Thomas Cohn cohnt

Correct include_dirs in setup.py to be whichever folder contains all of the ROS libraries. For example, [your_include_dir]/ros/ros.h should be the main ros library for C++.

Run python2 setup.py build_ext --inplace to build the program

Run python2 to enter a python environment, and type import node to start it off.

You will probably see an error message that looks something like ImportError: /file/path/to/node.so: undefined symbol: [some mangled symbol name].

	# Use proprietary solvers
	build --config gurobi
	build --config mosek
	build --config snopt

	# Experimenting with alphashapes to generate 2D worlds with randomly sized and shaped obstacles.

	import numpy as np
	import matplotlib.pyplot as plt
	from matplotlib.patches import Polygon
	from descartes import PolygonPatch
	import alphashape

	n_points = 200
	alpha = 25.

	import numpy as np

	from pyclustering.cluster.kmeans import kmeans, kmeans_visualizer
	from pyclustering.cluster.kmedians import kmedians
	from pyclustering.cluster.kmedoids import kmedoids

	from pyclustering.cluster import cluster_visualizer

	sample = np.array([
	[0, 0],

	import numpy as np
	import matplotlib.pyplot as plt

	mean = np.array([2, 2])
	cov = 0.5 * np.array([[1, 0.9], [0.9, 1]])
	x, y = np.random.multivariate_normal(mean, cov, 75).T

	from sklearn.decomposition import PCA

	pca = PCA(n_components=2)

	import numpy as np

	# Single point cloud case

	point_cloud = np.random.rand(6,3) # 6 3D points
	flattened = point_cloud.reshape(point_cloud.shape[0],-1) # One point in R^18
	unflattened = flattened.reshape(-1,3) # 6 3D points

	# Check that they're identical
	print point_cloud

	function dist(x, y) {
	return Math.sqrt(Math.pow(y[0]-x[0], 2)+Math.pow(y[1]-x[1], 2));
	}
	function ln(x) {
	return Math.log(x);
	}
	function abs(x) {
	return Math.abs(x);
	}
	function disth(p, q) {

	<!DOCTYPE html>
	<html>
	<head>
	<style>
	canvas {
	border: 1px dotted black;
	}
	</style>
	</head>
	<body>