Have a look at the
bin/ subdirectory for examples of using E* and PNF. Most of these are simple text-based tools (that produce files with data and gnuplot instructions).
test_pnf_gfx are more elaborate and produce graphical output using OpenGL. For example, you can reproduce some of the figures in  by running:
$ cd estar-X.Y/build/bin $ ./test_pnf_gfx ../../misc/pnf-setup-star06-a.pnf paper (quit the program by pressing 'q') $ ./test_pnf_gfx ../../misc/pnf-setup-star06-b.pnf paper
================================================== E-star Interpolated Graph Replanner -------------------------------------------------- Some files are: Copyright (C) 2004-2005 Swiss Federal Institute of Technology, Lausanne Some others are: Copyright (C) 2005-2007 Roland Philippsen <roland dot philippsen at gmx net> All files are: Released under the GNU General Public License, see LICENSE.GPL ================================================== HOMEPAGE http://estar.sourceforge.net/ DESCRIPTION The E* algorithm is a path planner for (mobile) robotics. Unlike A*, which constrains movements to graph edges, it produces smooth trajectories by interpolating between edges. Like D*, it supports dynamic replanning after local path cost changes. If you want to give E* a try in simulation, try the E* "development kit" available for download and checkout from the project homepage. PREREQUISITES * Boost Graph Library and smart pointers. http://www.boost.org/ * If you build from SVN, you need GNU Automake, Autoconf, and Libtool. If you're building from a release tarball, you don't need this. http://www.gnu.org/software/automake/ http://www.gnu.org/software/autoconf/ http://www.gnu.org/software/libtool/ * An OpenGL implementation (currently works for Linux and OS X). [This is sort of optional, the configure script tries to guess if you have OpenGL, but it has never been really tested on a system without it.] * Doxygen (optional, http://www.doxygen.org/). BUILDING From source tarball (the "-s" option is important if you do *not* have GNU Automake, Autoconf, and Libtool): $ tar xfvz estar-X.Y.tar.gz $ cd estar-X.Y $ ./build-stage.sh -s This will "install" it in the stage/ directory under your current working directory by default. You can also do a manual "configure / make / make install", or read the output of "/build-stage.sh -h". More cutting edge: Use subversion to check out (or update) a working copy! $ svn co https://estar.svn.sourceforge.net/svnroot/estar/trunk/estar $ cd estar $ ./build-stage.sh Note that in any case, "./build-stage" will create a build/ directory, which you can then use for recompiling the project after modifications to the code. The GNU tools provide dependency tracking, and in most cases only a small portion of the code gets recompiled after a change. Also, in case of a working copy based on SVN, you can pass "-s" to subsequent calls to "./build-stage.sh" to avoid wasting time on recreating files that haven't changed. The build-stage script has some more tricks up its sleeve, check out its "--help" output. For example, to install E* on your system, say in /usr/local/estar, just do this: $ ./build-stage.sh -p /usr/local/estar DOCUMENTATION Point your favorite browser to file doc/html/index.html if it exists, or build it using doxygen by typing (after a successful configuration, see BUILDING above): $ cd build $ make doc
 Roland Philippsen and Roland Siegwart. "An Interpolated Dynamic Navigation Function". Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2005. (Available online http://estar.sourceforge.net/papers/philippsen_siegwart_icra2005_paper.pdf)
 Roland Philippsen. "A Light Formulation of the E* Interpolated Path Replanner". Technical Report, Autonomous Systems Lab, Ecole Polytechnique Fédérale de Lausanne, 2006. (Available online http://estar.sourceforge.net/papers/philippsen--estar-TR06.pdf)
 Bjoern Jensen, Roland Philippsen, and Roland Siegwart. "Motion Detection and Path Planning in Dynamic Environments". Workshop Proceedings Reasoning with Uncertainty in Robotics, International Joint Conference on Artificial Intelligence (IJCAI), 2003.
 Roland Philippsen, Bjoern Jensen, and Roland Siegwart. Chapter "Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments" in "Autonomous Navigation in Dynamic Environments", Springer Tracts on Advanced Robotics, editors Christian Laugier and Raja Chatila, 2006. (Available online http://estar.sourceforge.net/papers/philippsen-jensen-siegwart--star06.pdf.zip)