Expand description
Eta^3 spline path and trajectory planner
Generates smooth paths for wheeled mobile robots using eta^3 polynomial splines. Each segment is a 7th-degree parametric curve connecting two poses (position + heading), shaped by eta parameters and curvature constraints.
Reference:
- [eta^3-Splines for the Smooth Path Generation of Wheeled Mobile Robots] (https://ieeexplore.ieee.org/document/4339545/)
Structsยง
- Eta3
Path - A multi-segment eta^3 path composed of contiguous segments.
- Eta3
Path Segment - A single eta^3 path segment connecting two poses.
- Eta3
Trajectory - Eta^3 spline trajectory: a path with a jerk-limited velocity profile.
- EtaParams
- Shaping parameters for an eta^3 spline segment.
- Kappa
Params - Curvature parameters at the segment endpoints.
- Pose2D
- A pose in 2D: position (x, y) and heading angle theta [rad].
- Trajectory
Config - Configuration for the trapezoidal-with-jerk velocity profile.
- Trajectory
State - A trajectory state at a single instant.