Warning! This library is in development!

mpl

Simple motion planning library in C++

Dependencies

Compiler

This requires c++17. While g++-8 supports c++17 (and is default on Ubuntu 18.04), g++-10 is required and earlier version do not appear to work. To check the version of gcc and g++:

g++ --version
gcc --version

To update the compiler:

sudo apt update
sudo apt install gcc-10
sudo apt install g++-10

To switch compiler, you can link to update-alternative as follows:

sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 7
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-7 7
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-10 10
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-10 10

To choose the default for gcc or g++:

update-alternatives --config gcc
update-alternatives --config g++

MatPlot++

Matplot++ v1.0.1 is required for visualization, but in the future, this requirement will be optional. For now, build and install Matplot++ from source. See details here, or you can build and install as follows:

wget https://github.com/alandefreitas/matplotplusplus/archive/v1.0.1.tar.gz
tar -zxvf v1.0.1.tar.gz
cd matplotplusplus-1.0.1
mkdir build
cd build
cmake ..
make
make install