C++实现自动驾驶常用路径规划多种算法源码（含Dijkstra、A星、RRT、RRT星、Bezier、B spline等）.zi...

cmake_minimum_required(VERSION 3.21) project(path_planning) set(CMAKE_CXX_STANDARD 14) # include(GNUInstallDirs) set(PACKAGE_NAME path_planning) # output set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin) # Library target add_library(path_planning INTERFACE) # TODO: Use `Development.Embed` component when requiring cmake >= 3.18 find_package(Python COMPONENTS Interpreter Development NumPy REQUIRED) target_link_libraries(path_planning INTERFACE Python::Python Python::Module Python::NumPy ) install( TARGETS path_planning EXPORT install_targets ) find_package(Eigen3 REQUIRED) include_directories(${EIGEN3_INCLUDE_DIR}) # bezier add_executable(bezier_demo Bezier/main.cpp Bezier/BezierCurve.cpp) target_link_libraries(bezier_demo PRIVATE path_planning) # B-spline add_executable(b_spline_demo B-spline/main.cpp B-spline/BSpline.cpp) target_link_libraries(b_spline_demo PRIVATE path_planning) # RRT add_executable(rrt_demo Rapidly-exploring_Random_Tree/main.cpp Rapidly-exploring_Random_Tree/RRT.cpp) target_link_libraries(rrt_demo PRIVATE path_planning) # RRT_connect add_executable(rrt_connect_demo Rapidly-exploring_Random_Tree_connect/main.cpp Rapidly-exploring_Random_Tree_connect/RRT_connect.cpp) target_link_libraries(rrt_connect_demo path_planning) # RRT_star add_executable(rrt_star_demo Rapidly-exploring_Random_Tree_Star/main.cpp Rapidly-exploring_Random_Tree_Star/RRT_Star.cpp Rapidly-exploring_Random_Tree/RRT.cpp) target_link_libraries(rrt_star_demo path_planning) # Dijkstra add_executable(dijkstra_demo Dijkstra/main.cpp Dijkstra/Dijkstra.cpp) target_link_libraries(dijkstra_demo path_planning) # astar add_executable(astar_demo A_Star/Astar.cpp A_Star/main.cpp) target_link_libraries(astar_demo path_planning)