Yard bot with perception, localization, mapping, and path planning in python and C
yard_astar folder contains the path planning function
To test yard_astar:
cd /path/to/yard_bot/yard_astar/src
In direction_a_star_c.c use add_obstacle(map,row,col,height,width) as desired. Set x, y, th_init; xg,yg,thg
make
./test_astar
octave view_a_star_c.m
Press a key in the terminal to close the octave figure.
You can also just run from the octave gui.
Note this example map element map(1,1) is (1,-1) meters; map(99,99) is (99,-99) meters.
The ros convention we plan to follow in the wheele repo (AvoidObs, Astar) has map origin x,y at map(0,0).
In the wheele repo, I use a get_map_indices function to help re-use this code but with different index definitions.
direction_a_star_c.c is slow. Perhaps three dimensions is too much. Try removing the theta dimension and use simp_move in move.c.