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polytraj's Introduction

PolyTraj Documentation

PolyTraj is a C++ trajectory generation library for autonomous vehicle motion planning based on "Reactive Nonholonomic Trajectory Generation via Parametric Optimal Control".

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
[email protected]

polytraj's People

Contributors

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Watchers

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Forkers

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