https://github.com/ewpratten/spacetrace

A 3D path solving library
https://github.com/ewpratten/spacetrace

3d-path-planning bezier-curves linear-interpolation path-planning quaternion

Last synced: about 1 month ago
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A 3D path solving library

• Host: GitHub
• URL: https://github.com/ewpratten/spacetrace
• Owner: ewpratten
• License: gpl-3.0
• Created: 2021-08-11T13:27:16.000Z (over 3 years ago)
• Default Branch: master
• Last Pushed: 2021-08-12T17:35:42.000Z (over 3 years ago)
• Last Synced: 2024-10-15T18:09:40.220Z (2 months ago)
• Topics: 3d-path-planning, bezier-curves, linear-interpolation, path-planning, quaternion
• Language: Rust
• Homepage: https://crates.io/crates/spacetrace
• Size: 765 KB
• Stars: 1
• Watchers: 3
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# SpaceTrace

[![Build](https://github.com/Ewpratten/spacetrace/actions/workflows/build.yml/badge.svg)](https://github.com/Ewpratten/spacetrace/actions/workflows/build.yml)

[![Clippy](https://github.com/Ewpratten/spacetrace/actions/workflows/clippy.yml/badge.svg)](https://github.com/Ewpratten/spacetrace/actions/workflows/clippy.yml)

[![Audit](https://github.com/Ewpratten/spacetrace/actions/workflows/audit.yml/badge.svg)](https://github.com/Ewpratten/spacetrace/actions/workflows/audit.yml)

SpaceTrace is the 3rd revision of my 2D/3D path planning algorithm.

Formerly designed for use by [Raider Robotics](https://github.com/frc5024/), I built the first and second revisions to plan paths through a set of points in 2D space for use in autonomous control of a robot's drivetrain. The original implementation can be found [here](https://github.com/frc5024/lib5k/tree/45b67e4ff7e840af79aa28a62a200edebac92a79/lib5k/src/main/java/io/github/frc5024/purepursuit) and is still used in production.

A demo tool for this first revision can be found [here](https://github.com/Ewpratten/pathfollowing-demo).

SpaceTrace (the third revision) aims to do the following:

- Bring the algorithm to the third dimension

- Add support for infinite resolution paths

- Be fully serializable and deserializable

- Switch the underlying curve generation from my custom (and sometimes buggy) method to use Bezier curves

## Tools in this repo

This repository contains the following tools:

- [`spacetrace`](./spacetrace) [![Crates.io](https://img.shields.io/crates/v/spacetrace)](https://crates.io/crates/spacetrace) [![Docs.rs](https://docs.rs/spacetrace/badge.svg)](https://docs.rs/spacetrace)

  - The core library

- [`spacetrace-visualizer`](./visualizer) [![Crates.io](https://img.shields.io/crates/v/spacetrace)](https://crates.io/crates/spacetrace-visualizer)

  - Path visualization tool

  - **Very experimental, and unfinished**

## Examples

![Demo Animation](./demo.gif)