Warthog Library

Warthog is an optimised C++ library for pathfinding search. It is developed and maintained by Daniel Harabor and contributors in the Shortest Path Lab. Github houses the newer version, the legacy version is available at: https://bitbucket.org/dharabor/pathfinding/

Layout

Warthog is split in several repos, all official repos will be located within Shortest Path Lab.

Core

Repo warthog-core houses the core library of the project. Any warthog library will require this dependency. It contains domain, search, heuristic, scenario loaders and other core utilities. See /apps for pre-setup application that can run standard scenarios.

JPS

Repo warthog-jps houses jps implementation. Requires warthog-core as a dependency.

Using warthog

It is recommended to use warthog not as a fork, but included in an external repo. This setup support FetchContent, git submodule and git subtree.

CMake

Setup a basic project using the following the commands:

git init
git remote add warthog-core https://github.com/ShortestPathLab/warthog-core.git
git fetch warthog-core
git checkout warthog-core/main cmake/warthog.cmake

Example CMakeLists.txt:

cmake_minimum_required(VERSION 3.13)

project(App
	VERSION 0.0.1
	LANGUAGES CXX C)

set(CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_STANDARD_REQUIRED TRUE)

# warthog modules
include(cmake/warthog.cmake)

warthog_module_declare(warthog-core v0.5.0) # is optional, remove for default of main
warthog_module(warthog-core)

add_executable(app main.cpp)
target_link_libraries(app PUBLIC warthog::core)

Submodule

Commands for adding a module as a submodules for each repo are found below:

git submodule add https://github.com/ShortestPathLab/warthog-core.git extern/warthog-core
git submodule add https://github.com/ShortestPathLab/warthog-jps.git extern/warthog-jps

To update the version of warthog, for warthog module $module:

cd extern/$module
git fetch
git checkout|git switch
cd ..
git add $module

This will update the submodule to the checkout commit. Initialise or update the submodule on other clones with the following commands:

git submodule init # after clone
git submodule update # after pull

Subtree

Subtree will make the module a part of your repo, allowing for local editing without forking.

The setup for each module:

git subtree -P extern/warthog-core add https://github.com/ShortestPathLab/warthog-core.git main|branch|commit --squash
git subtree -P extern/warthog-jps add https://github.com/ShortestPathLab/warthog-jps.git main|branch|commit --squash

The update commands:

git subtree -P extern/warthog-core pull https://github.com/ShortestPathLab/warthog-core.git main|branch|commit --squash
git subtree -P extern/warthog-jps pull https://github.com/ShortestPathLab/warthog-jps.git main|branch|commit --squash

Advance Module Details

File /cmake/warthog.cmake from warthog core should be copied to user repo and include in CMake. Calling warthog_submodule(warthog-core) will then add warthog-core to your CMake in the following order:

1. add_subdirectory(/extern/warthog-core) if /extern/warthog-core/CMakeLists.txt exists (submodule/subtree)
2. FetchContent_Declare then FetchContent_MakeAvailable(warthog-core) otherwise
3. Error if cannot find warthog-core content

The warthog_module call only adds a module once, the following calls will be ignored. The submodule/subtree version only works if called in the top level project by default; if this method is preferred, then it should be added to the top level /extern/, can be overridden with code warthog_module(warthog-core ON).

Declare of warthog-core can be done using the following code:

warthog_module_declare(warthog-core [main|branch|tag|commit])

or:

FetchContent_Declare(warthog-core
	GIT_REPOSITORY https://github.com/ShortestPathLab/warthog-core.git
	GIT_TAG [main|branch|tag|commit])

This will declare what warthog-core version to fetched. The warthog_module_declare version makes it simple, although it only supports known warthog libraries. The optional second parameter sets the version to pull, by default is main branch. This system only support warthog 0.5 or greater.

Resources

• Moving AI Lab: pathfinding benchmark and tools
• Posthoc: visualiser and debugger for pathfinding
• Pathfinding Benchmarks: git repo for benchmarks