SCAN-Planner
SCAN-Planner: Spatial Collision-Aware Local planning for Route-Guided Long-Range Quadruped Navigation
파일 탐색기
최종 버전 다운로드 (.zip)- dynamic_compress.gif
- maze_compress.gif
- sshape_compress.gif
- terrain_compress.gif
- abstract_real.jpg
- framework.jpg
- bspline_optimizer.h
- gradient_descent_optimizer.h
- lbfgs.hpp
- uniform_bspline.h
- bspline_optimizer.cpp
- gradient_descent_optimizer.cpp
- uniform_bspline.cpp
- CMakeLists.txt
- package.xml
- dyn_a_star.h
- dyn_a_star.cpp
- CMakeLists.txt
- package.xml
- grid_map.h
- raycast.h
- grid_map.cpp
- raycast.cpp
- CMakeLists.txt
- package.xml
- plan_container.hpp
- planner_manager.h
- scan_replan_fsm.h
- advanced_param.xml
- default.rviz
- run.launch
- rviz.launch
- simulator.xml
- Bspline.msg
- DataDisp.msg
- closed_loop_controller.cpp
- go2_gait_publisher.cpp
- go2_kinematic_sim.cpp
- open_loop_controller.cpp
- planner_manager.cpp
- scan_planner_node.cpp
- scan_replan_fsm.cpp
- CMakeLists.txt
- package.xml
- planning_visualization.h
- polynomial_traj.h
- planning_visualization.cpp
- polynomial_traj.cpp
- CMakeLists.txt
- package.xml
- FOV_Checker.cpp
- FOV_Checker.h
- glew.h
- glxew.h
- wglew.h
- glad.h
- _features.hpp
- _fixes.hpp
- _noise.hpp
- _swizzle.hpp
- _swizzle_func.hpp
- _vectorize.hpp
- compute_common.hpp
- compute_vector_relational.hpp
- func_common.inl
- func_common_simd.inl
- func_exponential.inl
- func_exponential_simd.inl
- func_geometric.inl
- func_geometric_simd.inl
- func_integer.inl
- func_integer_simd.inl
- func_matrix.inl
- func_matrix_simd.inl
- func_packing.inl
- func_packing_simd.inl
- func_trigonometric.inl
- func_trigonometric_simd.inl
- func_vector_relational.inl
- func_vector_relational_simd.inl
- glm.cpp
- qualifier.hpp
- setup.hpp
- type_float.hpp
- type_half.hpp
- type_half.inl
- type_mat2x2.hpp
- type_mat2x2.inl
- type_mat2x3.hpp
- type_mat2x3.inl
- type_mat2x4.hpp
- type_mat2x4.inl
- type_mat3x2.hpp
- type_mat3x2.inl
- type_mat3x3.hpp
- type_mat3x3.inl
- type_mat3x4.hpp
- type_mat3x4.inl
- type_mat4x2.hpp
- type_mat4x2.inl
- type_mat4x3.hpp
- type_mat4x3.inl
- type_mat4x4.hpp
- type_mat4x4.inl
- type_mat4x4_simd.inl
- type_quat.hpp
- type_quat.inl
- type_quat_simd.inl
- type_vec1.hpp
- type_vec1.inl
- type_vec2.hpp
- type_vec2.inl
- type_vec3.hpp
- type_vec3.inl
- type_vec4.hpp
- type_vec4.inl
- type_vec4_simd.inl
- matrix_clip_space.hpp
- matrix_clip_space.inl
- matrix_double2x2.hpp
- matrix_double2x2_precision.hpp
- matrix_double2x3.hpp
- matrix_double2x3_precision.hpp
- matrix_double2x4.hpp
- matrix_double2x4_precision.hpp
- matrix_double3x2.hpp
- matrix_double3x2_precision.hpp
- matrix_double3x3.hpp
- matrix_double3x3_precision.hpp
- matrix_double3x4.hpp
- matrix_double3x4_precision.hpp
- matrix_double4x2.hpp
- matrix_double4x2_precision.hpp
- matrix_double4x3.hpp
- matrix_double4x3_precision.hpp
