CASSR: Continuous A-Star Search through Reachability for real time footstep planning

Installation Guide

Prerequisites

• C++17 or later
• CMake 3.10+
• CGAL library
• CasADi optimization library
• nlohmann/json library
• Boost libraries

Dependencies Installation (macOS)

# Install via Homebrew
brew install cgal boost nlohmann-json

# Install CasADi (follow official instructions)
# https://web.casadi.org/get/

Build Instructions

# Clone the repository and checkout devel branch
git clone -b devel <repository-url>
cd NAS

# Create build directory
mkdir build && cd build

# Configure and build
cmake ..
make

# Run footstep planning
./astar_plan

Notes

• The cmake file is design for Mac OS. You may need to adapt the CmakeLists.txt file for other operation systems.

• The constants.hpp specifies the hyper parameters.