{"id":19526648,"url":"https://github.com/zju-fast-lab/std-trees","last_synced_at":"2025-09-14T14:48:01.846Z","repository":{"id":48215566,"uuid":"406676883","full_name":"ZJU-FAST-Lab/std-trees","owner":"ZJU-FAST-Lab","description":"STD-Trees: Spatio-temporal Deformable Trees for Multirotors Kinodynamic Planning","archived":false,"fork":false,"pushed_at":"2022-03-11T06:58:30.000Z","size":24854,"stargazers_count":41,"open_issues_count":3,"forks_count":8,"subscribers_count":5,"default_branch":"main","last_synced_at":"2025-04-26T10:36:17.265Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ZJU-FAST-Lab.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2021-09-15T08:33:30.000Z","updated_at":"2025-04-15T09:26:00.000Z","dependencies_parsed_at":"2022-09-07T17:41:10.983Z","dependency_job_id":null,"html_url":"https://github.com/ZJU-FAST-Lab/std-trees","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/ZJU-FAST-Lab/std-trees","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2Fstd-trees","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2Fstd-trees/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2Fstd-trees/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2Fstd-trees/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ZJU-FAST-Lab","download_url":"https://codeload.github.com/ZJU-FAST-Lab/std-trees/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2Fstd-trees/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":275120767,"owners_count":25409025,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-09-14T02:00:10.474Z","response_time":75,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"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":[],"created_at":"2024-11-11T01:11:13.695Z","updated_at":"2025-09-14T14:48:01.795Z","avatar_url":"https://github.com/ZJU-FAST-Lab.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# STD-Trees: Spatio-Temporal Deformable Trees for Multirotors Kinodynamic Planning\n[[Preprint]](https://github.com/ZJU-FAST-Lab/std-trees/blob/main/misc/draft.pdf)\n[[Video]](https://www.youtube.com/watch?v=uCOofavIp9w)\n\nThe code is now a bit of messy, I'll tide it up later.\n## Build \u0026 Run\n### Build\n1. create a workspace, for example ~/ws/src\n2. in ~/ws/src/, _git clone git@github.com:ZJU-FAST-Lab/std-trees.git_\n3. in ~/ws/, run _catkin_make_\n\n### Run\nIn two seperate terminals, in ~/ws/, _source_ first, then:\n1. roslaunch state_machine rviz.launch\n2. roslaunch state_machine test_planners.launch\n\nIf everything goes right, you'll see sth. like the following in Rviz.\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"misc/compare-wo.gif\" width = \"887\" height = \"200\"/\u003e\n\u003c/p\u003e\n\nThe color indications are light blue for kRRT, dark\nblue for kRRT-ST, yellow for kRRT*, green for kRRT*-ST, orange for kRRT#, and red for kRRT#-ST. Planning with ST deformation\ngenerates smoother trajectories with lower cost (red, green, and dark blue compared with orange, yellow, and light blue, respectively)","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fzju-fast-lab%2Fstd-trees","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fzju-fast-lab%2Fstd-trees","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fzju-fast-lab%2Fstd-trees/lists"}