This version of ISeeML only provides forward path generation (no obstacle avoidance, or planning) with or without continuous curvature profile. ISeeML does not have yet a standard Graphic User Interface. This means you can only, for the moment, compute forward-only paths with continuous or discontinuous curvature profile, and get their characteristics.

A graphical example is however provided, using wxWindows. Integrating GUI into the class hierarchy is planned for next version, and back-up manoeuvres (change of direction of motion) for the following one.

This library installation has no requirement, except of course a C++ compiler. Depending on the one used, you may need to add optional includes or lines. To try the GUI example, you however need to install wxWindows.

This library has been compiled and tested:

on several computers (Intel Core2 Duo, Xeon, Genuine Intel, Pentium IV, Pentium III, KoreBot II in a Khepera III),
under several OS (Linux: Ubuntu 10.04-06.06, Red Hat; Windows: 98, XP SP2 & SP3),
with various compilers (g++: Linux and Cygwin; Borland C++ Builder, Visual C++ 2008 Express).

Computation time varies a lot, depending on:

the processor (KoreBot II is about 20 times slower than the Pentium III, which is about 14 times slower than the Intel Core2 Duo)
the OS (computation is at least twice faster under Linux than under Windows),
the compilers (under Windows, computation is 3 time faster using Visual C++ or Borland C++ than using g++),
the path computed (Dubins' paths are computed twice faster than continuous-curvature paths, called FSC).

They vary from 2 ms (FSC paths under Linux on KoreBot II) to 5 microseconds (Dubins' paths under Linux on Intel Core2 Duo). Hundreds of millions tests have been done, with pre- and post-conditions activated (cf. CompilerFlags.h), without any error.

Fwd.cpp, TimeFwd.cpp, LengthFwd.cpp and wxGuiFwd.cpp are four examples showing how classes of this library can be used (the second example gives computation times, the fourth ones is a GUI).