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HybridRobotics / cbf

An open source repository for control, planning and navigation about control barrier functions.
Apache License 2.0
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Clean up code structure. #10

Closed junzengx14 closed 3 years ago

junzengx14 commented 3 years ago

1) Separate dynamics/geometry/states(state and input) inside a wrapped class. 2) A high-level class named Robot takes ownership of global planner, local planner, controller and system. 3) Created test files for each layer.

This code still need to be cleaned up and a corresponding readme will be added.

junzengx14 commented 3 years ago

@AkshayThiru Please run dubin_car_test.py for a quick testing. I will add plotting and animation features very soon.