- matrix_double4x4.hpp
- matrix_double4x4_precision.hpp
- matrix_float2x2.hpp
- matrix_float2x2_precision.hpp
- matrix_float2x3.hpp
- matrix_float2x3_precision.hpp
- matrix_float2x4.hpp
- matrix_float2x4_precision.hpp
- matrix_float3x2.hpp
- matrix_float3x2_precision.hpp
- matrix_float3x3.hpp
- matrix_float3x3_precision.hpp
- matrix_float3x4.hpp
- matrix_float3x4_precision.hpp
- matrix_float4x2.hpp
- matrix_float4x2_precision.hpp
- matrix_float4x3.hpp
- matrix_float4x3_precision.hpp
- matrix_float4x4.hpp
- matrix_float4x4_precision.hpp
- matrix_projection.hpp
- matrix_projection.inl
- matrix_relational.hpp
- matrix_relational.inl
- matrix_transform.hpp
- matrix_transform.inl
- quaternion_common.hpp
- quaternion_common.inl
- quaternion_common_simd.inl
- quaternion_double.hpp
- quaternion_double_precision.hpp
- quaternion_exponential.hpp
- quaternion_exponential.inl
- quaternion_float.hpp
- quaternion_float_precision.hpp
- quaternion_geometric.hpp
- quaternion_geometric.inl
- quaternion_relational.hpp
- quaternion_relational.inl
- quaternion_transform.hpp
- quaternion_transform.inl
- quaternion_trigonometric.hpp
- quaternion_trigonometric.inl
- scalar_common.hpp
- scalar_common.inl
- scalar_constants.hpp
- scalar_constants.inl
- scalar_int_sized.hpp
- scalar_relational.hpp
- scalar_relational.inl
- scalar_uint_sized.hpp
- scalar_ulp.hpp
- scalar_ulp.inl
- vector_bool1.hpp
- vector_bool1_precision.hpp
- vector_bool2.hpp
- vector_bool2_precision.hpp
- vector_bool3.hpp
- vector_bool3_precision.hpp
- vector_bool4.hpp
- vector_bool4_precision.hpp
- vector_common.hpp
- vector_common.inl
- vector_double1.hpp
- vector_double1_precision.hpp
- vector_double2.hpp
- vector_double2_precision.hpp
- vector_double3.hpp
- vector_double3_precision.hpp
- vector_double4.hpp
- vector_double4_precision.hpp
- vector_float1.hpp
- vector_float1_precision.hpp
- vector_float2.hpp
- vector_float2_precision.hpp
- vector_float3.hpp
- vector_float3_precision.hpp
- vector_float4.hpp
- vector_float4_precision.hpp
- vector_int1.hpp
- vector_int1_precision.hpp
- vector_int2.hpp
- vector_int2_precision.hpp
- vector_int3.hpp
- vector_int3_precision.hpp
- vector_int4.hpp
- vector_int4_precision.hpp
- vector_relational.hpp
- vector_relational.inl
- vector_uint1.hpp
- vector_uint1_precision.hpp
- vector_uint2.hpp
- vector_uint2_precision.hpp
- vector_uint3.hpp
- vector_uint3_precision.hpp
- vector_uint4.hpp
- vector_uint4_precision.hpp
- vector_ulp.hpp
- vector_ulp.inl
- bitfield.hpp
- bitfield.inl
- color_space.hpp
- color_space.inl
- constants.hpp
- constants.inl
- epsilon.hpp
- epsilon.inl
- integer.hpp
- integer.inl
- matrix_access.hpp
- matrix_access.inl
- matrix_integer.hpp
- matrix_inverse.hpp
- matrix_inverse.inl
- matrix_transform.hpp
- matrix_transform.inl
- noise.hpp
- noise.inl
- packing.hpp
- packing.inl
- quaternion.hpp
- quaternion.inl
