Skip to content

Instantly share code, notes, and snippets.

View giogadi's full-sized avatar

Luis G. Torres giogadi

6 followers · 2 following
View GitHub Profile
@giogadi
giogadi / RRG.h
Last active December 19, 2015 15:19
RRG.h: RRG code with generalized costs. Simple costs make A* much easier
/* Authors: Luis G. Torres */
#ifndef OMPL_CONTRIB_RRT_STAR_RRG_
#define OMPL_CONTRIB_RRT_STAR_RRG_
#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/base/OptimizationObjective.h"
#include "ompl/datastructures/NearestNeighbors.h"
#include "ompl/base/goals/GoalRegion.h"
@giogadi
giogadi / RRG.cpp
Last active December 19, 2015 15:19
RRG.cpp: RRG code with simple costs
/* Authors: Luis G. Torres */
#include "RRG.h"
#include "ompl/tools/config/SelfConfig.h"
#include "ompl/base/Goal.h"
#include <boost/utility.hpp>
#include <boost/property_map/function_property_map.hpp>
#include <map>
#include <boost/timer/timer.hpp>
@giogadi
giogadi / passive.robot.xml
Last active December 20, 2015 03:48
COLLADA description of a 6-DOF mechanism (P1-R5)
<Robot name="CustomRobot">
<KinBody name="PassiveArm">
<Body name="base" type="dynamic">
<Translation>0 0 0</Translation>
</Body>
<Body name="shoulder" type="dynamic">
<offsetfrom>base</offsetfrom>
<Translation>0 0 0</Translation>
</Body>
@giogadi
giogadi / RRT.h
Created November 6, 2013 00:20
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*