Module trajectory 

Trajectory optimization

This module provides algorithms for optimizing trajectories to achieve smooth motion while satisfying various constraints such as velocity limits, acceleration limits, and obstacle avoidance. Trajectory optimization is essential for generating feasible and efficient paths for robotic systems.

The module includes:

• Quintic polynomial trajectory generation
• Minimum jerk trajectory optimization
• B-spline trajectory optimization
• Collision-free trajectory optimization

Examples

use scirs2_spatial::pathplanning::trajectory::{TrajectoryOptimizer, TrajectoryPoint, TrajectoryConstraints};

let start = TrajectoryPoint::new(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);  // x, y, vx, vy, ax, ay
let goal = TrajectoryPoint::new(5.0, 3.0, 0.0, 0.0, 0.0, 0.0);
let duration = 5.0;

let constraints = TrajectoryConstraints::default();
let optimizer = TrajectoryOptimizer::new(constraints);

let trajectory = optimizer.optimize_quintic(&start, &goal, duration).expect("Operation failed");
println!("Trajectory has {} waypoints", trajectory.len());

Structs

CircularObstacle

Obstacle representation for collision avoidance

Trajectory

A complete trajectory

TrajectoryConstraints

Constraints for trajectory optimization

TrajectoryOptimizer

Trajectory optimizer

TrajectoryPoint

A trajectory point with position, velocity, and acceleration

Enums

OptimizationMethod

Trajectory optimization methods