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cvxgrp / fastpathplanning

A fast algorithm for finding an optimal path in a collection of safe boxes
https://web.stanford.edu/~boyd/papers/fpp.html
Apache License 2.0
45 stars 4 forks source link

Is the 3D demo publicly available? #4

Closed burlachenkok closed 1 year ago

burlachenkok commented 1 year ago

I am curious. Is the source code for this demo publicly available? https://www.youtube.com/watch?v=p1xlcNiER0o&ab_channel=RobotLocomotionGroup

The link to the video is provided here: https://stanford.edu/~boyd/papers/fpp.html

TobiaMarcucci commented 1 year ago

I've just added the UAV demo to the examples folder. Note that the 3D visualization of the UAV requires meshcat. Note also that I've reduced the size of the environment with respect to the example in the paper so that the preprocessing works fine also with Clarabel. If you'd like to try larger environments, I suggest you use Mosek as a solver for the optimization of the representative points during the offline preprocessing.