- quaternion_simd.inl
- random.hpp
- random.inl
- reciprocal.hpp
- reciprocal.inl
- round.hpp
- round.inl
- type_aligned.hpp
- type_precision.hpp
- type_precision.inl
- type_ptr.hpp
- type_ptr.inl
- ulp.hpp
- ulp.inl
- vec1.hpp
- associated_min_max.hpp
- associated_min_max.inl
- bit.hpp
- bit.inl
- closest_point.hpp
- closest_point.inl
- color_encoding.hpp
- color_encoding.inl
- color_space.hpp
- color_space.inl
- color_space_YCoCg.hpp
- color_space_YCoCg.inl
- common.hpp
- common.inl
- compatibility.hpp
- compatibility.inl
- component_wise.hpp
- component_wise.inl
- dual_quaternion.hpp
- dual_quaternion.inl
- easing.hpp
- easing.inl
- euler_angles.hpp
- euler_angles.inl
- extend.hpp
- extend.inl
- extended_min_max.hpp
- extended_min_max.inl
- exterior_product.hpp
- exterior_product.inl
- fast_exponential.hpp
- fast_exponential.inl
- fast_square_root.hpp
- fast_square_root.inl
- fast_trigonometry.hpp
- fast_trigonometry.inl
- float_notmalize.inl
- functions.hpp
- functions.inl
- gradient_paint.hpp
- gradient_paint.inl
- handed_coordinate_space.hpp
- handed_coordinate_space.inl
- hash.hpp
- hash.inl
- integer.hpp
- integer.inl
- intersect.hpp
- intersect.inl
- io.hpp
- io.inl
- log_base.hpp
- log_base.inl
- matrix_cross_product.hpp
- matrix_cross_product.inl
- matrix_decompose.hpp
- matrix_decompose.inl
- matrix_factorisation.hpp
- matrix_factorisation.inl
- matrix_interpolation.hpp
- matrix_interpolation.inl
- matrix_major_storage.hpp
- matrix_major_storage.inl
- matrix_operation.hpp
- matrix_operation.inl
- matrix_query.hpp
- matrix_query.inl
- matrix_transform_2d.hpp
- matrix_transform_2d.inl
- mixed_product.hpp
- mixed_product.inl
- norm.hpp
- norm.inl
- normal.hpp
- normal.inl
- normalize_dot.hpp
- normalize_dot.inl
- number_precision.hpp
- number_precision.inl
- optimum_pow.hpp
- optimum_pow.inl
- orthonormalize.hpp
- orthonormalize.inl
- perpendicular.hpp
- perpendicular.inl
- polar_coordinates.hpp
- polar_coordinates.inl
- projection.hpp
- projection.inl
- quaternion.hpp
- quaternion.inl
- range.hpp
- raw_data.hpp
- raw_data.inl
- rotate_normalized_axis.hpp
- rotate_normalized_axis.inl
- rotate_vector.hpp
- rotate_vector.inl
- scalar_multiplication.hpp
- scalar_relational.hpp
- scalar_relational.inl
- spline.hpp
- spline.inl
- std_based_type.hpp
- std_based_type.inl
- string_cast.hpp
- string_cast.inl
- texture.hpp
- texture.inl
- transform.hpp
- transform.inl
- transform2.hpp
- transform2.inl
- type_aligned.hpp
- type_aligned.inl
- type_trait.hpp
- type_trait.inl
- vec_swizzle.hpp
- vector_angle.hpp
- vector_angle.inl
- vector_query.hpp
- vector_query.inl
- wrap.hpp
- wrap.inl
- common.h
- exponential.h
- geometric.h
- integer.h
- matrix.h
- packing.h
- platform.h
- trigonometric.h
- vector_relational.h
- CMakeLists.txt
- common.hpp
- exponential.hpp
- ext.hpp
- fwd.hpp
- geometric.hpp
