C++ RRT (Rapidly-exploring Random Tree) implementation

This project contains an interactive RRT viewer. The source and destination points can be dragged with a mouse. Here's a screenshot:

The following are required in order to build this project:

• cmake >= 2.8.9
• Qt 5 (qt5 on Ubuntu)
• Eigen (libeigen3-dev on Ubuntu)

Run make in the main directory to build the rrt-viewer program and the test-runner program, which are placed in the build/ folder.

Here are some good resources for learning more about RRTs:

• http://msl.cs.uiuc.edu/rrt/
• Wikipedia
• http://www.cs.cmu.edu/~15780/readings/02iros-errt.pdf