Adding 15_visualizer for motion planning in the browser

[qknight]

First: Ruckig is an awesome project. Want to look into the math side of it soon!

This PR integrates a motion planning visualization using plotly.js and this can be used from the webbrowser.

Main goal is to learn about the nature of the parameters for educational purposes

Oh, and here is a preview:

https://lastlog.de/blog/ruckig_motion_planning.html

open questions

This code is completely finished but it would be interesting to access the values of the individual segments, this seems to be possible according to:

• https://github.com/pantor/ruckig/issues/117
• https://github.com/pantor/ruckig/issues/144

But I can't access the values yet, do you have a hint for me?

[pantor]

Hi, thanks for your kind words and your pull request!

Regarding your question, you can access the internal profiles of a calculated trajectory via get_profiles() and their relevant array members.

I really like the idea of a web tool to play around and get an intuition of Ruckig! Can you move your files from the examples directory to doc/web-visualization? Ruckig already has a copy of nlohmann/json in the third_party/json directory, so please reuse that one.

I think our goal should be to host this to make it truly accessible. I’ll take a look into that in the coming week.

[qknight]

@pantor fixed all the open points, ready to merge ;-)

i also tested the build and html view after the changes, so on my end it works as outlined in the README.md (which i had to update since -it was missing)

[qknight]

meeeeep

[pantor]

Closed in favor of #164.