NoWay

A simple pathfinding module based on the theta* algorithm, communicating thanks to redis.

Installation

1. Install dependencies (a valid c++ toolchain, cmake, pkg-config and hiredis)

sudo apt-get install build-essential cmake pkg-config libhiredis-dev

2. Clone and compile

git clone https://github.com/rustyducks/NoWay.git 
cd Noway && mkdir build && cd build
cmake ..
make -j8

Usage

Run the executable : ./NoWay [redis_host] [redis_port] (default: 127.0.0.1:6379) The executable will respond to redis command, here is the common workflow:

1. Update the dynamic obstacles: RPUSH dynamic_obstacles [xcenter],[ycenter],[radius] ...
2. Ask a way: PUBLISH findpath xstart,ystart;xgoal,ygoal
3. The result will be available on path: GET path -> x1,y1;x2,y2;...xn,yn;...xgoal,ygoal;