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Autonomy Software C++ 24.5.1
Welcome to the Autonomy Software repository of the Mars Rover Design Team (MRDT) at Missouri University of Science and Technology (Missouri S&T)! API reference contains the source code and other resources for the development of the autonomy software for our Mars rover. The Autonomy Software project aims to compete in the University Rover Challenge (URC) by demonstrating advanced autonomous capabilities and robust navigation algorithms.
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This namespace stores classes, functions, and structs that are used to implement different path planner algorithms used by the rover to determine the optimal path to take for any given situation. More...
Namespaces | |
| namespace | nodes |
| This namespace defines and implements structs and functions used by various different algorithms to store data about points within a path. | |
| namespace | postprocessing |
| This namespace defines and implements structs and functions used by various different algorithms to post-process paths. | |
Classes | |
| class | AStar |
| Implements the A* (ASTAR) algorithm with the ability to plan paths around obstacles and provide path bias points that the algorithm will try to adhere to. More... | |
| class | GeoPlanner |
| This class implements a geospatial path planner that uses AStar's algorithm with a bias towards travel scores to find the optimal path between two points. geospatial data is fetched from the LidarHandler, and the path is planned using the Eigen library for matrix operations. More... | |
| struct | KDQueryPoint |
| Small POD used for KDTree searches (2D point) More... | |
| struct | PointKDAccessor |
| Accessor for KDTree that exposes easting/northing for both PointRow and KDQueryPoint. More... | |
Typedefs | |
| using | KDTree2D = KDTree::KDTree< 2, LiDARHandler::PointRow, PointKDAccessor > |
This namespace stores classes, functions, and structs that are used to implement different path planner algorithms used by the rover to determine the optimal path to take for any given situation.
1.9.8