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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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Add global path planning and fix minor issues #14

Closed AkshayThiru closed 2 years ago

AkshayThiru commented 2 years ago

1) Add graph-based (A, line of sight A, Theta*) and optimization-based global planners. 2) Change function definitions for planning. 3) Add file to store environment properties. 4) Fix local trajectory generation, and convex hull generation in PolytopeRegion class.

AkshayThiru commented 2 years ago

I'll add the test files in a separate PR since there are already many changes in this one.