Installation

Install scikit-robot

sudo apt update
sudo apt-get install libspatialindex-dev freeglut3-dev libsuitesparse-dev libblas-dev liblapack-dev -y
pip install scikit-robot

install build tool

sudo apt-get install cmake libeigen3-dev -y
sudo apt install libboost-all-dev -y
pip install scikit-build

Install scikit-motionplan, plainmp, rpbench and hifuku (this repo)

pip install git+https://github.com/HiroIshida/scikit-motionplan.git -v
pip install git+https://github.com/HiroIshida/plainmp.git -v
pip install git+https://github.com/HiroIshida/rpbench.git -v
pip install git+https://github.com/HiroIshida/hifuku.git -v

Reference

This repo and relevant packages (scikit-motionplan, rpbench) are implemented for the following paper https://arxiv.org/abs/2405.02968. For the specific commit at the timing of the paper submission, please refer to the tag tro-submitted of each repo.

@article{ishida2024coverlib,
  title={CoverLib: Classifiers-equipped Experience Library by Iterative Problem Distribution Coverage Maximization for Domain-tuned Motion Planning},
  author={Ishida, Hirokazu and Hiraoka, Naoki and Okada, Kei and Inaba, Masayuki},
  journal={arXiv preprint arXiv:2405.02968},
  year={2024}
}