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Knowledge is Code

Collecting and archiving knowledge is as important as code. Be diligent about linking to great documents (intro or reference) or writing cheat sheets. There is a ton of jargon out there and things are often much simpler than they sound.

Motion planning sounds fancy and I like using the word, but there is not much to it. In our repository in the docs directory, there is a paper that, despite lots of fluff, explains it well. We will do some good driving and motion planning in Milestone 1 with about 6,000 lines of C#! I hope that vision is also easier than it sounds, but I am less sure :-)


One thing we should think about is whether we should dump tons of C/C++ into the tree just to build it once so we can then call it from C#. Maybe we could just dump the few release DLLs into the system and save people from having to compile the mess.

We may change torcs, but likely not the Intel code, for example.

Coding stuff

File Formats

I took our slim torcsdata directory, which is 26 MB, and when I compressed it, I got it down to 11.6 MB. We should be looking for compressed file formats. Collada has a zip format that we could be using. We could be using JPEG or PNG rather than bitmaps.





Quick Reference:

Building Intel Code

File:Ubuntu 8.04 OpenCV Install Guide.odt

Building Torcs

Packages you need installed (Missing things?)

sudo apt-get install build-essential mesa-common-dev libsdl1.2-dev libgl1-mesa-dev libglu1-mesa-dev libsdl-image1.2 libsdl-image1.2-dev libalut-dev libopenal-dev plib1.8.4-dev freeglut3-dev libxi-dev libxmu-dev libxxf86vm-dev libxrandr-dev libmono-dev

Common problems

configure: error: Can't find libX11. Please check config.log and if you can't solve the problem send the file to with the subject "torcs compilation problem"

You should do:

./configure --x-libraries=/usr/lib --x-includes=/usr/include

Building Ogre and OgreDotNet


OgreDotNet complains if you do not have the NVidia Cg Toolkit Ogre plugin installed. It's not compiled in within ubuntu's ogre distribution, that is why we need to install Ogre3D from sources.

Dependencies :

  • sudo aptitude install libzzip-dev libzzip-0-13 libxaw-headers libxmu-dev libxmu-headers libxpm-dev libfreeimage-dev libfreeimage3 libxrandr nvidia-cg-toolkit libfreetype6-dev libxaw7-dev


./configure --prefix=/usr --enable-openexr && make && sudo make install


Dependencies :

  • sudo aptitude install swig cmake nant libmono-winforms2.0-cil


Do not trust the README file : run bash ./

Who reads the readmes? You just tell us what to do :-)