A C++ implementation of Rapidly-exploring Random Tree (RRT) algorithm with an interactive Qt-based viewer.
RoboJackets/rrt is a C++ implementation of the Rapidly-exploring Random Tree (RRT) algorithm, a sampling-based motion planning technique used to find feasible paths in high-dimensional spaces. It solves the problem of path planning for robots and autonomous systems by efficiently exploring unknown environments. The project includes an interactive Qt-based viewer to visualize the algorithm's tree expansion and path discovery in real-time.
Robotics engineers, researchers, and students working on motion planning, autonomous navigation, or algorithm visualization who need a practical, open-source RRT implementation.
Developers choose this for its clean C++ implementation, interactive visualization tool, and educational focus, making it easier to understand and integrate RRT into robotics projects compared to theoretical papers or minimal code snippets.
C++ RRT (Rapidly-exploring Random Tree) Implementation
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The Qt-based GUI allows dragging source and destination points to visualize tree expansion live, making it excellent for educational demonstrations and debugging, as shown in the screenshot in the README.
The RRT algorithm is implemented in C++ for efficiency, enabling integration into robotics applications where performance is critical, as highlighted in the project description.
Includes links to external learning materials about RRTs, aiding understanding and modification for research or study, as listed in the Resources section.
Uses CMake and Ninja to build the library and viewer separately, facilitating customization and integration into larger projects, as mentioned in the Key Features.
Requires installing multiple packages like Qt, Eigen, Boost, and FLANN, which can be cumbersome, especially on non-Ubuntu systems, as detailed in the Dependencies section.
Focuses on standard RRT without variants like RRT* or bidirectional RRT, limiting its utility for advanced motion planning needs that require optimality or faster convergence.
The viewer relies on Qt and desktop GUI support, making it unsuitable for headless or embedded environments without such dependencies.