You require OpenCV (C++) to run the code

To run homotopy constrained A-star planner:

1. In main.cpp - ensure #include"planner4.h" is uncommented and #include "mha*.h" is commented
2. In planner4.h set goal->x and goal->y and goal->signatures
3. To compile: g++ main.cpp pkg-config --cflags --libs opencv --std=c++11

To run homotopy constrained MHA-star planner:

1. In main.cpp - ensure #include "mha*.h" is uncommented and #include "planner4.h" is uncommented
2. In mha*.h set goal->x and goal->y and goal->signatures
3. To compile: g++ main.cpp pkg-config --cflags --libs opencv --std=c++11

For trajectory optimization: The cost map is inputted in the form of a text file. Which is read and the output path is written to a file

1. In Gradient_descent_generation.cpp - In planner4.h uncomment lines 58,59,64,75 (These lines have been commented as planner4.h is used for point robot planning and there's no need for the path to be written onto a file)
2. In planner4.h set goal->x and goal->y and goal->signatures
3. To compile: g++ Gradient_descent_generation.cpp pkg-config --cflags --libs opencv --std=c++11 This writes the output path onto a text file, which is used by the trajectory optimiser