Module frenet_optimal_trajectory 

Frenet Optimal Trajectory planning

Generates optimal trajectories in the Frenet frame, considering lateral and longitudinal motion with jerk minimization.

Structs

CubicSpline2D

Cubic spline for reference path

FrenetInitialState

FrenetPath

Frenet path

Functions

calc_frenet_paths

Generate Frenet candidate paths

calc_frenet_paths_with_accel

calc_global_paths

Calculate global positions from Frenet paths

check_paths

Check constraints and collisions

frenet_optimal_planning

Frenet optimal planning

frenet_optimal_planning_with_accel