- glm.hpp
- integer.hpp
- mat2x2.hpp
- mat2x3.hpp
- mat2x4.hpp
- mat3x2.hpp
- mat3x3.hpp
- mat3x4.hpp
- mat4x2.hpp
- mat4x3.hpp
- mat4x4.hpp
- matrix.hpp
- packing.hpp
- trigonometric.hpp
- vec2.hpp
- vec3.hpp
- vec4.hpp
- vector_relational.hpp
- ikd_Tree.cpp
- ikd_Tree.h
- 360camera.vs
- camera.fs
- camera.vs
- filesystem.h
- glad.c
- opengl_sim.hpp
- shader_m.h
- tools_kd_hash.hpp
- camera.yaml
- opengl_render_node.cpp
- pointcloud_render_node.cpp
- glfw3.h
- glfw3native.h
- glfw3Config.cmake
- glfw3ConfigVersion.cmake
- glfw3Targets-none.cmake
- glfw3Targets.cmake
- glfw3.pc
- libglfw.so
- libglfw.so.3
- libglfw.so.3.3
- changelog.Debian.gz
- copyright
- changelog.Debian.gz
- copyright
- include
- lib
- CMakeLists.txt
- package.xml
- map_publisher.cpp
- CMakeLists.txt
- package.xml
- rviz.rviz
- maps.hpp
- perlinnoise.hpp
- maze2d.launch
- maze3d.launch
- mockamap.launch
- perlin3d.launch
- post2d.launch
- .clang-format
- ces_randommap.cpp
- maps.cpp
- mockamap.cpp
- perlinnoise.cpp
- CMakeLists.txt
- package.xml
- joint_names_go2_description.yaml
- robot_control.yaml
- base.dae
- calf.dae
- calf_mirror.dae
- foot.dae
- hip.dae
- thigh.dae
- thigh_mirror.dae
- check_joint.rviz
- gazebo.launch
- go2_rviz.launch
- base.dae
- calf.dae
- calf_mirror.dae
- foot.dae
- hip.dae
- thigh.dae
- thigh_mirror.dae
- Amended_collision_model.png
- go2_description.urdf
- Normal_collision_model.png
- const.xacro
- gazebo.xacro
- leg.xacro
- materials.xacro
- robot.xacro
- transmission.xacro
- CMakeLists.txt
- package.xml
- README.md
- hummingbird.mesh
- odom_visualization.cpp
- CMakeLists.txt
- package.xml
- pose_utils.h
- pose_utils.cpp
- CMakeLists.txt
- package.xml
- waypoint_generator.cpp
- CMakeLists.txt
- package.xml
- keypoint_recorder.py
- README.md
- .gitignore
- LICENSE
- README.md
# 설치 가이드
1. 코드 내려받기
git clone https://github.com/wuyi2121/SCAN-Planner
깃허브에서 프로젝트 코드 전체를 내 컴퓨터로 내려받습니다.
cd SCAN-Planner
방금 내려받은 프로젝트 폴더 안으로 이동합니다.
2. 공식 설치 스크립트
쉬움 추천사전 준비물
- APT (Debian/Ubuntu 계열) Debian/Ubuntu 계열 리눅스에 기본 내장된 패키지 매니저입니다.
sudo apt-get install libarmadillo-dev
APT 패키지 저장소에서 바로 설치합니다 (Debian/Ubuntu 계열).
sudo apt-get install libglew-dev libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
APT 패키지 저장소에서 바로 설치합니다 (Debian/Ubuntu 계열).
설치 후 새 터미널을 열고, 프로그램의 버전 확인 명령(예: --version)으로 정상 설치됐는지 확인하세요.
이 레포의 README에 적힌 실제 명령어를 그대로 가져왔습니다.
3. CMake
보통사전 준비물
⚠️ 이 프로젝트는 규모가 큰 저장소라, 이 방법이 실제 핵심 제품이 아니라 내부 하위 패키지를 가리키는 것일 수 있습니다. README 전체를 함께 확인해보세요.
cd src/planner/bspline_opt
이 프로젝트의 관련 파일이 하위 폴더 안에 있어서, 먼저 그 폴더로 이동합니다.
mkdir build && cd build
빌드 결과물을 담을 폴더를 만들고 그 안으로 이동합니다.
cmake ..
소스코드를 분석해 빌드 설정 파일을 생성합니다 (build 폴더 안에서 실행해야 함).
make
생성된 빌드 설정을 바탕으로 실제 컴파일을 진행해 실행 파일을 만듭니다.
build 폴더 안에 실행 파일이 생성됐는지 확인하고, 직접 실행해보세요 (예: ./build/앱이름).
// repository documentation
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