Update readme

Author: MC00614

Diff for: CMakeLists.txt

@@ -11,7 +11,7 @@ include_directories(
 
     EigenRand/
     ${EIGEN3_INCLUDE_DIRS}
-    matplotlibcpp/
+    # matplotlibcpp/
     ${PYTHON_INCLUDE_DIRS}
 )
 

Diff for: README.md

@@ -1,3 +1,38 @@
 # BiC-MPPI
 
 Implementation of the BiC-MPPI in C++.
+
+## Preparation
+
+### Dependancy
+**EigenRand** needs to be named as in CMakeLists.txt.
+- [Eigen 3.3.9](https://gitlab.com/libeigen/eigen/-/releases/3.3.9)
+- [EigenRand](https://github.com/bab2min/EigenRand)
+- [OpenMP](https://www.openmp.org/)
+
+### Map Download and Modification
+```bash
+git clone https://github.com/i-ASL/BiC-MPPI.git
+cd BiC-MPPI
+```
+
+Please download **BARN_dataset/grid_files** from [BARN_dataset](https://www.cs.utexas.edu/~xiao/BARN/BARN.html)
+```bash
+cd BARN_dataset
+python3 npy_to_txt.py
+```
+
+## Usage
+### Point-mass quadrotor landing problem
+```bash
+cd BiC-MPPI
+mkdir build && cd build
+cmake.. -Dquadrotor=1 && make
+```
+
+### Wheeled mobile robot moving
+```bash
+cd BiC-MPPI
+mkdir build && cd build
+cmake.. -Dquadrotor=0 && make
+```