{"id":43830365,"url":"https://github.com/cmpute/traji","last_synced_at":"2026-02-06T03:12:20.144Z","repository":{"id":132617796,"uuid":"430916272","full_name":"cmpute/traji","owner":"cmpute","description":"A C++/Python library designed for trajectory calculation in Cartesian / Frenet coordinate system","archived":false,"fork":false,"pushed_at":"2023-02-16T01:04:41.000Z","size":451,"stargazers_count":6,"open_issues_count":1,"forks_count":1,"subscribers_count":2,"default_branch":"main","last_synced_at":"2024-05-02T05:17:18.499Z","etag":null,"topics":["cmake","cpp","cpp14","frenet-serret-frame","path-planning","pybind11","python","trajectory"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/cmpute.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE.md","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null}},"created_at":"2021-11-23T01:08:31.000Z","updated_at":"2024-02-19T06:32:06.000Z","dependencies_parsed_at":null,"dependency_job_id":"ac469130-58cb-4518-ba06-41dde1a4ce1b","html_url":"https://github.com/cmpute/traji","commit_stats":{"total_commits":44,"total_committers":1,"mean_commits":44.0,"dds":0.0,"last_synced_commit":"0f95b2bfdb6921cc65f5f6a76a81defb02017d3a"},"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/cmpute/traji","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/cmpute%2Ftraji","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/cmpute%2Ftraji/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/cmpute%2Ftraji/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/cmpute%2Ftraji/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/cmpute","download_url":"https://codeload.github.com/cmpute/traji/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/cmpute%2Ftraji/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":29147519,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-02-06T02:39:25.012Z","status":"ssl_error","status_checked_at":"2026-02-06T02:37:22.784Z","response_time":59,"last_error":"SSL_connect returned=1 errno=0 peeraddr=140.82.121.5:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["cmake","cpp","cpp14","frenet-serret-frame","path-planning","pybind11","python","trajectory"],"created_at":"2026-02-06T03:12:19.622Z","updated_at":"2026-02-06T03:12:20.137Z","avatar_url":"https://github.com/cmpute.png","language":"C++","readme":"# TrajI\nA C++/Python library designed for trajectory calculation in Cartesian / Frenet coordinate system\n\n## Basic Usage\nThis library include several basic concepts implemented as classes:\n- `traji.Point`: A 2D point in Cartesian or Frenet coordinate\n- `traji.Path`: A line string consists of a list of consecutive points.\n- `traji.Trajectory`: A line string path with associated timestamps for each point.\n- `traji.HeteroPath`: A path consists of heterogenerous segments, including line segments, arc segments and other curve types.\n- `traji.PathPosition`: This class define a position along a path. It can be converted to a distance value or a timestamp.\n- `traji.QuinticPolyTrajectory`: An optimal trajectory defined as a quintic polynomial with regard to time.\n- `traji.CTRATrajectory`: A trajectory generated from constant turn-rate and acceleration movement.\n\nThe library contains the following functionalities for these concepts with efficient implementations:\n- Transformation between the concepts (e.g. `Path` from/to `HeteroPath`, `Path` from/to `Trajectory`)\n- Transformation between Cartesian coordinate and Frenet coordinate\n- Indexing on the linear concepts (`Point` from/to `PathPosition`)\n- Binary operations between the concepts (e.g. intersection, distance)\n\nFor C++ API, please refer to the single header file [traji.hpp](include/traji.hpp) for the library.\n\nFor Python API, please refer to the type annotation file [_bindings.pyi](python/traji/_bindings.pyi) for an overview of the definitions.\n\n## Reference\n\n- Frenet coordinates: https://github.com/fjp/frenet\n- MATLAB traj library: https://www.mathworks.com/help/nav/ref/trajectoryoptimalfrenet.cart2frenet.html\n- Bezier library: https://github.com/oysteinmyrmo/bezier\n","funding_links":[],"categories":[],"sub_categories":[],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcmpute%2Ftraji","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fcmpute%2Ftraji","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcmpute%2Ftraji/lists"}