This repository contains:

• A C++ implementation of the A* search algorithm for path planning on occupancy grids.

	- Eigen3
	- Boost
	- OpenCV 3.4 
	- YAML C++

Compile

	mkdir & cd build
	cmake ..
	make 

To test if it works, run the following command:

	cd $PATH_FINDING_DIR/build
	./planner

Custom planning:

	cd $PATH_FINDING_DIR/build
	./planner --heuristic euclidean --search astar --map-path ../maps/map1.png --map-config ../maps/map.yml

First, provide input map (default is $PATH_FINDING_DIR/maps/map1.png):

Then, the map class creates an obstacle map to use for path finding:

Finally, the algorithm computes a trajectory: