{"id":15149295,"url":"https://github.com/sleipnirgroup/trajoptlib","last_synced_at":"2025-09-29T18:31:44.813Z","repository":{"id":44155851,"uuid":"507717572","full_name":"SleipnirGroup/TrajoptLib","owner":"SleipnirGroup","description":"Library for generating time-optimal trajectories for FRC robots. 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The physical constraints of motor power capacity are applied along with waypoint constraints, which force the robot to begin and end a segment of the trajectory with a certain state. A mathematical solver must vary the position of the robot at each discrete timestamp to minimize total time.\n\n## Features\n\n* Currently only supports swerve drives with arbitray module configurations\n* Position and velocity constraints at each waypoint\n* Circle and polygon obstacle avoidance\n* Custom physical constraints of robot\n* Custom bumper shape\n\n## Build\n\n### Dependencies\n\n* C++23 compiler\n  * On Windows, install [Visual Studio Community 2022](https://visualstudio.microsoft.com/vs/community/) and select the C++ programming language during installation\n  * On Linux, install GCC 14 or greater via `sudo apt install g++`\n  * On macOS 14 or greater, install the Xcode command-line build tools via `xcode-select --install`. Xcode 15.3 or greater is required.\n* [CMake](https://cmake.org/download/) 3.21 or greater\n  * On Windows, install from the link above\n  * On Linux, install via `sudo apt install cmake`\n  * On macOS, install via `brew install cmake`\n* [Rust](https://www.rust-lang.org/) compiler\n* [Sleipnir](https://github.com/SleipnirGroup/Sleipnir) (optional backend)\n* [Catch2](https://github.com/catchorg/Catch2) (tests only)\n\nLibrary dependencies which aren't installed locally will be automatically downloaded and built by CMake.\n\n### C++ library\n\nOn Windows, open a [Developer PowerShell](https://learn.microsoft.com/en-us/visualstudio/ide/reference/command-prompt-powershell?view=vs-2022). On Linux or macOS, open a Bash shell.\n\n```bash\n# Clone the repository\ngit clone git@github.com:SleipnirGroup/TrajoptLib\ncd TrajoptLib\n\n# Configure\ncmake -B build -S .\n\n# Build\ncmake --build build\n\n# Test\nctest --test-dir build --output-on-failure\n\n# Install\ncmake --install build --prefix pkgdir\n```\n\nThe following build types can be specified via `-DCMAKE_BUILD_TYPE` during CMake configure:\n\n* Debug\n  * Optimizations off\n  * Debug symbols on\n* Release\n  * Optimizations on\n  * Debug symbols off\n* RelWithDebInfo (default)\n  * Release build type, but with debug info\n* MinSizeRel\n  * Minimum size release build\n\n### Rust library\n\nOn Windows, open a [Developer PowerShell](https://learn.microsoft.com/en-us/visualstudio/ide/reference/command-prompt-powershell?view=vs-2022). On Linux or macOS, open a Bash shell.\n\n```bash\n# Clone the repository\ngit clone git@github.com:SleipnirGroup/TrajoptLib\ncd TrajoptLib\n\ncargo build\n```\n","funding_links":[],"categories":[],"sub_categories":[],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsleipnirgroup%2Ftrajoptlib","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fsleipnirgroup%2Ftrajoptlib","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsleipnirgroup%2Ftrajoptlib/lists"}