Demonstration of various aspects of CHOMP, with & without constraints.

See the paper "Multigrid CHOMP with Local Smoothing" by He, Martin, & Zucker, 2013 for details. (In the repository under the paper directory).

Please contact Matt Zucker mzucker1@swarthmore.edu with questions, comments, or rants.

To build the software, you will need these libraries:

• GLUT
• eigen3
• expat
• cairo
• ccd (optional for collision detection, use ros-groovy-libccd)

You must install cmake to build the software as well. To build:

cd /path/to/chomp-multigrid
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make

From the build directory, run

../chomp/map2d_tests.sh

or

../chomp/circle_tests.sh