zhaodong1986 / trajoptlib

Library for generating time-optimal trajectories for FRC robots. Used by the HelixNavigator path planning app.

HelixTrajectory

This library is used to generate time-optimal trajectories for FRC robots.

Trajectory Optimization

Trajectory optimization works by mathematically formulating the problem of travelling along a given path with the minimum possible time. The physical constraints of motor power capacity are applied along with waypoint constraints, which force the robot to begin and end a segment of the trajectory with a certain state. A mathematical solver must vary the position of the robot at each discrete timestamp to minimize total time.

Features

Trajopt

• Currently only supports swerve drives with arbitray module configurations
• Position and velocity constraints at each waypoint
• Circle and polygon obstacle avoidance
• Custom physical constraints of robot
• Custom bumper shape

API

• Java and C++ API with almost complete parity
• CasADi dependencies bundled with Jar