4About Me Other interests: Game engines Meta-programming 5Robot path planning 6Robot path planning Path planning 7Path planning How an (autonomous) agent figures out how to get from one location to level goals of this talk Implement cache-friendly path planning code in C++ 29High level goals of this talk Implement cache-friendly path planning code in C++ Do so using the STL 30High level goals of Implement cache-friendly path planning code in C++ Do so using the STL Try to keep our choices simple 31High level goals of this talk Implement cache-friendly path planning code in C++ Do so using the

construct a model of this circuit using a wave digital voltage source, resistor, and capacitor, all connected with a series adaptor. Real-Time Circuit Simulation with Wave Digital Filters in C++ Author: Jatin traditional circuit modelling softwares (e.g. LTSpice) are typically not suitable for this purpose. Wave Digital Filters are a paradigm for modelling circuits that has become popular over the past decade Diodes, etc) as Wave Digital Filters, allowing the user to quickly and easily construct circuit simulations that are suitable for real-time applications. Wave Digital Filters Wave Variables Wave Digital Filters

simulation ○ Wheeled robots: navigation, localization, 3D perception ○ Robotic arms: control, motion planning ○ Tooling: logging, data visualization ● I love C++, and I learnt a lot thanks to CPPCon videos

can communicate between nodes using topics What is ROS? Image from https://docs.ros.org/en/rolling/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Nodes/Understanding- ROS2-Nodes.html 37• Network we load the Simple Motion Planner plugin using pluginlib? Coming back to our system for motion planning 40Register the plugin class SimpleMotionPlanner : public IMotionPlanner { public: SimpleMotionPlanner() register and use plugins 55A much more complicated Motion Planning framework - MoveIt ● Open source robotics manipulation platform ○ Motion Planning ○ Grasping ○ 3D Perception ○ Robot control ○ Kinematics

org/wiki/File:Plane_electromagnetic_wave.svg 35Explicit systems of quantities By And1mu - Own work, CC BY-SA 4.0, https://commons.wikimedia.org/wiki/File:Plane_electromagnetic_wave.svg SI Units: E = cB 35 By And1mu - Own work, CC BY-SA 4.0, https://commons.wikimedia.org/wiki/File:Plane_electromagnetic_wave.svg SI Units: E = cB Gaussian Units: E = B 35.2Quantity “kind” 1 Hz > 1 Bq ? 36Quantity “kind”

com/ionescu007/clfs-docs/blob/main/README.md https://research.checkpoint.com/2024/raspberry-robin-keeps-riding-the-wave-of-endless-1-days/ https://github.com/exploitblizzard/Windows-Privilege-Escalation-CVE-2021-1732/

REQUIREMENTS CHECK linear time? ✓ in-place ("no extra memory")? ✓ "practical"? ✓ 64-bit integers? wave hands we're coming to that If this were an interview question, we've got a good start. If this were

Works” Example Symmetry (for Data Flows): • Flow One-Way: “All data flows left-to-right” • Flow Wave: “Flow left during computation; flow right during draw-frame” • Flow Circular: “All components hand-to-the-left

platform 02 03 04 Code reuse through libraries Building correct, secure, and safe systems Planning for the future Agenda Resources for learning modern C++ 0501 Obtaining tools for your platform platform 02 03 04 Code reuse through libraries Building correct, secure, and safe systems Planning for the future Agenda Resources for learning modern C++ 05Tools for your platform Build & platform 02 03 04 Code reuse through libraries Building correct, secure, and safe systems Planning for the future Agenda Resources for learning modern C++ 0501 Obtaining tools for your platform

panny2 submaps small region within the larger occupancy grid typically used to constrain the planning scene for navigation usually centered on the position of the robot 47github.com/griswaldbrooks/spanny2 orientation-aware/rotated submaps have a fixed view relative to the robot meaning a consistent planning scene, increasing determinacygithub.com/griswaldbrooks/spanny2 rotated submaps: custom layout collision checking mobile robots are usually modelled as a polygon projected onto the ground, for planning purposes 75 https://docs.nav2.org/setup_guides/footprint/setup_footprint.htmlgithub.com/griswaldbrooks/spanny2