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Kraken-cpp is a port of the java library Kraken

Port order

• configuration lib #3
• data structures #1 (package pfg.kraken.struct)
• obstacles #2 (package pfg.kraken.obstacles)
• navmesh (package pfg.kraken.dstarlite.navmesh)
• obstacles container (package pfg.kraken.obstacles.container)
• exceptions (package pfg.kraken.exceptions)
• D* lite (package pfg.kraken.dstarlite)
• memory pools (package pfg.kraken.memory)
• tentacles (Bezier and clothoids) (package pfg.kraken.tentacles and subpackages, pfg.kraken.engine)
• A* (package pfg.kraken.astar)
• multithreading (package pfg.kraken.tentacles.computethread)
• autoreplanning (package pfg.kraken.tentacles.autoreplanning)
• API utilisateur (package pfg.kraken)

Code style

• English is the mandatory langage.
• The code must comply with ROS style guide.
• You should use stream only in #if DEBUG preprocessor directives.
• You should not use the C libraries.