Delaunay Path Planner Core

This node is responsible for planning a path between the cones. This is the core library, so the only thing you can execute are the tests.

Requirements

• CGAL

Setup

Bare metal

• Create the directory lib and cd lib.
• Clone gtest git clone https://github.com/google/googletest.git.
• Head back to this directory cd...
• Create a directory in this location, for example mkdir build and cd build.
• Run the command cmake ...
• Run make.
• Run sudo make install.

If you wish to run the tests, go to the build directory and run ./test.

Docker

• Run the command docker build -t delaunay_path_planner ..
• Run the command docker run delaunay_path_planner.

The tests will be run inside the container.