Repository: jvgomez/fast_methods
Branch: master
Commit: 5489d11da873
Files: 82
Total size: 10.6 MB
Directory structure:
gitextract_3htih0x5/
├── .gitignore
├── CMakeLists.txt
├── LICENSE
├── README.md
├── TODO.md
├── changelog.md
├── cmake/
│ ├── Modules/
│ │ └── FindCImg.cmake
│ ├── cmake_uninstall.cmake.in
│ └── fast_methods-config.cmake.in
├── data/
│ ├── 3dbarriers_9.grid
│ ├── alpha/
│ │ ├── fm2dir.hpp
│ │ ├── fmdirectionalcell.cpp
│ │ ├── fmdirectionalcell.h
│ │ ├── gradientdescent.hpp
│ │ └── test_fm2directional.cpp
│ ├── benchmark.cfg
│ ├── benchmark_from_grid.cfg
│ ├── map.grid
│ └── test_cfg/
│ ├── 2_150.cfg
│ ├── 2_300.cfg
│ └── 2_500.cfg
├── doc/
│ ├── doxyfile
│ └── markdown/
│ ├── benchmarking.md
│ ├── building.md
│ ├── design.md
│ └── main.md
├── examples/
│ ├── CMakeLists.txt
│ ├── CMakeLists.txt.template
│ ├── full_example.cpp
│ ├── test_fm.cpp
│ ├── test_fm2.cpp
│ ├── test_fm_benchmark.cpp
│ └── test_fmm3d.cpp
├── include/
│ └── fast_methods/
│ ├── benchmark/
│ │ ├── benchmark.hpp
│ │ └── benchmarkcfg.hpp
│ ├── console/
│ │ └── console.h
│ ├── datastructures/
│ │ ├── fmcompare.hpp
│ │ ├── fmdaryheap.hpp
│ │ ├── fmfibheap.hpp
│ │ ├── fmpriorityqueue.hpp
│ │ └── fmuntidyqueue.hpp
│ ├── fm/
│ │ ├── ddqm.hpp
│ │ ├── eikonalsolver.hpp
│ │ ├── fim.hpp
│ │ ├── fmm.hpp
│ │ ├── fmmstar.hpp
│ │ ├── fsm.hpp
│ │ ├── gmm.hpp
│ │ ├── lsm.hpp
│ │ ├── sfmm.hpp
│ │ ├── sfmmstar.hpp
│ │ ├── solver.hpp
│ │ └── ufmm.hpp
│ ├── fm2/
│ │ ├── fm2.hpp
│ │ └── fm2star.hpp
│ ├── gradientdescent/
│ │ └── gradientdescent.hpp
│ ├── io/
│ │ ├── gridplotter.hpp
│ │ ├── gridpoints.hpp
│ │ ├── gridwriter.hpp
│ │ └── maploader.hpp
│ ├── ndgridmap/
│ │ ├── cell.h
│ │ ├── fmcell.h
│ │ └── ndgridmap.hpp
│ ├── thirdparty/
│ │ ├── reference/
│ │ │ ├── fast_marching.hpp
│ │ │ └── queue.hpp
│ │ └── untidy_queue.hpp
│ └── utils/
│ └── utils.h
├── scripts/
│ ├── analyzeBenchmark.m
│ ├── idx2coord.m
│ ├── parseBenchmarkLog.m
│ ├── parseGrid.m
│ ├── parsepath.m
│ ├── parsepathvel.m
│ ├── plot_volumetric_data.m
│ ├── run_benchmarks.bash
│ ├── saveGridToFile.m
│ ├── showFM.m
│ └── test.m
└── src/
├── benchmark/
│ └── fm_benchmark.cpp
├── console/
│ └── console.cpp
└── ndgridmap/
├── cell.cpp
└── fmcell.cpp
================================================
FILE CONTENTS
================================================
================================================
FILE: .gitignore
================================================
build/
*.*~
examples/build/
doc/html/
.vscode
#QtCreator temps
.idea
*.*user
build*/
================================================
FILE: CMakeLists.txt
================================================
cmake_minimum_required (VERSION 2.6)
project (fast_methods)
# set a default build type for single-configuration
# CMake generators if no build type is set.
if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
set(BUILD_EXAMPLES true CACHE STRING "True (default) to build examples")
if(BUILD_EXAMPLES)
message(STATUS "Examples are being built and installed.")
endif(BUILD_EXAMPLES)
# Select flags.
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g")
set(CMAKE_CXX_FLAGS_RELEASE "-Ofast -fno-finite-math-only")
set(CMAKE_CXX_FLAGS_DEBUG "-Wall -Wno-unused-local-typedefs -g")
# Finding Boost
find_package(Boost REQUIRED COMPONENTS system filesystem program_options)
if(Boost_FOUND)
include_directories(${Boost_INCLUDE_DIRS})
else()
message(FATAL_ERROR "Boost NOT FOUND. Please install it following the instructions on the README file.")
endif()
# Finding CImg
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/Modules/")
find_package(CImg)
if(CImg_FOUND)
include_directories(${CIMG_INCLUDE_DIRS})
else()
message(FATAL_ERROR "CImg NOT FOUND. Please install it following the instructions on the README file.")
