The Cuik KD-Tree Library
The Cuik-KDtree Documentation IntroductionThis package is an implementation of a kd-tree specially aimed for path planning. This library is a replacement for the MPNN library by Anna Yershova and Steven M. LaValle, but:
LicenseThe library has been developed by the KRD group at IRI and is licensed under GPLv3 License. DownloadYou can download the sources from here.
CompilationUnpack the package and move to the build folder
Generate the makefiles
Compile the package
At this point the library is available localy in lib folder and a minimalistic test-cuik-kdtree program is available in the bin folder. This test-cuik-kdtree program can be used as: Execute to get help on the parameters of this test program. This test program compares the cuik-kdtree to a brute force approach and to the MPNN. Actually you will need the extended version of this library. To install the library into the system folders execute
The default installation folder is /usr/local. This can be changed by setting the environment variable CMAKE_INSTALL_PREFIX. The documentation for the library can be generated executing
in the build directory. The documentation can be browsed from the file doc/html/index.html. |
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