A header only c++ library for fast convex decomposition. In the basic pipeline, it implements ellipsoid based regional inflation to model free space from a given path inside a point cloud. Detials of the algorithm is proposed in "S. Liu, M. Watterson, K. Mohta, K. Sun, S. Bhattacharya, C.J. Taylor and V. Kumar. Planning Dynamically Feasible Trajectories for Quadrotors using Safe Flight Corridors in 3-D Complex Environments. ICRA 2017".

Installation

DecompUtil is a header only library, several test nodes are compiled during the installation. #### A) Simple cmake

1 $ mkdir build && cd build && cmake .. && make

#### B) Using CATKIN (not recognizable by catkin_make)

1 $ cd mv decomp_util ~/catkin_ws/src

2 $ cd ~/catkin_ws & catkin_make_isolated -DCMAKE_BUILD_TYPE=Release

To check if everything is installed properlly:

1 $ make test

To link this lib properly, add following in the CMakeLists.txt

1 find_package(decomp_util REQUIRED)

2 include_directories(${DECOMP_UTIL_INCLUDE_DIRS})

Examples

The examples of using SeedDecomp2D, LineSegment2D, EllipsoidDecomp2D and IterativeDecomp2D are plotted as followings:

SeedDecomp2D	LineSegment2D	EllipsoidDecomp2D	IterativeDecomp2D

The corresponding code for testing can be found in the test folder.

The ROS wrapper for easier use of this package can be found in DecompROS.