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MIT

Task

《机器人中的数值优化》HW5

  • 生成凸多边形障碍;
  • 生成光滑曲线路径;
  • TOPP问题,生成速度参数

How to run

catkin_make
source devel/setup.bashrc
roslaunch gcopter curve_gen.launch

# plot topp results:
# open another terminal
source devel/setup.bashrc
rosrun gcopter vis.py

How to set parameters

in config/corve_gen.yaml

# polygon parameters
PolysNum: 15           # Number of polygons
PolyPlaneNum: 50 # Number of planes of each polygon
PolyXYBound: 25    # bound of center of polygons
PolyUVBound: 5      # bound of scale of polygons

# topp parameters
v_max: 8
a_max: 15
v_start: 2
v_end: 0
sub_pieces_num: 1 # number of topp pieces in each polynomial trajectory

Results

MIT License Copyright(c) 2021 Zhepei Wang (wangzhepei@live.com) and Fei Gao (fgaoaa@zju.edu.cn) Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

简介

《机器人中的数值优化》,HW5,Task2 展开 收起
C++ 等 3 种语言
MIT
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