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
• freetype2
• coal
• VTK
• yaml-cpp

Dependencies Installation

(macOS)

# Install via Homebrew
brew install cgal boost nlohmann-json

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

#### (Ubuntu 24)
```bash
# install CGAL dependencies
sudo apt install libfreetype6-dev pkg-config libgmp-dev libmpfr-dev
install CGAL from source https://github.com/CGAL/cgal/releases/tag/v6.0.1
tar xf CGAL-6.0.1.tar.xz
cd CGAL-6.0.1
make .
sudo make install

# Install via conda
conda create -n YOURENVNAME -c conda-forge python=3.11 casadi nlohmann_json coal vtk=9.2


### Build Instructions
```bash
# 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.