvgomez.github.io/fast_methods/classFMMStar.html): FMM with CostToGo heuristics.\n- [SFMM](http://jvgomez.github.io/fast_methods/classSFMM.html): Simplified Fast Marhching Method.\n- [SFMM*](http://jvgomez.github.io/fast_methods/classSFMMStar.html): SFMM with CostToGo heuristics..\n\n**O(n) Fast Marching Methods:**\n- [GMM](http://jvgomez.github.io/fast_methods/classGMM.html): Group Marching Method.\n- [UFMM](http://jvgomez.github.io/fast_methods/classUFMM.html): Untidy Fast Marching Method.\n- [FIM](http://jvgomez.github.io/fast_methods/classFIM.html): Fast Iterative Method.\n\n**Fast Sweeping Methods:**\n- [FSM](http://jvgomez.github.io/fast_methods/classFSM.html): Fast Sweeping Method.\n- [LSM](http://jvgomez.github.io/fast_methods/classLSM.html): Lock Sweeping Method.\n- [DDQM](http://jvgomez.github.io/fast_methods/classDDQM.html): Dynamic Double Queue Method.\n\n**Fast Marching Square motion planning algorithms:**\n- [FM2](http://jvgomez.github.io/fast_methods/classFM2.html): Fast Marching Square Method.\n- [FM2*](http://jvgomez.github.io/fast_methods/classFM2Star.html): Fast Marching Square Star FM2 with CostToGo heuristics.\n\n**ROS**\n\nROS nodes using this code (tested in the TurtleBot) are provided in a [separate repo](https://github.com/jpardeiro/fastmarching_node)\n\n\n## DISCLAIMER and IMPORTANT NOTES\n\n- 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\n\n- The compilation time is highly increased due to CImg library. Please, omit it when possible as it is used only for visualization purposes.\n\n- License [GNU/GPL V3](http://www.gnu.org/copyleft/gpl.html)\n\n- 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.\n\n\n## Documentation\n\n- [API Reference](http://jvgomez.github.io/fast_methods/)\n\n\n## Building the code\nCheck the [building section](http://jvgomez.github.io/fast_methods/md_markdown_building.html) of the documentation.\n\n\n## Design and folder structure\nCheck the [design section](http://jvgomez.github.io/fast_methods/md_markdown_design.html) of the documentation.\n\n\n## KNOWN ISSUES\n\n- Gradient Descent for FM2* could fail if very narrow passages are in the way of the path.\n- It seems that UFMM can fail in maps with random (or similar) velocity changes."
},
{
"path": "TODO.md",
"content": "# TODO\n\nAt the top of each file there are specific TODO comments. (List [here](http://jvgomez.github.io/fast_methods/todo.html)). Here are some others.\n\n## Code TODOs\n- MapLoader, GridWriter... get a naming convention. MapReader or GridSaver for instance.\n- printRunInfo implementation missing for most of the solvers.\n- Unify GridWriter and GridPlotter functions parameter order: (grid, name)\n- Fix Doxygen warnings.\n- Convert all scripts to python (or similar) so that they keep completely open source.\n- Reimplement FM2Dir from scratch. Currently in data/alpha folder.\n- Substitute arg parsing with boost_options.\n- Implement a grid copy constructor and assignment operator, etc.\n- Most of the unsigned int should be replaced by size_t to be type-correct.\n- Use smart pointers (specially for grid).\n- Create a testing framework.\n- BenchmarkCFG::configure, parse ctorParams_ with a variadic templated function, something like:` parseParams(param1, param2)`, `parseParams(p1,p2,p3)`.\n- GridPlotter code can be refactorized so that the same code is not repeated many times.\n- Review template template parameters, perhaps it can be simplified (specially for benchmark): `template ` to `template >` so we can use cell_t without doing `template ` (redundant).\n- Add proper versioning in CMake.\n- use Git LFS for big files (and clean the experiments branch).\n\n## Algorithmic TODOs\n- Improve untidy queue implementation with hash maps (specially remove element in increase_priority()).\n- Mix SFMM and UFMM (researchy TODO).\n- Improve the way FM2 and its versions deal with the grid when running multiple times on the same grid. Concretely, avoid recomputation of velocities map.\n- For most methods, neighbors for same cell are computed many times. Store them like FMT to save some computation time.\n\n## Documentation TODOs\n- Review and update nDGridMap.pdf\n- Add a make doc target.\n"
},
{
"path": "changelog.md",
"content": "#### v0.7 (trunk) ChangeLog\n- Benchmarking can save only a grid per solver or grid for all runs with option savegrid=1 or `savegrid=2`\n- Benchmarking CFG files now accept .grid textfiles under the option `text=