Group 42 Planning and Decision Making project repository.
We recommend that you run this project in a Python virtual environment
- Python 3
- Rust
- numpy
- pygame
- MatPlotLib
- OpEn (
pip install opengen)
To compile the solver, run the file opengen/solver.py. This will create the solver in a my_optimizers directory. To run the file, either run a individual sample run be running the opengen/interface.py file or one of the test cases beginning with test*.py. Running the test cases will also recompile the solver, though this is not necessary.
To enable or disable the "in-front" penalty, uncomment lines 24 and 25 in solver.py
To create animations, first run interface.py with the obstacles defined in the function get_obstacle_definition(). When this has finished, close all graphs (dont quit using Ctrl+C) and the run the file import pygame.py Note that the simulation only shows x > 70.