add build scripts

Kei18 · Feb 12, 2021 · 9b48e60 · 9b48e60
1 parent ac56a6d
commit 9b48e60
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Showing 9 changed files with 310 additions and 20 deletions.
diff --git a/.gitignore b/.gitignore
@@ -1,4 +1,4 @@
 .DS_Store
 /build/
-test.sh
-/instances/toy.txt
+/instances/toy.txt
+/third_party/openFrameworks/
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.1)
+cmake_minimum_required(VERSION 3.17)
 project(mapf-refine CXX)
 
 add_subdirectory(./mapf)

diff --git a/mapf/CMakeLists.txt b/mapf/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.1)
+cmake_minimum_required(VERSION 3.17)
 file(GLOB SRCS "./src/*.cpp")
 project(lib-mapf)
 add_library(lib-mapf STATIC ${SRCS})

diff --git a/mapf/include/ir.hpp b/mapf/include/ir.hpp
@@ -11,6 +11,7 @@
 #include "pibt_complete.hpp"
 #include "whca.hpp"
 #include "revisit_pp.hpp"
+#include "push_and_swap.hpp"
 #include "lib_ir.hpp"
 #include "solver.hpp"
 
@@ -21,7 +22,7 @@ class IR : public Solver
 
 protected:
   // init-solver
-  enum struct INIT_SOLVER_TYPE { PIBT, HCA, WHCA, ECBS, PIBT_COMPLETE, RevisitPP };
+  enum struct INIT_SOLVER_TYPE { PIBT, HCA, WHCA, ECBS, PIBT_COMPLETE, RevisitPP, PushAndSwap };
   INIT_SOLVER_TYPE init_solver;
   std::vector<std::string> option_init_solver;
 

diff --git a/mapf/src/ir.cpp b/mapf/src/ir.cpp
@@ -123,6 +123,9 @@ Plan IR::getInitialPlan()
     case INIT_SOLVER_TYPE::RevisitPP:
       solver = std::make_shared<RevisitPP>(&_P);
       break;
+    case INIT_SOLVER_TYPE::PushAndSwap:
+      solver = std::make_shared<PushAndSwap>(&_P);
+      break;
     case INIT_SOLVER_TYPE::PIBT_COMPLETE:
     default:
       solver = std::make_shared<PIBT_COMPLETE>(&_P);
@@ -381,6 +384,8 @@ void IR::setParams(int argc, char* argv[])
           init_solver = INIT_SOLVER_TYPE::RevisitPP;
         } else if (s == "PIBT_COMPLETE") {
           init_solver = INIT_SOLVER_TYPE::PIBT_COMPLETE;
+        } else if (s == "PushAndSwap") {
+          init_solver = INIT_SOLVER_TYPE::PushAndSwap;
         } else {
           warn("solver does not exists, use PIBT");
         }

diff --git a/readme.md b/readme.md
@@ -1,12 +1,12 @@
-Multi-Agent Path Finding
+mapf-IR
 ===
 [![MIT License](http://img.shields.io/badge/license-MIT-blue.svg?style=flat)](LICENSE)
 
-A simulator and visualizer of Multi-Agent Path Finding (MAPF), used in a paper "Iterative Refinement for Realtime MAPF".
+A simulator and visualizer of Multi-Agent Path Finding (MAPF), used in a paper "Iterative Refinement for Real-Time Multi-Robot Path Planning".
 It is written in C++(17) with [CMake](https://cmake.org/) build and tested on OSX 10.15.
 The visualizer uses [openFrameworks](https://openframeworks.cc).
 
-The implementations include: HCA\* and WHCA\* [1], PIBT [2], CBS [3], ICBS [4], ECBS [5], Revisit Prioritized Planning [6], Push and Swap [7], winPIBT [8], PIBT-Complete, and IR.
+The implementations include: HCA\* and WHCA\* [1], PIBT [2], CBS [3], ICBS [4], ECBS [5], Revisit Prioritized Planning [6], Push and Swap [7], winPIBT [8], PIBT+, and IR (Iterative Refinement).
 
 | platform | status |
 | ---: | :--- |
@@ -18,11 +18,11 @@ You can see the performance of each solver from [auto\_record repo](https://gith
 ## Demo
 ![100 agents in arena](/material/arena_100agents.gif)
 
-100 agents in arena, planned by PIBT in ~~67ms~~ 7ms.
+100 agents in arena, planned by PIBT in ~~67ms~~ 5ms.
 
