Graphically Recursive Simultaneous Task Allocation, Planning, and Scheduling

This repository includes the code used for

citation...

We are currently working on a refactored cleaner version of the code which will be used for future papers and linked here when completed.

Dependencies:

apt:

• xorg-dev
• libglu1-mesa-dev

Manually

• OMPL Follow the from source instructions (Only 3 commands)

sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen 

included submodules:

• args - Argument Parsing
• box2d - A 2D physics engine for games (Used for 2d collision detection)
• fmt - A formatting library
• json - JSON for Modern C++ (Magic)
• googletest - Unit Testing
• spdlog - Fast logging library

Cloning

Through SSH

git clone --recurse-submodules -j4 git@github.com:amessing/grstaps.git

Through HTTPS

git clone https://github.com/amessing/grstaps.git
cd grstaps
sed -i 's/git@github.com:/https:\/\/github.com\//' .gitmodules
git submodule update --init --recursive