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Simple Online Trajectory Generator\nGenerate trajectories in realtime across multiple via points, constrained by velocity, acceleration and maximum path deviation.\n\n\n## Requirments\nThe math library Eigen version 3.3 or higher is required\n``` bash\napt install libeigen3-dev\n```\n\n## Build and Install\n``` bash\ngit clone https://gitlab.cc-asp.fraunhofer.de/jsk/simple_online_trajectory_generator.git\ncd simple_online_trajectory_generator\n\nmkdir build\ncd build\n\ncmake ..\nmake\n```\n\n## Example\n### Cartesian Trajectory\n``` cpp\n#include \"sotg/sotg.hpp\"\n\n...\n\n// Setup the path once\n\nEigen::VectorXd v1(6), v2(6), v3(6);\nv1 \u003c\u003c 0.0, 0.0, 0.0, 0.0, 0.0, 0.0;\n//     x    y    z   roll yawn tilt  The order can be different but orientation values must always be placed after the locations, e.g. y,z,x,tilt,roll,yawn\n\nv2 \u003c\u003c 0.0, 1.0, 0.0, 0.0, 1.0, 0.0;\nv3 \u003c\u003c 1.0, 1.0, 0.0, 0.0, 1.0, 0.0;\n\nSOTG::Point p1(v1);\np1.setOrientationIndex(3); // index of the first occuring angle value\nSOTG::Point p2(v2);\np2.setOrientationIndex(3);\nSOTG::Point p3(v3);\np3.setOrientationIndex(3);\n\nSOTG::Path path;\npath.addPoint(p1);\npath.addPoint(p2);\npath.addPoint(p3);\n\nstd::vector\u003cSOTG::SectionConstraint\u003e section_constraints;\nSOTG::SectionConstraint s1(1.0, 2.0, 1.0, 1.0); // max_lin_acceleration, max_ang_acceleration, max_lin_velocity, max_ang_velocity\nSOTG::SectionConstraint s2(1.0, 2.0, 1.0, 1.0);\nsection_constraints.push_back(s1);\nsection_constraints.push_back(s2); // must be section_constraints.size() == path.size() - 1\n\nstd::vector\u003cSOTG::SegmentConstraint\u003e segment_constraint;\nSOTG::SegmentConstraint sc(0.5); // max blend distance\nsegment_constaints.push_back(sc); // must be segment_constraints.size() == path.size() - 2\n\nSOTG::TrajectoryGenerator trajectory_generator\ntrajectory_generator.resetPath(path, section_constraints, segment_constraints);\n\ndouble duration = trajectory_generator.getDuration();\n\n...\n// This gets called every tick, a tick is a point in time between 0 and the calculated duration of the trajectory\n\nSOTG::Point position, velocity;\ntrajectory_generator.calcPositionAndVelocity(tick, position, velocity);\n\n// position and velocity contain the values for this tick\n\n```\n\n## Debug\nUncomment the following lines in CMakeList.txt when more debug output is desired\n``` cmake\nadd_definitions(-DDEBUG)\nadd_definitions(-DVERBOSE_TESTS)\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fipa320%2Fsimple_online_trajectory_generator","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fipa320%2Fsimple_online_trajectory_generator","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fipa320%2Fsimple_online_trajectory_generator/lists"}