Path adaptor is a basic CHOMP implementation for differential drive mobile robots. It adapts an initial path to avoid obstacles. This implementation is based on source code from trychomp

You need CMake, Eigen v3, and GTK+ v2.

git clone https://github.com/rafaelvalencia/path-adaptor.git
mkdir path-adaptor/build
cd path-adaptor/build
cmake ..
make
./demoSE2

• Declare a CHOMP object (CHOMP_SE2 or CHOMP) with your selected parameters (passed as arguments in constructor).
• Initialize a path, a starting pose and an ending pose. E.g. use 'setPath' to set any given initial path (e.g. computed with a global path planner), 'initStraightLinePath' for a straight line or 'initStackedPath' for a path with all poses stacked at the initial pose.
• Set obstacles with 'setObstacles' (add more with 'addObstacle', obstacles are defined as circles).
• Run CHOMP with 'generatePath' or run a single iteration with 'chompIteration' (you need an initialized path for this step).

This is based on the Covariant Hamiltonian Optimization for Motion Planning CHOMP.