PolyTraj

PolyTraj is a C++ trajectory generation library for autonomous vehicle motion planning based on "Reactive Nonholonomic Trajectory Generation via Parametric Optimal Control". Given a start pose and an end pose, PolyTraj will generate a C2 continuous path connecting the two poses. Unlike methods based on interpolating splines, this method generates kinematically feasible paths.

Installation

1. Install Eigen.
2. Install GTest if you want to run the tests.

git clone --recurse-submodules https://github.com/jsford/PolyTraj
cd PolyTraj
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF -DBUILD_EXAMPLES=ON  -DBUILD_TESTS=ON -DBUILD_DOCS=ON ..
make
# sudo make install (Don't do this yet!)

Examples

cd PolyTraj/build/examples/
./path_example
./trajectory_example

Tests

cd PolyTraj/build/test/
./run_tests

Contact

Jordan Ford
jsford@andrew.cmu.edu