 ![1000 agents in brc202d](/material/brc202d_1000agents.gif)
 
-1000 agents in brc202d, planned by PIBT-Complete in ~~84sec~~ 1683ms.
+1000 agents in brc202d, planned by PIBT in ~~84sec~~ 1348ms.
 The gif shows a part of an MAPF plan.
 
 ## Building
@@ -81,14 +81,15 @@ solution=
 
 ### Building
 It takes around 10 minutes.
+
+#### MacOS
 ```sh
-sh ./third_party/openFrameworks/scripts/osx/download_libs.sh
-cd visualizer/
-make build
-cd ..
-chmod +x ./visualize.sh
+bash ./visualizer/scripts/build_macos.sh
 ```
 
+Note: The script of openFrameworks seems to contain bugs. Check this [issue](https://github.com/openframeworks/openFrameworks/issues/6623). I fixed this in my script :D
+
+
 ### Usage
 ```sh
 cd build
@@ -104,17 +105,34 @@ Generated by Github Actions. See also [auto\_record repo](https://github.com/Kei
 
 ![optimal solvers](https://github.com/Kei18/mapf-IR/blob/auto_record/fig/transition_1.jpg)
 
-## Licence
-This software is released under the MIT License, see [LICENSE.txt](LICENCE.txt).
+## Experimental Environment
+I used [![v1.1](https://img.shields.io/badge/tag-v1.1-blue.svg?style=flat)](https://github.com/Kei18/mapf-IR/releases/tag/v1.1)
+
+Scripts for the experiments are in `exp_scripts/`.
+Several solvers are coded in different names. See the following.
+
+| paper | code |
+| :--- | :--- |
+| RPP | RevisitPP |
+| PIBT+ | PIBT_COMPLETE |
+| IR: random | IR |
+| IR: single-agent | IR\_SINGLE\_AGENTS |
+| IR: focusing-at-goals | IR\_FOCUS\_GOALS |
+| IR: local-repair-around-goals | IR\_FIX\_AT\_GOALS |
+| IR: using-MDD | IR\_MDD |
+| IR: using-bottleneck-agent | IR\_BOTTLENECK |
+| IR: composition | IR\_HYBRID |
 
 ## Notes
 - Maps in `maps/` are from [MAPF benchmarks](https://movingai.com/benchmarks/mapf.html).
   When you add a new map, please place it in the `maps/` directory.
 - The font in `visualizer/bin/data` is from [Google Fonts](https://fonts.google.com/).
-- Scripts for the experiments are in `exp_scripts/`.
+
+## Licence
+This software is released under the MIT License, see [LICENSE.txt](LICENCE.txt).
 
 ## Author
-[Keisuke Okumura](https://kei18.github.io) is a Ph.D. candidate at Tokyo Institute of Technology, working on multiple moving agents.
+[Keisuke Okumura](https://kei18.github.io) is a Ph.D. student at the Tokyo Institute of Technology, interested in controlling multiple moving agents.
 
 ## Reference
 1. Silver, D. (2005).

diff --git a/visualize.sh b/visualize.sh
@@ -1,2 +1,2 @@
-#!/bin/sh
+#!/bin/bash
 `dirname $0`/visualizer/bin/visualizer.app/Contents/MacOS/visualizer $1
diff --git a/visualizer/scripts/build_macos.sh b/visualizer/scripts/build_macos.sh
@@ -0,0 +1,10 @@
+#!/bin/bash
+set -e
+cd `dirname $0`/../../third_party/openFrameworks/
+git checkout refs/tags/0.11.0
+cp -f ../../visualizer/scripts/download_libs.sh ./scripts/dev/download_libs.sh
+bash ./scripts/osx/download_libs.sh -v 0.11.0
+cd ../../visualizer/
+make build
+cd ..
+chmod +x ./visualize.sh