endif()
# Self-made includes
include_directories (
${Boost_INCLUDE_DIRS}
${CImg_INCLUDE_DIRS}
include
)
# Create main library
add_library(fast_methods SHARED
src/console/console.cpp
src/ndgridmap/cell.cpp
src/ndgridmap/fmcell.cpp
)
# Linking
target_link_libraries(fast_methods
${Boost_LIBRARIES}
${CImg_SYSTEM_LIBS}
)
# Add benchmarking capabilities
add_executable(fm_benchmark src/benchmark/fm_benchmark.cpp)
target_link_libraries(fm_benchmark fast_methods)
# Create main example
if(BUILD_EXAMPLES)
add_subdirectory(examples)
endif(BUILD_EXAMPLES)
# Install section
# We are not using CMakePackageConfigHelpers because CIMG variables are lists
# and those functions do not manage them properly.
configure_file(
cmake/fast_methods-config.cmake.in
${CMAKE_BINARY_DIR}/fast_methods-config.cmake
)
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/fast_methods-config.cmake
DESTINATION ${CMAKE_INSTALL_PREFIX}/lib/cmake/fast_methods
)
install(TARGETS fast_methods
DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
)
install(TARGETS fm_benchmark
DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
)
install(DIRECTORY scripts
DESTINATION ${CMAKE_INSTALL_PREFIX}/share/fast_methods)
install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_PREFIX}/include
FILES_MATCHING
PATTERN "*.hpp"
PATTERN "*.h"
)
# Uninstall target
configure_file(
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in"
"${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
IMMEDIATE @ONLY)
add_custom_target(uninstall
COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
================================================
FILE: LICENSE
================================================
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.
================================================
FILE: README.md
================================================
N-Dimensional Fast Methods Library v0.7
**Authors:**
- [Javier V. Gomez](http://jvgomez.github.io) 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](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.
**Fast Marching Methods:**
- [FMM](http://jvgomez.github.io/fast_methods/classFMM.html): Fast Marching Method with Binary Queue and Fibonacci Queue (binary by default).
- [FMM*](http://jvgomez.github.io/fast_methods/classFMMStar.html): FMM with CostToGo heuristics.
- [SFMM](http://jvgomez.github.io/fast_methods/classSFMM.html): Simplified Fast Marhching Method.
- [SFMM*](http://jvgomez.github.io/fast_methods/classSFMMStar.html): SFMM with CostToGo heuristics..
**O(n) Fast Marching Methods:**
- [GMM](http://jvgomez.github.io/fast_methods/classGMM.html): Group Marching Method.
- [UFMM](http://jvgomez.github.io/fast_methods/classUFMM.html): Untidy Fast Marching Method.
- [FIM](http://jvgomez.github.io/fast_methods/classFIM.html): Fast Iterative Method.
**Fast Sweeping Methods:**
- [FSM](http://jvgomez.github.io/fast_methods/classFSM.html): Fast Sweeping Method.
- [LSM](http://jvgomez.github.io/fast_methods/classLSM.html): Lock Sweeping Method.
- [DDQM](http://jvgomez.github.io/fast_methods/classDDQM.html): Dynamic Double Queue Method.
**Fast Marching Square motion planning algorithms:**
- [FM2](http://jvgomez.github.io/fast_methods/classFM2.html): Fast Marching Square Method.
- [FM2*](http://jvgomez.github.io/fast_methods/classFM2Star.html): Fast Marching Square Star FM2 with CostToGo heuristics.
**ROS**
ROS nodes using this code (tested in the TurtleBot) are provided in a [separate repo](https://github.com/jpardeiro/fastmarching_node)
## 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](http://www.gnu.org/copyleft/gpl.html)
- 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
- [API Reference](http://jvgomez.github.io/fast_methods/)
## Building the code
Check the [building section](http://jvgomez.github.io/fast_methods/md_markdown_building.html) of the documentation.
## Design and folder structure
Check the [design section](http://jvgomez.github.io/fast_methods/md_markdown_design.html) 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.
================================================
FILE: TODO.md
================================================
# TODO
At the top of each file there are specific TODO comments. (List [here](http://jvgomez.github.io/fast_methods/todo.html)). Here are some others.
## Code TODOs
- MapLoader, GridWriter... get a naming convention. MapReader or GridSaver for instance.
- printRunInfo implementation missing for most of the solvers.
- Unify GridWriter and GridPlotter functions parameter order: (grid, name)
- Fix Doxygen warnings.
- Convert all scripts to python (or similar) so that they keep completely open source.
- Reimplement FM2Dir from scratch. Currently in data/alpha folder.
- Substitute arg parsing with boost_options.
- Implement a grid copy constructor and assignment operator, etc.
- Most of the unsigned int should be replaced by size_t to be type-correct.
- Use smart pointers (specially for grid).
- Create a testing framework.
- BenchmarkCFG::configure, parse ctorParams_ with a variadic templated function, something like:` parseParams(param1, param2)`, `parseParams(p1,p2,p3)`.
- GridPlotter code can be refactorized so that the same code is not repeated many times.
- 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).
- Add proper versioning in CMake.
- use Git LFS for big files (and clean the experiments branch).
## Algorithmic TODOs
- Improve untidy queue implementation with hash maps (specially remove element in increase_priority()).
- Mix SFMM and UFMM (researchy TODO).
- 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.
- For most methods, neighbors for same cell are computed many times. Store them like FMT to save some computation time.
## Documentation TODOs
- Review and update nDGridMap.pdf
- Add a make doc target.
================================================
FILE: changelog.md
================================================
#### v0.7 (trunk) ChangeLog
- Benchmarking can save only a grid per solver or grid for all runs with option savegrid=1 or `savegrid=2`
- Benchmarking CFG files now accept .grid textfiles under the option `text=