C++ sample code for Noel du Toit (last modified 11/13/10)

The sample code is part of a larger project for autonomous vehicle navigation. The project is aimed at a light-weight version of the planning architecture that was developed for the DARPA Urban Challenge (DUC) by Team Caltech. I was the student leader for the navigation team. Since that code base is large and many people worked on it, I have included only the following modules: rrt-planner, nav-utils, skynet, viewer.

The code was developed and tested on Mac OSX (Snow Leopard) and Linux Ubuntu 9.10. It is compiled using cmake (tested with versions 2.6 and 2.8). The compiling procedure is described below. Please let me know if there are any problems.

The code is available at: http://robotics.caltech.edu/~ndutoit/wiki/index.php/Sample_code
