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Libraries in MRPT
The MRPT consists of a set of C++ libraries and a number of ready-to-use applications. This page describes the most interesting part of MRPT for mobile robotics developers: the libraries. It will be also explained how to add a new library to MRPT, for those willing to collaborate with the project.
Existing libraries
The large number of C++ templates and classes in MRPT makes it a good idea to split them into a set of libraries or "modules", so users can choose to depend on a part of the MRPT only, reducing compile time and future dependence problems.
Below is a dependence graph of the currently existing libraries in MRPT. An arrow "A -> B" means "A depends on B".
Clicking on any of the libraries will take you to the Doxygen documentation, where a short summary of the library goals can be found.
(*): Experimental libraries
How to write a new MRPT library
In order to allow anyone to submit its own library to MRPT, there are a (very few) rules that the CMake build system expects about the directory layout, etc.
These rules are explained here.