Autonomous motion planning and control library for wheeled mobile robots.
Successor to Pathfinder.
- What should I download?
- Semantic versioning
- Policy on releases
Pathfinder has had several different guidelines on installation. Outdated guidelines are preserved for posterity. These guidelines are sorted chronologically, so that the most recent guideline (the one you should be following if you're using the latest release of the library) is at the top, and the oldest guideline (the one you definitely shouldn't be following) is all the way at the bottom.
As of February 11th, 2022, Pathfinder will provide individual module artifacts
on jitpack.
Make sure to add jitpack as a dependency as so:
// this should go in the top level of your build.gradle file
allprojects {
repositories {
maven { url 'https://jitpack.io' }
}
}
Then select the components you'd like to install. All artifacts have the
same group (com.github.Wobblyyyy.Pathfinder2).
dependencies {
implementation 'com.github.Wobblyyyy.Pathfinder2:geometry:v2.1.1'
implementation 'com.github.Wobblyyyy.Pathfinder2:kinematics:v2.1.1'
implementation 'com.github.Wobblyyyy.Pathfinder2:core:v2.1.1'
implementation 'com.github.Wobblyyyy.Pathfinder2:frc:v2.1.1'
implementation 'com.github.Wobblyyyy.Pathfinder2:OdometryCore:v2.1.1'
}You should only select the modules you need. At the very least, you'll
need geometry, kinematics, and core, which would be implemented as
follows:
dependencies {
implementation 'com.github.Wobblyyyy.Pathfinder2:geometry:v2.1.1'
implementation 'com.github.Wobblyyyy.Pathfinder2:kinematics:v2.1.1'
implementation 'com.github.Wobblyyyy.Pathfinder2:core:v2.1.1'
}If there's a newer version (newer than v2.1.1 that is) you should use the latest version instead.
Here's an example of a full build.gradle.
plugin {
id 'java'
}
// you might have some other stuff here
allprojects {
repositories {
maven { url 'https://jitpack.io' }
}
}
// or maybe even here
dependencies {
implementation 'com.github.Wobblyyyy.Pathfinder2:geometry:v2.1.1'
implementation 'com.github.Wobblyyyy.Pathfinder2:kinematics:v2.1.1'
implementation 'com.github.Wobblyyyy.Pathfinder2:core:v2.1.1'
}As of January 3rd, 2022, Pathfinder will no longer provide JAR binaries in
the Releases section. You can install Pathfinder via jitpack. Instructions
on doing that are as follows:
Installing Pathfinder shouldn't be TOO difficult. If you're using Gradle, it's
pretty simple. First, add the jitpack repository by adding the following to
your build.gradle.
allprojects {
repositories {
maven { url 'https://jitpack.io' }
}
}Once you're done with that, add Pathfinder2 as a dependency:
dependencies {
implementation 'com.github.Wobblyyyy:Pathfinder2:v0.10.3'
}For a complete example, see the pathfinder2-examples module's
build.gradle file.
If you're using maven, sbt, or leiningen, you can see installation instructions
here.
Pathfinder2 releases are released in a single form - one JAR file that contains all the libraries related to Pathfinder2. This was done to simplify installation, and also partially because I'm really lazy.
Please see the readme to learn more about how to install Pathfinder2 without downloading a JAR.
Each of Pathfinder's releases will be released with several assets. As of September 9th, 2021, those assets will be:
- Pathfinder2 Geometry
- Pathfinder2 Kinematics
- Pathfinder2 Core
- Pathfinder2 OdometryCore
- Pathfinder2 ALL
Generally, I'd advise you to download Pathfinder2's all-inclusive JAR. If you really care about cutting down on size, you can download individual components. At the very least, you'll need
- Pathfinder2 Geometry
- Pathfinder2 Kinematics
- Pathfinder2 Core
Core depends on Geometry and Kinematics.
The Pathfinder2 project uses semantic versioning - in short, each version has three numbers.
- A MAJOR number
- A MINOR number
- A PATCH number
For example, take hypothetical version 6.7.0.
- The major version is 6.
- The minor version is 7.
- The patch version is 0.
Every time a small change is made - say, for example, a bug is corrected or an algorithm is optimized - the patch version is incremented.
Every time an additive change - a change that adds functionality or features without breaking any of the existing code - is made, the minor version is incremented.
Every time a breaking change - a change that requires end users to have to re-write some of their code for the library to still work - is made, the major version is incremented.
If a release is a "pre-release," it's not 100% confirmed to work. You can use it, and it'll probably work, but it's suggested you stick to regular releases unless you have a reason not to do so.
It's generally safe to update the version of Pathfinder2 you're using whenever a new patch is released. In fact, I'd encourage it, quite strongly - getting the latest bug fixes and optimizations is never a bad thing. It's also generally safe to update Pathfinder2 whenever a new minor version is released - this isn't as strongly encouraged as updating patch versions, because minor changes, although beneficial, aren't required for the library to work as intended.
It is NOT safe to update the version of Pathfinder2 whenever a major release comes out. Each major release will have a detailed set of notes explaining all of the breaking changes that were made for the release. If any of the changes affect your code, you will need to update your code in order to use the latest and greatest version of Pathfinder2.
If you notice any issues with a release - issues, NOT changes - please report them immediately. Bugs will be fixed as soon as possible and released in a new patch. If you report an issue (or submit a patch) you'll ensure everyone gets to experience a fully-functional Pathfinder.