This is the branch for ROS2; use the ros1 branch for ROS1.

TrajectoryCollection

Trajectory functions for robot control

Install

Requirements

• Compiler supporting C++17
• Tested with Ubuntu 22.04 / ROS Humble

Dependencies

This package depends on

• SpaceVecAlg

Trajectory list

• General functions
  • Polynomial function
  • Cubic spline
  • Cubic Hermite spline
    • Supports monotone cubic interpolation
  • Piecewise function consisting of the above functions
• Point-to-point interpolations
  • Cubic interpolation
  • Bang-bang control based interpolation (trapezoidal velocity profile)